version: 66.10
glider: 176
mission: 5
dive: 441
start: 6 14 112 13 14 30
data:
$ID,176
$MISSION,5
$DIVE,441
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8168.104
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,140612,130637,1755.742,12416.703,34,1.1,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-65.9
$GPS2,140612,131402,1755.754,12416.783,13,1.3,13,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,282.5,221558,-14.0,-8.684
$D_GRID,5094
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,78,0.00,0.00,-59.47,0.000,2,0.000,0.000,184,2696,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.56,-170.3,3.2,-6.5,10,125,8.75,2.22,-28.02,0.000,4,0.230,0.041,2332,1197,3626,0,0,0,0,0,0,25.04,26.29,26.73
$GC,222,-0.56,-170.3,38.5,-21.2,30,229,0.08,2.22,0.00,0.000,6,0.195,0.044,2340,2671,3627,0,0,0,0,0,0,26.04,26.19,28.83
$GC,552,-0.56,-170.3,143.3,-31.9,91,560,0.00,1.65,0.00,0.000,4,0.000,0.048,2332,3768,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,587,-0.56,-170.3,153.7,-30.2,94,593,0.00,1.62,0.00,0.000,6,0.000,0.023,2332,2564,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,897,-0.56,-170.3,219.7,-19.2,145,900,0.00,1.83,0.00,0.000,4,0.000,0.050,2323,3772,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,958,-0.56,-170.3,230.9,-17.4,151,963,0.08,1.62,0.00,0.000,6,0.180,0.022,2342,2527,3626,0,0,0,0,0,0,26.33,26.58,28.83
$GC,1270,-0.56,-170.3,276.4,-14.6,182,1274,0.00,1.88,0.00,0.000,4,0.000,0.027,2342,1185,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1315,-0.56,-170.3,281.7,-12.9,186,1321,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2676,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1621,-0.56,-170.3,324.5,-14.3,217,1630,0.00,2.12,0.00,0.000,4,0.000,0.027,2335,1197,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1643,-0.56,-170.3,327.3,-13.9,219,1655,0.00,2.20,0.00,0.000,6,0.000,0.043,2334,2672,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1954,-0.56,-170.3,368.7,-14.1,250,1962,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1199,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2027,-0.56,-170.3,377.1,-11.0,257,2035,0.00,2.25,0.00,0.000,6,0.000,0.042,2333,2672,3623,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2335,-0.56,-170.3,415.5,-12.4,288,2339,0.00,2.10,0.00,0.000,4,0.000,0.025,2333,1199,3621,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2389,-0.56,-170.3,421.0,-10.3,293,2396,0.00,2.25,0.00,0.000,6,0.000,0.043,2331,2666,3620,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2698,-0.56,-170.3,457.5,-12.0,324,2706,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1187,3618,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2769,-0.56,-170.3,465.4,-10.6,331,2779,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2670,3617,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3079,-0.56,-170.3,499.8,-10.6,362,3089,0.00,2.15,-0.10,0.000,4,0.000,0.037,2332,1198,3638,0,0,0,0,0,0,28.83,26.36,25.98
$GC,3134,-0.56,-170.3,504.8,-9.3,367,3143,0.00,2.22,0.00,0.000,6,0.000,0.044,2331,2669,3638,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3442,-0.56,-170.3,532.4,-8.6,398,3451,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1197,3635,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3466,-0.56,-170.3,534.2,-8.5,400,3473,0.00,2.25,0.00,0.000,6,0.000,0.045,2331,2676,3634,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3773,-0.56,-170.3,561.2,-9.1,431,3777,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1200,3631,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3814,-0.56,-170.3,564.8,-9.1,435,3824,0.00,2.25,0.00,0.000,6,0.000,0.045,2331,2676,3631,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4124,-0.56,-170.3,592.5,-9.1,466,4128,0.00,2.15,0.00,0.000,4,0.000,0.027,2331,1195,3628,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4160,-0.56,-170.3,595.1,-8.6,469,4167,0.00,2.25,0.00,0.000,6,0.000,0.047,2331,2670,3628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4476,-0.56,-170.3,621.6,-8.3,488,4482,0.00,2.12,0.00,0.000,4,0.000,0.027,2331,1195,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4510,-0.56,-170.3,623.3,-8.4,489,4517,0.00,2.28,0.00,0.000,6,0.000,0.049,2331,2673,3625,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4816,-0.56,-170.3,652.0,-9.5,505,4821,0.00,2.15,0.00,0.000,4,0.000,0.027,2331,1196,3621,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4843,-0.56,-170.3,653.9,-9.4,506,4848,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2669,3621,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5152,-0.56,-170.3,681.9,-8.8,521,5156,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1190,3619,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5193,-0.56,-170.3,685.4,-8.6,523,5199,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2669,3619,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5514,-0.56,-170.3,711.1,-7.8,539,5520,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1191,3616,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5548,-0.56,-170.3,712.7,-7.8,540,5554,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2676,3616,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5854,-0.56,-170.3,736.8,-7.7,556,5860,0.00,2.12,0.00,0.000,4,0.000,0.026,2331,1202,3614,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5877,-0.56,-170.3,738.2,-7.6,557,5881,0.00,2.25,0.00,0.000,6,0.000,0.046,2331,2667,3614,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6190,-0.56,-170.3,763.1,-8.2,573,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2667,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,-0.56,-170.3,788.0,-8.5,588,6495,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1197,3609,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6550,-0.56,-170.3,793.1,-8.5,591,6556,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2673,3609,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6869,-0.56,-170.3,820.3,-8.4,607,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2673,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7169,-0.56,-170.3,845.0,-8.1,622,7175,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1196,3605,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7211,-0.56,-170.3,848.3,-8.2,624,7216,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2670,3605,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7529,-0.56,-170.3,873.7,-7.9,640,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2671,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,-0.56,-170.3,897.4,-8.1,655,7836,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1198,3601,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7869,-0.56,-170.3,900.6,-8.0,657,7875,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2667,3601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8189,-0.56,-170.3,925.9,-7.9,673,8195,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1189,3600,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8218,-0.56,-170.3,927.4,-7.8,674,8222,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2673,3600,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8524,-0.56,-170.3,950.5,-7.2,689,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2674,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,-0.56,-170.3,971.8,-7.0,704,8830,0.00,2.15,0.00,0.000,4,0.000,0.026,2331,1192,3597,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8849,-0.56,-170.3,973.2,-7.0,705,8854,0.00,2.30,0.00,0.000,6,0.000,0.048,2331,2670,3597,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9102,begin apogee
$GC,9107,-0.17,0.0,990.7,-6.6,718,9267,0.38,0.12,149.75,1.699,6,0.103,0.093,2466,2585,2928,0,0,0,0,0,0,25.83,24.51,22.64
$STATE,9268,end apogee,CONTROL_FINISHED_OK
$STATE,9268,begin climb
$GC,9270,0.56,170.3,996.6,0.0,726,9446,0.62,2.40,163.32,1.655,4,0.050,0.031,2722,1111,2233,0,0,0,0,0,0,25.01,24.13,22.16
$GC,9518,0.56,170.3,978.2,14.2,738,9523,0.15,2.33,0.00,0.000,6,0.164,0.047,2684,2570,2226,0,0,0,0,0,0,25.32,25.56,28.83
$GC,9824,0.56,170.3,936.2,13.0,753,9828,0.03,1.85,0.00,0.000,4,0.253,0.054,2714,3765,2221,0,0,0,0,0,0,26.44,26.02,28.83
$GC,9886,0.56,170.3,926.7,16.0,756,9892,0.15,1.83,0.00,0.000,6,0.189,0.025,2685,2496,2221,0,0,0,0,0,0,25.81,26.29,28.83
$GC,10203,0.56,170.3,884.6,12.3,772,10208,0.00,2.00,0.00,0.000,4,0.000,0.029,2696,1107,2219,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10270,0.56,170.3,877.7,11.8,775,10274,0.00,2.25,0.00,0.000,6,0.000,0.048,2695,2566,2217,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10576,0.56,170.3,837.5,13.0,790,10581,0.00,2.17,0.00,0.000,4,0.000,0.031,2706,1101,2217,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10596,0.56,170.3,834.9,13.0,791,10602,0.08,2.28,0.00,0.000,6,0.190,0.047,2689,2566,2216,0,0,0,0,0,0,25.96,26.08,28.83
$GC,10917,0.56,170.3,795.0,12.2,807,10920,0.00,1.85,0.00,0.000,4,0.000,0.055,2689,3767,2216,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10940,0.56,170.3,792.2,12.3,808,10944,0.00,1.85,0.00,0.000,6,0.000,0.024,2698,2488,2216,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11258,0.56,170.3,750.0,13.2,824,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2484,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11559,0.56,170.3,708.9,13.9,839,11565,0.00,1.98,0.00,0.000,4,0.000,0.054,2698,3762,2215,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11600,0.56,170.3,702.7,14.4,841,11605,0.05,1.85,0.00,0.000,6,0.179,0.023,2691,2489,2215,0,0,0,0,0,0,26.03,26.37,28.83
$GC,11919,0.56,170.3,660.5,12.5,857,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2485,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12218,0.56,170.3,624.4,11.8,872,12224,0.00,2.05,0.00,0.000,4,0.000,0.033,2701,1102,2213,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,18444,end climb,SURFACE_DEPTH_REACHED
$STATE,18444,begin surface coast
$FINISH,0.7,1.008552
$STATE,18471,end surface coast,CONTROL_FINISHED_OK
$STATE,18471,begin surface
$SM_CCo,18547,0.00,0.000,0,0,736,537.94
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$IRIDIUM_FIX,1749.63,12415.34,140612,070703
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.81
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,0
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$10V_AH,9.8,56.824
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.950,176.825,537.175,0.000,0.000,33.109,22.015,237.453,0.000,0.000,17.504,4183.801,10256.796,669.413,3426.613,425.236,0.000,2271.633,0.000,2825.224,0.000,0.543,0.000
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$SENSOR_SECS,1129.906,2250.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,123626,1663
$CAP_FILE_SIZE,200169,0
$CFSIZE,260165632,177537024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 89.5,1
$GPS,140612,182437,1756.178,12416.190,30,1.0,30,-2.0