version: 66.10
glider: 176
mission: 5
dive: 482
start: 6 24 112 7 46 42
data:
$ID,176
$MISSION,5
$DIVE,482
$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,-8237.5713
$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
$GPS1,240612,073755,1815.096,12336.781,40,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.0
$GPS2,240612,074614,1815.148,12336.897,14,1.1,14,-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,275.5,144618,-13.2,-8.250
$D_GRID,5028
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,81,0.00,0.00,-62.08,0.000,2,0.000,0.000,176,2683,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.54,-170.3,3.1,-6.6,11,129,8.75,2.28,-28.95,0.000,4,0.228,0.040,2343,1155,3626,0,0,0,0,0,0,25.01,26.29,26.74
$GC,216,-0.54,-170.3,35.3,-21.9,32,223,0.00,2.22,0.00,0.000,6,0.000,0.042,2334,2638,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,546,-0.54,-170.3,142.9,-30.7,93,552,0.00,2.10,0.00,0.000,4,0.000,0.024,2334,1159,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,575,-0.54,-170.3,150.1,-25.0,98,584,0.10,2.22,0.00,0.000,6,0.169,0.044,2350,2642,3625,0,0,0,0,0,0,26.01,26.20,28.83
$GC,910,-0.54,-170.3,215.5,-19.2,152,912,0.05,0.00,0.00,0.000,6,0.179,0.000,2294,2642,3625,0,0,0,0,0,0,26.60,28.83,28.83
$GC,1211,-0.54,-170.3,282.0,-21.6,182,1221,0.15,2.10,0.00,0.000,4,0.168,0.022,2342,1154,3625,0,0,0,0,0,0,26.13,26.40,28.83
$GC,1295,-0.54,-170.3,292.1,-9.3,190,1305,0.00,2.20,0.00,0.000,6,0.000,0.040,2335,2639,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1604,-0.54,-170.3,330.2,-14.0,221,1613,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1163,3623,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1657,-0.54,-170.3,336.4,-11.7,226,1666,0.00,2.20,0.00,0.000,6,0.000,0.041,2335,2638,3623,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1965,-0.54,-170.3,375.2,-12.4,257,1974,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1158,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2040,-0.54,-170.3,382.9,-10.1,264,2047,0.00,2.22,0.00,0.000,6,0.000,0.041,2333,2641,3621,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2347,-0.54,-170.3,417.5,-10.8,295,2351,0.05,1.70,0.00,0.000,4,0.238,0.051,2344,3766,3618,0,0,0,0,0,0,26.52,26.07,28.83
$GC,2399,-0.54,-170.3,422.4,-8.9,300,2402,0.00,1.67,0.00,0.000,6,0.000,0.022,2344,2508,3617,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2710,-0.54,-170.3,448.8,-8.8,331,2714,0.00,2.00,-0.08,0.000,4,0.000,0.063,2335,3773,3643,0,0,0,0,0,0,28.83,26.03,25.46
$GC,2744,-0.54,-170.3,451.7,-9.2,334,2752,0.00,1.73,0.00,0.000,6,0.000,0.022,2335,2502,3642,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3052,-0.54,-170.3,483.6,-10.4,365,3061,0.00,1.90,0.00,0.000,4,0.000,0.024,2334,1149,3639,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3076,-0.54,-170.3,485.7,-10.2,367,3083,0.00,2.30,0.00,0.000,6,0.000,0.044,2335,2659,3639,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3384,-0.54,-170.3,513.7,-8.1,398,3393,0.00,2.17,0.00,0.000,4,0.000,0.024,2335,1147,3636,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3437,-0.54,-170.3,517.6,-7.2,403,3446,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2635,3636,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3746,-0.54,-170.3,542.5,-8.9,434,3755,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1157,3632,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3799,-0.54,-170.3,547.0,-8.4,439,3808,0.00,2.22,0.00,0.000,6,0.000,0.044,2332,2630,3632,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4108,-0.54,-170.3,576.2,-10.1,470,4118,0.05,2.12,0.00,0.000,4,0.229,0.023,2349,1156,3628,0,0,0,0,0,0,26.51,26.34,28.83
$GC,4155,-0.54,-170.3,580.0,-8.9,474,4163,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2646,3628,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4472,-0.54,-170.3,607.2,-8.3,502,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2646,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4772,-0.54,-170.3,630.4,-7.6,517,4776,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1169,3622,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4815,-0.54,-170.3,633.6,-7.6,519,4821,0.03,2.28,0.00,0.000,6,0.249,0.045,2302,2636,3622,0,0,0,0,0,0,26.03,26.04,28.83
$GC,5135,-0.54,-170.3,668.5,-11.1,535,5140,0.12,1.77,0.00,0.000,4,0.150,0.054,2339,3800,3618,0,0,0,0,0,0,26.24,25.92,28.83
$GC,5180,-0.54,-170.3,672.4,-10.0,537,5184,0.00,1.77,0.00,0.000,6,0.000,0.023,2339,2490,3618,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5498,-0.54,-170.3,694.7,-6.8,553,5504,0.00,1.92,0.00,0.000,4,0.000,0.025,2339,1150,3616,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5532,-0.54,-170.3,696.2,-6.9,554,5540,0.00,2.30,0.00,0.000,6,0.000,0.045,2335,2648,3616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5838,-0.54,-170.3,719.0,-7.1,570,5842,0.00,2.17,0.00,0.000,4,0.000,0.025,2335,1155,3613,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5862,-0.54,-170.3,720.6,-7.0,571,5866,0.00,2.30,0.00,0.000,6,0.000,0.045,2335,2644,3613,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6176,-0.54,-170.3,742.4,-6.8,587,6182,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1159,3611,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6215,-0.54,-170.3,745.3,-7.0,589,6220,0.00,2.30,0.00,0.000,6,0.000,0.045,2335,2643,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6536,-0.54,-170.3,768.6,-7.4,605,6541,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1168,3608,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6569,-0.54,-170.3,770.2,-7.4,606,6577,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2643,3608,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6876,-0.54,-170.3,792.7,-6.9,622,6879,0.00,1.73,0.00,0.000,4,0.000,0.057,2332,3765,3606,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6899,-0.54,-170.3,794.4,-6.9,623,6903,0.05,1.73,0.00,0.000,6,0.194,0.024,2351,2505,3606,0,0,0,0,0,0,26.26,26.45,28.83
$GC,7222,-0.54,-170.3,812.5,-5.2,639,7224,0.08,0.00,0.00,0.000,6,0.129,0.000,2292,2487,3604,0,0,0,0,0,0,26.52,28.83,28.83
$GC,7521,-0.54,-170.3,841.0,-9.9,654,7527,0.15,2.00,0.00,0.000,4,0.141,0.054,2344,3762,3602,0,0,0,0,0,0,26.14,25.73,28.83
$GC,7570,-0.54,-170.3,843.7,-8.6,656,7574,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2489,3602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7882,-0.54,-170.3,860.8,-5.5,672,7887,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3601,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7915,-0.54,-170.3,861.9,-5.6,673,7921,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2465,3600,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8223,-0.54,-170.3,879.6,-5.5,689,8228,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3599,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8264,-0.54,-170.3,881.8,-5.4,691,8268,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2512,3598,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8584,-0.54,-170.3,900.2,-5.8,707,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2510,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-0.54,-170.3,918.4,-6.1,722,8887,0.00,2.00,0.00,0.000,4,0.000,0.058,2344,3769,3596,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8915,-0.54,-170.3,919.7,-6.2,723,8921,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2497,3596,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9224,-0.54,-170.3,939.6,-6.4,739,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2497,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9522,-0.54,-170.3,959.7,-6.7,754,9527,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3762,3594,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9562,-0.54,-170.3,962.2,-6.5,756,9565,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2508,3594,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9884,-0.54,-170.3,982.2,-5.8,772,9890,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3761,3593,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9916,-0.54,-170.3,983.2,-5.7,773,9923,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2490,3592,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10041,begin apogee
$GC,10048,-0.17,0.0,990.8,-5.3,780,10205,0.32,0.08,147.90,1.689,6,0.098,0.099,2464,2453,2929,0,0,0,0,0,0,25.87,24.32,22.65
$STATE,10206,end apogee,CONTROL_FINISHED_OK
$STATE,10206,begin climb
$GC,10208,0.54,170.3,996.7,0.0,788,10386,0.65,2.25,164.77,1.646,4,0.050,0.031,2725,1087,2233,0,0,0,0,0,0,24.96,24.04,22.04
$GC,10422,0.54,170.3,983.3,13.4,798,10430,0.17,2.35,0.00,0.000,6,0.158,0.047,2679,2533,2227,0,0,0,0,0,0,24.82,25.08,28.83
$GC,10729,0.54,170.3,939.4,13.3,814,10734,0.00,1.92,0.00,0.000,4,0.000,0.057,2679,3774,2222,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10791,0.54,170.3,930.3,14.7,817,10796,0.00,1.92,0.00,0.000,6,0.000,0.026,2688,2469,2221,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11109,0.54,170.3,888.7,12.1,833,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2464,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11410,0.54,170.3,854.0,11.1,848,11416,0.00,2.05,0.00,0.000,4,0.000,0.057,2688,3768,2219,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11451,0.54,170.3,849.0,11.8,850,11456,0.05,1.90,0.00,0.000,6,0.184,0.025,2682,2474,2218,0,0,0,0,0,0,25.96,26.29,28.83
$GC,11769,0.54,170.3,813.1,11.8,866,11775,0.00,2.05,0.00,0.000,4,0.000,0.029,2692,1072,2216,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11791,0.54,170.3,810.7,11.7,867,11796,0.00,2.25,0.00,0.000,6,0.000,0.045,2692,2535,2216,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12110,0.54,170.3,767.9,13.9,883,12115,0.00,1.92,0.00,0.000,4,0.000,0.058,2692,3769,2215,0,0,0,0,0,0,28.83,25.80,28.83
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$STATE,20193,end climb,SURFACE_DEPTH_REACHED
$STATE,20193,begin surface coast
$FINISH,0.8,0.997716
$STATE,20231,end surface coast,CONTROL_FINISHED_OK
$STATE,20232,begin surface
$SM_CCo,20307,0.00,0.000,0,0,854,509.00
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$IRIDIUM_FIX,1807.77,12302.38,240612,010134
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.0,101.996
$10V_AH,9.7,62.365
$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
$DEVICE_SECS,19.950,193.550,562.500,0.000,0.000,28.330,41.812,264.026,0.250,0.000,17.075,4527.963,11247.439,750.673,3748.682,495.955,0.000,2482.032,0.000,3050.740,0.000,0.543,0.000
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$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,133723,1800
$CAP_FILE_SIZE,221231,0
$CFSIZE,260165632,172871680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 63.0,1
$GPS,240612,132607,1815.936,12335.477,27,1.3,27,-2.0