version: 66.10
glider: 176
mission: 5
dive: 462
start: 6 19 112 8 24 5
data:
$ID,176
$MISSION,5
$DIVE,462
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,420
$T_MISSION,460
$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,165
$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,163
$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,-8203.0342
$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,2650
$C_ROLL_CLIMB,2550
$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,48
$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
$GPS1,190612,081507,1806.939,12348.522,29,1.6,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.2
$GPS2,190612,082338,1806.959,12348.512,14,1.7,14,-2.0
$SPEED_LIMITS,0.136,0.248
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,280.5,168057,-13.0,-7.857
$D_GRID,4590
$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,-0.52,-160.6,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,2,0.000,0.000,189,2720,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.52,-160.6,3.1,-5.6,10,128,8.93,2.25,-25.42,0.000,4,0.236,0.040,2348,1191,3586,0,0,0,0,0,0,25.03,26.27,26.72
$GC,222,-0.52,-160.6,39.9,-24.5,35,229,0.05,2.22,0.00,0.000,6,0.243,0.041,2348,2676,3586,0,0,0,0,0,0,26.08,26.20,28.83
$GC,552,-0.52,-160.6,136.1,-24.2,96,574,0.00,1.65,0.00,0.000,4,0.000,0.051,2341,3767,3585,0,0,0,0,0,0,28.83,26.16,28.83
$GC,607,-0.52,-160.6,148.2,-18.5,103,614,0.00,1.62,0.00,0.000,6,0.000,0.023,2341,2570,3585,0,0,0,0,0,0,28.83,26.51,28.83
$GC,924,-0.52,-160.6,209.9,-18.6,160,932,0.00,1.92,0.00,0.000,4,0.000,0.022,2341,1178,3585,0,0,0,0,0,0,28.83,26.46,28.83
$GC,977,-0.52,-160.6,218.8,-15.9,165,986,0.03,2.28,0.00,0.000,6,0.176,0.044,2349,2668,3586,0,0,0,0,0,0,26.06,26.20,28.83
$GC,1285,-0.52,-160.6,261.1,-12.7,196,1289,0.00,2.10,0.00,0.000,4,0.000,0.023,2349,1176,3585,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1327,-0.52,-160.6,265.5,-10.8,200,1336,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2667,3585,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1636,-0.52,-160.6,302.9,-13.4,231,1640,0.00,1.65,0.00,0.000,4,0.000,0.054,2348,3766,3584,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1698,-0.52,-160.6,310.2,-11.2,237,1702,0.00,1.65,0.00,0.000,6,0.000,0.022,2348,2550,3583,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2011,-0.52,-160.6,342.8,-10.4,268,2019,0.00,1.90,0.00,0.000,4,0.000,0.023,2348,1181,3582,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2076,-0.52,-160.6,348.6,-8.9,274,2083,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2670,3582,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2382,-0.52,-160.6,380.6,-10.1,305,2391,0.00,2.12,0.00,0.000,4,0.000,0.023,2348,1175,3580,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2414,-0.52,-160.6,383.7,-10.0,308,2425,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2678,3579,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2724,-0.52,-160.6,414.0,-8.5,339,2733,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1185,3577,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2779,-0.52,-160.6,417.9,-7.7,344,2786,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2677,3576,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3086,-0.52,-160.6,444.2,-8.3,375,3095,0.00,2.17,-0.10,0.000,4,0.000,0.036,2345,1178,3596,0,0,0,0,0,0,28.83,26.37,25.98
$GC,3128,-0.52,-160.6,447.6,-8.1,379,3137,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2678,3596,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3439,-0.52,-160.6,472.1,-7.9,410,3447,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1182,3592,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3500,-0.52,-160.6,476.4,-6.7,416,3509,0.00,2.28,0.00,0.000,6,0.000,0.044,2344,2675,3592,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3810,-0.52,-160.6,500.8,-8.4,447,3819,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1178,3590,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3854,-0.52,-160.6,504.3,-8.3,451,3861,0.00,2.30,0.00,0.000,6,0.000,0.044,2344,2660,3589,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4163,-0.52,-160.6,530.6,-8.4,482,4171,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1186,3587,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4205,-0.52,-160.6,533.9,-8.1,486,4214,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2666,3586,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4514,-0.52,-160.6,558.4,-8.0,517,4524,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1185,3583,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4546,-0.52,-160.6,561.0,-8.0,520,4555,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2674,3583,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4856,-0.52,-160.6,586.4,-8.6,551,4865,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1183,3580,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4890,-0.52,-160.6,589.1,-8.6,554,4894,0.00,2.28,0.00,0.000,6,0.000,0.046,2343,2667,3580,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5211,-0.52,-160.6,618.0,-9.0,576,5217,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1178,3578,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5234,-0.52,-160.6,619.8,-9.0,577,5238,0.00,2.28,0.00,0.000,6,0.000,0.044,2343,2667,3578,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5548,-0.52,-160.6,645.2,-7.5,593,5553,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1186,3575,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5580,-0.52,-160.6,646.6,-7.5,594,5586,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2668,3575,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5889,-0.52,-160.6,668.1,-6.8,610,5894,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1181,3572,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5920,-0.52,-160.6,669.5,-6.9,611,5927,0.00,2.30,0.00,0.000,6,0.000,0.046,2343,2675,3572,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6227,-0.52,-160.6,690.9,-6.7,627,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2676,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,-0.52,-160.6,711.8,-7.1,642,6534,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1192,3568,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6601,-0.52,-160.6,716.3,-7.3,645,6609,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2669,3567,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6909,-0.52,-160.6,741.4,-8.3,661,6915,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1191,3566,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6948,-0.52,-160.6,744.9,-8.7,663,6954,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2671,3565,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7268,-0.52,-160.6,772.9,-8.4,679,7274,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1186,3565,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7296,-0.52,-160.6,774.6,-8.5,680,7300,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2666,3564,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7605,-0.52,-160.6,798.0,-6.9,695,7611,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1182,3563,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7643,-0.52,-160.6,800.8,-7.0,697,7649,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2665,3563,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7965,-0.52,-160.6,822.9,-7.0,713,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2666,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8264,-0.52,-160.6,844.7,-7.4,728,8270,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1179,3558,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8317,-0.52,-160.6,847.7,-7.5,730,8323,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2665,3559,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8626,-0.52,-160.6,871.0,-7.3,746,8629,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1179,3557,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8660,-0.52,-160.6,872.7,-7.0,747,8667,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2665,3557,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8969,-0.52,-160.6,895.2,-6.9,763,8974,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1189,3556,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9007,-0.52,-160.6,898.3,-7.2,765,9013,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2674,3556,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9327,-0.52,-160.6,919.4,-6.3,781,9333,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1178,3555,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9357,-0.52,-160.6,920.7,-6.2,782,9366,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2674,3555,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9668,-0.52,-160.6,940.6,-6.4,798,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9967,-0.52,-160.6,960.7,-7.1,813,9973,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1182,3553,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10017,-0.52,-160.6,963.5,-7.0,815,10026,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2674,3552,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10327,-0.52,-160.6,985.2,-6.7,831,10334,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1183,3551,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10350,-0.52,-160.6,986.5,-6.7,832,10354,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2669,3551,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,10400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10400,begin apogee
$GC,10407,-0.17,0.0,990.4,-7.1,835,10553,0.32,0.15,139.90,1.705,6,0.100,0.084,2463,2590,2928,0,0,0,0,0,0,25.88,24.46,22.56
$STATE,10554,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10558,0.52,160.6,997.4,0.0,842,10725,0.60,2.42,156.45,1.662,4,0.051,0.030,2712,1104,2272,0,0,0,0,0,0,24.91,23.98,21.92
$GC,10799,0.52,160.6,983.3,11.9,855,10805,0.15,2.35,0.00,0.000,6,0.164,0.048,2674,2567,2264,0,0,0,0,0,0,25.22,25.48,28.83
$GC,11120,0.52,160.6,945.6,12.0,871,11126,0.00,1.85,0.00,0.000,4,0.000,0.058,2674,3763,2260,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11152,0.52,160.6,943.1,11.9,872,11159,0.00,1.85,0.00,0.000,6,0.000,0.026,2681,2489,2259,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11461,0.52,160.6,905.3,11.4,888,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2486,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11759,0.52,160.6,870.9,11.5,903,11765,0.00,2.05,0.00,0.000,4,0.000,0.031,2691,1095,2257,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21204,end climb,SURFACE_DEPTH_REACHED
$STATE,21204,begin surface coast
$FINISH,0.8,1.021260
$STATE,21235,end surface coast,CONTROL_FINISHED_OK
$STATE,21235,begin surface
$SM_CCo,21313,0.00,0.000,0,0,802,521.51
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$IRIDIUM_FIX,1800.97,12343.92,190612,020224
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,21.9,97.532
$10V_AH,9.8,59.559
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,143777,1921
$CAP_FILE_SIZE,232171,0
$CFSIZE,260165632,175198208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 48.6,1
$GPS,190612,142037,1808.107,12346.772,50,1.0,50,-2.0