version: 66.10
glider: 176
mission: 5
dive: 151
start: 4 9 112 21 15 48
data:
$ID,176
$MISSION,5
$DIVE,151
$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,-7622.0972
$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,2510
$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
$GPS1,090412,210237,2013.372,12420.709,33,0.9,33,-2.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.5
$GPS2,090412,211520,2013.464,12421.001,10,1.4,10,-2.5
$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,211.6,266839,-13.1,-7.500
$D_GRID,5506
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-46.70,0.000,2,0.000,0.000,188,2682,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.51,-146.0,3.3,-6.2,8,106,8.68,2.28,-19.52,0.000,4,0.238,0.041,2348,1158,3527,0,0,0,0,0,0,25.44,26.06,26.42
$GC,229,-0.51,-146.0,37.9,-17.7,38,237,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2626,3527,0,0,0,0,0,0,28.83,26.04,28.83
$GC,543,-0.51,-146.0,117.3,-26.8,99,549,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1156,3527,0,0,0,0,0,0,28.83,26.31,28.83
$GC,577,-0.51,-146.0,125.6,-21.9,105,584,0.08,2.22,0.00,0.000,6,0.198,0.042,2353,2631,3527,0,0,0,0,0,0,26.06,26.21,28.83
$GC,887,-0.51,-146.0,190.6,-19.6,166,895,0.00,2.12,0.00,0.000,4,0.000,0.025,2354,1152,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,963,-0.51,-146.0,202.8,-14.7,179,971,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2636,3528,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1272,-0.51,-146.0,259.2,-18.6,210,1282,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1158,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1354,-0.51,-146.0,271.9,-13.8,218,1358,0.00,2.22,0.00,0.000,6,0.000,0.045,2344,2629,3527,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1666,-0.51,-146.0,324.7,-18.0,249,1674,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1154,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1727,-0.51,-146.0,334.5,-15.4,255,1737,0.08,2.22,0.00,0.000,6,0.187,0.044,2354,2631,3527,0,0,0,0,0,0,26.21,26.34,28.83
$GC,2037,-0.51,-146.0,380.0,-13.9,286,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2631,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2340,-0.51,-146.0,422.1,-14.3,316,2348,0.00,2.10,0.00,0.000,4,0.000,0.025,2354,1153,3526,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2442,-0.51,-146.0,435.7,-12.5,326,2451,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2629,3526,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2752,-0.51,-146.0,478.8,-13.9,357,2756,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1146,3523,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2784,-0.51,-146.0,483.3,-13.8,360,2788,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3096,-0.51,-146.0,525.9,-13.3,391,3104,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1153,3522,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3129,-0.51,-146.0,529.8,-12.9,394,3138,0.00,2.28,0.00,0.000,6,0.000,0.045,2348,2631,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3437,-0.51,-146.0,563.2,-10.3,425,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3739,-0.51,-146.0,594.8,-10.3,455,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-0.51,-146.0,625.8,-9.7,474,4062,0.00,2.12,0.00,0.000,4,0.000,0.026,2348,1156,3517,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4137,-0.51,-146.0,633.2,-9.1,478,4143,0.00,2.25,0.00,0.000,6,0.000,0.046,2348,2628,3516,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4458,-0.51,-146.0,664.3,-9.5,494,4461,0.00,1.73,0.00,0.000,4,0.000,0.057,2344,3765,3513,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4513,-0.51,-146.0,668.5,-9.9,496,4520,0.00,1.70,0.00,0.000,6,0.000,0.024,2343,2495,3512,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4819,-0.51,-146.0,698.0,-9.2,512,4825,0.00,1.90,0.00,0.000,4,0.000,0.026,2343,1149,3511,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4852,-0.51,-146.0,699.7,-9.0,513,4859,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2628,3511,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5159,-0.51,-146.0,727.5,-8.8,529,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2628,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5459,-0.51,-146.0,753.3,-8.5,544,5465,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1148,3506,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5528,-0.51,-146.0,758.1,-8.1,547,5532,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2628,3506,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5834,-0.51,-146.0,784.1,-8.4,562,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-0.51,-146.0,809.4,-8.3,577,6140,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1153,3502,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6178,-0.51,-146.0,812.6,-8.2,579,6182,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2632,3502,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6490,-0.51,-146.0,838.3,-7.8,595,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2632,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6791,-0.51,-146.0,861.2,-7.4,610,6796,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1164,3498,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6833,-0.51,-146.0,864.1,-7.5,612,6837,0.00,2.25,0.00,0.000,6,0.000,0.047,2344,2626,3498,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7145,-0.51,-146.0,887.3,-7.3,628,7150,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1155,3496,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7173,-0.51,-146.0,888.7,-7.3,629,7178,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2630,3496,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7480,-0.51,-146.0,913.2,-8.1,644,7485,0.00,2.15,0.00,0.000,4,0.000,0.027,2343,1158,3495,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7507,-0.51,-146.0,914.8,-7.9,645,7511,0.00,2.25,0.00,0.000,6,0.000,0.047,2343,2627,3495,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7820,-0.51,-146.0,940.5,-7.9,661,7826,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1155,3493,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7860,-0.51,-146.0,943.6,-7.9,663,7866,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2633,3493,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8180,-0.51,-146.0,968.0,-7.7,679,8186,0.00,2.12,0.00,0.000,4,0.000,0.027,2343,1159,3492,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8208,-0.51,-146.0,969.5,-7.6,680,8212,0.00,2.28,0.00,0.000,6,0.000,0.047,2343,2633,3492,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,8493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8493,begin apogee
$GC,8498,-0.17,0.0,991.0,-7.0,694,8629,0.32,0.15,122.43,1.744,6,0.112,0.083,2458,2532,2928,0,0,0,0,0,0,25.98,24.56,23.42
$STATE,8630,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8632,0.51,146.0,993.2,0.0,700,8781,0.60,2.42,140.30,1.706,4,0.056,0.030,2703,1061,2331,0,0,0,0,0,0,24.82,23.90,22.70
$GC,8823,0.51,146.0,980.0,13.0,710,8828,0.15,2.40,0.00,0.000,6,0.180,0.046,2669,2514,2327,0,0,0,0,0,0,24.38,24.59,28.83
$GC,9129,0.51,146.0,934.4,14.5,725,9135,0.00,1.98,0.00,0.000,4,0.000,0.055,2669,3768,2322,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9197,0.51,146.0,924.4,16.2,728,9201,0.00,1.95,0.00,0.000,6,0.000,0.024,2678,2455,2320,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9511,0.51,146.0,876.8,14.8,744,9516,0.00,2.05,0.00,0.000,4,0.000,0.031,2687,1057,2319,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9539,0.51,146.0,873.9,14.8,745,9544,0.10,2.28,0.00,0.000,6,0.188,0.046,2664,2518,2318,0,0,0,0,0,0,25.77,25.98,28.83
$GC,9845,0.51,146.0,832.4,12.9,760,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2518,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10146,0.51,146.0,794.3,12.2,775,10151,0.00,1.90,0.00,0.000,4,0.000,0.054,2665,3772,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10169,0.51,146.0,791.8,12.3,776,10173,0.00,1.92,0.00,0.000,6,0.000,0.025,2674,2450,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10481,0.51,146.0,750.9,12.6,792,10485,0.00,2.05,0.00,0.000,4,0.000,0.054,2674,3767,2316,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10510,0.51,146.0,747.9,12.9,793,10514,0.08,1.92,0.00,0.000,6,0.234,0.024,2670,2442,2315,0,0,0,0,0,0,26.03,26.33,28.83
$GC,10822,0.51,146.0,707.5,12.6,809,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2438,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11123,0.51,146.0,671.1,11.3,824,11127,0.00,2.08,0.00,0.000,4,0.000,0.054,2670,3776,2314,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11185,0.51,146.0,663.2,12.4,827,11190,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2436,2313,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11506,0.51,146.0,627.8,10.3,843,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2432,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11805,0.51,146.0,593.6,12.1,860,11814,0.05,2.05,0.00,0.000,4,0.252,0.050,2669,3764,2312,0,0,0,0,0,0,26.48,26.06,28.83
$GC,11827,0.51,146.0,590.5,13.2,862,11837,0.00,1.90,0.00,0.000,6,0.000,0.023,2678,2434,2312,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12137,0.51,146.0,555.8,9.5,893,12140,0.00,2.03,0.00,0.000,4,0.000,0.031,2689,1053,2311,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12173,0.51,146.0,552.4,9.4,896,12183,0.10,2.28,0.00,0.000,6,0.182,0.044,2665,2526,2311,0,0,0,0,0,0,25.94,26.15,28.83
$GC,12484,0.51,146.0,528.0,7.9,927,12493,0.00,1.88,0.00,0.000,4,0.000,0.051,2665,3778,2311,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12548,0.51,146.0,521.5,11.1,933,12555,0.00,1.90,0.00,0.000,6,0.000,0.023,2675,2443,2311,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,18206,end climb,SURFACE_DEPTH_REACHED
$STATE,18207,begin surface coast
$FINISH,0.9,1.001488
$STATE,18250,end surface coast,CONTROL_FINISHED_OK
$STATE,18250,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.90
$XPDR_PINGS,0
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$10V_AH,10.2,19.787
$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
$DEVICE_SECS,18.075,164.075,343.825,33.075,0.000,114.501,85.426,236.257,0.000,0.000,14.848,4301.994,10344.353,582.785,3416.718,391.445,0.000,2107.042,0.000,2819.964,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329424
$DATA_FILE_SIZE,127113,1705
$CAP_FILE_SIZE,191708,0
$CFSIZE,260165632,208855040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,108.5,1
$GPS,100412,022201,2010.745,12421.945,40,2.0,40,-2.5