version: 66.10
glider: 176
mission: 5
dive: 478
start: 6 23 112 8 10 49
data:
$ID,176
$MISSION,5
$DIVE,478
$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,-8232.5391
$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
$GPS1,230612,080236,1813.211,12336.367,25,1.7,25,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.3
$GPS2,230612,081020,1813.308,12336.517,11,1.8,11,-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,279.3,144715,-13.2,-8.250
$D_GRID,5095
$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,-170.3,0.0,0.0,0,82,0.00,0.00,-62.90,0.000,2,0.000,0.000,193,2688,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.54,-170.3,3.2,-6.9,11,130,8.77,2.28,-28.15,0.000,4,0.232,0.039,2340,1154,3626,0,0,0,0,0,0,25.01,26.28,26.73
$GC,237,-0.54,-170.3,40.3,-21.5,36,244,0.00,2.25,0.00,0.000,6,0.000,0.044,2336,2644,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,566,-0.54,-170.3,143.3,-28.0,97,572,0.00,2.12,0.00,0.000,4,0.000,0.024,2336,1156,3626,0,0,0,0,0,0,28.83,26.37,28.83
$GC,615,-0.54,-170.3,153.6,-15.8,106,623,0.00,2.22,0.00,0.000,6,0.000,0.044,2335,2637,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,932,-0.54,-170.3,215.4,-17.5,160,935,0.00,2.10,0.00,0.000,4,0.000,0.024,2336,1157,3626,0,0,0,0,0,0,28.83,26.38,28.83
$GC,987,-0.54,-170.3,223.2,-14.6,165,993,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2652,3626,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1295,-0.54,-170.3,268.2,-13.1,196,1303,0.00,2.12,0.00,0.000,4,0.000,0.027,2334,1168,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1328,-0.54,-170.3,272.4,-13.1,199,1336,0.00,2.20,0.00,0.000,6,0.000,0.043,2334,2638,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1636,-0.54,-170.3,310.2,-12.2,230,1645,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1155,3624,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1699,-0.54,-170.3,316.8,-9.5,236,1708,0.00,2.22,0.00,0.000,6,0.000,0.042,2332,2646,3624,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2008,-0.54,-170.3,351.6,-11.5,267,2010,0.05,0.00,0.00,0.000,6,0.240,0.000,2346,2646,3622,0,0,0,0,0,0,26.53,28.83,28.83
$GC,2308,-0.54,-170.3,380.6,-9.0,297,2317,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1154,3620,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2371,-0.54,-170.3,385.4,-7.4,303,2379,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2638,3619,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2680,-0.54,-170.3,412.3,-8.9,334,2690,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1163,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2712,-0.54,-170.3,415.1,-8.8,337,2721,0.00,2.25,0.00,0.000,6,0.000,0.043,2346,2648,3616,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3023,-0.54,-170.3,444.1,-9.5,368,3033,0.00,2.17,-0.10,0.000,4,0.000,0.037,2345,1153,3636,0,0,0,0,0,0,28.83,26.30,25.96
$GC,3079,-0.54,-170.3,448.9,-8.9,373,3085,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2644,3636,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3387,-0.54,-170.3,476.3,-8.3,404,3396,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1165,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3422,-0.54,-170.3,479.0,-8.3,407,3429,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2643,3633,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3729,-0.54,-170.3,503.0,-7.7,438,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2643,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-0.54,-170.3,526.8,-8.5,468,4041,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1161,3625,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4076,-0.54,-170.3,530.6,-8.3,472,4084,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2632,3625,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4385,-0.54,-170.3,558.3,-9.4,503,4394,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1157,3622,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4429,-0.54,-170.3,562.1,-9.1,507,4436,0.00,2.30,0.00,0.000,6,0.000,0.044,2345,2657,3622,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4737,-0.54,-170.3,590.1,-9.0,538,4746,0.00,2.17,0.00,0.000,4,0.000,0.026,2345,1164,3619,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4779,-0.54,-170.3,593.8,-8.6,542,4789,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2637,3619,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5099,-0.54,-170.3,620.1,-7.8,562,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2637,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5401,-0.54,-170.3,642.7,-7.4,577,5406,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1168,3614,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5447,-0.54,-170.3,645.7,-7.6,579,5452,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2636,3614,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5758,-0.54,-170.3,670.1,-8.0,594,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2636,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6055,-0.54,-170.3,693.6,-7.6,609,6060,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1163,3610,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6087,-0.54,-170.3,695.2,-7.5,610,6096,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2646,3610,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6396,-0.54,-170.3,716.4,-6.0,626,6401,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1167,3607,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6428,-0.54,-170.3,717.7,-6.3,627,6434,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2644,3607,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6735,-0.54,-170.3,737.5,-6.3,643,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2644,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7036,-0.54,-170.3,756.5,-6.3,658,7041,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1167,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7098,-0.54,-170.3,760.5,-6.5,661,7103,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2635,3603,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7418,-0.54,-170.3,780.7,-6.5,677,7421,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3766,3601,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7549,-0.54,-170.3,789.2,-7.1,683,7552,0.00,1.73,0.00,0.000,6,0.000,0.026,2345,2522,3600,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7862,-0.54,-170.3,810.1,-6.4,699,7867,0.00,1.92,0.00,0.000,4,0.000,0.027,2345,1153,3599,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7902,-0.54,-170.3,812.8,-6.4,701,7907,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2637,3598,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8215,-0.54,-170.3,833.2,-6.6,717,8219,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3767,3597,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8306,-0.54,-170.3,838.3,-6.4,721,8309,0.00,1.73,0.00,0.000,6,0.000,0.025,2345,2526,3596,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8617,-0.54,-170.3,859.4,-6.4,737,8622,0.00,1.92,0.00,0.000,4,0.000,0.026,2345,1157,3596,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8666,-0.54,-170.3,862.2,-6.6,739,8676,0.00,2.30,0.00,0.000,6,0.000,0.045,2345,2645,3595,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8977,-0.54,-170.3,882.3,-6.3,755,8983,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1164,3593,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9102,-0.54,-170.3,890.4,-6.7,761,9109,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2635,3593,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9417,-0.54,-170.3,910.7,-6.4,777,9421,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3764,3592,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9563,-0.54,-170.3,919.9,-6.5,784,9567,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2490,3591,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9881,-0.54,-170.3,943.1,-7.5,800,9886,0.00,1.92,0.00,0.000,4,0.000,0.028,2345,1159,3591,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10006,-0.54,-170.3,952.2,-7.5,806,10012,0.00,2.30,0.00,0.000,6,0.000,0.046,2345,2641,3590,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10321,-0.54,-170.3,975.9,-7.2,822,10327,0.00,2.17,0.00,0.000,4,0.000,0.026,2345,1156,3589,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10361,-0.54,-170.3,978.8,-7.3,824,10367,0.00,2.33,0.00,0.000,6,0.000,0.046,2345,2646,3589,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,10539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10539,begin apogee
$GC,10546,-0.17,0.0,991.0,-6.8,833,10704,0.32,0.12,147.43,1.694,6,0.076,0.061,2477,2553,2930,0,0,0,0,0,0,26.05,24.37,22.58
$STATE,10705,end apogee,CONTROL_FINISHED_OK
$STATE,10706,begin climb
$GC,10708,0.54,170.3,999.7,0.0,841,10883,0.57,2.40,164.77,1.652,4,0.048,0.028,2719,1073,2234,0,0,0,0,0,0,24.98,24.00,21.96
$GC,11041,0.54,170.3,971.7,13.5,857,11048,0.15,2.30,0.00,0.000,6,0.163,0.047,2679,2539,2223,0,0,0,0,0,0,25.60,25.88,28.83
$GC,11348,0.54,170.3,930.6,12.5,873,11353,0.00,1.90,0.00,0.000,4,0.000,0.056,2679,3770,2221,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11377,0.54,170.3,927.9,12.7,874,11381,0.00,1.90,0.00,0.000,6,0.000,0.024,2689,2459,2220,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11683,0.54,170.3,887.4,13.0,889,11689,0.00,2.08,0.00,0.000,4,0.000,0.055,2689,3766,2219,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11703,0.54,170.3,884.5,13.5,890,11709,0.08,1.90,0.00,0.000,6,0.228,0.024,2684,2463,2218,0,0,0,0,0,0,26.01,26.32,28.83
$GC,12024,0.54,170.3,843.8,12.3,906,12030,0.00,2.03,0.00,0.000,4,0.000,0.055,2683,3759,2217,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12043,0.54,170.3,841.0,12.7,907,12049,0.00,1.88,0.00,0.000,6,0.000,0.024,2693,2460,2217,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12363,0.54,170.3,799.7,13.0,923,12369,0.00,2.05,0.00,0.000,4,0.000,0.055,2693,3763,2216,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12457,0.54,170.3,787.3,15.6,927,12465,0.10,1.88,0.00,0.000,6,0.207,0.025,2680,2470,2216,0,0,0,0,0,0,25.88,26.28,28.83
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$STATE,20385,end climb,SURFACE_DEPTH_REACHED
$STATE,20385,begin surface coast
$FINISH,1.0,1.021068
$STATE,20411,end surface coast,CONTROL_FINISHED_OK
$STATE,20411,begin surface
$SM_CCo,20490,0.00,0.000,0,0,634,562.96
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$IRIDIUM_FIX,1805.50,12335.11,230612,020228
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.34
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,22.0,101.077
$10V_AH,9.7,61.800
$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,19.175,185.325,569.350,0.000,0.000,25.222,21.436,256.795,0.250,0.000,13.630,4606.280,11230.868,755.155,3833.419,494.131,0.000,2534.204,0.000,3186.677,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,61.200,1693.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1249.224,2502.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,137158,1840
$CAP_FILE_SIZE,218962,0
$CFSIZE,260165632,173355008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 47.4,1
$GPS,230612,135331,1814.598,12335.943,41,0.9,41,-2.0