version: 66.10
glider: 176
mission: 5
dive: 160
start: 4 11 112 21 24 48
data:
$ID,176
$MISSION,5
$DIVE,160
$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,-7633.8911
$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,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
$GPS1,110412,211437,1953.154,12424.506,24,2.0,24,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.3
$GPS2,110412,212422,1953.131,12424.779,11,2.1,30,-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,191.7,228750,-13.1,-7.500
$D_GRID,5591
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.05,0.000,2,0.000,0.000,191,2650,2468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.3,-7.2,7,105,8.93,2.22,-22.67,0.000,4,0.246,0.040,2349,1156,3528,0,0,0,0,0,0,25.39,26.09,26.44
$GC,164,-0.51,-146.0,25.8,-18.4,22,171,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2626,3529,0,0,0,0,0,0,28.83,26.01,28.83
$GC,476,-0.51,-146.0,108.9,-24.8,83,482,0.00,1.73,0.00,0.000,4,0.000,0.051,2338,3772,3529,0,0,0,0,0,0,28.83,26.12,28.83
$GC,505,-0.51,-146.0,116.3,-26.0,88,513,0.08,1.70,0.00,0.000,6,0.198,0.021,2356,2493,3529,0,0,0,0,0,0,26.15,26.43,28.83
$GC,816,-0.51,-146.0,187.7,-20.1,149,824,0.00,1.95,0.00,0.000,4,0.000,0.052,2346,3766,3529,0,0,0,0,0,0,28.83,26.17,28.83
$GC,857,-0.51,-146.0,195.5,-19.1,156,863,0.00,1.70,0.00,0.000,6,0.000,0.022,2346,2479,3529,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1167,-0.51,-146.0,256.6,-19.2,189,1177,0.00,1.88,0.00,0.000,4,0.000,0.024,2346,1138,3529,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1190,-0.51,-146.0,261.1,-19.4,191,1199,0.10,2.22,0.00,0.000,6,0.170,0.044,2361,2629,3529,0,0,0,0,0,0,26.12,26.31,28.83
$GC,1499,-0.51,-146.0,307.9,-13.9,222,1501,0.08,0.00,0.00,0.000,6,0.134,0.000,2307,2629,3529,0,0,0,0,0,0,26.62,28.83,28.83
$GC,1799,-0.51,-146.0,368.4,-21.0,252,1808,0.15,2.10,0.00,0.000,4,0.162,0.024,2356,1150,3528,0,0,0,0,0,0,26.23,26.48,28.83
$GC,1841,-0.51,-146.0,374.9,-15.5,256,1850,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2633,3528,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2151,-0.51,-146.0,415.5,-13.0,287,2160,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1146,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2204,-0.51,-146.0,421.7,-12.1,292,2212,0.00,2.28,0.00,0.000,6,0.000,0.044,2347,2626,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2514,-0.51,-146.0,461.0,-12.8,323,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2626,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2824,-0.51,-146.0,501.8,-13.1,354,2832,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1154,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2908,-0.51,-146.0,511.7,-11.2,362,2915,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2635,3524,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3215,-0.51,-146.0,546.4,-10.2,393,3225,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1153,3522,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3288,-0.51,-146.0,552.8,-7.8,400,3298,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2634,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3598,-0.51,-146.0,579.8,-8.9,431,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2634,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.51,-146.0,608.6,-10.1,457,3903,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1151,3517,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3987,-0.51,-146.0,616.2,-9.5,461,3991,0.00,2.22,0.00,0.000,6,0.000,0.046,2344,2628,3517,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4293,-0.51,-146.0,647.9,-10.2,476,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4593,-0.51,-146.0,678.3,-10.3,491,4597,0.00,1.73,0.00,0.000,4,0.000,0.058,2344,3763,3513,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4616,-0.51,-146.0,680.5,-10.3,492,4620,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2498,3512,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4934,-0.51,-146.0,712.1,-9.4,508,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2495,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5235,-0.51,-146.0,739.3,-8.9,523,5240,0.00,1.98,0.00,0.000,4,0.000,0.054,2336,3771,3507,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5274,-0.51,-146.0,743.1,-9.2,525,5278,0.05,1.75,0.00,0.000,6,0.125,0.023,2359,2492,3506,0,0,0,0,0,0,26.36,26.63,28.83
$GC,5596,-0.51,-146.0,767.2,-7.4,541,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2489,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,-0.51,-146.0,789.9,-7.7,556,5898,0.05,0.00,0.00,0.000,6,0.177,0.000,2312,2489,3503,0,0,0,0,0,0,26.67,28.83,28.83
$GC,6196,-0.51,-146.0,822.2,-10.6,571,6198,0.15,0.00,0.00,0.000,6,0.140,0.000,2358,2488,3501,0,0,0,0,0,0,26.33,28.83,28.83
$GC,6497,-0.51,-146.0,844.4,-7.5,586,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2488,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,-0.51,-146.0,869.2,-8.5,601,6801,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3766,3498,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6844,-0.51,-146.0,872.6,-8.6,603,6848,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2497,3497,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7157,-0.51,-146.0,899.3,-8.1,619,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2494,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7456,-0.51,-146.0,922.6,-7.8,634,7460,0.00,2.00,0.00,0.000,4,0.000,0.057,2357,3776,3494,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7501,-0.51,-146.0,925.9,-7.9,636,7505,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2486,3494,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7820,-0.51,-146.0,950.3,-7.6,652,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2482,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8119,-0.51,-146.0,972.0,-7.1,667,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2482,3492,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8397,begin apogee
$GC,8402,-0.17,0.0,991.3,-6.8,681,8531,0.30,0.00,122.40,1.741,6,0.109,0.000,2465,2482,2929,0,0,0,0,0,0,26.06,28.83,23.38
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8535,0.51,146.0,996.0,0.0,687,8684,0.60,2.35,140.10,1.701,4,0.047,0.032,2720,1056,2332,0,0,0,0,0,0,24.80,23.89,22.66
$GC,8717,0.51,146.0,986.9,12.0,697,8723,0.20,2.42,0.00,0.000,6,0.187,0.046,2672,2514,2327,0,0,0,0,0,0,24.25,24.50,28.83
$GC,9037,0.51,146.0,947.0,11.7,713,9042,0.00,1.95,0.00,0.000,4,0.000,0.056,2672,3763,2321,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9085,0.51,146.0,941.7,12.5,715,9089,0.00,1.95,0.00,0.000,6,0.000,0.025,2680,2463,2320,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9397,0.51,146.0,903.8,11.7,731,9402,0.00,2.05,0.00,0.000,4,0.000,0.056,2680,3771,2319,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9425,0.51,146.0,901.2,12.0,732,9429,0.10,1.95,0.00,0.000,6,0.221,0.025,2668,2436,2318,0,0,0,0,0,0,25.75,26.13,28.83
$GC,9734,0.51,146.0,866.3,10.7,747,9739,0.00,2.08,0.00,0.000,4,0.000,0.055,2668,3770,2317,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9806,0.51,146.0,858.7,12.3,750,9813,0.00,1.92,0.00,0.000,6,0.000,0.024,2678,2442,2317,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10113,0.51,146.0,818.6,12.5,766,10119,0.00,2.03,0.00,0.000,4,0.000,0.031,2689,1052,2316,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10145,0.51,146.0,816.1,12.5,767,10152,0.08,2.28,0.00,0.000,6,0.216,0.046,2674,2523,2315,0,0,0,0,0,0,25.92,26.08,28.83
$GC,10452,0.51,146.0,774.5,13.5,783,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2523,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10753,0.51,146.0,735.6,12.5,798,10759,0.00,1.90,0.00,0.000,4,0.000,0.055,2674,3767,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10792,0.51,146.0,730.1,12.9,800,10796,0.00,1.92,0.00,0.000,6,0.000,0.025,2683,2432,2313,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11113,0.51,146.0,693.4,10.6,816,11119,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3765,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11216,0.51,146.0,680.4,13.6,821,11221,0.10,1.90,0.00,0.000,6,0.219,0.024,2671,2441,2313,0,0,0,0,0,0,25.96,26.39,28.83
$GC,11528,0.51,146.0,646.8,10.3,837,11533,0.00,2.08,0.00,0.000,4,0.000,0.054,2671,3767,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11663,0.51,146.0,631.3,13.0,843,11669,0.00,1.90,0.00,0.000,6,0.000,0.024,2681,2441,2312,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11968,0.51,146.0,595.8,10.8,860,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2438,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12270,0.51,146.0,563.8,10.1,890,12279,0.00,2.05,0.00,0.000,4,0.000,0.052,2681,3767,2311,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12452,0.51,146.0,540.8,12.8,908,12457,0.10,1.88,0.00,0.000,6,0.212,0.023,2668,2441,2311,0,0,0,0,0,0,26.01,26.44,28.83
$GC,12760,0.51,146.0,512.6,9.3,938,12768,0.00,2.00,0.00,0.000,4,0.000,0.032,2678,1059,2311,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12793,0.51,146.0,509.6,8.9,941,12801,0.00,2.28,0.00,0.000,6,0.000,0.044,2678,2519,2311,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13101,0.51,146.0,479.9,10.6,972,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2520,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13404,0.51,146.0,449.5,9.5,1002,13413,0.00,2.17,0.00,0.000,4,0.000,0.034,2689,1051,2311,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13518,0.51,146.0,439.7,8.4,1013,13526,0.08,2.25,0.00,0.000,6,0.196,0.043,2672,2526,2311,0,0,0,0,0,0,26.00,26.15,28.83
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$STATE,18254,end climb,SURFACE_DEPTH_REACHED
$STATE,18254,begin surface coast
$FINISH,0.9,1.021629
$STATE,18315,end surface coast,CONTROL_FINISHED_OK
$STATE,18315,begin surface
$SM_CCo,18330,48.75,0.131,0,0,1397,375.06
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$IRIDIUM_FIX,1950.41,12424.02,110412,151538
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.73
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,22.7,34.204
$10V_AH,10.1,20.914
$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
$DEVICE_SECS,18.575,137.575,336.025,48.750,0.000,55.388,68.762,237.457,0.000,0.000,33.736,4308.999,10284.846,553.111,3406.221,382.285,0.000,2086.375,0.000,2843.777,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
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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,329444
$DATA_FILE_SIZE,127086,1706
$CAP_FILE_SIZE,187876,0
$CFSIZE,260165632,207896576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 86.8,1
$GPS,120412,023207,1950.976,12426.778,29,1.2,29,-2.5