version: 66.10
glider: 176
mission: 5
dive: 392
start: 6 2 112 22 39 35
data:
$ID,176
$MISSION,5
$DIVE,392
$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,1
$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,-8034.6123
$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
$GPS1,020612,222737,1839.470,12427.327,29,1.2,29,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.2
$GPS2,020612,223907,1839.355,12427.299,10,1.3,10,-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,175.0,92409,-12.5,-7.857
$D_GRID,5549
$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,-170.3,0.0,0.0,0,63,0.00,0.00,-42.05,0.000,2,0.000,0.000,190,2674,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.52,-170.3,3.4,-6.9,7,108,8.85,2.28,-23.33,0.000,4,0.236,0.047,2346,1161,3627,0,0,0,0,0,0,25.04,26.17,26.68
$GC,261,-0.52,-170.3,40.2,-12.2,41,269,0.05,2.20,0.00,0.000,6,0.218,0.043,2352,2623,3628,0,0,0,0,0,0,26.10,26.20,28.83
$GC,590,-0.52,-170.3,110.6,-20.2,102,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2624,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-0.52,-170.3,168.8,-17.6,163,908,0.00,2.12,0.00,0.000,4,0.000,0.026,2352,1138,3629,0,0,0,0,0,0,28.83,26.40,28.83
$GC,996,-0.52,-170.3,181.7,-10.5,181,1003,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2620,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1311,-0.52,-170.3,234.0,-17.1,224,1314,0.00,1.73,0.00,0.000,4,0.000,0.053,2341,3771,3629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1341,-0.52,-170.3,239.4,-16.8,227,1345,0.00,1.70,0.00,0.000,6,0.000,0.022,2340,2495,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1653,-0.52,-170.3,285.0,-13.9,258,1662,0.00,1.90,0.00,0.000,4,0.000,0.028,2341,1134,3628,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1704,-0.52,-170.3,291.0,-10.9,263,1715,0.08,2.25,0.00,0.000,6,0.176,0.046,2357,2620,3628,0,0,0,0,0,0,26.11,26.22,28.83
$GC,2014,-0.52,-170.3,325.1,-11.3,294,2016,0.08,0.00,0.00,0.000,6,0.128,0.000,2289,2621,3626,0,0,0,0,0,0,26.62,28.83,28.83
$GC,2315,-0.52,-170.3,378.5,-19.0,324,2324,0.17,2.10,0.00,0.000,4,0.152,0.024,2348,1145,3625,0,0,0,0,0,0,26.13,26.39,28.83
$GC,2377,-0.52,-170.3,386.2,-10.4,330,2386,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2619,3625,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2687,-0.52,-170.3,419.3,-9.6,361,2691,0.00,1.75,0.00,0.000,4,0.000,0.054,2345,3774,3623,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2708,-0.52,-170.3,421.3,-9.5,363,2712,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2458,3623,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3019,-0.52,-170.3,448.3,-8.7,394,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2455,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.52,-170.3,481.0,-12.0,424,3329,0.00,2.00,0.00,0.000,4,0.000,0.053,2337,3759,3619,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3426,-0.52,-170.3,493.1,-11.6,434,3433,0.05,1.70,0.00,0.000,6,0.200,0.022,2355,2456,3617,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3732,-0.52,-170.3,522.0,-7.8,465,3737,0.05,2.03,0.00,0.000,4,0.172,0.052,2285,3776,3616,0,0,0,0,0,0,26.63,26.06,28.83
$GC,3796,-0.52,-170.3,529.1,-12.8,471,3800,0.17,1.75,0.00,0.000,6,0.111,0.022,2352,2468,3615,0,0,0,0,0,0,26.06,26.57,28.83
$GC,4109,-0.52,-170.3,550.8,-6.1,502,4118,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3763,3613,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4151,-0.52,-170.3,553.4,-6.0,506,4154,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2490,3612,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4462,-0.52,-170.3,573.6,-7.2,537,4470,0.00,2.05,0.00,0.000,4,0.000,0.055,2348,3772,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4508,-0.52,-170.3,576.7,-7.7,541,4515,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2461,3610,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4816,-0.52,-170.3,602.0,-8.6,571,4821,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3765,3608,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4868,-0.52,-170.3,605.6,-8.7,573,4875,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2471,3606,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5174,-0.52,-170.3,634.3,-8.8,589,5179,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3770,3605,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5216,-0.52,-170.3,637.6,-8.6,591,5220,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2456,3604,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5535,-0.52,-170.3,661.6,-7.0,607,5541,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3764,3602,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5594,-0.52,-170.3,665.5,-6.5,610,5598,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2499,3601,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5917,-0.52,-170.3,685.0,-6.2,626,5922,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3757,3599,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5944,-0.52,-170.3,686.2,-6.2,627,5947,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2492,3599,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6255,-0.52,-170.3,707.3,-6.9,643,6261,0.00,2.05,0.00,0.000,4,0.000,0.055,2348,3762,3597,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6304,-0.52,-170.3,709.9,-6.7,645,6308,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2498,3597,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6616,-0.52,-170.3,730.7,-6.3,661,6619,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3766,3595,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6650,-0.52,-170.3,732.0,-6.2,662,6657,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2445,3595,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6959,-0.52,-170.3,752.2,-6.7,678,6964,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3759,3594,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7012,-0.52,-170.3,755.0,-6.6,680,7019,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2456,3593,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7320,-0.52,-170.3,776.9,-6.8,696,7325,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3757,3591,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7366,-0.52,-170.3,779.5,-6.7,698,7370,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2505,3590,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7678,-0.52,-170.3,800.3,-6.2,714,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2477,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-0.52,-170.3,817.9,-5.7,729,7985,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3758,3588,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8040,-0.52,-170.3,821.5,-5.9,732,8043,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2501,3587,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8363,-0.52,-170.3,841.7,-6.4,748,8369,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3586,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8401,-0.52,-170.3,844.4,-6.7,750,8405,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3586,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8723,-0.52,-170.3,866.0,-6.5,766,8728,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3768,3585,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8777,-0.52,-170.3,868.6,-6.5,768,8784,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2457,3585,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9084,-0.52,-170.3,888.9,-6.2,784,9089,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3761,3584,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9123,-0.52,-170.3,891.2,-6.1,786,9126,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2497,3583,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9446,-0.52,-170.3,910.3,-5.9,802,9451,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3759,3583,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9485,-0.52,-170.3,912.7,-5.8,804,9488,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3582,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9808,-0.52,-170.3,931.0,-5.6,820,9813,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3765,3582,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9854,-0.52,-170.3,933.2,-5.6,822,9858,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2468,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10166,-0.52,-170.3,949.6,-4.7,838,10172,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3765,3581,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10208,-0.52,-170.3,951.6,-4.8,840,10212,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2498,3580,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10530,-0.52,-170.3,967.4,-5.1,856,10535,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3751,3579,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10577,-0.52,-170.3,969.4,-4.9,858,10581,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2489,3579,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10891,-0.52,-170.3,988.5,-6.5,874,10896,0.00,1.95,0.00,0.000,4,0.000,0.027,2348,1136,3579,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10928,begin apogee
$GC,10935,-0.17,0.0,991.1,-6.4,876,11093,0.32,0.00,146.65,1.714,6,0.093,0.000,2470,2522,2927,0,0,0,0,0,0,25.97,28.83,22.31
$STATE,11094,end apogee,CONTROL_FINISHED_OK
$STATE,11094,begin climb
$GC,11096,0.52,170.3,999.5,0.0,884,11273,0.60,2.20,166.43,1.668,4,0.052,0.057,2703,3758,2234,0,0,0,0,0,0,24.63,23.65,21.80
$GC,11378,0.52,170.3,974.1,17.5,898,11383,0.15,1.92,0.00,0.000,6,0.191,0.025,2677,2454,2229,0,0,0,0,0,0,25.25,25.65,28.83
$GC,11692,0.52,170.3,936.2,11.0,914,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2450,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11991,0.52,170.3,904.4,10.4,929,11996,0.00,2.08,0.00,0.000,4,0.000,0.056,2677,3771,2221,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12045,0.52,170.3,899.4,11.4,931,12053,0.00,1.92,0.00,0.000,6,0.000,0.024,2686,2434,2221,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12352,0.52,170.3,862.3,11.3,947,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2431,2220,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21092,end climb,SURFACE_DEPTH_REACHED
$STATE,21092,begin surface coast
$FINISH,0.6,1.022376
$STATE,21155,end surface coast,CONTROL_FINISHED_OK
$STATE,21155,begin surface
$SM_CCo,21230,0.00,0.000,0,0,1373,381.69
$SM_GC,1.38,6.35,0.12,0.00,0.031,0.093,0.000,185,2645,1373,-7.15,-0.57,381.69,0,0,0,0,0,0,26.27,26.51,28.83
$IRIDIUM_FIX,1835.04,12427.47,020612,161629
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.8,82.267
$10V_AH,9.8,50.301
$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,19.050,185.400,431.150,0.000,0.000,59.428,48.127,357.412,0.000,0.000,12.926,4867.656,11971.572,594.626,3958.996,492.266,0.000,2392.948,0.000,3235.115,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,93.330,1714.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1306.250,2475.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,140562,1913
$CAP_FILE_SIZE,224853,0
$CFSIZE,260165632,182984704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,139.7,1
$GPS,030612,043431,1836.538,12427.944,37,1.3,37,-2.2