version: 66.08
glider: 176
mission: 2
dive: 333
start: 10 22 110 19 49 35
data:
$ID,176
$MISSION,2
$DIVE,333
$N_DIVES,342
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,950
$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,350
$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,200
$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,-5348.8755
$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,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,-70.249977
$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
$GPS1,221010,194206,2330.623,12630.463,26,1.6,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.6
$GPS2,221010,194908,2330.681,12630.463,14,1.6,14,-3.5
$SPEED_LIMITS,0.154,0.282
$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,216.8,76978,-13.2,-8.889
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,75,0.00,0.00,-57.03,0.000,2,0.000,0.000,200,2471,2489,0,0,0,0,0,0
$GC,77,-0.53,-194.6,3.2,-4.1,7,120,8.95,2.30,-26.77,0.000,4,0.238,0.046,2415,946,3823,0,0,0,0,0,0
$GC,199,-0.52,-194.6,32.0,-20.1,25,208,0.00,2.28,0.00,0.000,6,0.000,0.044,2415,2417,3824,0,0,0,0,0,0
$GC,566,-0.51,-194.6,111.7,-15.1,86,575,0.08,2.10,0.00,0.000,4,0.202,0.055,2434,3769,3824,0,0,0,0,0,0
$GC,603,-0.51,-194.6,116.7,-13.7,91,612,0.03,2.05,0.00,0.000,6,0.111,0.027,2391,2337,3824,0,0,0,0,0,0
$GC,967,-0.50,-194.6,175.2,-16.1,152,977,0.15,0.00,0.00,0.000,6,0.158,0.000,2436,2334,3824,0,0,0,0,0,0
$GC,1328,-0.50,-194.6,209.0,-8.1,213,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2334,3824,0,0,0,0,0,0
$GC,1684,-0.51,-194.6,236.8,-7.3,274,1692,0.05,0.00,0.00,0.000,6,0.174,0.000,2391,2335,3823,0,0,0,0,0,0
$GC,2046,-0.50,-194.6,278.2,-11.2,335,2053,0.15,2.20,0.00,0.000,4,0.138,0.053,2439,3765,3821,0,0,0,0,0,0
$GC,2088,-0.51,-194.6,281.4,-7.0,341,2095,0.08,2.00,0.00,0.000,6,0.129,0.025,2389,2318,3822,0,0,0,0,0,0
$GC,2447,-0.51,-194.6,318.0,-10.4,402,2456,0.15,0.00,0.00,0.000,6,0.135,0.000,2438,2316,3821,0,0,0,0,0,0
$GC,2812,-0.52,-194.6,342.1,-6.8,463,2818,0.08,0.00,0.00,0.000,6,0.129,0.000,2381,2316,3818,0,0,0,0,0,0
$GC,3168,-0.52,-194.6,381.4,-10.8,524,3178,0.15,2.25,0.00,0.000,4,0.135,0.054,2429,3760,3816,0,0,0,0,0,0
$GC,3228,-0.54,-194.6,385.8,-6.8,533,3235,0.08,2.03,0.00,0.000,6,0.131,0.026,2384,2318,3816,0,0,0,0,0,0
$GC,3591,-0.55,-194.6,414.9,-7.5,594,3600,0.12,2.00,0.00,0.000,4,0.125,0.033,2429,955,3815,0,0,0,0,0,0
$GC,3850,-0.59,-194.6,437.3,-9.4,638,3860,0.08,2.20,0.00,0.000,6,0.064,0.037,2377,2427,3813,0,0,0,0,0,0
$GC,4210,-0.60,-194.6,469.6,-8.9,699,4217,0.10,2.17,0.00,0.000,4,0.120,0.034,2417,948,3810,0,0,0,0,0,0
$GC,4226,-0.62,-194.6,471.4,-9.3,701,4234,0.12,2.20,0.00,0.000,6,0.098,0.037,2361,2435,3810,0,0,0,0,0,0
$GC,4590,-0.64,-194.6,503.6,-8.2,759,4595,0.10,2.17,0.00,0.000,4,0.131,0.033,2400,953,3809,0,0,0,0,0,0
$GC,4608,-0.65,-194.6,505.0,-7.9,760,4613,0.10,2.20,0.00,0.000,6,0.101,0.037,2336,2437,3809,0,0,0,0,0,0
$GC,4935,-0.66,-194.6,533.3,-8.9,790,4940,0.15,2.03,0.00,0.000,4,0.123,0.054,2389,3774,3806,0,0,0,0,0,0
$GC,5032,-0.67,-194.6,541.0,-8.2,798,5037,0.08,2.05,0.00,0.000,6,0.124,0.026,2334,2328,3806,0,0,0,0,0,0
$GC,5359,-0.66,-194.6,580.4,-12.9,828,5363,0.17,1.98,0.00,0.000,4,0.134,0.033,2391,954,3804,0,0,0,0,0,0
$GC,5387,-0.66,-194.6,583.5,-10.2,830,5392,0.08,2.20,0.00,0.000,6,0.124,0.041,2332,2424,3804,0,0,0,0,0,0
$GC,5713,-0.65,-194.6,624.5,-12.9,852,5717,0.17,2.17,0.00,0.000,4,0.134,0.033,2390,952,3802,0,0,0,0,0,0
$GC,5739,-0.65,-194.6,627.7,-10.4,853,5744,0.05,2.22,0.00,0.000,6,0.171,0.042,2338,2427,3801,0,0,0,0,0,0
$GC,6060,-0.64,-194.6,665.2,-12.0,869,6065,0.17,2.15,0.00,0.000,4,0.131,0.032,2395,955,3800,0,0,0,0,0,0
$GC,6102,-0.66,-194.6,668.7,-7.1,871,6107,0.08,2.22,0.00,0.000,6,0.123,0.041,2335,2432,3800,0,0,0,0,0,0
$GC,6430,-0.65,-194.6,705.3,-11.1,887,6432,0.17,0.00,0.00,0.000,6,0.128,0.000,2393,2433,3797,0,0,0,0,0,0
$GC,6739,-0.66,-194.6,724.5,-5.9,902,6743,0.08,2.17,0.00,0.000,4,0.125,0.034,2333,950,3795,0,0,0,0,0,0
$GC,6804,-0.66,-194.6,730.9,-9.7,905,6809,0.12,2.25,0.00,0.000,6,0.103,0.043,2383,2412,3794,0,0,0,0,0,0
$GC,7133,-0.66,-194.6,752.6,-6.7,921,7137,0.00,2.12,0.00,0.000,4,0.000,0.033,2383,951,3792,0,0,0,0,0,0
$GC,7161,-0.67,-194.6,754.6,-7.1,922,7165,0.05,2.22,0.00,0.000,6,0.167,0.041,2333,2420,3792,0,0,0,0,0,0
$GC,7481,-0.66,-194.6,788.5,-10.6,938,7483,0.15,0.00,0.00,0.000,6,0.134,0.000,2382,2421,3789,0,0,0,0,0,0
$STATE,7665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7665,begin apogee
$GC,7671,-0.11,0.0,800.6,6.0,947,7896,0.47,0.17,217.75,0.953,6,0.088,0.073,2562,2136,3027,0,0,0,0,0,0
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7899,0.53,194.6,809.8,0.0,957,8143,0.52,2.35,232.95,0.920,4,0.039,0.049,2809,3536,2232,0,0,0,0,0,0
$GC,8324,0.50,194.6,765.8,19.4,976,8329,0.28,2.22,0.00,0.000,6,0.177,0.029,2745,2061,2226,0,0,0,0,0,0
$GC,8640,0.48,194.6,726.5,11.8,991,8644,0.00,2.25,0.00,0.000,4,0.000,0.048,2744,3526,2221,0,0,0,0,0,0
$GC,8674,0.47,194.6,722.0,12.4,992,8682,0.08,2.17,0.00,0.000,6,0.207,0.028,2733,2057,2221,0,0,0,0,0,0
$GC,8990,0.45,194.6,686.4,11.3,1008,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2054,2220,0,0,0,0,0,0
$GC,9300,0.44,194.6,652.4,10.8,1023,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2053,2218,0,0,0,0,0,0
$GC,9609,0.43,194.6,621.8,9.5,1038,9613,0.00,2.25,0.00,0.000,4,0.000,0.050,2733,3525,2217,0,0,0,0,0,0
$GC,9630,0.41,194.6,619.3,11.7,1039,9634,0.08,2.15,0.00,0.000,6,0.200,0.029,2716,2058,2218,0,0,0,0,0,0
$GC,9950,0.41,194.6,590.8,9.0,1059,9954,0.00,2.28,0.00,0.000,4,0.000,0.049,2716,3532,2217,0,0,0,0,0,0
$GC,10003,0.40,194.6,585.3,10.3,1063,10007,0.00,2.15,0.00,0.000,6,0.000,0.028,2721,2061,2217,0,0,0,0,0,0
$GC,10328,0.39,194.6,553.9,9.7,1093,10332,0.05,2.25,0.00,0.000,4,0.245,0.049,2708,3536,2216,0,0,0,0,0,0
$GC,10402,0.38,194.6,546.4,10.5,1099,10406,0.00,2.17,0.00,0.000,6,0.000,0.029,2708,2052,2216,0,0,0,0,0,0
$GC,10727,0.43,243.8,520.5,7.4,1129,10789,0.10,2.33,55.60,0.843,4,0.106,0.047,2770,3523,2031,0,0,0,0,0,0
$GC,10869,0.42,243.8,504.1,13.8,1141,10874,0.20,2.20,0.00,0.000,6,0.148,0.028,2717,2053,2028,0,0,0,0,0,0
$GC,11226,0.42,243.8,472.5,8.9,1197,11232,0.00,2.28,0.00,0.000,4,0.000,0.049,2717,3529,2023,0,0,0,0,0,0
$GC,11257,0.41,243.8,469.1,9.9,1202,11266,0.00,2.20,0.00,0.000,6,0.000,0.028,2722,2052,2023,0,0,0,0,0,0
$GC,11620,0.42,255.5,438.0,8.5,1263,11634,0.00,0.00,13.00,0.743,6,0.000,0.000,2721,2050,1985,0,0,0,0,0,0
$GC,11987,0.48,303.8,409.8,7.4,1325,12051,0.10,0.00,59.17,0.768,6,0.106,0.000,2785,2048,1788,0,0,0,0,0,0
$GC,12403,0.47,303.8,360.1,11.9,1394,12413,0.17,2.33,0.00,0.000,4,0.145,0.049,2733,3522,1780,0,0,0,0,0,0
$GC,12456,0.47,303.8,354.6,9.9,1402,12466,0.00,2.17,0.00,0.000,6,0.000,0.027,2735,2061,1779,0,0,0,0,0,0
$GC,12816,0.53,350.3,325.1,7.5,1463,12874,0.10,0.00,54.88,0.710,6,0.103,0.000,2806,2057,1599,0,0,0,0,0,0
$GC,13228,0.52,350.3,269.7,13.7,1531,13235,0.20,2.28,0.00,0.000,4,0.138,0.046,2744,3537,1592,0,0,0,0,0,0
$GC,13291,0.52,350.3,263.0,8.9,1541,13298,0.00,2.17,0.00,0.000,6,0.000,0.027,2749,2058,1591,0,0,0,0,0,0
$GC,13651,0.58,395.3,234.3,7.5,1602,13718,0.10,2.38,53.45,0.648,4,0.099,0.047,2823,3531,1414,0,0,0,0,0,0
$GC,13734,0.57,395.3,224.0,14.2,1613,13741,0.20,2.20,0.00,0.000,6,0.134,0.029,2769,2066,1413,0,0,0,0,0,0
$GC,14095,0.65,457.0,195.0,7.0,1674,14175,0.12,0.00,73.32,0.617,6,0.082,0.000,2847,2061,1162,0,0,0,0,0,0
$GC,14529,0.64,457.0,130.8,13.2,1745,14539,0.17,2.30,0.00,0.000,4,0.134,0.047,2790,3526,1157,0,0,0,0,0,0
$GC,14565,0.65,457.0,127.3,9.9,1750,14575,0.00,2.17,0.00,0.000,6,0.000,0.026,2790,2055,1156,0,0,0,0,0,0
$GC,14935,0.81,575.7,105.5,5.2,1811,15083,0.17,2.17,134.93,0.554,4,0.072,0.042,2905,668,678,0,0,0,0,0,0
$GC,15100,0.80,575.7,81.2,15.9,1831,15109,0.17,2.25,0.00,0.000,6,0.103,0.034,2841,2120,676,0,0,0,0,0,0
$GC,15465,0.99,712.5,58.1,4.7,1892,15524,0.20,0.00,49.83,0.515,6,0.067,0.000,2944,2120,499,0,0,0,0,0,0
$GC,15876,1.00,712.5,15.0,10.8,1959,15885,0.12,2.22,0.00,0.000,4,0.113,0.038,2893,653,497,0,0,0,0,0,0
$STATE,15980,end climb,SURFACE_DEPTH_REACHED
$STATE,15980,begin surface coast
$FINISH,0.8,1.011918
$STATE,16007,end surface coast,CONTROL_FINISHED_OK
$STATE,16007,begin surface
$SM_CCo,16084,0.00,0.000,0,0,496,620.85
$SM_GC,1.50,6.75,0.00,0.00,0.036,0.000,0.000,201,2445,496,-7.38,1.27,620.85
$IRIDIUM_FIX,2323.87,12631.03,221010,141446
$TT8_MAMPS,0.026215
$HUMID,48.81
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.9,46.918
$10V_AH,10.3,42.297
$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,22.450,115.225,944.875,0.000,0.000,27.616,40.456,199.399,0.000,0.000,16.920,4733.239,5221.345,864.451,5287.240,375.770,0.000,2633.138,0.000,5062.000,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,73.440,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1338.274,0.000,3159.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,116750,1980
$CAP_FILE_SIZE,198482,0
$CFSIZE,260165632,234942464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178, 26.3,1
$GPS,231010,001836,2330.044,12629.814,29,1.1,29,-3.5