version: 66.10
glider: 176
mission: 5
dive: 464
start: 6 19 112 20 38 59
data:
$ID,176
$MISSION,5
$DIVE,464
$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,-8205.5508
$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
$GPS1,190612,203006,1808.340,12345.668,37,1.0,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.6
$GPS2,190612,203832,1808.365,12345.727,17,0.9,17,-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,274.9,162650,-13.0,-7.857
$D_GRID,5019
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-160.6,0.0,0.0,0,61,0.00,0.00,-42.75,0.000,2,0.000,0.000,175,2752,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.52,-160.6,3.2,-6.7,7,110,8.98,2.22,-27.10,0.000,4,0.236,0.037,2345,1200,3584,0,0,0,0,0,0,25.01,26.25,26.71
$GC,203,-0.52,-160.6,35.3,-19.9,29,211,0.08,2.22,0.00,0.000,6,0.208,0.043,2351,2678,3584,0,0,0,0,0,0,25.98,26.17,28.83
$GC,518,-0.52,-160.6,127.0,-23.1,90,525,0.00,2.12,0.00,0.000,4,0.000,0.026,2351,1191,3584,0,0,0,0,0,0,28.83,26.36,28.83
$GC,604,-0.52,-160.6,141.1,-12.4,106,611,0.00,2.22,0.00,0.000,6,0.000,0.043,2347,2685,3584,0,0,0,0,0,0,28.83,26.21,28.83
$GC,916,-0.52,-160.6,198.8,-16.7,167,922,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1182,3584,0,0,0,0,0,0,28.83,26.36,28.83
$GC,980,-0.52,-160.6,207.6,-11.6,174,990,0.08,2.25,0.00,0.000,6,0.181,0.041,2356,2683,3585,0,0,0,0,0,0,26.08,26.22,28.83
$GC,1290,-0.52,-160.6,248.3,-12.9,205,1294,0.05,2.12,0.00,0.000,4,0.176,0.023,2301,1204,3585,0,0,0,0,0,0,26.61,26.37,28.83
$GC,1406,-0.52,-160.6,263.9,-13.7,216,1413,0.20,2.22,0.00,0.000,6,0.135,0.041,2354,2675,3585,0,0,0,0,0,0,25.91,26.20,28.83
$GC,1713,-0.52,-160.6,299.4,-11.6,247,1717,0.05,2.12,0.00,0.000,4,0.173,0.022,2296,1192,3583,0,0,0,0,0,0,26.61,26.38,28.83
$GC,1788,-0.52,-160.6,309.0,-13.3,254,1796,0.20,2.28,0.00,0.000,6,0.129,0.044,2357,2666,3583,0,0,0,0,0,0,25.94,26.17,28.83
$GC,2095,-0.52,-160.6,340.5,-9.2,285,2106,0.08,2.10,0.00,0.000,4,0.129,0.021,2287,1186,3581,0,0,0,0,0,0,26.58,26.39,28.83
$GC,2158,-0.52,-160.6,348.0,-12.3,291,2168,0.25,2.25,0.00,0.000,6,0.121,0.043,2359,2675,3581,0,0,0,0,0,0,25.89,26.17,28.83
$GC,2469,-0.52,-160.6,374.4,-7.7,322,2471,0.08,0.00,0.00,0.000,6,0.128,0.000,2281,2676,3579,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2769,-0.52,-160.6,422.5,-18.2,352,2778,0.20,2.12,0.00,0.000,4,0.151,0.024,2348,1194,3577,0,0,0,0,0,0,26.03,26.34,28.83
$GC,2857,-0.52,-160.6,431.5,-8.5,360,2864,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2680,3576,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3163,-0.52,-160.6,461.9,-9.8,391,3172,0.00,2.15,-0.08,0.000,4,0.000,0.036,2345,1192,3602,0,0,0,0,0,0,28.83,26.34,25.44
$GC,3217,-0.52,-160.6,466.8,-9.1,396,3225,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2668,3602,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3525,-0.52,-160.6,496.3,-9.6,427,3534,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1191,3599,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3581,-0.52,-160.6,501.0,-9.4,432,3587,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2670,3599,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3888,-0.52,-160.6,529.0,-8.7,463,3897,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1183,3596,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3929,-0.52,-160.6,532.5,-8.4,467,3938,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2669,3595,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4240,-0.52,-160.6,555.6,-6.7,498,4249,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1191,3592,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4275,-0.52,-160.6,557.8,-6.9,501,4283,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2678,3592,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4582,-0.52,-160.6,578.0,-7.0,532,4591,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1193,3590,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4624,-0.52,-160.6,580.9,-7.0,536,4633,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2677,3589,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4946,-0.52,-160.6,605.5,-8.3,565,4952,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1188,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5004,-0.52,-160.6,610.4,-8.3,568,5010,0.00,2.30,0.00,0.000,6,0.000,0.046,2345,2677,3587,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5326,-0.52,-160.6,635.7,-7.4,584,5331,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1192,3584,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5353,-0.52,-160.6,637.2,-7.3,585,5357,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2671,3584,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5660,-0.52,-160.6,660.6,-7.7,600,5665,0.00,2.15,0.00,0.000,4,0.000,0.025,2345,1192,3582,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5704,-0.52,-160.6,663.7,-7.9,602,5710,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2670,3582,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6021,-0.52,-160.6,691.3,-9.0,618,6027,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1193,3579,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6059,-0.52,-160.6,695.0,-9.1,620,6065,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2669,3579,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6381,-0.52,-160.6,720.1,-7.2,636,6386,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1194,3577,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6422,-0.52,-160.6,723.2,-7.6,638,6426,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2667,3577,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6737,-0.52,-160.6,744.0,-6.1,654,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2667,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.52,-160.6,762.3,-6.1,669,7039,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1189,3573,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7080,-0.52,-160.6,764.8,-6.2,671,7084,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2676,3572,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7393,-0.52,-160.6,785.3,-6.6,687,7397,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1195,3571,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7428,-0.52,-160.6,787.0,-6.8,688,7435,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2675,3571,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7735,-0.52,-160.6,809.3,-6.9,704,7740,0.00,2.17,0.00,0.000,4,0.000,0.026,2344,1183,3569,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7769,-0.52,-160.6,810.6,-6.9,705,7777,0.00,2.30,0.00,0.000,6,0.000,0.047,2345,2671,3569,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8075,-0.52,-160.6,831.6,-6.3,721,8080,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1195,3568,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8108,-0.52,-160.6,832.9,-6.5,722,8115,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2665,3568,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8417,-0.52,-160.6,852.8,-6.2,738,8422,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1193,3567,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8444,-0.52,-160.6,854.0,-6.1,739,8448,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2675,3567,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8752,-0.52,-160.6,875.2,-6.8,754,8757,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1189,3565,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8783,-0.52,-160.6,876.6,-6.8,755,8790,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2672,3565,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9090,-0.52,-160.6,897.0,-6.1,771,9096,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1185,3563,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9120,-0.52,-160.6,898.3,-6.1,772,9129,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2665,3563,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9431,-0.52,-160.6,918.0,-6.3,788,9436,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1193,3562,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9458,-0.52,-160.6,919.3,-6.3,789,9462,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2675,3563,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9767,-0.52,-160.6,939.9,-6.7,804,9772,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1195,3562,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9793,-0.52,-160.6,941.2,-6.6,805,9797,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2670,3562,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10100,-0.52,-160.6,962.4,-6.9,820,10106,0.00,2.15,0.00,0.000,4,0.000,0.026,2344,1188,3561,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10135,-0.52,-160.6,963.8,-7.0,821,10143,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2666,3562,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10442,-0.52,-160.6,987.5,-7.6,837,10447,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1199,3560,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10470,-0.52,-160.6,989.0,-7.7,838,10479,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2665,3560,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,10498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10498,begin apogee
$GC,10503,-0.17,0.0,992.3,-7.9,840,10653,0.32,0.12,141.93,1.702,6,0.101,0.093,2463,2592,2929,0,0,0,0,0,0,25.84,24.35,22.49
$STATE,10654,end apogee,CONTROL_FINISHED_OK
$STATE,10654,begin climb
$GC,10658,0.52,160.6,1000.3,0.0,847,10825,0.60,2.50,156.45,1.662,4,0.050,0.030,2714,1108,2273,0,0,0,0,0,0,24.88,23.89,21.84
$GC,10902,0.52,160.6,989.0,10.7,860,10909,0.15,2.35,0.00,0.000,6,0.165,0.047,2676,2569,2265,0,0,0,0,0,0,25.22,25.47,28.83
$GC,11224,0.52,160.6,955.2,10.6,876,11229,0.00,2.15,0.00,0.000,4,0.000,0.030,2686,1098,2260,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11263,0.52,160.6,951.0,10.5,878,11269,0.00,2.30,0.00,0.000,6,0.000,0.047,2686,2568,2259,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11584,0.52,160.6,912.3,12.4,894,11590,0.00,2.15,0.00,0.000,4,0.000,0.029,2697,1101,2258,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21389,end climb,SURFACE_DEPTH_REACHED
$STATE,21389,begin surface coast
$FINISH,2.2,1.021280
$STATE,21407,end surface coast,CONTROL_FINISHED_OK
$STATE,21407,begin surface
$SM_CCo,21485,0.00,0.000,0,0,815,518.56
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$IRIDIUM_FIX,1800.97,12347.06,190612,141405
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.46
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,21.8,97.946
$10V_AH,9.8,59.847
$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
$DEVICE_SECS,20.100,220.675,510.500,0.000,0.000,27.329,40.555,268.247,0.250,0.000,19.824,4869.795,11909.232,699.199,3957.384,515.752,0.000,2541.829,0.000,3257.869,0.000,0.544,0.000
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$SENSOR_SECS,1311.239,2610.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,143971,1926
$CAP_FILE_SIZE,232582,0
$CFSIZE,260165632,174960640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 83.0,1
$GPS,200612,023807,1808.707,12344.335,34,1.2,34,-2.0