version: 66.10
glider: 176
mission: 5
dive: 168
start: 4 13 112 17 38 28
data:
$ID,176
$MISSION,5
$DIVE,168
$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,-7644.7148
$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
$GPS1,130412,173006,1931.717,12429.248,35,1.1,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.2
$GPS2,130412,173801,1931.609,12429.398,12,1.1,23,-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,199.1,188438,-13.1,-7.500
$D_GRID,5362
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-42.25,0.000,2,0.000,0.000,187,2645,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.3,-6.4,7,101,8.73,2.22,-20.98,0.000,4,0.237,0.041,2347,1153,3528,0,0,0,0,0,0,25.41,26.10,26.46
$GC,133,-0.51,-146.0,22.9,-30.3,13,142,0.10,2.28,0.00,0.000,6,0.184,0.048,2361,2626,3529,0,0,0,0,0,0,25.81,26.00,28.83
$GC,463,-0.51,-146.0,110.9,-23.7,74,470,0.05,1.73,0.00,0.000,4,0.177,0.049,2309,3776,3529,0,0,0,0,0,0,26.47,26.13,28.83
$GC,497,-0.51,-146.0,120.4,-27.0,80,505,0.17,1.73,0.00,0.000,6,0.158,0.023,2359,2508,3528,0,0,0,0,0,0,25.91,26.40,28.83
$GC,808,-0.51,-146.0,185.8,-19.3,141,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2504,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1119,-0.51,-146.0,241.9,-17.0,179,1129,0.05,1.90,0.00,0.000,4,0.181,0.050,2303,3761,3529,0,0,0,0,0,0,26.61,26.22,28.83
$GC,1192,-0.51,-146.0,258.7,-24.5,186,1201,0.17,1.70,0.00,0.000,6,0.153,0.023,2354,2498,3529,0,0,0,0,0,0,26.07,26.55,28.83
$GC,1502,-0.51,-146.0,310.6,-16.0,217,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2496,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1805,-0.51,-146.0,353.9,-15.1,247,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2496,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.51,-146.0,395.5,-12.9,278,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2496,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-0.51,-146.0,433.3,-12.0,308,2422,0.00,1.95,0.00,0.000,4,0.000,0.053,2346,3769,3526,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2467,-0.51,-146.0,439.7,-12.5,313,2476,0.00,1.73,0.00,0.000,6,0.000,0.022,2346,2527,3526,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2775,-0.51,-146.0,475.6,-11.1,344,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2527,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.51,-146.0,508.4,-10.7,374,3087,0.00,1.92,0.00,0.000,4,0.000,0.054,2339,3777,3523,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3102,-0.51,-146.0,511.3,-11.2,376,3109,0.03,1.75,0.00,0.000,6,0.171,0.022,2353,2514,3522,0,0,0,0,0,0,26.44,26.62,28.83
$GC,3409,-0.51,-146.0,544.3,-10.5,407,3413,0.00,1.92,0.00,0.000,4,0.000,0.024,2354,1133,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3465,-0.51,-146.0,549.8,-9.7,412,3474,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2627,3519,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3775,-0.51,-146.0,580.1,-9.8,443,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2627,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,-0.51,-146.0,609.8,-9.9,468,4081,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1146,3515,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4139,-0.51,-146.0,615.6,-9.6,471,4143,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2633,3515,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4450,-0.51,-146.0,645.3,-9.3,487,4456,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1149,3513,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4478,-0.51,-146.0,647.2,-9.3,488,4482,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2633,3512,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4787,-0.51,-146.0,675.8,-8.9,503,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2634,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5086,-0.51,-146.0,701.7,-8.7,518,5091,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1141,3507,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5133,-0.51,-146.0,705.2,-8.8,520,5137,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2626,3507,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5446,-0.51,-146.0,734.5,-9.4,536,5452,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1149,3505,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5486,-0.51,-146.0,738.3,-9.5,538,5490,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2629,3505,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5809,-0.51,-146.0,768.0,-9.1,554,5812,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1152,3502,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5853,-0.51,-146.0,771.7,-8.8,556,5857,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2625,3502,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6165,-0.51,-146.0,799.0,-8.6,572,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2626,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,-0.51,-146.0,823.9,-8.1,587,6471,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1151,3498,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6498,-0.51,-146.0,825.6,-8.1,588,6505,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2625,3498,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6805,-0.51,-146.0,850.7,-7.9,604,6811,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1152,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6839,-0.51,-146.0,852.5,-8.0,605,6847,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2628,3497,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7145,-0.51,-146.0,877.9,-8.0,621,7151,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1145,3495,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7178,-0.51,-146.0,879.5,-7.8,622,7185,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2628,3495,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7487,-0.51,-146.0,903.7,-7.4,638,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2628,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7785,-0.51,-146.0,926.8,-7.9,653,7790,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1147,3492,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7833,-0.51,-146.0,930.0,-7.7,655,7837,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2625,3492,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8146,-0.51,-146.0,954.4,-7.7,671,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2626,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8445,-0.51,-146.0,977.4,-7.6,686,8451,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1147,3489,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8485,-0.51,-146.0,980.5,-7.7,688,8491,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2630,3489,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8623,begin apogee
$GC,8629,-0.17,0.0,991.4,-8.0,695,8759,0.32,0.12,122.25,1.745,6,0.108,0.096,2463,2536,2928,0,0,0,0,0,0,25.98,24.52,23.35
$STATE,8760,end apogee,CONTROL_FINISHED_OK
$STATE,8760,begin climb
$GC,8762,0.51,146.0,996.1,0.0,701,8911,0.60,2.42,140.30,1.706,4,0.052,0.031,2709,1058,2331,0,0,0,0,0,0,24.78,23.89,22.63
$GC,8984,0.51,146.0,983.3,12.4,713,8991,0.15,2.40,0.00,0.000,6,0.181,0.046,2674,2515,2325,0,0,0,0,0,0,24.56,24.82,28.83
$GC,9305,0.51,146.0,943.2,12.7,729,9310,0.00,1.95,0.00,0.000,4,0.000,0.057,2674,3766,2321,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9372,0.51,146.0,934.6,14.1,732,9376,0.00,1.95,0.00,0.000,6,0.000,0.026,2681,2447,2321,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9685,0.51,146.0,892.2,13.4,748,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2442,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9985,0.51,146.0,853.0,12.9,763,9990,0.00,2.08,0.00,0.000,4,0.000,0.032,2688,1041,2317,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10012,0.51,146.0,850.5,12.7,764,10017,0.08,2.30,0.00,0.000,6,0.200,0.046,2672,2519,2316,0,0,0,0,0,0,25.91,26.05,28.83
$GC,10321,0.51,146.0,813.1,11.4,779,10324,0.00,1.92,0.00,0.000,4,0.000,0.056,2672,3774,2316,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10350,0.51,146.0,810.4,11.5,780,10353,0.00,1.90,0.00,0.000,6,0.000,0.025,2681,2449,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10662,0.51,146.0,772.4,12.0,796,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2444,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10965,0.51,146.0,736.9,11.5,811,10970,0.00,2.03,0.00,0.000,4,0.000,0.031,2690,1058,2314,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11005,0.51,146.0,732.5,11.2,813,11010,0.08,2.25,0.00,0.000,6,0.200,0.045,2674,2518,2313,0,0,0,0,0,0,25.96,26.11,28.83
$GC,11317,0.51,146.0,697.6,11.5,829,11323,0.00,1.92,0.00,0.000,4,0.000,0.055,2674,3764,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11381,0.51,146.0,689.5,13.1,832,11385,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2449,2312,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11698,0.51,146.0,649.6,12.1,848,11703,0.00,2.05,0.00,0.000,4,0.000,0.053,2683,3767,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11731,0.51,146.0,647.0,12.3,849,11740,0.10,1.90,0.00,0.000,6,0.213,0.024,2670,2440,2312,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12038,0.51,146.0,613.6,9.9,865,12043,0.00,2.05,0.00,0.000,4,0.000,0.031,2681,1046,2311,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12085,0.51,146.0,609.8,9.8,867,12090,0.00,2.28,0.00,0.000,6,0.000,0.044,2680,2519,2311,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12395,0.51,146.0,577.9,10.0,892,12405,0.00,2.15,0.00,0.000,4,0.000,0.031,2692,1056,2311,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12429,0.51,146.0,574.7,9.7,895,12437,0.05,2.28,0.00,0.000,6,0.158,0.044,2674,2519,2311,0,0,0,0,0,0,25.91,26.13,28.83
$GC,12737,0.51,146.0,546.1,8.8,926,12741,0.00,2.17,0.00,0.000,4,0.000,0.032,2684,1051,2311,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,19142,end climb,SURFACE_DEPTH_REACHED
$STATE,19142,begin surface coast
$FINISH,0.9,1.022463
$STATE,19175,end surface coast,CONTROL_FINISHED_OK
$STATE,19175,begin surface
$SM_CCo,19250,0.00,0.000,0,0,1360,384.88
$SM_GC,1.68,6.35,0.15,0.00,0.031,0.079,0.000,179,2676,1360,-7.16,-0.57,384.88,0,0,0,0,0,0,26.39,26.48,28.83
$IRIDIUM_FIX,1929.80,12430.28,130412,111144
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.17
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.6,35.577
$10V_AH,10.2,21.953
$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,18.100,154.750,397.950,0.000,0.000,28.506,45.378,240.741,0.000,0.000,26.541,4552.232,10610.799,541.247,3582.036,406.194,0.000,2172.494,0.000,3000.257,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,96.390,1744.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.043,2319.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,134076,1806
$CAP_FILE_SIZE,200846,0
$CFSIZE,260165632,207003648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,108.4,1
$GPS,130412,230024,1929.017,12429.566,36,1.9,36,-2.4