version: 66.10
glider: 176
mission: 5
dive: 178
start: 4 16 112 0 51 54
data:
$ID,176
$MISSION,5
$DIVE,178
$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,-7658.1533
$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
$GPS1,160412,004337,1903.053,12432.313,34,1.1,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.2
$GPS2,160412,005126,1903.056,12432.391,14,1.1,14,-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,175.3,135378,-13.1,-7.500
$D_GRID,5381
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.25,0.000,2,0.000,0.000,179,2664,2468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.2,-6.1,7,99,8.60,1.73,-23.20,0.000,4,0.231,0.065,2339,3777,3528,0,0,0,0,0,0,25.43,26.04,26.50
$GC,131,-0.51,-146.0,22.5,-30.9,13,140,0.08,1.70,0.00,0.000,6,0.214,0.023,2354,2535,3528,0,0,0,0,0,0,25.97,26.24,28.83
$GC,462,-0.51,-146.0,137.9,-29.7,74,469,0.00,1.95,0.00,0.000,4,0.000,0.025,2354,1142,3528,0,0,0,0,0,0,28.83,26.36,28.83
$GC,507,-0.51,-146.0,149.5,-20.5,82,514,0.00,2.25,0.00,0.000,6,0.000,0.046,2347,2627,3529,0,0,0,0,0,0,28.83,26.22,28.83
$GC,818,-0.51,-146.0,226.2,-22.6,132,826,0.00,2.08,0.00,0.000,4,0.000,0.027,2348,1147,3528,0,0,0,0,0,0,28.83,26.43,28.83
$GC,852,-0.51,-146.0,232.5,-19.9,135,859,0.08,2.25,0.00,0.000,6,0.195,0.045,2358,2638,3529,0,0,0,0,0,0,26.17,26.32,28.83
$GC,1161,-0.51,-146.0,287.7,-18.0,166,1169,0.00,2.10,0.00,0.000,4,0.000,0.024,2358,1145,3528,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1243,-0.51,-146.0,299.9,-12.7,174,1252,0.00,2.20,0.00,0.000,6,0.000,0.044,2348,2633,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1553,-0.51,-146.0,350.6,-16.0,205,1563,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1155,3527,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1597,-0.51,-146.0,356.7,-14.1,209,1606,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2629,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1907,-0.51,-146.0,400.4,-13.8,240,1915,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1141,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1958,-0.51,-146.0,406.7,-11.7,245,1968,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2632,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2268,-0.51,-146.0,447.0,-12.8,276,2276,0.00,2.12,0.00,0.000,4,0.000,0.024,2347,1138,3525,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2330,-0.51,-146.0,454.2,-10.6,282,2339,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2629,3525,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2639,-0.51,-146.0,491.1,-11.7,313,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,-0.51,-146.0,524.5,-10.7,343,2950,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1146,3520,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3006,-0.51,-146.0,530.9,-9.2,349,3014,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2634,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3313,-0.51,-146.0,562.0,-10.4,380,3322,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1148,3517,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3345,-0.51,-146.0,565.1,-10.0,383,3354,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2633,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3656,-0.51,-146.0,596.6,-10.0,414,3665,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1139,3515,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3710,-0.51,-146.0,600.9,-10.0,418,3717,0.00,2.28,0.00,0.000,6,0.000,0.045,2347,2632,3514,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4019,-0.51,-146.0,632.2,-9.7,434,4024,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1144,3512,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4065,-0.51,-146.0,636.1,-9.7,436,4069,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2634,3512,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4373,-0.51,-146.0,665.6,-9.5,451,4379,0.00,2.15,0.00,0.000,4,0.000,0.025,2347,1138,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4420,-0.51,-146.0,669.4,-9.5,453,4424,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2628,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4727,-0.51,-146.0,697.3,-8.8,468,4733,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1150,3505,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4770,-0.51,-146.0,700.8,-8.8,470,4775,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2630,3505,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5083,-0.51,-146.0,728.4,-8.9,486,5086,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3775,3503,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5112,-0.51,-146.0,730.3,-9.0,487,5115,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2493,3502,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5425,-0.51,-146.0,758.1,-8.6,503,5430,0.00,1.98,0.00,0.000,4,0.000,0.056,2336,3782,3500,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5452,-0.51,-146.0,759.8,-8.5,504,5456,0.08,1.73,0.00,0.000,6,0.171,0.024,2359,2505,3500,0,0,0,0,0,0,26.36,26.60,28.83
$GC,5764,-0.51,-146.0,783.0,-7.2,520,5771,0.05,1.92,0.00,0.000,4,0.177,0.024,2312,1142,3497,0,0,0,0,0,0,26.67,26.44,28.83
$GC,5793,-0.51,-146.0,784.7,-7.4,521,5798,0.17,2.28,0.00,0.000,6,0.133,0.047,2359,2627,3497,0,0,0,0,0,0,25.99,26.21,28.83
$GC,6099,-0.51,-146.0,808.6,-7.4,536,6105,0.05,2.12,0.00,0.000,4,0.180,0.024,2312,1148,3495,0,0,0,0,0,0,26.67,26.41,28.83
$GC,6127,-0.51,-146.0,810.3,-7.6,537,6132,0.17,2.28,0.00,0.000,6,0.133,0.047,2359,2628,3495,0,0,0,0,0,0,25.97,26.19,28.83
$GC,6434,-0.51,-146.0,834.1,-7.2,552,6441,0.05,2.15,0.00,0.000,4,0.177,0.025,2312,1148,3493,0,0,0,0,0,0,26.67,26.41,28.83
$GC,6487,-0.51,-146.0,838.0,-8.2,554,6495,0.17,2.28,0.00,0.000,6,0.134,0.047,2359,2626,3493,0,0,0,0,0,0,25.95,26.17,28.83
$GC,6796,-0.51,-146.0,862.5,-7.5,570,6800,0.05,2.12,0.00,0.000,4,0.178,0.025,2313,1161,3491,0,0,0,0,0,0,26.66,26.39,28.83
$GC,6839,-0.51,-146.0,866.8,-8.4,572,6845,0.12,2.25,0.00,0.000,6,0.109,0.047,2353,2621,3492,0,0,0,0,0,0,25.93,26.15,28.83
$GC,7159,-0.51,-146.0,892.0,-7.6,588,7164,0.00,2.10,0.00,0.000,4,0.000,0.026,2354,1158,3490,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7180,-0.51,-146.0,893.5,-7.6,589,7185,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2621,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7498,-0.51,-146.0,917.6,-7.3,605,7504,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1151,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7521,-0.51,-146.0,919.0,-7.1,606,7525,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2628,3488,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7835,-0.51,-146.0,940.5,-6.7,622,7840,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1155,3485,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7866,-0.51,-146.0,941.8,-6.7,623,7873,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2633,3485,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8174,-0.51,-146.0,962.7,-6.4,639,8179,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1151,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8206,-0.51,-146.0,964.0,-6.4,640,8213,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2626,3485,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8515,-0.51,-146.0,982.8,-5.9,656,8520,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1161,3484,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8543,-0.51,-146.0,983.9,-5.8,657,8553,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2630,3484,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,8651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8651,begin apogee
$GC,8656,-0.17,0.0,991.0,-5.9,663,8784,0.32,0.12,120.95,1.747,6,0.108,0.096,2463,2538,2928,0,0,0,0,0,0,25.98,24.53,23.37
$STATE,8785,end apogee,CONTROL_FINISHED_OK
$STATE,8785,begin climb
$GC,8787,0.51,146.0,993.3,0.0,669,8937,0.60,2.47,139.38,1.704,4,0.050,0.032,2711,1062,2332,0,0,0,0,0,0,24.79,23.90,22.64
$GC,8978,0.51,146.0,981.3,12.6,679,8983,0.15,2.40,0.00,0.000,6,0.181,0.047,2675,2521,2327,0,0,0,0,0,0,24.37,24.60,28.83
$GC,9284,0.51,146.0,937.6,13.5,694,9288,0.00,1.92,0.00,0.000,4,0.000,0.056,2675,3763,2323,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9308,0.51,146.0,935.3,13.5,695,9313,0.05,1.95,0.00,0.000,6,0.268,0.026,2675,2449,2322,0,0,0,0,0,0,25.72,25.92,28.83
$GC,9622,0.51,146.0,894.2,12.7,711,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2445,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9920,0.51,146.0,858.0,12.0,726,9926,0.00,2.08,0.00,0.000,4,0.000,0.053,2675,3771,2319,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9960,0.51,146.0,852.5,12.8,728,9965,0.05,1.95,0.00,0.000,6,0.269,0.025,2675,2439,2318,0,0,0,0,0,0,26.02,26.23,28.83
$GC,10278,0.51,146.0,814.3,11.9,744,10283,0.00,2.05,0.00,0.000,4,0.000,0.032,2685,1046,2317,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10325,0.51,146.0,809.7,11.6,746,10330,0.05,2.28,0.00,0.000,6,0.226,0.047,2674,2524,2316,0,0,0,0,0,0,26.01,26.09,28.83
$GC,10638,0.51,146.0,772.1,11.8,762,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2525,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10937,0.51,146.0,735.7,12.3,777,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2524,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11237,0.51,146.0,699.8,11.4,792,11243,0.00,1.92,0.00,0.000,4,0.000,0.055,2674,3772,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11300,0.51,146.0,691.8,12.9,795,11304,0.00,1.92,0.00,0.000,6,0.000,0.025,2683,2442,2314,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11613,0.51,146.0,654.0,11.4,811,11619,0.00,2.00,0.00,0.000,4,0.000,0.032,2694,1062,2314,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,18579,end climb,SURFACE_DEPTH_REACHED
$STATE,18579,begin surface coast
$FINISH,1.9,1.022040
$STATE,18598,end surface coast,CONTROL_FINISHED_OK
$STATE,18598,begin surface
$SM_CCo,18617,8.52,0.139,0,0,1399,375.06
$SM_GC,3.62,6.45,2.40,8.52,0.030,0.037,0.139,181,2632,1399,-7.16,-0.45,375.06,0,0,0,0,0,0,26.43,26.27,25.86
$IRIDIUM_FIX,1900.10,12430.75,150412,191930
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.12
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.6,37.367
$10V_AH,10.1,23.231
$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
$DEVICE_SECS,18.275,194.450,409.100,8.525,0.000,27.457,46.846,246.097,0.000,0.000,17.024,4212.840,10478.013,600.188,3362.628,414.433,0.000,2188.293,0.000,2814.298,0.000,0.542,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.644,2208.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123973,1659
$CAP_FILE_SIZE,202149,0
$CFSIZE,260165632,205926400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,162.9,1
$GPS,160412,060331,1900.449,12432.923,39,1.3,39,-2.3