version: 66.10
glider: 176
mission: 5
dive: 497
start: 6 27 112 22 36 25
data:
$ID,176
$MISSION,5
$DIVE,497
$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,-8263.8994
$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
$GPS1,270612,222807,1820.373,12329.112,41,0.8,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.8
$GPS2,270612,223556,1820.439,12329.043,11,1.8,11,-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,281.0,129260,-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,-170.3,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,2,0.000,0.000,176,2685,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-170.3,3.3,-6.9,11,133,8.80,2.20,-27.42,0.000,4,0.230,0.040,2339,1158,3624,0,0,0,0,0,0,25.04,26.25,26.73
$GC,256,-0.54,-170.3,47.2,-21.9,39,264,0.08,2.25,0.00,0.000,6,0.202,0.042,2347,2650,3625,0,0,0,0,0,0,25.98,26.14,28.83
$GC,588,-0.54,-170.3,151.9,-29.9,100,595,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1161,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,619,-0.54,-170.3,160.0,-24.2,105,625,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2637,3624,0,0,0,0,0,0,28.83,26.15,28.83
$GC,948,-0.54,-170.3,227.0,-15.4,152,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2637,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.54,-170.3,270.7,-14.0,182,1261,0.00,2.08,0.00,0.000,4,0.000,0.024,2344,1160,3624,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1334,-0.54,-170.3,280.8,-10.5,190,1344,0.00,2.25,0.00,0.000,6,0.000,0.045,2344,2647,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1644,-0.54,-170.3,318.0,-10.6,221,1653,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1164,3623,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1686,-0.54,-170.3,322.0,-10.1,225,1695,0.00,2.22,0.00,0.000,6,0.000,0.041,2344,2640,3623,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1995,-0.54,-170.3,353.8,-11.0,256,1999,0.00,1.73,0.00,0.000,4,0.000,0.054,2343,3765,3621,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2057,-0.54,-170.3,360.4,-10.3,262,2060,0.00,1.67,0.00,0.000,6,0.000,0.021,2343,2511,3620,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2367,-0.54,-170.3,390.3,-9.9,293,2376,0.00,1.88,0.00,0.000,4,0.000,0.025,2343,1164,3617,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2401,-0.54,-170.3,393.4,-9.5,296,2408,0.00,2.25,0.00,0.000,6,0.000,0.042,2343,2634,3617,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2710,-0.54,-170.3,425.8,-11.0,327,2719,0.00,2.15,-0.08,0.000,4,0.000,0.036,2343,1157,3642,0,0,0,0,0,0,28.83,26.30,25.43
$GC,2745,-0.54,-170.3,429.4,-10.9,330,2753,0.00,2.25,0.00,0.000,6,0.000,0.042,2343,2642,3642,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3052,-0.54,-170.3,462.3,-9.9,361,3060,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1157,3639,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3097,-0.54,-170.3,466.1,-9.2,365,3103,0.00,2.25,0.00,0.000,6,0.000,0.043,2343,2640,3639,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3403,-0.54,-170.3,491.4,-7.6,396,3412,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1158,3636,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3437,-0.54,-170.3,493.7,-7.0,399,3448,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2644,3635,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3746,-0.54,-170.3,515.9,-7.2,430,3756,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1167,3632,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3803,-0.54,-170.3,519.5,-7.0,435,3810,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2650,3632,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4109,-0.54,-170.3,541.9,-7.8,466,4119,0.00,2.17,0.00,0.000,4,0.000,0.026,2343,1156,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4143,-0.54,-170.3,544.4,-8.0,469,4152,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2644,3628,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4451,-0.54,-170.3,570.8,-9.0,500,4460,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1162,3625,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4475,-0.54,-170.3,572.7,-8.9,502,4484,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2634,3625,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4783,-0.54,-170.3,599.2,-8.5,533,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2634,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5093,-0.54,-170.3,624.6,-7.6,549,5099,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1154,3619,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5138,-0.54,-170.3,627.6,-7.5,551,5144,0.00,2.30,0.00,0.000,6,0.000,0.047,2343,2641,3619,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5455,-0.54,-170.3,649.7,-6.6,567,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2641,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5753,-0.54,-170.3,670.0,-7.0,582,5759,0.00,2.15,0.00,0.000,4,0.000,0.024,2343,1162,3614,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5802,-0.54,-170.3,672.9,-7.3,584,5806,0.00,2.25,0.00,0.000,6,0.000,0.045,2343,2636,3614,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6110,-0.54,-170.3,696.4,-7.7,599,6115,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1160,3611,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6138,-0.54,-170.3,697.9,-7.7,600,6147,0.00,2.30,0.00,0.000,6,0.000,0.046,2343,2648,3611,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6449,-0.54,-170.3,722.5,-7.7,616,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2648,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6750,-0.54,-170.3,744.2,-6.9,631,6755,0.00,2.15,0.00,0.000,4,0.000,0.026,2343,1168,3608,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6790,-0.54,-170.3,747.1,-7.1,633,6796,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2635,3607,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7110,-0.54,-170.3,768.6,-6.9,649,7114,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1158,3606,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7140,-0.54,-170.3,770.2,-7.0,650,7144,0.00,2.30,0.00,0.000,6,0.000,0.045,2343,2644,3606,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7448,-0.54,-170.3,791.7,-6.5,665,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2644,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7747,-0.54,-170.3,811.2,-6.2,680,7753,0.00,2.17,0.00,0.000,4,0.000,0.025,2343,1158,3602,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7781,-0.54,-170.3,812.4,-6.1,681,7788,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2645,3602,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8087,-0.54,-170.3,832.6,-6.4,697,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2645,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,-0.54,-170.3,852.1,-6.2,712,8393,0.00,2.17,0.00,0.000,4,0.000,0.025,2343,1159,3599,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8436,-0.54,-170.3,854.5,-6.0,714,8447,0.00,2.30,0.00,0.000,6,0.000,0.046,2343,2641,3599,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8747,-0.54,-170.3,873.9,-6.3,730,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2641,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9047,-0.54,-170.3,893.0,-6.4,745,9052,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1153,3597,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9090,-0.54,-170.3,895.9,-6.7,747,9095,0.00,2.30,0.00,0.000,6,0.000,0.047,2343,2644,3597,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9403,-0.54,-170.3,915.3,-5.8,763,9409,0.00,2.15,0.00,0.000,4,0.000,0.025,2343,1165,3595,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9448,-0.54,-170.3,917.7,-5.9,765,9453,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2645,3595,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9763,-0.54,-170.3,937.1,-6.5,781,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2645,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10063,-0.54,-170.3,957.6,-7.2,796,10068,0.00,2.17,0.00,0.000,4,0.000,0.025,2343,1161,3593,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10104,-0.54,-170.3,960.5,-7.4,798,10110,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2634,3593,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10423,-0.54,-170.3,982.7,-6.6,814,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2634,3592,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10547,-0.17,0.0,990.0,-6.1,820,10705,0.32,0.12,147.62,1.690,6,0.099,0.093,2463,2558,2928,0,0,0,0,0,0,25.84,24.34,22.70
$STATE,10706,end apogee,CONTROL_FINISHED_OK
$STATE,10706,begin climb
$GC,10708,0.54,170.3,996.9,0.0,828,10886,0.65,2.45,163.70,1.649,4,0.048,0.031,2726,1070,2233,0,0,0,0,0,0,24.95,24.01,22.05
$GC,10896,0.54,170.3,988.8,10.8,837,10901,0.17,2.45,0.00,0.000,6,0.157,0.046,2682,2538,2229,0,0,0,0,0,0,24.28,24.53,28.83
$GC,11204,0.54,170.3,948.8,12.2,852,11210,0.00,1.92,0.00,0.000,4,0.000,0.057,2681,3773,2222,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11278,0.54,170.3,940.2,13.9,855,11287,0.00,1.90,0.00,0.000,6,0.000,0.024,2691,2467,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11583,0.54,170.3,898.2,13.0,871,11589,0.00,2.08,0.00,0.000,4,0.000,0.031,2702,1065,2220,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11604,0.54,170.3,895.5,13.1,872,11610,0.10,2.28,0.00,0.000,6,0.170,0.046,2677,2536,2218,0,0,0,0,0,0,25.80,25.99,28.83
$GC,11925,0.54,170.3,856.0,12.3,888,11930,0.05,1.92,0.00,0.000,4,0.172,0.056,2714,3765,2217,0,0,0,0,0,0,26.48,25.82,28.83
$GC,11975,0.54,170.3,849.1,13.8,890,11980,0.17,1.90,0.00,0.000,6,0.178,0.025,2677,2464,2217,0,0,0,0,0,0,25.63,26.25,28.83
$GC,12284,0.54,170.3,808.9,11.8,905,12288,0.05,2.08,0.00,0.000,4,0.172,0.054,2716,3769,2216,0,0,0,0,0,0,26.48,25.78,28.83
$GC,12308,0.54,170.3,805.6,12.4,906,12313,0.17,1.90,0.00,0.000,6,0.181,0.024,2680,2471,2217,0,0,0,0,0,0,25.62,26.26,28.83
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$STATE,20174,end climb,SURFACE_DEPTH_REACHED
$STATE,20174,begin surface coast
$FINISH,2.1,1.021110
$STATE,20219,end surface coast,CONTROL_FINISHED_OK
$STATE,20219,begin surface
$SM_CCo,20295,0.00,0.000,0,0,507,594.12
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$IRIDIUM_FIX,1812.31,12325.03,270612,161610
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.0,105.456
$10V_AH,9.8,64.410
$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,19.150,175.950,579.600,0.000,0.000,32.442,18.491,258.304,0.250,0.000,15.991,4446.361,11446.114,770.987,3598.134,468.167,0.000,2455.414,0.000,2963.751,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,97.155,1689.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.577,2439.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,133872,1786
$CAP_FILE_SIZE,210879,0
$CFSIZE,260165632,171175936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,111.7,1
$GPS,280612,041537,1820.151,12328.209,26,1.4,26,-2.1