version: 66.08
glider: 176
mission: 2
dive: 335
start: 10 23 110 5 14 11
data:
$ID,176
$MISSION,2
$DIVE,335
$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,-5351.3911
$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
$GPS1,231010,050706,2329.492,12629.334,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.7
$GPS2,231010,051344,2329.569,12629.369,13,1.0,13,-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,204.0,74200,-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,16,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-63.92,0.000,2,0.000,0.000,199,2454,2670,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.9,-5.6,8,119,8.95,2.28,-20.75,0.000,4,0.237,0.046,2416,951,3823,0,0,0,0,0,0
$GC,194,-0.52,-194.6,32.5,-19.9,24,202,0.00,2.28,0.00,0.000,6,0.000,0.044,2416,2423,3825,0,0,0,0,0,0
$GC,555,-0.50,-194.6,115.1,-19.3,85,565,0.08,2.08,0.00,0.000,4,0.210,0.054,2435,3763,3824,0,0,0,0,0,0
$GC,604,-0.50,-194.6,121.9,-11.9,92,612,0.00,2.05,0.00,0.000,6,0.000,0.027,2435,2338,3824,0,0,0,0,0,0
$GC,970,-0.50,-194.6,162.0,-10.8,153,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2336,3824,0,0,0,0,0,0
$GC,1327,-0.50,-194.6,197.1,-8.4,214,1337,0.00,2.20,0.00,0.000,4,0.000,0.051,2435,3770,3824,0,0,0,0,0,0
$GC,1376,-0.52,-194.6,200.3,-6.5,221,1383,0.08,2.00,0.00,0.000,6,0.129,0.025,2382,2321,3824,0,0,0,0,0,0
$GC,1736,-0.51,-194.6,245.6,-13.0,282,1746,0.17,2.00,0.00,0.000,4,0.145,0.033,2436,955,3824,0,0,0,0,0,0
$GC,1785,-0.52,-194.6,249.6,-6.2,289,1792,0.08,2.17,0.00,0.000,6,0.127,0.037,2387,2427,3824,0,0,0,0,0,0
$GC,2145,-0.51,-194.6,290.1,-12.4,350,2154,0.15,0.00,0.00,0.000,6,0.145,0.000,2435,2427,3823,0,0,0,0,0,0
$GC,2509,-0.52,-194.6,320.6,-8.2,411,2517,0.08,2.15,0.00,0.000,4,0.129,0.033,2378,948,3820,0,0,0,0,0,0
$GC,2549,-0.52,-194.6,325.1,-11.7,417,2556,0.17,2.20,0.00,0.000,6,0.131,0.041,2435,2423,3821,0,0,0,0,0,0
$GC,2910,-0.53,-194.6,353.1,-7.2,478,2920,0.08,2.17,0.00,0.000,4,0.128,0.033,2377,956,3819,0,0,0,0,0,0
$GC,2935,-0.54,-194.6,355.2,-8.1,481,2942,0.15,2.20,0.00,0.000,6,0.135,0.041,2426,2429,3819,0,0,0,0,0,0
$GC,3295,-0.56,-194.6,383.0,-7.9,542,3305,0.08,2.20,0.00,0.000,4,0.132,0.034,2379,949,3816,0,0,0,0,0,0
$GC,3389,-0.56,-194.6,392.1,-10.1,557,3397,0.12,2.20,0.00,0.000,6,0.140,0.041,2418,2423,3816,0,0,0,0,0,0
$GC,3749,-0.57,-194.6,418.0,-7.0,618,3759,0.05,2.17,0.00,0.000,4,0.181,0.034,2372,955,3815,0,0,0,0,0,0
$GC,3790,-0.57,-194.6,421.9,-9.7,624,3799,0.10,2.22,0.00,0.000,6,0.109,0.041,2413,2421,3815,0,0,0,0,0,0
$GC,4152,-0.57,-194.6,449.2,-7.8,685,4159,0.00,2.15,0.00,0.000,4,0.000,0.032,2413,941,3812,0,0,0,0,0,0
$GC,4192,-0.58,-194.6,452.1,-7.6,691,4199,0.08,2.22,0.00,0.000,6,0.125,0.040,2356,2431,3812,0,0,0,0,0,0
$GC,4553,-0.58,-194.6,494.6,-11.7,752,4562,0.17,2.08,0.00,0.000,4,0.134,0.055,2412,3766,3810,0,0,0,0,0,0
$GC,4581,-0.58,-194.6,497.3,-9.7,756,4590,0.03,2.05,0.00,0.000,6,0.097,0.025,2374,2336,3810,0,0,0,0,0,0
$GC,4919,-0.58,-194.6,528.4,-9.9,790,4923,0.12,2.00,0.00,0.000,4,0.142,0.034,2415,955,3808,0,0,0,0,0,0
$GC,4939,-0.58,-194.6,530.6,-9.1,791,4947,0.08,2.20,0.00,0.000,6,0.122,0.040,2362,2423,3808,0,0,0,0,0,0
$GC,5265,-0.58,-194.6,562.1,-9.6,822,5270,0.15,2.15,0.00,0.000,4,0.129,0.033,2411,952,3806,0,0,0,0,0,0
$GC,5309,-0.59,-194.6,565.4,-5.9,825,5316,0.08,2.22,0.00,0.000,6,0.122,0.041,2352,2433,3806,0,0,0,0,0,0
$GC,5634,-0.59,-194.6,595.5,-9.2,856,5636,0.17,0.00,0.00,0.000,6,0.126,0.000,2410,2434,3804,0,0,0,0,0,0
$GC,5947,-0.60,-194.6,611.0,-5.2,875,5951,0.08,2.17,0.00,0.000,4,0.126,0.034,2349,949,3802,0,0,0,0,0,0
$GC,6010,-0.60,-194.6,616.3,-9.4,878,6015,0.17,2.22,0.00,0.000,6,0.123,0.043,2405,2420,3802,0,0,0,0,0,0
$GC,6338,-0.60,-194.6,638.0,-7.0,894,6343,0.05,2.17,0.00,0.000,4,0.177,0.033,2357,952,3799,0,0,0,0,0,0
$GC,6377,-0.60,-194.6,641.8,-10.7,896,6382,0.15,2.22,0.00,0.000,6,0.128,0.044,2401,2420,3799,0,0,0,0,0,0
$GC,6706,-0.61,-194.6,665.5,-6.9,912,6710,0.05,2.15,0.00,0.000,4,0.175,0.033,2348,952,3796,0,0,0,0,0,0
$GC,6732,-0.61,-194.6,668.1,-8.9,913,6737,0.17,2.22,0.00,0.000,6,0.124,0.044,2404,2420,3796,0,0,0,0,0,0
$GC,7055,-0.62,-194.6,686.9,-5.5,929,7059,0.08,2.15,0.00,0.000,4,0.127,0.033,2347,952,3795,0,0,0,0,0,0
$GC,7097,-0.62,-194.6,690.7,-9.2,931,7102,0.12,2.25,0.00,0.000,6,0.098,0.043,2395,2413,3794,0,0,0,0,0,0
$GC,7427,-0.63,-194.6,711.3,-6.2,947,7431,0.00,2.12,0.00,0.000,4,0.000,0.033,2396,952,3792,0,0,0,0,0,0
$GC,7467,-0.64,-194.6,714.0,-6.9,949,7471,0.08,2.20,0.00,0.000,6,0.121,0.041,2335,2423,3792,0,0,0,0,0,0
$GC,7795,-0.63,-194.6,749.5,-11.0,965,7799,0.17,2.10,0.00,0.000,4,0.129,0.057,2389,3774,3789,0,0,0,0,0,0
$GC,7827,-0.64,-194.6,752.4,-7.2,966,7836,0.00,2.05,0.00,0.000,6,0.000,0.025,2390,2332,3789,0,0,0,0,0,0
$GC,8144,-0.65,-194.6,771.3,-6.2,982,8148,0.00,2.00,0.00,0.000,4,0.000,0.034,2390,942,3787,0,0,0,0,0,0
$GC,8178,-0.66,-194.6,773.7,-6.9,983,8183,0.05,2.25,0.00,0.000,6,0.173,0.039,2339,2431,3787,0,0,0,0,0,0
$STATE,8450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8450,begin apogee
$GC,8456,-0.11,0.0,801.7,10.6,996,8681,0.62,0.15,218.12,0.958,6,0.104,0.052,2560,2144,3026,0,0,0,0,0,0
$STATE,8684,end apogee,CONTROL_FINISHED_OK
$STATE,8684,begin climb
$GC,8686,0.53,194.6,812.9,0.0,1006,8930,0.52,2.45,234.07,0.926,4,0.038,0.039,2817,658,2232,0,0,0,0,0,0
$GC,9008,0.51,194.6,791.9,16.6,1021,9013,0.25,2.25,0.00,0.000,6,0.169,0.034,2750,2120,2227,0,0,0,0,0,0
$GC,9330,0.49,194.6,752.6,12.0,1037,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2122,2223,0,0,0,0,0,0
$GC,9640,0.47,194.6,717.8,10.7,1052,9645,0.05,2.12,0.00,0.000,4,0.253,0.049,2738,3526,2220,0,0,0,0,0,0
$GC,9689,0.46,194.6,712.0,11.8,1054,9694,0.08,2.17,0.00,0.000,6,0.197,0.028,2729,2066,2220,0,0,0,0,0,0
$GC,10011,0.45,194.6,681.0,10.3,1070,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2062,2219,0,0,0,0,0,0
$GC,10322,0.43,194.6,649.0,10.5,1085,10326,0.00,2.25,0.00,0.000,4,0.000,0.049,2728,3530,2218,0,0,0,0,0,0
$GC,10362,0.42,194.6,644.2,12.0,1087,10367,0.08,2.17,0.00,0.000,6,0.198,0.028,2717,2048,2218,0,0,0,0,0,0
$GC,10690,0.41,194.6,612.7,9.4,1103,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2045,2217,0,0,0,0,0,0
$GC,11004,0.45,229.8,586.0,7.8,1126,11051,0.08,2.40,39.85,0.881,4,0.128,0.049,2764,3530,2090,0,0,0,0,0,0
$GC,11090,0.43,229.8,576.3,12.2,1133,11097,0.20,2.20,0.00,0.000,6,0.148,0.027,2716,2062,2087,0,0,0,0,0,0
$GC,11416,0.47,268.0,550.6,7.7,1164,11472,0.10,2.40,45.47,0.852,4,0.103,0.048,2776,3530,1934,0,0,0,0,0,0
$GC,11489,0.46,268.0,542.3,12.4,1170,11497,0.17,2.22,0.00,0.000,6,0.149,0.028,2729,2058,1932,0,0,0,0,0,0
$GC,11814,0.45,268.0,511.7,9.4,1201,11818,0.00,2.10,0.00,0.000,4,0.000,0.041,2735,655,1928,0,0,0,0,0,0
$GC,11880,0.45,268.0,505.3,9.2,1206,11887,0.00,2.22,0.00,0.000,6,0.000,0.034,2735,2118,1926,0,0,0,0,0,0
$GC,12221,0.45,268.0,469.5,10.0,1262,12230,0.00,2.17,0.00,0.000,4,0.000,0.047,2735,3526,1925,0,0,0,0,0,0
$GC,12267,0.44,268.0,464.9,10.7,1269,12274,0.00,2.15,0.00,0.000,6,0.000,0.027,2735,2063,1925,0,0,0,0,0,0
$GC,12616,0.51,325.5,434.2,7.1,1330,12696,0.08,2.38,68.80,0.795,4,0.131,0.050,2790,3516,1698,0,0,0,0,0,0
$GC,12716,0.50,325.5,422.6,13.8,1344,12725,0.15,2.22,0.00,0.000,6,0.121,0.028,2745,2066,1696,0,0,0,0,0,0
$GC,13065,0.50,326.0,391.6,8.9,1405,13072,0.00,2.10,0.00,0.000,4,0.000,0.039,2748,659,1691,0,0,0,0,0,0
$GC,13120,0.53,346.2,386.6,8.3,1414,13150,0.03,2.22,25.00,0.737,6,0.100,0.034,2794,2123,1615,0,0,0,0,0,0
$GC,13489,0.52,346.2,338.9,12.4,1478,13498,0.15,0.00,0.00,0.000,6,0.148,0.000,2750,2123,1609,0,0,0,0,0,0
$GC,13837,0.52,346.2,307.3,9.6,1539,13844,0.00,2.12,0.00,0.000,4,0.000,0.049,2749,3529,1608,0,0,0,0,0,0
$GC,13865,0.52,346.2,304.4,10.1,1543,13872,0.00,2.17,0.00,0.000,6,0.000,0.028,2749,2048,1607,0,0,0,0,0,0
$GC,14212,0.52,346.2,271.3,9.2,1604,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2046,1607,0,0,0,0,0,0
$GC,14562,0.61,414.8,245.3,6.8,1665,14650,0.12,2.35,81.35,0.659,4,0.086,0.046,2832,3533,1334,0,0,0,0,0,0
$GC,14665,0.60,414.8,231.9,15.8,1679,14674,0.22,2.22,0.00,0.000,6,0.129,0.028,2773,2062,1333,0,0,0,0,0,0
$GC,15017,0.66,459.5,202.7,7.5,1740,15076,0.10,2.20,53.25,0.621,4,0.097,0.039,2844,656,1152,0,0,0,0,0,0
$GC,15108,0.65,459.5,190.8,13.7,1753,15115,0.17,2.22,0.00,0.000,6,0.124,0.033,2789,2131,1150,0,0,0,0,0,0
$GC,15455,0.69,484.0,160.9,8.1,1814,15493,0.10,2.17,28.65,0.584,4,0.099,0.047,2855,3519,1052,0,0,0,0,0,0
$GC,15519,0.68,484.0,152.9,15.0,1823,15527,0.17,2.17,0.00,0.000,6,0.122,0.028,2800,2060,1050,0,0,0,0,0,0
$GC,15887,0.79,557.5,124.0,6.6,1884,15978,0.15,2.20,85.35,0.570,4,0.074,0.042,2900,663,753,0,0,0,0,0,0
$GC,16019,0.79,557.5,105.2,14.7,1901,16028,0.17,2.25,0.00,0.000,6,0.099,0.034,2834,2119,752,0,0,0,0,0,0
$GC,16380,0.82,557.5,74.5,10.2,1962,16389,0.10,2.17,0.00,0.000,4,0.118,0.047,2888,3526,749,0,0,0,0,0,0
$GC,16651,0.86,557.5,46.5,11.4,2008,16661,0.08,2.15,0.00,0.000,6,0.059,0.028,2816,2058,748,0,0,0,0,0,0
$GC,17017,0.89,557.5,5.4,10.9,2069,17026,0.20,2.28,0.00,0.000,4,0.099,0.044,2892,3537,749,0,0,0,0,0,0
$STATE,17033,end climb,SURFACE_DEPTH_REACHED
$STATE,17033,begin surface coast
$FINISH,0.7,1.021568
$STATE,17065,end surface coast,CONTROL_FINISHED_OK
$STATE,17066,begin surface
$SM_CCo,17142,0.00,0.000,0,0,749,558.79
$SM_GC,1.74,6.68,0.00,0.00,0.032,0.000,0.000,200,2329,749,-7.39,-2.01,558.79
$IRIDIUM_FIX,2321.52,12629.63,231010,000000
$TT8_MAMPS,0.026215
$HUMID,50.27
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.9,47.354
$10V_AH,10.2,42.768
$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,23.200,153.275,879.925,0.000,0.000,29.427,19.849,195.798,0.000,0.000,16.327,4990.599,5820.447,896.082,5423.873,383.709,0.000,2716.912,0.000,5207.384,0.000,0.543,0.000
$DEVICE_MAMPS,253.215,56.610,957.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1403.199,0.000,3217.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123558,2076
$CAP_FILE_SIZE,216417,0
$CFSIZE,260165632,234704896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,356.5,1
$GPS,231010,100100,2328.492,12629.081,39,1.2,39,-3.5