version: 66.10
glider: 176
mission: 5
dive: 408
start: 6 6 112 23 6 41
data:
$ID,176
$MISSION,5
$DIVE,408
$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,-8108.6553
$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
$GPS1,060612,225837,1801.883,12434.627,35,1.1,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.0
$GPS2,060612,230613,1801.750,12434.777,10,1.3,15,-2.0
$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,214.4,21765,-12.5,-7.857
$D_GRID,4558
$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,-170.3,0.0,0.0,0,72,0.00,0.00,-52.92,0.000,2,0.000,0.000,190,2660,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.52,-170.3,3.3,-7.0,9,118,8.75,2.20,-25.35,0.000,4,0.231,0.041,2342,1141,3625,0,0,0,0,0,0,25.02,26.27,26.72
$GC,252,-0.52,-170.3,43.7,-15.5,36,259,0.08,2.22,0.00,0.000,6,0.200,0.044,2351,2618,3625,0,0,0,0,0,0,26.03,26.17,28.83
$GC,582,-0.52,-170.3,124.3,-22.0,97,588,0.00,1.73,0.00,0.000,4,0.000,0.051,2343,3771,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,672,-0.52,-170.3,142.8,-16.9,114,678,0.00,1.70,0.00,0.000,6,0.000,0.022,2344,2497,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,983,-0.52,-170.3,200.4,-16.2,175,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2494,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-0.52,-170.3,247.4,-15.3,205,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2494,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.52,-170.3,290.9,-15.0,235,1588,0.00,1.95,0.00,0.000,4,0.000,0.051,2333,3776,3624,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1688,-0.52,-170.3,305.3,-12.6,245,1696,0.08,1.73,0.00,0.000,6,0.175,0.021,2355,2460,3624,0,0,0,0,0,0,26.34,26.60,28.83
$GC,1996,-0.52,-170.3,341.7,-11.5,276,2005,0.05,2.03,0.00,0.000,4,0.173,0.050,2292,3774,3623,0,0,0,0,0,0,26.63,26.12,28.83
$GC,2028,-0.52,-170.3,346.5,-14.3,279,2038,0.20,1.73,0.00,0.000,6,0.132,0.022,2357,2490,3622,0,0,0,0,0,0,26.06,26.53,28.83
$GC,2338,-0.52,-170.3,381.5,-9.5,310,2349,0.08,1.90,0.00,0.000,4,0.128,0.022,2289,1131,3621,0,0,0,0,0,0,26.61,26.46,28.83
$GC,2364,-0.52,-170.3,384.1,-10.2,312,2373,0.20,2.22,0.00,0.000,6,0.113,0.043,2352,2620,3621,0,0,0,0,0,0,25.91,26.22,28.83
$GC,2671,-0.52,-170.3,413.4,-9.4,343,2675,0.00,1.75,0.00,0.000,4,0.000,0.054,2348,3761,3619,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2695,-0.52,-170.3,415.6,-9.7,345,2702,0.00,1.73,0.00,0.000,6,0.000,0.022,2348,2474,3619,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3003,-0.52,-170.3,444.1,-9.1,376,3012,0.00,2.00,0.00,0.000,4,0.000,0.053,2342,3768,3617,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3047,-0.52,-170.3,447.8,-8.9,380,3054,0.00,1.75,0.00,0.000,6,0.000,0.021,2341,2468,3616,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3357,-0.52,-170.3,476.2,-9.7,411,3367,0.00,2.03,-0.10,0.000,4,0.000,0.065,2334,3764,3638,0,0,0,0,0,0,28.83,26.07,25.99
$GC,3390,-0.52,-170.3,479.7,-9.8,414,3394,0.08,1.73,0.00,0.000,6,0.164,0.022,2358,2477,3638,0,0,0,0,0,0,26.34,26.58,28.83
$GC,3701,-0.52,-170.3,504.7,-8.0,445,3711,0.08,2.03,0.00,0.000,4,0.125,0.051,2280,3765,3635,0,0,0,0,0,0,26.60,26.07,28.83
$GC,3748,-0.52,-170.3,509.8,-12.2,449,3756,0.22,1.73,0.00,0.000,6,0.125,0.023,2354,2469,3635,0,0,0,0,0,0,26.03,26.55,28.83
$GC,4056,-0.52,-170.3,535.9,-7.6,480,4065,0.05,2.00,0.00,0.000,4,0.175,0.051,2292,3769,3633,0,0,0,0,0,0,26.61,26.06,28.83
$GC,4082,-0.52,-170.3,538.1,-8.4,482,4089,0.15,1.75,0.00,0.000,6,0.110,0.023,2351,2477,3633,0,0,0,0,0,0,26.09,26.56,28.83
$GC,4388,-0.52,-170.3,562.9,-7.6,513,4396,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3764,3630,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4413,-0.52,-170.3,564.4,-7.7,515,4421,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2454,3630,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4719,-0.52,-170.3,588.7,-8.0,546,4728,0.00,2.05,0.00,0.000,4,0.000,0.054,2348,3770,3628,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4752,-0.52,-170.3,591.1,-7.4,549,4755,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2469,3628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5073,-0.52,-170.3,614.7,-7.5,571,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2466,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5373,-0.52,-170.3,637.3,-7.5,586,5378,0.00,2.00,0.00,0.000,4,0.000,0.054,2348,3763,3623,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5428,-0.52,-170.3,640.3,-7.5,588,5435,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2464,3622,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5734,-0.52,-170.3,664.0,-7.5,604,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2463,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-0.52,-170.3,686.0,-7.3,619,6040,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3761,3618,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6067,-0.52,-170.3,687.4,-7.2,620,6073,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2483,3618,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6374,-0.52,-170.3,709.3,-6.8,636,6380,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3762,3616,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6403,-0.52,-170.3,710.5,-6.7,637,6406,0.00,1.75,0.00,0.000,6,0.000,0.025,2348,2499,3616,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6714,-0.52,-170.3,730.7,-6.1,653,6720,0.00,2.03,0.00,0.000,4,0.000,0.054,2348,3763,3614,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6747,-0.52,-170.3,731.9,-6.1,654,6754,0.00,1.73,0.00,0.000,6,0.000,0.024,2349,2462,3614,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7055,-0.52,-170.3,750.6,-6.0,670,7059,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3769,3612,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7110,-0.52,-170.3,753.2,-6.1,672,7117,0.00,1.75,0.00,0.000,6,0.000,0.024,2349,2459,3611,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7418,-0.52,-170.3,774.0,-6.8,688,7423,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3768,3610,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7466,-0.52,-170.3,776.5,-6.6,690,7470,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2507,3610,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7777,-0.52,-170.3,799.7,-7.4,706,7783,0.00,2.03,0.00,0.000,4,0.000,0.055,2348,3765,3608,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7827,-0.52,-170.3,802.9,-7.6,708,7830,0.00,1.73,0.00,0.000,6,0.000,0.025,2348,2502,3608,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8138,-0.52,-170.3,825.9,-6.8,724,8144,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3770,3607,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8192,-0.52,-170.3,828.7,-6.9,726,8199,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2448,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8499,-0.52,-170.3,849.6,-6.3,742,8503,0.00,1.90,0.00,0.000,4,0.000,0.028,2348,1145,3605,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8564,-0.52,-170.3,853.8,-6.6,745,8568,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2625,3605,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8877,-0.52,-170.3,873.1,-6.1,761,8882,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1144,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8979,-0.52,-170.3,879.5,-6.2,766,8983,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2619,3603,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9292,-0.52,-170.3,898.7,-6.3,782,9296,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1138,3601,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9357,-0.52,-170.3,902.8,-6.5,785,9361,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2626,3601,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9671,-0.52,-170.3,924.2,-7.1,801,9676,0.00,2.15,0.00,0.000,4,0.000,0.027,2348,1142,3601,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9777,-0.52,-170.3,931.5,-7.0,806,9782,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2627,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10086,-0.52,-170.3,953.6,-6.7,821,10090,0.00,2.17,0.00,0.000,4,0.000,0.028,2348,1135,3599,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10218,-0.52,-170.3,961.9,-6.7,827,10228,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2617,3599,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10529,-0.52,-170.3,981.0,-5.7,843,10533,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1142,3598,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10615,-0.52,-170.3,985.7,-5.7,847,10621,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2623,3598,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,10688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10688,begin apogee
$GC,10694,-0.17,0.0,990.1,-5.5,851,10854,0.32,0.17,151.02,1.711,6,0.078,0.076,2477,2533,2928,0,0,0,0,0,0,26.12,24.33,22.39
$STATE,10855,end apogee,CONTROL_FINISHED_OK
$STATE,10855,begin climb
$GC,10857,0.52,170.3,997.2,0.0,859,11034,0.57,2.50,165.90,1.665,4,0.047,0.030,2721,1051,2232,0,0,0,0,0,0,24.73,23.83,21.87
$GC,11151,0.52,170.3,972.9,13.9,873,11159,0.17,2.30,0.00,0.000,6,0.164,0.047,2674,2515,2223,0,0,0,0,0,0,25.39,25.68,28.83
$GC,11459,0.52,170.3,932.6,12.3,889,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2515,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11757,0.52,170.3,896.5,12.0,904,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2516,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12059,0.52,170.3,860.5,12.1,919,12064,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3772,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12092,0.52,170.3,857.9,12.2,920,12099,0.00,1.90,0.00,0.000,6,0.000,0.025,2684,2451,2218,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12397,0.52,170.3,816.3,12.8,936,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2449,2217,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20401,end climb,SURFACE_DEPTH_REACHED
$STATE,20401,begin surface coast
$FINISH,0.6,1.021574
$STATE,20457,end surface coast,CONTROL_FINISHED_OK
$STATE,20457,begin surface
$SM_CCo,20534,0.00,0.000,0,0,1353,386.35
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$IRIDIUM_FIX,1756.43,12436.12,060612,171758
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,21.9,85.590
$10V_AH,9.8,52.560
$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
$DEVICE_SECS,19.350,175.950,445.750,0.000,0.000,27.188,18.382,250.982,0.000,0.000,17.943,4616.638,11548.710,634.159,3692.325,462.639,0.000,2351.908,0.000,3098.084,0.000,0.541,0.000
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$SENSOR_SECS,1243.482,2440.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,136992,1824
$CAP_FILE_SIZE,218601,0
$CFSIZE,260165632,181104640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,101.9,1
$GPS,070612,045001,1759.742,12435.104,37,1.9,37,-2.0