version: 66.10
glider: 176
mission: 5
dive: 6
start: 3 14 112 17 47 49
data:
$ID,176
$MISSION,5
$DIVE,6
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$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,400
$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,-7363.6904
$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,2540
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$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,0
$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
$GPS1,140312,174122,2206.687,12238.953,7,3.9,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.4
$GPS2,140312,174722,2206.748,12238.968,15,3.4,34,-2.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,172.0,271382,-14.9,-10.000
$D_GRID,4573
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,83,0.00,0.00,-62.75,0.000,2,0.000,0.000,190,2432,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.61,-194.6,3.5,-8.1,9,121,8.45,2.05,-17.55,0.000,4,0.243,0.051,2341,1055,3726,0,0,0,0,0,0,25.99,26.32,26.59
$GC,197,-0.61,-194.6,35.6,-18.2,27,205,0.08,2.25,0.00,0.000,6,0.192,0.050,2349,2525,3726,0,0,0,0,0,0,26.24,26.33,28.83
$GC,547,-0.51,-194.6,119.4,-19.2,88,556,0.12,1.90,0.00,0.000,4,0.169,0.058,2385,3755,3725,0,0,0,0,0,0,26.41,26.46,28.83
$GC,685,-0.51,-194.6,140.7,-12.9,111,693,0.03,1.83,0.00,0.000,6,0.258,0.027,2344,2426,3725,0,0,0,0,0,0,26.51,26.60,28.83
$GC,1030,-0.44,-194.6,213.5,-18.6,166,1039,0.17,2.03,0.00,0.000,4,0.145,0.054,2394,3768,3725,0,0,0,0,0,0,26.51,26.57,28.83
$GC,1113,-0.51,-194.6,224.3,-10.6,174,1117,0.03,1.88,0.00,0.000,6,0.027,0.025,2329,2407,3725,0,0,0,0,0,0,26.61,26.70,28.83
$GC,1425,-0.43,-194.6,277.3,-16.2,205,1434,0.22,2.08,0.00,0.000,4,0.136,0.055,2400,3765,3725,0,0,0,0,0,0,26.55,26.60,28.83
$GC,1491,-0.49,-194.6,283.9,-8.3,211,1499,0.10,1.85,0.00,0.000,6,0.102,0.024,2330,2389,3725,0,0,0,0,0,0,26.67,26.74,28.83
$GC,1799,-0.44,-194.6,337.6,-18.6,242,1808,0.22,2.08,0.00,0.000,4,0.131,0.056,2400,3757,3725,0,0,0,0,0,0,26.58,26.63,28.83
$GC,1893,-0.57,-194.6,347.8,-8.2,251,1898,0.10,1.85,0.00,0.000,6,0.051,0.025,2288,2420,3725,0,0,0,0,0,0,26.72,26.76,28.83
$GC,2205,-0.46,-194.6,405.4,-18.3,282,2215,0.30,2.05,0.00,0.000,4,0.138,0.057,2386,3773,3723,0,0,0,0,0,0,26.58,26.65,28.83
$GC,2238,-0.42,-194.6,410.2,-16.0,285,2247,0.10,1.85,0.00,0.000,6,0.134,0.025,2421,2403,3723,0,0,0,0,0,0,26.64,26.77,28.83
$GC,2548,-0.69,-194.6,434.7,-10.3,316,2557,0.28,2.08,0.00,0.000,4,0.076,0.054,2300,3773,3722,0,0,0,0,0,0,26.72,26.67,28.83
$GC,2581,-0.86,-194.6,438.1,-10.5,319,2590,0.12,1.85,0.00,0.000,6,0.090,0.025,2217,2407,3722,0,0,0,0,0,0,26.73,26.78,28.83
$GC,2890,-0.67,-194.6,511.8,-24.3,350,2901,0.32,2.05,0.00,0.000,4,0.153,0.056,2318,3766,3721,0,0,0,0,0,0,26.55,26.67,28.83
$GC,3003,-0.67,-194.6,526.8,-10.2,361,3007,0.00,1.83,0.00,0.000,6,0.000,0.025,2318,2432,3720,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3309,-0.67,-194.6,563.9,-13.0,391,3318,0.00,2.03,0.00,0.000,4,0.000,0.057,2317,3770,3719,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3360,-0.67,-194.6,570.8,-13.5,396,3364,0.00,1.85,0.00,0.000,6,0.000,0.025,2316,2413,3719,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3667,-0.67,-194.6,610.4,-12.8,422,3672,0.00,2.05,0.00,0.000,4,0.000,0.057,2310,3763,3716,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3785,-0.67,-194.6,624.9,-11.7,428,3790,0.08,1.85,0.00,0.000,6,0.171,0.025,2331,2407,3715,0,0,0,0,0,0,26.65,26.81,28.83
$GC,4106,-0.69,-194.6,656.2,-9.7,444,4112,0.08,2.08,0.00,0.000,4,0.129,0.057,2273,3766,3713,0,0,0,0,0,0,26.81,26.67,28.83
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4143,begin apogee
$GC,4149,-0.17,0.0,661.8,-11.1,446,4316,0.60,0.17,159.02,1.467,6,0.116,0.078,2487,2532,2928,0,0,0,0,0,0,26.60,24.81,23.91
$STATE,4317,end apogee,CONTROL_FINISHED_OK
$STATE,4317,begin climb
$GC,4319,0.61,194.6,670.7,0.0,454,4503,0.68,2.35,172.25,1.445,4,0.050,0.038,2763,1058,2134,0,0,0,0,0,0,25.04,24.81,23.86
$GC,4660,0.42,194.6,640.5,17.3,471,4669,0.35,2.28,0.00,0.000,6,0.182,0.047,2667,2517,2128,0,0,0,0,0,0,25.68,25.83,28.83
$GC,4967,0.33,194.6,599.7,12.2,487,4977,0.10,1.90,0.00,0.000,4,0.198,0.055,2642,3766,2125,0,0,0,0,0,0,26.13,26.19,28.83
$GC,5029,0.25,194.6,592.0,12.5,493,5039,0.12,1.88,0.00,0.000,6,0.187,0.027,2618,2442,2124,0,0,0,0,0,0,26.13,26.31,28.83
$GC,5340,0.31,237.0,565.7,8.5,524,5382,0.10,2.17,35.92,1.395,4,0.111,0.057,2669,3762,1961,0,0,0,0,0,0,26.44,25.44,24.51
$GC,5429,0.22,237.0,554.6,14.7,532,5436,0.25,1.92,0.00,0.000,6,0.158,0.027,2607,2451,1960,0,0,0,0,0,0,25.65,25.80,28.83
$GC,5736,0.41,338.6,530.9,6.5,563,5828,0.20,0.00,88.95,1.392,6,0.073,0.000,2708,2448,1547,0,0,0,0,0,0,26.27,28.83,23.99
$GC,6126,0.34,338.6,472.1,16.0,602,6135,0.20,2.05,0.00,0.000,4,0.151,0.054,2644,3764,1542,0,0,0,0,0,0,25.97,26.05,28.83
$GC,6219,0.47,385.5,462.1,8.4,611,6270,0.15,1.90,40.05,1.335,6,0.083,0.028,2722,2446,1356,0,0,0,0,0,0,26.18,26.21,24.36
$GC,6568,0.40,385.5,403.6,18.8,646,6578,0.17,2.08,0.00,0.000,4,0.153,0.037,2674,1052,1352,0,0,0,0,0,0,26.01,26.14,28.83
$GC,6632,0.54,423.8,396.4,8.7,652,6673,0.10,2.22,32.90,1.291,6,0.053,0.045,2747,2509,1200,0,0,0,0,0,0,26.19,26.17,24.52
$GC,6971,0.45,423.8,325.5,20.1,686,6975,0.20,1.92,0.00,0.000,4,0.160,0.054,2683,3764,1198,0,0,0,0,0,0,26.02,26.10,28.83
$GC,7057,0.56,449.1,314.8,9.1,694,7084,0.12,1.90,22.10,1.228,6,0.091,0.029,2745,2443,1096,0,0,0,0,0,0,26.22,26.25,24.80
$GC,7383,0.50,449.1,254.5,19.5,727,7387,0.15,2.05,0.00,0.000,4,0.154,0.052,2695,3777,1095,0,0,0,0,0,0,26.10,26.16,28.83
$GC,7418,0.47,449.1,249.2,17.4,730,7425,0.00,1.92,0.00,0.000,6,0.000,0.028,2697,2452,1095,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7725,0.53,449.1,217.8,10.4,761,7735,0.08,2.05,0.00,0.000,4,0.133,0.038,2748,1061,1095,0,0,0,0,0,0,26.44,26.39,28.83
$GC,7760,0.57,449.1,214.1,11.3,764,7768,0.12,2.20,0.00,0.000,6,0.136,0.044,2709,2519,1094,0,0,0,0,0,0,26.31,26.38,28.83
$GC,8091,0.61,449.1,171.8,12.7,814,8101,0.12,2.20,0.00,0.000,4,0.095,0.037,2788,1058,1095,0,0,0,0,0,0,26.53,26.49,28.83
$GC,8131,0.59,449.1,165.9,16.4,820,8140,0.17,2.22,0.00,0.000,6,0.120,0.043,2726,2520,1095,0,0,0,0,0,0,26.38,26.48,28.83
$GC,8483,0.61,449.1,124.9,10.9,881,8490,0.05,1.88,0.00,0.000,4,0.180,0.052,2769,3765,1096,0,0,0,0,0,0,26.63,26.52,28.83
$GC,8514,0.58,449.1,120.1,15.2,886,8523,0.15,1.90,0.00,0.000,6,0.124,0.033,2721,2472,1097,0,0,0,0,0,0,26.45,26.60,28.83
$GC,8865,0.64,449.1,79.9,10.6,947,8874,0.10,2.08,0.00,0.000,4,0.112,0.039,2787,1053,1097,0,0,0,0,0,0,26.65,26.61,28.83
$GC,8922,0.68,449.1,72.6,12.3,956,8931,0.10,2.22,0.00,0.000,6,0.113,0.046,2748,2518,1097,0,0,0,0,0,0,26.52,26.60,28.83
$GC,9275,0.79,495.8,32.7,8.4,1017,9306,0.12,2.20,18.88,0.199,4,0.093,0.042,2831,1064,904,0,0,0,0,0,0,26.70,26.58,26.34
$GC,9355,0.81,495.8,20.6,14.6,1029,9362,0.15,2.17,0.00,0.000,6,0.138,0.046,2785,2525,903,0,0,0,0,0,0,26.48,26.57,28.83
$STATE,9469,end climb,SURFACE_DEPTH_REACHED
$STATE,9469,begin surface coast
$FINISH,0.6,1.019174
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9568,0.00,0.000,0,0,902,496.98
$SM_GC,1.28,6.38,0.05,0.00,0.035,0.144,0.000,199,2431,902,-7.23,0.65,496.98,0,0,0,0,0,0,26.61,26.72,28.83
$IRIDIUM_FIX,2202.04,12240.76,140312,141407
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.9,3.767
$10V_AH,10.4,2.993
$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,21.850,93.125,570.075,0.000,0.000,28.635,38.125,155.188,0.250,0.000,38.324,2591.518,3896.749,641.257,2550.995,234.724,0.000,1686.707,0.000,2245.276,0.000,0.542,0.000
$DEVICE_MAMPS,257.805,143.820,1467.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.873,1694.891,701.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,70403,1053
$CAP_FILE_SIZE,125603,0
$CFSIZE,260165632,221863936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,337.3,1
$GPS,140312,202825,2205.836,12238.629,39,1.3,39,-2.9