version: 66.10
glider: 176
mission: 5
dive: 453
start: 6 17 112 5 55 48
data:
$ID,176
$MISSION,5
$DIVE,453
$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,-6
$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,-8190.3062
$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
$GPS1,170612,054736,1801.660,12404.775,35,1.0,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.5
$GPS2,170612,055520,1801.655,12404.737,13,1.8,13,-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,271.7,198152,-14.0,-8.684
$D_GRID,4866
$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,17,-0.56,-170.3,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,2,0.000,0.000,190,2721,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.56,-170.3,3.4,-6.9,10,121,8.75,1.65,-24.62,0.000,4,0.232,0.067,2329,3774,3625,0,0,0,0,0,0,25.01,26.13,26.73
$GC,194,-0.56,-170.3,40.8,-35.5,27,200,0.00,1.65,0.00,0.000,6,0.000,0.023,2329,2571,3625,0,0,0,0,0,0,28.83,26.46,28.83
$GC,521,-0.56,-170.3,146.5,-25.8,88,527,0.00,1.95,0.00,0.000,4,0.000,0.026,2329,1178,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,617,-0.56,-170.3,166.2,-14.9,106,624,0.08,2.22,0.00,0.000,6,0.181,0.042,2342,2672,3625,0,0,0,0,0,0,26.13,26.26,28.83
$GC,932,-0.56,-170.3,228.2,-16.9,153,936,0.00,1.62,0.00,0.000,4,0.000,0.050,2335,3767,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,997,-0.56,-170.3,238.5,-16.8,159,1004,0.00,1.62,0.00,0.000,6,0.000,0.023,2335,2556,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1305,-0.56,-170.3,285.2,-13.7,190,1314,0.00,1.92,0.00,0.000,4,0.000,0.024,2335,1175,3625,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1358,-0.56,-170.3,291.2,-10.9,195,1366,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2666,3624,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1667,-0.56,-170.3,330.8,-14.0,226,1676,0.00,2.10,0.00,0.000,4,0.000,0.024,2336,1182,3624,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1698,-0.56,-170.3,334.9,-13.3,229,1709,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2677,3624,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2009,-0.56,-170.3,372.9,-11.6,260,2017,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1188,3621,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2061,-0.56,-170.3,378.4,-10.3,265,2071,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2676,3621,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2371,-0.56,-170.3,413.1,-10.9,296,2380,0.00,2.12,0.00,0.000,4,0.000,0.026,2335,1195,3618,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2412,-0.56,-170.3,417.4,-10.5,300,2421,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2669,3618,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2722,-0.56,-170.3,450.5,-10.3,331,2732,0.00,2.15,-0.10,0.000,4,0.000,0.036,2334,1188,3638,0,0,0,0,0,0,28.83,26.38,25.99
$GC,2784,-0.56,-170.3,456.4,-8.7,337,2795,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2679,3637,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3095,-0.56,-170.3,488.0,-9.4,368,3104,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1181,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3146,-0.56,-170.3,492.8,-9.0,373,3157,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2677,3634,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3456,-0.56,-170.3,523.1,-10.2,404,3465,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1184,3630,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3490,-0.56,-170.3,526.2,-10.0,407,3497,0.00,2.28,0.00,0.000,6,0.000,0.044,2333,2674,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3801,-0.56,-170.3,556.0,-9.5,438,3809,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1193,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3843,-0.56,-170.3,560.0,-8.7,442,3852,0.00,2.25,0.00,0.000,6,0.000,0.045,2333,2669,3626,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4154,-0.56,-170.3,588.2,-9.3,473,4163,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1185,3623,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4190,-0.56,-170.3,591.1,-9.1,476,4196,0.00,2.28,0.00,0.000,6,0.000,0.045,2333,2675,3623,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4496,-0.56,-170.3,619.6,-9.4,497,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2675,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4797,-0.56,-170.3,647.0,-9.1,512,4802,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1179,3618,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4864,-0.56,-170.3,652.1,-8.6,515,4868,0.00,2.30,0.00,0.000,6,0.000,0.046,2333,2677,3618,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5172,-0.56,-170.3,677.9,-7.9,530,5175,0.00,2.15,0.00,0.000,4,0.000,0.025,2333,1185,3615,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5202,-0.56,-170.3,679.7,-8.0,531,5212,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2668,3614,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5513,-0.56,-170.3,706.2,-8.4,547,5519,0.00,2.15,0.00,0.000,4,0.000,0.024,2332,1178,3612,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5553,-0.56,-170.3,709.2,-7.9,549,5557,0.00,2.30,0.00,0.000,6,0.000,0.046,2332,2674,3612,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5876,-0.56,-170.3,733.3,-7.4,565,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2674,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,-0.56,-170.3,756.1,-7.9,580,6181,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1190,3607,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6229,-0.56,-170.3,759.1,-7.8,582,6236,0.00,2.28,0.00,0.000,6,0.000,0.046,2332,2666,3607,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6536,-0.56,-170.3,783.8,-7.7,598,6541,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1189,3605,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6575,-0.56,-170.3,786.8,-7.8,600,6581,0.00,2.30,0.00,0.000,6,0.000,0.046,2332,2675,3604,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6897,-0.56,-170.3,810.1,-7.1,616,6902,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1186,3603,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6928,-0.56,-170.3,811.5,-7.1,617,6936,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2675,3603,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7235,-0.56,-170.3,834.4,-7.2,633,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2675,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7537,-0.56,-170.3,857.3,-7.9,648,7543,0.00,2.15,0.00,0.000,4,0.000,0.025,2332,1188,3598,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7596,-0.56,-170.3,861.8,-7.8,651,7601,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2666,3599,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7917,-0.56,-170.3,885.9,-7.3,667,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2666,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-0.56,-170.3,906.5,-6.5,682,8220,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1189,3596,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8271,-0.56,-170.3,909.2,-6.6,684,8278,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2675,3596,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8581,-0.56,-170.3,929.2,-6.2,700,8586,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1194,3594,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8612,-0.56,-170.3,930.6,-6.3,701,8621,0.00,2.28,0.00,0.000,6,0.000,0.048,2332,2664,3594,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8919,-0.56,-170.3,950.7,-6.3,717,8923,0.00,2.12,0.00,0.000,4,0.000,0.024,2332,1185,3593,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8950,-0.56,-170.3,952.1,-6.3,718,8959,0.00,2.30,0.00,0.000,6,0.000,0.047,2332,2664,3593,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9261,-0.56,-170.3,973.0,-6.4,734,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2664,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9519,begin apogee
$GC,9525,-0.17,0.0,991.2,-7.2,747,9684,0.38,0.08,147.93,1.699,6,0.103,0.054,2467,2589,2928,0,0,0,0,0,0,25.82,24.44,22.63
$STATE,9685,end apogee,CONTROL_FINISHED_OK
$STATE,9685,begin climb
$GC,9687,0.56,170.3,999.2,0.0,755,9864,0.62,2.05,163.20,1.658,4,0.047,0.057,2715,3762,2234,0,0,0,0,0,0,25.03,24.05,22.13
$GC,9915,0.56,170.3,983.2,15.9,766,9919,0.15,1.90,0.00,0.000,6,0.201,0.024,2690,2499,2230,0,0,0,0,0,0,25.06,25.50,28.83
$GC,10223,0.56,170.3,942.3,12.5,781,10228,0.00,1.98,0.00,0.000,4,0.000,0.055,2690,3769,2223,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10289,0.56,170.3,933.3,14.3,784,10293,0.00,1.85,0.00,0.000,6,0.000,0.024,2699,2491,2222,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10603,0.56,170.3,891.4,13.5,800,10608,0.00,2.00,0.00,0.000,4,0.000,0.028,2709,1108,2220,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10643,0.56,170.3,886.2,13.4,802,10649,0.05,2.25,0.00,0.000,6,0.151,0.046,2692,2566,2218,0,0,0,0,0,0,25.91,26.10,28.83
$GC,10962,0.56,170.3,845.1,12.9,818,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2566,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11263,0.56,170.3,805.5,13.2,833,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2566,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11562,0.56,170.3,763.7,14.0,848,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2566,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,0.56,170.3,723.8,12.6,863,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2566,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12163,0.56,170.3,686.5,12.4,878,12166,0.00,1.85,0.00,0.000,4,0.000,0.054,2691,3765,2215,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12186,0.56,170.3,683.5,12.5,879,12191,0.03,1.85,0.00,0.000,6,0.219,0.022,2692,2477,2215,0,0,0,0,0,0,26.16,26.38,28.83
$GC,12504,0.56,170.3,644.6,12.2,895,12510,0.00,2.03,0.00,0.000,4,0.000,0.052,2692,3769,2215,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12545,0.56,170.3,639.1,12.7,897,12549,0.05,1.85,0.00,0.000,6,0.250,0.022,2690,2492,2214,0,0,0,0,0,0,26.15,26.36,28.83
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$GC,15278,0.62,221.8,343.3,7.5,1152,15319,0.08,2.10,31.27,1.255,4,0.128,0.051,2748,3772,2023,0,0,0,0,0,0,26.51,25.63,23.71
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$STATE,18605,end climb,SURFACE_DEPTH_REACHED
$STATE,18608,begin surface coast
$FINISH,0.8,1.021193
$STATE,18645,end surface coast,CONTROL_FINISHED_OK
$STATE,18645,begin surface
$SM_CCo,18720,0.00,0.000,0,0,995,474.41
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$IRIDIUM_FIX,1756.43,12408.44,170612,000036
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.80
$XPDR_PINGS,1
$24V_AH,22.1,95.576
$10V_AH,9.8,58.355
$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,17.950,164.900,509.075,0.000,0.000,25.139,25.398,252.841,0.250,0.000,17.627,4113.399,10564.077,669.840,3361.719,439.991,0.000,2247.951,0.000,2764.627,0.000,0.543,0.000
$DEVICE_MAMPS,250.155,91.800,1699.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1117.358,2250.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,123797,1644
$CAP_FILE_SIZE,194810,0
$CFSIZE,260165632,176246784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098, 85.7,1
$GPS,170612,110855,1801.771,12403.253,37,1.5,37,-2.0