version: 66.10
glider: 176
mission: 5
dive: 175
start: 4 15 112 8 37 4
data:
$ID,176
$MISSION,5
$DIVE,175
$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,-7654.0952
$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
$GPS1,150412,082654,1910.795,12431.714,42,1.0,42,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.7
$GPS2,150412,083638,1910.774,12431.923,12,1.4,12,-2.3
$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,189.4,149691,-13.1,-7.500
$D_GRID,5459
$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,-40.47,0.000,2,0.000,0.000,191,2541,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.1,-5.1,7,99,8.65,1.95,-23.00,0.000,4,0.235,0.066,2339,3773,3527,0,0,0,0,0,0,25.45,26.01,26.48
$GC,126,-0.51,-146.0,18.9,-24.9,12,133,0.08,1.73,0.00,0.000,6,0.213,0.024,2354,2542,3527,0,0,0,0,0,0,25.95,26.20,28.83
$GC,438,-0.51,-146.0,123.9,-26.1,73,445,0.00,1.95,0.00,0.000,4,0.000,0.028,2354,1157,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,462,-0.51,-146.0,130.5,-26.2,77,470,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2628,3527,0,0,0,0,0,0,28.83,26.20,28.83
$GC,774,-0.51,-146.0,206.9,-22.1,135,783,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1146,3527,0,0,0,0,0,0,28.83,26.41,28.83
$GC,856,-0.51,-146.0,221.1,-14.8,143,865,0.10,2.25,0.00,0.000,6,0.165,0.045,2363,2636,3527,0,0,0,0,0,0,26.14,26.30,28.83
$GC,1165,-0.51,-146.0,276.6,-16.9,174,1167,0.08,0.00,0.00,0.000,6,0.132,0.000,2306,2636,3527,0,0,0,0,0,0,26.63,28.83,28.83
$GC,1465,-0.51,-146.0,341.6,-21.5,204,1474,0.15,2.12,0.00,0.000,4,0.164,0.024,2355,1145,3527,0,0,0,0,0,0,26.24,26.48,28.83
$GC,1539,-0.51,-146.0,351.9,-11.6,211,1547,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2630,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1847,-0.51,-146.0,394.5,-12.8,242,1851,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1147,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1920,-0.51,-146.0,402.9,-11.2,249,1930,0.00,2.20,0.00,0.000,6,0.000,0.047,2348,2627,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2229,-0.51,-146.0,439.5,-11.7,280,2233,0.00,1.75,0.00,0.000,4,0.000,0.055,2347,3770,3524,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2260,-0.51,-146.0,443.1,-12.0,283,2264,0.00,1.73,0.00,0.000,6,0.000,0.022,2347,2523,3524,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2571,-0.51,-146.0,476.8,-10.7,314,2580,0.00,1.90,0.00,0.000,4,0.000,0.024,2347,1144,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2602,-0.51,-146.0,480.3,-10.7,317,2613,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2632,3522,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2915,-0.51,-146.0,514.7,-11.0,348,2923,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1149,3519,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2980,-0.51,-146.0,521.3,-10.4,354,2987,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2628,3519,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3287,-0.51,-146.0,554.9,-10.6,385,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2628,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.51,-146.0,586.5,-10.1,415,3593,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1144,3515,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3673,-0.51,-146.0,594.3,-8.7,423,3680,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2635,3514,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3992,-0.51,-146.0,624.9,-9.1,442,3997,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1149,3512,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4033,-0.51,-146.0,628.3,-9.0,444,4038,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2624,3512,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4352,-0.51,-146.0,655.9,-8.6,460,4356,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1139,3508,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4381,-0.51,-146.0,657.7,-8.6,461,4385,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2626,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4688,-0.51,-146.0,685.8,-9.0,476,4694,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1148,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4730,-0.51,-146.0,689.4,-8.9,478,4735,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2629,3505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5049,-0.51,-146.0,718.8,-9.3,494,5054,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1145,3503,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5121,-0.51,-146.0,724.4,-9.5,497,5129,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3503,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5429,-0.51,-146.0,755.1,-9.7,513,5435,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1151,3501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5451,-0.51,-146.0,757.0,-9.7,514,5455,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2629,3501,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5764,-0.51,-146.0,786.2,-9.0,530,5770,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1152,3497,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5817,-0.51,-146.0,789.6,-8.7,532,5824,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3497,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6123,-0.51,-146.0,815.7,-8.1,548,6127,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1144,3495,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6152,-0.51,-146.0,817.6,-8.2,549,6157,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2635,3496,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6460,-0.51,-146.0,843.5,-8.1,564,6466,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6502,-0.51,-146.0,846.9,-8.1,566,6506,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2626,3493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6820,-0.51,-146.0,871.9,-7.6,582,6826,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3491,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6853,-0.51,-146.0,873.4,-7.5,583,6860,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3491,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7160,-0.51,-146.0,896.9,-7.3,599,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2632,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,-0.51,-146.0,918.2,-7.1,614,7467,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1153,3487,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7500,-0.51,-146.0,921.2,-7.2,616,7504,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3487,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7822,-0.51,-146.0,944.0,-7.1,632,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8122,-0.51,-146.0,964.7,-6.6,647,8128,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1148,3485,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8169,-0.51,-146.0,967.5,-6.9,649,8174,0.00,2.30,0.00,0.000,6,0.000,0.048,2345,2632,3484,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8477,-0.51,-146.0,987.2,-6.1,664,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3484,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8535,begin apogee
$GC,8541,-0.17,0.0,990.9,-6.1,667,8670,0.35,0.12,121.07,1.747,6,0.109,0.097,2468,2536,2929,0,0,0,0,0,0,25.95,24.55,23.38
$STATE,8671,end apogee,CONTROL_FINISHED_OK
$STATE,8671,begin climb
$GC,8673,0.51,146.0,993.8,0.0,673,8820,0.57,2.45,140.40,1.707,4,0.047,0.033,2713,1061,2332,0,0,0,0,0,0,24.83,23.91,22.67
$GC,8888,0.51,146.0,980.4,13.3,684,8895,0.17,2.40,0.00,0.000,6,0.176,0.047,2671,2519,2326,0,0,0,0,0,0,24.55,24.82,28.83
$GC,9196,0.51,146.0,940.0,12.1,700,9201,0.00,1.98,0.00,0.000,4,0.000,0.057,2670,3773,2322,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9248,0.51,146.0,934.6,12.8,702,9256,0.00,1.98,0.00,0.000,6,0.000,0.026,2679,2456,2320,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9555,0.51,146.0,896.6,11.2,718,9560,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3775,2319,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9583,0.51,146.0,894.0,11.6,719,9588,0.10,1.95,0.00,0.000,6,0.217,0.025,2668,2438,2319,0,0,0,0,0,0,25.80,26.17,28.83
$GC,9890,0.51,146.0,859.2,11.1,734,9896,0.03,2.10,0.00,0.000,4,0.261,0.054,2697,3769,2318,0,0,0,0,0,0,26.39,26.00,28.83
$GC,9983,0.51,146.0,846.7,15.8,738,9991,0.15,1.92,0.00,0.000,6,0.198,0.026,2670,2443,2317,0,0,0,0,0,0,25.74,26.26,28.83
$GC,10291,0.51,146.0,805.8,12.3,754,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2441,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10590,0.51,146.0,767.3,12.8,769,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2441,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10891,0.51,146.0,729.3,12.4,784,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2441,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11191,0.51,146.0,695.5,11.1,799,11197,0.00,2.03,0.00,0.000,4,0.000,0.054,2670,3766,2314,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11212,0.51,146.0,693.0,11.3,800,11216,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2451,2313,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11530,0.51,146.0,657.4,10.8,816,11536,0.00,2.05,0.00,0.000,4,0.000,0.030,2689,1048,2313,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11623,0.51,146.0,649.2,10.2,820,11630,0.08,2.28,0.00,0.000,6,0.194,0.046,2674,2526,2313,0,0,0,0,0,0,25.98,26.11,28.83
$GC,11931,0.51,146.0,616.0,10.3,836,11936,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3774,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11983,0.51,146.0,611.3,10.7,838,11991,0.00,1.92,0.00,0.000,6,0.000,0.023,2683,2445,2312,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12291,0.51,146.0,578.1,10.3,864,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2444,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18922,end climb,SURFACE_DEPTH_REACHED
$STATE,18922,begin surface coast
$FINISH,0.7,1.010289
$STATE,18984,end surface coast,CONTROL_FINISHED_OK
$STATE,18986,begin surface
$SM_CCo,19002,6.65,0.141,0,0,1397,375.06
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$IRIDIUM_FIX,1902.38,12433.92,150412,080808
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.88
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.7,36.825
$10V_AH,10.1,22.858
$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
$DEVICE_SECS,18.350,156.375,392.575,6.650,0.000,55.520,82.038,236.733,0.000,0.000,15.422,4379.087,10711.445,563.290,3498.447,409.937,0.000,2136.921,0.000,2884.545,0.000,0.543,0.000
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$SENSOR_SECS,1180.889,2282.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,130511,1734
$CAP_FILE_SIZE,197873,0
$CFSIZE,260165632,206245888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,189.4,1
$GPS,150412,135506,1907.415,12431.626,36,0.9,41,-2.3