version: 66.10
glider: 176
mission: 5
dive: 493
start: 6 26 112 23 58 6
data:
$ID,176
$MISSION,5
$DIVE,493
$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,-8255.1172
$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
$GPS1,260612,235007,1820.199,12332.310,23,1.4,23,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.3
$GPS2,260612,235738,1820.307,12332.372,11,1.4,11,-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,266.8,135074,-13.2,-8.250
$D_GRID,4849
$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,17,-0.54,-170.3,0.0,0.0,0,83,0.00,0.00,-63.65,0.000,2,0.000,0.000,176,2696,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.54,-170.3,3.2,-6.6,11,131,8.75,1.62,-27.77,0.000,4,0.227,0.062,2335,3779,3624,0,0,0,0,0,0,24.98,26.08,26.73
$GC,229,-0.54,-170.3,47.3,-29.5,34,236,0.00,1.70,0.00,0.000,6,0.000,0.023,2335,2546,3624,0,0,0,0,0,0,28.83,26.42,28.83
$GC,557,-0.54,-170.3,152.3,-29.7,95,564,0.00,1.95,0.00,0.000,4,0.000,0.026,2335,1149,3624,0,0,0,0,0,0,28.83,26.35,28.83
$GC,648,-0.54,-170.3,170.0,-14.3,112,655,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2635,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,975,-0.54,-170.3,235.4,-17.6,157,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1277,-0.54,-170.3,278.2,-15.9,187,1286,0.00,2.08,0.00,0.000,4,0.000,0.024,2333,1153,3624,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1311,-0.54,-170.3,282.9,-13.7,190,1318,0.00,2.28,0.00,0.000,6,0.000,0.044,2333,2633,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1619,-0.54,-170.3,327.0,-13.4,221,1629,0.03,2.08,0.00,0.000,4,0.301,0.022,2345,1154,3623,0,0,0,0,0,0,26.54,26.38,28.83
$GC,1684,-0.54,-170.3,333.7,-9.4,227,1692,0.00,2.28,0.00,0.000,6,0.000,0.042,2345,2639,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1993,-0.54,-170.3,363.7,-8.6,258,2002,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1153,3621,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2024,-0.54,-170.3,366.3,-8.2,261,2035,0.00,2.25,0.00,0.000,6,0.000,0.042,2345,2643,3620,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2334,-0.54,-170.3,392.3,-8.2,292,2338,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1147,3617,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2389,-0.54,-170.3,396.2,-7.0,297,2397,0.00,2.25,0.00,0.000,6,0.000,0.042,2346,2638,3617,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2696,-0.54,-170.3,424.6,-9.9,328,2700,0.00,1.73,-0.10,0.000,4,0.000,0.069,2345,3765,3636,0,0,0,0,0,0,28.83,25.96,25.95
$GC,2728,-0.54,-170.3,427.8,-10.1,331,2731,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2498,3636,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3040,-0.54,-170.3,457.6,-9.5,362,3049,0.00,1.98,0.00,0.000,4,0.000,0.054,2338,3770,3633,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3072,-0.54,-170.3,460.8,-9.3,365,3076,0.00,1.73,0.00,0.000,6,0.000,0.022,2338,2483,3633,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3383,-0.54,-170.3,490.8,-8.9,396,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2480,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.54,-170.3,517.8,-8.4,426,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2480,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3996,-0.54,-170.3,544.1,-8.8,457,4006,0.00,2.00,0.00,0.000,4,0.000,0.055,2335,3768,3623,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4052,-0.54,-170.3,549.3,-9.5,462,4059,0.00,1.70,0.00,0.000,6,0.000,0.023,2335,2489,3623,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4358,-0.54,-170.3,579.1,-9.5,493,4368,0.00,1.90,0.00,0.000,4,0.000,0.026,2334,1161,3620,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4395,-0.54,-170.3,582.1,-9.7,496,4401,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2637,3620,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4701,-0.54,-170.3,611.3,-9.4,521,4707,0.00,2.15,0.00,0.000,4,0.000,0.026,2335,1161,3617,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4728,-0.54,-170.3,613.2,-9.5,522,4733,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2640,3617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5038,-0.54,-170.3,639.3,-7.9,537,5043,0.00,2.15,0.00,0.000,4,0.000,0.026,2335,1165,3614,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5064,-0.54,-170.3,640.8,-7.8,538,5068,0.00,2.28,0.00,0.000,6,0.000,0.044,2334,2645,3614,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5372,-0.54,-170.3,664.8,-7.9,553,5376,0.00,2.17,0.00,0.000,4,0.000,0.026,2334,1157,3612,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5416,-0.54,-170.3,668.1,-7.8,555,5421,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2636,3612,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5734,-0.54,-170.3,693.2,-8.4,571,5740,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1167,3609,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5763,-0.54,-170.3,694.7,-8.4,572,5767,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2636,3609,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6069,-0.54,-170.3,721.4,-8.7,587,6075,0.00,2.17,0.00,0.000,4,0.000,0.026,2334,1154,3606,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6102,-0.54,-170.3,723.1,-8.5,588,6109,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2635,3605,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6410,-0.54,-170.3,749.5,-8.4,604,6414,0.00,1.75,0.00,0.000,4,0.000,0.057,2334,3763,3604,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6459,-0.54,-170.3,753.0,-8.3,606,6463,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2488,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6772,-0.54,-170.3,776.3,-6.9,622,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7074,-0.54,-170.3,798.1,-7.4,637,7079,0.00,2.03,0.00,0.000,4,0.000,0.056,2334,3768,3600,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7100,-0.54,-170.3,799.5,-7.5,638,7104,0.00,1.73,0.00,0.000,6,0.000,0.024,2334,2518,3599,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7413,-0.54,-170.3,822.7,-7.0,654,7418,0.00,1.98,0.00,0.000,4,0.000,0.055,2334,3764,3597,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7446,-0.54,-170.3,824.3,-7.2,655,7453,0.00,1.75,0.00,0.000,6,0.000,0.024,2334,2489,3597,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7752,-0.54,-170.3,846.9,-6.7,671,7757,0.00,1.95,0.00,0.000,4,0.000,0.028,2334,1156,3596,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7775,-0.54,-170.3,848.3,-6.7,672,7779,0.00,2.30,0.00,0.000,6,0.000,0.045,2334,2640,3596,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8088,-0.54,-170.3,869.3,-6.5,688,8094,0.00,2.15,0.00,0.000,4,0.000,0.027,2334,1175,3595,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8115,-0.54,-170.3,870.4,-6.4,689,8119,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2638,3594,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8423,-0.54,-170.3,888.9,-5.8,704,8427,0.00,1.77,0.00,0.000,4,0.000,0.057,2332,3757,3593,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8458,-0.54,-170.3,890.2,-5.8,705,8466,0.00,1.73,0.00,0.000,6,0.000,0.024,2332,2498,3593,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8765,-0.54,-170.3,909.1,-6.0,721,8767,0.03,0.00,0.00,0.000,6,0.281,0.000,2347,2498,3592,0,0,0,0,0,0,26.50,28.83,28.83
$GC,9067,-0.54,-170.3,924.1,-5.0,736,9072,0.00,1.98,0.00,0.000,4,0.000,0.056,2347,3758,3591,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9108,-0.54,-170.3,926.1,-5.0,738,9111,0.00,1.73,0.00,0.000,6,0.000,0.025,2347,2501,3590,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9427,-0.54,-170.3,943.7,-5.7,754,9433,0.00,1.92,0.00,0.000,4,0.000,0.027,2347,1165,3589,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9508,-0.54,-170.3,948.5,-6.0,758,9512,0.00,2.30,0.00,0.000,6,0.000,0.047,2347,2639,3589,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9821,-0.54,-170.3,967.5,-6.4,774,9827,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1170,3588,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9943,-0.54,-170.3,975.2,-6.4,780,9949,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2634,3588,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,10179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10179,begin apogee
$GC,10186,-0.17,0.0,990.7,-6.6,792,10343,0.32,0.10,147.40,1.697,6,0.078,0.067,2477,2553,2928,0,0,0,0,0,0,26.05,24.28,22.65
$STATE,10344,end apogee,CONTROL_FINISHED_OK
$STATE,10345,begin climb
$GC,10347,0.54,170.3,999.4,0.0,800,10525,0.57,2.45,164.12,1.652,4,0.049,0.031,2718,1070,2232,0,0,0,0,0,0,24.93,23.96,21.99
$GC,10631,0.54,170.3,977.7,12.9,814,10636,0.15,2.33,0.00,0.000,6,0.160,0.047,2678,2541,2224,0,0,0,0,0,0,25.47,25.73,28.83
$GC,10945,0.54,170.3,939.1,12.3,830,10950,0.00,1.90,0.00,0.000,4,0.000,0.055,2678,3775,2221,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10986,0.54,170.3,933.3,13.1,832,10990,0.00,1.92,0.00,0.000,6,0.000,0.025,2688,2471,2220,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11304,0.54,170.3,889.0,13.7,848,11309,0.00,2.05,0.00,0.000,4,0.000,0.054,2688,3774,2218,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11378,0.54,170.3,879.5,15.3,851,11385,0.08,1.90,0.00,0.000,6,0.221,0.024,2683,2462,2218,0,0,0,0,0,0,26.01,26.29,28.83
$GC,11684,0.54,170.3,838.0,12.6,867,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2459,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11985,0.54,170.3,799.3,12.7,882,11991,0.00,2.05,0.00,0.000,4,0.000,0.055,2683,3768,2215,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12046,0.54,170.3,790.5,14.2,885,12050,0.00,1.92,0.00,0.000,6,0.000,0.024,2692,2470,2215,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12364,0.54,170.3,749.3,12.0,901,12369,0.00,2.05,0.00,0.000,4,0.000,0.030,2703,1064,2215,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,19558,end climb,SURFACE_DEPTH_REACHED
$STATE,19558,begin surface coast
$FINISH,0.7,1.020876
$STATE,19595,end surface coast,CONTROL_FINISHED_OK
$STATE,19595,begin surface
$SM_CCo,19674,0.00,0.000,0,0,772,529.11
$SM_GC,1.56,6.38,2.42,0.00,0.022,0.037,0.000,178,2647,772,-7.15,-0.31,529.11,0,0,0,0,0,0,26.39,26.15,28.83
$IRIDIUM_FIX,1812.31,12333.22,260612,181804
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,22.0,104.537
$10V_AH,9.8,63.873
$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,18.400,186.100,579.750,0.000,0.000,30.674,18.391,244.732,0.250,0.000,15.525,4252.606,11086.558,713.561,3545.831,491.263,0.000,2376.381,0.000,2911.272,0.000,0.544,0.000
$DEVICE_MAMPS,301.410,68.850,1696.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1149.141,2371.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,127053,1690
$CAP_FILE_SIZE,209674,0
$CFSIZE,260165632,171622400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143, 94.1,1
$GPS,270612,052707,1820.200,12331.705,36,1.0,36,-2.1