version: 66.08
glider: 176
mission: 2
dive: 334
start: 10 23 110 0 26 6
data:
$ID,176
$MISSION,2
$DIVE,334
$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,-5350.1328
$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
$GPS1,231010,001836,2330.044,12629.814,29,1.1,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.8
$GPS2,231010,002538,2330.171,12629.803,13,1.5,13,-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,215.8,75522,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,87,0.00,0.00,-69.88,0.000,2,0.000,0.000,199,2448,2584,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.6,-5.0,9,133,9.00,2.22,-23.17,0.000,4,0.239,0.047,2417,958,3824,0,0,0,0,0,0
$GC,241,-0.52,-194.6,38.5,-19.1,32,250,0.00,2.25,0.00,0.000,6,0.000,0.045,2417,2416,3825,0,0,0,0,0,0
$GC,607,-0.51,-194.6,117.8,-17.5,93,616,0.05,0.00,0.00,0.000,6,0.240,0.000,2430,2416,3825,0,0,0,0,0,0
$GC,968,-0.51,-194.6,166.5,-11.3,154,977,0.00,2.05,0.00,0.000,4,0.000,0.054,2430,3759,3825,0,0,0,0,0,0
$GC,1014,-0.51,-194.6,170.8,-9.1,161,1022,0.00,2.00,0.00,0.000,6,0.000,0.027,2430,2333,3825,0,0,0,0,0,0
$GC,1362,-0.51,-194.6,202.0,-7.0,222,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2332,3825,0,0,0,0,0,0
$GC,1715,-0.52,-194.6,228.1,-7.9,283,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2332,3824,0,0,0,0,0,0
$GC,2061,-0.52,-194.6,256.9,-8.2,344,2070,0.05,2.22,0.00,0.000,4,0.184,0.053,2384,3765,3822,0,0,0,0,0,0
$GC,2096,-0.52,-194.6,260.2,-10.0,349,2104,0.15,2.00,0.00,0.000,6,0.125,0.026,2434,2326,3823,0,0,0,0,0,0
$GC,2447,-0.53,-194.6,286.2,-6.8,410,2456,0.08,2.00,0.00,0.000,4,0.130,0.033,2382,956,3821,0,0,0,0,0,0
$GC,2471,-0.54,-194.6,288.2,-7.6,413,2480,0.15,2.17,0.00,0.000,6,0.134,0.039,2430,2425,3821,0,0,0,0,0,0
$GC,2822,-0.54,-194.6,312.6,-7.1,474,2832,0.08,2.05,0.00,0.000,4,0.131,0.054,2373,3760,3819,0,0,0,0,0,0
$GC,2857,-0.55,-194.6,315.6,-8.5,479,2865,0.15,2.00,0.00,0.000,6,0.119,0.028,2424,2324,3819,0,0,0,0,0,0
$GC,3206,-0.55,-194.6,341.8,-7.6,540,3216,0.08,2.00,0.00,0.000,4,0.129,0.034,2368,957,3817,0,0,0,0,0,0
$GC,3241,-0.55,-194.6,345.2,-10.1,545,3249,0.17,2.20,0.00,0.000,6,0.130,0.041,2425,2430,3817,0,0,0,0,0,0
$GC,3591,-0.56,-194.6,372.8,-7.3,606,3600,0.08,0.00,0.00,0.000,6,0.128,0.000,2363,2430,3815,0,0,0,0,0,0
$GC,3944,-0.55,-194.6,417.5,-13.2,667,3951,0.17,2.15,0.00,0.000,4,0.131,0.033,2419,952,3814,0,0,0,0,0,0
$GC,3988,-0.57,-194.6,421.8,-8.7,674,3997,0.03,2.22,0.00,0.000,6,0.112,0.040,2373,2427,3813,0,0,0,0,0,0
$GC,4338,-0.56,-194.6,460.3,-11.3,735,4345,0.12,0.00,0.00,0.000,6,0.140,0.000,2415,2427,3812,0,0,0,0,0,0
$GC,4683,-0.57,-194.6,486.4,-6.8,796,4692,0.00,2.17,0.00,0.000,4,0.000,0.033,2415,952,3809,0,0,0,0,0,0
$GC,4718,-0.58,-194.6,488.8,-7.4,801,4727,0.08,2.20,0.00,0.000,6,0.125,0.039,2353,2426,3809,0,0,0,0,0,0
$GC,5053,-0.58,-194.6,528.5,-11.6,840,5058,0.17,2.05,0.00,0.000,4,0.130,0.054,2404,3764,3807,0,0,0,0,0,0
$GC,5093,-0.59,-194.6,531.7,-6.5,843,5096,0.00,2.00,0.00,0.000,6,0.000,0.026,2404,2343,3807,0,0,0,0,0,0
$GC,5424,-0.62,-194.6,553.8,-7.2,874,5429,0.08,2.17,0.00,0.000,4,0.132,0.052,2370,3766,3805,0,0,0,0,0,0
$GC,5457,-0.64,-194.6,556.3,-7.4,876,5464,0.08,2.03,0.00,0.000,6,0.122,0.025,2401,2317,3805,0,0,0,0,0,0
$GC,5782,-0.66,-194.6,581.2,-8.3,907,5786,0.10,1.98,0.00,0.000,4,0.108,0.034,2349,956,3803,0,0,0,0,0,0
$GC,5810,-0.68,-194.6,584.0,-9.5,909,5817,0.10,2.20,0.00,0.000,6,0.141,0.039,2383,2426,3803,0,0,0,0,0,0
$GC,6133,-0.69,-194.6,610.6,-8.3,934,6137,0.08,2.05,0.00,0.000,4,0.125,0.052,2328,3771,3801,0,0,0,0,0,0
$GC,6149,-0.70,-194.6,612.2,-8.3,934,6156,0.15,2.05,0.00,0.000,6,0.119,0.025,2380,2311,3800,0,0,0,0,0,0
$GC,6465,-0.72,-194.6,637.5,-8.0,950,6470,0.10,2.25,0.00,0.000,4,0.109,0.052,2319,3767,3798,0,0,0,0,0,0
$GC,6487,-0.73,-194.6,639.5,-8.7,951,6491,0.15,2.03,0.00,0.000,6,0.132,0.026,2368,2343,3798,0,0,0,0,0,0
$GC,6808,-0.73,-194.6,669.2,-9.7,967,6812,0.08,2.00,0.00,0.000,4,0.129,0.031,2320,958,3796,0,0,0,0,0,0
$GC,6898,-0.72,-194.6,680.3,-13.0,971,6902,0.15,2.22,0.00,0.000,6,0.143,0.041,2367,2426,3795,0,0,0,0,0,0
$GC,7224,-0.72,-194.6,711.3,-9.3,987,7229,0.05,2.17,0.00,0.000,4,0.172,0.033,2322,942,3793,0,0,0,0,0,0
$GC,7267,-0.72,-194.6,716.4,-11.5,989,7272,0.15,2.22,0.00,0.000,6,0.138,0.041,2370,2421,3793,0,0,0,0,0,0
$GC,7597,-0.72,-194.6,744.8,-8.6,1005,7601,0.08,2.15,0.00,0.000,4,0.125,0.034,2314,957,3791,0,0,0,0,0,0
$GC,7636,-0.72,-194.6,749.3,-12.4,1007,7641,0.17,2.22,0.00,0.000,6,0.137,0.044,2367,2418,3791,0,0,0,0,0,0
$GC,7964,-0.72,-194.6,776.9,-8.3,1023,7968,0.00,2.12,0.00,0.000,4,0.000,0.033,2367,957,3789,0,0,0,0,0,0
$GC,8008,-0.72,-194.6,780.6,-7.8,1025,8012,0.00,2.22,0.00,0.000,6,0.000,0.043,2363,2429,3788,0,0,0,0,0,0
$STATE,8265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8265,begin apogee
$GC,8271,-0.11,0.0,801.1,7.9,1038,8496,0.55,0.17,218.18,0.954,6,0.094,0.071,2564,2151,3027,0,0,0,0,0,0
$STATE,8499,end apogee,CONTROL_FINISHED_OK
$STATE,8499,begin climb
$GC,8501,0.53,194.6,811.3,0.0,1048,8744,0.52,2.22,233.52,0.926,4,0.040,0.046,2804,3525,2232,0,0,0,0,0,0
$GC,8828,0.50,194.6,790.5,16.3,1063,8836,0.25,2.25,0.00,0.000,6,0.177,0.028,2749,2047,2227,0,0,0,0,0,0
$GC,9144,0.49,194.6,756.5,10.4,1079,9148,0.00,2.30,0.00,0.000,4,0.000,0.047,2749,3526,2222,0,0,0,0,0,0
$GC,9166,0.47,194.6,753.8,11.7,1080,9171,0.10,2.17,0.00,0.000,6,0.186,0.028,2732,2055,2222,0,0,0,0,0,0
$GC,9487,0.45,194.6,723.8,9.2,1096,9491,0.00,2.28,0.00,0.000,4,0.000,0.047,2732,3531,2220,0,0,0,0,0,0
$GC,9530,0.44,194.6,719.2,10.5,1098,9534,0.00,2.17,0.00,0.000,6,0.000,0.030,2737,2058,2220,0,0,0,0,0,0
$GC,9858,0.43,194.6,686.5,10.2,1114,9860,0.08,0.00,0.00,0.000,6,0.209,0.000,2718,2053,2219,0,0,0,0,0,0
$GC,10168,0.43,202.0,659.4,8.7,1129,10179,0.00,2.05,6.32,0.744,4,0.000,0.039,2722,661,2203,0,0,0,0,0,0
$GC,10209,0.43,213.7,655.8,8.5,1131,10231,0.00,2.20,16.33,0.870,6,0.000,0.034,2722,2133,2155,0,0,0,0,0,0
$GC,10541,0.46,240.1,627.6,8.1,1147,10581,0.08,0.00,33.15,0.890,6,0.130,0.000,2777,2133,2047,0,0,0,0,0,0
$GC,10894,0.44,240.1,583.3,13.5,1169,10899,0.17,2.17,0.00,0.000,4,0.159,0.049,2726,3537,2041,0,0,0,0,0,0
$GC,10991,0.43,240.1,572.4,10.4,1177,10995,0.00,2.20,0.00,0.000,6,0.000,0.028,2735,2053,2041,0,0,0,0,0,0
$GC,11316,0.42,240.1,539.2,10.4,1207,11321,0.08,2.08,0.00,0.000,4,0.202,0.041,2721,662,2039,0,0,0,0,0,0
$GC,11356,0.43,245.5,535.6,8.7,1210,11368,0.00,2.20,5.72,0.674,6,0.000,0.035,2721,2131,2026,0,0,0,0,0,0
$GC,11686,0.45,268.5,507.8,8.2,1241,11721,0.08,2.22,29.35,0.830,4,0.125,0.048,2779,3532,1931,0,0,0,0,0,0
$GC,11783,0.44,268.5,495.6,15.4,1251,11791,0.22,2.20,0.00,0.000,6,0.141,0.028,2720,2059,1929,0,0,0,0,0,0
$GC,12142,0.44,268.5,460.7,8.9,1312,12152,0.05,0.00,0.00,0.000,6,0.174,0.000,2762,2055,1926,0,0,0,0,0,0
$GC,12504,0.43,268.5,422.7,9.8,1373,12512,0.15,2.28,0.00,0.000,4,0.147,0.048,2716,3536,1926,0,0,0,0,0,0
$GC,12544,0.46,294.2,419.2,8.1,1379,12589,0.08,2.17,31.48,0.777,6,0.123,0.028,2787,2052,1825,0,0,0,0,0,0
$GC,12940,0.44,294.2,371.7,12.6,1445,12948,0.20,2.12,0.00,0.000,4,0.149,0.041,2735,656,1821,0,0,0,0,0,0
$GC,12984,0.47,309.9,367.0,8.4,1452,13009,0.00,2.22,19.33,0.724,6,0.000,0.036,2735,2118,1763,0,0,0,0,0,0
$GC,13361,0.49,333.0,336.3,8.2,1515,13398,0.08,2.17,29.00,0.713,4,0.126,0.047,2797,3533,1669,0,0,0,0,0,0
$GC,13455,0.48,333.0,324.1,14.8,1529,13463,0.22,2.20,0.00,0.000,6,0.136,0.028,2732,2059,1666,0,0,0,0,0,0
$GC,13816,0.54,375.2,294.5,7.6,1590,13874,0.12,0.00,51.22,0.692,6,0.087,0.000,2815,2054,1496,0,0,0,0,0,0
$GC,14225,0.53,375.2,233.9,14.6,1658,14234,0.20,2.30,0.00,0.000,4,0.140,0.047,2753,3519,1490,0,0,0,0,0,0
$GC,14253,0.52,375.2,230.5,12.6,1662,14261,0.00,2.17,0.00,0.000,6,0.000,0.028,2753,2063,1490,0,0,0,0,0,0
$GC,14615,0.58,413.1,204.1,7.7,1723,14665,0.10,2.17,44.30,0.630,4,0.099,0.042,2830,665,1342,0,0,0,0,0,0
$GC,14727,0.57,413.1,188.6,13.6,1740,14737,0.17,2.22,0.00,0.000,6,0.103,0.034,2768,2119,1340,0,0,0,0,0,0
$GC,15091,0.68,492.4,160.5,6.4,1801,15192,0.15,2.20,92.85,0.600,4,0.074,0.045,2855,3531,1019,0,0,0,0,0,0
$GC,15214,0.67,492.4,141.7,18.2,1818,15223,0.17,2.25,0.00,0.000,6,0.106,0.029,2795,2065,1017,0,0,0,0,0,0
$GC,15584,0.76,559.4,115.5,6.8,1879,15668,0.15,2.20,76.88,0.562,4,0.074,0.041,2899,664,746,0,0,0,0,0,0
$GC,15696,0.76,559.4,99.5,16.5,1893,15706,0.20,2.25,0.00,0.000,6,0.108,0.034,2828,2122,744,0,0,0,0,0,0
$GC,16067,0.79,559.4,71.1,9.4,1954,16076,0.08,2.17,0.00,0.000,4,0.165,0.047,2852,3525,742,0,0,0,0,0,0
$GC,16342,0.82,559.4,40.4,11.8,2000,16351,0.00,2.15,0.00,0.000,6,0.000,0.028,2851,2058,741,0,0,0,0,0,0
$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,0.8,1.015903
$STATE,16718,end surface coast,CONTROL_FINISHED_OK
$STATE,16719,begin surface
$SM_CCo,16793,0.00,0.000,0,0,742,560.51
$SM_GC,1.63,6.65,0.00,0.00,0.037,0.000,0.000,200,2449,742,-7.40,1.39,560.51
$IRIDIUM_FIX,2321.52,12629.63,221010,191923
$TT8_MAMPS,0.026215
$HUMID,50.39
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,47.136
$10V_AH,10.2,42.532
$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,23.000,139.325,887.625,0.000,0.000,31.164,47.833,193.789,0.000,0.000,15.816,4955.107,5510.112,911.404,5443.637,373.336,0.000,2711.441,0.000,5202.324,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,71.145,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1394.080,0.000,3223.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,120080,2063
$CAP_FILE_SIZE,212661,0
$CFSIZE,260165632,234819584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203, 11.1,1
$GPS,231010,050706,2329.492,12629.334,39,0.9,39,-3.5