version: 66.10
glider: 176
mission: 5
dive: 446
start: 6 15 112 16 23 11
data:
$ID,176
$MISSION,5
$DIVE,446
$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,-8176.7886
$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
$GPS1,150612,161306,1757.788,12413.080,25,1.3,25,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.5
$GPS2,150612,162244,1757.833,12413.150,10,1.3,10,-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,274.3,214328,-14.0,-8.684
$D_GRID,4918
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,85,0.00,0.00,-66.28,0.000,2,0.000,0.000,175,2690,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-170.3,3.3,-6.6,11,133,8.73,2.12,-27.33,0.000,4,0.229,0.034,2333,1175,3624,0,0,0,0,0,0,24.94,26.36,26.74
$GC,221,-0.56,-170.3,38.6,-22.9,32,227,0.00,2.25,0.00,0.000,6,0.000,0.045,2333,2667,3625,0,0,0,0,0,0,28.83,26.18,28.83
$GC,547,-0.56,-170.3,145.8,-26.5,93,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2668,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.56,-170.3,216.9,-19.3,146,863,0.00,2.10,0.00,0.000,4,0.000,0.024,2333,1174,3624,0,0,0,0,0,0,28.83,26.46,28.83
$GC,895,-0.56,-170.3,222.5,-18.0,149,903,0.08,2.25,0.00,0.000,6,0.184,0.045,2342,2670,3624,0,0,0,0,0,0,26.11,26.24,28.83
$GC,1201,-0.56,-170.3,271.5,-15.5,180,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2670,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.56,-170.3,314.6,-13.9,210,1514,0.00,2.10,0.00,0.000,4,0.000,0.026,2342,1186,3622,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1579,-0.56,-170.3,322.8,-9.1,217,1588,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2676,3622,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1888,-0.56,-170.3,361.7,-12.8,248,1892,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1177,3620,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1963,-0.56,-170.3,369.8,-9.9,255,1969,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2669,3619,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2270,-0.56,-170.3,405.0,-10.6,286,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2669,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2572,-0.56,-170.3,436.0,-9.8,316,2581,0.00,2.12,-0.08,0.000,4,0.000,0.035,2334,1186,3642,0,0,0,0,0,0,28.83,26.41,25.52
$GC,2644,-0.56,-170.3,442.4,-8.0,323,2653,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2673,3642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2954,-0.56,-170.3,472.0,-9.9,354,2958,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1183,3639,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3006,-0.56,-170.3,476.4,-8.1,359,3015,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2669,3639,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3317,-0.56,-170.3,506.0,-9.4,390,3326,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1185,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3348,-0.56,-170.3,508.9,-9.3,393,3358,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2674,3635,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3658,-0.56,-170.3,538.4,-9.8,424,3662,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1184,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3709,-0.56,-170.3,543.1,-9.3,429,3719,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2673,3631,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4019,-0.56,-170.3,572.6,-9.8,460,4028,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1181,3628,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4051,-0.56,-170.3,575.6,-9.4,463,4060,0.00,2.28,0.00,0.000,6,0.000,0.045,2333,2671,3628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4373,-0.56,-170.3,605.6,-9.2,492,4379,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1192,3625,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4399,-0.56,-170.3,607.4,-9.0,493,4403,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2667,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4706,-0.56,-170.3,635.4,-9.0,508,4712,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1186,3621,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4734,-0.56,-170.3,637.1,-9.0,509,4738,0.00,2.25,0.00,0.000,6,0.000,0.045,2333,2667,3621,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5047,-0.56,-170.3,665.4,-9.0,525,5053,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1180,3619,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5089,-0.56,-170.3,669.0,-9.0,527,5093,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2675,3618,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5402,-0.56,-170.3,696.4,-8.7,543,5406,0.00,1.65,0.00,0.000,4,0.000,0.058,2333,3765,3616,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5426,-0.56,-170.3,698.3,-8.5,544,5430,0.00,1.65,0.00,0.000,6,0.000,0.024,2332,2530,3615,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5745,-0.56,-170.3,725.2,-8.2,560,5751,0.00,1.98,0.00,0.000,4,0.000,0.057,2332,3779,3613,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5808,-0.56,-170.3,730.3,-8.3,563,5811,0.00,1.70,0.00,0.000,6,0.000,0.024,2333,2507,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6124,-0.56,-170.3,756.1,-8.0,579,6130,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3765,3610,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6153,-0.56,-170.3,757.6,-7.9,580,6156,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2525,3610,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6466,-0.56,-170.3,782.5,-7.6,596,6472,0.00,2.00,0.00,0.000,4,0.000,0.057,2331,3770,3608,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6513,-0.56,-170.3,785.4,-7.4,598,6517,0.00,1.70,0.00,0.000,6,0.000,0.024,2331,2500,3608,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6827,-0.56,-170.3,809.1,-7.3,614,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2498,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-0.56,-170.3,832.3,-8.0,629,7130,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3769,3604,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7173,-0.56,-170.3,835.4,-7.9,631,7176,0.00,1.67,0.00,0.000,6,0.000,0.024,2330,2528,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7486,-0.56,-170.3,860.6,-7.7,647,7492,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3772,3602,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7525,-0.56,-170.3,863.6,-7.7,649,7528,0.00,1.70,0.00,0.000,6,0.000,0.024,2330,2523,3602,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7848,-0.56,-170.3,887.4,-7.2,665,7853,0.00,2.00,0.00,0.000,4,0.000,0.057,2329,3766,3600,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7874,-0.56,-170.3,888.9,-7.1,666,7878,0.00,1.67,0.00,0.000,6,0.000,0.024,2330,2523,3600,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8187,-0.56,-170.3,911.1,-6.9,682,8192,0.00,2.00,0.00,0.000,4,0.000,0.057,2329,3769,3599,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8216,-0.56,-170.3,912.4,-6.8,683,8219,0.00,1.67,0.00,0.000,6,0.000,0.024,2330,2534,3599,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8527,-0.56,-170.3,934.3,-6.9,699,8533,0.00,2.00,0.00,0.000,4,0.000,0.058,2330,3769,3597,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8570,-0.56,-170.3,937.2,-7.1,701,8574,0.00,1.67,0.00,0.000,6,0.000,0.025,2330,2535,3597,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8888,-0.56,-170.3,959.4,-7.1,717,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2503,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9187,-0.56,-170.3,980.2,-6.7,732,9192,0.00,2.00,0.00,0.000,4,0.000,0.059,2330,3764,3595,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9240,-0.56,-170.3,982.7,-6.4,734,9247,0.00,1.67,0.00,0.000,6,0.000,0.025,2330,2510,3594,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9345,begin apogee
$GC,9351,-0.17,0.0,990.4,-6.4,740,9509,0.38,0.10,148.90,1.697,6,0.103,0.076,2465,2486,2929,0,0,0,0,0,0,25.83,24.53,22.66
$STATE,9510,end apogee,CONTROL_FINISHED_OK
$STATE,9510,begin climb
$GC,9513,0.56,170.3,996.8,0.0,748,9689,0.65,2.22,163.52,1.653,4,0.047,0.056,2718,3759,2234,0,0,0,0,0,0,25.04,24.12,22.22
$GC,9704,0.56,170.3,987.3,11.7,757,9713,0.17,1.92,0.00,0.000,6,0.187,0.024,2685,2503,2232,0,0,0,0,0,0,24.49,24.89,28.83
$GC,10013,0.56,170.3,941.1,13.2,773,10018,0.00,2.00,0.00,0.000,4,0.000,0.029,2695,1109,2223,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10051,0.56,170.3,936.0,13.1,775,10057,0.00,2.28,0.00,0.000,6,0.000,0.047,2696,2567,2221,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10371,0.56,170.3,890.8,14.4,791,10377,0.00,2.20,0.00,0.000,4,0.000,0.030,2706,1095,2219,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10415,0.56,170.3,885.4,14.1,793,10420,0.08,2.28,0.00,0.000,6,0.186,0.046,2689,2568,2219,0,0,0,0,0,0,25.99,26.11,28.83
$GC,10728,0.56,170.3,844.0,12.8,809,10733,0.00,2.20,0.00,0.000,4,0.000,0.030,2700,1095,2217,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10761,0.56,170.3,841.4,12.9,810,10768,0.03,2.28,0.00,0.000,6,0.269,0.046,2689,2569,2217,0,0,0,0,0,0,26.03,26.08,28.83
$GC,11070,0.56,170.3,803.2,11.4,826,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2569,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11368,0.56,170.3,768.9,11.3,841,11374,0.00,2.15,0.00,0.000,4,0.000,0.030,2699,1105,2216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11402,0.56,170.3,766.6,11.3,842,11409,0.03,2.25,0.00,0.000,6,0.272,0.046,2689,2566,2215,0,0,0,0,0,0,25.98,26.05,28.83
$GC,11708,0.56,170.3,727.8,12.7,858,11714,0.00,2.15,0.00,0.000,4,0.000,0.031,2699,1108,2215,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11741,0.56,170.3,725.3,12.7,859,11748,0.00,2.25,0.00,0.000,6,0.000,0.046,2699,2568,2214,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12049,0.56,170.3,682.4,13.6,875,12053,0.00,1.88,0.00,0.000,4,0.000,0.056,2699,3767,2213,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,18883,end climb,SURFACE_DEPTH_REACHED
$STATE,18883,begin surface coast
$FINISH,0.5,1.021337
$STATE,18960,end surface coast,CONTROL_FINISHED_OK
$STATE,18960,begin surface
$SM_CCo,19037,0.00,0.000,0,0,620,566.40
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$IRIDIUM_FIX,1754.17,12413.47,150612,101018
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.48
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.2,94.011
$10V_AH,9.7,57.470
$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,19.275,181.225,566.675,0.000,0.000,57.318,60.104,247.989,0.250,0.000,13.336,4253.473,10581.276,725.093,3584.486,438.430,0.000,2373.534,0.000,2883.935,0.000,0.543,0.000
$DEVICE_MAMPS,271.575,106.335,1696.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1154.160,2336.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330268
$DATA_FILE_SIZE,127277,1700
$CAP_FILE_SIZE,206039,0
$CFSIZE,260165632,176984064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134, 79.8,1
$GPS,150612,214136,1758.257,12412.179,38,1.1,38,-2.0