version: 66.10
glider: 176
mission: 5
dive: 161
start: 4 12 112 2 40 5
data:
$ID,176
$MISSION,5
$DIVE,161
$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,-7635.2441
$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
$GPS1,120412,023207,1950.976,12426.778,29,1.2,29,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.0
$GPS2,120412,023938,1950.980,12426.927,12,2.0,12,-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,223.9,224506,-13.1,-7.500
$D_GRID,5580
$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,17,-0.51,-146.0,0.0,0.0,0,62,0.00,0.00,-42.17,0.000,2,0.000,0.000,185,2649,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.51,-146.0,3.0,-5.5,7,107,8.82,2.17,-24.58,0.000,4,0.241,0.039,2349,1149,3523,0,0,0,0,0,0,25.42,26.08,26.45
$GC,204,-0.51,-146.0,28.5,-19.8,30,212,0.08,2.28,0.00,0.000,6,0.202,0.044,2355,2639,3524,0,0,0,0,0,0,25.91,26.07,28.83
$GC,518,-0.51,-146.0,101.8,-21.2,91,524,0.00,2.15,0.00,0.000,4,0.000,0.027,2355,1151,3524,0,0,0,0,0,0,28.83,26.30,28.83
$GC,563,-0.51,-146.0,110.7,-17.3,99,570,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2634,3525,0,0,0,0,0,0,28.83,26.20,28.83
$GC,871,-0.51,-146.0,175.6,-20.8,160,878,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1152,3524,0,0,0,0,0,0,28.83,26.39,28.83
$GC,906,-0.51,-146.0,182.3,-19.1,166,915,0.10,2.22,0.00,0.000,6,0.164,0.044,2363,2635,3525,0,0,0,0,0,0,26.11,26.28,28.83
$GC,1223,-0.51,-146.0,234.5,-16.8,208,1232,0.08,2.12,0.00,0.000,4,0.132,0.024,2312,1152,3525,0,0,0,0,0,0,26.60,26.44,28.83
$GC,1245,-0.51,-146.0,238.5,-17.6,210,1256,0.17,2.22,0.00,0.000,6,0.150,0.044,2362,2629,3525,0,0,0,0,0,0,26.03,26.31,28.83
$GC,1555,-0.51,-146.0,288.6,-15.0,241,1559,0.08,2.10,0.00,0.000,4,0.132,0.024,2307,1158,3525,0,0,0,0,0,0,26.63,26.46,28.83
$GC,1587,-0.51,-146.0,293.7,-15.8,244,1597,0.17,2.20,0.00,0.000,6,0.151,0.044,2357,2629,3525,0,0,0,0,0,0,26.05,26.33,28.83
$GC,1897,-0.51,-146.0,342.0,-15.1,275,1900,0.00,1.70,0.00,0.000,4,0.000,0.053,2349,3766,3524,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1931,-0.51,-146.0,346.9,-15.5,278,1939,0.00,1.70,0.00,0.000,6,0.000,0.023,2348,2490,3523,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2240,-0.51,-146.0,390.9,-13.4,309,2248,0.00,1.90,0.00,0.000,4,0.000,0.026,2349,1144,3523,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2292,-0.51,-146.0,397.1,-11.3,314,2301,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2630,3523,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2600,-0.51,-146.0,435.8,-13.6,345,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2630,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.51,-146.0,473.5,-12.3,375,2912,0.00,2.08,0.00,0.000,4,0.000,0.026,2348,1157,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3035,-0.51,-146.0,487.7,-9.5,388,3043,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2630,3520,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3347,-0.51,-146.0,519.3,-10.1,419,3355,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1156,3517,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3398,-0.51,-146.0,524.8,-10.0,424,3407,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2640,3517,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3708,-0.51,-146.0,556.4,-9.9,455,3712,0.00,1.70,0.00,0.000,4,0.000,0.053,2338,3771,3516,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3751,-0.51,-146.0,560.8,-10.9,459,3760,0.03,1.75,0.00,0.000,6,0.173,0.022,2352,2481,3515,0,0,0,0,0,0,26.46,26.67,28.83
$GC,4060,-0.51,-146.0,591.8,-9.9,490,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2480,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.51,-146.0,619.5,-8.3,510,4375,0.00,1.98,0.00,0.000,4,0.000,0.053,2345,3765,3512,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4437,-0.51,-146.0,624.8,-8.7,513,4440,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2501,3510,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4750,-0.51,-146.0,652.6,-9.0,529,4755,0.00,1.98,0.00,0.000,4,0.000,0.054,2340,3779,3508,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4782,-0.51,-146.0,654.4,-9.1,530,4790,0.03,1.75,0.00,0.000,6,0.086,0.023,2365,2495,3508,0,0,0,0,0,0,26.36,26.65,28.83
$GC,5089,-0.51,-146.0,679.6,-7.8,546,5095,0.08,1.98,0.00,0.000,4,0.130,0.051,2304,3771,3506,0,0,0,0,0,0,26.66,26.17,28.83
$GC,5123,-0.51,-146.0,681.5,-8.2,547,5130,0.17,1.73,0.00,0.000,6,0.136,0.023,2359,2483,3505,0,0,0,0,0,0,26.15,26.63,28.83
$GC,5430,-0.51,-146.0,709.4,-8.1,563,5432,0.05,0.00,0.00,0.000,6,0.176,0.000,2310,2482,3504,0,0,0,0,0,0,26.68,28.83,28.83
$GC,5730,-0.51,-146.0,745.6,-12.8,578,5736,0.12,1.98,0.00,0.000,4,0.152,0.052,2345,3769,3502,0,0,0,0,0,0,26.34,26.15,28.83
$GC,5762,-0.51,-146.0,748.0,-12.6,579,5769,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2504,3501,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6070,-0.51,-146.0,778.8,-9.8,595,6075,0.00,1.95,0.00,0.000,4,0.000,0.028,2345,1158,3500,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6113,-0.51,-146.0,782.7,-9.9,597,6117,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2626,3500,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6424,-0.51,-146.0,813.1,-9.4,613,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2627,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6724,-0.51,-146.0,841.0,-8.9,628,6728,0.00,2.15,0.00,0.000,4,0.000,0.027,2345,1152,3495,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6769,-0.51,-146.0,844.7,-8.8,630,6774,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2621,3495,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7087,-0.51,-146.0,870.7,-7.9,646,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2621,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7387,-0.51,-146.0,892.0,-6.8,661,7393,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1159,3493,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7429,-0.51,-146.0,894.6,-6.7,663,7434,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3492,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7748,-0.51,-146.0,915.5,-6.6,679,7754,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1164,3491,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7775,-0.51,-146.0,916.9,-6.7,680,7779,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3491,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8084,-0.51,-146.0,938.5,-7.1,695,8089,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1163,3489,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8110,-0.51,-146.0,939.8,-7.0,696,8114,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2635,3489,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8418,-0.51,-146.0,963.2,-7.6,711,8422,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1159,3488,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8461,-0.51,-146.0,966.6,-7.9,713,8466,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2625,3488,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8763,-0.17,0.0,990.6,-8.5,728,8892,0.35,0.12,121.80,1.743,6,0.109,0.098,2468,2533,2928,0,0,0,0,0,0,25.96,24.53,23.38
$STATE,8893,end apogee,CONTROL_FINISHED_OK
$STATE,8893,begin climb
$GC,8895,0.51,146.0,995.9,0.0,734,9044,0.57,2.45,140.18,1.705,4,0.047,0.032,2713,1053,2332,0,0,0,0,0,0,24.80,23.89,22.66
$GC,9080,0.51,146.0,988.8,10.8,744,9085,0.17,2.45,0.00,0.000,6,0.182,0.046,2672,2521,2326,0,0,0,0,0,0,24.30,24.53,28.83
$GC,9387,0.51,146.0,950.0,12.0,759,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2521,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9688,0.51,146.0,913.9,12.3,774,9693,0.00,1.95,0.00,0.000,4,0.000,0.056,2672,3770,2320,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9729,0.51,146.0,908.2,13.2,776,9733,0.00,1.98,0.00,0.000,6,0.000,0.025,2680,2449,2318,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10048,0.51,146.0,865.8,13.6,792,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10348,0.51,146.0,824.7,13.8,807,10354,0.00,2.05,0.00,0.000,4,0.000,0.054,2680,3763,2316,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10375,0.51,146.0,821.8,14.0,808,10380,0.10,1.92,0.00,0.000,6,0.222,0.024,2668,2438,2316,0,0,0,0,0,0,25.86,26.27,28.83
$GC,10682,0.51,146.0,783.0,11.3,823,10688,0.00,2.05,0.00,0.000,4,0.000,0.054,2668,3763,2315,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10716,0.51,146.0,780.7,11.3,824,10722,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2441,2315,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11023,0.51,146.0,746.1,10.1,840,11028,0.00,2.05,0.00,0.000,4,0.000,0.031,2688,1050,2314,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11050,0.51,146.0,744.1,10.0,841,11055,0.08,2.28,0.00,0.000,6,0.203,0.045,2673,2517,2313,0,0,0,0,0,0,25.96,26.11,28.83
$GC,11358,0.51,146.0,714.9,9.0,856,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2517,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11657,0.51,146.0,689.1,9.2,871,11661,0.00,1.90,0.00,0.000,4,0.000,0.055,2673,3764,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11694,0.51,146.0,685.4,9.8,873,11699,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2437,2312,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12013,0.51,146.0,649.5,11.8,889,12019,0.00,2.05,0.00,0.000,4,0.000,0.054,2682,3767,2312,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12144,0.51,146.0,632.4,14.5,895,12148,0.05,1.92,0.00,0.000,6,0.200,0.023,2677,2442,2312,0,0,0,0,0,0,26.03,26.41,28.83
$GC,12455,0.51,146.0,594.7,10.9,913,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2439,2311,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19074,end climb,SURFACE_DEPTH_REACHED
$STATE,19074,begin surface coast
$FINISH,0.8,1.022828
$STATE,19141,end surface coast,CONTROL_FINISHED_OK
$STATE,19141,begin surface
$SM_CCo,19156,39.35,0.131,0,0,1399,375.06
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$IRIDIUM_FIX,1948.12,12425.91,110412,212139
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.24
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.7,34.374
$10V_AH,10.2,21.043
$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,18.900,174.250,347.525,39.350,0.000,30.377,41.522,233.424,0.000,0.000,15.242,4566.637,10561.785,576.460,3499.449,416.849,0.000,2215.539,0.000,2989.007,0.000,0.541,0.000
$DEVICE_MAMPS,251.685,97.920,1742.670,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.990,2271.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329432
$DATA_FILE_SIZE,133902,1807
$CAP_FILE_SIZE,205640,0
$CFSIZE,260165632,207761408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,140.8,1
$GPS,120412,080107,1948.236,12426.040,33,1.1,33,-2.4