version: 66.10
glider: 176
mission: 5
dive: 189
start: 4 18 112 13 8 34
data:
$ID,176
$MISSION,5
$DIVE,189
$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,-7680.3267
$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
$GPS1,180412,130025,1836.445,12435.188,40,1.4,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.6
$GPS2,180412,130807,1836.393,12435.230,10,1.0,15,-2.2
$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,177.2,85921,-13.1,-7.500
$D_GRID,5677
$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,-40.20,0.000,2,0.000,0.000,198,2674,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.1,-6.2,7,105,8.60,2.25,-24.05,0.000,4,0.233,0.041,2349,1158,3527,0,0,0,0,0,0,25.40,26.13,26.50
$GC,111,-0.51,-146.0,14.5,-23.3,12,118,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2635,3528,0,0,0,0,0,0,28.83,26.06,28.83
$GC,423,-0.51,-146.0,130.3,-30.7,73,430,0.00,1.70,0.00,0.000,4,0.000,0.048,2338,3777,3528,0,0,0,0,0,0,28.83,26.19,28.83
$GC,473,-0.51,-146.0,144.3,-26.9,82,480,0.08,1.73,0.00,0.000,6,0.200,0.024,2354,2510,3527,0,0,0,0,0,0,26.18,26.43,28.83
$GC,789,-0.51,-146.0,210.5,-19.1,139,793,0.00,1.92,0.00,0.000,4,0.000,0.024,2355,1136,3528,0,0,0,0,0,0,28.83,26.46,28.83
$GC,888,-0.51,-146.0,224.2,-12.3,148,895,0.00,2.25,0.00,0.000,6,0.000,0.042,2346,2633,3529,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1195,-0.51,-146.0,278.1,-17.9,179,1204,0.00,2.12,0.00,0.000,4,0.000,0.025,2346,1138,3529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1340,-0.51,-146.0,296.1,-10.8,193,1350,0.00,2.20,0.00,0.000,6,0.000,0.044,2346,2626,3529,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1647,-0.51,-146.0,340.7,-13.8,224,1650,0.00,1.70,0.00,0.000,4,0.000,0.053,2340,3777,3529,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1668,-0.51,-146.0,343.7,-13.9,226,1672,0.08,1.70,0.00,0.000,6,0.181,0.022,2360,2491,3528,0,0,0,0,0,0,26.39,26.63,28.83
$GC,1979,-0.51,-146.0,387.0,-13.8,257,1984,0.05,1.98,0.00,0.000,4,0.176,0.052,2305,3770,3527,0,0,0,0,0,0,26.69,26.28,28.83
$GC,2015,-0.51,-146.0,392.6,-16.7,260,2022,0.17,1.70,0.00,0.000,6,0.138,0.023,2359,2504,3527,0,0,0,0,0,0,26.18,26.60,28.83
$GC,2321,-0.51,-146.0,430.9,-12.0,291,2326,0.05,1.90,0.00,0.000,4,0.175,0.022,2306,1142,3526,0,0,0,0,0,0,26.69,26.54,28.83
$GC,2359,-0.51,-146.0,436.3,-13.9,294,2368,0.17,2.25,0.00,0.000,6,0.142,0.046,2358,2628,3525,0,0,0,0,0,0,26.10,26.34,28.83
$GC,2668,-0.51,-146.0,470.8,-10.3,325,2678,0.00,2.12,0.00,0.000,4,0.000,0.024,2358,1141,3523,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2700,-0.51,-146.0,474.0,-9.8,328,2709,0.00,2.25,0.00,0.000,6,0.000,0.044,2357,2628,3523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3011,-0.51,-146.0,503.2,-9.4,359,3019,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1144,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3062,-0.51,-146.0,507.7,-8.6,364,3071,0.00,2.22,0.00,0.000,6,0.000,0.044,2357,2627,3520,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3372,-0.51,-146.0,536.1,-9.2,395,3375,0.00,1.73,0.00,0.000,4,0.000,0.057,2357,3777,3519,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3403,-0.51,-146.0,538.8,-9.2,398,3406,0.00,1.73,0.00,0.000,6,0.000,0.023,2357,2515,3517,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3715,-0.51,-146.0,566.7,-9.0,429,3725,0.00,1.92,0.00,0.000,4,0.000,0.055,2349,3766,3515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3747,-0.51,-146.0,569.9,-9.4,432,3751,0.00,1.70,0.00,0.000,6,0.000,0.024,2349,2515,3514,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4059,-0.51,-146.0,600.3,-9.6,463,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2499,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4358,-0.51,-146.0,629.7,-9.8,478,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2499,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.51,-146.0,658.5,-9.3,493,4662,0.00,1.95,0.00,0.000,4,0.000,0.056,2345,3770,3508,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4687,-0.51,-146.0,660.0,-9.3,494,4694,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2495,3507,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4995,-0.51,-146.0,691.3,-9.9,510,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2494,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.51,-146.0,720.7,-9.6,525,5299,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3769,3503,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5316,-0.51,-146.0,722.6,-9.5,526,5320,0.00,1.75,0.00,0.000,6,0.000,0.023,2343,2492,3503,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5635,-0.51,-146.0,750.3,-8.2,542,5641,0.00,1.95,0.00,0.000,4,0.000,0.056,2337,3768,3501,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5657,-0.51,-146.0,752.0,-8.2,543,5661,0.05,1.75,0.00,0.000,6,0.123,0.023,2361,2498,3501,0,0,0,0,0,0,26.34,26.61,28.83
$GC,5975,-0.51,-146.0,773.3,-6.6,559,5980,0.08,1.98,0.00,0.000,4,0.129,0.054,2304,3764,3498,0,0,0,0,0,0,26.65,26.08,28.83
$GC,6020,-0.51,-146.0,777.3,-8.0,561,6025,0.17,1.73,0.00,0.000,6,0.129,0.024,2361,2489,3497,0,0,0,0,0,0,26.14,26.60,28.83
$GC,6333,-0.51,-146.0,799.8,-7.0,577,6335,0.08,0.00,0.00,0.000,6,0.129,0.000,2305,2486,3497,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6633,-0.51,-146.0,831.9,-10.4,592,6635,0.17,0.00,0.00,0.000,6,0.138,0.000,2360,2485,3495,0,0,0,0,0,0,26.25,28.83,28.83
$GC,6933,-0.51,-146.0,849.3,-5.6,607,6939,0.05,2.00,0.00,0.000,4,0.177,0.055,2304,3765,3493,0,0,0,0,0,0,26.66,26.03,28.83
$GC,6994,-0.51,-146.0,854.7,-8.1,610,7000,0.17,1.70,0.00,0.000,6,0.131,0.025,2360,2509,3492,0,0,0,0,0,0,26.10,26.57,28.83
$GC,7313,-0.51,-146.0,872.3,-5.5,626,7315,0.05,0.00,0.00,0.000,6,0.176,0.000,2312,2508,3491,0,0,0,0,0,0,26.66,28.83,28.83
$GC,7613,-0.51,-146.0,899.5,-9.5,641,7615,0.15,0.00,0.00,0.000,6,0.136,0.000,2359,2508,3489,0,0,0,0,0,0,26.32,28.83,28.83
$GC,7913,-0.51,-146.0,918.9,-6.4,656,7915,0.05,0.00,0.00,0.000,6,0.177,0.000,2313,2508,3488,0,0,0,0,0,0,26.66,28.83,28.83
$GC,8213,-0.51,-146.0,947.9,-9.9,671,8215,0.15,0.00,0.00,0.000,6,0.137,0.000,2360,2507,3487,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8514,-0.51,-146.0,968.9,-6.9,686,8516,0.05,0.00,0.00,0.000,6,0.176,0.000,2315,2507,3485,0,0,0,0,0,0,26.65,28.83,28.83
$STATE,8731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8731,begin apogee
$GC,8735,-0.17,0.0,990.8,-10.1,697,8862,0.43,0.00,121.95,1.747,6,0.113,0.000,2462,2507,2929,0,0,0,0,0,0,25.78,28.83,23.31
$STATE,8865,end apogee,CONTROL_FINISHED_OK
$STATE,8865,begin climb
$GC,8867,0.51,146.0,995.0,0.0,703,9016,0.57,2.42,140.20,1.705,4,0.047,0.033,2709,1061,2332,0,0,0,0,0,0,24.77,23.87,22.58
$GC,9050,0.51,146.0,985.0,11.4,713,9056,0.12,2.45,0.00,0.000,6,0.161,0.047,2673,2521,2327,0,0,0,0,0,0,24.31,24.51,28.83
$GC,9369,0.51,146.0,943.3,13.1,729,9375,0.00,1.95,0.00,0.000,4,0.000,0.057,2673,3763,2323,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9412,0.51,146.0,937.2,14.3,731,9415,0.00,1.95,0.00,0.000,6,0.000,0.025,2680,2450,2321,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9730,0.51,146.0,892.7,13.7,747,9734,0.00,2.05,0.00,0.000,4,0.000,0.032,2686,1054,2319,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9751,0.51,146.0,889.9,13.5,748,9757,0.08,2.28,0.00,0.000,6,0.197,0.046,2671,2525,2318,0,0,0,0,0,0,25.87,26.02,28.83
$GC,10071,0.51,146.0,849.4,12.3,764,10077,0.00,1.90,0.00,0.000,4,0.000,0.055,2671,3766,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10105,0.51,146.0,846.8,12.3,765,10113,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2438,2316,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10411,0.51,146.0,807.4,11.6,781,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2436,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10712,0.51,146.0,772.9,11.2,796,10718,0.00,2.05,0.00,0.000,4,0.000,0.031,2688,1049,2315,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10744,0.51,146.0,770.6,11.3,797,10753,0.08,2.28,0.00,0.000,6,0.197,0.047,2672,2523,2314,0,0,0,0,0,0,25.98,26.11,28.83
$GC,11051,0.51,146.0,735.0,11.0,813,11057,0.00,1.92,0.00,0.000,4,0.000,0.055,2672,3770,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11114,0.51,146.0,727.1,12.8,816,11119,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2437,2314,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11432,0.51,146.0,690.9,10.8,832,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2432,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11732,0.51,146.0,658.2,10.8,847,11737,0.00,2.08,0.00,0.000,4,0.000,0.054,2681,3763,2313,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11793,0.51,146.0,650.8,12.1,850,11799,0.10,1.88,0.00,0.000,6,0.213,0.024,2665,2447,2312,0,0,0,0,0,0,25.94,26.41,28.83
$GC,12113,0.51,146.0,618.5,9.9,866,12119,0.08,2.03,0.00,0.000,4,0.137,0.050,2709,3763,2313,0,0,0,0,0,0,26.55,26.03,28.83
$GC,12145,0.51,146.0,616.1,10.3,867,12153,0.17,1.90,0.00,0.000,6,0.187,0.023,2674,2434,2312,0,0,0,0,0,0,25.75,26.41,28.83
$GC,12453,0.51,146.0,580.7,10.2,892,12461,0.00,2.05,0.00,0.000,4,0.000,0.052,2674,3771,2312,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12494,0.51,146.0,575.8,11.8,896,12503,0.05,1.88,0.00,0.000,6,0.256,0.023,2674,2438,2312,0,0,0,0,0,0,26.21,26.43,28.83
$GC,12804,0.51,146.0,545.2,9.1,927,12813,0.00,2.03,0.00,0.000,4,0.000,0.033,2684,1054,2312,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,18925,end climb,SURFACE_DEPTH_REACHED
$STATE,18925,begin surface coast
$FINISH,0.7,1.022428
$STATE,18967,end surface coast,CONTROL_FINISHED_OK
$STATE,18967,begin surface
$SM_CCo,19043,0.00,0.000,0,0,1399,375.31
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$IRIDIUM_FIX,1832.77,12433.79,180412,070722
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.74
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.40
$XPDR_PINGS,0
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$10V_AH,10.1,24.634
$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
$DEVICE_SECS,20.775,163.000,396.475,0.000,0.000,30.225,42.866,238.162,0.000,0.000,17.888,4418.067,10613.979,562.334,3449.673,430.317,0.000,2156.961,0.000,2887.211,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,130670,1751
$CAP_FILE_SIZE,202030,0
$CFSIZE,260165632,204742656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,239.9,1
$GPS,180412,182707,1833.599,12434.677,40,1.1,40,-2.2