version: 66.10
glider: 176
mission: 5
dive: 491
start: 6 26 112 12 5 31
data:
$ID,176
$MISSION,5
$DIVE,491
$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,-8251.3672
$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
$GPS1,260612,115706,1818.592,12332.990,39,0.9,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.3
$GPS2,260612,120502,1818.664,12333.119,13,1.3,13,-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,284.4,136863,-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,-170.3,0.0,0.0,0,70,0.00,0.00,-51.78,0.000,2,0.000,0.000,175,2652,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.54,-170.3,3.0,-5.7,9,125,8.75,1.73,-31.40,0.000,4,0.229,0.064,2332,3767,3626,0,0,0,0,0,0,25.05,26.06,26.72
$GC,223,-0.54,-170.3,47.5,-31.9,33,230,0.05,1.70,0.00,0.000,6,0.233,0.025,2343,2548,3625,0,0,0,0,0,0,26.19,26.38,28.83
$GC,536,-0.54,-170.3,145.1,-28.0,94,543,0.00,1.95,0.00,0.000,4,0.000,0.023,2344,1134,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,566,-0.54,-170.3,152.9,-25.6,99,573,0.00,2.28,0.00,0.000,6,0.000,0.044,2333,2638,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,903,-0.54,-170.3,223.4,-15.5,149,907,0.00,2.10,0.00,0.000,4,0.000,0.023,2334,1145,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,948,-0.54,-170.3,229.1,-14.1,153,955,0.10,2.25,0.00,0.000,6,0.154,0.042,2352,2641,3625,0,0,0,0,0,0,26.01,26.17,28.83
$GC,1255,-0.54,-170.3,264.5,-11.5,184,1264,0.08,2.10,0.00,0.000,4,0.129,0.022,2290,1154,3625,0,0,0,0,0,0,26.58,26.38,28.83
$GC,1361,-0.54,-170.3,279.1,-13.7,194,1369,0.22,2.22,0.00,0.000,6,0.129,0.041,2352,2641,3625,0,0,0,0,0,0,25.86,26.18,28.83
$GC,1667,-0.54,-170.3,316.0,-11.4,225,1671,0.08,1.70,0.00,0.000,4,0.128,0.050,2279,3767,3624,0,0,0,0,0,0,26.57,26.06,28.83
$GC,1702,-0.54,-170.3,320.8,-14.6,228,1709,0.22,1.67,0.00,0.000,6,0.137,0.023,2349,2521,3623,0,0,0,0,0,0,25.90,26.48,28.83
$GC,2008,-0.54,-170.3,358.3,-10.4,259,2018,0.05,1.92,0.00,0.000,4,0.177,0.023,2292,1146,3622,0,0,0,0,0,0,26.58,26.38,28.83
$GC,2082,-0.54,-170.3,367.1,-12.0,266,2092,0.17,2.28,0.00,0.000,6,0.134,0.045,2347,2642,3621,0,0,0,0,0,0,25.89,26.12,28.83
$GC,2392,-0.54,-170.3,396.8,-9.5,297,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2642,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2695,-0.54,-170.3,424.4,-9.0,327,2704,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1156,3616,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2757,-0.54,-170.3,430.0,-8.3,333,2766,0.00,2.25,0.00,0.000,6,0.000,0.043,2347,2641,3616,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3068,-0.54,-170.3,455.9,-8.3,364,3078,0.00,2.15,-0.10,0.000,4,0.000,0.034,2348,1147,3636,0,0,0,0,0,0,28.83,26.34,25.94
$GC,3102,-0.54,-170.3,458.6,-8.5,367,3111,0.00,2.28,0.00,0.000,6,0.000,0.043,2347,2643,3636,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3410,-0.54,-170.3,487.2,-9.8,398,3414,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1157,3633,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3452,-0.54,-170.3,491.0,-8.7,402,3461,0.00,2.28,0.00,0.000,6,0.000,0.043,2345,2641,3633,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3763,-0.54,-170.3,518.5,-8.2,433,3767,0.00,1.75,0.00,0.000,4,0.000,0.056,2345,3765,3629,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3784,-0.54,-170.3,520.4,-8.6,435,3787,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2508,3628,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4096,-0.54,-170.3,546.5,-8.4,466,4105,0.00,1.90,0.00,0.000,4,0.000,0.025,2345,1143,3626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4120,-0.54,-170.3,548.5,-8.7,468,4127,0.00,2.30,0.00,0.000,6,0.000,0.044,2345,2647,3626,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4428,-0.54,-170.3,573.2,-7.4,499,4431,0.00,1.73,0.00,0.000,4,0.000,0.057,2344,3768,3623,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4460,-0.54,-170.3,575.6,-7.7,502,4464,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2519,3623,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4771,-0.54,-170.3,598.6,-7.1,533,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2497,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5083,-0.54,-170.3,620.7,-7.1,550,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2497,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5381,-0.54,-170.3,642.7,-7.5,565,5387,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3768,3614,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5414,-0.54,-170.3,644.0,-7.4,566,5421,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2480,3613,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5723,-0.54,-170.3,666.3,-6.8,582,5728,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3768,3612,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5749,-0.54,-170.3,667.6,-6.7,583,5753,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2517,3612,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6063,-0.54,-170.3,690.5,-7.4,599,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2488,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6361,-0.54,-170.3,713.4,-7.8,614,6367,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3770,3608,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6402,-0.54,-170.3,716.5,-7.8,616,6405,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2512,3607,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6725,-0.54,-170.3,739.8,-6.9,632,6731,0.00,2.03,0.00,0.000,4,0.000,0.057,2343,3765,3604,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6753,-0.54,-170.3,741.1,-6.8,633,6756,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2514,3604,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7065,-0.54,-170.3,762.5,-6.6,649,7071,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3603,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7095,-0.54,-170.3,763.8,-6.7,650,7098,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2516,3603,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7406,-0.54,-170.3,786.7,-7.6,666,7412,0.00,1.92,0.00,0.000,4,0.000,0.027,2343,1152,3601,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7429,-0.54,-170.3,788.1,-7.6,667,7433,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2637,3601,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7743,-0.54,-170.3,813.4,-8.2,683,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2638,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.54,-170.3,839.0,-9.0,698,8047,0.00,2.17,0.00,0.000,4,0.000,0.025,2343,1152,3598,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8069,-0.54,-170.3,840.8,-9.1,699,8073,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2643,3598,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8378,-0.54,-170.3,866.1,-7.9,714,8381,0.00,1.75,0.00,0.000,4,0.000,0.057,2343,3766,3597,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8399,-0.54,-170.3,867.9,-7.8,715,8403,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2517,3597,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8723,-0.54,-170.3,889.6,-6.0,731,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2477,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9021,-0.54,-170.3,905.0,-4.9,746,9026,0.00,2.05,0.00,0.000,4,0.000,0.057,2343,3764,3594,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9044,-0.54,-170.3,905.9,-4.9,747,9047,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2525,3594,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9362,-0.54,-170.3,920.7,-4.4,763,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2495,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9661,-0.54,-170.3,933.3,-4.4,778,9667,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3592,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9701,-0.54,-170.3,935.0,-4.4,780,9705,0.00,1.77,0.00,0.000,6,0.000,0.024,2343,2470,3591,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10025,-0.54,-170.3,951.2,-5.3,796,10029,0.00,2.08,0.00,0.000,4,0.000,0.057,2343,3771,3591,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10050,-0.54,-170.3,952.6,-5.3,797,10053,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2519,3590,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10368,-0.54,-170.3,971.9,-6.3,813,10374,0.00,2.03,0.00,0.000,4,0.000,0.058,2343,3758,3589,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10390,-0.54,-170.3,973.3,-6.4,814,10393,0.00,1.73,0.00,0.000,6,0.000,0.024,2343,2518,3590,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10645,begin apogee
$GC,10650,-0.17,0.0,991.0,-7.0,827,10810,0.32,0.05,147.38,1.691,6,0.098,0.055,2464,2449,2929,0,0,0,0,0,0,25.84,24.08,22.58
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10813,0.54,170.3,1000.0,0.0,835,10991,0.62,2.30,164.90,1.652,4,0.049,0.054,2712,3766,2233,0,0,0,0,0,0,24.94,23.77,21.88
$GC,11001,0.54,170.3,994.9,8.9,844,11006,0.17,2.03,0.00,0.000,6,0.182,0.024,2680,2474,2232,0,0,0,0,0,0,24.06,24.47,28.83
$GC,11308,0.54,170.3,956.5,11.9,859,11314,0.00,2.03,0.00,0.000,4,0.000,0.056,2680,3763,2222,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11329,0.54,170.3,953.8,12.1,860,11335,0.00,1.90,0.00,0.000,6,0.000,0.024,2689,2463,2223,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11648,0.54,170.3,913.1,12.4,876,11654,0.00,2.05,0.00,0.000,4,0.000,0.056,2690,3763,2220,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11688,0.54,170.3,907.2,13.7,878,11693,0.08,1.90,0.00,0.000,6,0.227,0.025,2685,2465,2220,0,0,0,0,0,0,25.98,26.28,28.83
$GC,12011,0.54,170.3,867.6,11.8,894,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2460,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12312,0.54,170.3,832.7,11.0,909,12317,0.00,2.03,0.00,0.000,4,0.000,0.054,2684,3757,2218,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,21058,end climb,SURFACE_DEPTH_REACHED
$STATE,21059,begin surface coast
$FINISH,0.9,1.021095
$STATE,21095,end surface coast,CONTROL_FINISHED_OK
$STATE,21096,begin surface
$SM_CCo,21172,0.00,0.000,0,0,911,495.02
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,9.57343
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,21.9,104.067
$10V_AH,9.8,63.604
$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
$DEVICE_SECS,19.275,190.050,542.325,0.000,0.000,25.520,23.265,265.130,0.250,0.000,17.135,4736.451,11849.148,694.329,3825.659,506.941,0.000,2466.369,0.000,3153.051,0.000,0.543,0.000
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$SENSOR_SECS,1278.979,2561.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,140683,1881
$CAP_FILE_SIZE,226775,0
$CFSIZE,260165632,171823104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 77.2,1
$GPS,260612,175931,1819.912,12332.208,39,1.2,39,-2.1