version: 66.10
glider: 176
mission: 5
dive: 476
start: 6 22 112 20 33 43
data:
$ID,176
$MISSION,5
$DIVE,476
$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,-8229.9277
$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
$GPS1,220612,202524,1813.224,12337.617,43,0.9,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.4
$GPS2,220612,203314,1813.267,12337.773,11,1.1,11,-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,262.9,146880,-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,-170.3,0.0,0.0,0,72,0.00,0.00,-53.00,0.000,2,0.000,0.000,190,2688,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.54,-170.3,3.5,-7.5,9,118,9.07,2.22,-25.98,0.000,4,0.242,0.038,2341,1156,3625,0,0,0,0,0,0,25.03,26.26,26.74
$GC,207,-0.54,-170.3,37.1,-21.0,27,215,0.00,2.25,0.00,0.000,6,0.000,0.046,2335,2637,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,538,-0.54,-170.3,137.1,-23.4,88,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2638,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.54,-170.3,207.8,-18.5,145,873,0.00,2.08,0.00,0.000,4,0.000,0.024,2335,1161,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,937,-0.54,-170.3,218.1,-12.9,152,946,0.00,2.20,0.00,0.000,6,0.000,0.044,2335,2637,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1245,-0.54,-170.3,268.2,-15.9,183,1255,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1159,3626,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1279,-0.54,-170.3,272.8,-14.6,186,1287,0.00,2.25,0.00,0.000,6,0.000,0.042,2333,2636,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1587,-0.54,-170.3,315.8,-15.0,217,1591,0.00,1.70,0.00,0.000,4,0.000,0.052,2325,3769,3625,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1630,-0.54,-170.3,322.0,-15.3,221,1634,0.10,1.67,0.00,0.000,6,0.158,0.022,2356,2511,3624,0,0,0,0,0,0,26.21,26.52,28.83
$GC,1942,-0.54,-170.3,357.5,-10.9,252,1951,0.08,1.90,0.00,0.000,4,0.129,0.023,2288,1150,3623,0,0,0,0,0,0,26.58,26.40,28.83
$GC,1986,-0.54,-170.3,362.9,-12.8,256,1994,0.17,2.28,0.00,0.000,6,0.111,0.042,2354,2635,3623,0,0,0,0,0,0,25.85,26.17,28.83
$GC,2294,-0.54,-170.3,393.8,-9.5,287,2304,0.08,2.12,0.00,0.000,4,0.128,0.022,2284,1144,3621,0,0,0,0,0,0,26.57,26.38,28.83
$GC,2339,-0.54,-170.3,399.1,-12.4,291,2348,0.22,2.28,0.00,0.000,6,0.129,0.043,2350,2641,3621,0,0,0,0,0,0,25.86,26.14,28.83
$GC,2647,-0.54,-170.3,426.8,-8.5,322,2656,0.05,2.12,0.00,0.000,4,0.173,0.022,2290,1152,3618,0,0,0,0,0,0,26.59,26.37,28.83
$GC,2742,-0.54,-170.3,436.8,-11.1,331,2751,0.22,2.25,0.00,0.000,6,0.122,0.043,2354,2636,3618,0,0,0,0,0,0,25.87,26.14,28.83
$GC,3049,-0.54,-170.3,460.2,-7.5,362,3052,0.08,0.00,-0.10,0.000,6,0.127,0.000,2283,2637,3639,0,0,0,0,0,0,26.56,28.83,25.82
$GC,3351,-0.54,-170.3,504.9,-15.3,392,3361,0.17,2.12,0.00,0.000,4,0.147,0.022,2344,1140,3637,0,0,0,0,0,0,26.12,26.36,28.83
$GC,3406,-0.54,-170.3,510.4,-9.2,397,3413,0.00,2.28,0.00,0.000,6,0.000,0.043,2335,2636,3636,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3717,-0.54,-170.3,540.9,-10.2,428,3725,0.00,2.12,0.00,0.000,4,0.000,0.024,2337,1150,3633,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3768,-0.54,-170.3,546.3,-9.7,433,3777,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2637,3633,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4078,-0.54,-170.3,578.3,-10.3,464,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2638,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,-0.54,-170.3,605.7,-8.3,491,4386,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1153,3627,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4427,-0.54,-170.3,608.8,-7.9,493,4431,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2635,3627,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4737,-0.54,-170.3,631.9,-7.5,508,4742,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1158,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4768,-0.54,-170.3,633.5,-7.5,509,4775,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2639,3624,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5075,-0.54,-170.3,657.1,-7.4,525,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2640,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.54,-170.3,679.3,-7.5,540,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2640,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.54,-170.3,703.4,-8.2,555,5681,0.00,2.17,0.00,0.000,4,0.000,0.024,2336,1147,3616,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5715,-0.54,-170.3,706.5,-8.0,557,5721,0.00,2.30,0.00,0.000,6,0.000,0.046,2335,2634,3616,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6036,-0.54,-170.3,732.6,-8.0,573,6040,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1160,3614,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6071,-0.54,-170.3,734.6,-8.1,574,6078,0.00,2.28,0.00,0.000,6,0.000,0.046,2335,2634,3614,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6379,-0.54,-170.3,758.8,-7.6,590,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2634,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,-0.54,-170.3,782.4,-8.0,605,6684,0.00,2.15,0.00,0.000,4,0.000,0.024,2335,1156,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6721,-0.54,-170.3,785.7,-8.1,607,6725,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2640,3610,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7035,-0.54,-170.3,810.1,-7.5,623,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2640,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7333,-0.54,-170.3,830.8,-6.5,638,7339,0.00,2.17,0.00,0.000,4,0.000,0.024,2334,1153,3606,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7361,-0.54,-170.3,832.1,-6.3,639,7365,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2635,3606,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7669,-0.54,-170.3,850.3,-5.6,654,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7968,-0.54,-170.3,867.7,-5.7,669,7974,0.00,2.17,0.00,0.000,4,0.000,0.025,2334,1149,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7997,-0.54,-170.3,868.9,-5.9,670,8007,0.00,2.33,0.00,0.000,6,0.000,0.047,2334,2644,3603,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8308,-0.54,-170.3,889.0,-6.3,686,8314,0.00,2.17,0.00,0.000,4,0.000,0.025,2334,1159,3601,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8328,-0.54,-170.3,890.3,-6.5,687,8334,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2643,3601,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8649,-0.54,-170.3,910.1,-6.2,703,8655,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1164,3600,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8676,-0.54,-170.3,911.4,-6.1,704,8680,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2643,3600,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8983,-0.54,-170.3,928.5,-5.1,719,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2644,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9284,-0.54,-170.3,946.4,-6.4,734,9290,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1164,3597,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9316,-0.54,-170.3,947.7,-6.4,735,9324,0.00,2.30,0.00,0.000,6,0.000,0.047,2333,2643,3598,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9625,-0.54,-170.3,969.4,-6.9,751,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2643,3596,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9921,begin apogee
$GC,9926,-0.17,0.0,990.6,-7.3,766,10086,0.38,0.15,149.15,1.693,6,0.099,0.085,2469,2561,2929,0,0,0,0,0,0,25.78,24.39,22.56
$STATE,10087,end apogee,CONTROL_FINISHED_OK
$STATE,10088,begin climb
$GC,10090,0.54,170.3,999.4,0.0,774,10265,0.60,2.42,165.55,1.651,4,0.049,0.028,2721,1078,2233,0,0,0,0,0,0,24.94,23.95,21.93
$GC,10301,0.54,170.3,991.0,10.8,784,10308,0.15,2.38,0.00,0.000,6,0.163,0.048,2683,2532,2226,0,0,0,0,0,0,24.69,24.92,28.83
$GC,10610,0.54,170.3,953.6,11.6,800,10615,0.00,1.92,0.00,0.000,4,0.000,0.057,2683,3768,2222,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10661,0.54,170.3,948.2,12.5,802,10668,0.00,1.90,0.00,0.000,6,0.000,0.025,2692,2477,2221,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10969,0.54,170.3,906.8,12.7,818,10975,0.00,2.00,0.00,0.000,4,0.000,0.056,2692,3757,2219,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11041,0.54,170.3,897.6,14.9,821,11048,0.10,1.88,0.00,0.000,6,0.206,0.026,2679,2465,2218,0,0,0,0,0,0,25.91,26.29,28.83
$GC,11348,0.54,170.3,857.1,12.2,837,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2461,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11650,0.54,170.3,821.1,11.6,852,11656,0.00,2.03,0.00,0.000,4,0.000,0.056,2679,3765,2217,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11696,0.54,170.3,815.9,12.4,854,11700,0.00,1.88,0.00,0.000,6,0.000,0.023,2688,2464,2216,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12005,0.54,170.3,777.7,11.5,869,12011,0.00,2.03,0.00,0.000,4,0.000,0.031,2699,1073,2215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12036,0.54,170.3,775.6,11.3,870,12044,0.08,2.28,0.00,0.000,6,0.185,0.046,2682,2539,2214,0,0,0,0,0,0,25.83,25.95,28.83
$GC,12344,0.54,170.3,740.1,11.3,886,12349,0.00,1.92,0.00,0.000,4,0.000,0.057,2682,3769,2214,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12387,0.54,170.3,734.9,12.3,888,12391,0.00,1.88,0.00,0.000,6,0.000,0.022,2691,2457,2214,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12699,0.54,170.3,697.4,11.9,904,12705,0.00,2.03,0.00,0.000,4,0.000,0.031,2703,1073,2214,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12761,0.54,170.3,690.3,11.8,907,12766,0.10,2.28,0.00,0.000,6,0.171,0.045,2678,2544,2213,0,0,0,0,0,0,25.72,25.91,28.83
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$STATE,20395,end climb,SURFACE_DEPTH_REACHED
$STATE,20396,begin surface coast
$FINISH,0.7,1.001454
$STATE,20457,end surface coast,CONTROL_FINISHED_OK
$STATE,20457,begin surface
$SM_CCo,20533,0.00,0.000,0,0,680,551.68
$SM_GC,1.56,6.50,0.12,0.00,0.031,0.091,0.000,198,2682,680,-7.15,-0.25,551.68,0,0,0,0,0,0,26.29,26.51,28.83
$IRIDIUM_FIX,1805.50,12337.00,220612,141457
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.81
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,21.9,100.619
$10V_AH,9.7,61.525
$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,20.625,181.575,542.300,0.000,0.000,26.410,46.742,241.254,0.250,0.000,14.559,4607.984,11422.006,730.692,3731.857,480.457,0.000,2476.355,0.000,3053.232,0.000,0.544,0.000
$DEVICE_MAMPS,312.885,91.035,1692.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1248.722,2511.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,137306,1838
$CAP_FILE_SIZE,217619,0
$CFSIZE,260165632,173584384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 76.2,1
$GPS,230612,021707,1813.234,12337.168,41,0.9,41,-2.0