version: 66.10
glider: 176
mission: 5
dive: 398
start: 6 4 112 10 47 2
data:
$ID,176
$MISSION,5
$DIVE,398
$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,-8042.1602
$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
$GPS1,040612,103631,1823.939,12430.248,37,1.6,37,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.7
$GPS2,040612,104632,1823.960,12430.329,11,1.3,11,-2.1
$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,175.3,63431,-12.5,-7.857
$D_GRID,5418
$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,-53.40,0.000,2,0.000,0.000,177,2657,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.52,-170.3,3.3,-7.1,9,114,8.77,1.75,-23.85,0.000,4,0.231,0.065,2337,3776,3626,0,0,0,0,0,0,25.09,26.08,26.70
$GC,179,-0.52,-170.3,33.6,-32.4,24,187,0.05,1.73,0.00,0.000,6,0.225,0.022,2350,2512,3626,0,0,0,0,0,0,26.23,26.44,28.83
$GC,509,-0.52,-170.3,112.4,-19.4,85,516,0.00,1.92,0.00,0.000,4,0.000,0.049,2341,3774,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,543,-0.52,-170.3,119.8,-20.5,88,551,0.00,1.73,0.00,0.000,6,0.000,0.022,2340,2471,3627,0,0,0,0,0,0,28.83,26.57,28.83
$GC,857,-0.52,-170.3,177.0,-17.0,149,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2469,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.52,-170.3,228.1,-17.1,194,1174,0.00,1.98,0.00,0.000,4,0.000,0.050,2332,3768,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1222,-0.52,-170.3,236.4,-16.3,199,1226,0.08,1.70,0.00,0.000,6,0.177,0.022,2353,2480,3626,0,0,0,0,0,0,26.33,26.58,28.83
$GC,1534,-0.52,-170.3,276.5,-12.0,230,1543,0.00,1.85,0.00,0.000,4,0.000,0.028,2354,1145,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1560,-0.52,-170.3,279.0,-11.8,232,1568,0.00,2.25,0.00,0.000,6,0.000,0.047,2349,2626,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1866,-0.52,-170.3,314.7,-11.9,263,1869,0.00,1.73,0.00,0.000,4,0.000,0.057,2348,3776,3624,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1900,-0.52,-170.3,318.1,-11.5,266,1907,0.00,1.73,0.00,0.000,6,0.000,0.022,2348,2495,3624,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2207,-0.52,-170.3,351.1,-11.3,297,2216,0.00,1.95,0.00,0.000,4,0.000,0.054,2345,3765,3623,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2238,-0.52,-170.3,354.6,-11.2,300,2241,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2500,3623,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2549,-0.52,-170.3,387.7,-10.4,331,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2488,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.52,-170.3,416.2,-8.8,361,2861,0.00,1.98,0.00,0.000,4,0.000,0.054,2345,3766,3619,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2906,-0.52,-170.3,420.9,-8.5,366,2909,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2504,3618,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3218,-0.52,-170.3,445.1,-7.7,397,3226,0.00,2.00,0.00,0.000,4,0.000,0.055,2343,3773,3617,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3250,-0.52,-170.3,447.6,-7.8,400,3254,0.00,1.73,0.00,0.000,6,0.000,0.022,2343,2512,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3562,-0.52,-170.3,475.6,-9.6,431,3564,0.00,0.00,-0.10,0.000,6,0.000,0.000,2343,2498,3638,0,0,0,0,0,0,28.83,28.83,25.98
$GC,3862,-0.52,-170.3,504.1,-9.1,461,3871,0.00,1.98,0.00,0.000,4,0.000,0.056,2343,3771,3635,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3923,-0.52,-170.3,509.1,-7.9,467,3927,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2510,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4235,-0.52,-170.3,533.3,-7.3,498,4238,0.00,1.98,0.00,0.000,4,0.000,0.056,2343,3771,3633,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4276,-0.52,-170.3,536.4,-7.3,502,4280,0.00,1.73,0.00,0.000,6,0.000,0.023,2344,2499,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4588,-0.52,-170.3,559.6,-7.7,533,4592,0.00,2.00,0.00,0.000,4,0.000,0.055,2337,3765,3630,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4649,-0.52,-170.3,564.6,-7.8,539,4653,0.00,1.73,0.00,0.000,6,0.000,0.022,2336,2511,3629,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4960,-0.52,-170.3,590.6,-8.5,570,4962,0.05,0.00,0.00,0.000,6,0.219,0.000,2353,2503,3627,0,0,0,0,0,0,26.55,28.83,28.83
$GC,5274,-0.52,-170.3,612.5,-6.6,592,5279,0.00,1.95,0.00,0.000,4,0.000,0.057,2348,3762,3625,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5313,-0.52,-170.3,615.2,-6.6,594,5316,0.00,1.73,0.00,0.000,6,0.000,0.024,2349,2505,3625,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5634,-0.52,-170.3,638.3,-7.1,610,5640,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3762,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5698,-0.52,-170.3,642.2,-6.6,613,5702,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2517,3621,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6016,-0.52,-170.3,662.7,-6.2,629,6020,0.00,1.98,0.00,0.000,4,0.000,0.059,2348,3771,3620,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6046,-0.52,-170.3,664.1,-6.2,630,6049,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2517,3620,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6358,-0.52,-170.3,683.3,-6.1,646,6363,0.00,1.98,0.00,0.000,4,0.000,0.058,2348,3767,3618,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6402,-0.52,-170.3,685.9,-6.2,648,6405,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2509,3617,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6718,-0.52,-170.3,705.7,-6.1,664,6723,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3762,3615,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6759,-0.52,-170.3,708.2,-6.2,666,6763,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2513,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7082,-0.52,-170.3,728.6,-6.4,682,7087,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3766,3614,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7130,-0.52,-170.3,731.3,-6.5,684,7134,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2498,3613,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7444,-0.52,-170.3,752.2,-6.5,700,7449,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3770,3612,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7475,-0.52,-170.3,753.5,-6.4,701,7482,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2483,3612,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7784,-0.52,-170.3,773.3,-6.2,717,7790,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3755,3610,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7843,-0.52,-170.3,777.0,-6.2,720,7846,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2507,3610,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8166,-0.52,-170.3,797.6,-6.6,736,8171,0.00,1.98,0.00,0.000,4,0.000,0.058,2348,3760,3609,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8205,-0.52,-170.3,800.1,-6.4,738,8209,0.00,1.70,0.00,0.000,6,0.000,0.024,2347,2509,3608,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8526,-0.52,-170.3,821.5,-6.7,754,8532,0.00,2.00,0.00,0.000,4,0.000,0.059,2348,3769,3607,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8559,-0.52,-170.3,822.9,-6.7,755,8566,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2494,3607,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8868,-0.52,-170.3,844.1,-6.4,771,8871,0.00,1.98,0.00,0.000,4,0.000,0.058,2348,3763,3606,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8912,-0.52,-170.3,846.9,-6.4,773,8915,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2499,3606,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9236,-0.52,-170.3,867.1,-6.3,789,9242,0.00,2.00,0.00,0.000,4,0.000,0.059,2348,3762,3604,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9274,-0.52,-170.3,869.6,-6.1,791,9278,0.00,1.70,0.00,0.000,6,0.000,0.024,2348,2513,3604,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9596,-0.52,-170.3,889.3,-6.0,807,9601,0.00,2.03,0.00,0.000,4,0.000,0.060,2348,3769,3604,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9639,-0.52,-170.3,891.8,-6.2,809,9643,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2516,3603,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9956,-0.52,-170.3,910.1,-5.4,825,9962,0.00,2.03,0.00,0.000,4,0.000,0.059,2348,3770,3602,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9996,-0.52,-170.3,912.4,-5.4,827,9999,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2506,3602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10318,-0.52,-170.3,931.5,-6.1,843,10323,0.00,1.95,0.00,0.000,4,0.000,0.028,2348,1135,3601,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10385,-0.52,-170.3,935.4,-6.3,846,10389,0.00,2.30,0.00,0.000,6,0.000,0.048,2348,2614,3602,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10694,-0.52,-170.3,955.8,-6.9,861,10699,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1143,3601,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10800,-0.52,-170.3,962.8,-6.9,866,10804,0.00,2.30,0.00,0.000,6,0.000,0.049,2348,2620,3600,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11109,-0.52,-170.3,985.6,-7.5,881,11114,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1145,3600,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,11165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11165,begin apogee
$GC,11172,-0.17,0.0,990.1,-7.5,884,11332,0.32,0.00,151.15,1.717,6,0.087,0.000,2474,2520,2929,0,0,0,0,0,0,26.01,28.83,22.25
$STATE,11333,end apogee,CONTROL_FINISHED_OK
$STATE,11333,begin climb
$GC,11335,0.52,170.3,999.8,0.0,892,11513,0.60,2.20,167.12,1.670,4,0.054,0.057,2704,3758,2233,0,0,0,0,0,0,24.51,23.62,21.74
$GC,11564,0.52,170.3,987.1,13.6,903,11571,0.15,2.00,0.00,0.000,6,0.193,0.023,2679,2443,2230,0,0,0,0,0,0,24.59,24.99,28.83
$GC,11871,0.52,170.3,945.0,12.9,919,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2439,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12172,0.52,170.3,905.5,13.1,934,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2439,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20989,end climb,SURFACE_DEPTH_REACHED
$STATE,20989,begin surface coast
$FINISH,0.7,1.022174
$STATE,21060,end surface coast,CONTROL_FINISHED_OK
$STATE,21060,begin surface
$SM_CCo,21137,0.00,0.000,0,0,1202,423.63
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$IRIDIUM_FIX,1819.13,12426.77,040612,040431
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.7,83.495
$10V_AH,9.8,51.146
$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
$DEVICE_SECS,18.975,186.825,478.900,0.000,0.000,62.684,39.397,283.322,0.000,0.000,14.723,4782.354,11926.990,625.326,3880.776,489.722,0.000,2403.108,0.000,3226.758,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,137242,1880
$CAP_FILE_SIZE,226575,0
$CFSIZE,260165632,182272000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 53.0,1
$GPS,040612,164030,1821.846,12431.143,37,1.0,42,-2.1