version: 66.10
glider: 176
mission: 5
dive: 148
start: 4 9 112 5 31 15
data:
$ID,176
$MISSION,5
$DIVE,148
$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,-7615.0278
$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
$GPS1,090412,052330,2013.772,12416.540,41,1.1,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,090412,053038,2013.772,12416.514,11,1.5,11,-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,55.8,6470,-13.9,-7.500
$D_GRID,5583
$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,-132.1,0.0,0.0,0,65,0.00,0.00,-45.85,0.000,2,0.000,0.000,191,2655,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.53,-146.0,3.4,-7.0,8,104,8.73,1.73,-20.25,0.000,4,0.239,0.066,2331,3779,3526,0,0,0,0,0,0,25.44,25.96,26.44
$GC,147,-0.53,-146.0,24.1,-33.8,19,154,0.05,1.75,0.00,0.000,6,0.238,0.023,2342,2516,3525,0,0,0,0,0,0,25.98,26.20,28.83
$GC,458,-0.53,-146.0,112.6,-23.4,80,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2511,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,767,-0.53,-146.0,178.0,-18.1,141,775,0.00,1.92,0.00,0.000,4,0.000,0.024,2342,1145,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,862,-0.53,-146.0,191.5,-12.5,159,869,0.00,2.25,0.00,0.000,6,0.000,0.044,2333,2633,3527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1176,-0.53,-146.0,253.9,-19.7,195,1181,0.03,2.12,0.00,0.000,4,0.310,0.024,2344,1146,3527,0,0,0,0,0,0,26.54,26.45,28.83
$GC,1218,-0.53,-146.0,261.1,-17.3,199,1227,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2630,3527,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1528,-0.53,-146.0,315.0,-17.5,230,1537,0.00,2.12,0.00,0.000,4,0.000,0.026,2334,1147,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1582,-0.53,-146.0,322.5,-14.3,235,1589,0.00,2.28,0.00,0.000,6,0.000,0.045,2332,2626,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1892,-0.53,-146.0,369.7,-14.9,266,1901,0.03,1.70,0.00,0.000,4,0.311,0.051,2337,3767,3527,0,0,0,0,0,0,26.60,26.26,28.83
$GC,1913,-0.53,-146.0,373.1,-14.8,268,1917,0.00,1.73,0.00,0.000,6,0.000,0.022,2337,2491,3527,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2225,-0.53,-146.0,415.9,-14.4,299,2234,0.00,1.90,0.00,0.000,4,0.000,0.026,2338,1145,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2266,-0.53,-146.0,421.7,-14.1,303,2276,0.05,2.25,0.00,0.000,6,0.228,0.044,2346,2633,3526,0,0,0,0,0,0,26.25,26.34,28.83
$GC,2577,-0.53,-146.0,461.0,-12.0,334,2585,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1155,3524,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2641,-0.53,-146.0,467.7,-10.1,340,2648,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2635,3524,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2948,-0.53,-146.0,500.3,-10.5,371,2951,0.00,1.70,0.00,0.000,4,0.000,0.054,2339,3775,3522,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2982,-0.53,-146.0,503.6,-10.8,374,2989,0.00,1.75,0.00,0.000,6,0.000,0.022,2339,2488,3521,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3288,-0.53,-146.0,538.1,-11.1,405,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2487,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.53,-146.0,571.4,-10.8,435,3599,0.00,1.88,0.00,0.000,4,0.000,0.026,2339,1156,3518,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3662,-0.53,-146.0,579.0,-10.2,442,3671,0.00,2.25,0.00,0.000,6,0.000,0.045,2334,2634,3517,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3985,-0.53,-146.0,612.8,-10.5,468,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-0.53,-146.0,644.0,-10.5,483,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2635,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4582,-0.53,-146.0,676.4,-11.0,498,4588,0.00,2.12,0.00,0.000,4,0.000,0.027,2334,1161,3510,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4672,-0.53,-146.0,684.7,-10.3,502,4682,0.05,2.25,0.00,0.000,6,0.220,0.047,2347,2629,3509,0,0,0,0,0,0,26.18,26.27,28.83
$GC,4983,-0.53,-146.0,716.0,-9.7,518,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5282,-0.53,-146.0,744.5,-9.5,533,5288,0.00,2.12,0.00,0.000,4,0.000,0.027,2347,1153,3505,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5349,-0.53,-146.0,749.9,-9.1,536,5354,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2631,3505,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5657,-0.53,-146.0,775.6,-7.7,551,5663,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1153,3503,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5685,-0.53,-146.0,777.3,-7.7,552,5689,0.00,2.25,0.00,0.000,6,0.000,0.048,2347,2626,3503,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5997,-0.53,-146.0,800.5,-7.2,568,6000,0.00,1.75,0.00,0.000,4,0.000,0.058,2343,3763,3501,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6021,-0.53,-146.0,802.1,-7.3,569,6024,0.00,1.75,0.00,0.000,6,0.000,0.024,2343,2506,3500,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6339,-0.53,-146.0,827.1,-8.3,585,6344,0.00,1.95,0.00,0.000,4,0.000,0.057,2337,3769,3499,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6371,-0.53,-146.0,828.9,-8.5,586,6378,0.00,1.75,0.00,0.000,6,0.000,0.024,2337,2506,3498,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6679,-0.53,-146.0,861.3,-10.6,602,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2505,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6979,-0.53,-146.0,890.9,-9.2,617,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2505,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7279,-0.53,-146.0,917.5,-8.5,632,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2505,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,-0.53,-146.0,943.8,-8.9,647,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2505,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7880,-0.53,-146.0,970.5,-8.8,662,7885,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3776,3492,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7907,-0.53,-146.0,972.3,-8.8,663,7911,0.05,1.75,0.00,0.000,6,0.211,0.024,2346,2505,3491,0,0,0,0,0,0,26.38,26.58,28.83
$STATE,8136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8136,begin apogee
$GC,8141,-0.17,0.0,991.3,-7.8,675,8268,0.32,0.00,122.35,1.746,6,0.112,0.000,2462,2483,2929,0,0,0,0,0,0,25.99,28.83,23.39
$STATE,8271,end apogee,CONTROL_FINISHED_OK
$STATE,8271,begin climb
$GC,8273,0.53,146.0,996.3,0.0,681,8421,0.60,2.25,140.57,1.707,4,0.046,0.056,2708,3751,2332,0,0,0,0,0,0,24.77,23.81,22.68
$GC,8454,0.53,146.0,986.3,12.5,691,8461,0.17,2.03,0.00,0.000,6,0.198,0.026,2678,2455,2329,0,0,0,0,0,0,24.24,24.56,28.83
$GC,8774,0.53,146.0,942.8,13.9,707,8780,0.00,2.08,0.00,0.000,4,0.000,0.031,2688,1057,2322,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8813,0.53,146.0,937.7,13.3,709,8820,0.08,2.30,0.00,0.000,6,0.201,0.047,2673,2519,2320,0,0,0,0,0,0,25.59,25.74,28.83
$GC,9136,0.53,146.0,895.8,12.9,725,9141,0.00,1.95,0.00,0.000,4,0.000,0.054,2673,3767,2319,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9174,0.53,146.0,890.1,13.3,727,9179,0.00,1.92,0.00,0.000,6,0.000,0.024,2682,2438,2319,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9495,0.53,146.0,846.8,13.6,743,9500,0.00,2.03,0.00,0.000,4,0.000,0.031,2693,1054,2318,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9526,0.53,146.0,844.3,13.3,744,9534,0.10,2.28,0.00,0.000,6,0.190,0.046,2670,2523,2316,0,0,0,0,0,0,25.82,26.04,28.83
$GC,9835,0.53,146.0,805.7,11.4,760,9840,0.00,1.90,0.00,0.000,4,0.000,0.055,2670,3774,2316,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9942,0.53,146.0,792.6,13.2,765,9946,0.00,1.92,0.00,0.000,6,0.000,0.025,2679,2444,2316,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10248,0.53,146.0,755.9,11.7,780,10254,0.00,2.08,0.00,0.000,4,0.000,0.054,2679,3764,2314,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10276,0.53,146.0,753.4,11.7,781,10281,0.08,1.90,0.00,0.000,6,0.235,0.024,2675,2445,2315,0,0,0,0,0,0,26.03,26.32,28.83
$GC,10589,0.53,146.0,715.2,11.8,797,10593,0.00,2.03,0.00,0.000,4,0.000,0.032,2684,1055,2314,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10663,0.53,146.0,708.2,11.3,800,10670,0.00,2.28,0.00,0.000,6,0.000,0.047,2685,2527,2314,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10971,0.53,146.0,669.8,12.2,816,10977,0.00,2.17,0.00,0.000,4,0.000,0.031,2696,1058,2313,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11018,0.53,146.0,665.0,12.1,818,11023,0.10,2.25,0.00,0.000,6,0.184,0.045,2672,2518,2312,0,0,0,0,0,0,25.91,26.13,28.83
$GC,11325,0.53,146.0,627.9,11.5,833,11331,0.00,1.92,0.00,0.000,4,0.000,0.054,2671,3777,2312,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11379,0.53,146.0,623.0,11.7,835,11386,0.00,1.92,0.00,0.000,6,0.000,0.024,2681,2432,2312,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11685,0.53,146.0,586.3,10.4,857,11694,0.00,2.08,0.00,0.000,4,0.000,0.053,2681,3776,2312,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11757,0.53,146.0,577.2,13.1,864,11767,0.10,1.92,0.00,0.000,6,0.214,0.023,2670,2435,2312,0,0,0,0,0,0,25.98,26.40,28.83
$GC,12067,0.53,146.0,549.2,7.9,895,12076,0.00,2.00,0.00,0.000,4,0.000,0.032,2679,1054,2311,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12142,0.53,146.0,543.5,8.0,902,12149,0.00,2.25,0.00,0.000,6,0.000,0.046,2679,2517,2311,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12450,0.53,146.0,514.0,9.5,933,12458,0.00,2.15,0.00,0.000,4,0.000,0.033,2690,1049,2311,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12493,0.53,146.0,510.5,8.3,937,12501,0.05,2.28,0.00,0.000,6,0.160,0.044,2673,2512,2310,0,0,0,0,0,0,25.93,26.14,28.83
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$STATE,18647,end climb,SURFACE_DEPTH_REACHED
$STATE,18647,begin surface coast
$FINISH,0.9,1.016516
$STATE,18695,end surface coast,CONTROL_FINISHED_OK
$STATE,18695,begin surface
$SM_CCo,18710,37.83,0.131,0,0,1396,375.06
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$IRIDIUM_FIX,2001.88,12415.14,090412,000014
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,9.42694
$TCM_TEMP,24.10
$XPDR_PINGS,0
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$10V_AH,10.2,19.419
$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,17.950,166.875,339.200,37.825,0.000,30.269,26.500,228.950,0.000,0.000,14.286,4520.317,10220.354,584.391,3440.091,394.601,0.000,2190.028,0.000,2966.355,0.000,0.541,0.000
$DEVICE_MAMPS,311.355,65.790,1745.730,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1224.893,2234.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329444
$DATA_FILE_SIZE,133848,1795
$CAP_FILE_SIZE,197652,0
$CFSIZE,260165632,209158144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 50.2,1
$GPS,090412,104454,2016.156,12419.545,38,1.8,38,-2.5