version: 66.10
glider: 176
mission: 5
dive: 200
start: 4 21 112 2 9 16
data:
$ID,176
$MISSION,5
$DIVE,200
$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,-7694.9243
$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
$GPS1,210412,020131,1810.797,12436.354,39,1.9,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.7
$GPS2,210412,020849,1810.842,12436.354,9,1.3,14,-2.1
$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,175.4,38673,-13.1,-7.500
$D_GRID,5106
$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,-146.0,0.0,0.0,0,55,0.00,0.00,-36.20,0.000,2,0.000,0.000,190,2725,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.51,-146.0,3.2,-6.5,6,101,8.70,2.30,-25.60,0.000,4,0.235,0.038,2346,1149,3527,0,0,0,0,0,0,25.40,26.16,26.53
$GC,138,-0.51,-146.0,23.6,-29.0,17,145,0.10,2.25,0.00,0.000,6,0.192,0.042,2359,2635,3528,0,0,0,0,0,0,25.87,26.11,28.83
$GC,465,-0.51,-146.0,135.6,-33.0,78,472,0.00,2.12,0.00,0.000,4,0.000,0.027,2359,1155,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,627,-0.51,-146.0,165.5,-14.4,109,633,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2635,3527,0,0,0,0,0,0,28.83,26.31,28.83
$GC,942,-0.51,-146.0,227.5,-19.2,157,951,0.00,2.12,0.00,0.000,4,0.000,0.027,2348,1152,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1015,-0.51,-146.0,238.8,-13.7,164,1024,0.05,2.20,0.00,0.000,6,0.142,0.041,2357,2635,3528,0,0,0,0,0,0,26.16,26.36,28.83
$GC,1323,-0.51,-146.0,285.8,-14.9,195,1327,0.00,2.12,0.00,0.000,4,0.000,0.024,2357,1145,3528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1385,-0.51,-146.0,293.4,-11.6,201,1394,0.00,2.22,0.00,0.000,6,0.000,0.041,2348,2638,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1695,-0.51,-146.0,337.1,-14.1,232,1704,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1147,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1738,-0.51,-146.0,342.7,-13.3,236,1746,0.00,2.17,0.00,0.000,6,0.000,0.043,2348,2625,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2046,-0.51,-146.0,383.5,-12.5,267,2056,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1155,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2100,-0.51,-146.0,389.7,-11.9,272,2109,0.00,2.20,0.00,0.000,6,0.000,0.043,2346,2627,3525,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2408,-0.51,-146.0,426.7,-12.2,303,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2627,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-0.51,-146.0,461.0,-10.8,333,2721,0.00,2.10,0.00,0.000,4,0.000,0.025,2346,1153,3522,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2777,-0.51,-146.0,467.3,-9.0,339,2785,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2630,3521,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3083,-0.51,-146.0,497.4,-9.8,370,3092,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1151,3519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3107,-0.51,-146.0,499.4,-9.7,372,3115,0.03,2.28,0.00,0.000,6,0.172,0.044,2357,2633,3519,0,0,0,0,0,0,26.21,26.33,28.83
$GC,3416,-0.51,-146.0,526.3,-8.7,403,3426,0.00,2.08,0.00,0.000,4,0.000,0.025,2357,1159,3516,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3449,-0.51,-146.0,529.2,-8.5,406,3458,0.00,2.20,0.00,0.000,6,0.000,0.044,2357,2629,3516,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3758,-0.51,-146.0,554.6,-8.2,437,3767,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1154,3514,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3823,-0.51,-146.0,559.4,-7.6,443,3831,0.00,2.22,0.00,0.000,6,0.000,0.045,2357,2630,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4129,-0.51,-146.0,585.9,-8.9,474,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2629,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.51,-146.0,614.3,-9.6,497,4435,0.00,2.12,0.00,0.000,4,0.000,0.026,2358,1157,3509,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4477,-0.51,-146.0,617.9,-9.4,499,4481,0.00,2.25,0.00,0.000,6,0.000,0.045,2357,2629,3509,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4784,-0.51,-146.0,648.0,-9.6,514,4790,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1148,3506,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4813,-0.51,-146.0,649.9,-9.6,515,4817,0.00,2.28,0.00,0.000,6,0.000,0.045,2357,2638,3505,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5119,-0.51,-146.0,679.3,-9.1,530,5125,0.00,2.15,0.00,0.000,4,0.000,0.025,2357,1149,3503,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5160,-0.51,-146.0,683.0,-9.2,532,5164,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2631,3503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5482,-0.51,-146.0,710.7,-8.1,548,5486,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1157,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5517,-0.51,-146.0,712.6,-8.0,549,5524,0.00,2.28,0.00,0.000,6,0.000,0.046,2357,2626,3501,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5824,-0.51,-146.0,735.1,-6.5,565,5827,0.00,1.73,0.00,0.000,4,0.000,0.056,2357,3767,3498,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5848,-0.51,-146.0,736.4,-6.3,566,5852,0.00,1.70,0.00,0.000,6,0.000,0.024,2357,2507,3498,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6165,-0.51,-146.0,755.7,-6.1,582,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2483,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,-0.51,-146.0,774.9,-6.4,597,6470,0.00,2.00,0.00,0.000,4,0.000,0.054,2350,3779,3494,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6536,-0.51,-146.0,779.2,-7.0,600,6539,0.00,1.73,0.00,0.000,6,0.000,0.024,2350,2505,3493,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6848,-0.51,-146.0,803.3,-7.6,616,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2468,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,-0.51,-146.0,826.0,-7.7,631,7152,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3767,3491,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7193,-0.51,-146.0,829.1,-7.5,633,7196,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2509,3490,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7510,-0.51,-146.0,852.3,-7.1,649,7516,0.00,1.98,0.00,0.000,4,0.000,0.055,2337,3769,3488,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7551,-0.51,-146.0,855.3,-7.3,651,7555,0.05,1.75,0.00,0.000,6,0.125,0.025,2360,2502,3488,0,0,0,0,0,0,26.30,26.58,28.83
$GC,7873,-0.51,-146.0,875.5,-6.5,667,7875,0.05,0.00,0.00,0.000,6,0.176,0.000,2314,2500,3487,0,0,0,0,0,0,26.65,28.83,28.83
$GC,8173,-0.51,-146.0,905.1,-10.0,682,8175,0.15,0.00,0.00,0.000,6,0.138,0.000,2361,2499,3485,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8473,-0.51,-146.0,923.4,-5.7,697,8480,0.08,1.95,0.00,0.000,4,0.132,0.054,2303,3763,3485,0,0,0,0,0,0,26.63,25.95,28.83
$GC,8496,-0.51,-146.0,924.8,-6.2,698,8500,0.17,1.73,0.00,0.000,6,0.133,0.024,2359,2491,3484,0,0,0,0,0,0,26.05,26.56,28.83
$GC,8809,-0.51,-146.0,944.6,-6.2,714,8811,0.05,0.00,0.00,0.000,6,0.177,0.000,2313,2488,3484,0,0,0,0,0,0,26.65,28.83,28.83
$GC,9108,-0.51,-146.0,973.9,-9.8,729,9110,0.15,0.00,0.00,0.000,6,0.136,0.000,2360,2488,3483,0,0,0,0,0,0,26.31,28.83,28.83
$STATE,9366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9366,begin apogee
$GC,9371,-0.17,0.0,990.9,-6.1,742,9496,0.30,0.00,120.60,1.743,6,0.105,0.000,2470,2487,2929,0,0,0,0,0,0,26.04,28.83,23.27
$STATE,9498,end apogee,CONTROL_FINISHED_OK
$STATE,9499,begin climb
$GC,9500,0.51,146.0,995.1,0.0,748,9645,0.57,0.00,141.38,1.701,6,0.048,0.000,2705,2487,2332,0,0,0,0,0,0,24.74,28.83,22.54
$GC,9942,0.51,146.0,947.1,14.5,771,9949,0.12,2.15,0.00,0.000,4,0.192,0.028,2681,1053,2323,0,0,0,0,0,0,25.54,25.79,28.83
$GC,9976,0.51,146.0,944.5,14.0,772,9983,0.00,2.30,0.00,0.000,6,0.000,0.046,2681,2516,2322,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10284,0.51,146.0,905.1,12.5,788,10290,0.00,2.15,0.00,0.000,4,0.000,0.030,2690,1051,2320,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10306,0.51,146.0,902.6,12.5,789,10311,0.10,2.30,0.00,0.000,6,0.184,0.047,2668,2526,2319,0,0,0,0,0,0,25.79,26.00,28.83
$GC,10618,0.51,146.0,866.9,11.2,805,10622,0.00,1.92,0.00,0.000,4,0.000,0.055,2668,3763,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10643,0.51,146.0,864.3,11.4,806,10647,0.00,1.88,0.00,0.000,6,0.000,0.024,2677,2451,2318,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10955,0.51,146.0,826.3,11.8,822,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2447,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11255,0.51,146.0,789.9,12.4,837,11259,0.00,2.05,0.00,0.000,4,0.000,0.054,2677,3771,2316,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11310,0.51,146.0,783.8,13.7,839,11318,0.08,1.92,0.00,0.000,6,0.235,0.024,2673,2430,2316,0,0,0,0,0,0,26.06,26.36,28.83
$GC,11616,0.51,146.0,744.1,12.1,855,11622,0.00,2.10,0.00,0.000,4,0.000,0.054,2673,3765,2315,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11661,0.51,146.0,738.4,13.1,857,11665,0.00,1.90,0.00,0.000,6,0.000,0.024,2682,2448,2314,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11972,0.51,146.0,701.4,10.5,873,11978,0.00,2.08,0.00,0.000,4,0.000,0.054,2682,3769,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12020,0.51,146.0,696.4,11.2,875,12025,0.10,1.90,0.00,0.000,6,0.211,0.024,2670,2448,2314,0,0,0,0,0,0,25.98,26.38,28.83
$GC,12328,0.51,146.0,666.4,9.2,890,12334,0.00,2.03,0.00,0.000,4,0.000,0.032,2679,1057,2313,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12380,0.51,146.0,662.7,9.3,892,12387,0.00,2.25,0.00,0.000,6,0.000,0.045,2679,2519,2313,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12688,0.51,146.0,630.1,10.1,908,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2519,2313,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19613,end climb,SURFACE_DEPTH_REACHED
$STATE,19613,begin surface coast
$FINISH,3.0,1.021641
$STATE,19619,end surface coast,CONTROL_FINISHED_OK
$STATE,19619,begin surface
$SM_CCo,19696,0.00,0.000,0,0,1333,391.25
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$IRIDIUM_FIX,1803.24,12437.41,200412,202005
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.5,41.440
$10V_AH,10.2,26.037
$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,19.975,169.800,421.625,0.000,0.000,25.899,18.405,240.883,0.000,0.000,16.792,4451.288,11169.830,617.924,3422.886,441.616,0.000,2205.325,0.000,2889.614,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,55.845,1742.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1203.120,2353.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329436
$DATA_FILE_SIZE,130553,1768
$CAP_FILE_SIZE,203710,0
$CFSIZE,260165632,203575296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 76.9,1
$GPS,210412,073837,1808.574,12437.287,35,0.9,35,-2.1