version: 66.10
glider: 176
mission: 5
dive: 486
start: 6 25 112 6 52 59
data:
$ID,176
$MISSION,5
$DIVE,486
$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,-8242.6943
$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
$GPS1,250612,064406,1816.880,12335.475,36,1.0,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.1
$GPS2,250612,065231,1816.956,12335.649,12,1.0,17,-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,270.1,141804,-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,-170.3,0.0,0.0,0,84,0.00,0.00,-64.85,0.000,2,0.000,0.000,176,2711,2366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-170.3,3.2,-6.0,11,131,8.75,1.65,-25.75,0.000,4,0.228,0.067,2333,3774,3627,0,0,0,0,0,0,25.04,26.08,26.73
$GC,234,-0.54,-170.3,49.2,-28.2,35,241,0.00,1.70,0.00,0.000,6,0.000,0.022,2333,2541,3627,0,0,0,0,0,0,28.83,26.46,28.83
$GC,547,-0.54,-170.3,148.8,-28.3,96,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2538,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.54,-170.3,216.4,-18.1,149,867,0.00,1.95,0.00,0.000,4,0.000,0.025,2333,1149,3627,0,0,0,0,0,0,28.83,26.38,28.83
$GC,891,-0.54,-170.3,222.1,-18.6,152,899,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2632,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1200,-0.54,-170.3,270.9,-15.9,183,1204,0.05,1.70,0.00,0.000,4,0.246,0.049,2338,3768,3626,0,0,0,0,0,0,26.53,26.11,28.83
$GC,1214,-0.54,-170.3,272.7,-15.9,184,1221,0.00,1.70,0.00,0.000,6,0.000,0.022,2338,2518,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1522,-0.54,-170.3,312.9,-12.4,215,1533,0.00,1.90,0.00,0.000,4,0.000,0.025,2339,1160,3625,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1578,-0.54,-170.3,318.9,-10.8,220,1585,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2638,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1886,-0.54,-170.3,356.0,-12.5,251,1895,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1152,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1928,-0.54,-170.3,360.5,-11.0,255,1937,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2647,3622,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2237,-0.54,-170.3,396.0,-11.0,286,2247,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1154,3619,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2284,-0.54,-170.3,400.5,-10.5,290,2292,0.00,2.25,0.00,0.000,6,0.000,0.043,2334,2644,3619,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2590,-0.54,-170.3,434.1,-11.0,321,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2644,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2892,-0.54,-170.3,465.5,-10.6,351,2901,0.00,2.15,-0.10,0.000,4,0.000,0.035,2334,1150,3644,0,0,0,0,0,0,28.83,26.37,25.94
$GC,2936,-0.54,-170.3,469.8,-9.8,355,2944,0.00,2.30,0.00,0.000,6,0.000,0.044,2334,2657,3644,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3244,-0.54,-170.3,500.7,-10.1,386,3248,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1160,3642,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3296,-0.54,-170.3,505.3,-9.1,391,3305,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2636,3641,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3606,-0.54,-170.3,534.6,-9.2,422,3616,0.03,2.15,0.00,0.000,4,0.294,0.022,2347,1145,3638,0,0,0,0,0,0,26.53,26.34,28.83
$GC,3629,-0.54,-170.3,536.6,-8.6,424,3638,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2648,3638,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3940,-0.54,-170.3,560.7,-7.8,455,3949,0.00,2.15,0.00,0.000,4,0.000,0.024,2347,1145,3634,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3975,-0.54,-170.3,563.4,-8.2,458,3983,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2635,3634,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4283,-0.54,-170.3,586.4,-7.4,489,4292,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1158,3632,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4317,-0.54,-170.3,588.7,-7.1,492,4324,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2647,3631,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4636,-0.54,-170.3,612.4,-7.4,516,4642,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1164,3628,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4676,-0.54,-170.3,615.4,-7.4,518,4680,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2635,3628,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4998,-0.54,-170.3,638.1,-7.0,534,5002,0.00,1.75,0.00,0.000,4,0.000,0.057,2345,3757,3625,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5020,-0.54,-170.3,639.6,-6.9,535,5023,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2499,3624,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5343,-0.54,-170.3,662.9,-7.2,551,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2467,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.54,-170.3,686.2,-8.1,566,5645,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3764,3620,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5717,-0.54,-170.3,691.5,-8.5,569,5723,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2476,3618,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6023,-0.54,-170.3,717.4,-7.6,585,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2476,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6323,-0.54,-170.3,737.6,-6.3,600,6329,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3773,3614,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6372,-0.54,-170.3,740.0,-6.1,602,6376,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2514,3613,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6684,-0.54,-170.3,758.4,-5.7,618,6689,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3766,3612,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6726,-0.54,-170.3,760.8,-5.8,620,6730,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2487,3612,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7045,-0.54,-170.3,779.6,-6.0,636,7050,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3758,3610,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7071,-0.54,-170.3,780.8,-6.2,637,7075,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2511,3610,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7385,-0.54,-170.3,799.8,-5.9,653,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2482,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,-0.54,-170.3,818.4,-6.3,668,7689,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3762,3606,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7736,-0.54,-170.3,820.9,-6.3,670,7745,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2502,3606,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8045,-0.54,-170.3,841.3,-6.1,686,8050,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3763,3604,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8071,-0.54,-170.3,842.5,-5.9,687,8075,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2513,3604,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8384,-0.54,-170.3,861.0,-5.5,703,8390,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3753,3603,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8425,-0.54,-170.3,863.2,-5.4,705,8428,0.00,1.70,0.00,0.000,6,0.000,0.024,2345,2517,3603,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8746,-0.54,-170.3,880.1,-5.0,721,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2489,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9048,-0.54,-170.3,894.9,-4.7,736,9051,0.00,2.03,0.00,0.000,4,0.000,0.058,2344,3766,3601,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9110,-0.54,-170.3,897.9,-4.7,739,9114,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2528,3600,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9432,-0.54,-170.3,914.5,-5.2,755,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2503,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9733,-0.54,-170.3,930.0,-5.3,770,9737,0.00,2.00,0.00,0.000,4,0.000,0.059,2344,3769,3598,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9775,-0.54,-170.3,932.3,-5.3,772,9778,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2521,3598,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10099,-0.54,-170.3,951.6,-6.5,788,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2488,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10397,-0.54,-170.3,971.7,-6.8,803,10402,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3597,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10438,-0.54,-170.3,974.5,-6.9,805,10442,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2484,3596,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10654,begin apogee
$GC,10661,-0.17,0.0,990.1,-7.1,816,10818,0.32,0.08,148.55,1.693,6,0.097,0.099,2464,2459,2929,0,0,0,0,0,0,25.85,24.27,22.58
$STATE,10819,end apogee,CONTROL_FINISHED_OK
$STATE,10819,begin climb
$GC,10821,0.54,170.3,999.1,0.0,824,11000,0.62,2.25,165.35,1.649,4,0.050,0.028,2722,1078,2232,0,0,0,0,0,0,24.87,23.89,21.89
$GC,11035,0.54,170.3,989.9,11.1,834,11044,0.15,2.40,0.00,0.000,6,0.161,0.048,2684,2538,2225,0,0,0,0,0,0,24.70,24.93,28.83
$GC,11344,0.54,170.3,951.1,12.3,850,11349,0.00,1.92,0.00,0.000,4,0.000,0.058,2684,3769,2221,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11392,0.54,170.3,945.1,13.4,852,11396,0.00,1.90,0.00,0.000,6,0.000,0.024,2693,2472,2220,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11704,0.54,170.3,903.4,12.7,868,11706,0.03,0.00,0.00,0.000,6,0.308,0.000,2684,2468,2218,0,0,0,0,0,0,26.41,28.83,28.83
$GC,12006,0.54,170.3,865.7,12.7,883,12010,0.00,2.03,0.00,0.000,4,0.000,0.056,2684,3765,2217,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12040,0.54,170.3,862.6,12.9,884,12048,0.03,1.92,0.00,0.000,6,0.145,0.024,2675,2459,2217,0,0,0,0,0,0,25.94,26.29,28.83
$GC,12349,0.54,170.3,823.0,12.2,900,12355,0.08,2.03,0.00,0.000,4,0.132,0.028,2729,1070,2216,0,0,0,0,0,0,26.46,26.18,28.83
$GC,12367,0.54,170.3,820.5,12.3,901,12374,0.17,2.30,0.00,0.000,6,0.164,0.046,2682,2546,2215,0,0,0,0,0,0,25.56,25.96,28.83
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$STATE,20024,end climb,SURFACE_DEPTH_REACHED
$STATE,20024,begin surface coast
$FINISH,1.1,1.020843
$STATE,20069,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
$SM_CCo,20147,0.00,0.000,0,0,870,504.83
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$IRIDIUM_FIX,1810.04,12333.22,250612,000049
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,21.9,102.905
$10V_AH,9.8,62.908
$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,18.275,178.800,533.125,0.000,0.000,27.078,40.273,268.645,0.250,0.000,20.256,4349.365,11520.129,714.173,3556.219,475.830,0.000,2377.432,0.000,2939.647,0.000,0.544,0.000
$DEVICE_MAMPS,308.295,109.395,1692.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.589,2355.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,130289,1736
$CAP_FILE_SIZE,208488,0
$CFSIZE,260165632,172425216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 90.6,1
$GPS,250612,123000,1816.972,12334.263,38,1.2,44,-2.0