version: 66.10
glider: 176
mission: 5
dive: 380
start: 5 30 112 22 15 0
data:
$ID,176
$MISSION,5
$DIVE,380
$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,9
$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,-8019.5122
$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
$GPS1,300512,220636,1905.430,12422.729,37,0.8,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.8
$GPS2,300512,221432,1905.338,12422.847,9,1.4,9,-2.3
$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,163.2,141162,-12.5,-7.857
$D_GRID,5338
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,65,0.00,0.00,-46.25,0.000,2,0.000,0.000,183,2656,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.52,-170.3,3.2,-6.2,8,113,8.82,2.22,-25.55,0.000,4,0.233,0.042,2348,1153,3626,0,0,0,0,0,0,25.07,26.23,26.68
$GC,272,-0.52,-170.3,45.4,-13.7,43,278,0.00,2.20,0.00,0.000,6,0.000,0.043,2337,2628,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,600,-0.52,-170.3,119.5,-24.3,104,608,0.05,1.73,0.00,0.000,4,0.256,0.052,2347,3775,3627,0,0,0,0,0,0,26.54,26.15,28.83
$GC,622,-0.52,-170.3,124.3,-24.1,107,628,0.00,1.73,0.00,0.000,6,0.000,0.022,2348,2480,3627,0,0,0,0,0,0,28.83,26.58,28.83
$GC,931,-0.52,-170.3,183.0,-18.8,168,938,0.00,1.88,0.00,0.000,4,0.000,0.026,2348,1141,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,965,-0.52,-170.3,188.9,-15.2,174,973,0.00,2.22,0.00,0.000,6,0.000,0.045,2346,2619,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1277,-0.52,-170.3,235.1,-16.1,212,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2620,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.52,-170.3,279.8,-14.2,242,1587,0.00,2.10,0.00,0.000,4,0.000,0.025,2346,1140,3626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1651,-0.52,-170.3,287.8,-9.8,249,1660,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2626,3625,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1959,-0.52,-170.3,323.8,-12.6,280,1968,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1147,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2001,-0.52,-170.3,328.7,-12.2,284,2010,0.00,2.20,0.00,0.000,6,0.000,0.043,2345,2621,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2311,-0.52,-170.3,362.0,-9.6,315,2320,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1144,3622,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2375,-0.52,-170.3,367.2,-7.5,321,2382,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2619,3622,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2683,-0.52,-170.3,397.0,-10.9,352,2686,0.00,1.75,0.00,0.000,4,0.000,0.053,2338,3763,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2704,-0.52,-170.3,399.4,-11.1,354,2707,0.00,1.70,0.00,0.000,6,0.000,0.023,2338,2476,3619,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3014,-0.52,-170.3,433.7,-10.9,385,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2441,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,-0.52,-170.3,463.2,-8.5,415,3325,0.00,2.03,0.00,0.000,4,0.000,0.054,2332,3762,3616,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3409,-0.52,-170.3,471.1,-8.6,424,3419,0.08,1.73,-0.10,0.000,6,0.167,0.024,2356,2461,3640,0,0,0,0,0,0,26.34,26.58,25.73
$GC,3718,-0.52,-170.3,496.6,-9.2,455,3720,0.08,0.00,0.00,0.000,6,0.125,0.000,2283,2461,3638,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4018,-0.52,-170.3,544.5,-16.0,485,4020,0.22,0.00,0.00,0.000,6,0.135,0.000,2355,2460,3636,0,0,0,0,0,0,26.10,28.83,28.83
$GC,4320,-0.52,-170.3,569.8,-7.3,515,4329,0.05,2.03,0.00,0.000,4,0.171,0.054,2291,3767,3633,0,0,0,0,0,0,26.62,26.03,28.83
$GC,4402,-0.52,-170.3,579.0,-11.9,523,4407,0.15,1.75,0.00,0.000,6,0.105,0.024,2352,2492,3633,0,0,0,0,0,0,26.11,26.55,28.83
$GC,4726,-0.52,-170.3,603.4,-7.2,553,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2489,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-0.52,-170.3,625.6,-7.3,568,5030,0.00,1.98,0.00,0.000,4,0.000,0.055,2348,3770,3628,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5072,-0.52,-170.3,628.5,-7.5,570,5076,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2469,3628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5385,-0.52,-170.3,650.7,-6.5,586,5390,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3763,3625,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5417,-0.52,-170.3,651.9,-6.4,587,5424,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2477,3625,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5725,-0.52,-170.3,672.5,-7.0,603,5730,0.00,2.00,0.00,0.000,4,0.000,0.055,2348,3763,3623,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5786,-0.52,-170.3,676.9,-7.3,606,5789,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3623,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6107,-0.52,-170.3,700.8,-7.1,622,6113,0.00,2.05,0.00,0.000,4,0.000,0.056,2348,3773,3621,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6148,-0.52,-170.3,703.4,-6.9,624,6152,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2467,3620,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6470,-0.52,-170.3,721.2,-4.7,640,6474,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3766,3618,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6519,-0.52,-170.3,723.2,-4.8,642,6523,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2506,3618,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6833,-0.52,-170.3,740.0,-5.7,658,6837,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3762,3616,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6862,-0.52,-170.3,741.4,-5.9,659,6866,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2503,3616,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7177,-0.52,-170.3,763.9,-7.7,675,7182,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3763,3615,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7218,-0.52,-170.3,767.4,-8.0,677,7222,0.00,1.77,0.00,0.000,6,0.000,0.024,2348,2469,3614,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7536,-0.52,-170.3,791.0,-6.6,693,7542,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3772,3613,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7586,-0.52,-170.3,793.4,-6.5,695,7589,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2474,3612,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7898,-0.52,-170.3,812.1,-5.8,711,7903,0.00,1.98,0.00,0.000,4,0.000,0.056,2348,3755,3611,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7937,-0.52,-170.3,814.4,-5.9,713,7941,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2504,3611,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8260,-0.52,-170.3,836.2,-7.3,729,8265,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3764,3610,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8291,-0.52,-170.3,837.7,-7.2,730,8299,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2463,3609,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8598,-0.52,-170.3,858.4,-6.1,746,8604,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3765,3608,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8640,-0.52,-170.3,860.8,-5.9,748,8643,0.00,1.77,0.00,0.000,6,0.000,0.025,2348,2498,3608,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8961,-0.52,-170.3,880.0,-5.7,764,8966,0.00,1.90,0.00,0.000,4,0.000,0.027,2348,1146,3607,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9010,-0.52,-170.3,882.3,-5.8,766,9014,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2616,3607,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9322,-0.52,-170.3,901.7,-6.4,782,9328,0.00,2.15,0.00,0.000,4,0.000,0.027,2348,1140,3605,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9391,-0.52,-170.3,905.6,-6.5,785,9395,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2618,3605,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9697,-0.52,-170.3,927.8,-7.4,800,9702,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1142,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9769,-0.52,-170.3,932.4,-7.5,803,9776,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2618,3604,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10079,-0.52,-170.3,953.3,-6.3,819,10084,0.00,2.15,0.00,0.000,4,0.000,0.027,2348,1135,3604,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10165,-0.52,-170.3,958.3,-6.1,823,10169,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2619,3604,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10474,-0.52,-170.3,977.0,-5.9,838,10479,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1145,3602,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10552,-0.52,-170.3,982.2,-6.4,842,10558,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2622,3602,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,10690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10690,begin apogee
$GC,10696,-0.17,0.0,991.1,-6.6,849,10854,0.30,0.15,151.77,1.715,6,0.080,0.084,2470,2532,2928,0,0,0,0,0,0,26.15,24.15,22.27
$STATE,10855,end apogee,CONTROL_FINISHED_OK
$STATE,10856,begin climb
$GC,10858,0.52,170.3,1000.6,0.0,857,11036,0.60,2.50,167.45,1.670,4,0.050,0.031,2709,1053,2233,0,0,0,0,0,0,24.47,23.74,21.82
$GC,11152,0.52,170.3,981.3,11.8,871,11161,0.12,2.33,0.00,0.000,6,0.169,0.048,2678,2520,2224,0,0,0,0,0,0,25.37,25.58,28.83
$GC,11459,0.52,170.3,941.5,12.6,887,11465,0.00,1.90,0.00,0.000,4,0.000,0.056,2678,3764,2221,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11498,0.52,170.3,935.9,13.3,889,11502,0.00,1.92,0.00,0.000,6,0.000,0.024,2687,2446,2220,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11816,0.52,170.3,894.5,12.5,905,11821,0.00,2.05,0.00,0.000,4,0.000,0.055,2687,3768,2219,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11855,0.52,170.3,888.9,13.0,907,11861,0.10,1.88,0.00,0.000,6,0.208,0.025,2674,2453,2219,0,0,0,0,0,0,25.97,26.34,28.83
$GC,12175,0.52,170.3,853.4,10.8,923,12180,0.00,2.05,0.00,0.000,4,0.000,0.054,2674,3769,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12204,0.52,170.3,851.1,10.9,924,12207,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2441,2218,0,0,0,0,0,0,28.83,26.38,28.83
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$STATE,20837,end climb,SURFACE_DEPTH_REACHED
$STATE,20838,begin surface coast
$FINISH,0.7,1.019724
$STATE,20939,end surface coast,CONTROL_FINISHED_OK
$STATE,20939,begin surface
$SM_CCo,21015,0.00,0.000,0,0,1376,380.95
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$IRIDIUM_FIX,1900.10,12422.52,300512,161618
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,21.8,79.822
$10V_AH,9.8,48.603
$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
$DEVICE_SECS,18.400,185.325,434.325,0.000,0.000,26.953,21.641,270.661,0.000,0.000,12.351,4824.536,11732.041,605.874,3814.141,476.578,0.000,2386.854,0.000,3253.022,0.000,0.541,0.000
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$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,140454,1905
$CAP_FILE_SIZE,223116,0
$CFSIZE,260165632,184406016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,167.9,1
$GPS,310512,040625,1902.605,12423.557,41,0.9,41,-2.3