version: 66.10
glider: 176
mission: 5
dive: 198
start: 4 20 112 14 57 35
data:
$ID,176
$MISSION,5
$DIVE,198
$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,-7692.3154
$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
$GPS1,200412,144937,1814.860,12435.969,41,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.2
$GPS2,200412,145708,1814.843,12436.023,16,1.0,16,-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,172.6,46044,-13.1,-7.500
$D_GRID,5303
$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,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,59,0.00,0.00,-39.95,0.000,2,0.000,0.000,181,2671,2328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.51,-146.0,3.0,-6.0,7,107,8.68,2.22,-26.23,0.000,4,0.234,0.039,2355,1151,3527,0,0,0,0,0,0,25.42,26.15,26.53
$GC,205,-0.51,-146.0,41.6,-25.5,30,212,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2635,3527,0,0,0,0,0,0,28.83,26.13,28.83
$GC,515,-0.51,-146.0,144.6,-28.2,91,522,0.00,1.70,0.00,0.000,4,0.000,0.048,2335,3780,3527,0,0,0,0,0,0,28.83,26.22,28.83
$GC,535,-0.51,-146.0,149.7,-27.2,94,542,0.10,1.70,0.00,0.000,6,0.184,0.023,2359,2519,3527,0,0,0,0,0,0,26.15,26.48,28.83
$GC,847,-0.51,-146.0,218.4,-19.6,146,856,0.05,1.90,0.00,0.000,4,0.182,0.025,2317,1155,3527,0,0,0,0,0,0,26.62,26.44,28.83
$GC,939,-0.51,-146.0,235.9,-18.3,155,949,0.15,2.22,0.00,0.000,6,0.157,0.044,2353,2633,3527,0,0,0,0,0,0,26.06,26.34,28.83
$GC,1249,-0.51,-146.0,292.1,-16.6,186,1253,0.00,2.10,0.00,0.000,4,0.000,0.027,2353,1157,3527,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1341,-0.51,-146.0,304.3,-11.8,195,1350,0.00,2.22,0.00,0.000,6,0.000,0.044,2347,2633,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1652,-0.51,-146.0,346.7,-12.7,226,1661,0.00,2.08,0.00,0.000,4,0.000,0.027,2347,1156,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1737,-0.51,-146.0,356.1,-10.6,234,1743,0.00,2.22,0.00,0.000,6,0.000,0.045,2345,2628,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2045,-0.51,-146.0,395.6,-13.4,265,2055,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1141,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2100,-0.51,-146.0,402.0,-11.6,270,2107,0.00,2.25,0.00,0.000,6,0.000,0.045,2343,2628,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2407,-0.51,-146.0,441.4,-12.0,301,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2628,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.51,-146.0,475.2,-10.9,331,2718,0.00,2.10,0.00,0.000,4,0.000,0.024,2343,1148,3519,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2790,-0.51,-146.0,483.4,-9.4,339,2800,0.05,2.25,0.00,0.000,6,0.219,0.046,2358,2634,3519,0,0,0,0,0,0,26.25,26.32,28.83
$GC,3101,-0.51,-146.0,509.8,-8.8,370,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2634,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.51,-146.0,537.0,-9.6,400,3406,0.00,2.12,0.00,0.000,4,0.000,0.024,2358,1136,3514,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3467,-0.51,-146.0,543.0,-9.1,406,3474,0.00,2.28,0.00,0.000,6,0.000,0.045,2358,2630,3513,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3774,-0.51,-146.0,575.7,-10.9,437,3783,0.00,2.12,0.00,0.000,4,0.000,0.025,2358,1138,3511,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3806,-0.51,-146.0,579.1,-11.1,440,3815,0.00,2.25,0.00,0.000,6,0.000,0.045,2358,2630,3511,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4129,-0.51,-146.0,612.5,-9.9,466,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2630,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,-0.51,-146.0,638.7,-8.3,481,4432,0.00,2.12,0.00,0.000,4,0.000,0.026,2358,1140,3506,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4475,-0.51,-146.0,641.8,-8.0,483,4479,0.00,2.28,0.00,0.000,6,0.000,0.046,2358,2627,3506,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4782,-0.51,-146.0,665.0,-7.4,498,4785,0.00,1.73,0.00,0.000,4,0.000,0.057,2357,3772,3503,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4803,-0.51,-146.0,666.6,-7.4,499,4807,0.00,1.73,0.00,0.000,6,0.000,0.024,2358,2519,3502,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5125,-0.51,-146.0,691.5,-8.0,515,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2508,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.51,-146.0,715.1,-7.8,530,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2508,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5726,-0.51,-146.0,737.5,-7.2,545,5731,0.00,1.95,0.00,0.000,4,0.000,0.057,2357,3774,3497,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5758,-0.51,-146.0,738.9,-7.3,546,5765,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2503,3496,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6064,-0.51,-146.0,762.8,-7.7,562,6070,0.00,1.92,0.00,0.000,4,0.000,0.027,2357,1149,3495,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6097,-0.51,-146.0,764.4,-7.8,563,6104,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2633,3495,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6405,-0.51,-146.0,790.9,-8.3,579,6410,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1148,3493,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6433,-0.51,-146.0,792.6,-8.4,580,6437,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2626,3493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6740,-0.51,-146.0,817.6,-7.6,595,6746,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1143,3491,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6768,-0.51,-146.0,819.0,-7.5,596,6772,0.00,2.30,0.00,0.000,6,0.000,0.047,2357,2633,3491,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7075,-0.51,-146.0,839.9,-6.1,611,7081,0.00,2.15,0.00,0.000,4,0.000,0.026,2357,1151,3489,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7108,-0.51,-146.0,841.2,-6.1,612,7115,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2631,3489,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7416,-0.51,-146.0,861.2,-6.4,628,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2631,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7715,-0.51,-146.0,881.5,-7.0,643,7721,0.00,2.12,0.00,0.000,4,0.000,0.027,2357,1152,3486,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7739,-0.51,-146.0,882.9,-7.1,644,7743,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2626,3486,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8050,-0.51,-146.0,906.4,-7.6,660,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,-0.51,-146.0,927.9,-7.0,675,8358,0.00,2.12,0.00,0.000,4,0.000,0.026,2357,1154,3484,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8384,-0.51,-146.0,929.3,-7.0,676,8391,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2626,3484,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8690,-0.51,-146.0,950.3,-6.5,692,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,-0.51,-146.0,969.8,-6.6,707,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2626,3482,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9289,begin apogee
$GC,9295,-0.17,0.0,990.3,-7.1,722,9423,0.30,0.12,120.45,1.745,6,0.107,0.096,2465,2536,2928,0,0,0,0,0,0,26.03,24.50,23.29
$STATE,9424,end apogee,CONTROL_FINISHED_OK
$STATE,9424,begin climb
$GC,9427,0.51,146.0,995.2,0.0,728,9576,0.57,2.10,139.95,1.703,4,0.047,0.055,2698,3760,2332,0,0,0,0,0,0,24.79,23.79,22.55
$GC,9588,0.51,146.0,989.1,9.6,737,9594,0.15,2.05,0.00,0.000,6,0.198,0.024,2675,2457,2331,0,0,0,0,0,0,24.03,24.30,28.83
$GC,9909,0.51,146.0,949.0,12.1,753,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2453,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10209,0.51,146.0,911.2,12.8,768,10214,0.00,2.08,0.00,0.000,4,0.000,0.054,2675,3764,2321,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10256,0.51,146.0,905.5,13.2,770,10261,0.03,1.95,0.00,0.000,6,0.225,0.026,2677,2454,2319,0,0,0,0,0,0,25.97,26.17,28.83
$GC,10569,0.51,146.0,864.3,12.5,786,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2449,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10869,0.51,146.0,828.1,12.3,801,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2449,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11169,0.51,146.0,794.4,10.6,816,11175,0.00,2.03,0.00,0.000,4,0.000,0.054,2677,3764,2316,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11196,0.51,146.0,791.9,11.0,817,11200,0.08,1.92,0.00,0.000,6,0.232,0.024,2671,2438,2316,0,0,0,0,0,0,26.05,26.34,28.83
$GC,11508,0.51,146.0,757.0,10.7,833,11514,0.00,2.03,0.00,0.000,4,0.000,0.031,2681,1041,2315,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11557,0.51,146.0,753.0,10.5,835,11561,0.00,2.28,0.00,0.000,6,0.000,0.046,2681,2516,2314,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11864,0.51,146.0,717.5,11.3,850,11869,0.00,1.92,0.00,0.000,4,0.000,0.054,2681,3766,2314,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11911,0.51,146.0,712.3,12.0,852,11916,0.10,1.92,0.00,0.000,6,0.209,0.024,2668,2437,2313,0,0,0,0,0,0,25.99,26.40,28.83
$GC,12220,0.51,146.0,679.3,10.3,867,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2433,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12519,0.51,146.0,650.2,9.8,882,12524,0.00,2.08,0.00,0.000,4,0.000,0.054,2668,3766,2314,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12572,0.51,146.0,645.5,10.7,884,12579,0.00,1.90,0.00,0.000,6,0.000,0.022,2678,2434,2313,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12878,0.51,146.0,612.9,10.1,900,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2431,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13178,0.51,146.0,581.1,10.9,923,13187,0.00,2.08,0.00,0.000,4,0.000,0.053,2678,3764,2313,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,19800,end climb,SURFACE_DEPTH_REACHED
$STATE,19800,begin surface coast
$FINISH,0.9,1.021956
$STATE,19832,end surface coast,CONTROL_FINISHED_OK
$STATE,19832,begin surface
$SM_CCo,19910,0.00,0.000,0,0,1394,376.54
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$IRIDIUM_FIX,1812.31,12436.83,200412,090937
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.54
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,25.60
$XPDR_PINGS,0
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$10V_AH,10.1,25.779
$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,18.500,158.650,410.575,0.000,0.000,31.456,18.207,247.005,0.000,0.000,18.846,4539.728,11299.366,581.170,3492.421,417.413,0.000,2192.244,0.000,2968.461,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,95.625,1744.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.524,2334.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,133756,1809
$CAP_FILE_SIZE,201050,0
$CFSIZE,260165632,203784192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 32.7,1
$GPS,200412,203036,1813.001,12436.998,41,1.0,41,-2.1