version: 66.10
glider: 176
mission: 5
dive: 387
start: 6 1 112 16 52 59
data:
$ID,176
$MISSION,5
$DIVE,387
$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,-8028.3169
$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
$GPS1,010612,164207,1848.499,12425.457,27,1.3,27,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.4
$GPS2,010612,165232,1848.610,12425.576,12,1.3,12,-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,178.4,109809,-12.5,-7.857
$D_GRID,5469
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.52,-170.3,0.0,0.0,0,61,0.00,0.00,-40.15,0.000,2,0.000,0.000,190,2683,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.52,-170.3,3.2,-6.9,7,106,8.73,2.30,-26.80,0.000,4,0.231,0.042,2341,1148,3625,0,0,0,0,0,0,25.08,26.22,26.69
$GC,150,-0.52,-170.3,23.3,-24.7,16,157,0.08,2.22,0.00,0.000,6,0.196,0.043,2351,2624,3626,0,0,0,0,0,0,26.01,26.17,28.83
$GC,478,-0.52,-170.3,93.2,-20.0,77,485,0.00,1.70,0.00,0.000,4,0.000,0.050,2344,3769,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,533,-0.52,-170.3,104.9,-19.8,87,541,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2488,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,860,-0.52,-170.3,168.0,-19.1,148,867,0.00,1.92,0.00,0.000,4,0.000,0.027,2344,1138,3625,0,0,0,0,0,0,28.83,26.44,28.83
$GC,896,-0.52,-170.3,174.1,-16.1,154,904,0.08,2.22,0.00,0.000,6,0.183,0.042,2356,2624,3626,0,0,0,0,0,0,26.13,26.26,28.83
$GC,1208,-0.52,-170.3,219.9,-15.2,202,1218,0.05,2.12,0.00,0.000,4,0.176,0.024,2303,1138,3626,0,0,0,0,0,0,26.65,26.41,28.83
$GC,1270,-0.52,-170.3,229.4,-14.6,208,1280,0.20,2.22,0.00,0.000,6,0.130,0.042,2356,2631,3626,0,0,0,0,0,0,26.00,26.26,28.83
$GC,1580,-0.52,-170.3,268.6,-12.3,239,1590,0.08,2.12,0.00,0.000,4,0.129,0.024,2290,1144,3625,0,0,0,0,0,0,26.63,26.42,28.83
$GC,1693,-0.52,-170.3,285.3,-14.6,250,1703,0.17,2.22,0.00,0.000,6,0.136,0.045,2348,2629,3625,0,0,0,0,0,0,25.99,26.24,28.83
$GC,2002,-0.52,-170.3,322.7,-10.5,281,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.52,-170.3,356.5,-11.6,311,2315,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1148,3622,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2410,-0.52,-170.3,366.8,-8.8,321,2418,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2617,3621,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2721,-0.52,-170.3,398.9,-10.5,352,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2617,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,-0.52,-170.3,429.0,-9.1,383,3038,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1144,3617,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3063,-0.52,-170.3,431.8,-8.9,386,3070,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2614,3616,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3371,-0.52,-170.3,460.2,-10.0,417,3373,0.00,0.00,-0.08,0.000,6,0.000,0.000,2348,2614,3638,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3672,-0.52,-170.3,485.9,-7.6,447,3682,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1141,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3727,-0.52,-170.3,489.9,-7.0,452,3735,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2616,3636,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4035,-0.52,-170.3,514.5,-9.0,483,4038,0.00,1.73,0.00,0.000,4,0.000,0.055,2344,3765,3634,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4069,-0.52,-170.3,517.4,-9.5,486,4076,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2443,3634,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4376,-0.52,-170.3,547.5,-9.6,517,4385,0.00,2.08,0.00,0.000,4,0.000,0.054,2344,3773,3632,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4430,-0.52,-170.3,552.4,-9.6,522,4433,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2491,3631,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4741,-0.52,-170.3,578.9,-7.4,553,4751,0.00,2.05,0.00,0.000,4,0.000,0.054,2338,3773,3628,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4784,-0.52,-170.3,582.2,-7.9,557,4788,0.00,1.77,0.00,0.000,6,0.000,0.023,2338,2448,3628,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5107,-0.52,-170.3,609.5,-9.0,584,5113,0.03,2.05,0.00,0.000,4,0.281,0.053,2348,3768,3625,0,0,0,0,0,0,26.58,26.01,28.83
$GC,5149,-0.52,-170.3,613.0,-8.8,586,5154,0.00,1.77,0.00,0.000,6,0.000,0.023,2348,2449,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5469,-0.52,-170.3,639.2,-7.7,602,5474,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3768,3623,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5495,-0.52,-170.3,640.7,-7.7,603,5498,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2497,3622,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5808,-0.52,-170.3,663.5,-6.7,619,5814,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3754,3621,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5855,-0.52,-170.3,665.9,-6.3,621,5858,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2493,3620,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6167,-0.52,-170.3,687.0,-6.9,637,6173,0.00,2.08,0.00,0.000,4,0.000,0.055,2348,3771,3618,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6228,-0.52,-170.3,691.2,-7.2,640,6232,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2490,3617,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6550,-0.52,-170.3,715.1,-7.4,656,6555,0.00,2.08,0.00,0.000,4,0.000,0.055,2348,3766,3616,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6598,-0.52,-170.3,718.0,-7.3,658,6601,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2498,3615,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6911,-0.52,-170.3,742.5,-7.6,674,6917,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3757,3614,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6954,-0.52,-170.3,745.6,-7.6,676,6958,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2465,3613,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7273,-0.52,-170.3,769.5,-7.4,692,7278,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3765,3611,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7314,-0.52,-170.3,772.5,-7.3,694,7318,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2481,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7632,-0.52,-170.3,796.5,-7.5,710,7638,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3610,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7681,-0.52,-170.3,799.4,-7.4,712,7684,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2487,3610,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7992,-0.52,-170.3,822.0,-6.6,728,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2485,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.52,-170.3,840.1,-5.8,743,8299,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3607,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8340,-0.52,-170.3,842.3,-5.5,745,8343,0.00,1.73,0.00,0.000,6,0.000,0.026,2349,2511,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8652,-0.52,-170.3,860.0,-5.8,761,8658,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3762,3606,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8686,-0.52,-170.3,861.3,-5.8,762,8693,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2469,3605,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8993,-0.52,-170.3,882.4,-6.8,778,8999,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3758,3604,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9032,-0.52,-170.3,885.2,-6.7,780,9036,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9355,-0.52,-170.3,906.6,-6.2,796,9360,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3603,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9386,-0.52,-170.3,907.8,-6.1,797,9394,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2468,3603,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9695,-0.52,-170.3,927.0,-5.9,813,9700,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3758,3602,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9736,-0.52,-170.3,929.5,-5.9,815,9739,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2474,3601,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10053,-0.52,-170.3,948.3,-5.9,831,10059,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3766,3601,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10095,-0.52,-170.3,950.5,-5.9,833,10098,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2510,3600,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10416,-0.52,-170.3,970.9,-6.3,849,10421,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1135,3600,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10464,-0.52,-170.3,973.7,-6.7,851,10468,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2627,3600,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10715,-0.17,0.0,990.7,-6.6,863,10874,0.30,0.12,150.95,1.712,6,0.079,0.094,2470,2533,2928,0,0,0,0,0,0,26.15,24.16,22.32
$STATE,10875,end apogee,CONTROL_FINISHED_OK
$STATE,10876,begin climb
$GC,10878,0.52,170.3,999.4,0.0,871,11053,0.60,2.20,166.23,1.670,4,0.052,0.057,2701,3757,2234,0,0,0,0,0,0,24.56,23.67,21.84
$GC,11250,0.52,170.3,958.7,18.2,889,11259,0.15,1.92,0.00,0.000,6,0.191,0.026,2673,2456,2226,0,0,0,0,0,0,25.61,26.04,28.83
$GC,11558,0.52,170.3,917.3,12.0,905,11563,0.00,2.03,0.00,0.000,4,0.000,0.055,2673,3763,2222,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11592,0.52,170.3,914.5,12.3,906,11600,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2446,2222,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11899,0.52,170.3,874.5,12.1,922,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2443,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12198,0.52,170.3,838.8,11.8,937,12203,0.00,2.08,0.00,0.000,4,0.000,0.056,2682,3765,2220,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12232,0.52,170.3,836.2,12.1,938,12239,0.08,1.90,0.00,0.000,6,0.223,0.024,2677,2455,2220,0,0,0,0,0,0,26.10,26.38,28.83
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$GC,20596,0.72,330.7,18.0,7.0,1856,20619,0.12,2.05,11.55,0.171,4,0.140,0.032,2734,1060,1574,0,0,0,0,0,0,26.33,26.19,25.19
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$STATE,20798,end climb,SURFACE_DEPTH_REACHED
$STATE,20798,begin surface coast
$FINISH,0.7,1.021922
$STATE,20830,end surface coast,CONTROL_FINISHED_OK
$STATE,20830,begin surface
$SM_CCo,20905,0.00,0.000,0,0,1042,462.88
$SM_GC,1.37,6.57,0.12,0.00,0.034,0.086,0.000,186,2688,1042,-7.15,-0.59,462.88,0,0,0,0,0,0,26.28,26.47,28.83
$IRIDIUM_FIX,1844.15,12426.88,010612,161630
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.8,81.251
$10V_AH,9.8,49.601
$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,19.225,183.000,476.825,0.000,0.000,54.316,69.046,276.157,0.000,0.000,14.667,4798.403,11650.207,618.541,3942.618,482.733,0.000,2439.593,0.000,3225.989,0.000,0.540,0.000
$DEVICE_MAMPS,280.755,94.095,1712.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1289.497,2531.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,140542,1889
$CAP_FILE_SIZE,225626,0
$CFSIZE,260165632,183570432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,  5.5,1
$GPS,010612,224236,1846.822,12425.701,36,1.0,42,-2.2