version: 66.10
glider: 176
mission: 5
dive: 167
start: 4 13 112 11 53 17
data:
$ID,176
$MISSION,5
$DIVE,167
$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,-7643.3599
$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
$GPS1,130412,114530,1934.728,12428.639,41,1.2,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.7
$GPS2,130412,115250,1934.537,12428.762,14,1.0,14,-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,193.2,193914,-13.1,-7.500
$D_GRID,5443
$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,16,-0.51,-146.0,0.0,0.0,0,60,0.00,0.00,-41.55,0.000,2,0.000,0.000,189,2632,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.5,-7.6,7,100,8.75,2.20,-20.73,0.000,4,0.239,0.040,2349,1145,3527,0,0,0,0,0,0,25.43,26.13,26.46
$GC,127,-0.51,-146.0,22.0,-29.4,12,134,0.08,2.30,0.00,0.000,6,0.207,0.050,2353,2629,3529,0,0,0,0,0,0,25.84,25.98,28.83
$GC,438,-0.51,-146.0,100.7,-23.1,73,445,0.00,1.73,0.00,0.000,4,0.000,0.050,2345,3778,3529,0,0,0,0,0,0,28.83,26.13,28.83
$GC,462,-0.51,-146.0,106.7,-24.2,77,470,0.00,1.70,0.00,0.000,6,0.000,0.023,2345,2514,3529,0,0,0,0,0,0,28.83,26.42,28.83
$GC,774,-0.51,-146.0,175.6,-21.2,138,781,0.00,1.92,0.00,0.000,4,0.000,0.028,2345,1153,3529,0,0,0,0,0,0,28.83,26.38,28.83
$GC,843,-0.51,-146.0,187.3,-13.9,151,851,0.10,2.20,0.00,0.000,6,0.163,0.044,2361,2631,3529,0,0,0,0,0,0,26.10,26.27,28.83
$GC,1159,-0.51,-146.0,237.6,-15.9,190,1168,0.08,2.08,0.00,0.000,4,0.134,0.025,2307,1159,3529,0,0,0,0,0,0,26.60,26.42,28.83
$GC,1194,-0.51,-146.0,243.6,-17.3,193,1202,0.17,2.22,0.00,0.000,6,0.150,0.044,2356,2633,3529,0,0,0,0,0,0,26.02,26.31,28.83
$GC,1502,-0.51,-146.0,294.1,-15.6,224,1506,0.00,1.70,0.00,0.000,4,0.000,0.050,2348,3772,3529,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1574,-0.51,-146.0,304.4,-13.1,231,1577,0.00,1.67,0.00,0.000,6,0.000,0.022,2349,2511,3528,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1885,-0.51,-146.0,349.5,-14.1,262,1894,0.00,1.90,0.00,0.000,4,0.000,0.025,2348,1147,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1968,-0.51,-146.0,359.1,-10.2,270,1976,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2632,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2278,-0.51,-146.0,397.9,-12.3,301,2287,0.00,2.08,0.00,0.000,4,0.000,0.025,2347,1156,3527,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2330,-0.51,-146.0,404.2,-11.7,306,2339,0.00,2.20,0.00,0.000,6,0.000,0.043,2344,2633,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2640,-0.51,-146.0,443.9,-12.1,337,2649,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1149,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2684,-0.51,-146.0,448.7,-11.4,341,2693,0.05,2.25,0.00,0.000,6,0.132,0.043,2357,2626,3526,0,0,0,0,0,0,26.17,26.34,28.83
$GC,2992,-0.51,-146.0,479.8,-10.0,372,3001,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1145,3523,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3035,-0.51,-146.0,483.6,-9.6,376,3043,0.00,2.28,0.00,0.000,6,0.000,0.044,2357,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3343,-0.51,-146.0,513.0,-9.2,407,3352,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1149,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3366,-0.51,-146.0,515.1,-9.3,409,3375,0.00,2.28,0.00,0.000,6,0.000,0.044,2357,2631,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3674,-0.51,-146.0,544.3,-9.5,440,3678,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1152,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3715,-0.51,-146.0,548.0,-9.1,444,3726,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2635,3519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4026,-0.51,-146.0,575.7,-8.6,475,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2635,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4338,-0.51,-146.0,602.1,-8.3,505,4343,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1149,3514,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4404,-0.51,-146.0,606.8,-8.0,508,4408,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2636,3514,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4712,-0.51,-146.0,631.9,-8.2,523,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2636,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-0.51,-146.0,656.8,-8.1,538,5017,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1149,3508,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5055,-0.51,-146.0,659.9,-8.0,540,5059,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2634,3509,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5367,-0.51,-146.0,684.7,-7.7,556,5371,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1153,3507,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5411,-0.51,-146.0,688.0,-8.0,558,5415,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2635,3507,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5724,-0.51,-146.0,713.2,-8.1,574,5728,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1148,3504,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5759,-0.51,-146.0,715.1,-8.1,575,5766,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2636,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6066,-0.51,-146.0,739.5,-7.4,591,6072,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1151,3502,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6106,-0.51,-146.0,742.5,-7.5,593,6113,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2627,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6426,-0.51,-146.0,766.3,-7.6,609,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.51,-146.0,789.4,-7.7,624,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2627,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7027,-0.51,-146.0,811.3,-7.2,639,7032,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1152,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7074,-0.51,-146.0,814.3,-7.4,641,7078,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2629,3497,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7382,-0.51,-146.0,836.8,-7.0,656,7387,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1150,3495,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7414,-0.51,-146.0,838.3,-7.1,657,7422,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3495,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7723,-0.51,-146.0,860.5,-6.8,673,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2633,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8022,-0.51,-146.0,880.4,-6.3,688,8027,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1160,3492,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8063,-0.51,-146.0,883.0,-6.4,690,8067,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2629,3493,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8382,-0.51,-146.0,901.5,-5.6,706,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8683,-0.51,-146.0,918.6,-5.7,721,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,-0.51,-146.0,936.4,-6.0,736,8987,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1156,3489,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9029,-0.51,-146.0,938.8,-6.0,738,9033,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2633,3488,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9337,-0.51,-146.0,957.5,-6.0,753,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2633,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9637,-0.51,-146.0,976.2,-6.3,768,9642,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1144,3486,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9665,-0.51,-146.0,977.6,-6.3,769,9669,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2629,3486,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,9855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9855,begin apogee
$GC,9860,-0.17,0.0,990.7,-6.7,779,9990,0.30,0.12,122.22,1.752,6,0.107,0.095,2464,2539,2929,0,0,0,0,0,0,26.01,24.49,23.30
$STATE,9991,end apogee,CONTROL_FINISHED_OK
$STATE,9991,begin climb
$GC,9993,0.51,146.0,995.2,0.0,785,10145,0.60,2.45,140.85,1.714,4,0.052,0.030,2709,1060,2331,0,0,0,0,0,0,24.76,23.84,22.59
$GC,10246,0.51,146.0,978.6,13.1,798,10251,0.15,2.38,0.00,0.000,6,0.183,0.046,2672,2519,2323,0,0,0,0,0,0,24.68,24.97,28.83
$GC,10553,0.51,146.0,939.9,12.0,813,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2520,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10853,0.51,146.0,904.7,12.1,828,10858,0.00,1.95,0.00,0.000,4,0.000,0.055,2674,3772,2319,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10901,0.51,146.0,899.2,13.0,830,10905,0.00,1.92,0.00,0.000,6,0.000,0.025,2683,2442,2318,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11208,0.51,146.0,857.6,13.6,845,11213,0.00,2.08,0.00,0.000,4,0.000,0.054,2683,3766,2317,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11240,0.51,146.0,854.6,13.9,846,11249,0.10,1.92,0.00,0.000,6,0.220,0.025,2671,2443,2317,0,0,0,0,0,0,25.82,26.21,28.83
$GC,11549,0.51,146.0,812.1,12.9,862,11554,0.00,2.03,0.00,0.000,4,0.000,0.030,2681,1058,2316,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11588,0.51,146.0,807.2,12.6,864,11593,0.00,2.28,0.00,0.000,6,0.000,0.046,2681,2518,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11908,0.51,146.0,764.8,13.2,880,11914,0.00,2.20,0.00,0.000,4,0.000,0.031,2692,1045,2315,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11935,0.51,146.0,762.2,13.1,881,11940,0.10,2.30,0.00,0.000,6,0.189,0.047,2669,2526,2314,0,0,0,0,0,0,25.84,26.07,28.83
$GC,12243,0.51,146.0,725.7,11.3,896,12248,0.00,1.90,0.00,0.000,4,0.000,0.054,2669,3766,2314,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12297,0.51,146.0,720.6,12.0,898,12304,0.00,1.90,0.00,0.000,6,0.000,0.024,2679,2442,2313,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,20032,end climb,SURFACE_DEPTH_REACHED
$STATE,20032,begin surface coast
$FINISH,0.9,1.022351
$STATE,20064,end surface coast,CONTROL_FINISHED_OK
$STATE,20064,begin surface
$SM_CCo,20140,0.00,0.000,0,0,1389,377.52
$SM_GC,1.78,6.35,0.28,0.00,0.031,0.059,0.000,188,2642,1389,-7.15,-0.51,377.52,0,0,0,0,0,0,26.29,26.36,28.83
$IRIDIUM_FIX,1932.09,12427.09,130412,060654
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,22.6,35.403
$10V_AH,10.1,21.822
$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,18.500,185.975,391.825,0.000,0.000,33.049,20.095,238.355,0.000,0.000,16.979,4607.143,11364.021,571.206,3586.892,420.591,0.000,2277.036,0.000,3059.813,0.000,0.540,0.000
$DEVICE_MAMPS,244.800,94.860,1751.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.667,2355.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329408
$DATA_FILE_SIZE,133811,1819
$CAP_FILE_SIZE,210937,0
$CFSIZE,260165632,207106048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,113.4,1
$GPS,130412,173006,1931.717,12429.248,35,1.1,40,-2.4