version: 66.10
glider: 176
mission: 5
dive: 186
start: 4 17 112 20 17 35
data:
$ID,176
$MISSION,5
$DIVE,186
$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,-7676.2681
$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
$GPS1,170412,200936,1843.238,12433.852,29,1.1,29,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.0
$GPS2,170412,201708,1843.298,12433.817,8,1.4,8,-2.2
$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,154.3,98730,-13.1,-7.500
$D_GRID,5767
$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,-40.55,0.000,2,0.000,0.000,191,2706,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.51,-146.0,3.4,-7.9,7,99,8.68,2.33,-21.98,0.000,4,0.234,0.041,2352,1158,3526,0,0,0,0,0,0,25.40,26.12,26.48
$GC,191,-0.51,-146.0,36.0,-22.6,25,199,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2626,3527,0,0,0,0,0,0,28.83,26.08,28.83
$GC,517,-0.51,-146.0,140.9,-25.7,86,524,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1148,3527,0,0,0,0,0,0,28.83,26.37,28.83
$GC,557,-0.51,-146.0,149.6,-19.7,93,566,0.08,2.22,0.00,0.000,6,0.191,0.046,2355,2631,3528,0,0,0,0,0,0,26.10,26.25,28.83
$GC,883,-0.51,-146.0,220.9,-19.3,144,892,0.00,2.12,0.00,0.000,4,0.000,0.026,2355,1144,3527,0,0,0,0,0,0,28.83,26.44,28.83
$GC,935,-0.51,-146.0,229.9,-17.2,149,945,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2632,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1245,-0.51,-146.0,289.4,-19.3,180,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2632,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1547,-0.51,-146.0,343.3,-15.5,210,1556,0.00,2.10,0.00,0.000,4,0.000,0.026,2349,1155,3528,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1581,-0.51,-146.0,348.5,-16.1,213,1589,0.00,2.22,0.00,0.000,6,0.000,0.046,2345,2630,3529,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1889,-0.51,-146.0,394.8,-14.9,244,1897,0.00,2.12,0.00,0.000,4,0.000,0.027,2345,1149,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1920,-0.51,-146.0,399.3,-14.2,247,1929,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2638,3528,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2231,-0.51,-146.0,441.5,-13.1,278,2235,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1142,3525,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2313,-0.51,-146.0,450.8,-10.5,286,2322,0.00,2.22,0.00,0.000,6,0.000,0.043,2344,2635,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2624,-0.51,-146.0,485.6,-10.5,317,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2634,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-0.51,-146.0,515.1,-10.0,347,2934,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1156,3521,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2959,-0.51,-146.0,518.4,-9.7,350,2967,0.05,2.25,0.00,0.000,6,0.133,0.043,2357,2630,3521,0,0,0,0,0,0,26.16,26.34,28.83
$GC,3267,-0.51,-146.0,547.8,-9.8,381,3271,0.00,2.12,0.00,0.000,4,0.000,0.025,2357,1151,3519,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3308,-0.51,-146.0,551.9,-10.1,385,3318,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,2632,3518,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3618,-0.51,-146.0,580.0,-8.4,416,3622,0.00,1.75,0.00,0.000,4,0.000,0.056,2357,3766,3515,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3649,-0.51,-146.0,582.5,-8.2,419,3653,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2488,3515,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3963,-0.51,-146.0,606.5,-7.7,446,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4261,-0.51,-146.0,631.1,-8.7,461,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2487,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4560,-0.51,-146.0,657.1,-8.8,476,4566,0.00,1.95,0.00,0.000,4,0.000,0.055,2357,3763,3508,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4609,-0.51,-146.0,660.5,-8.8,478,4613,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2492,3507,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4921,-0.51,-146.0,688.9,-9.1,494,4926,0.00,1.92,0.00,0.000,4,0.000,0.028,2357,1153,3504,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4948,-0.51,-146.0,690.6,-9.1,495,4952,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2634,3504,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5257,-0.51,-146.0,719.5,-9.3,510,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2634,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,-0.51,-146.0,745.4,-8.5,525,5561,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1156,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5603,-0.51,-146.0,748.9,-8.5,527,5607,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2628,3501,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5916,-0.51,-146.0,774.2,-7.6,543,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.51,-146.0,796.1,-7.3,558,6222,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1154,3496,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6244,-0.51,-146.0,797.6,-7.3,559,6248,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2630,3496,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6552,-0.51,-146.0,820.9,-7.5,574,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2630,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.51,-146.0,844.5,-7.8,589,6856,0.00,2.15,0.00,0.000,4,0.000,0.027,2357,1158,3492,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6891,-0.51,-146.0,847.7,-8.0,591,6897,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2634,3492,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7211,-0.51,-146.0,871.6,-7.2,607,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2633,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7512,-0.51,-146.0,892.0,-6.5,622,7517,0.00,2.10,0.00,0.000,4,0.000,0.026,2357,1164,3489,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7545,-0.51,-146.0,893.4,-6.7,623,7552,0.00,2.25,0.00,0.000,6,0.000,0.047,2357,2628,3489,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7851,-0.51,-146.0,913.5,-5.9,639,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,-0.51,-146.0,930.4,-5.2,654,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2628,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,-0.51,-146.0,946.2,-5.2,669,8457,0.00,2.15,0.00,0.000,4,0.000,0.028,2357,1154,3485,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8491,-0.51,-146.0,948.5,-5.5,671,8496,0.00,2.28,0.00,0.000,6,0.000,0.048,2357,2632,3485,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8812,-0.51,-146.0,966.0,-5.5,687,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2632,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.51,-146.0,983.2,-5.7,702,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2632,3484,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9229,begin apogee
$GC,9234,-0.17,0.0,990.1,-5.7,708,9362,0.30,0.12,121.35,1.743,6,0.106,0.095,2465,2539,2928,0,0,0,0,0,0,26.03,24.50,23.29
$STATE,9363,end apogee,CONTROL_FINISHED_OK
$STATE,9363,begin climb
$GC,9365,0.51,146.0,993.8,0.0,714,9510,0.60,0.00,141.40,1.702,6,0.049,0.000,2703,2539,2332,0,0,0,0,0,0,24.76,28.83,22.57
$GC,9807,0.51,146.0,944.2,15.1,737,9809,0.12,0.00,0.00,0.000,6,0.190,0.000,2673,2539,2323,0,0,0,0,0,0,25.56,28.83,28.83
$GC,10105,0.51,146.0,907.0,12.0,752,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2539,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10405,0.51,146.0,872.5,11.2,767,10411,0.00,2.20,0.00,0.000,4,0.000,0.031,2684,1057,2318,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10434,0.51,146.0,870.1,11.3,768,10439,0.05,2.28,0.00,0.000,6,0.221,0.047,2672,2520,2317,0,0,0,0,0,0,25.95,26.03,28.83
$GC,10740,0.51,146.0,834.4,11.4,783,10746,0.00,2.17,0.00,0.000,4,0.000,0.031,2682,1052,2316,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10763,0.51,146.0,832.1,11.4,784,10767,0.00,2.28,0.00,0.000,6,0.000,0.046,2683,2516,2315,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11076,0.51,146.0,792.7,12.4,800,11082,0.00,1.90,0.00,0.000,4,0.000,0.054,2683,3770,2315,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11155,0.51,146.0,780.8,14.9,804,11161,0.10,1.88,0.00,0.000,6,0.214,0.024,2670,2448,2315,0,0,0,0,0,0,25.91,26.32,28.83
$GC,11476,0.51,146.0,744.5,10.6,820,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2444,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11775,0.51,146.0,711.3,10.8,835,11779,0.00,2.03,0.00,0.000,4,0.000,0.030,2680,1052,2313,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11789,0.51,146.0,711.3,10.8,835,11797,0.00,2.25,0.00,0.000,6,0.000,0.046,2680,2516,2313,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12099,0.51,146.0,676.8,10.9,851,12104,0.00,1.92,0.00,0.000,4,0.000,0.056,2680,3764,2313,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12126,0.51,146.0,674.5,11.0,852,12130,0.10,1.88,0.00,0.000,6,0.209,0.023,2667,2440,2313,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12433,0.51,146.0,643.9,9.6,867,12439,0.05,2.08,0.00,0.000,4,0.182,0.051,2704,3765,2313,0,0,0,0,0,0,26.55,26.01,28.83
$GC,12461,0.51,146.0,641.5,10.1,868,12466,0.17,1.88,0.00,0.000,6,0.188,0.023,2670,2444,2313,0,0,0,0,0,0,25.72,26.39,28.83
$GC,12768,0.51,146.0,609.0,9.7,883,12773,0.00,2.03,0.00,0.000,4,0.000,0.031,2680,1052,2313,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12795,0.51,146.0,607.1,9.8,884,12799,0.00,2.25,0.00,0.000,6,0.000,0.044,2679,2528,2312,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13108,0.51,146.0,571.1,11.2,912,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2528,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19690,end climb,SURFACE_DEPTH_REACHED
$STATE,19690,begin surface coast
$FINISH,0.7,1.008267
$STATE,19732,end surface coast,CONTROL_FINISHED_OK
$STATE,19732,begin surface
$SM_CCo,19807,0.00,0.000,0,0,1333,391.50
$SM_GC,1.73,6.35,0.15,0.00,0.031,0.073,0.000,176,2688,1333,-7.16,-0.28,391.50,0,0,0,0,0,0,26.46,26.52,28.83
$IRIDIUM_FIX,1839.59,12431.92,170412,141408
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,22.6,38.833
$10V_AH,10.1,24.251
$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,18.700,159.750,414.100,0.000,0.000,23.990,40.518,246.031,0.250,0.000,11.167,4483.937,11288.884,590.662,3439.129,427.565,0.000,2154.338,0.000,2841.048,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,94.860,1743.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.862,2382.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,133991,1784
$CAP_FILE_SIZE,200769,0
$CFSIZE,260165632,205058048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,274.6,1
$GPS,180412,014854,1841.240,12434.448,24,1.3,41,-2.2