version: 66.10
glider: 176
mission: 5
dive: 146
start: 4 8 112 18 51 16
data:
$ID,176
$MISSION,5
$DIVE,146
$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,-7612.4194
$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
$GPS1,080412,184306,2010.929,12411.242,28,1.0,28,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.5
$GPS2,080412,185050,2010.876,12411.288,13,0.9,13,-2.5
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,50.3,16955,-13.1,-7.500
$D_GRID,5509
$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,16,-0.51,-146.0,0.0,0.0,0,66,0.00,0.00,-47.95,0.000,2,0.000,0.000,182,2497,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-146.0,3.5,-7.4,8,106,8.82,1.98,-18.80,0.000,4,0.240,0.065,2337,3772,3528,0,0,0,0,0,0,25.44,25.96,26.41
$GC,128,-0.51,-146.0,19.0,-31.7,15,135,0.05,1.75,0.00,0.000,6,0.239,0.022,2348,2506,3528,0,0,0,0,0,0,25.97,26.18,28.83
$GC,440,-0.51,-146.0,102.8,-27.2,76,446,0.00,1.95,0.00,0.000,4,0.000,0.049,2339,3778,3529,0,0,0,0,0,0,28.83,26.10,28.83
$GC,463,-0.51,-146.0,109.6,-28.3,80,470,0.00,1.73,0.00,0.000,6,0.000,0.024,2338,2500,3529,0,0,0,0,0,0,28.83,26.40,28.83
$GC,773,-0.51,-146.0,189.7,-22.0,141,781,0.03,1.92,0.00,0.000,4,0.312,0.025,2350,1146,3529,0,0,0,0,0,0,26.44,26.36,28.83
$GC,870,-0.51,-146.0,205.2,-13.7,156,879,0.00,2.28,0.00,0.000,6,0.000,0.047,2340,2641,3529,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1179,-0.51,-146.0,264.5,-18.7,187,1188,0.00,2.15,0.00,0.000,4,0.000,0.026,2341,1143,3529,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1221,-0.51,-146.0,271.6,-17.3,191,1231,0.08,2.25,0.00,0.000,6,0.194,0.044,2353,2632,3529,0,0,0,0,0,0,26.16,26.31,28.83
$GC,1532,-0.51,-146.0,322.2,-16.7,222,1541,0.00,2.10,0.00,0.000,4,0.000,0.024,2353,1153,3529,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1627,-0.51,-146.0,334.4,-11.8,231,1634,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1934,-0.51,-146.0,382.2,-15.3,262,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2237,-0.51,-146.0,426.1,-13.5,292,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2629,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-0.51,-146.0,466.1,-12.7,323,2553,0.00,2.08,0.00,0.000,4,0.000,0.026,2348,1157,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2629,-0.51,-146.0,475.5,-10.9,331,2636,0.00,2.22,0.00,0.000,6,0.000,0.045,2347,2629,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2936,-0.51,-146.0,514.9,-12.9,362,2945,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1148,3525,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3007,-0.51,-146.0,523.3,-11.0,369,3018,0.00,2.25,0.00,0.000,6,0.000,0.046,2345,2629,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3318,-0.51,-146.0,559.4,-11.9,400,3327,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1146,3523,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3341,-0.51,-146.0,562.1,-12.3,402,3349,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2631,3523,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3649,-0.51,-146.0,598.0,-11.6,433,3653,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1154,3521,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3703,-0.51,-146.0,602.6,-11.4,436,3710,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2633,3520,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4011,-0.51,-146.0,637.4,-10.8,452,4017,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1144,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4090,-0.51,-146.0,645.3,-9.8,456,4096,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2628,3518,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4410,-0.51,-146.0,680.4,-11.4,472,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-0.51,-146.0,714.7,-11.2,487,4716,0.00,2.10,0.00,0.000,4,0.000,0.026,2344,1155,3514,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4743,-0.51,-146.0,717.0,-11.2,488,4750,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2634,3514,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5050,-0.51,-146.0,752.2,-11.2,504,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2635,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.51,-146.0,785.2,-11.0,519,5357,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1149,3509,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5418,-0.51,-146.0,791.5,-10.7,522,5422,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2626,3509,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5727,-0.51,-146.0,823.7,-9.9,537,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6025,-0.51,-146.0,851.5,-9.2,552,6031,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1154,3505,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6058,-0.51,-146.0,853.3,-9.1,553,6067,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2634,3505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6366,-0.51,-146.0,880.6,-8.2,569,6372,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1151,3503,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6418,-0.51,-146.0,883.8,-8.4,571,6425,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2630,3503,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6726,-0.51,-146.0,908.2,-7.4,587,6731,0.00,2.15,0.00,0.000,4,0.000,0.027,2344,1151,3502,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6760,-0.51,-146.0,909.8,-7.5,588,6766,0.00,2.28,0.00,0.000,6,0.000,0.048,2343,2628,3502,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7066,-0.51,-146.0,931.6,-6.7,604,7072,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1152,3500,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7108,-0.51,-146.0,934.4,-6.8,606,7112,0.00,2.28,0.00,0.000,6,0.000,0.048,2344,2626,3500,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7423,-0.51,-146.0,954.5,-6.2,622,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,-0.51,-146.0,972.5,-5.9,637,7726,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1149,3497,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7764,-0.51,-146.0,974.9,-5.9,639,7768,0.00,2.30,0.00,0.000,6,0.000,0.048,2344,2633,3497,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,8034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8034,begin apogee
$GC,8041,-0.17,0.0,990.2,-5.6,653,8170,0.32,0.12,123.15,1.743,6,0.111,0.061,2459,2534,2928,0,0,0,0,0,0,26.01,24.53,23.42
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8174,0.51,146.0,991.6,0.0,659,8321,0.60,2.40,139.50,1.701,4,0.051,0.031,2707,1061,2332,0,0,0,0,0,0,24.78,23.89,22.71
$GC,8403,0.51,146.0,972.7,14.7,671,8408,0.15,2.38,0.00,0.000,6,0.184,0.047,2671,2517,2325,0,0,0,0,0,0,24.60,24.84,28.83
$GC,8716,0.51,146.0,926.1,14.2,687,8722,0.00,1.98,0.00,0.000,4,0.000,0.056,2671,3773,2322,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8755,0.51,146.0,919.8,14.6,689,8759,0.05,1.95,0.00,0.000,6,0.269,0.025,2671,2444,2320,0,0,0,0,0,0,25.71,25.91,28.83
$GC,9078,0.51,146.0,877.1,12.7,705,9081,0.00,2.05,0.00,0.000,4,0.000,0.032,2681,1052,2319,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9099,0.51,146.0,874.2,12.7,706,9106,0.05,2.30,0.00,0.000,6,0.230,0.046,2670,2522,2318,0,0,0,0,0,0,25.89,25.98,28.83
$GC,9419,0.51,146.0,835.8,11.8,722,9425,0.00,2.22,0.00,0.000,4,0.000,0.031,2681,1049,2317,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9447,0.51,146.0,833.5,11.7,723,9452,0.05,2.28,0.00,0.000,6,0.224,0.047,2670,2517,2317,0,0,0,0,0,0,25.97,26.06,28.83
$GC,9756,0.51,146.0,795.5,12.5,738,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2517,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10054,0.51,146.0,758.9,11.9,753,10059,0.00,1.92,0.00,0.000,4,0.000,0.055,2670,3764,2316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10077,0.51,146.0,756.4,12.1,754,10081,0.00,1.90,0.00,0.000,6,0.000,0.025,2679,2446,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10389,0.51,146.0,715.5,12.9,770,10395,0.00,2.05,0.00,0.000,4,0.000,0.054,2679,3763,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10422,0.51,146.0,712.7,13.2,771,10429,0.10,1.90,0.00,0.000,6,0.220,0.024,2667,2446,2315,0,0,0,0,0,0,25.94,26.34,28.83
$GC,10730,0.51,146.0,672.1,12.5,787,10733,0.00,2.05,0.00,0.000,4,0.000,0.054,2667,3765,2314,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10779,0.51,146.0,666.6,12.4,789,10782,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2445,2313,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11093,0.51,146.0,630.7,10.2,805,11098,0.00,2.00,0.00,0.000,4,0.000,0.032,2687,1055,2313,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11145,0.51,146.0,627.1,9.5,807,11152,0.10,2.25,0.00,0.000,6,0.188,0.046,2664,2520,2312,0,0,0,0,0,0,25.93,26.15,28.83
$GC,11451,0.51,146.0,601.2,7.5,823,11456,0.00,2.17,0.00,0.000,4,0.000,0.032,2674,1048,2312,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11481,0.51,147.0,599.0,7.5,825,11491,0.00,2.28,0.00,0.000,6,0.000,0.045,2674,2526,2312,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11792,0.51,147.0,572.4,9.3,856,11801,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3766,2312,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11823,0.51,147.0,569.1,10.1,859,11833,0.08,1.90,0.00,0.000,6,0.233,0.024,2670,2434,2312,0,0,0,0,0,0,26.12,26.41,28.83
$GC,12134,0.51,147.0,537.6,10.7,890,12138,0.00,2.08,0.00,0.000,4,0.000,0.053,2670,3774,2311,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12185,0.51,147.0,531.2,12.6,895,12189,0.00,1.90,0.00,0.000,6,0.000,0.023,2680,2442,2311,0,0,0,0,0,0,28.83,26.44,28.83
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$STATE,18264,end climb,SURFACE_DEPTH_REACHED
$STATE,18264,begin surface coast
$FINISH,1.2,1.023398
$STATE,18295,end surface coast,CONTROL_FINISHED_OK
$STATE,18295,begin surface
$SM_CCo,18312,38.70,0.131,0,0,1398,375.06
$SM_GC,1.99,6.45,1.75,38.70,0.039,0.020,0.131,185,2470,1398,-7.15,0.28,375.06,0,0,0,0,0,0,26.37,26.55,25.93
$IRIDIUM_FIX,2004.18,12410.06,080412,131337
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.71
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.7,31.813
$10V_AH,10.2,19.164
$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,18.475,182.300,335.700,38.700,0.000,27.345,28.282,263.005,0.000,0.000,16.497,4327.158,10080.647,586.147,3373.953,419.591,0.000,2166.782,0.000,2886.375,0.000,0.541,0.000
$DEVICE_MAMPS,316.710,65.025,1742.670,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.785,2170.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,127068,1713
$CAP_FILE_SIZE,196518,0
$CFSIZE,260165632,209379328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,101.1,1
$GPS,080412,235807,2012.171,12414.866,28,1.8,28,-2.5