version: 66.10
glider: 176
mission: 5
dive: 485
start: 6 25 112 0 55 55
data:
$ID,176
$MISSION,5
$DIVE,485
$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,-8241.4395
$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
$GPS1,250612,004724,1816.854,12335.722,40,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.4
$GPS2,250612,005526,1816.985,12335.819,14,1.1,14,-2.1
$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,263.6,142088,-13.2,-8.250
$D_GRID,4948
$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,-170.3,0.0,0.0,0,64,0.00,0.00,-45.45,0.000,2,0.000,0.000,186,2646,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.54,-170.3,3.1,-6.3,8,113,8.77,1.77,-31.35,0.000,4,0.231,0.063,2331,3781,3625,0,0,0,0,0,0,25.03,26.06,26.71
$GC,233,-0.54,-170.3,49.2,-27.2,35,240,0.05,1.70,0.00,0.000,6,0.228,0.023,2344,2533,3625,0,0,0,0,0,0,26.25,26.45,28.83
$GC,561,-0.54,-170.3,146.7,-22.8,96,568,0.00,1.95,0.00,0.000,4,0.000,0.028,2344,1139,3625,0,0,0,0,0,0,28.83,26.34,28.83
$GC,647,-0.54,-170.3,161.5,-14.1,112,653,0.00,2.25,0.00,0.000,6,0.000,0.042,2334,2641,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,957,-0.54,-170.3,223.2,-15.3,161,966,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1151,3625,0,0,0,0,0,0,28.83,26.35,28.83
$GC,981,-0.54,-170.3,226.5,-15.6,163,990,0.05,2.20,0.00,0.000,6,0.138,0.040,2345,2635,3625,0,0,0,0,0,0,26.00,26.18,28.83
$GC,1289,-0.54,-170.3,271.6,-14.1,194,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-0.54,-170.3,312.9,-13.6,224,1602,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1156,3624,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1677,-0.54,-170.3,322.0,-9.3,232,1684,0.00,2.25,0.00,0.000,6,0.000,0.041,2345,2649,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1985,-0.54,-170.3,353.2,-9.4,263,1994,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1158,3623,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2010,-0.54,-170.3,355.3,-9.5,265,2017,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2649,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2316,-0.54,-170.3,384.7,-9.7,296,2320,0.00,1.70,0.00,0.000,4,0.000,0.054,2345,3769,3620,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2337,-0.54,-170.3,386.6,-9.6,298,2341,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2500,3620,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2650,-0.54,-170.3,413.1,-9.1,329,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2470,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-0.54,-170.3,439.6,-8.8,359,2960,0.00,2.03,-0.10,0.000,4,0.000,0.064,2344,3767,3638,0,0,0,0,0,0,28.83,25.96,25.94
$GC,3005,-0.54,-170.3,444.2,-8.0,364,3008,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2495,3638,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3317,-0.54,-170.3,470.7,-8.2,395,3320,0.00,1.85,0.00,0.000,4,0.000,0.026,2344,1182,3635,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3360,-0.54,-170.3,474.0,-8.0,399,3369,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2635,3634,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3668,-0.54,-170.3,499.5,-8.0,430,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-0.54,-170.3,525.3,-8.8,460,3979,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1171,3628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4026,-0.54,-170.3,529.8,-8.1,465,4033,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2635,3628,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4332,-0.54,-170.3,555.3,-8.1,496,4341,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1152,3625,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4357,-0.54,-170.3,557.3,-8.9,498,4365,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2643,3625,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4665,-0.54,-170.3,586.0,-9.2,529,4668,0.00,1.73,0.00,0.000,4,0.000,0.055,2343,3768,3622,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4697,-0.54,-170.3,589.0,-8.9,532,4700,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2504,3622,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5008,-0.54,-170.3,614.3,-7.9,554,5014,0.00,2.05,0.00,0.000,4,0.000,0.055,2343,3771,3619,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5048,-0.54,-170.3,617.5,-7.9,556,5052,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2510,3619,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5371,-0.54,-170.3,639.6,-6.7,572,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2470,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.54,-170.3,661.2,-7.4,587,5674,0.00,2.00,0.00,0.000,4,0.000,0.054,2337,3763,3614,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5713,-0.54,-170.3,664.5,-7.8,589,5717,0.00,1.73,0.00,0.000,6,0.000,0.024,2337,2506,3614,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6036,-0.54,-170.3,690.7,-8.3,605,6041,0.00,2.00,0.00,0.000,4,0.000,0.054,2331,3762,3612,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6082,-0.54,-170.3,694.1,-8.3,607,6086,0.05,1.73,0.00,0.000,6,0.197,0.023,2350,2489,3611,0,0,0,0,0,0,26.27,26.46,28.83
$GC,6396,-0.54,-170.3,713.9,-5.5,623,6402,0.05,2.00,0.00,0.000,4,0.171,0.053,2288,3754,3609,0,0,0,0,0,0,26.54,25.80,28.83
$GC,6428,-0.54,-170.3,715.4,-5.9,624,6436,0.20,1.70,0.00,0.000,6,0.122,0.024,2354,2492,3608,0,0,0,0,0,0,25.93,26.44,28.83
$GC,6735,-0.54,-170.3,736.7,-6.9,640,6741,0.08,2.00,0.00,0.000,4,0.128,0.054,2287,3762,3607,0,0,0,0,0,0,26.53,25.77,28.83
$GC,6759,-0.54,-170.3,738.4,-7.3,641,6763,0.20,1.73,0.00,0.000,6,0.124,0.024,2353,2491,3606,0,0,0,0,0,0,25.91,26.44,28.83
$GC,7073,-0.54,-170.3,762.7,-7.6,657,7079,0.08,1.98,0.00,0.000,4,0.128,0.054,2288,3755,3605,0,0,0,0,0,0,26.52,25.75,28.83
$GC,7107,-0.54,-170.3,764.4,-7.9,658,7115,0.20,1.70,0.00,0.000,6,0.122,0.024,2354,2490,3605,0,0,0,0,0,0,25.92,26.44,28.83
$GC,7413,-0.54,-170.3,789.9,-7.7,674,7415,0.08,0.00,0.00,0.000,6,0.128,0.000,2289,2489,3603,0,0,0,0,0,0,26.52,28.83,28.83
$GC,7714,-0.54,-170.3,825.7,-11.6,689,7720,0.15,1.98,0.00,0.000,4,0.145,0.053,2334,3758,3601,0,0,0,0,0,0,26.12,25.72,28.83
$GC,7745,-0.54,-170.3,827.7,-11.2,690,7753,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2468,3601,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8053,-0.54,-170.3,851.4,-7.3,706,8058,0.00,2.05,0.00,0.000,4,0.000,0.057,2334,3762,3600,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8097,-0.54,-170.3,854.3,-7.2,708,8100,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2514,3599,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8413,-0.54,-170.3,877.2,-7.0,724,8419,0.00,2.00,0.00,0.000,4,0.000,0.057,2334,3765,3598,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8441,-0.54,-170.3,878.7,-7.1,725,8444,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2511,3598,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8756,-0.54,-170.3,901.5,-7.0,741,8762,0.00,2.00,0.00,0.000,4,0.000,0.057,2334,3756,3596,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8795,-0.54,-170.3,904.2,-6.9,743,8798,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2502,3596,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9118,-0.54,-170.3,924.5,-6.0,759,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2466,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9416,-0.54,-170.3,942.0,-5.9,774,9422,0.00,2.08,0.00,0.000,4,0.000,0.057,2334,3771,3595,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9479,-0.54,-170.3,945.6,-6.2,777,9482,0.00,1.75,0.00,0.000,6,0.000,0.025,2334,2492,3594,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9798,-0.54,-170.3,965.9,-6.6,793,9803,0.00,2.00,0.00,0.000,4,0.000,0.057,2334,3758,3593,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9839,-0.54,-170.3,968.6,-6.8,795,9842,0.00,1.75,0.00,0.000,6,0.000,0.024,2334,2483,3592,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10157,-0.54,-170.3,989.7,-6.6,811,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2478,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10174,begin apogee
$GC,10181,-0.17,0.0,991.1,-6.8,812,10339,0.38,0.05,147.38,1.690,6,0.097,0.057,2471,2460,2929,0,0,0,0,0,0,25.79,24.16,22.63
$STATE,10340,end apogee,CONTROL_FINISHED_OK
$STATE,10340,begin climb
$GC,10344,0.54,170.3,998.9,0.0,820,10519,0.60,2.28,164.05,1.649,4,0.049,0.056,2710,3768,2233,0,0,0,0,0,0,25.01,23.92,22.01
$GC,10554,0.54,170.3,988.8,11.7,830,10562,0.15,1.98,0.00,0.000,6,0.190,0.024,2684,2478,2229,0,0,0,0,0,0,24.71,25.12,28.83
$GC,10863,0.54,170.3,951.3,11.1,846,10868,0.00,2.03,0.00,0.000,4,0.000,0.057,2684,3763,2222,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10903,0.54,170.3,946.3,11.9,848,10908,0.03,1.90,0.00,0.000,6,0.212,0.024,2685,2475,2223,0,0,0,0,0,0,26.07,26.26,28.83
$GC,11223,0.54,170.3,908.3,11.8,864,11228,0.00,2.03,0.00,0.000,4,0.000,0.030,2695,1073,2220,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11241,0.54,170.3,906.0,11.8,865,11248,0.08,2.28,0.00,0.000,6,0.183,0.047,2678,2536,2219,0,0,0,0,0,0,25.89,26.01,28.83
$GC,11561,0.54,170.3,868.4,12.0,881,11567,0.00,1.90,0.00,0.000,4,0.000,0.056,2679,3768,2219,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11642,0.54,170.3,857.4,13.7,885,11648,0.00,1.90,0.00,0.000,6,0.000,0.025,2688,2462,2218,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11961,0.54,170.3,817.2,12.6,901,11967,0.00,2.05,0.00,0.000,4,0.000,0.057,2688,3763,2217,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12030,0.54,170.3,808.5,14.0,904,12035,0.08,1.88,0.00,0.000,6,0.220,0.024,2683,2462,2217,0,0,0,0,0,0,25.99,26.28,28.83
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$STATE,20687,end climb,SURFACE_DEPTH_REACHED
$STATE,20687,begin surface coast
$FINISH,0.6,1.011722
$STATE,20750,end surface coast,CONTROL_FINISHED_OK
$STATE,20750,begin surface
$SM_CCo,20826,0.00,0.000,0,0,563,580.38
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$IRIDIUM_FIX,1807.77,12338.26,240612,191956
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,22.0,102.680
$10V_AH,9.8,62.776
$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
$DEVICE_SECS,19.975,183.400,575.900,0.000,0.000,30.756,38.806,252.034,0.500,0.000,17.213,4740.081,11474.171,704.810,3855.297,500.077,0.000,2504.820,0.000,3176.949,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,140464,1876
$CAP_FILE_SIZE,224232,0
$CFSIZE,260165632,172515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 83.3,1
$GPS,250612,064406,1816.880,12335.475,36,1.0,36,-2.1