version: 66.10
glider: 176
mission: 5
dive: 190
start: 4 18 112 18 35 10
data:
$ID,176
$MISSION,5
$DIVE,190
$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,-7681.6816
$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
$GPS1,180412,182707,1833.599,12434.677,40,1.1,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.0
$GPS2,180412,183443,1833.522,12434.648,16,1.1,33,-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,164.4,80606,-13.1,-7.500
$D_GRID,5455
$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,-40.25,0.000,2,0.000,0.000,184,2700,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.3,-7.7,7,98,8.68,0.00,-22.15,0.000,6,0.234,0.000,2347,2700,3527,0,0,0,0,0,0,25.43,28.83,26.53
$GC,404,-0.51,-146.0,123.7,-27.5,70,427,0.00,2.25,0.00,0.000,4,0.000,0.028,2348,1156,3528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,565,-0.51,-146.0,154.5,-15.6,98,573,0.08,2.22,0.00,0.000,6,0.194,0.044,2355,2640,3528,0,0,0,0,0,0,26.13,26.29,28.83
$GC,881,-0.51,-146.0,219.7,-18.5,150,890,0.00,2.10,0.00,0.000,4,0.000,0.027,2355,1155,3528,0,0,0,0,0,0,28.83,26.44,28.83
$GC,923,-0.51,-146.0,226.8,-17.0,154,932,0.00,2.22,0.00,0.000,6,0.000,0.045,2346,2631,3528,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1232,-0.51,-146.0,282.5,-19.7,185,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2631,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1535,-0.51,-146.0,339.5,-18.2,215,1544,0.00,2.08,0.00,0.000,4,0.000,0.028,2346,1155,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1638,-0.51,-146.0,354.2,-12.5,225,1648,0.10,2.22,0.00,0.000,6,0.159,0.042,2364,2641,3529,0,0,0,0,0,0,26.22,26.38,28.83
$GC,1948,-0.51,-146.0,394.7,-12.5,256,1952,0.08,1.67,0.00,0.000,4,0.131,0.049,2295,3777,3527,0,0,0,0,0,0,26.67,26.29,28.83
$GC,1979,-0.51,-146.0,399.7,-14.8,259,1984,0.20,1.67,0.00,0.000,6,0.144,0.022,2356,2490,3527,0,0,0,0,0,0,26.10,26.62,28.83
$GC,2284,-0.51,-146.0,438.3,-11.5,289,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2588,-0.51,-146.0,468.7,-8.9,319,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-0.51,-146.0,496.4,-9.4,350,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.51,-146.0,528.0,-11.0,381,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3508,-0.51,-146.0,559.2,-10.0,411,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.51,-146.0,588.7,-9.0,442,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2486,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4116,-0.51,-146.0,612.9,-7.6,464,4121,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3765,3512,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4147,-0.51,-146.0,614.5,-7.6,465,4155,0.00,1.73,0.00,0.000,6,0.000,0.023,2356,2489,3511,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4455,-0.51,-146.0,637.9,-7.5,481,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2489,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4755,-0.51,-146.0,660.8,-7.7,496,4761,0.00,1.98,0.00,0.000,4,0.000,0.056,2356,3774,3507,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4807,-0.51,-146.0,664.0,-7.9,498,4815,0.00,1.75,0.00,0.000,6,0.000,0.023,2356,2487,3505,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5115,-0.51,-146.0,690.7,-8.4,514,5120,0.00,1.90,0.00,0.000,4,0.000,0.028,2356,1152,3503,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5143,-0.51,-146.0,692.5,-8.6,515,5147,0.00,2.25,0.00,0.000,6,0.000,0.046,2356,2636,3504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5452,-0.51,-146.0,719.0,-8.2,530,5457,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1154,3502,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5489,-0.51,-146.0,722.2,-8.2,532,5495,0.00,2.28,0.00,0.000,6,0.000,0.046,2356,2633,3502,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5810,-0.51,-146.0,748.6,-8.3,548,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6109,-0.51,-146.0,774.0,-8.5,563,6115,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1148,3497,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6157,-0.51,-146.0,777.3,-8.5,565,6161,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2627,3497,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6470,-0.51,-146.0,805.0,-8.7,581,6476,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1144,3495,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6497,-0.51,-146.0,806.7,-8.6,582,6502,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2627,3495,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6805,-0.51,-146.0,832.8,-8.1,597,6810,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1146,3494,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6833,-0.51,-146.0,834.5,-8.4,598,6837,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3494,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7140,-0.51,-146.0,859.7,-8.0,613,7146,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1143,3492,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7162,-0.51,-146.0,861.4,-8.0,614,7166,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2644,3492,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7482,-0.51,-146.0,884.4,-6.9,630,7487,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1151,3490,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7508,-0.51,-146.0,885.9,-7.0,631,7512,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2626,3489,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7818,-0.51,-146.0,906.1,-6.3,646,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8115,-0.51,-146.0,924.7,-6.1,661,8121,0.00,2.15,0.00,0.000,4,0.000,0.026,2356,1144,3487,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8155,-0.51,-146.0,927.1,-6.1,663,8161,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2629,3487,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8476,-0.51,-146.0,946.2,-6.0,679,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2630,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8776,-0.51,-146.0,964.6,-6.2,694,8781,0.00,2.12,0.00,0.000,4,0.000,0.026,2356,1156,3484,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8803,-0.51,-146.0,965.9,-6.3,695,8807,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2632,3485,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9111,-0.51,-146.0,986.8,-6.9,710,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2633,3484,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9168,begin apogee
$GC,9173,-0.17,0.0,990.9,-6.8,713,9301,0.30,0.12,121.07,1.746,6,0.106,0.096,2465,2540,2928,0,0,0,0,0,0,26.04,24.51,23.32
$STATE,9302,end apogee,CONTROL_FINISHED_OK
$STATE,9302,begin climb
$GC,9304,0.51,146.0,995.2,0.0,719,9452,0.60,2.47,140.77,1.707,4,0.047,0.032,2716,1062,2332,0,0,0,0,0,0,24.78,23.88,22.59
$GC,9468,0.51,146.0,988.5,9.9,728,9473,0.17,2.42,0.00,0.000,6,0.172,0.047,2674,2513,2329,0,0,0,0,0,0,24.10,24.28,28.83
$GC,9782,0.51,146.0,945.5,13.8,744,9787,0.00,1.95,0.00,0.000,4,0.000,0.057,2673,3764,2323,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9849,0.51,146.0,936.2,15.2,747,9852,0.00,1.92,0.00,0.000,6,0.000,0.025,2681,2454,2322,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10161,0.51,146.0,889.0,14.9,763,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2449,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10462,0.51,146.0,846.0,14.0,778,10468,0.00,2.03,0.00,0.000,4,0.000,0.053,2680,3758,2318,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10509,0.51,146.0,839.8,14.5,780,10513,0.10,1.90,0.00,0.000,6,0.216,0.024,2668,2437,2318,0,0,0,0,0,0,25.88,26.26,28.83
$GC,10822,0.51,146.0,800.3,11.5,796,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2432,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11121,0.51,146.0,767.5,11.0,811,11127,0.00,2.08,0.00,0.000,4,0.000,0.054,2668,3765,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11143,0.51,146.0,765.0,11.1,812,11148,0.00,1.92,0.00,0.000,6,0.000,0.024,2677,2450,2316,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11462,0.51,146.0,725.1,12.8,828,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2446,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,0.51,146.0,686.5,12.8,843,11766,0.00,2.03,0.00,0.000,4,0.000,0.030,2688,1044,2314,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11781,0.51,146.0,684.1,12.6,844,11787,0.08,2.28,0.00,0.000,6,0.196,0.046,2673,2522,2314,0,0,0,0,0,0,25.98,26.12,28.83
$GC,12103,0.51,146.0,647.3,11.4,860,12109,0.00,2.12,0.00,0.000,4,0.000,0.030,2683,1055,2314,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12129,0.51,146.0,645.2,11.3,861,12133,0.00,2.25,0.00,0.000,6,0.000,0.045,2683,2525,2313,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12441,0.51,146.0,610.2,10.4,877,12447,0.00,1.90,0.00,0.000,4,0.000,0.054,2683,3770,2313,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12504,0.51,146.0,602.7,12.1,880,12509,0.10,1.90,0.00,0.000,6,0.211,0.022,2670,2445,2313,0,0,0,0,0,0,26.00,26.42,28.83
$GC,12817,0.51,146.0,572.6,8.9,910,12825,0.00,2.03,0.00,0.000,4,0.000,0.031,2680,1048,2313,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12859,0.51,146.0,569.1,8.1,914,12868,0.00,2.25,0.00,0.000,6,0.000,0.044,2680,2520,2313,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13168,0.51,146.0,542.6,7.7,945,13177,0.00,2.17,0.00,0.000,4,0.000,0.031,2691,1052,2313,0,0,0,0,0,0,28.83,26.25,28.83
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$STATE,19369,end climb,SURFACE_DEPTH_REACHED
$STATE,19369,begin surface coast
$FINISH,0.8,1.022177
$STATE,19426,end surface coast,CONTROL_FINISHED_OK
$STATE,19426,begin surface
$SM_CCo,19502,0.00,0.000,0,0,1379,380.21
$SM_GC,1.92,6.22,0.15,0.00,0.023,0.077,0.000,179,2689,1379,-7.14,-0.23,380.21,0,0,0,0,0,0,26.50,26.53,28.83
$IRIDIUM_FIX,1832.77,12435.67,180412,131340
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.6,39.564
$10V_AH,10.1,24.763
$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,18.575,167.550,399.675,0.000,0.000,32.335,20.474,236.558,0.000,0.000,35.783,4523.159,10949.533,578.115,3448.948,426.340,0.000,2198.910,0.000,2929.081,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,95.625,1746.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.866,2303.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,133757,1795
$CAP_FILE_SIZE,201779,0
$CFSIZE,260165632,204632064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,271.5,1
$GPS,190412,000107,1831.285,12434.796,25,1.5,25,-2.2