version: 66.10
glider: 176
mission: 5
dive: 393
start: 6 3 112 4 48 48
data:
$ID,176
$MISSION,5
$DIVE,393
$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,-8035.8716
$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
$GPS1,030612,043431,1836.538,12427.944,37,1.3,37,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.7
$GPS2,030612,044820,1836.192,12428.139,11,1.7,11,-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,178.7,86398,-12.5,-7.857
$D_GRID,5388
$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,-170.3,0.0,0.0,0,68,0.00,0.00,-48.00,0.000,2,0.000,0.000,185,2648,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.52,-170.3,3.5,-6.5,8,107,8.80,1.73,-19.00,0.000,4,0.231,0.062,2337,3795,3626,0,0,0,0,0,0,25.16,26.13,26.69
$GC,311,-0.52,-170.3,74.1,-19.1,51,318,0.05,1.75,0.00,0.000,6,0.217,0.023,2352,2506,3627,0,0,0,0,0,0,26.29,26.48,28.83
$GC,623,-0.52,-170.3,131.9,-19.5,112,630,0.00,1.92,0.00,0.000,4,0.000,0.025,2353,1126,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,654,-0.52,-170.3,137.0,-16.6,117,661,0.00,2.25,0.00,0.000,6,0.000,0.044,2349,2616,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,966,-0.52,-170.3,188.7,-16.9,178,973,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1135,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1002,-0.52,-170.3,194.0,-13.4,184,1009,0.00,2.22,0.00,0.000,6,0.000,0.044,2349,2617,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1311,-0.52,-170.3,241.3,-16.2,219,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2617,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1615,-0.52,-170.3,281.9,-12.3,249,1625,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1143,3625,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1679,-0.52,-170.3,288.1,-7.9,255,1687,0.00,2.20,0.00,0.000,6,0.000,0.043,2345,2614,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1988,-0.52,-170.3,326.5,-14.2,286,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2614,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.52,-170.3,364.8,-11.3,316,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2614,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.52,-170.3,394.6,-9.8,346,2600,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1133,3621,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2656,-0.52,-170.3,400.4,-7.8,352,2663,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2619,3621,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2963,-0.52,-170.3,432.0,-10.5,383,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2619,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.52,-170.3,464.7,-10.0,413,3274,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1138,3617,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3318,-0.52,-170.3,469.2,-8.3,418,3327,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2615,3617,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3628,-0.52,-170.3,493.7,-8.4,449,3630,0.00,0.00,-0.08,0.000,6,0.000,0.000,2344,2615,3639,0,0,0,0,0,0,28.83,28.83,25.35
$GC,3927,-0.52,-170.3,522.4,-10.2,479,3936,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1134,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3951,-0.52,-170.3,524.5,-9.8,481,3959,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2628,3637,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4258,-0.52,-170.3,552.5,-8.2,512,4262,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1129,3635,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4289,-0.52,-170.3,555.0,-8.2,515,4299,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2621,3635,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4602,-0.52,-170.3,578.7,-7.6,546,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2622,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4910,-0.52,-170.3,605.8,-9.2,574,4914,0.00,1.77,0.00,0.000,4,0.000,0.058,2344,3775,3630,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4951,-0.52,-170.3,609.5,-9.4,576,4954,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2489,3629,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5273,-0.52,-170.3,636.0,-7.4,592,5279,0.00,2.05,0.00,0.000,4,0.000,0.055,2338,3768,3627,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5332,-0.52,-170.3,640.3,-7.4,595,5335,0.00,1.70,0.00,0.000,6,0.000,0.024,2338,2489,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5655,-0.52,-170.3,663.3,-7.1,611,5661,0.03,2.05,0.00,0.000,4,0.279,0.054,2344,3768,3625,0,0,0,0,0,0,26.59,25.96,28.83
$GC,5723,-0.52,-170.3,667.0,-6.5,614,5727,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2495,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6035,-0.52,-170.3,688.6,-7.1,630,6041,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3763,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6079,-0.52,-170.3,691.5,-7.2,632,6082,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2498,3621,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6402,-0.52,-170.3,717.3,-7.7,648,6407,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3758,3620,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6442,-0.52,-170.3,720.2,-7.4,650,6446,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2457,3619,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6762,-0.52,-170.3,743.5,-7.4,666,6767,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3754,3618,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6820,-0.52,-170.3,747.8,-7.3,669,6824,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2462,3617,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7143,-0.52,-170.3,770.9,-7.0,685,7146,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3763,3616,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7186,-0.52,-170.3,773.8,-7.0,687,7189,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2499,3616,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7511,-0.52,-170.3,796.5,-7.1,703,7516,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3755,3614,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7552,-0.52,-170.3,799.4,-7.1,705,7555,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2460,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7869,-0.52,-170.3,820.6,-6.3,721,7875,0.00,2.08,0.00,0.000,4,0.000,0.057,2344,3771,3612,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7913,-0.52,-170.3,823.1,-6.1,723,7916,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2507,3612,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8229,-0.52,-170.3,842.0,-5.8,739,8235,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3768,3611,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8272,-0.52,-170.3,844.2,-5.7,741,8275,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2471,3611,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8590,-0.52,-170.3,862.0,-5.6,757,8596,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3760,3609,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8637,-0.52,-170.3,864.2,-5.7,759,8641,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2482,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8950,-0.52,-170.3,883.5,-6.3,775,8956,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3752,3607,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8982,-0.52,-170.3,884.7,-6.3,776,8989,0.00,1.73,0.00,0.000,6,0.000,0.026,2344,2469,3607,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9289,-0.52,-170.3,906.3,-7.1,792,9295,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3766,3606,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9333,-0.52,-170.3,909.1,-7.1,794,9336,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2505,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9650,-0.52,-170.3,932.8,-7.5,810,9655,0.00,2.05,0.00,0.000,4,0.000,0.058,2344,3762,3606,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9692,-0.52,-170.3,935.9,-7.5,812,9695,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2469,3605,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10011,-0.52,-170.3,959.1,-6.9,828,10016,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3755,3604,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10050,-0.52,-170.3,961.8,-6.9,830,10053,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2497,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10373,-0.52,-170.3,981.6,-5.6,846,10378,0.00,2.00,0.00,0.000,4,0.000,0.057,2344,3756,3603,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10411,-0.52,-170.3,983.7,-5.6,848,10415,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2491,3602,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10531,begin apogee
$GC,10536,-0.17,0.0,990.4,-5.3,854,10697,0.32,0.10,151.25,1.711,6,0.097,0.077,2465,2444,2928,0,0,0,0,0,0,25.95,24.17,22.32
$STATE,10698,end apogee,CONTROL_FINISHED_OK
$STATE,10698,begin climb
$GC,10700,0.52,170.3,997.1,0.0,862,10876,0.65,2.38,166.35,1.666,4,0.047,0.056,2713,3765,2234,0,0,0,0,0,0,24.60,23.68,21.83
$GC,10919,0.52,170.3,980.8,15.2,873,10923,0.17,2.03,0.00,0.000,6,0.185,0.024,2680,2459,2231,0,0,0,0,0,0,24.50,24.89,28.83
$GC,11241,0.52,170.3,938.0,12.6,889,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2455,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11542,0.52,170.3,899.6,12.6,904,11547,0.00,2.03,0.00,0.000,4,0.000,0.056,2680,3767,2222,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11564,0.52,170.3,896.8,12.9,905,11568,0.05,1.92,0.00,0.000,6,0.252,0.024,2679,2443,2222,0,0,0,0,0,0,26.15,26.35,28.83
$GC,11876,0.52,170.3,857.2,11.9,921,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2439,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12177,0.52,170.3,823.4,10.8,936,12182,0.00,2.05,0.00,0.000,4,0.000,0.055,2679,3758,2220,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12216,0.52,170.3,818.7,11.1,938,12222,0.00,1.90,0.00,0.000,6,0.000,0.024,2688,2450,2220,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12536,0.52,170.3,784.3,10.7,954,12542,0.00,2.05,0.00,0.000,4,0.000,0.032,2699,1049,2219,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,20421,end climb,SURFACE_DEPTH_REACHED
$STATE,20421,begin surface coast
$FINISH,0.7,1.022398
$STATE,20484,end surface coast,CONTROL_FINISHED_OK
$STATE,20484,begin surface
$SM_CCo,20499,11.35,0.133,0,0,1398,375.06
$SM_GC,2.61,6.30,0.15,11.35,0.031,0.083,0.133,178,2670,1398,-7.16,-0.34,375.06,0,0,0,0,0,0,26.43,26.50,25.45
$IRIDIUM_FIX,1828.22,12426.18,030612,040451
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.12
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,21.8,82.478
$10V_AH,9.8,50.441
$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,18.525,184.375,429.725,11.350,0.000,56.207,84.246,434.561,0.000,0.000,13.613,4722.999,11545.231,606.433,3949.721,480.024,0.000,2347.005,0.000,3103.658,0.000,0.540,0.000
$DEVICE_MAMPS,279.225,110.160,1710.540,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.245,2415.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,137376,1850
$CAP_FILE_SIZE,220886,0
$CFSIZE,260165632,182874112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 14.7,1
$GPS,030612,103154,1834.063,12428.317,27,1.5,44,-2.2