version: 66.10
glider: 176
mission: 5
dive: 406
start: 6 6 112 10 34 59
data:
$ID,176
$MISSION,5
$DIVE,406
$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,-8052.2119
$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
$GPS1,060612,102631,1805.960,12435.036,40,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.1
$GPS2,060612,103432,1805.873,12435.139,11,1.8,11,-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,226.9,29398,-12.5,-7.857
$D_GRID,4863
$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,15,begin dive
$GC,19,-0.52,-170.3,0.0,0.0,0,71,0.00,0.00,-49.95,0.000,2,0.000,0.000,190,2664,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.52,-170.3,3.2,-7.4,9,117,8.75,2.22,-27.38,0.000,4,0.232,0.038,2348,1138,3625,0,0,0,0,0,0,25.04,26.25,26.71
$GC,194,-0.52,-170.3,33.0,-20.2,28,202,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2618,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,525,-0.52,-170.3,118.1,-23.6,89,531,0.00,1.73,0.00,0.000,4,0.000,0.050,2339,3769,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,550,-0.52,-170.3,123.8,-23.8,93,557,0.00,1.70,0.00,0.000,6,0.000,0.022,2339,2522,3625,0,0,0,0,0,0,28.83,26.53,28.83
$GC,860,-0.52,-170.3,185.0,-19.0,154,867,0.00,1.90,0.00,0.000,4,0.000,0.051,2333,3767,3625,0,0,0,0,0,0,28.83,26.16,28.83
$GC,904,-0.52,-170.3,193.2,-17.1,162,911,0.08,1.70,0.00,0.000,6,0.182,0.022,2353,2477,3625,0,0,0,0,0,0,26.33,26.58,28.83
$GC,1214,-0.52,-170.3,242.1,-14.1,197,1223,0.00,1.88,0.00,0.000,4,0.000,0.026,2355,1138,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1250,-0.52,-170.3,245.9,-12.4,200,1258,0.00,2.25,0.00,0.000,6,0.000,0.045,2349,2626,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1555,-0.52,-170.3,283.9,-11.9,231,1564,0.00,2.12,0.00,0.000,4,0.000,0.025,2349,1142,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1598,-0.52,-170.3,288.3,-10.9,235,1607,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2617,3624,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1907,-0.52,-170.3,326.6,-12.8,266,1910,0.00,1.75,0.00,0.000,4,0.000,0.054,2348,3773,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1949,-0.52,-170.3,331.6,-12.2,270,1952,0.00,1.75,0.00,0.000,6,0.000,0.021,2348,2490,3622,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2260,-0.52,-170.3,366.6,-10.9,301,2269,0.00,1.98,0.00,0.000,4,0.000,0.054,2347,3765,3621,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2365,-0.52,-170.3,376.3,-9.0,311,2372,0.00,1.75,0.00,0.000,6,0.000,0.022,2347,2489,3621,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2674,-0.52,-170.3,403.7,-8.4,342,2682,0.00,1.98,0.00,0.000,4,0.000,0.054,2345,3765,3619,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2749,-0.52,-170.3,409.4,-7.3,349,2755,0.00,1.73,0.00,0.000,6,0.000,0.022,2345,2486,3618,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3056,-0.52,-170.3,436.6,-9.7,380,3066,0.00,1.92,0.00,0.000,4,0.000,0.027,2345,1133,3617,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3088,-0.52,-170.3,439.9,-10.2,383,3097,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2620,3616,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3398,-0.52,-170.3,473.2,-10.6,414,3403,0.00,1.75,-0.08,0.000,4,0.000,0.068,2345,3766,3643,0,0,0,0,0,0,28.83,26.08,25.48
$GC,3423,-0.52,-170.3,475.5,-10.4,416,3431,0.00,1.75,0.00,0.000,6,0.000,0.022,2344,2438,3643,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3732,-0.52,-170.3,503.7,-8.5,447,3741,0.00,2.05,0.00,0.000,4,0.000,0.053,2338,3768,3641,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3785,-0.52,-170.3,508.1,-8.4,452,3794,0.00,1.75,0.00,0.000,6,0.000,0.023,2338,2467,3641,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4093,-0.52,-170.3,533.9,-8.4,483,4102,0.00,2.03,0.00,0.000,4,0.000,0.054,2332,3772,3638,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4124,-0.52,-170.3,536.5,-8.4,486,4128,0.08,1.73,0.00,0.000,6,0.161,0.023,2357,2484,3637,0,0,0,0,0,0,26.33,26.56,28.83
$GC,4437,-0.52,-170.3,555.9,-5.7,517,4446,0.08,2.03,0.00,0.000,4,0.126,0.051,2281,3769,3635,0,0,0,0,0,0,26.59,26.05,28.83
$GC,4491,-0.52,-170.3,561.1,-10.6,522,4499,0.17,1.75,0.00,0.000,6,0.106,0.023,2349,2477,3635,0,0,0,0,0,0,26.06,26.54,28.83
$GC,4800,-0.52,-170.3,583.1,-7.3,553,4808,0.00,1.98,0.00,0.000,4,0.000,0.054,2348,3763,3633,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4842,-0.52,-170.3,586.2,-7.4,557,4845,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2491,3633,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5157,-0.52,-170.3,609.7,-7.5,582,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2453,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5454,-0.52,-170.3,632.0,-7.5,597,5459,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3764,3628,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5516,-0.52,-170.3,636.2,-7.1,600,5519,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2499,3627,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5834,-0.52,-170.3,660.6,-7.9,616,5839,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3768,3625,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5866,-0.52,-170.3,662.2,-7.8,617,5873,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2441,3625,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6174,-0.52,-170.3,687.0,-7.7,633,6179,0.00,2.05,0.00,0.000,4,0.000,0.055,2348,3762,3623,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6222,-0.52,-170.3,690.0,-7.6,635,6225,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2507,3623,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6533,-0.52,-170.3,713.9,-7.3,651,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2485,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6834,-0.52,-170.3,734.8,-6.9,666,6840,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3765,3619,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6861,-0.52,-170.3,736.2,-6.8,667,6865,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2508,3619,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7173,-0.52,-170.3,757.0,-6.2,683,7179,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3769,3616,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7198,-0.52,-170.3,758.3,-6.2,684,7202,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2509,3616,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7516,-0.52,-170.3,777.5,-5.9,700,7521,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3762,3616,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7554,-0.52,-170.3,779.9,-6.0,702,7558,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2502,3615,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7877,-0.52,-170.3,797.0,-5.0,718,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2476,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,-0.52,-170.3,812.3,-5.1,733,8182,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3763,3612,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8223,-0.52,-170.3,814.5,-5.3,735,8227,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2502,3612,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8537,-0.52,-170.3,831.4,-5.3,751,8541,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3768,3611,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8566,-0.52,-170.3,832.6,-5.2,752,8570,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2498,3610,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8880,-0.52,-170.3,850.0,-5.5,768,8885,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3754,3609,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8933,-0.52,-170.3,852.2,-5.5,770,8940,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2455,3609,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9239,-0.52,-170.3,870.4,-5.7,786,9244,0.00,1.90,0.00,0.000,4,0.000,0.028,2348,1139,3608,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9329,-0.52,-170.3,875.2,-6.0,790,9338,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2621,3608,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9639,-0.52,-170.3,893.1,-5.8,806,9642,0.00,1.77,0.00,0.000,4,0.000,0.056,2348,3768,3607,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9860,-0.52,-170.3,907.4,-7.0,817,9864,0.00,1.75,0.00,0.000,6,0.000,0.024,2352,2502,3605,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10182,-0.52,-170.3,927.2,-6.4,833,10187,0.00,2.03,0.00,0.000,4,0.000,0.055,2352,3768,3604,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10335,-0.52,-170.3,937.1,-7.5,840,10341,0.00,1.75,0.00,0.000,6,0.000,0.024,2352,2466,3604,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10642,-0.52,-170.3,959.6,-7.0,856,10648,0.00,2.03,0.00,0.000,4,0.000,0.055,2352,3764,3604,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10831,-0.52,-170.3,973.8,-8.3,865,10835,0.00,1.77,0.00,0.000,6,0.000,0.024,2352,2477,3603,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,11063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11063,begin apogee
$GC,11068,-0.17,0.0,990.9,-7.0,877,11229,0.30,0.05,152.07,1.714,6,0.067,0.050,2482,2445,2929,0,0,0,0,0,0,26.22,23.94,22.34
$STATE,11230,end apogee,CONTROL_FINISHED_OK
$STATE,11230,begin climb
$GC,11232,0.52,170.3,999.9,0.0,885,11409,0.55,2.35,166.38,1.668,4,0.046,0.056,2708,3759,2234,0,0,0,0,0,0,24.63,23.67,21.79
$GC,11469,0.52,170.3,981.5,16.0,897,11474,0.12,2.00,0.00,0.000,6,0.166,0.024,2682,2457,2229,0,0,0,0,0,0,24.81,25.18,28.83
$GC,11788,0.52,170.3,938.9,12.9,913,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2452,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12087,0.52,170.3,899.9,12.6,928,12092,0.00,2.05,0.00,0.000,4,0.000,0.029,2690,1049,2221,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12107,0.52,170.3,897.3,12.8,929,12113,0.05,2.28,0.00,0.000,6,0.211,0.047,2678,2517,2219,0,0,0,0,0,0,26.04,26.11,28.83
$GC,12428,0.52,170.3,856.1,12.9,945,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2517,2219,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21343,end climb,SURFACE_DEPTH_REACHED
$STATE,21343,begin surface coast
$FINISH,0.7,1.009514
$STATE,21417,end surface coast,CONTROL_FINISHED_OK
$STATE,21417,begin surface
$SM_CCo,21493,0.00,0.000,0,0,916,493.79
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$IRIDIUM_FIX,1803.24,12435.54,060612,040426
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,21.8,85.144
$10V_AH,9.8,52.274
$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
$DEVICE_SECS,19.300,181.525,498.175,0.000,0.000,26.026,19.911,277.892,0.000,0.000,13.569,4908.651,11924.053,688.707,3927.925,489.191,0.000,2495.744,0.000,3308.074,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,143720,1941
$CAP_FILE_SIZE,231644,0
$CFSIZE,260165632,181321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 88.6,1
$GPS,060612,163407,1803.833,12433.998,26,1.3,26,-2.0