version: 66.10
glider: 176
mission: 5
dive: 156
start: 4 11 112 0 1 4
data:
$ID,176
$MISSION,5
$DIVE,156
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7628.668
$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,2510
$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,2610
$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,49
$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
$GPS1,100412,235337,2002.669,12424.119,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.2
$GPS2,110412,000037,2002.632,12424.230,10,1.1,10,-2.5
$SPEED_LIMITS,0.130,0.234
$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,223.1,246368,-13.1,-7.500
$D_GRID,5352
$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,17,-0.51,-146.0,0.0,0.0,0,65,0.00,0.00,-46.00,0.000,2,0.000,0.000,191,2689,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.3,-7.5,8,104,8.70,2.25,-20.38,0.000,4,0.237,0.037,2343,1153,3528,0,0,0,0,0,0,25.43,26.07,26.44
$GC,242,-0.51,-146.0,39.2,-17.3,38,249,0.08,2.25,0.00,0.000,6,0.203,0.043,2349,2632,3528,0,0,0,0,0,0,25.90,26.06,28.83
$GC,553,-0.51,-146.0,116.4,-24.3,99,560,0.00,2.15,0.00,0.000,4,0.000,0.026,2349,1146,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,623,-0.51,-146.0,130.0,-16.1,112,630,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2628,3528,0,0,0,0,0,0,28.83,26.18,28.83
$GC,934,-0.51,-146.0,194.7,-23.7,173,942,0.00,1.73,0.00,0.000,4,0.000,0.050,2338,3780,3529,0,0,0,0,0,0,28.83,26.21,28.83
$GC,954,-0.51,-146.0,199.6,-24.1,176,961,0.03,1.73,0.00,0.000,6,0.278,0.023,2350,2501,3528,0,0,0,0,0,0,26.31,26.51,28.83
$GC,1259,-0.51,-146.0,259.9,-19.1,207,1263,0.00,1.92,0.00,0.000,4,0.000,0.025,2351,1145,3529,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1333,-0.51,-146.0,270.9,-13.5,214,1341,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2626,3528,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1640,-0.51,-146.0,322.2,-16.8,245,1643,0.00,1.73,0.00,0.000,4,0.000,0.054,2340,3772,3528,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1671,-0.51,-146.0,327.7,-17.5,248,1675,0.00,1.70,0.00,0.000,6,0.000,0.022,2340,2519,3528,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1982,-0.51,-146.0,378.3,-16.3,279,1986,0.00,1.90,0.00,0.000,4,0.000,0.025,2341,1144,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2039,-0.51,-146.0,385.8,-12.6,284,2048,0.08,2.25,0.00,0.000,6,0.187,0.043,2354,2635,3528,0,0,0,0,0,0,26.20,26.33,28.83
$GC,2348,-0.51,-146.0,425.2,-12.0,315,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2634,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.51,-146.0,460.6,-12.1,345,2659,0.00,2.10,0.00,0.000,4,0.000,0.025,2355,1149,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2722,-0.51,-146.0,468.6,-10.0,352,2731,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2635,3526,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3034,-0.51,-146.0,503.6,-10.7,383,3043,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1144,3525,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3078,-0.51,-146.0,508.0,-10.4,387,3085,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2629,3525,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3387,-0.51,-146.0,540.5,-10.8,418,3391,0.00,1.73,0.00,0.000,4,0.000,0.057,2348,3765,3523,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3421,-0.51,-146.0,544.1,-10.9,421,3429,0.00,1.73,0.00,0.000,6,0.000,0.023,2347,2488,3522,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3728,-0.51,-146.0,576.4,-10.1,452,3732,0.00,1.90,0.00,0.000,4,0.000,0.026,2348,1147,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3755,-0.51,-146.0,579.1,-10.2,454,3764,0.00,2.22,0.00,0.000,6,0.000,0.046,2347,2619,3520,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4075,-0.51,-146.0,610.4,-9.8,481,4081,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1149,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4143,-0.51,-146.0,616.0,-9.4,484,4147,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2627,3519,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4449,-0.51,-146.0,646.8,-10.1,499,4453,0.00,1.75,0.00,0.000,4,0.000,0.057,2347,3772,3516,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4490,-0.51,-146.0,650.8,-10.0,501,4493,0.00,1.73,0.00,0.000,6,0.000,0.024,2348,2506,3516,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4811,-0.51,-146.0,679.1,-8.4,517,4817,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3767,3514,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4858,-0.51,-146.0,682.5,-8.5,519,4862,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2499,3513,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5170,-0.51,-146.0,709.7,-8.4,535,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2495,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5472,-0.51,-146.0,734.8,-8.1,550,5477,0.00,1.95,0.00,0.000,4,0.000,0.054,2336,3767,3509,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5513,-0.51,-146.0,738.2,-8.2,552,5518,0.08,1.73,0.00,0.000,6,0.173,0.023,2358,2466,3508,0,0,0,0,0,0,26.38,26.63,28.83
$GC,5831,-0.51,-146.0,758.9,-6.3,568,5833,0.08,0.00,0.00,0.000,6,0.130,0.000,2303,2462,3507,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6131,-0.51,-146.0,791.5,-11.1,583,6138,0.15,2.05,0.00,0.000,4,0.149,0.054,2345,3775,3505,0,0,0,0,0,0,26.25,26.08,28.83
$GC,6153,-0.51,-146.0,793.5,-10.9,584,6157,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2498,3505,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6471,-0.51,-146.0,818.5,-8.1,600,6476,0.00,1.90,0.00,0.000,4,0.000,0.028,2345,1161,3503,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6513,-0.51,-146.0,821.8,-8.3,602,6517,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2621,3503,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6831,-0.51,-146.0,850.0,-8.9,618,6836,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1162,3502,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6854,-0.51,-146.0,851.8,-8.9,619,6858,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3501,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7165,-0.51,-146.0,878.8,-8.2,635,7171,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1160,3500,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7198,-0.51,-146.0,880.6,-8.2,636,7205,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3500,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7507,-0.51,-146.0,905.7,-7.8,652,7512,0.00,2.12,0.00,0.000,4,0.000,0.028,2345,1159,3498,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7535,-0.51,-146.0,907.3,-7.7,653,7539,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3499,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7841,-0.51,-146.0,930.8,-7.4,668,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2633,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-0.51,-146.0,953.3,-7.6,683,8147,0.00,2.17,0.00,0.000,4,0.000,0.028,2344,1150,3495,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8188,-0.51,-146.0,956.3,-7.6,685,8192,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2628,3495,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8495,-0.51,-146.0,979.5,-7.6,700,8501,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1161,3494,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8529,-0.51,-146.0,981.0,-7.5,701,8537,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2633,3494,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8654,begin apogee
$GC,8659,-0.17,0.0,991.3,-7.4,708,8790,0.32,0.12,123.10,1.746,6,0.110,0.060,2459,2532,2930,0,0,0,0,0,0,25.97,24.51,23.36
$STATE,8791,end apogee,CONTROL_FINISHED_OK
$STATE,8791,begin climb
$GC,8793,0.51,146.0,995.1,0.0,714,8945,0.60,2.45,140.68,1.707,4,0.050,0.031,2708,1053,2331,0,0,0,0,0,0,24.77,23.87,22.64
$GC,9031,0.51,146.0,979.6,13.3,726,9038,0.17,2.40,0.00,0.000,6,0.181,0.047,2666,2521,2324,0,0,0,0,0,0,24.60,24.88,28.83
$GC,9338,0.51,146.0,939.1,12.3,742,9343,0.00,1.95,0.00,0.000,4,0.000,0.055,2666,3764,2321,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9370,0.51,146.0,936.4,12.6,743,9377,0.00,1.95,0.00,0.000,6,0.000,0.024,2675,2442,2319,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9678,0.51,146.0,896.4,11.8,759,9683,0.00,2.08,0.00,0.000,4,0.000,0.054,2675,3771,2319,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9720,0.51,146.0,890.8,12.8,761,9725,0.10,1.95,0.00,0.000,6,0.220,0.026,2664,2444,2318,0,0,0,0,0,0,25.75,26.13,28.83
$GC,10032,0.51,146.0,856.0,10.9,777,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2440,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10333,0.51,146.0,823.8,11.0,792,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2440,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10632,0.51,146.0,792.0,10.8,807,10638,0.00,2.03,0.00,0.000,4,0.000,0.031,2674,1054,2315,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10654,0.51,146.0,789.9,10.8,808,10659,0.00,2.25,0.00,0.000,6,0.000,0.047,2674,2510,2314,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10973,0.51,146.0,752.6,11.6,824,10979,0.00,2.12,0.00,0.000,4,0.000,0.031,2684,1057,2314,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11025,0.51,146.0,748.1,11.3,826,11033,0.08,2.28,0.00,0.000,6,0.209,0.047,2670,2521,2313,0,0,0,0,0,0,25.94,26.10,28.83
$GC,11334,0.51,146.0,712.7,11.4,842,11339,0.00,1.92,0.00,0.000,4,0.000,0.054,2670,3770,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11413,0.51,146.0,702.5,12.6,846,11419,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2445,2313,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11734,0.51,146.0,667.7,10.6,862,11739,0.00,2.03,0.00,0.000,4,0.000,0.053,2679,3762,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11775,0.51,146.0,662.9,11.2,864,11780,0.10,1.90,0.00,0.000,6,0.213,0.023,2667,2446,2312,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12093,0.51,146.0,630.9,10.0,880,12098,0.00,2.05,0.00,0.000,4,0.000,0.054,2667,3770,2312,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,18686,end climb,SURFACE_DEPTH_REACHED
$STATE,18686,begin surface coast
$FINISH,0.8,0.999125
$STATE,18732,end surface coast,CONTROL_FINISHED_OK
$STATE,18732,begin surface
$SM_CCo,18748,32.03,0.130,0,0,1397,375.06
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$IRIDIUM_FIX,1957.29,12423.42,100412,181841
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.6,33.519
$10V_AH,10.1,20.418
$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
$DEVICE_SECS,18.150,184.325,388.500,32.025,0.000,27.262,20.897,229.226,0.000,0.000,13.088,4345.334,10396.849,599.701,3431.887,401.891,0.000,2245.227,0.000,2967.681,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329480
$DATA_FILE_SIZE,127082,1713
$CAP_FILE_SIZE,201796,0
$CFSIZE,260165632,208306176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,133.4,1
$GPS,110412,051507,1959.715,12424.068,30,1.7,30,-2.5