version: 66.10
glider: 176
mission: 5
dive: 176
start: 4 15 112 14 2 52
data:
$ID,176
$MISSION,5
$DIVE,176
$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,-7655.4492
$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
$GPS1,150412,135506,1907.415,12431.626,36,0.9,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.9
$GPS2,150412,140225,1907.374,12431.692,11,0.9,16,-2.3
$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,175.0,143415,-13.1,-7.500
$D_GRID,5200
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.30,0.000,2,0.000,0.000,181,2660,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.51,-146.0,3.4,-7.3,7,100,8.65,1.75,-21.40,0.000,4,0.233,0.063,2338,3781,3528,0,0,0,0,0,0,25.44,26.05,26.50
$GC,127,-0.51,-146.0,22.3,-30.2,12,134,0.08,1.73,0.00,0.000,6,0.215,0.023,2353,2527,3528,0,0,0,0,0,0,25.97,26.25,28.83
$GC,439,-0.51,-146.0,126.6,-25.0,73,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2523,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.51,-146.0,200.5,-22.6,134,752,0.00,1.92,0.00,0.000,4,0.000,0.026,2353,1144,3529,0,0,0,0,0,0,28.83,26.43,28.83
$GC,765,-0.51,-146.0,204.3,-22.3,135,774,0.00,2.25,0.00,0.000,6,0.000,0.044,2343,2634,3529,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1075,-0.51,-146.0,267.8,-18.8,166,1084,0.00,2.12,0.00,0.000,4,0.000,0.026,2343,1147,3529,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1169,-0.51,-146.0,282.2,-14.2,175,1177,0.10,2.25,0.00,0.000,6,0.167,0.045,2360,2633,3529,0,0,0,0,0,0,26.16,26.33,28.83
$GC,1477,-0.51,-146.0,327.9,-13.8,206,1479,0.05,0.00,0.00,0.000,6,0.177,0.000,2307,2633,3528,0,0,0,0,0,0,26.67,28.83,28.83
$GC,1778,-0.51,-146.0,383.2,-18.4,236,1787,0.15,2.10,0.00,0.000,4,0.156,0.025,2357,1156,3527,0,0,0,0,0,0,26.27,26.49,28.83
$GC,1873,-0.51,-146.0,394.5,-10.0,245,1881,0.00,2.22,0.00,0.000,6,0.000,0.045,2356,2628,3527,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2180,-0.51,-146.0,429.6,-11.4,276,2189,0.00,2.12,0.00,0.000,4,0.000,0.028,2356,1152,3526,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2232,-0.51,-146.0,435.0,-10.3,281,2242,0.00,2.20,0.00,0.000,6,0.000,0.046,2356,2620,3526,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2541,-0.51,-146.0,467.5,-10.2,312,2545,0.00,2.08,0.00,0.000,4,0.000,0.024,2356,1146,3524,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2565,-0.51,-146.0,469.6,-9.9,314,2572,0.00,2.25,0.00,0.000,6,0.000,0.045,2356,2629,3523,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2874,-0.51,-146.0,499.0,-9.0,345,2883,0.00,2.08,0.00,0.000,4,0.000,0.025,2356,1143,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2908,-0.51,-146.0,502.0,-9.2,348,2916,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2632,3521,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3216,-0.51,-146.0,531.4,-9.9,379,3220,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1134,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3277,-0.51,-146.0,537.2,-9.2,385,3288,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2626,3518,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3587,-0.51,-146.0,569.2,-10.9,416,3596,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1145,3516,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3621,-0.51,-146.0,572.7,-11.1,419,3628,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2626,3516,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3930,-0.51,-146.0,604.7,-9.7,448,3935,0.00,2.08,0.00,0.000,4,0.000,0.024,2356,1148,3514,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3956,-0.51,-146.0,606.6,-9.6,449,3960,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2630,3513,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4264,-0.51,-146.0,631.0,-7.3,464,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2631,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-0.51,-146.0,654.2,-8.2,479,4570,0.00,2.12,0.00,0.000,4,0.000,0.024,2356,1146,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4611,-0.51,-146.0,657.4,-8.3,481,4615,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2629,3508,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4925,-0.51,-146.0,682.0,-7.4,497,4930,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1144,3505,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4956,-0.51,-146.0,683.6,-7.5,498,4963,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2628,3504,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5264,-0.51,-146.0,708.2,-8.0,514,5270,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1139,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5287,-0.51,-146.0,710.0,-8.2,515,5291,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2633,3502,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5599,-0.51,-146.0,736.4,-8.6,531,5603,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1149,3501,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5642,-0.51,-146.0,740.2,-8.7,533,5648,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2624,3501,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5962,-0.51,-146.0,769.0,-9.3,549,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2625,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.51,-146.0,795.0,-8.3,564,6266,0.00,2.15,0.00,0.000,4,0.000,0.025,2356,1140,3496,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6301,-0.51,-146.0,798.2,-8.2,566,6307,0.00,2.30,0.00,0.000,6,0.000,0.047,2356,2626,3496,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6622,-0.51,-146.0,821.7,-7.1,582,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2627,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.51,-146.0,842.6,-6.9,597,6927,0.00,2.12,0.00,0.000,4,0.000,0.025,2356,1151,3492,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6974,-0.51,-146.0,845.5,-6.8,599,6981,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,2627,3492,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7282,-0.51,-146.0,867.1,-6.7,615,7285,0.00,1.75,0.00,0.000,4,0.000,0.059,2356,3763,3491,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7316,-0.51,-146.0,868.6,-6.7,616,7322,0.00,1.73,0.00,0.000,6,0.000,0.025,2356,2495,3490,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7624,-0.51,-146.0,889.4,-6.4,632,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2495,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7923,-0.51,-146.0,907.7,-6.0,647,7928,0.00,1.98,0.00,0.000,4,0.000,0.057,2356,3766,3487,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7946,-0.51,-146.0,908.9,-6.0,648,7949,0.00,1.70,0.00,0.000,6,0.000,0.024,2356,2516,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8264,-0.51,-146.0,929.3,-6.5,664,8269,0.00,1.98,0.00,0.000,4,0.000,0.057,2356,3771,3486,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8305,-0.51,-146.0,932.0,-6.7,666,8309,0.00,1.77,0.00,0.000,6,0.000,0.024,2356,2491,3485,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8624,-0.51,-146.0,953.7,-7.0,682,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2488,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8924,-0.51,-146.0,975.0,-7.1,697,8928,0.00,2.03,0.00,0.000,4,0.000,0.057,2356,3759,3484,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8966,-0.51,-146.0,978.0,-7.3,699,8969,0.00,1.70,0.00,0.000,6,0.000,0.025,2356,2519,3483,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9145,begin apogee
$GC,9151,-0.17,0.0,990.9,-7.1,708,9276,0.30,0.00,121.12,1.752,6,0.108,0.000,2464,2501,2929,0,0,0,0,0,0,26.02,28.83,23.32
$STATE,9278,end apogee,CONTROL_FINISHED_OK
$STATE,9278,begin climb
$GC,9280,0.51,146.0,995.3,0.0,714,9430,0.60,2.15,140.98,1.712,4,0.050,0.052,2705,3758,2331,0,0,0,0,0,0,24.75,23.80,22.61
$GC,9437,0.52,154.7,991.7,7.2,722,9452,0.17,2.08,9.48,1.487,6,0.194,0.025,2676,2446,2297,0,0,0,0,0,0,23.94,24.22,22.85
$GC,9766,0.52,154.7,943.7,13.7,739,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2447,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10066,0.52,154.7,902.9,13.4,754,10070,0.00,2.08,0.00,0.000,4,0.000,0.054,2676,3764,2287,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10095,0.52,154.7,899.6,13.7,755,10099,0.00,1.95,0.00,0.000,6,0.000,0.026,2685,2445,2286,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10407,0.52,154.7,855.1,13.3,771,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2439,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10708,0.52,154.7,815.5,13.1,786,10712,0.00,2.08,0.00,0.000,4,0.000,0.054,2685,3768,2284,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10729,0.52,154.7,812.1,13.5,787,10736,0.10,1.90,0.00,0.000,6,0.216,0.025,2674,2448,2284,0,0,0,0,0,0,25.87,26.26,28.83
$GC,11050,0.52,154.7,769.5,13.2,803,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2445,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11351,0.52,154.7,730.4,13.0,818,11355,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1045,2282,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11400,0.52,154.7,725.1,12.7,820,11404,0.00,2.25,0.00,0.000,6,0.000,0.045,2684,2517,2281,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11707,0.52,154.7,685.8,12.2,835,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2518,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12008,0.52,154.7,651.1,11.0,850,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2518,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12307,0.52,154.7,616.7,11.9,865,12313,0.00,2.17,0.00,0.000,4,0.000,0.032,2694,1047,2280,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12330,0.52,154.7,614.4,11.9,866,12335,0.10,2.30,0.00,0.000,6,0.182,0.045,2671,2542,2280,0,0,0,0,0,0,25.88,26.10,28.83
$GC,12638,0.52,154.7,581.2,10.1,890,12647,0.05,1.88,0.00,0.000,4,0.170,0.053,2711,3771,2280,0,0,0,0,0,0,26.58,26.01,28.83
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$STATE,18979,end climb,SURFACE_DEPTH_REACHED
$STATE,18979,begin surface coast
$FINISH,0.8,1.022218
$STATE,19015,end surface coast,CONTROL_FINISHED_OK
$STATE,19015,begin surface
$SM_CCo,19030,9.50,0.138,0,0,1399,375.06
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$IRIDIUM_FIX,1902.38,12432.04,150412,080813
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.40
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.6,37.005
$10V_AH,10.2,22.983
$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
$DEVICE_SECS,17.950,149.800,391.775,9.500,0.000,31.841,20.270,238.374,0.000,0.000,18.791,4352.030,10815.152,545.584,3334.803,404.192,0.000,2097.032,0.000,2810.796,0.000,0.541,0.000
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$SENSOR_SECS,1177.767,2258.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329436
$DATA_FILE_SIZE,127350,1727
$CAP_FILE_SIZE,192484,0
$CFSIZE,260165632,206147584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,264.0,1
$GPS,150412,192124,1904.885,12431.573,23,0.8,40,-2.3