version: 66.10
glider: 176
mission: 5
dive: 475
start: 6 22 112 15 1 30
data:
$ID,176
$MISSION,5
$DIVE,475
$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,-8228.5703
$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
$GPS1,220612,145237,1812.893,12337.392,31,0.8,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,220612,150102,1812.965,12337.618,13,0.9,13,-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,266.4,146743,-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,16,-0.54,-170.3,0.0,0.0,0,82,0.00,0.00,-63.17,0.000,2,0.000,0.000,180,2648,2298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.54,-170.3,3.2,-6.7,11,128,8.82,2.22,-28.10,0.000,4,0.231,0.041,2338,1161,3626,0,0,0,0,0,0,25.01,26.25,26.73
$GC,232,-0.54,-170.3,37.9,-20.6,32,239,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2636,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,559,-0.54,-170.3,145.3,-27.9,93,567,0.00,1.70,0.00,0.000,4,0.000,0.050,2325,3780,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,594,-0.54,-170.3,153.5,-24.4,96,602,0.10,1.70,0.00,0.000,6,0.172,0.023,2352,2531,3625,0,0,0,0,0,0,26.15,26.47,28.83
$GC,906,-0.54,-170.3,213.4,-16.2,149,908,0.08,0.00,0.00,0.000,6,0.134,0.000,2292,2527,3625,0,0,0,0,0,0,26.58,28.83,28.83
$GC,1205,-0.54,-170.3,277.0,-21.1,179,1207,0.17,0.00,0.00,0.000,6,0.161,0.000,2344,2526,3625,0,0,0,0,0,0,26.10,28.83,28.83
$GC,1505,-0.54,-170.3,317.9,-12.7,209,1515,0.00,1.92,0.00,0.000,4,0.000,0.025,2345,1149,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1540,-0.54,-170.3,321.7,-12.1,212,1547,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2637,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1847,-0.54,-170.3,358.3,-11.6,243,1851,0.00,2.10,0.00,0.000,4,0.000,0.024,2337,1150,3623,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1921,-0.54,-170.3,365.7,-9.5,250,1930,0.00,2.22,0.00,0.000,6,0.000,0.042,2332,2636,3623,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2229,-0.54,-170.3,404.7,-12.9,281,2233,0.05,1.70,0.00,0.000,4,0.236,0.052,2344,3772,3620,0,0,0,0,0,0,26.53,26.06,28.83
$GC,2252,-0.54,-170.3,407.3,-12.5,283,2260,0.00,1.73,0.00,0.000,6,0.000,0.022,2344,2515,3620,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2562,-0.54,-170.3,440.6,-9.3,314,2571,0.00,1.92,0.00,0.000,4,0.000,0.023,2344,1137,3617,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2605,-0.54,-170.3,444.1,-8.3,318,2614,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2636,3617,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2915,-0.54,-170.3,469.6,-8.4,349,2917,0.00,0.00,-0.08,0.000,6,0.000,0.000,2344,2636,3637,0,0,0,0,0,0,28.83,28.83,25.32
$GC,3214,-0.54,-170.3,496.3,-8.9,379,3223,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1156,3634,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3258,-0.54,-170.3,499.9,-8.7,383,3266,0.00,2.25,0.00,0.000,6,0.000,0.043,2336,2638,3634,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3566,-0.54,-170.3,528.0,-8.9,414,3575,0.00,2.12,0.00,0.000,4,0.000,0.024,2338,1158,3631,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3610,-0.54,-170.3,531.5,-8.7,418,3617,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2633,3632,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3917,-0.54,-170.3,559.8,-9.1,449,3927,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1157,3628,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3950,-0.54,-170.3,562.4,-8.5,452,3959,0.05,2.28,0.00,0.000,6,0.210,0.044,2350,2646,3628,0,0,0,0,0,0,25.99,26.08,28.83
$GC,4261,-0.54,-170.3,586.2,-7.9,483,4263,0.05,0.00,0.00,0.000,6,0.173,0.000,2289,2647,3624,0,0,0,0,0,0,26.57,28.83,28.83
$GC,4571,-0.54,-170.3,629.7,-14.3,504,4577,0.17,2.15,0.00,0.000,4,0.141,0.023,2350,1150,3622,0,0,0,0,0,0,26.10,26.32,28.83
$GC,4645,-0.54,-170.3,635.6,-10.9,507,4652,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2636,3621,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4951,-0.54,-170.3,660.7,-7.5,523,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2636,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5252,-0.54,-170.3,682.6,-7.4,538,5257,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1161,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5280,-0.54,-170.3,684.1,-7.5,539,5289,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2640,3616,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5591,-0.54,-170.3,708.9,-8.0,555,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2640,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.54,-170.3,732.2,-7.7,570,5897,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1159,3612,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5937,-0.54,-170.3,735.4,-7.7,572,5942,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2634,3611,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6252,-0.54,-170.3,759.0,-7.0,588,6255,0.00,1.75,0.00,0.000,4,0.000,0.057,2347,3765,3609,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6357,-0.54,-170.3,766.2,-7.0,593,6360,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2504,3608,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6673,-0.54,-170.3,786.9,-6.3,609,6679,0.00,1.88,0.00,0.000,4,0.000,0.025,2347,1154,3606,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6733,-0.54,-170.3,790.7,-6.5,612,6739,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2636,3606,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7055,-0.54,-170.3,812.2,-7.0,628,7058,0.00,1.75,0.00,0.000,4,0.000,0.057,2347,3768,3604,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7149,-0.54,-170.3,818.3,-7.4,632,7156,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2480,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7457,-0.54,-170.3,843.3,-8.1,648,7463,0.00,1.98,0.00,0.000,4,0.000,0.056,2347,3759,3602,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7564,-0.54,-170.3,851.2,-8.1,653,7568,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2517,3600,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7877,-0.54,-170.3,875.6,-7.6,669,7881,0.00,2.00,0.00,0.000,4,0.000,0.056,2347,3765,3599,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8039,-0.54,-170.3,887.6,-7.4,677,8042,0.00,1.73,0.00,0.000,6,0.000,0.025,2347,2526,3598,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8363,-0.54,-170.3,910.8,-7.1,693,8369,0.00,1.95,0.00,0.000,4,0.000,0.055,2347,3779,3597,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8566,-0.54,-170.3,925.7,-7.7,703,8570,0.00,1.75,0.00,0.000,6,0.000,0.023,2347,2494,3596,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8884,-0.54,-170.3,945.4,-5.8,719,8890,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3770,3595,0,0,0,0,0,0,28.83,25.69,28.83
$GC,9077,-0.54,-170.3,956.6,-6.6,728,9085,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2501,3595,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9387,-0.54,-170.3,975.6,-5.8,744,9393,0.00,1.98,0.00,0.000,4,0.000,0.057,2347,3768,3594,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9587,-0.54,-170.3,988.9,-7.1,754,9590,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2527,3592,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,9606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9606,begin apogee
$GC,9613,-0.17,0.0,990.3,-6.8,755,9769,0.30,0.00,148.12,1.694,6,0.071,0.000,2475,2499,2928,0,0,0,0,0,0,26.12,28.83,22.63
$STATE,9770,end apogee,CONTROL_FINISHED_OK
$STATE,9770,begin climb
$GC,9773,0.54,170.3,999.2,0.0,763,9941,0.62,0.00,164.80,1.651,6,0.046,0.000,2720,2499,2234,0,0,0,0,0,0,24.98,28.83,22.05
$GC,10243,0.54,170.3,943.3,15.8,786,10245,0.15,0.00,0.00,0.000,6,0.177,0.000,2680,2499,2223,0,0,0,0,0,0,25.90,28.83,28.83
$GC,10543,0.54,170.3,904.4,13.1,801,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2499,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10844,0.54,170.3,867.1,12.2,816,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2499,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11143,0.54,170.3,833.6,10.6,831,11149,0.00,2.08,0.00,0.000,4,0.000,0.028,2691,1059,2219,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11165,0.54,170.3,831.5,10.7,832,11169,0.00,2.30,0.00,0.000,6,0.000,0.047,2691,2536,2217,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11484,0.54,170.3,795.1,11.4,848,11490,0.00,1.92,0.00,0.000,4,0.000,0.057,2691,3764,2217,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11516,0.54,170.3,792.5,11.6,849,11523,0.10,1.88,0.00,0.000,6,0.203,0.024,2677,2469,2217,0,0,0,0,0,0,25.91,26.32,28.83
$GC,11825,0.54,170.3,758.8,9.4,865,11831,0.05,2.03,0.00,0.000,4,0.174,0.027,2730,1066,2216,0,0,0,0,0,0,26.51,26.18,28.83
$GC,11885,0.54,170.3,752.2,10.7,868,11890,0.15,2.25,0.00,0.000,6,0.142,0.047,2681,2530,2215,0,0,0,0,0,0,25.53,25.95,28.83
$GC,12203,0.54,170.3,720.8,9.9,884,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2531,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12504,0.54,170.3,688.4,11.1,899,12510,0.00,1.92,0.00,0.000,4,0.000,0.055,2682,3763,2214,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12536,0.54,170.3,685.9,11.5,900,12544,0.00,1.88,0.00,0.000,6,0.000,0.022,2691,2450,2215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12843,0.54,170.3,645.1,12.7,916,12849,0.00,2.05,0.00,0.000,4,0.000,0.054,2691,3765,2214,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12937,0.54,170.3,633.6,14.4,920,12946,0.10,1.88,0.00,0.000,6,0.197,0.021,2677,2449,2214,0,0,0,0,0,0,25.92,26.32,28.83
$GC,13243,0.54,170.3,598.8,9.9,936,13253,0.05,2.03,0.00,0.000,4,0.175,0.028,2734,1066,2214,0,0,0,0,0,0,26.51,26.15,28.83
$GC,13290,0.54,170.3,593.8,11.6,940,13298,0.20,2.28,0.00,0.000,6,0.155,0.044,2678,2544,2213,0,0,0,0,0,0,25.45,25.91,28.83
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$STATE,19237,end climb,SURFACE_DEPTH_REACHED
$STATE,19237,begin surface coast
$FINISH,0.7,1.021282
$STATE,19284,end surface coast,CONTROL_FINISHED_OK
$STATE,19284,begin surface
$SM_CCo,19361,0.00,0.000,0,0,901,497.47
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$IRIDIUM_FIX,1803.24,12337.00,220612,090904
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.40
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.0,100.396
$10V_AH,9.8,61.387
$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
$DEVICE_SECS,19.100,166.475,535.800,0.000,0.000,25.440,39.107,265.758,0.000,0.000,24.006,4249.025,10727.751,727.481,3661.889,464.132,0.000,2401.560,0.000,2995.905,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.117,2342.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329632
$DATA_FILE_SIZE,126916,1685
$CAP_FILE_SIZE,209640,0
$CFSIZE,260165632,173715456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246, 79.6,1
$GPS,220612,202524,1813.224,12337.617,43,0.9,43,-2.0