version: 66.10
glider: 176
mission: 5
dive: 402
start: 6 5 112 10 32 30
data:
$ID,176
$MISSION,5
$DIVE,402
$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,-8047.1855
$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
$GPS1,050612,102354,1814.818,12432.605,25,1.2,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.4
$GPS2,050612,103202,1814.821,12432.672,10,1.9,10,-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,197.0,46152,-12.5,-7.857
$D_GRID,5377
$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,16,-0.52,-170.3,0.0,0.0,0,58,0.00,0.00,-39.78,0.000,2,0.000,0.000,188,2662,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.52,-170.3,3.2,-6.4,7,105,8.77,2.20,-26.35,0.000,4,0.232,0.038,2344,1148,3626,0,0,0,0,0,0,25.08,26.25,26.70
$GC,208,-0.52,-170.3,36.4,-19.0,28,215,0.08,2.22,0.00,0.000,6,0.197,0.042,2352,2623,3627,0,0,0,0,0,0,26.02,26.17,28.83
$GC,537,-0.52,-170.3,112.6,-22.7,89,544,0.00,1.73,0.00,0.000,4,0.000,0.051,2344,3777,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,571,-0.52,-170.3,120.0,-20.2,92,578,0.00,1.73,0.00,0.000,6,0.000,0.021,2344,2481,3626,0,0,0,0,0,0,28.83,26.56,28.83
$GC,882,-0.52,-170.3,176.8,-18.3,153,890,0.00,1.90,0.00,0.000,4,0.000,0.026,2344,1132,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,947,-0.52,-170.3,186.3,-11.5,165,956,0.08,2.22,0.00,0.000,6,0.178,0.041,2354,2621,3627,0,0,0,0,0,0,26.13,26.26,28.83
$GC,1259,-0.52,-170.3,227.6,-13.6,206,1268,0.05,2.12,0.00,0.000,4,0.173,0.024,2301,1138,3627,0,0,0,0,0,0,26.64,26.40,28.83
$GC,1361,-0.52,-170.3,242.7,-14.3,216,1371,0.20,2.22,0.00,0.000,6,0.135,0.041,2355,2620,3627,0,0,0,0,0,0,25.96,26.25,28.83
$GC,1671,-0.52,-170.3,282.4,-12.9,247,1675,0.05,1.73,0.00,0.000,4,0.175,0.050,2292,3766,3626,0,0,0,0,0,0,26.64,26.14,28.83
$GC,1697,-0.52,-170.3,285.7,-14.2,249,1705,0.20,1.70,0.00,0.000,6,0.138,0.021,2355,2468,3625,0,0,0,0,0,0,26.04,26.57,28.83
$GC,2003,-0.52,-170.3,325.1,-11.9,280,2012,0.05,2.00,0.00,0.000,4,0.175,0.050,2292,3766,3625,0,0,0,0,0,0,26.63,26.13,28.83
$GC,2039,-0.52,-170.3,329.8,-13.9,283,2046,0.20,1.70,0.00,0.000,6,0.133,0.021,2356,2470,3624,0,0,0,0,0,0,26.06,26.57,28.83
$GC,2345,-0.52,-170.3,362.7,-10.0,314,2357,0.08,2.00,0.00,0.000,4,0.129,0.050,2279,3766,3623,0,0,0,0,0,0,26.61,26.13,28.83
$GC,2372,-0.52,-170.3,365.9,-11.0,316,2380,0.17,1.75,0.00,0.000,6,0.116,0.022,2354,2470,3623,0,0,0,0,0,0,26.00,26.55,28.83
$GC,2679,-0.52,-170.3,396.8,-9.3,347,2684,0.05,2.03,0.00,0.000,4,0.176,0.052,2291,3777,3622,0,0,0,0,0,0,26.63,26.10,28.83
$GC,2712,-0.52,-170.3,400.8,-11.8,350,2716,0.15,1.75,0.00,0.000,6,0.111,0.022,2350,2473,3621,0,0,0,0,0,0,26.10,26.57,28.83
$GC,3025,-0.52,-170.3,433.1,-10.0,381,3034,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3762,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3067,-0.52,-170.3,437.1,-9.6,385,3070,0.00,1.70,0.00,0.000,6,0.000,0.022,2348,2491,3619,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3377,-0.52,-170.3,466.1,-9.7,416,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2464,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.52,-170.3,495.5,-9.1,446,3690,0.00,2.03,-0.08,0.000,4,0.000,0.067,2348,3758,3645,0,0,0,0,0,0,28.83,26.04,25.47
$GC,3733,-0.52,-170.3,500.0,-8.0,451,3736,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2492,3646,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4044,-0.52,-170.3,521.1,-6.5,482,4048,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3768,3643,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4096,-0.52,-170.3,524.5,-6.3,487,4099,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2486,3642,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4408,-0.52,-170.3,547.7,-8.1,518,4416,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3765,3641,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4450,-0.52,-170.3,551.1,-8.1,522,4453,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2496,3640,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4761,-0.52,-170.3,578.3,-9.3,553,4770,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3637,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4793,-0.52,-170.3,581.1,-8.8,556,4796,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2500,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5116,-0.52,-170.3,606.4,-7.5,584,5122,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3762,3635,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5167,-0.52,-170.3,609.4,-7.3,586,5174,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2460,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5475,-0.52,-170.3,632.4,-7.2,602,5480,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3768,3633,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5524,-0.52,-170.3,635.3,-7.3,604,5527,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2472,3632,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5835,-0.52,-170.3,657.4,-7.0,620,5841,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3764,3630,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5877,-0.52,-170.3,660.2,-7.0,622,5881,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2473,3630,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6197,-0.52,-170.3,682.3,-6.8,638,6202,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3755,3627,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6237,-0.52,-170.3,685.1,-6.8,640,6241,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2449,3627,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6556,-0.52,-170.3,706.4,-6.7,656,6562,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3766,3625,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6610,-0.52,-170.3,709.1,-6.5,658,6617,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2447,3625,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6916,-0.52,-170.3,730.6,-7.0,674,6922,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3765,3623,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6970,-0.52,-170.3,733.5,-7.2,676,6976,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2447,3623,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7276,-0.52,-170.3,755.2,-6.7,692,7281,0.00,2.08,0.00,0.000,4,0.000,0.056,2348,3764,3621,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7325,-0.52,-170.3,757.9,-6.8,694,7328,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2503,3621,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7637,-0.52,-170.3,778.0,-6.0,710,7642,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3761,3619,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7678,-0.52,-170.3,780.2,-5.9,712,7682,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2468,3619,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7996,-0.52,-170.3,798.4,-5.4,728,8002,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3765,3618,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8037,-0.52,-170.3,800.7,-5.6,730,8040,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2502,3617,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8360,-0.52,-170.3,819.0,-5.7,746,8365,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3766,3616,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8412,-0.52,-170.3,821.2,-5.4,748,8419,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8718,-0.52,-170.3,839.7,-5.9,764,8724,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1130,3614,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8827,-0.52,-170.3,845.8,-6.1,769,8831,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2625,3614,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9133,-0.52,-170.3,865.2,-6.3,784,9139,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1139,3613,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9256,-0.52,-170.3,873.0,-6.5,790,9262,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2621,3613,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9575,-0.52,-170.3,894.1,-6.8,806,9580,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1144,3613,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9668,-0.52,-170.3,899.7,-6.9,810,9675,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2629,3612,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9975,-0.52,-170.3,921.7,-6.7,826,9980,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1139,3611,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10085,-0.52,-170.3,928.6,-7.0,831,10094,0.00,2.25,0.00,0.000,6,0.000,0.044,2349,2614,3611,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10395,-0.52,-170.3,949.7,-6.6,847,10400,0.00,2.15,0.00,0.000,4,0.000,0.025,2349,1134,3610,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10584,-0.52,-170.3,962.5,-6.8,856,10589,0.00,2.30,0.00,0.000,6,0.000,0.046,2349,2622,3610,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10892,-0.52,-170.3,983.7,-6.7,871,10897,0.00,2.15,0.00,0.000,4,0.000,0.025,2349,1138,3609,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,10990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10990,begin apogee
$GC,10998,-0.17,0.0,990.5,-6.8,876,11158,0.30,0.00,152.50,1.714,6,0.057,0.000,2494,2521,2929,0,0,0,0,0,0,26.32,28.83,22.28
$STATE,11159,end apogee,CONTROL_FINISHED_OK
$STATE,11159,begin climb
$GC,11161,0.52,170.3,998.0,0.0,884,11337,0.52,2.40,166.80,1.667,4,0.043,0.029,2722,1061,2233,0,0,0,0,0,0,24.57,23.73,21.78
$GC,11507,0.52,170.3,964.5,14.0,902,11512,0.17,2.30,0.00,0.000,6,0.166,0.047,2675,2512,2222,0,0,0,0,0,0,25.54,25.84,28.83
$GC,11826,0.52,170.3,923.6,12.1,918,11831,0.00,1.92,0.00,0.000,4,0.000,0.057,2675,3764,2220,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11874,0.52,170.3,918.0,13.0,920,11878,0.00,1.90,0.00,0.000,6,0.000,0.026,2685,2456,2220,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12180,0.52,170.3,880.3,11.5,935,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2452,2218,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20940,end climb,SURFACE_DEPTH_REACHED
$STATE,20940,begin surface coast
$FINISH,0.7,1.021984
$STATE,21024,end surface coast,CONTROL_FINISHED_OK
$STATE,21024,begin surface
$SM_CCo,21099,0.00,0.000,0,0,1383,379.23
$SM_GC,1.72,6.38,0.12,0.00,0.032,0.083,0.000,180,2675,1383,-7.16,-0.59,379.23,0,0,0,0,0,0,26.38,26.56,28.83
$IRIDIUM_FIX,1810.04,12430.51,050612,040456
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.66
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.8,84.311
$10V_AH,9.8,51.706
$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,20.100,212.150,448.200,0.000,0.000,32.694,20.627,282.866,0.000,0.000,13.228,4825.202,11638.444,633.964,3947.795,507.618,0.000,2481.838,0.000,3326.254,0.000,0.542,0.000
$DEVICE_MAMPS,252.450,83.385,1714.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.004,2500.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329620
$DATA_FILE_SIZE,140672,1884
$CAP_FILE_SIZE,234898,0
$CFSIZE,260165632,181796864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 10.9,1
$GPS,050612,162507,1812.977,12432.158,29,0.9,29,-2.1