version: 66.10
glider: 176
mission: 5
dive: 445
start: 6 15 112 10 52 59
data:
$ID,176
$MISSION,5
$DIVE,445
$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,-8175.5303
$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
$GPS1,150612,104506,1756.946,12414.092,40,0.9,46,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.5
$GPS2,150612,105231,1756.954,12414.128,9,2.0,14,-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,286.4,216446,-14.0,-8.684
$D_GRID,4944
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,190,2699,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-170.3,3.5,-7.7,10,122,8.68,2.25,-23.23,0.000,4,0.230,0.044,2336,1201,3627,0,0,0,0,0,0,25.00,26.25,26.73
$GC,243,-0.56,-170.3,44.6,-17.3,37,251,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2676,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,573,-0.56,-170.3,150.8,-29.6,98,579,0.00,1.62,0.00,0.000,4,0.000,0.051,2325,3772,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,618,-0.56,-170.3,162.7,-25.4,106,625,0.05,1.62,0.00,0.000,6,0.226,0.024,2339,2569,3626,0,0,0,0,0,0,26.31,26.52,28.83
$GC,928,-0.56,-170.3,220.9,-17.9,155,937,0.00,1.92,0.00,0.000,4,0.000,0.024,2341,1179,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,950,-0.56,-170.3,224.4,-17.7,157,960,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2672,3626,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1259,-0.56,-170.3,270.9,-14.4,188,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2672,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1564,-0.56,-170.3,313.7,-13.7,218,1574,0.00,2.08,0.00,0.000,4,0.000,0.024,2337,1184,3625,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1659,-0.56,-170.3,324.1,-9.2,227,1667,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2679,3624,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1967,-0.56,-170.3,365.8,-14.1,258,1976,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1191,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2051,-0.56,-170.3,374.8,-9.9,266,2059,0.00,2.22,0.00,0.000,6,0.000,0.043,2334,2670,3622,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2359,-0.56,-170.3,409.0,-10.4,297,2368,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1181,3620,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2393,-0.56,-170.3,411.8,-9.4,300,2401,0.00,2.28,0.00,0.000,6,0.000,0.043,2334,2669,3619,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2704,-0.56,-170.3,443.0,-10.5,331,2712,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1188,3616,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2737,-0.56,-170.3,446.6,-10.7,334,2744,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2669,3616,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3045,-0.56,-170.3,481.6,-11.7,365,3047,0.00,0.00,-0.08,0.000,6,0.000,0.000,2335,2669,3637,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3345,-0.56,-170.3,513.0,-9.8,395,3354,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1192,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3378,-0.56,-170.3,515.9,-9.3,398,3387,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2674,3635,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3687,-0.56,-170.3,543.0,-8.7,429,3691,0.00,2.15,0.00,0.000,4,0.000,0.026,2334,1188,3633,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3752,-0.56,-170.3,548.1,-7.7,435,3759,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2669,3632,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4059,-0.56,-170.3,576.9,-9.7,466,4068,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1188,3629,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4090,-0.56,-170.3,579.9,-9.9,469,4100,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2669,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4403,-0.56,-170.3,609.9,-9.4,495,4409,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1195,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4454,-0.56,-170.3,613.6,-9.2,497,4462,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2669,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4761,-0.56,-170.3,642.0,-8.7,513,4767,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1188,3623,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4810,-0.56,-170.3,645.4,-8.7,515,4814,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2673,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5117,-0.56,-170.3,671.8,-8.4,530,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2674,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5416,-0.56,-170.3,697.2,-8.4,545,5422,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1184,3617,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5466,-0.56,-170.3,700.4,-8.3,547,5470,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2674,3616,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5772,-0.56,-170.3,727.1,-8.7,562,5777,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1187,3615,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5799,-0.56,-170.3,728.9,-8.6,563,5803,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2668,3614,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6109,-0.56,-170.3,756.0,-8.6,578,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2669,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6406,-0.56,-170.3,781.0,-8.1,593,6412,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1178,3610,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6450,-0.56,-170.3,784.1,-7.9,595,6454,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2667,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6762,-0.56,-170.3,807.9,-7.5,611,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2667,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7062,-0.56,-170.3,830.2,-7.5,626,7068,0.00,2.15,0.00,0.000,4,0.000,0.024,2333,1178,3606,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7116,-0.56,-170.3,833.1,-7.5,628,7123,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2668,3606,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7422,-0.56,-170.3,857.8,-8.0,644,7428,0.00,2.15,0.00,0.000,4,0.000,0.024,2333,1183,3604,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7464,-0.56,-170.3,861.0,-7.9,646,7469,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2658,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7783,-0.56,-170.3,885.2,-7.5,662,7786,0.00,1.73,0.00,0.000,4,0.000,0.058,2331,3773,3602,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7807,-0.56,-170.3,886.8,-7.3,663,7810,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2539,3602,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8125,-0.56,-170.3,909.6,-6.8,679,8131,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3768,3601,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8164,-0.56,-170.3,912.2,-6.7,681,8167,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2529,3600,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8485,-0.56,-170.3,932.5,-6.1,697,8491,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3768,3599,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8514,-0.56,-170.3,933.8,-6.2,698,8518,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2542,3598,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8826,-0.56,-170.3,953.7,-6.3,714,8831,0.00,1.95,0.00,0.000,4,0.000,0.058,2331,3762,3598,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8855,-0.56,-170.3,954.9,-6.2,715,8858,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2533,3597,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9169,-0.56,-170.3,974.3,-6.1,731,9174,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3777,3596,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9210,-0.56,-170.3,976.6,-6.0,733,9213,0.00,1.70,0.00,0.000,6,0.000,0.025,2331,2539,3596,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,9445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9445,begin apogee
$GC,9451,-0.17,0.0,990.6,-6.0,745,9609,0.38,0.10,149.30,1.693,6,0.102,0.078,2466,2486,2928,0,0,0,0,0,0,25.84,24.50,22.64
$STATE,9610,end apogee,CONTROL_FINISHED_OK
$STATE,9610,begin climb
$GC,9612,0.56,170.3,996.5,0.0,753,9780,0.62,0.00,163.85,1.654,6,0.050,0.000,2713,2486,2233,0,0,0,0,0,0,24.97,28.83,22.14
$GC,10067,0.56,170.3,944.0,15.1,776,10074,0.10,2.03,0.00,0.000,4,0.193,0.054,2690,3772,2224,0,0,0,0,0,0,26.09,25.98,28.83
$GC,10142,0.56,170.3,934.3,15.9,779,10149,0.00,1.85,0.00,0.000,6,0.000,0.024,2698,2488,2223,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10448,0.56,170.3,889.2,13.8,795,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2484,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,0.56,170.3,849.4,13.1,810,10753,0.00,2.00,0.00,0.000,4,0.000,0.054,2699,3766,2220,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10797,0.56,170.3,843.0,14.5,812,10801,0.10,1.85,0.00,0.000,6,0.206,0.025,2685,2492,2219,0,0,0,0,0,0,25.98,26.36,28.83
$GC,11109,0.56,170.3,802.4,12.3,828,11114,0.00,2.03,0.00,0.000,4,0.000,0.028,2695,1091,2218,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11169,0.56,170.3,795.2,11.9,831,11175,0.00,2.28,0.00,0.000,6,0.000,0.044,2695,2574,2216,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11491,0.56,170.3,751.3,13.9,847,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2574,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11789,0.56,170.3,712.7,12.3,862,11794,0.00,2.17,0.00,0.000,4,0.000,0.029,2703,1102,2216,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11809,0.56,170.3,710.3,12.3,863,11816,0.08,2.28,0.00,0.000,6,0.182,0.044,2686,2571,2215,0,0,0,0,0,0,25.93,26.06,28.83
$GC,12131,0.56,170.3,676.0,10.3,879,12134,0.00,1.83,0.00,0.000,4,0.000,0.052,2686,3770,2215,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12212,0.56,170.3,665.6,12.7,883,12215,0.00,1.83,0.00,0.000,6,0.000,0.022,2694,2491,2215,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12534,0.56,170.3,628.6,11.8,899,12540,0.00,2.00,0.00,0.000,4,0.000,0.031,2705,1098,2214,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,19051,end climb,SURFACE_DEPTH_REACHED
$STATE,19051,begin surface coast
$FINISH,0.9,1.020887
$STATE,19073,end surface coast,CONTROL_FINISHED_OK
$STATE,19073,begin surface
$SM_CCo,19151,0.00,0.000,0,0,491,598.29
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$IRIDIUM_FIX,1747.37,12414.07,150612,050511
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.1,93.778
$10V_AH,9.8,57.341
$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,18.875,170.350,583.400,0.000,0.000,24.665,18.559,245.850,0.000,0.000,17.912,4295.990,10617.761,726.418,3489.352,435.662,0.000,2317.545,0.000,2879.794,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,108.630,1692.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.748,2332.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,127045,1719
$CAP_FILE_SIZE,201241,0
$CFSIZE,260165632,177094656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 74.4,1
$GPS,150612,161306,1757.788,12413.080,25,1.3,25,-2.0