version: 66.10
glider: 176
mission: 5
dive: 474
start: 6 22 112 9 6 42
data:
$ID,176
$MISSION,5
$DIVE,474
$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,400
$T_MISSION,440
$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,-8219.9326
$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,2620
$C_ROLL_CLIMB,2520
$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
$GPS1,220612,085236,1812.148,12337.610,36,0.9,41,-2.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.6
$GPS2,220612,090613,1812.270,12337.906,11,1.5,16,-2.0
$SPEED_LIMITS,0.143,0.259
$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,273.6,147539,-13.2,-8.250
$D_GRID,5157
$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,-0.54,-170.3,0.0,0.0,0,71,0.00,0.00,-51.72,0.000,2,0.000,0.000,176,2527,2256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.1,-6.4,9,124,8.77,2.00,-30.25,0.000,4,0.230,0.041,2342,1159,3625,0,0,0,0,0,0,25.01,26.29,26.73
$GC,213,-0.54,-170.3,34.8,-22.4,31,220,0.00,2.22,0.00,0.000,6,0.000,0.042,2335,2638,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,543,-0.54,-170.3,142.7,-27.6,92,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2638,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,872,-0.54,-170.3,215.3,-19.2,145,876,0.00,2.08,0.00,0.000,4,0.000,0.024,2337,1163,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,973,-0.54,-170.3,229.0,-11.6,155,982,0.00,2.22,0.00,0.000,6,0.000,0.041,2335,2648,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1285,-0.54,-170.3,276.8,-14.6,186,1293,0.00,2.10,0.00,0.000,4,0.000,0.025,2336,1165,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1336,-0.54,-170.3,283.4,-12.1,191,1345,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2642,3625,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1646,-0.54,-170.3,324.1,-12.1,222,1655,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1155,3624,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1688,-0.54,-170.3,328.5,-10.6,226,1697,0.00,2.22,0.00,0.000,6,0.000,0.045,2334,2630,3624,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1998,-0.54,-170.3,364.0,-11.4,257,2006,0.00,2.10,0.00,0.000,4,0.000,0.026,2334,1162,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2023,-0.54,-170.3,366.5,-11.5,259,2030,0.05,2.25,0.00,0.000,6,0.215,0.046,2350,2643,3621,0,0,0,0,0,0,26.07,26.15,28.83
$GC,2329,-0.54,-170.3,397.4,-9.9,290,2333,0.05,2.15,0.00,0.000,4,0.174,0.024,2291,1157,3619,0,0,0,0,0,0,26.59,26.36,28.83
$GC,2363,-0.54,-170.3,401.2,-11.4,293,2373,0.15,2.28,0.00,0.000,6,0.137,0.044,2345,2640,3618,0,0,0,0,0,0,25.94,26.16,28.83
$GC,2671,-0.54,-170.3,427.8,-7.8,324,2682,0.00,2.15,-0.08,0.000,4,0.000,0.036,2345,1163,3643,0,0,0,0,0,0,28.83,26.34,25.46
$GC,2706,-0.54,-170.3,430.1,-7.3,327,2714,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2643,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3014,-0.54,-170.3,454.6,-8.4,358,3023,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1152,3640,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3048,-0.54,-170.3,457.3,-8.7,361,3056,0.00,2.30,0.00,0.000,6,0.000,0.043,2345,2668,3640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3356,-0.54,-170.3,483.2,-7.9,392,3360,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1165,3636,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3388,-0.54,-170.3,485.9,-8.4,395,3397,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2646,3636,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3698,-0.54,-170.3,509.7,-7.6,426,3707,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1157,3634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3733,-0.54,-170.3,512.2,-7.9,429,3740,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2646,3633,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4040,-0.54,-170.3,537.5,-9.1,460,4050,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1160,3630,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4072,-0.54,-170.3,540.4,-9.1,463,4081,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2636,3630,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4382,-0.54,-170.3,567.9,-8.8,494,4391,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1154,3627,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4405,-0.54,-170.3,570.0,-9.1,496,4415,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2639,3627,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4713,-0.54,-170.3,596.8,-8.5,527,4722,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1156,3624,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4746,-0.54,-170.3,599.4,-8.5,530,4750,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2636,3624,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5058,-0.54,-170.3,621.3,-6.3,546,5061,0.00,1.73,0.00,0.000,4,0.000,0.056,2345,3763,3621,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5081,-0.54,-170.3,622.6,-6.2,547,5085,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2496,3620,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5401,-0.54,-170.3,643.4,-6.7,563,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2491,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-0.54,-170.3,663.3,-6.4,578,5705,0.00,1.98,0.00,0.000,4,0.000,0.054,2345,3766,3616,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5733,-0.54,-170.3,664.5,-6.4,579,5740,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2483,3615,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6039,-0.54,-170.3,685.2,-6.8,595,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2483,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,-0.54,-170.3,708.7,-8.1,610,6345,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3768,3612,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6380,-0.54,-170.3,711.9,-8.0,612,6384,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2519,3612,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6703,-0.54,-170.3,736.6,-7.3,628,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2491,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-0.54,-170.3,758.2,-7.4,643,7008,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3763,3608,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7044,-0.54,-170.3,761.3,-7.3,645,7047,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2505,3607,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7366,-0.54,-170.3,784.3,-7.0,661,7370,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3766,3606,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7397,-0.54,-170.3,786.0,-7.2,662,7400,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2530,3606,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7708,-0.54,-170.3,806.6,-6.3,678,7714,0.00,1.95,0.00,0.000,4,0.000,0.056,2345,3764,3604,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7736,-0.54,-170.3,807.9,-6.3,679,7740,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2524,3604,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8050,-0.54,-170.3,827.1,-5.9,695,8055,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3777,3603,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8089,-0.54,-170.3,829.5,-5.9,697,8092,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2527,3602,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8411,-0.54,-170.3,848.0,-5.7,713,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2502,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-0.54,-170.3,865.3,-5.8,728,8715,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3765,3599,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8766,-0.54,-170.3,867.8,-5.7,730,8773,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2496,3599,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9075,-0.54,-170.3,885.6,-5.4,746,9081,0.00,1.98,0.00,0.000,4,0.000,0.056,2346,3768,3598,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9097,-0.54,-170.3,886.8,-5.5,747,9101,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2528,3598,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9414,-0.54,-170.3,906.0,-6.3,763,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2506,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,-0.54,-170.3,924.9,-6.2,778,9720,0.00,1.98,0.00,0.000,4,0.000,0.057,2345,3765,3596,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9754,-0.54,-170.3,927.6,-6.5,780,9757,0.00,1.75,0.00,0.000,6,0.000,0.026,2345,2521,3596,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10075,-0.54,-170.3,947.6,-6.1,796,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2503,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10377,-0.54,-170.3,966.2,-6.2,811,10382,0.00,2.00,0.00,0.000,4,0.000,0.057,2345,3768,3594,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10408,-0.54,-170.3,967.6,-6.4,812,10416,0.00,1.73,0.00,0.000,6,0.000,0.026,2345,2520,3594,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10713,begin apogee
$GC,10719,-0.17,0.0,990.4,-7.5,828,10877,0.32,0.00,149.23,1.696,6,0.084,0.000,2472,2519,2928,0,0,0,0,0,0,25.98,28.83,22.51
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10880,0.54,170.3,1000.7,0.0,836,11059,0.60,2.17,166.38,1.652,4,0.050,0.056,2709,3761,2232,0,0,0,0,0,0,24.83,23.75,21.81
$GC,11277,0.54,170.3,958.4,17.9,855,11284,0.15,1.90,0.00,0.000,6,0.189,0.026,2682,2466,2225,0,0,0,0,0,0,25.64,26.11,28.83
$GC,11583,0.54,170.3,918.2,11.9,871,11589,0.00,2.05,0.00,0.000,4,0.000,0.030,2691,1069,2220,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11602,0.54,170.3,916.0,11.7,872,11608,0.00,2.30,0.00,0.000,6,0.000,0.047,2691,2542,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11924,0.54,170.3,875.7,12.8,888,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2542,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12223,0.54,170.3,838.5,12.2,903,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2542,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12523,0.54,170.3,801.1,12.3,918,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2542,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12824,0.54,170.3,763.9,12.5,933,12829,0.00,1.90,0.00,0.000,4,0.000,0.057,2691,3765,2215,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,20591,end climb,SURFACE_DEPTH_REACHED
$STATE,20592,begin surface coast
$FINISH,1.0,1.010191
$STATE,20614,end surface coast,CONTROL_FINISHED_OK
$STATE,20614,begin surface
$SM_CCo,20692,0.00,0.000,0,0,556,582.10
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$IRIDIUM_FIX,1805.50,12340.15,220612,080844
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,21.8,100.169
$10V_AH,9.7,61.255
$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,19.575,160.075,556.775,0.000,0.000,103.951,124.015,241.438,0.000,0.000,20.427,4562.588,11881.274,689.274,3857.294,486.066,0.000,2417.456,0.000,3063.714,0.000,0.542,0.000
$DEVICE_MAMPS,253.215,57.375,1696.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.383,2473.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,133939,1822
$CAP_FILE_SIZE,213339,0
$CFSIZE,260165632,173817856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 72.7,1
$GPS,220612,145237,1812.893,12337.392,31,0.8,31,-2.0