version: 66.10
glider: 176
mission: 5
dive: 483
start: 6 24 112 13 34 49
data:
$ID,176
$MISSION,5
$DIVE,483
$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,-8238.8301
$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
$GPS1,240612,132607,1815.936,12335.477,27,1.3,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.1
$GPS2,240612,133420,1816.022,12335.548,9,1.7,9,-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,262.8,141966,-13.2,-8.250
$D_GRID,4927
$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,13,begin dive
$GC,16,-0.54,-170.3,0.0,0.0,0,70,0.00,0.00,-51.38,0.000,2,0.000,0.000,175,2681,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.2,-6.8,9,117,8.80,1.70,-29.00,0.000,4,0.230,0.064,2330,3771,3626,0,0,0,0,0,0,25.01,26.08,26.71
$GC,195,-0.54,-170.3,38.0,-28.8,25,202,0.08,1.70,0.00,0.000,6,0.200,0.024,2346,2544,3625,0,0,0,0,0,0,26.15,26.41,28.83
$GC,507,-0.54,-170.3,135.7,-26.4,86,514,0.00,1.92,0.00,0.000,4,0.000,0.024,2347,1150,3626,0,0,0,0,0,0,28.83,26.40,28.83
$GC,564,-0.54,-170.3,147.7,-16.7,96,570,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2641,3626,0,0,0,0,0,0,28.83,26.16,28.83
$GC,874,-0.54,-170.3,205.8,-13.6,153,883,0.00,2.08,0.00,0.000,4,0.000,0.024,2347,1152,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,937,-0.54,-170.3,212.9,-10.4,159,947,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2643,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1246,-0.54,-170.3,256.1,-14.7,190,1249,0.00,1.70,0.00,0.000,4,0.000,0.053,2347,3772,3626,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1278,-0.54,-170.3,260.2,-13.5,193,1281,0.00,1.70,0.00,0.000,6,0.000,0.022,2347,2523,3625,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1589,-0.54,-170.3,299.1,-12.6,224,1598,0.00,1.92,0.00,0.000,4,0.000,0.051,2345,3773,3624,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1610,-0.54,-170.3,301.9,-12.1,226,1614,0.00,1.70,0.00,0.000,6,0.000,0.021,2345,2521,3624,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1921,-0.54,-170.3,335.6,-10.1,257,1930,0.00,1.90,0.00,0.000,4,0.000,0.023,2345,1149,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1993,-0.54,-170.3,341.9,-8.7,264,2002,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2643,3622,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2303,-0.54,-170.3,375.3,-11.0,295,2312,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1154,3620,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2335,-0.54,-170.3,378.8,-11.0,298,2344,0.00,2.25,0.00,0.000,6,0.000,0.042,2332,2642,3619,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2645,-0.54,-170.3,413.1,-11.1,329,2649,0.00,2.12,0.00,0.000,4,0.000,0.024,2333,1153,3617,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2686,-0.54,-170.3,417.1,-9.7,333,2696,0.05,2.25,0.00,0.000,6,0.216,0.042,2348,2638,3617,0,0,0,0,0,0,26.06,26.15,28.83
$GC,2997,-0.54,-170.3,443.9,-8.8,364,2999,0.05,0.00,-0.10,0.000,6,0.174,0.000,2286,2639,3637,0,0,0,0,0,0,26.58,28.83,25.83
$GC,3297,-0.54,-170.3,487.7,-14.3,394,3306,0.17,2.12,0.00,0.000,4,0.145,0.022,2347,1158,3635,0,0,0,0,0,0,26.10,26.34,28.83
$GC,3373,-0.54,-170.3,494.9,-8.0,401,3381,0.00,2.22,0.00,0.000,6,0.000,0.043,2346,2633,3635,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3681,-0.54,-170.3,521.8,-9.0,432,3690,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1154,3633,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3704,-0.54,-170.3,523.7,-8.8,434,3712,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2629,3632,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4014,-0.54,-170.3,551.9,-9.4,465,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2630,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.54,-170.3,580.3,-9.3,495,4325,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1152,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4370,-0.54,-170.3,585.1,-8.7,500,4378,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2634,3625,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4681,-0.54,-170.3,608.8,-7.1,525,4686,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1155,3622,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4719,-0.54,-170.3,611.8,-7.1,527,4724,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2636,3622,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5039,-0.54,-170.3,634.0,-7.0,543,5044,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1152,3620,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5062,-0.54,-170.3,635.4,-6.9,544,5066,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2635,3619,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5375,-0.54,-170.3,659.0,-8.0,560,5380,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1160,3617,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5414,-0.54,-170.3,662.3,-8.2,562,5420,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2635,3616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5735,-0.54,-170.3,690.2,-9.0,578,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.54,-170.3,716.4,-8.3,593,6040,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1152,3612,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6096,-0.54,-170.3,721.2,-8.1,596,6102,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2634,3611,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6415,-0.54,-170.3,743.7,-6.4,612,6419,0.00,1.75,0.00,0.000,4,0.000,0.056,2344,3770,3610,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6498,-0.54,-170.3,748.9,-6.2,616,6501,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2514,3608,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6821,-0.54,-170.3,766.3,-5.4,632,6826,0.00,1.90,0.00,0.000,4,0.000,0.024,2344,1153,3607,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6874,-0.54,-170.3,768.7,-5.7,634,6880,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2636,3606,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7183,-0.54,-170.3,788.8,-6.8,650,7186,0.00,1.75,0.00,0.000,4,0.000,0.056,2344,3768,3604,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7253,-0.54,-170.3,793.1,-6.9,653,7257,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2508,3603,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7566,-0.54,-170.3,817.0,-7.5,669,7570,0.00,1.90,0.00,0.000,4,0.000,0.026,2344,1150,3602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7628,-0.54,-170.3,822.2,-8.1,672,7634,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2635,3602,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7948,-0.54,-170.3,846.0,-7.2,688,7952,0.00,1.73,0.00,0.000,4,0.000,0.056,2344,3765,3600,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8032,-0.54,-170.3,851.7,-6.9,692,8035,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2512,3599,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8355,-0.54,-170.3,873.8,-7.0,708,8361,0.00,1.90,0.00,0.000,4,0.000,0.026,2344,1154,3598,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8423,-0.54,-170.3,878.0,-7.0,711,8434,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2638,3598,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8734,-0.54,-170.3,900.6,-7.1,727,8737,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3767,3597,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8846,-0.54,-170.3,907.9,-7.2,732,8849,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2512,3596,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9158,-0.54,-170.3,932.3,-7.8,748,9164,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3761,3595,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9390,-0.54,-170.3,950.3,-8.5,759,9398,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2488,3594,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9701,-0.54,-170.3,975.9,-7.9,775,9706,0.00,1.92,0.00,0.000,4,0.000,0.025,2344,1149,3593,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9787,-0.54,-170.3,982.5,-8.2,779,9791,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2646,3593,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,9892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9892,begin apogee
$GC,9898,-0.17,0.0,991.3,-7.5,784,10057,0.32,0.10,148.18,1.692,6,0.078,0.067,2476,2548,2928,0,0,0,0,0,0,26.06,24.37,22.66
$STATE,10058,end apogee,CONTROL_FINISHED_OK
$STATE,10058,begin climb
$GC,10060,0.54,170.3,1001.9,0.0,792,10237,0.57,2.40,163.40,1.650,4,0.047,0.030,2721,1078,2232,0,0,0,0,0,0,25.05,24.13,22.11
$GC,10293,0.54,170.3,989.4,12.5,803,10300,0.15,2.35,0.00,0.000,6,0.162,0.047,2682,2543,2225,0,0,0,0,0,0,25.18,25.43,28.83
$GC,10600,0.54,170.3,950.0,12.3,819,10604,0.00,1.95,0.00,0.000,4,0.000,0.058,2682,3769,2221,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10636,0.54,170.3,946.9,12.7,820,10643,0.00,1.90,0.00,0.000,6,0.000,0.025,2691,2463,2221,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10942,0.54,170.3,902.4,13.7,836,10947,0.00,2.05,0.00,0.000,4,0.000,0.057,2692,3763,2219,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10997,0.54,170.3,896.1,14.6,838,11006,0.10,1.88,0.00,0.000,6,0.210,0.025,2678,2468,2219,0,0,0,0,0,0,25.91,26.29,28.83
$GC,11303,0.54,170.3,856.6,11.3,854,11309,0.00,2.03,0.00,0.000,4,0.000,0.029,2688,1064,2217,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11323,0.54,170.3,854.4,11.2,855,11329,0.00,2.30,0.00,0.000,6,0.000,0.045,2689,2544,2216,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11645,0.54,170.3,817.7,11.4,871,11650,0.00,1.90,0.00,0.000,4,0.000,0.056,2689,3769,2216,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11671,0.54,170.3,815.1,11.6,872,11675,0.08,1.90,0.00,0.000,6,0.226,0.024,2684,2458,2216,0,0,0,0,0,0,26.01,26.31,28.83
$GC,11979,0.54,170.3,780.4,10.7,887,11984,0.00,2.03,0.00,0.000,4,0.000,0.031,2693,1073,2215,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12002,0.54,170.3,778.3,10.7,888,12006,0.00,2.25,0.00,0.000,6,0.000,0.046,2693,2536,2214,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,19846,end climb,SURFACE_DEPTH_REACHED
$STATE,19846,begin surface coast
$FINISH,0.8,1.006407
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19961,0.00,0.000,0,0,863,506.79
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$IRIDIUM_FIX,1807.77,12337.00,240612,070722
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,9.56366
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,22.1,102.234
$10V_AH,9.8,62.501
$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
$DEVICE_SECS,19.125,205.100,563.450,0.000,0.000,28.758,23.061,277.384,0.250,0.000,13.296,4468.972,10916.213,713.749,3810.490,508.635,0.000,2518.162,0.000,3153.833,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,133918,1758
$CAP_FILE_SIZE,224062,0
$CFSIZE,260165632,172752896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 63.9,1
$GPS,240612,190836,1817.091,12335.626,37,1.0,37,-2.1