version: 66.08
glider: 176
mission: 2
dive: 304
start: 10 16 110 23 10 39
data:
$ID,176
$MISSION,2
$DIVE,304
$N_DIVES,313
$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,-5188.3013
$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
$GPS1,161010,230337,2407.023,12655.837,38,0.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.7
$GPS2,161010,231014,2406.976,12655.915,10,1.4,10,-3.6
$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,235.9,156436,-15.4,-11.111
$D_GRID,5000
$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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.93,0.000,2,0.000,0.000,202,2445,2728,0,0,0,0,0,0
$GC,95,-0.61,-219.0,3.7,-6.2,9,137,8.75,2.08,-21.77,0.000,4,0.238,0.067,2390,3767,3923,0,0,0,0,0,0
$GC,284,-0.60,-219.0,52.1,-21.8,39,294,0.00,2.08,0.00,0.000,6,0.000,0.031,2389,2364,3923,0,0,0,0,0,0
$GC,651,-0.59,-219.0,133.3,-19.5,100,660,0.08,2.10,0.00,0.000,4,0.207,0.040,2410,962,3924,0,0,0,0,0,0
$GC,692,-0.59,-219.0,140.7,-15.3,106,701,0.03,2.22,0.00,0.000,6,0.106,0.042,2378,2429,3924,0,0,0,0,0,0
$GC,1046,-0.58,-219.0,207.6,-18.4,167,1054,0.12,2.05,0.00,0.000,4,0.162,0.055,2414,3775,3924,0,0,0,0,0,0
$GC,1085,-0.58,-219.0,213.0,-12.5,173,1092,0.08,2.03,0.00,0.000,6,0.125,0.028,2359,2343,3924,0,0,0,0,0,0
$GC,1434,-0.57,-219.0,274.0,-16.8,234,1442,0.17,0.00,0.00,0.000,6,0.151,0.000,2412,2339,3924,0,0,0,0,0,0
$GC,1784,-0.58,-219.0,307.8,-9.1,295,1791,0.00,2.17,0.00,0.000,4,0.000,0.054,2412,3777,3923,0,0,0,0,0,0
$GC,1812,-0.59,-219.0,310.3,-8.9,299,1820,0.08,2.03,0.00,0.000,6,0.128,0.028,2361,2346,3923,0,0,0,0,0,0
$GC,2160,-0.58,-219.0,363.8,-15.4,360,2170,0.17,2.05,0.00,0.000,4,0.140,0.035,2416,954,3922,0,0,0,0,0,0
$GC,2184,-0.58,-219.0,367.0,-14.1,363,2192,0.08,2.20,0.00,0.000,6,0.128,0.041,2360,2430,3922,0,0,0,0,0,0
$GC,2532,-0.57,-219.0,416.2,-13.6,424,2541,0.17,2.17,0.00,0.000,4,0.140,0.034,2415,960,3920,0,0,0,0,0,0
$GC,2583,-0.59,-219.0,420.9,-7.3,432,2592,0.05,2.20,0.00,0.000,6,0.070,0.040,2358,2425,3920,0,0,0,0,0,0
$GC,2934,-0.59,-219.0,467.0,-13.8,493,2941,0.15,2.05,0.00,0.000,4,0.141,0.055,2404,3769,3917,0,0,0,0,0,0
$GC,2961,-0.59,-219.0,470.4,-12.0,497,2967,0.00,2.03,0.00,0.000,6,0.000,0.028,2404,2349,3918,0,0,0,0,0,0
$GC,3307,-0.60,-219.0,497.6,-6.7,558,3316,0.05,0.00,0.00,0.000,6,0.181,0.000,2358,2346,3915,0,0,0,0,0,0
$GC,3635,-0.60,-219.0,536.5,-12.2,591,3640,0.15,2.17,0.00,0.000,4,0.136,0.055,2404,3767,3912,0,0,0,0,0,0
$GC,3668,-0.62,-219.0,539.6,-8.3,593,3675,0.08,2.03,0.00,0.000,6,0.130,0.027,2361,2335,3912,0,0,0,0,0,0
$GC,3993,-0.62,-219.0,574.2,-11.5,624,3998,0.12,2.00,0.00,0.000,4,0.139,0.036,2402,949,3909,0,0,0,0,0,0
$GC,4045,-0.64,-219.0,578.7,-8.1,628,4049,0.08,2.20,0.00,0.000,6,0.122,0.040,2344,2425,3908,0,0,0,0,0,0
$GC,4367,-0.63,-219.0,619.8,-12.7,651,4371,0.15,2.03,0.00,0.000,4,0.135,0.056,2390,3764,3906,0,0,0,0,0,0
$GC,4410,-0.65,-219.0,624.2,-7.3,653,4415,0.05,2.03,0.00,0.000,6,0.172,0.028,2348,2347,3906,0,0,0,0,0,0
$GC,4737,-0.65,-219.0,661.8,-11.8,669,4739,0.12,0.00,0.00,0.000,6,0.141,0.000,2388,2342,3903,0,0,0,0,0,0
$GC,5048,-0.66,-219.0,685.7,-7.4,684,5052,0.08,2.05,0.00,0.000,4,0.126,0.037,2333,956,3900,0,0,0,0,0,0
$GC,5075,-0.66,-219.0,688.6,-10.9,685,5080,0.17,2.22,0.00,0.000,6,0.128,0.043,2390,2430,3900,0,0,0,0,0,0
$GC,5403,-0.68,-219.0,711.6,-6.8,701,5408,0.10,2.17,0.00,0.000,4,0.102,0.034,2322,949,3897,0,0,0,0,0,0
$GC,5457,-0.68,-219.0,717.5,-11.3,703,5462,0.15,2.25,0.00,0.000,6,0.106,0.043,2378,2419,3897,0,0,0,0,0,0
$GC,5781,-0.68,-219.0,741.6,-7.4,719,5784,0.00,2.15,0.00,0.000,4,0.000,0.034,2379,956,3895,0,0,0,0,0,0
$GC,5815,-0.70,-219.0,744.3,-7.4,720,5822,0.08,2.20,0.00,0.000,6,0.126,0.041,2320,2430,3894,0,0,0,0,0,0
$GC,6132,-0.69,-219.0,784.4,-13.1,736,6133,0.17,0.00,0.00,0.000,6,0.135,0.000,2377,2430,3892,0,0,0,0,0,0
$GC,6440,-0.70,-219.0,809.4,-8.2,751,6445,0.08,2.20,0.00,0.000,4,0.129,0.034,2320,948,3889,0,0,0,0,0,0
$GC,6482,-0.70,-219.0,814.2,-11.4,753,6488,0.12,2.25,0.00,0.000,6,0.107,0.043,2369,2414,3889,0,0,0,0,0,0
$GC,6812,-0.71,-219.0,842.9,-8.5,769,6816,0.00,2.15,0.00,0.000,4,0.000,0.034,2369,947,3887,0,0,0,0,0,0
$GC,6844,-0.72,-219.0,845.8,-8.1,770,6852,0.08,2.22,0.00,0.000,6,0.125,0.041,2308,2422,3887,0,0,0,0,0,0
$GC,7161,-0.71,-219.0,888.9,-14.0,786,7165,0.20,2.15,0.00,0.000,4,0.133,0.032,2374,952,3885,0,0,0,0,0,0
$GC,7187,-0.72,-219.0,892.2,-11.0,787,7192,0.08,2.22,0.00,0.000,6,0.122,0.044,2315,2419,3885,0,0,0,0,0,0
$GC,7504,-0.71,-219.0,932.7,-13.3,802,7506,0.17,0.00,0.00,0.000,6,0.134,0.000,2373,2419,3882,0,0,0,0,0,0
$GC,7813,-0.72,-219.0,959.8,-8.6,817,7818,0.08,2.15,0.00,0.000,4,0.124,0.035,2313,957,3881,0,0,0,0,0,0
$GC,7878,-0.73,-219.0,967.2,-12.6,820,7882,0.17,2.22,0.00,0.000,6,0.129,0.044,2366,2417,3881,0,0,0,0,0,0
$GC,8206,-0.74,-219.0,996.4,-8.6,836,8208,0.08,0.00,0.00,0.000,6,0.127,0.000,2308,2418,3879,0,0,0,0,0,0
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.11,0.0,1000.9,9.5,838,8427,0.73,0.17,173.02,1.259,6,0.109,0.074,2561,2141,3027,0,0,0,0,0,0
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8428,begin climb
$GC,8430,0.61,219.0,1010.5,0.0,846,8630,0.60,2.40,191.35,1.212,4,0.039,0.049,2820,3530,2133,0,0,0,0,0,0
$GC,8782,0.58,219.0,967.0,20.6,862,8789,0.22,2.25,0.00,0.000,6,0.190,0.029,2773,2057,2125,0,0,0,0,0,0
$GC,9098,0.57,219.0,916.0,15.8,878,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2051,2120,0,0,0,0,0,0
$GC,9407,0.55,219.0,868.2,15.0,893,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2051,2120,0,0,0,0,0,0
$GC,9717,0.54,219.0,823.3,14.4,908,9721,0.08,2.08,0.00,0.000,4,0.229,0.041,2766,658,2118,0,0,0,0,0,0
$GC,9743,0.52,219.0,819.3,14.7,909,9748,0.03,2.22,0.00,0.000,6,0.189,0.037,2757,2119,2117,0,0,0,0,0,0
$GC,10065,0.51,219.0,774.9,14.2,925,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2119,2116,0,0,0,0,0,0
$GC,10375,0.50,219.0,731.3,13.7,940,10376,0.03,0.00,0.00,0.000,6,0.317,0.000,2747,2119,2115,0,0,0,0,0,0
$GC,10684,0.49,219.0,694.2,11.7,955,10688,0.00,2.15,0.00,0.000,4,0.000,0.051,2747,3530,2115,0,0,0,0,0,0
$GC,10704,0.48,219.0,691.3,12.8,956,10709,0.05,2.17,0.00,0.000,6,0.169,0.028,2739,2062,2115,0,0,0,0,0,0
$GC,11033,0.47,220.2,655.2,11.1,972,11036,0.00,2.08,0.00,0.000,4,0.000,0.041,2749,663,2114,0,0,0,0,0,0
$GC,11102,0.49,239.8,647.5,10.4,975,11125,0.00,2.20,15.82,0.984,6,0.000,0.036,2749,2133,2048,0,0,0,0,0,0
$GC,11433,0.48,239.8,607.8,12.2,991,11437,0.00,2.15,0.00,0.000,4,0.000,0.050,2749,3523,2045,0,0,0,0,0,0
$GC,11488,0.47,239.8,600.3,13.7,993,11496,0.10,2.15,0.00,0.000,6,0.186,0.028,2730,2054,2044,0,0,0,0,0,0
$GC,11814,0.49,260.7,566.4,10.4,1024,11838,0.08,2.15,18.40,0.944,4,0.130,0.043,2780,664,1963,0,0,0,0,0,0
$GC,11944,0.48,260.7,549.6,12.2,1035,11953,0.10,2.22,0.00,0.000,6,0.144,0.037,2736,2118,1959,0,0,0,0,0,0
$GC,12271,0.50,280.5,515.1,10.4,1066,12292,0.08,0.00,17.67,0.900,6,0.131,0.000,2787,2119,1883,0,0,0,0,0,0
$GC,12626,0.49,280.5,460.6,17.1,1119,12634,0.17,2.15,0.00,0.000,4,0.161,0.050,2737,3523,1878,0,0,0,0,0,0
$GC,12688,0.49,280.5,451.5,12.4,1129,12695,0.05,2.15,0.00,0.000,6,0.170,0.028,2781,2060,1877,0,0,0,0,0,0
$GC,13037,0.48,280.5,401.9,14.7,1190,13047,0.15,2.12,0.00,0.000,4,0.172,0.042,2749,660,1876,0,0,0,0,0,0
$GC,13094,0.51,305.4,395.2,10.3,1199,13124,0.00,2.20,21.40,0.821,6,0.000,0.036,2749,2131,1782,0,0,0,0,0,0
$GC,13467,0.56,346.1,358.2,9.7,1263,13552,0.10,2.20,57.80,0.675,4,0.105,0.048,2813,3527,1614,0,0,0,0,4,0
$GC,13610,0.55,346.1,335.7,17.0,1285,13619,0.20,2.22,0.00,0.000,6,0.155,0.031,2763,2059,1613,0,0,0,0,0,0
$GC,13959,0.55,346.1,293.4,11.9,1346,13967,0.00,2.10,0.00,0.000,4,0.000,0.041,2763,665,1609,0,0,0,0,0,0
$GC,13993,0.57,359.3,289.9,10.7,1351,14023,0.08,2.20,17.98,0.617,6,0.125,0.037,2816,2126,1562,0,0,0,0,1,0
$GC,14366,0.56,359.3,233.7,13.6,1415,14373,0.17,0.00,0.00,0.000,6,0.147,0.000,2764,2126,1558,0,0,0,0,0,0
$GC,14714,0.70,467.2,206.2,7.4,1476,14896,0.17,0.00,137.82,0.591,6,0.069,0.000,2862,2126,1122,0,0,0,0,8,0
$GC,15248,0.69,467.2,102.1,19.6,1562,15258,0.20,2.25,0.00,0.000,4,0.144,0.041,2804,667,1114,0,0,0,0,0,0
$GC,15273,0.69,467.2,97.6,18.3,1565,15281,0.00,2.22,0.00,0.000,6,0.000,0.037,2804,2121,1114,0,0,0,0,0,0
$GC,15633,0.87,607.1,67.5,6.3,1626,15866,0.20,0.00,173.77,0.508,6,0.067,0.000,2921,2122,551,0,0,0,0,10,0
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,1.1,1.021825
$STATE,16011,end surface coast,CONTROL_FINISHED_OK
$STATE,16011,begin surface
$SM_CCo,16086,0.00,0.000,0,0,548,608.10
$SM_GC,1.56,7.07,0.00,0.00,0.047,0.000,0.000,216,2424,548,-7.37,0.68,608.10
$IRIDIUM_FIX,2359.20,12655.97,161010,181842
$TT8_MAMPS,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,40.492
$10V_AH,10.3,35.571
$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,23.175,121.700,825.050,0.000,0.000,23.705,48.259,179.446,0.000,0.000,12.978,4010.179,6948.076,866.326,4332.537,302.203,0.000,2470.914,0.000,4090.499,0.000,0.541,0.000
$DEVICE_MAMPS,317.475,74.205,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.586,0.000,2301.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,100147,1679
$CAP_FILE_SIZE,188027,0
$CFSIZE,260165632,237989888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,23,0
$CURRENT,0.136, 99.2,1
$GPS,171010,033954,2405.082,12655.130,25,1.1,42,-3.6