version: 66.10
glider: 176
mission: 5
dive: 411
start: 6 7 112 16 50 41
data:
$ID,176
$MISSION,5
$DIVE,411
$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,-8112.4331
$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
$GPS1,070612,164007,1754.806,12435.398,38,1.3,38,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.9
$GPS2,070612,165014,1754.639,12435.486,12,1.3,12,-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,216.2,8635,-12.5,-7.857
$D_GRID,4300
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.52,-170.3,0.0,0.0,0,73,0.00,0.00,-53.12,0.000,2,0.000,0.000,176,2699,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.52,-170.3,3.5,-7.5,9,119,8.88,2.30,-24.33,0.000,4,0.234,0.042,2345,1152,3627,0,0,0,0,0,0,25.02,26.26,26.72
$GC,146,-0.52,-170.3,25.6,-35.9,18,153,0.08,2.22,0.00,0.000,6,0.201,0.047,2351,2615,3627,0,0,0,0,0,0,25.98,26.13,28.83
$GC,475,-0.52,-170.3,107.9,-20.8,79,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2615,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-0.52,-170.3,170.1,-18.2,140,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2615,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1096,-0.52,-170.3,219.4,-16.4,189,1100,0.00,1.73,0.00,0.000,4,0.000,0.051,2343,3768,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1127,-0.52,-170.3,224.3,-16.5,192,1131,0.00,1.70,0.00,0.000,6,0.000,0.022,2343,2516,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1438,-0.52,-170.3,269.0,-14.2,223,1442,0.00,1.92,0.00,0.000,4,0.000,0.024,2343,1120,3625,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1479,-0.52,-170.3,274.0,-12.6,227,1489,0.08,2.28,0.00,0.000,6,0.177,0.043,2357,2629,3625,0,0,0,0,0,0,26.11,26.22,28.83
$GC,1789,-0.52,-170.3,309.7,-11.1,258,1794,0.08,2.12,0.00,0.000,4,0.129,0.025,2289,1132,3623,0,0,0,0,0,0,26.61,26.43,28.83
$GC,1811,-0.52,-170.3,312.5,-11.8,260,1822,0.25,2.25,0.00,0.000,6,0.129,0.043,2358,2617,3624,0,0,0,0,0,0,25.91,26.22,28.83
$GC,2122,-0.52,-170.3,342.4,-8.1,291,2123,0.08,0.00,0.00,0.000,6,0.129,0.000,2287,2617,3622,0,0,0,0,0,0,26.61,28.83,28.83
$GC,2422,-0.52,-170.3,395.3,-17.8,321,2431,0.17,2.10,0.00,0.000,4,0.151,0.022,2347,1131,3620,0,0,0,0,0,0,26.13,26.44,28.83
$GC,2506,-0.52,-170.3,404.2,-8.7,329,2515,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2616,3619,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2814,-0.52,-170.3,433.7,-9.3,360,2824,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1132,3617,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2847,-0.52,-170.3,436.5,-8.8,363,2856,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2612,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3158,-0.52,-170.3,463.0,-8.6,394,3159,0.00,0.00,-0.08,0.000,6,0.000,0.000,2345,2613,3639,0,0,0,0,0,0,28.83,28.83,25.37
$GC,3457,-0.52,-170.3,487.4,-7.9,424,3466,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1134,3637,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3492,-0.52,-170.3,489.7,-7.2,427,3499,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2617,3637,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3800,-0.52,-170.3,513.3,-7.6,458,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2617,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.52,-170.3,536.8,-7.4,488,4110,0.00,2.08,0.00,0.000,4,0.000,0.024,2345,1142,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4123,-0.52,-170.3,538.6,-7.6,490,4132,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2618,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4433,-0.52,-170.3,563.1,-8.2,521,4437,0.00,1.77,0.00,0.000,4,0.000,0.057,2345,3759,3628,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4464,-0.52,-170.3,565.6,-8.2,524,4468,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2450,3627,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4775,-0.52,-170.3,590.3,-8.0,555,4784,0.00,2.05,0.00,0.000,4,0.000,0.056,2345,3763,3625,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4820,-0.52,-170.3,593.4,-7.6,559,4826,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2451,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5138,-0.52,-170.3,617.1,-7.5,580,5143,0.00,2.03,0.00,0.000,4,0.000,0.055,2340,3757,3622,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5191,-0.52,-170.3,620.2,-7.7,582,5198,0.00,1.73,0.00,0.000,6,0.000,0.023,2340,2444,3622,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5496,-0.52,-170.3,647.3,-9.0,598,5500,0.00,2.05,0.00,0.000,4,0.000,0.055,2333,3771,3620,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5521,-0.52,-170.3,649.3,-9.1,599,5525,0.08,1.75,0.00,0.000,6,0.160,0.024,2358,2488,3619,0,0,0,0,0,0,26.30,26.53,28.83
$GC,5838,-0.52,-170.3,674.7,-8.0,615,5844,0.08,2.03,0.00,0.000,4,0.128,0.054,2288,3769,3617,0,0,0,0,0,0,26.58,25.94,28.83
$GC,5922,-0.52,-170.3,684.2,-12.0,619,5926,0.20,1.75,0.00,0.000,6,0.122,0.024,2355,2469,3616,0,0,0,0,0,0,26.03,26.52,28.83
$GC,6234,-0.52,-170.3,707.0,-6.5,635,6240,0.05,2.03,0.00,0.000,4,0.174,0.054,2287,3763,3615,0,0,0,0,0,0,26.59,25.92,28.83
$GC,6301,-0.52,-170.3,713.1,-9.3,638,6306,0.20,1.75,0.00,0.000,6,0.122,0.024,2354,2470,3614,0,0,0,0,0,0,26.02,26.51,28.83
$GC,6615,-0.52,-170.3,733.4,-6.0,654,6621,0.05,2.00,0.00,0.000,4,0.172,0.054,2292,3753,3612,0,0,0,0,0,0,26.59,25.90,28.83
$GC,6687,-0.52,-170.3,739.2,-8.8,657,6694,0.12,1.73,0.00,0.000,6,0.107,0.024,2353,2502,3611,0,0,0,0,0,0,26.03,26.51,28.83
$GC,6996,-0.52,-170.3,761.4,-6.9,673,7000,0.00,1.98,0.00,0.000,4,0.000,0.057,2348,3768,3610,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7022,-0.52,-170.3,763.2,-7.1,674,7025,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2499,3610,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7340,-0.52,-170.3,786.3,-7.3,690,7345,0.00,2.03,0.00,0.000,4,0.000,0.057,2348,3766,3609,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7379,-0.52,-170.3,789.2,-7.2,692,7382,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2496,3608,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7700,-0.52,-170.3,810.4,-6.4,708,7705,0.00,2.05,0.00,0.000,4,0.000,0.057,2348,3769,3607,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7756,-0.52,-170.3,812.8,-6.1,710,7762,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2467,3605,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8060,-0.52,-170.3,832.6,-6.1,726,8066,0.00,1.90,0.00,0.000,4,0.000,0.027,2347,1136,3605,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8142,-0.52,-170.3,837.6,-6.2,730,8148,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2625,3604,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8461,-0.52,-170.3,857.3,-6.4,746,8464,0.00,1.75,0.00,0.000,4,0.000,0.057,2348,3768,3603,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8678,-0.52,-170.3,871.1,-7.4,756,8684,0.00,1.75,0.00,0.000,6,0.000,0.024,2348,2468,3602,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8985,-0.52,-170.3,894.2,-7.3,772,8990,0.00,2.03,0.00,0.000,4,0.000,0.056,2348,3767,3601,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9212,-0.52,-170.3,911.8,-8.7,783,9216,0.00,1.75,0.00,0.000,6,0.000,0.024,2352,2505,3600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9528,-0.52,-170.3,935.3,-7.2,799,9534,0.00,1.98,0.00,0.000,4,0.000,0.057,2352,3762,3598,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9762,-0.52,-170.3,952.1,-8.0,810,9769,0.00,1.75,0.00,0.000,6,0.000,0.024,2352,2468,3597,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10071,-0.52,-170.3,972.8,-6.2,826,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2467,3597,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10349,begin apogee
$GC,10354,-0.17,0.0,990.1,-6.0,840,10512,0.30,0.05,150.50,1.711,6,0.060,0.050,2495,2446,2928,0,0,0,0,0,0,26.32,24.03,22.43
$STATE,10513,end apogee,CONTROL_FINISHED_OK
$STATE,10513,begin climb
$GC,10515,0.52,170.3,997.2,0.0,848,10692,0.52,2.35,165.62,1.662,4,0.041,0.054,2720,3761,2233,0,0,0,0,0,0,24.74,23.76,21.89
$GC,10878,0.52,170.3,953.2,18.9,866,10882,0.20,1.92,0.00,0.000,6,0.186,0.024,2677,2448,2227,0,0,0,0,0,0,25.56,26.08,28.83
$GC,11192,0.52,170.3,915.2,11.3,882,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2443,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11490,0.52,170.3,882.7,10.9,897,11495,0.00,2.08,0.00,0.000,4,0.000,0.057,2677,3773,2220,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11531,0.52,170.3,877.8,11.6,899,11537,0.00,1.92,0.00,0.000,6,0.000,0.025,2687,2447,2221,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11850,0.52,170.3,840.5,11.6,915,11856,0.00,2.05,0.00,0.000,4,0.000,0.031,2697,1052,2219,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11878,0.52,170.3,838.1,11.5,916,11883,0.10,2.28,0.00,0.000,6,0.174,0.047,2673,2519,2217,0,0,0,0,0,0,25.91,26.10,28.83
$GC,12188,0.52,170.3,802.8,11.6,931,12193,0.00,1.90,0.00,0.000,4,0.000,0.055,2673,3767,2217,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12260,0.52,170.3,794.7,12.9,934,12267,0.00,1.90,0.00,0.000,6,0.000,0.025,2682,2449,2217,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12567,0.52,170.3,752.7,13.0,950,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2445,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12866,0.52,170.3,716.6,11.7,965,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2445,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13166,0.52,170.3,684.8,10.2,980,13171,0.00,2.10,0.00,0.000,4,0.000,0.054,2682,3772,2215,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13189,0.52,170.3,682.7,10.4,981,13194,0.05,1.92,0.00,0.000,6,0.177,0.022,2675,2451,2216,0,0,0,0,0,0,26.06,26.40,28.83
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$STATE,20607,end climb,SURFACE_DEPTH_REACHED
$STATE,20607,begin surface coast
$FINISH,0.8,1.004785
$STATE,20674,end surface coast,CONTROL_FINISHED_OK
$STATE,20674,begin surface
$SM_CCo,20750,0.00,0.000,0,0,853,509.24
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$IRIDIUM_FIX,1751.90,12431.68,070612,101005
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,21.9,86.213
$10V_AH,9.8,52.981
$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
$DEVICE_SECS,20.375,168.575,510.375,0.000,0.000,66.785,49.036,270.223,0.250,0.000,15.580,4815.546,11332.041,675.231,4021.510,475.426,0.000,2478.840,0.000,3309.438,0.000,0.543,0.000
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$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,143912,1903
$CAP_FILE_SIZE,227234,0
$CFSIZE,260165632,180740096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199, 95.5,1
$GPS,070612,223736,1752.410,12435.912,35,1.1,35,-2.0