version: 66.10
glider: 176
mission: 5
dive: 383
start: 5 31 112 16 22 42
data:
$ID,176
$MISSION,5
$DIVE,383
$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,420
$T_MISSION,480
$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,-8023.2832
$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,2600
$C_ROLL_CLIMB,2500
$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
$GPS1,310512,161207,1857.668,12424.053,36,0.9,36,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.1
$GPS2,310512,162214,1857.740,12424.126,10,1.5,10,-2.2
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,173.9,126910,-12.5,-7.857
$D_GRID,5437
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.52,-170.3,0.0,0.0,0,61,0.00,0.00,-40.90,0.000,2,0.000,0.000,178,2666,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.4,-6.9,7,106,8.82,2.25,-23.58,0.000,4,0.233,0.041,2345,1138,3627,0,0,0,0,0,0,25.08,26.26,26.67
$GC,235,-0.52,-170.3,45.0,-19.0,33,244,0.05,2.25,0.00,0.000,6,0.220,0.044,2351,2623,3628,0,0,0,0,0,0,26.08,26.17,28.83
$GC,550,-0.52,-170.3,105.6,-18.6,94,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2622,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.52,-170.3,160.4,-16.7,155,866,0.00,2.12,0.00,0.000,4,0.000,0.026,2352,1139,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,929,-0.52,-170.3,170.4,-12.3,168,936,0.00,2.22,0.00,0.000,6,0.000,0.041,2349,2628,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1241,-0.52,-170.3,217.6,-15.3,218,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2628,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-0.52,-170.3,257.5,-11.9,248,1550,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1152,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1622,-0.52,-170.3,265.4,-8.1,256,1631,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2630,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1932,-0.52,-170.3,300.4,-11.2,287,1936,0.00,1.73,0.00,0.000,4,0.000,0.054,2345,3759,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1964,-0.52,-170.3,304.0,-11.4,290,1968,0.00,1.73,0.00,0.000,6,0.000,0.022,2345,2483,3624,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2275,-0.52,-170.3,339.3,-11.1,321,2279,0.00,1.90,0.00,0.000,4,0.000,0.025,2345,1136,3622,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2334,-0.52,-170.3,344.5,-8.8,326,2341,0.00,2.28,0.00,0.000,6,0.000,0.043,2345,2623,3622,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2642,-0.52,-170.3,376.8,-9.8,357,2645,0.00,1.75,0.00,0.000,4,0.000,0.054,2342,3763,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2676,-0.52,-170.3,379.9,-9.9,360,2679,0.00,1.70,0.00,0.000,6,0.000,0.023,2342,2487,3620,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2987,-0.52,-170.3,412.2,-10.3,391,2995,0.00,2.03,0.00,0.000,4,0.000,0.053,2333,3772,3618,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3050,-0.52,-170.3,418.5,-9.9,397,3059,0.05,1.75,0.00,0.000,6,0.120,0.022,2359,2470,3618,0,0,0,0,0,0,26.33,26.59,28.83
$GC,3358,-0.52,-170.3,441.8,-7.7,428,3363,0.08,2.00,0.00,0.000,4,0.127,0.050,2282,3769,3616,0,0,0,0,0,0,26.61,26.09,28.83
$GC,3400,-0.52,-170.3,446.7,-11.6,432,3410,0.22,1.73,-0.10,0.000,6,0.126,0.023,2356,2467,3639,0,0,0,0,0,0,26.04,26.56,25.59
$GC,3710,-0.52,-170.3,473.5,-8.5,463,3715,0.05,2.00,0.00,0.000,4,0.175,0.052,2290,3769,3638,0,0,0,0,0,0,26.63,26.07,28.83
$GC,3775,-0.52,-170.3,481.2,-13.6,469,3784,0.20,1.73,0.00,0.000,6,0.125,0.023,2356,2470,3637,0,0,0,0,0,0,26.08,26.56,28.83
$GC,4082,-0.52,-170.3,508.9,-9.0,500,4092,0.08,1.98,0.00,0.000,4,0.125,0.052,2278,3765,3636,0,0,0,0,0,0,26.60,26.06,28.83
$GC,4114,-0.52,-170.3,513.1,-12.1,503,4119,0.22,1.70,0.00,0.000,6,0.124,0.024,2353,2470,3634,0,0,0,0,0,0,26.03,26.55,28.83
$GC,4419,-0.52,-170.3,539.3,-7.2,533,4423,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3765,3633,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4451,-0.52,-170.3,541.5,-7.0,536,4455,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2476,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4762,-0.52,-170.3,566.3,-8.9,567,4771,0.00,2.03,0.00,0.000,4,0.000,0.054,2347,3773,3630,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4806,-0.52,-170.3,569.8,-8.9,571,4813,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2432,3630,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5115,-0.52,-170.3,595.6,-7.6,602,5124,0.00,2.05,0.00,0.000,4,0.000,0.054,2347,3765,3627,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5177,-0.52,-170.3,600.3,-7.3,608,5180,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2494,3626,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5498,-0.52,-170.3,623.4,-7.1,624,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2468,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,-0.52,-170.3,646.2,-7.9,639,5804,0.00,1.98,0.00,0.000,4,0.000,0.054,2347,3754,3623,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5837,-0.52,-170.3,649.3,-7.9,641,5841,0.00,1.70,0.00,0.000,6,0.000,0.024,2347,2489,3622,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6158,-0.52,-170.3,674.3,-7.9,657,6164,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3771,3620,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6214,-0.52,-170.3,677.6,-8.1,659,6221,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2453,3619,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6518,-0.52,-170.3,704.0,-8.1,675,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2454,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,-0.52,-170.3,725.3,-6.4,690,6825,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3756,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6873,-0.52,-170.3,727.7,-6.2,692,6879,0.00,1.73,0.00,0.000,6,0.000,0.024,2347,2454,3616,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7179,-0.52,-170.3,744.9,-5.1,708,7184,0.00,2.05,0.00,0.000,4,0.000,0.055,2347,3772,3614,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7222,-0.52,-170.3,747.0,-5.0,710,7226,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2503,3614,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7541,-0.52,-170.3,764.6,-6.1,726,7547,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3765,3613,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7587,-0.52,-170.3,767.1,-6.2,728,7591,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2488,3613,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7901,-0.52,-170.3,790.2,-7.6,744,7906,0.00,1.98,0.00,0.000,4,0.000,0.056,2347,3759,3611,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7927,-0.52,-170.3,791.7,-7.6,745,7931,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2495,3611,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8239,-0.52,-170.3,816.8,-7.8,761,8245,0.00,2.05,0.00,0.000,4,0.000,0.056,2347,3762,3610,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8300,-0.52,-170.3,821.5,-7.6,764,8304,0.00,1.77,0.00,0.000,6,0.000,0.026,2347,2488,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8622,-0.52,-170.3,843.9,-6.3,780,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2487,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8923,-0.52,-170.3,861.6,-5.7,795,8928,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3761,3607,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8965,-0.52,-170.3,863.8,-5.6,797,8968,0.00,1.73,0.00,0.000,6,0.000,0.026,2347,2513,3606,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9282,-0.52,-170.3,881.9,-5.8,813,9287,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3770,3605,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9316,-0.52,-170.3,883.1,-5.9,814,9323,0.00,1.75,0.00,0.000,6,0.000,0.026,2347,2488,3605,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9623,-0.52,-170.3,900.8,-5.2,830,9628,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3771,3604,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9645,-0.52,-170.3,901.8,-5.0,831,9649,0.00,1.73,0.00,0.000,6,0.000,0.025,2347,2504,3604,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9963,-0.52,-170.3,916.9,-4.8,847,9967,0.00,2.05,0.00,0.000,4,0.000,0.057,2347,3761,3603,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10026,-0.52,-170.3,920.0,-4.8,850,10029,0.00,1.73,0.00,0.000,6,0.000,0.026,2347,2516,3603,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10349,-0.52,-170.3,937.8,-5.8,866,10354,0.00,2.00,0.00,0.000,4,0.000,0.057,2347,3771,3603,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10370,-0.52,-170.3,939.0,-5.9,867,10374,0.00,1.77,0.00,0.000,6,0.000,0.025,2347,2480,3602,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10688,-0.52,-170.3,960.2,-7.2,883,10694,0.00,2.05,0.00,0.000,4,0.000,0.057,2347,3768,3601,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10732,-0.52,-170.3,963.0,-6.9,885,10736,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2505,3600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11048,-0.52,-170.3,987.4,-7.7,901,11054,0.00,1.90,0.00,0.000,4,0.000,0.028,2347,1146,3600,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11086,begin apogee
$GC,11094,-0.17,0.0,990.5,-7.9,903,11254,0.32,0.05,151.75,1.720,6,0.093,0.053,2469,2445,2927,0,0,0,0,0,0,25.98,23.85,22.27
$STATE,11255,end apogee,CONTROL_FINISHED_OK
$STATE,11255,begin climb
$GC,11257,0.52,170.3,1000.7,0.0,911,11434,0.60,2.33,166.98,1.672,4,0.050,0.057,2702,3762,2234,0,0,0,0,0,0,24.49,23.65,21.80
$GC,11481,0.52,170.3,989.0,12.8,922,11490,0.15,2.03,0.00,0.000,6,0.186,0.024,2676,2446,2230,0,0,0,0,0,0,24.56,24.91,28.83
$GC,11788,0.52,170.3,948.1,12.5,938,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2442,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12087,0.52,170.3,912.1,11.9,953,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2442,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12387,0.52,170.3,878.9,11.0,968,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2442,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21654,end climb,SURFACE_DEPTH_REACHED
$STATE,21654,begin surface coast
$FINISH,0.6,1.008799
$STATE,21682,end surface coast,CONTROL_FINISHED_OK
$STATE,21682,begin surface
$SM_CCo,21758,0.00,0.000,0,0,948,485.69
$SM_GC,1.57,6.55,0.12,0.00,0.028,0.090,0.000,178,2658,948,-7.16,-0.40,485.69,0,0,0,0,0,0,26.27,26.46,28.83
$IRIDIUM_FIX,1853.26,12424.41,310512,161625
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.94
$INTERNAL_PRESSURE,9.44647
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.8,80.436
$10V_AH,9.8,49.034
$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
$DEVICE_SECS,20.450,188.750,496.900,0.000,0.000,55.299,59.349,275.247,0.000,0.000,12.842,4968.081,12297.002,634.516,3947.685,480.703,0.000,2483.486,0.000,3289.249,0.000,0.541,0.000
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$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,143838,1960
$CAP_FILE_SIZE,231424,0
$CFSIZE,260165632,184037376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,270.4,1
$GPS,310512,222630,1855.081,12424.033,36,0.8,41,-2.2