version: 66.08
glider: 176
mission: 2
dive: 296
start: 10 15 110 8 39 40
data:
$ID,176
$MISSION,2
$DIVE,296
$N_DIVES,309
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$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,375
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$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
$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,-5170.8618
$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,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2100
$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,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-70.249977
$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,2
$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,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,151010,083307,2419.433,12706.760,34,0.9,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.1
$GPS2,151010,083914,2419.354,12706.810,9,1.2,9,-3.7
$SPEED_LIMITS,0.192,0.322
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,249.5,185931,-15.4,-11.111
$D_GRID,1000
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.57,0.000,2,0.000,0.000,202,2469,2502,0,0,0,0,0,0
$GC,88,-0.61,-219.0,3.2,-5.1,8,131,8.62,2.08,-28.00,0.000,4,0.233,0.069,2390,3774,3923,0,0,0,0,0,0
$GC,240,-0.60,-219.0,40.6,-22.3,31,249,0.00,2.08,0.00,0.000,6,0.000,0.028,2390,2357,3924,0,0,0,0,0,0
$GC,606,-0.59,-219.0,128.5,-20.5,92,614,0.08,0.00,0.00,0.000,6,0.210,0.000,2408,2353,3924,0,0,0,0,0,0
$GC,962,-0.58,-219.0,184.2,-13.1,153,969,0.00,2.15,0.00,0.000,4,0.000,0.054,2407,3776,3925,0,0,0,0,0,0
$GC,1000,-0.58,-219.0,189.0,-12.1,159,1007,0.00,2.05,0.00,0.000,6,0.000,0.027,2407,2333,3925,0,0,0,0,0,0
$GC,1343,-0.58,-219.0,231.1,-13.3,220,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2329,3925,0,0,0,0,0,0
$GC,1694,-0.58,-219.0,273.7,-11.3,281,1701,0.00,2.20,0.00,0.000,4,0.000,0.054,2407,3775,3924,0,0,0,0,0,0
$GC,1732,-0.60,-219.0,277.6,-10.3,287,1739,0.05,2.03,0.00,0.000,6,0.174,0.027,2368,2342,3924,0,0,0,0,0,0
$GC,2079,-0.59,-219.0,333.5,-16.3,348,2088,0.15,2.22,0.00,0.000,4,0.153,0.054,2413,3769,3923,0,0,0,0,0,0
$GC,2114,-0.59,-219.0,337.7,-11.6,353,2123,0.08,2.03,0.00,0.000,6,0.125,0.027,2361,2335,3923,0,0,0,0,0,0
$GC,2464,-0.59,-219.0,388.3,-15.9,414,2473,0.15,2.03,0.00,0.000,4,0.148,0.034,2407,952,3922,0,0,0,0,0,0
$GC,2510,-0.60,-219.0,393.8,-10.5,421,2519,0.05,2.20,0.00,0.000,6,0.175,0.040,2361,2434,3921,0,0,0,0,0,0
$GC,2858,-0.60,-219.0,442.8,-12.8,482,2867,0.15,2.05,0.00,0.000,4,0.142,0.056,2404,3763,3919,0,0,0,0,0,0
$GC,2904,-0.61,-219.0,447.2,-7.4,489,2913,0.08,2.03,0.00,0.000,6,0.130,0.028,2353,2331,3919,0,0,0,0,0,0
$GC,3254,-0.61,-219.0,494.6,-15.5,550,3263,0.15,0.00,0.00,0.000,6,0.142,0.000,2400,2331,3917,0,0,0,0,0,0
$GC,3585,-0.62,-219.0,526.7,-8.6,584,3589,0.05,2.22,0.00,0.000,4,0.174,0.054,2349,3770,3915,0,0,0,0,0,0
$GC,3648,-0.63,-219.0,533.1,-9.6,589,3652,0.15,2.03,0.00,0.000,6,0.115,0.028,2401,2348,3914,0,0,0,0,0,0
$GC,3973,-0.64,-219.0,551.9,-4.4,619,3978,0.08,2.03,0.00,0.000,4,0.129,0.035,2346,942,3912,0,0,0,0,0,0
$GC,3996,-0.65,-219.0,553.4,-6.5,621,4001,0.15,2.22,0.00,0.000,6,0.132,0.042,2394,2430,3911,0,0,0,0,0,0
$GC,4322,-0.65,-219.0,572.2,-6.9,651,4326,0.08,2.03,0.00,0.000,4,0.127,0.056,2339,3767,3909,0,0,0,0,0,0
$GC,4354,-0.66,-219.0,575.3,-10.2,653,4363,0.15,2.03,0.00,0.000,6,0.122,0.028,2389,2347,3908,0,0,0,0,0,0
$GC,4689,-0.67,-219.0,606.0,-9.4,682,4693,0.08,2.05,0.00,0.000,4,0.129,0.036,2335,945,3906,0,0,0,0,0,0
$GC,4710,-0.67,-219.0,608.5,-10.8,683,4715,0.15,2.22,0.00,0.000,6,0.137,0.043,2383,2421,3906,0,0,0,0,0,0
$GC,5032,-0.68,-219.0,635.0,-7.3,699,5034,0.08,0.00,0.00,0.000,6,0.126,0.000,2330,2422,3903,0,0,0,0,0,0
$GC,5341,-0.67,-219.0,674.4,-14.1,714,5346,0.17,2.08,0.00,0.000,4,0.135,0.057,2387,3766,3900,0,0,0,0,0,0
$GC,5385,-0.69,-219.0,678.9,-8.0,716,5389,0.10,2.03,0.00,0.000,6,0.102,0.027,2327,2339,3900,0,0,0,0,0,0
$GC,5712,-0.68,-219.0,724.3,-14.3,732,5714,0.17,0.00,0.00,0.000,6,0.134,0.000,2384,2333,3898,0,0,0,0,0,0
$GC,6021,-0.69,-219.0,747.3,-6.5,747,6026,0.10,2.22,0.00,0.000,4,0.100,0.057,2318,3764,3895,0,0,0,0,0,0
$GC,6071,-0.70,-219.0,752.1,-10.2,749,6075,0.17,2.03,0.00,0.000,6,0.118,0.028,2378,2350,3895,0,0,0,0,0,0
$GC,6388,-0.71,-219.0,775.3,-7.6,764,6392,0.08,2.05,0.00,0.000,4,0.129,0.037,2321,960,3893,0,0,0,0,0,0
$GC,6411,-0.71,-219.0,777.7,-10.3,765,6415,0.15,2.22,0.00,0.000,6,0.136,0.044,2370,2429,3892,0,0,0,0,0,0
$GC,6744,-0.72,-219.0,805.3,-8.0,781,6746,0.08,0.00,0.00,0.000,6,0.125,0.000,2314,2429,3890,0,0,0,0,0,0
$GC,7052,-0.71,-219.0,844.6,-13.0,796,7054,0.17,0.00,0.00,0.000,6,0.135,0.000,2371,2429,3888,0,0,0,0,0,0
$GC,7362,-0.72,-219.0,868.7,-7.4,811,7366,0.08,2.20,0.00,0.000,4,0.125,0.036,2315,949,3886,0,0,0,0,0,0
$GC,7393,-0.72,-219.0,872.3,-11.1,812,7401,0.15,2.25,0.00,0.000,6,0.109,0.044,2365,2415,3886,0,0,0,0,0,0
$GC,7711,-0.73,-219.0,898.9,-8.7,828,7713,0.05,0.00,0.00,0.000,6,0.176,0.000,2320,2416,3884,0,0,0,0,0,0
$GC,8019,-0.73,-219.0,938.3,-13.3,843,8024,0.15,2.15,0.00,0.000,4,0.133,0.034,2370,955,3882,0,0,0,0,0,0
$GC,8042,-0.73,-219.0,940.9,-11.7,844,8047,0.08,2.20,0.00,0.000,6,0.122,0.044,2309,2417,3882,0,0,0,0,0,0
$GC,8370,-0.73,-219.0,984.5,-13.6,860,8374,0.17,2.08,0.00,0.000,4,0.136,0.057,2362,3773,3880,0,0,0,0,0,0
$GC,8396,-0.73,-219.0,987.9,-11.1,861,8400,0.00,2.05,0.00,0.000,6,0.000,0.028,2362,2346,3880,0,0,0,0,0,0
$STATE,8551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8551,begin apogee
$GC,8556,-0.11,0.0,1000.7,8.3,869,8735,0.55,0.15,173.50,1.275,6,0.091,0.081,2564,2143,3027,0,0,0,0,0,0
$STATE,8736,end apogee,CONTROL_FINISHED_OK
$STATE,8736,begin climb
$GC,8738,0.61,219.0,1009.9,0.0,877,8938,0.60,2.33,189.40,1.229,4,0.041,0.049,2819,3524,2132,0,0,0,0,0,0
$GC,9142,0.58,219.0,954.5,21.9,896,9146,0.22,2.22,0.00,0.000,6,0.191,0.029,2772,2063,2124,0,0,0,0,0,0
$GC,9469,0.57,219.0,903.8,15.1,912,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2058,2120,0,0,0,0,0,0
$GC,9777,0.55,219.0,858.5,14.7,927,9781,0.00,2.10,0.00,0.000,4,0.000,0.040,2781,661,2119,0,0,0,0,0,0
$GC,9815,0.53,219.0,852.7,15.0,928,9823,0.10,2.22,0.00,0.000,6,0.188,0.036,2758,2138,2118,0,0,0,0,0,0
$GC,10132,0.52,219.0,807.8,14.5,944,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2140,2117,0,0,0,0,0,0
$GC,10441,0.51,219.0,761.8,14.7,959,10445,0.00,2.10,0.00,0.000,4,0.000,0.050,2757,3525,2116,0,0,0,0,0,0
$GC,10467,0.49,219.0,757.3,15.6,960,10472,0.08,2.17,0.00,0.000,6,0.164,0.028,2742,2058,2117,0,0,0,0,0,0
$GC,10795,0.48,219.0,716.9,11.8,976,10798,0.00,2.05,0.00,0.000,4,0.000,0.039,2750,666,2115,0,0,0,0,0,0
$GC,10822,0.48,219.0,713.5,12.0,977,10826,0.05,2.20,0.00,0.000,6,0.223,0.037,2738,2118,2114,0,0,0,0,0,0
$GC,11150,0.51,252.7,680.1,10.0,993,11182,0.08,2.20,26.45,1.060,4,0.127,0.052,2789,3536,1995,0,0,0,0,0,0
$GC,11243,0.49,252.7,665.8,17.2,997,11248,0.17,2.22,0.00,0.000,6,0.155,0.028,2737,2056,1992,0,0,0,0,0,0
$GC,11566,0.49,257.2,630.3,11.0,1013,11576,0.05,2.30,4.25,0.698,4,0.175,0.050,2773,3522,1978,0,0,0,0,0,0
$GC,11610,0.47,257.2,623.9,15.1,1015,11615,0.17,2.17,0.00,0.000,6,0.170,0.028,2732,2048,1977,0,0,0,0,0,0
$GC,11932,0.52,300.2,591.6,9.6,1034,11978,0.10,2.17,38.05,1.005,4,0.105,0.042,2797,666,1801,0,0,0,0,0,0
$GC,12026,0.51,300.2,578.2,15.1,1042,12031,0.17,2.22,0.00,0.000,6,0.156,0.035,2749,2119,1796,0,0,0,0,0,0
$GC,12351,0.51,300.2,535.9,13.5,1072,12355,0.00,2.15,0.00,0.000,4,0.000,0.050,2748,3532,1793,0,0,0,0,0,0
$GC,12413,0.51,300.2,526.8,15.0,1077,12417,0.00,2.17,0.00,0.000,6,0.000,0.028,2751,2058,1792,0,0,0,0,0,0
$GC,12745,0.55,343.5,487.1,9.6,1117,12790,0.08,2.33,36.12,0.927,4,0.129,0.049,2803,3526,1625,0,0,0,0,0,0
$GC,12820,0.54,343.5,475.5,18.1,1128,12829,0.15,2.25,0.00,0.000,6,0.155,0.031,2760,2060,1622,0,0,0,0,0,0
$GC,13168,0.54,343.5,427.8,14.4,1189,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2054,1617,0,0,0,0,0,0
$GC,13513,0.53,343.5,383.2,11.4,1250,13521,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2054,1616,0,0,0,0,0,0
$GC,13863,0.53,343.5,339.2,14.8,1311,13870,0.00,2.08,0.00,0.000,4,0.000,0.041,2762,659,1616,0,0,0,0,0,0
$GC,13911,0.54,343.5,332.9,12.7,1319,13918,0.00,2.17,0.00,0.000,6,0.000,0.034,2762,2119,1615,0,0,0,0,0,0
$GC,14257,0.58,379.6,291.2,9.9,1380,14294,0.08,0.00,29.52,0.758,6,0.129,0.000,2819,2120,1477,0,0,0,0,0,0
$GC,14637,0.57,379.6,228.6,15.7,1445,14645,0.17,2.15,0.00,0.000,4,0.148,0.050,2767,3529,1472,0,0,0,0,0,0
$GC,14680,0.58,379.6,222.6,12.3,1452,14689,0.00,2.17,0.00,0.000,6,0.000,0.029,2769,2062,1471,0,0,0,0,0,0
$GC,15032,0.73,500.6,194.1,7.0,1513,15137,0.17,2.20,96.18,0.678,4,0.069,0.043,2879,667,985,0,0,0,0,0,0
$GC,15184,0.72,500.6,165.5,19.6,1536,15194,0.17,2.25,0.00,0.000,6,0.122,0.036,2819,2116,982,0,0,0,0,0,0
$GC,15540,0.72,500.6,110.9,12.9,1597,15549,0.00,2.17,0.00,0.000,4,0.000,0.050,2818,3521,978,0,0,0,0,0,0
$GC,15569,0.73,500.6,106.9,12.7,1601,15579,0.00,2.17,0.00,0.000,6,0.000,0.030,2819,2070,978,0,0,0,0,0,0
$GC,15938,0.77,522.8,69.1,10.3,1662,15964,0.08,2.10,17.70,0.553,4,0.127,0.040,2887,657,894,0,0,0,0,0,0
$GC,15984,0.77,522.8,62.7,14.8,1668,15993,0.15,2.22,0.00,0.000,6,0.105,0.034,2829,2129,892,0,0,0,0,0,0
$GC,16353,0.99,687.0,36.0,5.5,1729,16437,0.22,2.25,74.70,0.539,4,0.060,0.043,2953,667,497,0,0,0,0,0,0
$GC,16470,0.98,687.0,15.9,20.2,1744,16479,0.15,2.25,0.00,0.000,6,0.114,0.038,2900,2124,496,0,0,0,0,0,0
$STATE,16563,end climb,SURFACE_DEPTH_REACHED
$STATE,16563,begin surface coast
$FINISH,0.6,1.021959
$STATE,16595,end surface coast,CONTROL_FINISHED_OK
$STATE,16595,begin surface
$SM_CCo,16670,0.00,0.000,0,0,494,621.34
$SM_GC,1.50,6.93,0.00,0.00,0.040,0.000,0.000,207,2446,494,-7.40,1.27,621.34
$IRIDIUM_FIX,2408.65,12706.86,151010,030307
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,8.65542
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.1,38.851
$10V_AH,10.3,33.991
$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,23.075,134.275,685.875,0.000,0.000,29.676,16.518,185.293,0.000,0.000,12.279,4311.035,7121.207,726.454,4564.794,291.586,0.000,2319.816,0.000,4336.775,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,81.090,1275.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.259,0.000,2477.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,103479,1764
$CAP_FILE_SIZE,197881,0
$CFSIZE,260165632,238743552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,131.0,1
$GPS,151010,131837,2417.464,12705.013,40,1.0,40,-3.7