version: 66.10
glider: 176
mission: 5
dive: 192
start: 4 19 112 5 49 11
data:
$ID,176
$MISSION,5
$DIVE,192
$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,-7684.3828
$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
$GPS1,190412,054107,1828.846,12435.092,37,1.0,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.5
$GPS2,190412,054844,1828.859,12435.135,10,1.6,10,-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,169.3,71967,-13.1,-7.500
$D_GRID,5302
$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,-40.17,0.000,2,0.000,0.000,191,2660,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.3,-7.5,7,99,8.62,1.75,-22.45,0.000,4,0.233,0.066,2341,3781,3526,0,0,0,0,0,0,25.41,26.03,26.51
$GC,126,-0.51,-146.0,20.8,-27.3,12,134,0.05,1.73,0.00,0.000,6,0.239,0.024,2353,2526,3526,0,0,0,0,0,0,26.04,26.25,28.83
$GC,438,-0.51,-146.0,131.6,-28.9,73,446,0.00,1.95,0.00,0.000,4,0.000,0.025,2353,1136,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,458,-0.51,-146.0,136.7,-26.2,76,465,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,2628,3527,0,0,0,0,0,0,28.83,26.22,28.83
$GC,773,-0.51,-146.0,217.9,-23.6,131,777,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1150,3527,0,0,0,0,0,0,28.83,26.43,28.83
$GC,824,-0.51,-146.0,228.1,-19.2,136,834,0.10,2.22,0.00,0.000,6,0.168,0.044,2362,2638,3527,0,0,0,0,0,0,26.13,26.32,28.83
$GC,1134,-0.51,-146.0,280.5,-16.0,167,1136,0.08,0.00,0.00,0.000,6,0.132,0.000,2304,2639,3527,0,0,0,0,0,0,26.63,28.83,28.83
$GC,1435,-0.51,-146.0,349.9,-23.1,197,1445,0.15,2.10,0.00,0.000,4,0.168,0.024,2353,1151,3527,0,0,0,0,0,0,26.22,26.48,28.83
$GC,1548,-0.51,-146.0,366.6,-12.2,208,1557,0.00,2.22,0.00,0.000,6,0.000,0.045,2348,2638,3527,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1858,-0.51,-146.0,412.1,-13.5,239,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2639,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,-0.51,-146.0,446.6,-10.1,269,2169,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1156,3524,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2195,-0.51,-146.0,449.8,-9.5,272,2202,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2503,-0.51,-146.0,480.5,-10.6,303,2511,0.00,2.08,0.00,0.000,4,0.000,0.025,2348,1147,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2524,-0.51,-146.0,482.9,-10.6,305,2528,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2633,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2835,-0.51,-146.0,516.1,-11.1,336,2844,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1150,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2876,-0.51,-146.0,520.5,-10.8,340,2885,0.00,2.22,0.00,0.000,6,0.000,0.047,2345,2627,3519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3186,-0.51,-146.0,555.8,-11.3,371,3189,0.00,1.73,0.00,0.000,4,0.000,0.057,2345,3776,3516,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3209,-0.51,-146.0,558.2,-11.2,373,3217,0.00,1.75,0.00,0.000,6,0.000,0.022,2345,2512,3515,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3517,-0.51,-146.0,591.4,-10.7,404,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2512,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,-0.51,-146.0,624.0,-10.3,424,3831,0.00,1.95,0.00,0.000,4,0.000,0.056,2343,3764,3511,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3903,-0.51,-146.0,631.7,-10.1,428,3906,0.00,1.67,0.00,0.000,6,0.000,0.024,2344,2521,3510,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4225,-0.51,-146.0,662.5,-9.4,444,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2515,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4524,-0.51,-146.0,688.6,-8.2,459,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2515,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.51,-146.0,712.1,-7.6,474,4829,0.00,1.95,0.00,0.000,4,0.000,0.056,2343,3756,3503,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4870,-0.51,-146.0,715.5,-8.0,476,4873,0.00,1.67,0.00,0.000,6,0.000,0.023,2344,2520,3503,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5188,-0.51,-146.0,741.2,-7.9,492,5193,0.00,1.98,0.00,0.000,4,0.000,0.028,2343,1149,3500,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5215,-0.51,-146.0,742.9,-8.0,493,5219,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2626,3501,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5527,-0.51,-146.0,767.3,-7.5,509,5530,0.00,1.73,0.00,0.000,4,0.000,0.059,2343,3763,3498,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5548,-0.51,-146.0,769.0,-7.5,510,5552,0.00,1.70,0.00,0.000,6,0.000,0.024,2343,2521,3497,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5871,-0.51,-146.0,791.9,-7.4,526,5876,0.00,1.95,0.00,0.000,4,0.000,0.057,2343,3774,3495,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5897,-0.51,-146.0,793.4,-7.5,527,5901,0.00,1.70,0.00,0.000,6,0.000,0.024,2344,2523,3495,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6209,-0.51,-146.0,818.5,-8.1,543,6215,0.00,1.98,0.00,0.000,4,0.000,0.028,2343,1153,3494,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6243,-0.51,-146.0,820.1,-8.1,544,6250,0.00,2.28,0.00,0.000,6,0.000,0.049,2343,2629,3494,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6549,-0.51,-146.0,846.8,-8.3,560,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2629,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,-0.51,-146.0,870.1,-7.5,575,6855,0.00,2.15,0.00,0.000,4,0.000,0.028,2343,1155,3490,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6898,-0.51,-146.0,873.2,-7.6,577,6902,0.00,2.25,0.00,0.000,6,0.000,0.049,2343,2627,3490,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7204,-0.51,-146.0,894.7,-6.6,592,7208,0.00,1.73,0.00,0.000,4,0.000,0.057,2343,3763,3487,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7229,-0.51,-146.0,896.0,-6.4,593,7232,0.00,1.73,0.00,0.000,6,0.000,0.025,2344,2516,3486,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7546,-0.51,-146.0,915.7,-6.4,609,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2503,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,-0.51,-146.0,936.3,-7.3,624,7851,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3763,3484,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7879,-0.51,-146.0,937.7,-7.2,625,7887,0.00,1.73,0.00,0.000,6,0.000,0.026,2343,2504,3484,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8186,-0.51,-146.0,961.2,-7.1,641,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2505,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8486,-0.51,-146.0,982.0,-6.7,656,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2505,3483,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8604,begin apogee
$GC,8609,-0.17,0.0,990.1,-6.7,662,8734,0.35,0.00,120.30,1.744,6,0.108,0.000,2467,2504,2929,0,0,0,0,0,0,25.94,28.83,23.34
$STATE,8736,end apogee,CONTROL_FINISHED_OK
$STATE,8736,begin climb
$GC,8738,0.51,146.0,993.7,0.0,668,8887,0.57,2.20,140.32,1.703,4,0.048,0.053,2701,3769,2332,0,0,0,0,0,0,24.77,23.82,22.60
$GC,8904,0.51,146.0,985.6,10.7,677,8909,0.12,2.10,0.00,0.000,6,0.177,0.025,2677,2456,2330,0,0,0,0,0,0,24.12,24.42,28.83
$GC,9222,0.51,146.0,941.9,13.0,693,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2452,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9523,0.51,146.0,903.5,12.5,708,9529,0.00,2.05,0.00,0.000,4,0.000,0.030,2687,1052,2320,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9550,0.51,146.0,900.9,12.8,709,9555,0.08,2.25,0.00,0.000,6,0.194,0.046,2671,2518,2318,0,0,0,0,0,0,25.87,26.01,28.83
$GC,9857,0.51,146.0,864.8,11.8,724,9862,0.00,1.92,0.00,0.000,4,0.000,0.055,2671,3765,2317,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9918,0.51,146.0,856.7,13.1,727,9922,0.00,1.92,0.00,0.000,6,0.000,0.025,2680,2455,2317,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10239,0.51,146.0,815.8,12.3,743,10245,0.00,2.05,0.00,0.000,4,0.000,0.031,2689,1044,2316,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10272,0.51,146.0,813.3,12.2,744,10280,0.08,2.28,0.00,0.000,6,0.197,0.044,2674,2520,2315,0,0,0,0,0,0,25.98,26.12,28.83
$GC,10580,0.51,146.0,775.0,12.1,760,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2520,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10879,0.51,146.0,739.9,11.8,775,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2520,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11181,0.51,146.0,704.6,11.4,790,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2521,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11479,0.51,146.0,672.8,9.9,805,11483,0.00,1.92,0.00,0.000,4,0.000,0.054,2674,3771,2313,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11535,0.51,146.0,666.4,11.0,808,11539,0.00,1.90,0.00,0.000,6,0.000,0.024,2683,2439,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11854,0.51,146.0,635.8,9.5,824,11859,0.00,2.00,0.00,0.000,4,0.000,0.031,2694,1059,2313,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11885,0.51,146.0,633.8,9.8,825,11893,0.10,2.25,0.00,0.000,6,0.181,0.045,2670,2523,2313,0,0,0,0,0,0,25.91,26.13,28.83
$GC,12192,0.51,146.0,602.4,10.0,841,12196,0.00,1.92,0.00,0.000,4,0.000,0.053,2670,3792,2312,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12254,0.51,146.0,594.9,12.4,846,12263,0.00,1.92,0.00,0.000,6,0.000,0.024,2679,2434,2312,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12563,0.51,146.0,560.3,11.6,877,12573,0.00,2.05,0.00,0.000,4,0.000,0.052,2680,3765,2312,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12586,0.51,146.0,557.4,12.5,879,12595,0.10,1.90,0.00,0.000,6,0.207,0.023,2667,2433,2312,0,0,0,0,0,0,26.01,26.42,28.83
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$GC,14951,0.54,175.9,332.7,9.4,1114,14960,0.00,1.90,0.00,0.000,4,0.000,0.050,2693,3766,2206,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,18395,end climb,SURFACE_DEPTH_REACHED
$STATE,18395,begin surface coast
$FINISH,0.7,1.020412
$STATE,18436,end surface coast,CONTROL_FINISHED_OK
$STATE,18437,begin surface
$SM_CCo,18452,3.42,0.158,0,0,1397,375.06
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$IRIDIUM_FIX,1821.40,12433.09,190412,000015
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.6,39.942
$10V_AH,10.1,25.011
$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,18.425,142.075,417.475,3.425,0.000,27.917,47.838,238.446,0.000,0.000,13.354,4138.059,10588.462,565.241,3205.826,388.669,0.000,2047.809,0.000,2688.897,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,65.790,1744.200,158.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1120.740,2159.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,120523,1647
$CAP_FILE_SIZE,186238,0
$CFSIZE,260165632,204447744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,290.1,1
$GPS,190412,105801,1826.759,12435.209,41,1.4,41,-2.1