version: 66.10
glider: 176
mission: 5
dive: 489
start: 6 26 112 0 17 6
data:
$ID,176
$MISSION,5
$DIVE,489
$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,-8248.8496
$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
$GPS1,260612,000855,1818.645,12333.913,35,2.0,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.4
$GPS2,260612,001637,1818.781,12333.939,8,1.1,13,-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,266.2,138245,-13.2,-8.250
$D_GRID,4866
$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,-170.3,0.0,0.0,0,79,0.00,0.00,-59.83,0.000,2,0.000,0.000,175,2664,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.54,-170.3,3.1,-5.6,10,131,8.80,1.65,-31.65,0.000,4,0.228,0.065,2330,3771,3623,0,0,0,0,0,0,25.03,26.08,26.73
$GC,264,-0.54,-170.3,55.8,-30.1,38,271,0.08,1.67,0.00,0.000,6,0.200,0.023,2346,2544,3622,0,0,0,0,0,0,26.17,26.44,28.83
$GC,594,-0.54,-170.3,150.1,-23.5,99,601,0.00,1.95,0.00,0.000,4,0.000,0.025,2347,1149,3622,0,0,0,0,0,0,28.83,26.38,28.83
$GC,634,-0.54,-170.3,158.5,-20.4,103,642,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2639,3622,0,0,0,0,0,0,28.83,26.18,28.83
$GC,967,-0.54,-170.3,216.0,-15.1,155,971,0.00,1.70,0.00,0.000,4,0.000,0.050,2343,3776,3623,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1011,-0.54,-170.3,222.5,-15.4,159,1019,0.00,1.70,0.00,0.000,6,0.000,0.021,2342,2497,3622,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1319,-0.54,-170.3,268.8,-14.1,190,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2496,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.54,-170.3,304.3,-10.2,220,1624,0.00,1.92,0.00,0.000,4,0.000,0.049,2335,3767,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1662,-0.54,-170.3,308.9,-10.8,224,1665,0.00,1.67,0.00,0.000,6,0.000,0.021,2335,2503,3621,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1972,-0.54,-170.3,343.4,-11.3,255,1976,0.00,1.98,0.00,0.000,4,0.000,0.052,2333,3776,3618,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2014,-0.54,-170.3,348.0,-11.0,259,2017,0.00,1.70,0.00,0.000,6,0.000,0.021,2332,2503,3618,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2324,-0.54,-170.3,383.5,-11.0,290,2328,0.00,1.90,0.00,0.000,4,0.000,0.026,2335,1136,3616,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2348,-0.54,-170.3,385.8,-11.1,292,2356,0.05,2.30,0.00,0.000,6,0.216,0.042,2349,2636,3616,0,0,0,0,0,0,26.08,26.16,28.83
$GC,2656,-0.54,-170.3,414.0,-8.7,323,2658,0.05,0.00,-0.10,0.000,6,0.174,0.000,2287,2637,3636,0,0,0,0,0,0,26.58,28.83,25.84
$GC,2959,-0.54,-170.3,458.1,-15.2,353,2968,0.17,2.12,0.00,0.000,4,0.147,0.023,2347,1157,3634,0,0,0,0,0,0,26.10,26.34,28.83
$GC,3025,-0.54,-170.3,464.9,-8.4,359,3033,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2640,3634,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3331,-0.54,-170.3,490.8,-7.9,390,3340,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1164,3631,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3385,-0.54,-170.3,494.6,-7.2,395,3395,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2637,3630,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3693,-0.54,-170.3,519.3,-8.1,426,3702,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1153,3626,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3726,-0.54,-170.3,521.8,-8.2,429,3735,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2641,3626,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4035,-0.54,-170.3,548.3,-8.3,460,4044,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1154,3623,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4066,-0.54,-170.3,551.0,-8.3,463,4077,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2641,3623,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4377,-0.54,-170.3,575.5,-7.6,494,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2641,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.54,-170.3,596.4,-7.0,524,4689,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1169,3616,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4723,-0.54,-170.3,599.5,-6.8,528,4731,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2634,3616,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5042,-0.54,-170.3,621.2,-7.0,545,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.54,-170.3,642.0,-7.2,560,5349,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1168,3611,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5390,-0.54,-170.3,644.9,-7.1,562,5394,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2646,3611,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5697,-0.54,-170.3,667.0,-6.9,577,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2647,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5999,-0.54,-170.3,687.1,-6.7,592,6005,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1165,3606,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6046,-0.54,-170.3,689.8,-6.7,594,6050,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2638,3606,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6354,-0.54,-170.3,711.2,-7.1,609,6360,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1161,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6385,-0.54,-170.3,712.7,-7.2,610,6392,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2637,3603,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6693,-0.54,-170.3,735.9,-7.2,626,6698,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1163,3601,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6717,-0.54,-170.3,737.4,-7.3,627,6721,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2636,3601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7029,-0.54,-170.3,760.1,-7.5,643,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,-0.54,-170.3,783.6,-7.8,658,7334,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1164,3597,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7358,-0.54,-170.3,785.2,-7.8,659,7368,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2635,3598,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7669,-0.54,-170.3,808.6,-6.8,675,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,-0.54,-170.3,828.8,-6.4,690,7974,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1166,3594,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8015,-0.54,-170.3,831.7,-6.7,692,8019,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2646,3594,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8328,-0.54,-170.3,852.7,-6.8,708,8332,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1156,3593,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8359,-0.54,-170.3,854.2,-6.8,709,8368,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2636,3593,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8670,-0.54,-170.3,875.3,-6.6,725,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8970,-0.54,-170.3,897.5,-7.6,740,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9271,-0.54,-170.3,920.1,-7.3,755,9276,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1160,3589,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9298,-0.54,-170.3,921.6,-7.4,756,9302,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2636,3589,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9606,-0.54,-170.3,942.9,-6.5,771,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2636,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,-0.54,-170.3,961.4,-6.1,786,9911,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1167,3587,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9947,-0.54,-170.3,963.9,-6.0,788,9951,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2639,3586,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10262,-0.54,-170.3,983.2,-6.3,804,10265,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3765,3585,0,0,0,0,0,0,28.83,25.63,28.83
$STATE,10382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10382,begin apogee
$GC,10390,-0.17,0.0,990.7,-6.2,810,10546,0.32,0.22,146.38,1.691,6,0.073,0.066,2476,2544,2929,0,0,0,0,0,0,26.04,24.46,22.65
$STATE,10547,end apogee,CONTROL_FINISHED_OK
$STATE,10548,begin climb
$GC,10550,0.54,170.3,998.3,0.0,818,10726,0.60,2.10,164.48,1.649,4,0.047,0.054,2712,3762,2233,0,0,0,0,0,0,24.97,23.89,22.01
$GC,10742,0.54,170.3,989.2,10.9,827,10751,0.17,2.00,0.00,0.000,6,0.184,0.024,2680,2471,2232,0,0,0,0,0,0,24.31,24.72,28.83
$GC,11049,0.54,170.3,942.5,13.4,843,11055,0.00,2.05,0.00,0.000,4,0.000,0.055,2680,3774,2223,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11079,0.54,170.3,939.8,13.4,844,11082,0.00,1.90,0.00,0.000,6,0.000,0.024,2689,2473,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11386,0.54,170.3,896.4,13.1,859,11391,0.00,2.03,0.00,0.000,4,0.000,0.054,2689,3769,2220,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11407,0.54,170.3,893.6,13.2,860,11411,0.05,1.92,0.00,0.000,6,0.177,0.024,2682,2471,2220,0,0,0,0,0,0,25.98,26.30,28.83
$GC,11726,0.54,170.3,856.3,11.2,876,11732,0.00,2.03,0.00,0.000,4,0.000,0.054,2683,3770,2219,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11757,0.54,170.3,853.9,11.5,877,11764,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2473,2219,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12064,0.54,170.3,816.3,11.4,893,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2469,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12366,0.54,170.3,779.0,13.3,908,12372,0.00,2.05,0.00,0.000,4,0.000,0.031,2703,1071,2217,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12412,0.54,170.3,773.9,13.3,910,12417,0.10,2.28,0.00,0.000,6,0.168,0.047,2678,2536,2215,0,0,0,0,0,0,25.75,25.92,28.83
$GC,12719,0.54,170.3,733.4,13.3,925,12725,0.00,1.90,0.00,0.000,4,0.000,0.054,2678,3768,2215,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,20522,end climb,SURFACE_DEPTH_REACHED
$STATE,20522,begin surface coast
$FINISH,0.7,1.008914
$STATE,20579,end surface coast,CONTROL_FINISHED_OK
$STATE,20579,begin surface
$SM_CCo,20656,0.00,0.000,0,0,514,592.15
$SM_GC,1.53,6.55,0.12,0.00,0.030,0.087,0.000,179,2675,514,-7.15,-0.62,592.15,0,0,0,0,0,0,26.35,26.51,28.83
$IRIDIUM_FIX,1810.04,12335.11,250612,181832
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,22.0,103.609
$10V_AH,9.8,63.325
$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,19.725,180.600,584.850,0.000,0.000,30.204,20.809,250.392,0.250,0.000,17.666,4623.727,11432.143,733.912,3783.678,509.397,0.000,2481.019,0.000,3078.964,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,87.210,1691.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.393,2568.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,137318,1848
$CAP_FILE_SIZE,217778,0
$CFSIZE,260165632,172064768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 82.3,1
$GPS,260612,060231,1818.975,12333.497,38,1.4,38,-2.1