version: 66.10
glider: 176
mission: 5
dive: 467
start: 6 20 112 15 5 24
data:
$ID,176
$MISSION,5
$DIVE,467
$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,-8209.3232
$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
$GPS1,200612,145637,1810.477,12341.140,41,1.0,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.6
$GPS2,200612,150456,1810.516,12341.231,14,1.0,14,-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,260.4,153998,-13.0,-7.857
$D_GRID,5397
$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,-160.6,0.0,0.0,0,67,0.00,0.00,-48.30,0.000,2,0.000,0.000,190,2716,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.52,-160.6,3.3,-6.9,8,113,8.85,2.17,-25.10,0.000,4,0.231,0.036,2345,1182,3585,0,0,0,0,0,0,24.97,26.27,26.70
$GC,189,-0.52,-160.6,32.6,-22.3,24,196,0.08,2.25,0.00,0.000,6,0.200,0.042,2351,2675,3585,0,0,0,0,0,0,25.96,26.11,28.83
$GC,519,-0.52,-160.6,122.1,-23.6,85,526,0.00,2.12,0.00,0.000,4,0.000,0.024,2351,1178,3585,0,0,0,0,0,0,28.83,26.38,28.83
$GC,563,-0.52,-160.6,131.5,-20.4,90,571,0.00,2.25,0.00,0.000,6,0.000,0.044,2349,2666,3585,0,0,0,0,0,0,28.83,26.13,28.83
$GC,876,-0.52,-160.6,191.6,-18.7,151,882,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1182,3585,0,0,0,0,0,0,28.83,26.40,28.83
$GC,942,-0.52,-160.6,200.7,-10.7,163,950,0.00,2.28,0.00,0.000,6,0.000,0.042,2348,2670,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1251,-0.52,-160.6,247.3,-15.2,194,1255,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1186,3586,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1275,-0.52,-160.6,250.6,-14.7,196,1283,0.05,2.22,0.00,0.000,6,0.217,0.042,2352,2670,3585,0,0,0,0,0,0,26.08,26.17,28.83
$GC,1583,-0.52,-160.6,290.5,-13.7,227,1587,0.00,2.10,0.00,0.000,4,0.000,0.024,2353,1190,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1620,-0.52,-160.6,294.6,-13.3,230,1628,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2673,3585,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1926,-0.52,-160.6,333.1,-11.7,261,1934,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1183,3583,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2031,-0.52,-160.6,342.7,-8.8,271,2038,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2675,3583,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2339,-0.52,-160.6,375.0,-10.5,302,2348,0.00,2.10,0.00,0.000,4,0.000,0.024,2349,1179,3581,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2405,-0.52,-160.6,380.8,-8.5,308,2412,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2669,3581,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2712,-0.52,-160.6,411.9,-10.5,339,2721,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1180,3579,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2754,-0.52,-160.6,415.9,-9.6,343,2763,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2672,3579,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3063,-0.52,-160.6,446.5,-9.9,374,3073,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1185,3577,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3096,-0.52,-160.6,449.6,-9.4,377,3104,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2668,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3406,-0.52,-160.6,477.4,-8.5,408,3415,0.00,2.15,-0.08,0.000,4,0.000,0.034,2348,1184,3604,0,0,0,0,0,0,28.83,26.36,25.43
$GC,3460,-0.52,-160.6,481.8,-8.2,413,3468,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2661,3604,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3770,-0.52,-160.6,507.2,-7.4,444,3779,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1186,3601,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3802,-0.52,-160.6,509.5,-6.8,447,3811,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2660,3601,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4112,-0.52,-160.6,531.9,-7.8,478,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2660,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4412,-0.52,-160.6,554.6,-8.2,508,4421,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1189,3596,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4465,-0.52,-160.6,558.8,-7.8,513,4474,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,2668,3595,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4774,-0.52,-160.6,585.6,-9.4,544,4782,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1175,3593,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4836,-0.52,-160.6,591.2,-8.9,550,4846,0.00,2.25,0.00,0.000,6,0.000,0.045,2348,2660,3593,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5156,-0.52,-160.6,621.5,-9.3,571,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2660,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.52,-160.6,646.8,-8.1,586,5461,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1185,3587,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5511,-0.52,-160.6,649.9,-8.0,588,5518,0.00,2.28,0.00,0.000,6,0.000,0.044,2348,2671,3588,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5815,-0.52,-160.6,674.3,-7.4,604,5821,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1182,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5838,-0.52,-160.6,675.7,-7.4,605,5842,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2672,3586,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6152,-0.52,-160.6,698.7,-7.3,621,6157,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1188,3583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6183,-0.52,-160.6,700.1,-7.4,622,6192,0.00,2.28,0.00,0.000,6,0.000,0.046,2348,2666,3583,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6492,-0.52,-160.6,722.9,-7.0,638,6497,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1180,3581,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6531,-0.52,-160.6,725.7,-7.0,640,6536,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2666,3581,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6851,-0.52,-160.6,747.6,-7.1,656,6856,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1182,3579,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6880,-0.52,-160.6,748.9,-6.9,657,6889,0.00,2.30,0.00,0.000,6,0.000,0.045,2348,2673,3578,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7191,-0.52,-160.6,769.8,-6.4,673,7196,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1189,3577,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7233,-0.52,-160.6,772.3,-6.3,675,7237,0.00,2.30,0.00,0.000,6,0.000,0.046,2348,2673,3576,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7548,-0.52,-160.6,791.7,-6.2,691,7553,0.00,2.15,0.00,0.000,4,0.000,0.024,2348,1184,3575,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7574,-0.52,-160.6,793.1,-6.4,692,7578,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2669,3575,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7883,-0.52,-160.6,814.8,-7.1,707,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2669,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,-0.52,-160.6,837.5,-7.6,722,8187,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1189,3571,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8241,-0.52,-160.6,842.2,-7.7,725,8247,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2674,3571,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8562,-0.52,-160.6,865.5,-7.1,741,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2674,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,-0.52,-160.6,886.3,-6.9,756,8867,0.00,2.17,0.00,0.000,4,0.000,0.025,2348,1181,3568,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8914,-0.52,-160.6,889.0,-6.9,758,8922,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2666,3568,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9224,-0.52,-160.6,912.3,-7.5,774,9229,0.00,2.12,0.00,0.000,4,0.000,0.024,2348,1193,3567,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9251,-0.52,-160.6,913.8,-7.5,775,9260,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2673,3567,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9563,-0.52,-160.6,939.0,-8.1,791,9567,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1193,3567,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9598,-0.52,-160.6,940.9,-8.1,792,9605,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2665,3566,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9905,-0.52,-160.6,965.0,-7.2,808,9911,0.00,2.17,0.00,0.000,4,0.000,0.025,2347,1179,3565,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9934,-0.52,-160.6,966.5,-7.1,809,9939,0.00,2.33,0.00,0.000,6,0.000,0.047,2348,2671,3565,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10240,-0.52,-160.6,986.4,-5.9,824,10246,0.00,2.17,0.00,0.000,4,0.000,0.024,2348,1181,3564,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10273,-0.52,-160.6,987.5,-5.9,825,10280,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2665,3564,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,10318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10318,begin apogee
$GC,10325,-0.17,0.0,991.0,-5.9,828,10474,0.32,0.10,141.93,1.698,6,0.099,0.067,2467,2582,2929,0,0,0,0,0,0,25.86,24.32,22.55
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10475,begin climb
$GC,10477,0.52,160.6,996.5,0.0,835,10640,0.60,0.00,157.15,1.653,6,0.050,0.000,2705,2582,2273,0,0,0,0,0,0,24.86,28.83,21.88
$GC,10940,0.52,160.6,941.9,15.7,859,10947,0.12,2.17,0.00,0.000,4,0.184,0.027,2679,1105,2262,0,0,0,0,0,0,25.91,26.14,28.83
$GC,10973,0.52,160.6,939.0,15.4,860,10980,0.00,2.28,0.00,0.000,6,0.000,0.047,2679,2568,2259,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11281,0.52,160.6,898.7,12.3,876,11286,0.00,2.15,0.00,0.000,4,0.000,0.028,2690,1105,2259,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11333,0.52,160.6,894.2,11.8,878,11341,0.05,2.28,0.00,0.000,6,0.213,0.046,2678,2576,2257,0,0,0,0,0,0,25.98,26.06,28.83
$GC,11641,0.52,160.6,857.9,11.5,894,11644,0.00,1.85,0.00,0.000,4,0.000,0.057,2678,3766,2257,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11666,0.52,160.6,855.2,11.5,895,11670,0.00,1.85,0.00,0.000,6,0.000,0.024,2687,2490,2256,0,0,0,0,0,0,28.83,26.34,28.83
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$GC,17399,0.60,223.8,285.7,10.3,1352,17409,0.17,2.22,0.00,0.000,6,0.122,0.041,2700,2569,2013,0,0,0,0,0,0,25.68,26.02,28.83
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$STATE,20538,end climb,SURFACE_DEPTH_REACHED
$STATE,20538,begin surface coast
$FINISH,0.7,1.021142
$STATE,20600,end surface coast,CONTROL_FINISHED_OK
$STATE,20600,begin surface
$SM_CCo,20677,0.00,0.000,0,0,919,493.05
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$TT8_MAMPS,0.026215,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.80
$XPDR_PINGS,1
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$10V_AH,9.8,60.272
$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
$DEVICE_SECS,19.625,211.900,524.850,0.000,0.000,28.422,19.397,290.819,0.250,0.000,18.137,4640.211,11462.488,731.916,3817.556,488.292,0.000,2498.250,0.000,3089.539,0.000,0.543,0.000
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$MEM,329656
$DATA_FILE_SIZE,137071,1842
$CAP_FILE_SIZE,223985,0
$CFSIZE,260165632,174620672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199, 81.0,1
$GPS,200612,205107,1810.255,12340.896,37,1.1,37,-2.0