version: 66.10
glider: 176
mission: 5
dive: 205
start: 4 22 112 5 51 47
data:
$ID,176
$MISSION,5
$DIVE,205
$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,-7701.5889
$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
$GPS1,220412,054337,1800.052,12436.718,35,1.1,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.6
$GPS2,220412,055120,1800.040,12436.768,14,1.1,14,-2.0
$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,191.9,18853,-13.1,-7.500
$D_GRID,4476
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-45.70,0.000,2,0.000,0.000,176,2678,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.2,-7.4,8,109,8.73,0.00,-25.15,0.000,6,0.233,0.000,2348,2677,3526,0,0,0,0,0,0,25.41,28.83,26.54
$GC,427,-0.51,-146.0,142.6,-31.6,72,433,0.00,2.17,0.00,0.000,4,0.000,0.026,2349,1155,3526,0,0,0,0,0,0,28.83,26.36,28.83
$GC,497,-0.51,-146.0,158.6,-18.4,85,504,0.08,2.22,0.00,0.000,6,0.194,0.043,2356,2632,3526,0,0,0,0,0,0,26.13,26.27,28.83
$GC,814,-0.51,-146.0,228.8,-18.4,134,824,0.00,2.08,0.00,0.000,4,0.000,0.025,2356,1152,3526,0,0,0,0,0,0,28.83,26.43,28.83
$GC,880,-0.51,-146.0,239.8,-15.7,140,886,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2637,3526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1187,-0.51,-146.0,294.6,-18.0,171,1195,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1151,3525,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1278,-0.51,-146.0,308.4,-13.2,180,1287,0.00,2.20,0.00,0.000,6,0.000,0.044,2347,2631,3526,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1589,-0.51,-146.0,357.3,-15.0,211,1593,0.00,2.12,0.00,0.000,4,0.000,0.027,2346,1146,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1671,-0.51,-146.0,368.3,-12.1,219,1680,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2634,3524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1980,-0.51,-146.0,409.1,-12.5,250,1984,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1155,3522,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2016,-0.51,-146.0,412.9,-12.0,253,2023,0.00,2.22,0.00,0.000,6,0.000,0.044,2344,2634,3522,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2322,-0.51,-146.0,446.8,-11.2,284,2330,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1152,3520,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2394,-0.51,-146.0,453.9,-9.5,291,2404,0.10,2.20,0.00,0.000,6,0.154,0.044,2364,2632,3519,0,0,0,0,0,0,26.22,26.37,28.83
$GC,2703,-0.51,-146.0,482.1,-9.5,322,2705,0.08,0.00,0.00,0.000,6,0.131,0.000,2304,2632,3516,0,0,0,0,0,0,26.67,28.83,28.83
$GC,3003,-0.51,-146.0,524.8,-14.0,352,3012,0.15,2.12,0.00,0.000,4,0.155,0.024,2354,1143,3514,0,0,0,0,0,0,26.29,26.48,28.83
$GC,3059,-0.51,-146.0,530.0,-9.3,357,3066,0.00,2.25,0.00,0.000,6,0.000,0.045,2347,2630,3514,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3365,-0.51,-146.0,561.8,-10.9,388,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2630,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-0.51,-146.0,593.4,-10.4,418,3679,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1149,3509,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3701,-0.51,-146.0,597.1,-10.4,421,3710,0.00,2.25,0.00,0.000,6,0.000,0.047,2346,2636,3509,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4022,-0.51,-146.0,628.8,-10.1,439,4027,0.00,2.12,0.00,0.000,4,0.000,0.026,2346,1147,3506,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4055,-0.51,-146.0,630.9,-10.2,440,4062,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2638,3505,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4361,-0.51,-146.0,661.4,-9.4,456,4367,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1155,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4394,-0.51,-146.0,663.3,-9.4,457,4401,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2633,3503,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4702,-0.51,-146.0,693.2,-9.4,473,4706,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1153,3500,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4763,-0.51,-146.0,698.9,-9.2,476,4769,0.00,2.28,0.00,0.000,6,0.000,0.046,2345,2635,3499,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5084,-0.51,-146.0,728.4,-9.2,492,5090,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1154,3497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5111,-0.51,-146.0,730.3,-9.3,493,5115,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2628,3497,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5419,-0.51,-146.0,758.1,-8.9,508,5422,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1149,3494,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5448,-0.51,-146.0,760.0,-8.8,509,5452,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2632,3494,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5756,-0.51,-146.0,787.3,-8.5,524,5761,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1156,3492,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5783,-0.51,-146.0,789.0,-8.5,525,5787,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2635,3492,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6091,-0.51,-146.0,815.3,-8.5,540,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2635,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,-0.51,-146.0,841.9,-9.2,555,6396,0.00,2.15,0.00,0.000,4,0.000,0.026,2345,1146,3487,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6438,-0.51,-146.0,845.5,-8.9,557,6442,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2627,3487,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6746,-0.51,-146.0,873.4,-8.8,572,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7045,-0.51,-146.0,898.8,-8.1,587,7051,0.00,2.12,0.00,0.000,4,0.000,0.026,2345,1153,3484,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7093,-0.51,-146.0,901.9,-8.0,589,7097,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2627,3484,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7401,-0.51,-146.0,925.7,-7.3,604,7407,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1152,3482,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7433,-0.51,-146.0,927.2,-7.4,605,7440,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3482,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7740,-0.51,-146.0,949.9,-6.8,621,7746,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1158,3481,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7769,-0.51,-146.0,951.3,-6.9,622,7773,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2629,3481,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8075,-0.51,-146.0,971.7,-6.3,637,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2629,3479,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8373,begin apogee
$GC,8379,-0.17,0.0,990.1,-6.0,652,8505,0.32,0.12,119.47,1.737,6,0.107,0.096,2461,2538,2929,0,0,0,0,0,0,25.98,24.55,23.32
$STATE,8506,end apogee,CONTROL_FINISHED_OK
$STATE,8506,begin climb
$GC,8508,0.51,146.0,992.5,0.0,658,8653,0.62,0.00,140.70,1.698,6,0.053,0.000,2706,2538,2333,0,0,0,0,0,0,24.79,28.83,22.57
$GC,8950,0.51,146.0,939.0,15.3,681,8956,0.12,1.92,0.00,0.000,4,0.189,0.054,2670,3767,2323,0,0,0,0,0,0,25.60,25.72,28.83
$GC,8978,0.51,146.0,935.9,15.5,682,8981,0.00,1.92,0.00,0.000,6,0.000,0.025,2679,2453,2323,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9291,0.51,146.0,895.5,12.1,698,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2448,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,0.51,146.0,860.8,11.7,713,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2449,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9890,0.51,146.0,826.4,11.7,728,9894,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3774,2317,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9934,0.51,146.0,820.8,12.5,730,9940,0.05,1.95,0.00,0.000,6,0.194,0.025,2674,2435,2316,0,0,0,0,0,0,26.02,26.33,28.83
$GC,10253,0.51,146.0,785.1,11.3,746,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2431,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10552,0.51,146.0,752.1,11.2,761,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2431,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,0.51,146.0,719.9,10.3,776,10858,0.00,2.08,0.00,0.000,4,0.000,0.054,2673,3764,2314,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10888,0.51,146.0,717.2,10.5,777,10895,0.00,1.92,0.00,0.000,6,0.000,0.024,2683,2447,2314,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11195,0.51,146.0,682.1,10.5,793,11201,0.00,2.03,0.00,0.000,4,0.000,0.030,2694,1052,2314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11236,0.51,146.0,678.0,10.6,795,11243,0.10,2.25,0.00,0.000,6,0.185,0.046,2664,2518,2313,0,0,0,0,0,0,25.87,26.14,28.83
$GC,11555,0.51,146.0,649.4,8.8,811,11562,0.08,1.90,0.00,0.000,4,0.130,0.053,2707,3766,2313,0,0,0,0,0,0,26.56,26.05,28.83
$GC,11609,0.51,146.0,644.5,10.2,813,11616,0.17,1.88,0.00,0.000,6,0.187,0.022,2671,2443,2313,0,0,0,0,0,0,25.77,26.44,28.83
$GC,11916,0.51,146.0,612.6,9.8,829,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2441,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12217,0.51,146.0,583.2,9.6,852,12220,0.00,2.05,0.00,0.000,4,0.000,0.052,2671,3774,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12260,0.51,146.0,578.4,11.2,856,12268,0.00,1.92,0.00,0.000,6,0.000,0.022,2680,2437,2312,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12568,0.51,146.0,547.6,9.2,887,12579,0.00,2.08,0.00,0.000,4,0.000,0.052,2681,3773,2312,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12663,0.51,146.0,537.4,11.2,896,12672,0.10,1.90,0.00,0.000,6,0.200,0.022,2661,2430,2312,0,0,0,0,0,0,26.00,26.47,28.83
$GC,12972,0.52,153.2,515.3,7.2,927,12974,0.10,0.00,0.00,0.000,6,0.109,0.000,2725,2429,2312,0,0,0,0,0,0,26.57,28.83,28.83
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$STATE,18610,end climb,SURFACE_DEPTH_REACHED
$STATE,18610,begin surface coast
$FINISH,0.8,1.021551
$STATE,18638,end surface coast,CONTROL_FINISHED_OK
$STATE,18638,begin surface
$SM_CCo,18714,0.00,0.000,0,0,1264,408.18
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$TT8_MAMPS,0.026215,0.026215
$HUMID,40.94
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,22.6,42.365
$10V_AH,10.1,26.670
$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
$DEVICE_SECS,18.575,152.700,412.750,0.000,0.000,30.890,41.059,241.179,0.250,0.000,16.600,4252.657,10552.371,593.324,3329.561,416.826,0.000,2127.366,0.000,2771.289,0.000,0.542,0.000
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$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,127222,1692
$CAP_FILE_SIZE,190873,0
$CFSIZE,260165632,203042816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,143.1,1
$GPS,220412,110437,1757.114,12436.908,26,1.5,26,-2.0