version: 66.10
glider: 176
mission: 5
dive: 394
start: 6 3 112 10 40 58
data:
$ID,176
$MISSION,5
$DIVE,394
$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,-8037.1284
$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
$GPS1,030612,103154,1834.063,12428.317,27,1.5,44,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.7
$GPS2,030612,104031,1833.944,12428.402,11,1.7,11,-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,178.3,82211,-12.5,-7.857
$D_GRID,5328
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-0.52,-170.3,0.0,0.0,0,62,0.00,0.00,-40.97,0.000,2,0.000,0.000,178,2672,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.52,-170.3,3.4,-7.6,7,103,8.73,1.73,-23.83,0.000,4,0.230,0.061,2337,3785,3626,0,0,0,0,0,0,25.08,26.10,26.67
$GC,195,-0.52,-170.3,40.1,-28.3,28,202,0.00,1.75,0.00,0.000,6,0.000,0.024,2338,2527,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,507,-0.52,-170.3,112.9,-22.6,89,514,0.00,1.95,0.00,0.000,4,0.000,0.024,2339,1132,3627,0,0,0,0,0,0,28.83,26.42,28.83
$GC,572,-0.52,-170.3,121.9,-10.5,101,580,0.08,2.25,0.00,0.000,6,0.186,0.044,2355,2624,3628,0,0,0,0,0,0,26.09,26.22,28.83
$GC,883,-0.52,-170.3,169.4,-15.2,162,891,0.05,1.73,0.00,0.000,4,0.171,0.048,2296,3777,3628,0,0,0,0,0,0,26.63,26.16,28.83
$GC,934,-0.52,-170.3,178.3,-17.4,171,942,0.17,1.70,0.00,0.000,6,0.141,0.022,2350,2484,3628,0,0,0,0,0,0,26.08,26.57,28.83
$GC,1247,-0.52,-170.3,222.2,-15.5,217,1255,0.00,1.98,0.00,0.000,4,0.000,0.052,2347,3771,3628,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1280,-0.52,-170.3,227.4,-15.6,220,1287,0.00,1.75,0.00,0.000,6,0.000,0.021,2347,2483,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1589,-0.52,-170.3,271.9,-13.1,251,1597,0.00,1.98,0.00,0.000,4,0.000,0.050,2339,3772,3627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1620,-0.52,-170.3,276.2,-13.7,254,1623,0.00,1.73,0.00,0.000,6,0.000,0.022,2339,2494,3627,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1930,-0.52,-170.3,318.0,-12.0,285,1939,0.00,1.98,0.00,0.000,4,0.000,0.052,2332,3766,3626,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1955,-0.52,-170.3,320.7,-12.3,287,1962,0.05,1.75,0.00,0.000,6,0.132,0.023,2355,2473,3626,0,0,0,0,0,0,26.30,26.58,28.83
$GC,2261,-0.52,-170.3,353.3,-10.4,318,2263,0.05,0.00,0.00,0.000,6,0.174,0.000,2292,2472,3625,0,0,0,0,0,0,26.63,28.83,28.83
$GC,2561,-0.52,-170.3,402.5,-16.5,348,2571,0.17,2.00,0.00,0.000,4,0.148,0.049,2344,3766,3624,0,0,0,0,0,0,26.16,26.10,28.83
$GC,2583,-0.52,-170.3,406.0,-16.3,350,2587,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2496,3624,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2894,-0.52,-170.3,440.0,-10.2,381,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2473,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3198,-0.52,-170.3,467.4,-8.6,411,3206,0.00,2.00,0.00,0.000,4,0.000,0.051,2335,3775,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3310,-0.52,-170.3,477.0,-7.9,422,3314,0.08,1.73,0.00,0.000,6,0.163,0.023,2359,2482,3619,0,0,0,0,0,0,26.34,26.57,28.83
$GC,3622,-0.52,-170.3,499.8,-7.6,453,3631,0.08,2.03,0.00,0.000,4,0.125,0.050,2282,3766,3617,0,0,0,0,0,0,26.60,26.08,28.83
$GC,3695,-0.52,-170.3,508.7,-13.3,460,3704,0.22,1.70,0.00,0.000,6,0.122,0.023,2357,2473,3617,0,0,0,0,0,0,26.03,26.55,28.83
$GC,4004,-0.52,-170.3,534.6,-8.5,491,4009,0.08,2.00,0.00,0.000,4,0.126,0.050,2279,3772,3615,0,0,0,0,0,0,26.60,26.06,28.83
$GC,4041,-0.52,-170.3,538.5,-11.3,494,4050,0.22,1.73,0.00,0.000,6,0.125,0.023,2353,2460,3614,0,0,0,0,0,0,26.00,26.55,28.83
$GC,4348,-0.52,-170.3,565.8,-7.6,525,4356,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3774,3612,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4403,-0.52,-170.3,569.3,-7.1,530,4411,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2466,3611,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4709,-0.52,-170.3,589.6,-6.6,561,4718,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3765,3609,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4762,-0.52,-170.3,592.9,-6.7,566,4765,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2492,3609,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5075,-0.52,-170.3,614.8,-7.0,587,5081,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3768,3607,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5138,-0.52,-170.3,618.9,-6.9,590,5142,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2502,3606,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5455,-0.52,-170.3,639.9,-6.6,606,5458,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3763,3604,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5497,-0.52,-170.3,642.8,-6.7,608,5500,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5819,-0.52,-170.3,667.3,-8.0,624,5824,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3761,3601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5860,-0.52,-170.3,670.5,-7.8,626,5864,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2495,3601,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6179,-0.52,-170.3,694.8,-7.1,642,6184,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3759,3599,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6242,-0.52,-170.3,699.3,-7.5,645,6246,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2495,3598,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6558,-0.52,-170.3,722.2,-7.1,661,6564,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3766,3597,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6613,-0.52,-170.3,725.0,-6.9,663,6619,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2468,3596,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6919,-0.52,-170.3,746.7,-6.4,679,6925,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3765,3595,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6959,-0.52,-170.3,749.3,-6.4,681,6962,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2502,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7281,-0.52,-170.3,770.2,-6.6,697,7286,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3755,3593,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7333,-0.52,-170.3,772.7,-6.5,699,7340,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2468,3593,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7642,-0.52,-170.3,794.0,-6.6,715,7647,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3768,3591,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7683,-0.52,-170.3,796.8,-6.8,717,7686,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2505,3591,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8000,-0.52,-170.3,819.1,-6.9,733,8006,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3773,3590,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8042,-0.52,-170.3,821.9,-7.0,735,8046,0.00,1.77,0.00,0.000,6,0.000,0.026,2348,2463,3589,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8364,-0.52,-170.3,844.2,-6.8,751,8370,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3763,3588,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8406,-0.52,-170.3,847.0,-6.9,753,8410,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3588,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8725,-0.52,-170.3,869.6,-7.2,769,8729,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3765,3587,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8759,-0.52,-170.3,871.2,-7.2,770,8767,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2466,3587,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9068,-0.52,-170.3,893.2,-6.6,786,9073,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3758,3586,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9089,-0.52,-170.3,894.5,-6.6,787,9092,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2475,3585,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9407,-0.52,-170.3,915.1,-6.1,803,9412,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3768,3585,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9448,-0.52,-170.3,917.6,-6.2,805,9451,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2503,3584,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9769,-0.52,-170.3,936.7,-5.7,821,9774,0.00,2.08,0.00,0.000,4,0.000,0.057,2348,3769,3584,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9810,-0.52,-170.3,938.8,-5.5,823,9813,0.00,1.75,0.00,0.000,6,0.000,0.026,2348,2505,3583,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10133,-0.52,-170.3,955.6,-5.0,839,10138,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3753,3582,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10171,-0.52,-170.3,957.6,-5.1,841,10174,0.00,1.73,0.00,0.000,6,0.000,0.026,2348,2493,3582,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10493,-0.52,-170.3,973.8,-4.9,857,10499,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3755,3582,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10546,-0.52,-170.3,976.0,-5.1,859,10553,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2459,3581,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10790,begin apogee
$GC,10796,-0.17,0.0,991.2,-6.0,872,10954,0.32,0.08,147.25,1.711,6,0.087,0.041,2473,2437,2929,0,0,0,0,0,0,26.03,24.02,22.25
$STATE,10955,end apogee,CONTROL_FINISHED_OK
$STATE,10955,begin climb
$GC,10957,0.52,170.3,999.7,0.0,880,11136,0.60,2.40,166.82,1.665,4,0.050,0.057,2707,3766,2234,0,0,0,0,0,0,24.58,23.61,21.75
$GC,11218,0.52,170.3,977.9,16.5,893,11225,0.17,2.00,0.00,0.000,6,0.183,0.024,2673,2447,2229,0,0,0,0,0,0,24.99,25.41,28.83
$GC,11539,0.52,170.3,941.5,10.5,909,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2443,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11838,0.52,170.3,909.9,10.6,924,11844,0.00,2.05,0.00,0.000,4,0.000,0.055,2673,3770,2222,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11866,0.52,170.3,907.5,10.9,925,11870,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2447,2222,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,21423,end climb,SURFACE_DEPTH_REACHED
$STATE,21423,begin surface coast
$FINISH,1.0,1.022395
$STATE,21449,end surface coast,CONTROL_FINISHED_OK
$STATE,21449,begin surface
$SM_CCo,21526,0.00,0.000,0,0,1171,431.24
$SM_GC,1.44,6.47,0.12,0.00,0.038,0.096,0.000,188,2640,1171,-7.14,-0.54,431.24,0,0,0,0,0,0,26.29,26.44,28.83
$IRIDIUM_FIX,1828.22,12429.34,030612,040453
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.99
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.7,82.678
$10V_AH,9.8,50.586
$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,20.000,212.775,459.825,0.000,0.000,29.035,21.556,309.175,0.000,0.000,13.912,4976.763,11905.733,649.075,3979.725,495.253,0.000,2517.054,0.000,3337.482,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,108.630,1710.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1332.165,2542.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,144030,1952
$CAP_FILE_SIZE,238460,0
$CFSIZE,260165632,182730752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 78.3,1
$GPS,030612,164107,1831.509,12429.035,54,1.0,54,-2.1