version: 66.10
glider: 176
mission: 5
dive: 466
start: 6 20 112 8 59 53
data:
$ID,176
$MISSION,5
$DIVE,466
$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,-8208.0674
$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
$GPS1,200612,085025,1808.832,12342.804,41,1.7,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.6
$GPS2,200612,085925,1808.939,12342.870,11,2.0,11,-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,286.4,157531,-13.0,-7.857
$D_GRID,5368
$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,16,-0.52,-160.6,0.0,0.0,0,84,0.00,0.00,-65.43,0.000,2,0.000,0.000,183,2686,2298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.52,-160.6,3.3,-7.4,11,131,8.85,2.15,-26.25,0.000,4,0.232,0.040,2342,1199,3586,0,0,0,0,0,0,25.01,26.25,26.73
$GC,234,-0.52,-160.6,41.9,-22.9,32,242,0.10,2.22,0.00,0.000,6,0.181,0.044,2356,2679,3586,0,0,0,0,0,0,25.96,26.17,28.83
$GC,564,-0.52,-160.6,128.0,-22.1,93,572,0.08,2.12,0.00,0.000,4,0.132,0.022,2299,1179,3585,0,0,0,0,0,0,26.59,26.41,28.83
$GC,679,-0.52,-160.6,152.3,-17.5,112,686,0.20,2.25,0.00,0.000,6,0.148,0.043,2350,2682,3585,0,0,0,0,0,0,25.86,26.20,28.83
$GC,991,-0.52,-160.6,206.4,-15.1,169,995,0.00,2.10,0.00,0.000,4,0.000,0.024,2350,1188,3585,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1073,-0.52,-160.6,216.1,-10.4,177,1083,0.00,2.22,0.00,0.000,6,0.000,0.041,2347,2671,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1383,-0.52,-160.6,256.6,-13.0,208,1387,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1176,3584,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1447,-0.52,-160.6,263.0,-9.8,214,1455,0.00,2.28,0.00,0.000,6,0.000,0.042,2347,2669,3585,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1755,-0.52,-160.6,298.0,-11.7,245,1758,0.00,1.65,0.00,0.000,4,0.000,0.054,2347,3766,3583,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1788,-0.52,-160.6,301.7,-11.7,248,1795,0.00,1.65,0.00,0.000,6,0.000,0.021,2347,2553,3583,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2096,-0.52,-160.6,336.6,-11.1,279,2105,0.00,1.92,0.00,0.000,4,0.000,0.024,2347,1175,3581,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2160,-0.52,-160.6,343.0,-9.5,285,2168,0.00,2.28,0.00,0.000,6,0.000,0.044,2346,2679,3581,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2467,-0.52,-160.6,375.8,-9.9,316,2476,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1185,3578,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2551,-0.52,-160.6,383.0,-8.7,324,2559,0.00,2.28,0.00,0.000,6,0.000,0.043,2345,2667,3577,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2861,-0.52,-160.6,412.4,-9.8,355,2870,0.00,2.15,-0.08,0.000,4,0.000,0.035,2345,1176,3602,0,0,0,0,0,0,28.83,26.37,25.47
$GC,2896,-0.52,-160.6,415.7,-9.7,358,2903,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,2669,3603,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3203,-0.52,-160.6,444.6,-9.0,389,3213,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1179,3600,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3267,-0.52,-160.6,449.7,-7.6,395,3276,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2672,3600,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3578,-0.52,-160.6,473.0,-6.8,426,3587,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1183,3596,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3631,-0.52,-160.6,476.8,-6.8,431,3640,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2666,3596,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3940,-0.52,-160.6,499.2,-7.5,462,3949,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1189,3593,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3976,-0.52,-160.6,501.5,-7.4,465,3984,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2669,3593,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4283,-0.52,-160.6,528.1,-9.7,496,4292,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1181,3590,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4326,-0.52,-160.6,532.3,-10.1,500,4334,0.00,2.25,0.00,0.000,6,0.000,0.044,2344,2666,3589,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4636,-0.52,-160.6,562.3,-8.6,531,4645,0.00,2.12,0.00,0.000,4,0.000,0.024,2345,1176,3587,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4679,-0.52,-160.6,566.0,-8.7,535,4687,0.00,2.30,0.00,0.000,6,0.000,0.044,2344,2680,3587,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4988,-0.52,-160.6,588.7,-6.8,566,4997,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1188,3584,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5023,-0.52,-160.6,590.8,-6.9,569,5031,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2675,3584,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5341,-0.52,-160.6,613.3,-7.4,592,5347,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1190,3581,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5393,-0.52,-160.6,616.5,-7.8,594,5400,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2675,3580,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5701,-0.52,-160.6,643.3,-8.5,610,5707,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1192,3578,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5727,-0.52,-160.6,644.9,-8.4,611,5732,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2668,3578,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6037,-0.52,-160.6,667.8,-6.7,626,6042,0.00,2.10,0.00,0.000,4,0.000,0.024,2344,1186,3576,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6067,-0.52,-160.6,669.0,-6.5,627,6076,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2659,3576,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6378,-0.52,-160.6,687.2,-5.4,643,6383,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1179,3573,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6416,-0.52,-160.6,689.5,-5.6,645,6422,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2667,3573,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6738,-0.52,-160.6,709.7,-7.0,661,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2667,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7036,-0.52,-160.6,733.4,-8.2,676,7042,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1181,3569,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7089,-0.52,-160.6,736.8,-8.1,678,7096,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2676,3569,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7399,-0.52,-160.6,760.2,-6.6,694,7402,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1182,3567,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7428,-0.52,-160.6,761.7,-6.5,695,7432,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,2666,3567,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7737,-0.52,-160.6,781.1,-6.1,710,7742,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1189,3566,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7778,-0.52,-160.6,783.8,-6.4,712,7782,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2673,3566,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8090,-0.52,-160.6,804.8,-6.8,728,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2674,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.52,-160.6,826.1,-7.4,743,8397,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1184,3563,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8434,-0.52,-160.6,829.2,-7.5,745,8438,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2667,3563,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8746,-0.52,-160.6,851.7,-6.9,761,8750,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1188,3562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8782,-0.52,-160.6,853.3,-6.8,762,8790,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2674,3561,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9089,-0.52,-160.6,873.5,-6.3,778,9094,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1188,3560,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9122,-0.52,-160.6,874.7,-6.2,779,9129,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2670,3561,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9428,-0.52,-160.6,894.4,-6.2,795,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2671,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,-0.52,-160.6,912.4,-5.7,810,9736,0.00,2.10,0.00,0.000,4,0.000,0.025,2344,1193,3558,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9770,-0.52,-160.6,914.8,-5.8,812,9776,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2666,3558,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10089,-0.52,-160.6,931.7,-5.1,828,10095,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1184,3557,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10122,-0.52,-160.6,932.7,-5.1,829,10130,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2665,3557,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10431,-0.52,-160.6,948.2,-4.4,845,10436,0.00,2.12,0.00,0.000,4,0.000,0.024,2344,1190,3556,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10457,-0.52,-160.6,949.1,-4.4,846,10461,0.00,2.30,0.00,0.000,6,0.000,0.047,2344,2669,3557,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10766,-0.52,-160.6,963.2,-4.2,861,10770,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1179,3555,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10795,-0.52,-160.6,964.2,-4.3,862,10800,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2670,3555,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11103,-0.52,-160.6,978.4,-4.6,877,11108,0.00,2.17,0.00,0.000,4,0.000,0.025,2344,1178,3554,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11127,-0.52,-160.6,979.5,-4.8,878,11131,0.00,2.33,0.00,0.000,6,0.000,0.047,2344,2669,3554,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,11336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11336,begin apogee
$GC,11342,-0.17,0.0,990.8,-5.4,889,11490,0.32,0.12,140.73,1.704,6,0.100,0.093,2464,2584,2928,0,0,0,0,0,0,25.85,24.33,22.46
$STATE,11492,end apogee,CONTROL_FINISHED_OK
$STATE,11492,begin climb
$GC,11494,0.52,160.6,996.4,0.0,896,11660,0.60,2.45,157.95,1.661,4,0.049,0.028,2715,1102,2273,0,0,0,0,0,0,24.82,23.83,21.77
$GC,11709,0.52,160.6,985.2,12.1,907,11716,0.15,2.38,0.00,0.000,6,0.162,0.047,2678,2562,2266,0,0,0,0,0,0,24.77,25.02,28.83
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$STATE,21216,end climb,SURFACE_DEPTH_REACHED
$STATE,21216,begin surface coast
$FINISH,1.0,1.021338
$STATE,21257,end surface coast,CONTROL_FINISHED_OK
$STATE,21258,begin surface
$SM_CCo,21334,0.00,0.000,0,0,1043,462.64
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$IRIDIUM_FIX,1803.24,12345.18,200612,020230
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.40
$XPDR_PINGS,1
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$10V_AH,9.8,60.132
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.675,225.100,515.625,0.000,0.000,41.037,43.524,288.663,0.250,0.000,15.342,4639.458,12150.237,734.513,3822.620,488.878,0.000,2504.573,0.000,3132.024,0.000,0.542,0.000
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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,329612
$DATA_FILE_SIZE,137271,1831
$CAP_FILE_SIZE,227362,0
$CFSIZE,260165632,174735360
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117, 35.9,1
$GPS,200612,145637,1810.477,12341.140,41,1.0,41,-2.0