version: 66.10
glider: 176
mission: 5
dive: 277
start: 5 8 112 13 5 49
data:
$ID,176
$MISSION,5
$DIVE,277
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,250
$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,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,-7803.6699
$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,2600
$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,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
$GPS1,080512,125900,1901.872,12224.981,41,0.9,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.3
$GPS2,080512,130520,1902.026,12224.979,11,1.5,11,-2.2
$SPEED_LIMITS,0.191,0.336
$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,96.1,241260,-14.4,-11.000
$D_GRID,2075
$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,-0.66,-243.3,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,2,0.000,0.000,183,2633,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.66,-243.3,3.3,-7.7,11,132,8.43,1.70,-32.22,0.000,4,0.230,0.061,2293,3773,3923,0,0,0,0,0,0,25.30,26.15,26.65
$GC,310,-0.66,-243.3,89.8,-26.9,48,318,0.05,1.73,0.00,0.000,6,0.224,0.023,2306,2521,3923,0,0,0,0,0,0,26.26,26.46,28.83
$GC,639,-0.66,-243.3,195.1,-26.2,109,646,0.00,1.90,0.00,0.000,4,0.000,0.052,2297,3768,3923,0,0,0,0,0,0,28.83,26.29,28.83
$GC,664,-0.66,-243.3,202.2,-27.2,113,668,0.00,1.73,0.00,0.000,6,0.000,0.022,2297,2505,3923,0,0,0,0,0,0,28.83,26.60,28.83
$GC,975,-0.66,-243.3,283.6,-26.2,144,979,0.00,1.92,0.00,0.000,4,0.000,0.051,2287,3777,3923,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1015,-0.66,-243.3,292.9,-26.3,147,1022,0.10,1.73,0.00,0.000,6,0.168,0.022,2315,2469,3924,0,0,0,0,0,0,26.30,26.61,28.83
$GC,1322,-0.66,-243.3,349.6,-15.8,178,1326,0.08,1.98,0.00,0.000,4,0.136,0.050,2251,3770,3923,0,0,0,0,0,0,26.65,26.31,28.83
$GC,1357,-0.66,-243.3,355.6,-18.0,181,1365,0.20,1.70,0.00,0.000,6,0.145,0.023,2312,2498,3923,0,0,0,0,0,0,26.11,26.61,28.83
$GC,1664,-0.66,-243.3,402.1,-14.5,212,1668,0.05,1.95,0.00,0.000,4,0.178,0.051,2254,3770,3921,0,0,0,0,0,0,26.67,26.30,28.83
$GC,1693,-0.66,-243.3,406.7,-15.5,214,1702,0.15,1.73,0.00,0.000,6,0.132,0.021,2308,2479,3920,0,0,0,0,0,0,26.13,26.63,28.83
$GC,2000,-0.66,-243.3,454.8,-14.9,245,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2477,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2304,-0.66,-243.3,501.0,-15.5,275,2313,0.00,1.98,0.00,0.000,4,0.000,0.055,2304,3779,3915,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2358,-0.66,-243.3,508.4,-13.5,280,2365,0.00,1.75,0.00,0.000,6,0.000,0.021,2304,2469,3914,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2665,-0.66,-243.3,548.2,-12.5,311,2674,0.00,2.00,0.00,0.000,4,0.000,0.054,2295,3766,3911,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2727,-0.66,-243.3,556.0,-12.4,317,2731,0.00,1.73,0.00,0.000,6,0.000,0.023,2294,2493,3910,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3038,-0.66,-243.3,596.2,-12.4,348,3042,0.05,2.00,0.00,0.000,4,0.230,0.054,2304,3766,3907,0,0,0,0,0,0,26.60,26.21,28.83
$GC,3084,-0.66,-243.3,601.0,-11.6,352,3087,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2500,3906,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3401,-0.66,-243.3,636.9,-10.5,368,3406,0.00,2.03,0.00,0.000,4,0.000,0.055,2295,3766,3903,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3428,-0.66,-243.3,639.5,-10.8,369,3432,0.00,1.73,0.00,0.000,6,0.000,0.024,2295,2502,3902,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3741,-0.66,-243.3,678.2,-12.0,385,3746,0.05,1.98,0.00,0.000,4,0.233,0.054,2304,3764,3900,0,0,0,0,0,0,26.59,26.17,28.83
$GC,3816,-0.66,-243.3,684.9,-11.1,388,3823,0.00,1.75,0.00,0.000,6,0.000,0.025,2304,2477,3899,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4124,-0.66,-243.3,721.0,-12.2,404,4129,0.00,1.98,0.00,0.000,4,0.000,0.057,2304,3757,3895,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4164,-0.66,-243.3,725.8,-12.2,406,4167,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2488,3894,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4485,-0.66,-243.3,765.7,-12.7,422,4490,0.00,2.05,0.00,0.000,4,0.000,0.057,2304,3766,3892,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4566,-0.66,-243.3,775.0,-11.6,426,4570,0.00,1.73,0.00,0.000,6,0.000,0.025,2304,2500,3891,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4888,-0.66,-243.3,807.7,-9.1,442,4893,0.00,2.03,0.00,0.000,4,0.000,0.057,2304,3763,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4916,-0.66,-243.3,809.6,-9.0,443,4920,0.00,1.73,0.00,0.000,6,0.000,0.024,2304,2501,3888,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5227,-0.66,-243.3,839.7,-10.4,459,5233,0.00,2.05,0.00,0.000,4,0.000,0.058,2304,3765,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5270,-0.66,-243.3,844.3,-11.0,461,5273,0.00,1.77,0.00,0.000,6,0.000,0.024,2304,2468,3884,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5588,-0.66,-243.3,883.5,-12.4,477,5593,0.00,2.03,0.00,0.000,4,0.000,0.058,2301,3765,3882,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5629,-0.66,-243.3,888.2,-12.0,479,5633,0.00,1.77,0.00,0.000,6,0.000,0.024,2301,2478,3881,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5947,-0.66,-243.3,920.1,-8.1,495,5953,0.00,2.03,0.00,0.000,4,0.000,0.057,2300,3764,3879,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6009,-0.66,-243.3,924.6,-7.6,498,6013,0.00,1.75,0.00,0.000,6,0.000,0.024,2300,2498,3879,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6331,-0.66,-243.3,950.5,-8.9,514,6336,0.00,2.05,0.00,0.000,4,0.000,0.059,2300,3762,3877,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6394,-0.66,-243.3,956.4,-9.7,517,6397,0.00,1.77,0.00,0.000,6,0.000,0.025,2300,2473,3876,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,6709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6709,begin apogee
$GC,6715,-0.17,0.0,990.5,-10.9,533,6932,0.45,0.05,207.27,1.711,6,0.100,0.048,2464,2440,2928,0,0,0,0,0,0,25.98,23.72,22.45
$STATE,6933,end apogee,CONTROL_FINISHED_OK
$STATE,6933,begin climb
$GC,6935,0.66,243.3,1007.7,0.0,544,6992,0.75,0.00,53.22,1.650,2,0.043,0.000,2756,2440,2707,0,0,0,0,0,0,24.22,28.83,28.83
$STATE,6993,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,7005,514.12,1.636,0,0,500,595.83
$SM_GC,1.55,6.28,0.12,0.00,0.028,0.089,0.000,189,2564,499,-7.15,-0.45,595.83,0,0,0,0,0,0,26.51,26.60,28.83
$IRIDIUM_FIX,1855.54,12221.10,080512,090943
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,9.47577
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.4,57.121
$10V_AH,10.1,35.874
$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,16.625,63.400,260.500,514.125,0.000,29.600,20.282,198.018,0.000,0.000,13.806,1562.229,7733.585,823.267,1384.235,199.534,0.000,1532.641,0.000,1029.243,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,123.165,1710.540,1636.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.297,791.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,40306,547
$CAP_FILE_SIZE,91877,0
$CFSIZE,260165632,195432448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,080512,161555,1902.859,12225.240,38,1.4,38,-2.2