version: 66.10
glider: 176
mission: 5
dive: 388
start: 6 1 112 22 51 41
data:
$ID,176
$MISSION,5
$DIVE,388
$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,-8029.5737
$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
$GPS1,010612,224236,1846.822,12425.701,36,1.0,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.7
$GPS2,010612,225114,1846.912,12425.760,13,1.2,13,-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,176.9,106653,-12.5,-7.857
$D_GRID,5557
$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,17,-0.52,-170.3,0.0,0.0,0,73,0.00,0.00,-52.75,0.000,2,0.000,0.000,186,2694,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.52,-170.3,3.4,-7.3,9,119,8.80,2.30,-23.23,0.000,4,0.233,0.040,2341,1137,3628,0,0,0,0,0,0,24.96,26.25,26.69
$GC,152,-0.52,-170.3,22.6,-24.6,16,160,0.08,2.25,0.00,0.000,6,0.197,0.043,2350,2628,3628,0,0,0,0,0,0,25.99,26.15,28.83
$GC,481,-0.52,-170.3,98.2,-20.4,77,488,0.00,1.70,0.00,0.000,4,0.000,0.050,2343,3768,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,545,-0.52,-170.3,108.3,-14.7,88,567,0.00,1.73,0.00,0.000,6,0.000,0.023,2343,2497,3627,0,0,0,0,0,0,28.83,26.56,28.83
$GC,870,-0.52,-170.3,164.4,-17.1,149,877,0.00,1.92,0.00,0.000,4,0.000,0.027,2343,1135,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,939,-0.52,-170.3,173.9,-11.0,162,946,0.08,2.22,0.00,0.000,6,0.177,0.041,2357,2622,3628,0,0,0,0,0,0,26.14,26.26,28.83
$GC,1257,-0.52,-170.3,218.3,-15.2,212,1266,0.08,2.08,0.00,0.000,4,0.129,0.024,2294,1148,3627,0,0,0,0,0,0,26.63,26.41,28.83
$GC,1288,-0.52,-170.3,223.9,-16.4,215,1299,0.20,2.22,0.00,0.000,6,0.138,0.044,2355,2618,3627,0,0,0,0,0,0,25.95,26.23,28.83
$GC,1599,-0.52,-170.3,266.8,-13.0,246,1608,0.05,2.10,0.00,0.000,4,0.174,0.023,2301,1137,3626,0,0,0,0,0,0,26.64,26.41,28.83
$GC,1623,-0.52,-170.3,270.1,-13.4,248,1631,0.20,2.22,0.00,0.000,6,0.134,0.041,2355,2617,3626,0,0,0,0,0,0,25.96,26.25,28.83
$GC,1931,-0.52,-170.3,308.0,-10.9,279,1941,0.05,2.12,0.00,0.000,4,0.174,0.023,2300,1135,3625,0,0,0,0,0,0,26.64,26.41,28.83
$GC,2036,-0.52,-170.3,320.2,-11.8,289,2044,0.12,2.25,0.00,0.000,6,0.109,0.042,2357,2611,3625,0,0,0,0,0,0,25.98,26.24,28.83
$GC,2344,-0.52,-170.3,351.1,-11.0,320,2346,0.08,0.00,0.00,0.000,6,0.129,0.000,2287,2612,3623,0,0,0,0,0,0,26.62,28.83,28.83
$GC,2644,-0.52,-170.3,407.6,-19.7,350,2653,0.17,2.10,0.00,0.000,4,0.151,0.024,2348,1138,3622,0,0,0,0,0,0,26.13,26.40,28.83
$GC,2740,-0.52,-170.3,418.2,-9.4,359,2748,0.00,2.25,0.00,0.000,6,0.000,0.043,2347,2629,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3047,-0.52,-170.3,449.9,-9.9,390,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,-0.52,-170.3,479.8,-9.4,420,3360,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1138,3617,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3395,-0.52,-170.3,483.8,-9.0,424,3402,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2616,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3703,-0.52,-170.3,511.9,-9.4,455,3713,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1136,3615,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3737,-0.52,-170.3,514.7,-8.8,458,3745,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2616,3615,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4045,-0.52,-170.3,543.1,-9.0,489,4049,0.00,1.77,0.00,0.000,4,0.000,0.056,2344,3762,3613,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4080,-0.52,-170.3,545.9,-9.1,492,4083,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2493,3612,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4392,-0.52,-170.3,573.6,-8.9,523,4401,0.00,2.00,0.00,0.000,4,0.000,0.054,2336,3758,3610,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4454,-0.52,-170.3,579.3,-8.7,529,4458,0.05,1.70,0.00,0.000,6,0.200,0.024,2355,2493,3609,0,0,0,0,0,0,26.35,26.54,28.83
$GC,4767,-0.52,-170.3,603.4,-7.4,558,4773,0.05,1.98,0.00,0.000,4,0.171,0.054,2291,3765,3607,0,0,0,0,0,0,26.61,26.02,28.83
$GC,4794,-0.52,-170.3,605.2,-7.7,559,4798,0.20,1.70,0.00,0.000,6,0.124,0.024,2358,2492,3607,0,0,0,0,0,0,26.06,26.53,28.83
$GC,5101,-0.52,-170.3,625.8,-5.6,574,5107,0.08,2.00,0.00,0.000,4,0.127,0.053,2286,3768,3604,0,0,0,0,0,0,26.60,26.01,28.83
$GC,5162,-0.52,-170.3,631.5,-8.5,577,5166,0.15,1.75,0.00,0.000,6,0.109,0.024,2360,2491,3603,0,0,0,0,0,0,26.01,26.54,28.83
$GC,5484,-0.52,-170.3,650.3,-5.6,593,5490,0.08,1.98,0.00,0.000,4,0.127,0.052,2287,3769,3602,0,0,0,0,0,0,26.59,25.99,28.83
$GC,5513,-0.52,-170.3,651.9,-6.1,594,5517,0.20,1.75,0.00,0.000,6,0.123,0.023,2353,2461,3601,0,0,0,0,0,0,26.04,26.53,28.83
$GC,5819,-0.52,-170.3,672.0,-6.2,609,5824,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3775,3599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5862,-0.52,-170.3,674.6,-6.4,611,5865,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2511,3598,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6180,-0.52,-170.3,697.3,-7.1,627,6185,0.00,1.98,0.00,0.000,4,0.000,0.056,2348,3764,3596,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6220,-0.52,-170.3,700.2,-7.0,629,6223,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2503,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6542,-0.52,-170.3,722.0,-6.7,645,6548,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3765,3595,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6596,-0.52,-170.3,724.9,-7.1,647,6604,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2484,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6901,-0.52,-170.3,749.0,-8.0,663,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2484,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,-0.52,-170.3,773.1,-8.0,678,7207,0.00,1.95,0.00,0.000,4,0.000,0.056,2348,3755,3591,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7229,-0.52,-170.3,774.7,-8.1,679,7232,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2477,3590,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7542,-0.52,-170.3,798.9,-7.1,695,7547,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3763,3589,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7565,-0.52,-170.3,800.2,-7.0,696,7568,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2491,3589,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7882,-0.52,-170.3,820.5,-5.8,712,7888,0.00,1.95,0.00,0.000,4,0.000,0.055,2348,3761,3588,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7914,-0.52,-170.3,821.7,-5.7,713,7921,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2472,3587,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8223,-0.52,-170.3,838.3,-4.8,729,8228,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3768,3586,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8249,-0.52,-170.3,839.4,-4.9,730,8253,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2505,3586,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8563,-0.52,-170.3,857.1,-5.7,746,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2469,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,-0.52,-170.3,875.5,-6.3,761,8867,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3771,3583,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8922,-0.52,-170.3,879.4,-6.5,764,8925,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2514,3583,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9245,-0.52,-170.3,901.3,-6.7,780,9250,0.00,1.92,0.00,0.000,4,0.000,0.026,2348,1142,3583,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9296,-0.52,-170.3,904.0,-6.9,782,9303,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2624,3582,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9604,-0.52,-170.3,925.1,-6.4,798,9610,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1145,3581,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9703,-0.52,-170.3,931.5,-6.2,803,9709,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2628,3581,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10023,-0.52,-170.3,950.7,-6.1,819,10029,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1141,3580,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10127,-0.52,-170.3,956.8,-6.0,824,10131,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2616,3580,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10442,-0.52,-170.3,975.3,-5.8,840,10447,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1135,3579,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10528,-0.52,-170.3,980.1,-5.9,844,10532,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2627,3578,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,10693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10693,begin apogee
$GC,10699,-0.17,0.0,990.3,-5.9,852,10858,0.30,0.12,146.18,1.714,6,0.080,0.094,2468,2534,2928,0,0,0,0,0,0,26.14,24.21,22.36
$STATE,10859,end apogee,CONTROL_FINISHED_OK
$STATE,10859,begin climb
$GC,10861,0.52,170.3,998.4,0.0,860,11038,0.60,2.12,165.55,1.671,4,0.050,0.055,2703,3766,2234,0,0,0,0,0,0,24.72,23.70,21.86
$GC,11235,0.52,170.3,955.9,18.1,878,11242,0.15,1.92,0.00,0.000,6,0.194,0.025,2676,2455,2227,0,0,0,0,0,0,25.61,26.06,28.83
$GC,11543,0.52,170.3,914.5,12.4,894,11544,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2451,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11842,0.52,170.3,876.4,13.0,909,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2451,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12144,0.52,170.3,836.8,12.8,924,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2451,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12442,0.52,170.3,799.9,11.9,939,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2450,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12742,0.52,170.3,764.7,11.4,954,12748,0.00,2.05,0.00,0.000,4,0.000,0.054,2676,3771,2218,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,20704,end climb,SURFACE_DEPTH_REACHED
$STATE,20704,begin surface coast
$FINISH,2.9,1.021956
$STATE,20716,end surface coast,CONTROL_FINISHED_OK
$STATE,20716,begin surface
$SM_CCo,20794,0.00,0.000,0,0,836,513.41
$SM_GC,1.30,7.05,2.42,0.00,0.062,0.037,0.000,184,2631,836,-7.14,-0.28,513.41,0,0,0,0,0,0,26.32,26.15,28.83
$IRIDIUM_FIX,1839.59,12425.59,010612,161647
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,21.9,81.447
$10V_AH,9.8,49.741
$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,20.650,173.325,482.225,0.000,0.000,27.195,39.124,287.803,0.000,0.000,16.553,4731.202,11620.312,626.818,3841.741,456.223,0.000,2409.149,0.000,3187.576,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,94.095,1714.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.295,2469.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,137113,1868
$CAP_FILE_SIZE,221629,0
$CFSIZE,260165632,183459840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,104.6,1
$GPS,020612,043930,1844.706,12426.116,38,1.8,43,-2.2