version: 66.10
glider: 176
mission: 5
dive: 410
start: 6 7 112 10 53 28
data:
$ID,176
$MISSION,5
$DIVE,410
$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,-8111.1729
$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
$GPS1,070612,104437,1756.964,12435.767,39,0.9,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.3
$GPS2,070612,105301,1756.803,12435.984,12,0.9,18,-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,234.8,12718,-12.5,-7.857
$D_GRID,4286
$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,17,-0.52,-170.3,0.0,0.0,0,55,0.00,0.00,-35.38,0.000,2,0.000,0.000,180,2676,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.52,-170.3,3.0,-6.3,6,102,8.77,1.73,-29.92,0.000,4,0.232,0.066,2337,3770,3624,0,0,0,0,0,0,25.05,26.10,26.71
$GC,133,-0.52,-170.3,22.8,-33.0,16,140,0.00,1.73,0.00,0.000,6,0.000,0.022,2338,2501,3624,0,0,0,0,0,0,28.83,26.45,28.83
$GC,461,-0.52,-170.3,119.5,-25.5,77,468,0.00,1.90,0.00,0.000,4,0.000,0.025,2339,1124,3624,0,0,0,0,0,0,28.83,26.43,28.83
$GC,516,-0.52,-170.3,131.3,-17.6,87,524,0.08,2.25,0.00,0.000,6,0.187,0.044,2354,2618,3625,0,0,0,0,0,0,26.10,26.23,28.83
$GC,829,-0.52,-170.3,186.5,-16.7,148,836,0.05,1.73,0.00,0.000,4,0.174,0.049,2296,3774,3625,0,0,0,0,0,0,26.64,26.17,28.83
$GC,865,-0.52,-170.3,192.8,-19.9,154,872,0.20,1.70,0.00,0.000,6,0.145,0.022,2356,2474,3625,0,0,0,0,0,0,26.01,26.58,28.83
$GC,1180,-0.52,-170.3,238.1,-14.9,189,1190,0.08,1.98,0.00,0.000,4,0.134,0.050,2291,3767,3625,0,0,0,0,0,0,26.61,26.15,28.83
$GC,1226,-0.52,-170.3,246.6,-19.9,193,1235,0.20,1.70,0.00,0.000,6,0.144,0.022,2352,2473,3625,0,0,0,0,0,0,26.02,26.58,28.83
$GC,1532,-0.52,-170.3,293.8,-12.9,224,1536,0.00,1.88,0.00,0.000,4,0.000,0.027,2355,1143,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1570,-0.52,-170.3,298.0,-12.0,227,1578,0.00,2.22,0.00,0.000,6,0.000,0.045,2349,2625,3625,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1880,-0.52,-170.3,334.1,-10.8,258,1884,0.00,1.73,0.00,0.000,4,0.000,0.055,2345,3766,3623,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1912,-0.52,-170.3,337.5,-10.4,261,1916,0.00,1.70,0.00,0.000,6,0.000,0.022,2345,2508,3623,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2223,-0.52,-170.3,372.4,-12.3,292,2227,0.00,1.95,0.00,0.000,4,0.000,0.054,2345,3773,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2262,-0.52,-170.3,376.9,-12.4,295,2269,0.00,1.75,0.00,0.000,6,0.000,0.021,2345,2478,3621,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2570,-0.52,-170.3,413.0,-10.5,326,2579,0.00,2.00,0.00,0.000,4,0.000,0.055,2345,3766,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2623,-0.52,-170.3,418.1,-9.7,331,2631,0.00,1.75,0.00,0.000,6,0.000,0.021,2345,2499,3618,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2932,-0.52,-170.3,445.6,-8.6,362,2940,0.00,1.98,0.00,0.000,4,0.000,0.054,2340,3775,3617,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2963,-0.52,-170.3,448.2,-8.5,365,2966,0.00,1.73,0.00,0.000,6,0.000,0.022,2340,2507,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3274,-0.52,-170.3,477.3,-9.5,396,3276,0.00,0.00,-0.08,0.000,6,0.000,0.000,2340,2491,3635,0,0,0,0,0,0,28.83,28.83,25.82
$GC,3574,-0.52,-170.3,505.8,-9.9,426,3583,0.00,2.00,0.00,0.000,4,0.000,0.056,2335,3774,3633,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3617,-0.52,-170.3,509.7,-9.5,430,3621,0.08,1.73,0.00,0.000,6,0.163,0.022,2359,2500,3633,0,0,0,0,0,0,26.32,26.55,28.83
$GC,3929,-0.52,-170.3,532.9,-6.8,461,3939,0.08,1.98,0.00,0.000,4,0.127,0.053,2283,3769,3630,0,0,0,0,0,0,26.59,26.06,28.83
$GC,4013,-0.52,-170.3,542.6,-12.7,469,4017,0.17,1.77,0.00,0.000,6,0.109,0.023,2359,2484,3629,0,0,0,0,0,0,26.01,26.53,28.83
$GC,4325,-0.52,-170.3,562.4,-6.2,500,4334,0.08,2.00,0.00,0.000,4,0.127,0.054,2287,3772,3627,0,0,0,0,0,0,26.59,26.01,28.83
$GC,4389,-0.52,-170.3,568.6,-11.2,506,4398,0.20,1.75,0.00,0.000,6,0.125,0.023,2353,2478,3626,0,0,0,0,0,0,26.05,26.51,28.83
$GC,4697,-0.52,-170.3,592.4,-7.8,537,4701,0.00,2.00,0.00,0.000,4,0.000,0.056,2348,3764,3624,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4734,-0.52,-170.3,594.8,-7.8,540,4740,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2492,3624,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5039,-0.52,-170.3,618.5,-7.7,559,5044,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3766,3621,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5080,-0.52,-170.3,621.5,-7.6,561,5084,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2512,3621,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5401,-0.52,-170.3,646.6,-7.7,577,5407,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3773,3619,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5429,-0.52,-170.3,648.2,-7.8,578,5433,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2510,3618,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5743,-0.52,-170.3,671.9,-7.4,594,5748,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3769,3616,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5794,-0.52,-170.3,674.9,-7.3,596,5801,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2497,3615,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6101,-0.52,-170.3,697.2,-6.7,612,6107,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3765,3614,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6143,-0.52,-170.3,699.9,-6.8,614,6147,0.00,1.75,0.00,0.000,6,0.000,0.023,2348,2507,3614,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6465,-0.52,-170.3,721.4,-6.7,630,6470,0.00,1.98,0.00,0.000,4,0.000,0.057,2347,3763,3611,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6492,-0.52,-170.3,722.9,-6.9,631,6496,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2512,3611,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6806,-0.52,-170.3,744.1,-6.5,647,6811,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3776,3609,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6844,-0.52,-170.3,746.5,-6.2,649,6848,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2515,3609,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7167,-0.52,-170.3,766.3,-6.5,665,7172,0.00,2.00,0.00,0.000,4,0.000,0.057,2348,3771,3607,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7208,-0.52,-170.3,768.9,-6.5,667,7212,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2513,3607,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7526,-0.52,-170.3,792.3,-7.8,683,7531,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3762,3606,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7560,-0.52,-170.3,793.9,-7.8,684,7567,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2497,3605,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7866,-0.52,-170.3,819.4,-7.9,700,7871,0.00,2.00,0.00,0.000,4,0.000,0.058,2348,3764,3604,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7898,-0.52,-170.3,821.0,-7.8,701,7906,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2495,3603,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8207,-0.52,-170.3,845.0,-7.1,717,8212,0.00,1.98,0.00,0.000,4,0.000,0.057,2347,3761,3602,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8248,-0.52,-170.3,848.0,-7.0,719,8251,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2513,3602,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8570,-0.52,-170.3,869.3,-6.5,735,8575,0.00,1.95,0.00,0.000,4,0.000,0.058,2348,3758,3601,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8612,-0.52,-170.3,871.8,-6.4,737,8615,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2508,3600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8929,-0.52,-170.3,892.2,-6.2,753,8934,0.00,1.92,0.00,0.000,4,0.000,0.027,2348,1143,3600,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8993,-0.52,-170.3,896.0,-6.3,756,8997,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2628,3600,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9305,-0.52,-170.3,916.0,-6.5,772,9310,0.00,2.17,0.00,0.000,4,0.000,0.027,2348,1141,3598,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9399,-0.52,-170.3,921.2,-6.6,776,9406,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2617,3598,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9705,-0.52,-170.3,942.6,-6.9,792,9710,0.00,2.15,0.00,0.000,4,0.000,0.026,2348,1142,3597,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9806,-0.52,-170.3,949.5,-6.9,797,9812,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2622,3596,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10125,-0.52,-170.3,970.6,-6.5,813,10131,0.00,2.17,0.00,0.000,4,0.000,0.026,2348,1132,3596,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10228,-0.52,-170.3,976.9,-6.1,818,10233,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2618,3595,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,10459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10459,begin apogee
$GC,10464,-0.17,0.0,990.7,-5.7,830,10625,0.32,0.17,149.77,1.709,6,0.083,0.077,2475,2533,2929,0,0,0,0,0,0,26.07,24.33,22.40
$STATE,10626,end apogee,CONTROL_FINISHED_OK
$STATE,10626,begin climb
$GC,10628,0.52,170.3,997.9,0.0,838,10804,0.57,2.17,165.73,1.665,4,0.050,0.054,2705,3761,2233,0,0,0,0,0,0,24.75,23.74,21.87
$GC,11000,0.52,170.3,954.5,18.5,856,11008,0.15,1.92,0.00,0.000,6,0.191,0.024,2678,2438,2226,0,0,0,0,0,0,25.64,26.09,28.83
$GC,11309,0.52,170.3,911.1,12.9,872,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2434,2221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11608,0.52,170.3,873.9,12.3,887,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2435,2220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,0.52,170.3,838.7,11.3,902,11914,0.00,2.10,0.00,0.000,4,0.000,0.057,2678,3767,2219,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11969,0.52,170.3,830.7,12.8,905,11974,0.00,1.90,0.00,0.000,6,0.000,0.024,2687,2449,2219,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,20570,end climb,SURFACE_DEPTH_REACHED
$STATE,20570,begin surface coast
$FINISH,0.8,1.016880
$STATE,20655,end surface coast,CONTROL_FINISHED_OK
$STATE,20656,begin surface
$SM_CCo,20732,0.00,0.000,0,0,929,490.60
$SM_GC,1.75,6.40,0.12,0.00,0.027,0.076,0.000,180,2693,929,-7.16,-0.59,490.60,0,0,0,0,0,0,26.36,26.59,28.83
$IRIDIUM_FIX,1751.90,12437.98,070612,040421
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,21.9,85.998
$10V_AH,9.8,52.837
$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,20.050,176.725,479.900,0.000,0.000,28.916,47.927,263.608,0.000,0.000,20.999,4770.431,11496.218,650.623,3812.558,470.346,0.000,2397.442,0.000,3197.875,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,77.265,1709.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.126,2463.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329608
$DATA_FILE_SIZE,140472,1888
$CAP_FILE_SIZE,223398,0
$CFSIZE,260165632,180867072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,116.0,1
$GPS,070612,164007,1754.806,12435.398,38,1.3,38,-2.0