version: 66.10
glider: 176
mission: 5
dive: 496
start: 6 27 112 16 59 55
data:
$ID,176
$MISSION,5
$DIVE,496
$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,-8261.4053
$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
$GPS1,270612,165131,1820.378,12329.745,38,1.6,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.3
$GPS2,270612,165926,1820.387,12329.770,11,1.3,11,-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,280.4,130536,-13.2,-8.250
$D_GRID,4735
$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,-65.45,0.000,2,0.000,0.000,191,2670,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.54,-170.3,3.0,-3.9,8,133,8.70,1.73,-30.42,0.000,4,0.229,0.065,2334,3769,3626,0,0,0,0,0,0,25.01,26.05,26.72
$GC,216,-0.54,-170.3,41.4,-33.9,28,223,0.00,1.67,0.00,0.000,6,0.000,0.023,2334,2557,3626,0,0,0,0,0,0,28.83,26.40,28.83
$GC,544,-0.54,-170.3,150.7,-26.3,89,552,0.00,1.95,0.00,0.000,4,0.000,0.024,2334,1152,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,594,-0.54,-170.3,160.6,-18.1,95,601,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2637,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,924,-0.54,-170.3,226.7,-19.2,143,932,0.00,2.10,0.00,0.000,4,0.000,0.023,2333,1146,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,966,-0.54,-170.3,234.0,-18.1,147,975,0.05,2.25,0.00,0.000,6,0.132,0.044,2345,2646,3625,0,0,0,0,0,0,25.95,26.13,28.83
$GC,1277,-0.54,-170.3,278.9,-15.0,178,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2646,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1588,-0.54,-170.3,317.3,-11.6,209,1597,0.00,2.10,0.00,0.000,4,0.000,0.023,2345,1154,3624,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1650,-0.54,-170.3,324.5,-10.3,215,1659,0.00,2.25,0.00,0.000,6,0.000,0.043,2344,2646,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1961,-0.54,-170.3,360.5,-11.6,246,1964,0.00,1.70,0.00,0.000,4,0.000,0.053,2336,3775,3622,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2034,-0.54,-170.3,368.3,-10.2,253,2043,0.00,1.73,0.00,0.000,6,0.000,0.022,2336,2527,3621,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2342,-0.54,-170.3,398.0,-9.5,284,2346,0.00,1.92,0.00,0.000,4,0.000,0.024,2338,1149,3619,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2383,-0.54,-170.3,401.7,-8.8,288,2392,0.00,2.28,0.00,0.000,6,0.000,0.045,2335,2640,3619,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2693,-0.54,-170.3,431.2,-9.2,319,2697,0.00,2.12,0.00,0.000,4,0.000,0.024,2337,1155,3615,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2747,-0.54,-170.3,435.4,-8.0,324,2754,0.00,2.28,0.00,0.000,6,0.000,0.043,2335,2647,3615,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3054,-0.54,-170.3,465.3,-9.5,355,3059,0.00,2.15,-0.10,0.000,4,0.000,0.035,2335,1157,3635,0,0,0,0,0,0,28.83,26.32,25.93
$GC,3102,-0.54,-170.3,469.8,-9.6,359,3111,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2648,3635,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3415,-0.54,-170.3,501.6,-10.5,390,3424,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1163,3632,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3457,-0.54,-170.3,506.1,-9.9,394,3466,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2635,3632,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3768,-0.54,-170.3,536.3,-9.6,425,3777,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1150,3628,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3822,-0.54,-170.3,540.9,-8.6,430,3830,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2636,3628,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4130,-0.54,-170.3,565.6,-7.7,461,4134,0.00,1.73,0.00,0.000,4,0.000,0.057,2334,3765,3624,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4155,-0.54,-170.3,567.3,-7.8,463,4162,0.00,1.70,0.00,0.000,6,0.000,0.023,2335,2489,3624,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4462,-0.54,-170.3,589.8,-7.1,494,4470,0.00,1.90,0.00,0.000,4,0.000,0.026,2335,1153,3622,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4498,-0.54,-170.3,592.0,-7.1,497,4507,0.00,2.28,0.00,0.000,6,0.000,0.044,2335,2642,3621,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4815,-0.54,-170.3,616.2,-8.0,519,4818,0.00,2.12,0.00,0.000,4,0.000,0.024,2334,1158,3619,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4849,-0.54,-170.3,617.9,-8.2,520,4856,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2635,3619,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5157,-0.54,-170.3,646.3,-9.3,536,5163,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1154,3616,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5211,-0.54,-170.3,649.9,-9.3,538,5217,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2635,3616,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5517,-0.54,-170.3,679.6,-9.3,554,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-0.54,-170.3,705.8,-8.3,569,5823,0.00,2.15,0.00,0.000,4,0.000,0.025,2335,1156,3611,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5864,-0.54,-170.3,708.9,-8.0,571,5868,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2645,3611,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6173,-0.54,-170.3,732.4,-7.2,586,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2645,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,-0.54,-170.3,753.6,-7.1,601,6478,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1159,3606,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6520,-0.54,-170.3,756.3,-7.0,603,6524,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2645,3606,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6828,-0.54,-170.3,779.3,-7.2,618,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2645,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7126,-0.54,-170.3,800.9,-7.2,633,7132,0.00,2.17,0.00,0.000,4,0.000,0.025,2334,1153,3603,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7166,-0.54,-170.3,803.8,-7.2,635,7172,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2634,3602,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7488,-0.54,-170.3,827.6,-7.7,651,7493,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1161,3600,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7514,-0.54,-170.3,829.0,-7.6,652,7519,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2645,3600,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7824,-0.54,-170.3,852.7,-7.8,667,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2645,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.54,-170.3,876.7,-8.3,682,8128,0.00,2.17,0.00,0.000,4,0.000,0.025,2334,1153,3597,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8169,-0.54,-170.3,880.0,-8.3,684,8174,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2634,3597,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8478,-0.54,-170.3,904.7,-7.5,699,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2634,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8777,-0.54,-170.3,927.7,-7.6,714,8782,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1160,3595,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8837,-0.54,-170.3,932.1,-7.4,717,8843,0.00,2.30,0.00,0.000,6,0.000,0.046,2334,2634,3594,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9158,-0.54,-170.3,955.5,-7.4,733,9162,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1158,3593,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9188,-0.54,-170.3,957.4,-7.6,734,9192,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2633,3593,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9496,-0.54,-170.3,980.9,-7.4,749,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2633,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9633,begin apogee
$GC,9638,-0.17,0.0,990.9,-7.3,756,9797,0.38,0.12,147.20,1.688,6,0.100,0.092,2469,2570,2928,0,0,0,0,0,0,25.75,24.44,22.75
$STATE,9798,end apogee,CONTROL_FINISHED_OK
$STATE,9798,begin climb
$GC,9801,0.54,170.3,998.2,0.0,764,9977,0.60,2.08,162.77,1.648,4,0.048,0.057,2709,3763,2233,0,0,0,0,0,0,25.07,24.06,22.21
$GC,10023,0.54,170.3,983.2,14.7,775,10028,0.15,1.92,0.00,0.000,6,0.188,0.024,2683,2471,2230,0,0,0,0,0,0,25.03,25.47,28.83
$GC,10337,0.54,170.3,943.2,12.2,791,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2468,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10636,0.54,170.3,907.7,11.5,806,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2467,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10936,0.54,170.3,872.5,12.0,821,10942,0.00,2.03,0.00,0.000,4,0.000,0.056,2682,3755,2220,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10988,0.54,170.3,867.1,12.9,823,10995,0.00,1.88,0.00,0.000,6,0.000,0.023,2691,2458,2219,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11295,0.54,170.3,826.4,12.9,839,11299,0.00,2.08,0.00,0.000,4,0.000,0.056,2691,3773,2218,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11321,0.54,170.3,823.3,13.3,840,11325,0.10,1.90,0.00,0.000,6,0.200,0.024,2678,2458,2218,0,0,0,0,0,0,25.90,26.29,28.83
$GC,11633,0.54,170.3,785.3,11.8,856,11638,0.00,2.05,0.00,0.000,4,0.000,0.054,2678,3763,2217,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11673,0.54,170.3,780.0,12.6,858,11679,0.00,1.88,0.00,0.000,6,0.000,0.023,2687,2459,2216,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11995,0.54,170.3,738.4,12.9,874,12000,0.00,2.03,0.00,0.000,4,0.000,0.054,2687,3765,2216,0,0,0,0,0,0,28.83,25.76,28.83
$GC,12035,0.54,170.3,732.5,13.7,876,12040,0.05,1.90,0.00,0.000,6,0.178,0.024,2681,2469,2216,0,0,0,0,0,0,25.95,26.29,28.83
$GC,12354,0.54,170.3,693.4,11.6,892,12360,0.00,2.03,0.00,0.000,4,0.000,0.054,2680,3754,2215,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12415,0.54,170.3,685.2,13.3,895,12419,0.00,1.90,0.00,0.000,6,0.000,0.023,2689,2457,2215,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,19511,end climb,SURFACE_DEPTH_REACHED
$STATE,19511,begin surface coast
$FINISH,0.6,1.020867
$STATE,19542,end surface coast,CONTROL_FINISHED_OK
$STATE,19543,begin surface
$SM_CCo,19620,0.00,0.000,0,0,493,597.55
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$IRIDIUM_FIX,1814.58,12334.47,270612,111131
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,22.2,105.231
$10V_AH,9.8,64.276
$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,19.500,181.000,588.550,0.000,0.000,40.841,24.259,252.738,0.250,0.000,15.312,4376.178,10813.133,721.274,3663.281,488.088,0.000,2434.647,0.000,2951.199,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,91.800,1687.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.514,2462.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,130567,1744
$CAP_FILE_SIZE,210035,0
$CFSIZE,260165632,171290624
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 98.8,1
$GPS,270612,222807,1820.373,12329.112,41,0.8,41,-2.1