version: 66.10
glider: 176
mission: 5
dive: 162
start: 4 12 112 8 9 17
data:
$ID,176
$MISSION,5
$DIVE,162
$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,-7636.5972
$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
$GPS1,120412,080107,1948.236,12426.040,33,1.1,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.3
$GPS2,120412,080850,1948.180,12426.149,10,1.6,10,-2.4
$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,193.8,219426,-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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.50,0.000,2,0.000,0.000,178,2676,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.0,-5.1,7,105,8.95,2.22,-24.88,0.000,4,0.245,0.041,2347,1159,3525,0,0,0,0,0,0,25.41,26.07,26.45
$GC,157,-0.51,-146.0,23.1,-20.7,21,166,0.10,2.25,0.00,0.000,6,0.178,0.046,2361,2627,3526,0,0,0,0,0,0,25.84,26.02,28.83
$GC,486,-0.51,-146.0,102.3,-22.9,82,493,0.08,0.00,0.00,0.000,6,0.132,0.000,2309,2627,3526,0,0,0,0,0,0,26.45,28.83,28.83
$GC,797,-0.51,-146.0,182.5,-24.7,143,804,0.12,2.10,0.00,0.000,4,0.182,0.026,2348,1156,3527,0,0,0,0,0,0,26.15,26.38,28.83
$GC,842,-0.51,-146.0,192.5,-18.9,151,848,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2630,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1156,-0.51,-146.0,252.8,-20.4,186,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2632,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1457,-0.51,-146.0,307.3,-17.9,216,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2631,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-0.51,-146.0,360.0,-16.4,246,1768,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1158,3527,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1891,-0.51,-146.0,377.1,-11.2,259,1901,0.10,2.20,0.00,0.000,6,0.160,0.046,2363,2628,3527,0,0,0,0,0,0,26.19,26.34,28.83
$GC,2201,-0.51,-146.0,408.9,-10.2,290,2210,0.08,2.10,0.00,0.000,4,0.131,0.024,2305,1152,3525,0,0,0,0,0,0,26.66,26.48,28.83
$GC,2266,-0.51,-146.0,417.9,-15.1,296,2273,0.17,2.25,0.00,0.000,6,0.142,0.048,2358,2628,3525,0,0,0,0,0,0,26.10,26.33,28.83
$GC,2573,-0.51,-146.0,454.8,-12.0,327,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2628,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2876,-0.51,-146.0,484.8,-9.7,357,2887,0.00,2.12,0.00,0.000,4,0.000,0.027,2358,1143,3522,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2932,-0.51,-146.0,490.3,-9.5,362,2940,0.00,2.28,0.00,0.000,6,0.000,0.047,2358,2618,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3240,-0.51,-146.0,520.8,-9.6,393,3243,0.00,1.75,0.00,0.000,4,0.000,0.056,2357,3773,3521,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3271,-0.51,-146.0,523.8,-9.5,396,3274,0.00,1.70,0.00,0.000,6,0.000,0.022,2357,2519,3520,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3584,-0.51,-146.0,552.9,-9.4,427,3592,0.00,1.90,0.00,0.000,4,0.000,0.025,2357,1148,3517,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3615,-0.51,-146.0,556.1,-9.6,430,3624,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2633,3517,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3925,-0.51,-146.0,583.8,-8.2,461,3934,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1140,3515,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3970,-0.51,-146.0,587.2,-8.2,465,3978,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2631,3515,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4287,-0.51,-146.0,613.5,-8.2,489,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2631,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-0.51,-146.0,638.6,-8.3,504,4591,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1153,3510,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4637,-0.51,-146.0,642.1,-8.4,506,4641,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3511,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4944,-0.51,-146.0,669.3,-8.7,521,4950,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1152,3508,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4972,-0.51,-146.0,671.2,-8.9,522,4977,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2632,3508,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5279,-0.51,-146.0,697.6,-8.0,537,5285,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1152,3506,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5312,-0.51,-146.0,699.2,-8.0,538,5319,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2626,3506,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5620,-0.51,-146.0,724.1,-7.8,554,5626,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1153,3504,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5641,-0.51,-146.0,725.7,-7.8,555,5646,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2628,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5959,-0.51,-146.0,750.4,-7.3,571,5965,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1148,3502,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6004,-0.51,-146.0,753.3,-7.2,573,6010,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2626,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6320,-0.51,-146.0,773.4,-5.7,589,6325,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1146,3499,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6361,-0.51,-146.0,775.7,-5.6,591,6366,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2626,3500,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6675,-0.51,-146.0,794.1,-6.2,607,6680,0.00,2.10,0.00,0.000,4,0.000,0.027,2357,1155,3498,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6707,-0.51,-146.0,795.4,-6.3,608,6714,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2632,3498,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7015,-0.51,-146.0,817.9,-7.5,624,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2632,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7314,-0.51,-146.0,842.1,-8.2,639,7319,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1156,3494,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7356,-0.51,-146.0,845.3,-8.3,641,7360,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2625,3495,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7675,-0.51,-146.0,869.8,-7.2,657,7680,0.00,2.10,0.00,0.000,4,0.000,0.027,2357,1151,3493,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7707,-0.51,-146.0,871.0,-7.1,658,7714,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2625,3493,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8015,-0.51,-146.0,890.3,-5.7,674,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2625,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8315,-0.51,-146.0,907.2,-5.7,689,8319,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1148,3490,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8350,-0.51,-146.0,908.5,-5.9,690,8357,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2625,3490,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8658,-0.51,-146.0,928.3,-6.3,706,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8959,-0.51,-146.0,947.4,-6.3,721,8964,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1158,3489,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9005,-0.51,-146.0,950.1,-6.6,723,9009,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2626,3489,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9314,-0.51,-146.0,970.7,-6.7,738,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3488,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9610,begin apogee
$GC,9615,-0.17,0.0,990.7,-6.6,753,9746,0.30,0.12,121.80,1.747,6,0.107,0.096,2464,2535,2929,0,0,0,0,0,0,26.03,24.48,23.32
$STATE,9747,end apogee,CONTROL_FINISHED_OK
$STATE,9747,begin climb
$GC,9749,0.51,146.0,995.0,0.0,759,9894,0.60,0.00,141.80,1.710,6,0.049,0.000,2703,2535,2332,0,0,0,0,0,0,24.77,28.83,22.61
$GC,10192,0.51,146.0,943.1,16.2,782,10199,0.12,1.95,0.00,0.000,4,0.195,0.055,2669,3766,2322,0,0,0,0,0,0,25.41,25.54,28.83
$GC,10241,0.51,146.0,936.7,16.1,784,10244,0.00,1.98,0.00,0.000,6,0.000,0.027,2678,2447,2321,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10547,0.51,146.0,891.4,14.2,799,10552,0.00,2.10,0.00,0.000,4,0.000,0.035,2686,1047,2319,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10568,0.51,146.0,888.6,14.1,800,10574,0.03,2.28,0.00,0.000,6,0.200,0.046,2678,2516,2318,0,0,0,0,0,0,25.80,25.93,28.83
$GC,10888,0.51,146.0,844.6,13.2,816,10893,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3764,2317,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10909,0.51,146.0,841.7,13.3,817,10914,0.05,1.95,0.00,0.000,6,0.204,0.026,2672,2456,2317,0,0,0,0,0,0,25.85,26.18,28.83
$GC,11228,0.51,146.0,801.2,12.4,833,11232,0.00,2.05,0.00,0.000,4,0.000,0.034,2682,1055,2316,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11277,0.51,146.0,796.4,12.0,835,11281,0.00,2.25,0.00,0.000,6,0.000,0.046,2682,2522,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11585,0.51,146.0,757.2,12.7,850,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2523,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11885,0.51,146.0,717.8,13.4,865,11890,0.00,2.17,0.00,0.000,4,0.000,0.032,2693,1050,2314,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11985,0.51,146.0,705.6,11.9,870,11992,0.10,2.28,0.00,0.000,6,0.190,0.044,2671,2523,2313,0,0,0,0,0,0,25.86,26.09,28.83
$GC,12305,0.51,146.0,666.0,12.3,886,12309,0.00,1.95,0.00,0.000,4,0.000,0.054,2670,3763,2312,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12375,0.51,146.0,657.3,13.5,889,12378,0.00,1.88,0.00,0.000,6,0.000,0.024,2679,2449,2312,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12687,0.51,146.0,619.7,11.0,905,12692,0.00,2.05,0.00,0.000,4,0.000,0.033,2690,1055,2312,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12710,0.51,146.0,617.6,10.8,906,12715,0.10,2.28,0.00,0.000,6,0.185,0.044,2667,2528,2312,0,0,0,0,0,0,25.89,26.12,28.83
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$STATE,19622,end climb,SURFACE_DEPTH_REACHED
$STATE,19622,begin surface coast
$FINISH,0.8,1.021668
$STATE,19669,end surface coast,CONTROL_FINISHED_OK
$STATE,19669,begin surface
$SM_CCo,19684,41.30,0.130,0,0,1398,375.06
$SM_GC,2.17,6.30,0.30,41.30,0.034,0.050,0.130,178,2654,1398,-7.16,-0.57,375.06,0,0,0,0,0,0,26.41,26.51,25.92
$IRIDIUM_FIX,1943.54,12427.80,120412,020216
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.6,34.544
$10V_AH,10.2,21.174
$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,18.475,177.125,341.400,41.300,0.000,30.864,42.355,243.806,0.000,0.000,13.377,4587.951,11003.118,602.695,3531.678,435.068,0.000,2235.947,0.000,3013.972,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,96.390,1747.260,130.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.632,2313.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329452
$DATA_FILE_SIZE,133843,1810
$CAP_FILE_SIZE,205240,0
$CFSIZE,260165632,207650816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 82.2,1
$GPS,120412,133907,1946.018,12427.071,31,1.0,31,-2.4