version: 66.08
glider: 176
mission: 2
dive: 344
start: 10 25 110 0 39 5
data:
$ID,176
$MISSION,2
$DIVE,344
$N_DIVES,349
$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,-5362.7178
$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
$GPS1,251010,003155,2324.556,12629.086,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.3
$GPS2,251010,003837,2324.606,12629.077,11,1.1,16,-3.4
$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,209.5,67333,-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,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,67,0.00,0.00,-49.67,0.000,2,0.000,0.000,198,2448,2450,0,0,0,0,0,0
$GC,69,-0.53,-194.6,3.1,-3.9,6,113,9.07,2.10,-28.73,0.000,4,0.239,0.067,2417,3773,3823,0,0,0,0,0,0
$GC,261,-0.52,-194.6,41.6,-18.1,36,270,0.00,2.08,0.00,0.000,6,0.000,0.026,2417,2342,3824,0,0,0,0,0,0
$GC,627,-0.51,-194.6,121.4,-18.8,97,636,0.05,2.22,0.00,0.000,4,0.245,0.052,2429,3769,3824,0,0,0,0,0,0
$GC,704,-0.51,-194.6,130.7,-8.0,109,713,0.00,2.05,0.00,0.000,6,0.000,0.025,2429,2326,3824,0,0,0,0,0,0
$GC,1067,-0.51,-194.6,165.8,-9.3,170,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2325,3824,0,0,0,0,0,0
$GC,1429,-0.52,-194.6,200.5,-10.0,231,1435,0.00,1.95,0.00,0.000,4,0.000,0.033,2429,948,3824,0,0,0,0,0,0
$GC,1457,-0.52,-194.6,203.1,-9.7,235,1464,0.00,2.20,0.00,0.000,6,0.000,0.037,2429,2434,3825,0,0,0,0,0,0
$GC,1814,-0.53,-194.6,234.0,-7.6,296,1824,0.05,2.17,0.00,0.000,4,0.181,0.031,2378,957,3824,0,0,0,0,0,0
$GC,1862,-0.53,-194.6,238.6,-11.2,303,1869,0.15,2.17,0.00,0.000,6,0.135,0.039,2426,2426,3824,0,0,0,0,0,0
$GC,2222,-0.53,-194.6,267.7,-9.5,364,2230,0.00,2.05,0.00,0.000,4,0.000,0.053,2426,3765,3823,0,0,0,0,0,0
$GC,2246,-0.54,-194.6,269.8,-9.2,367,2253,0.05,2.03,0.00,0.000,6,0.170,0.026,2376,2321,3823,0,0,0,0,0,0
$GC,2606,-0.53,-194.6,319.0,-12.2,428,2615,0.17,2.00,0.00,0.000,4,0.132,0.033,2432,953,3821,0,0,0,0,0,0
$GC,2642,-0.54,-194.6,322.3,-9.7,433,2650,0.08,2.17,0.00,0.000,6,0.126,0.037,2382,2427,3820,0,0,0,0,0,0
$GC,3004,-0.54,-194.6,356.9,-9.2,494,3014,0.15,2.17,0.00,0.000,4,0.137,0.031,2431,954,3819,0,0,0,0,0,0
$GC,3032,-0.54,-194.6,359.3,-8.4,498,3043,0.05,2.20,0.00,0.000,6,0.073,0.038,2380,2420,3818,0,0,0,0,0,0
$GC,3395,-0.54,-194.6,394.6,-10.3,559,3403,0.15,2.15,0.00,0.000,4,0.135,0.031,2429,948,3817,0,0,0,0,0,0
$GC,3424,-0.55,-194.6,397.1,-9.3,563,3431,0.08,2.20,0.00,0.000,6,0.123,0.039,2378,2426,3816,0,0,0,0,0,0
$GC,3785,-0.55,-194.6,431.4,-9.2,624,3794,0.15,2.08,0.00,0.000,4,0.132,0.054,2427,3767,3815,0,0,0,0,0,0
$GC,3814,-0.56,-194.6,433.4,-7.2,628,3823,0.05,2.05,0.00,0.000,6,0.078,0.026,2379,2332,3815,0,0,0,0,0,0
$GC,4176,-0.56,-194.6,461.9,-7.5,689,4184,0.12,2.22,0.00,0.000,4,0.138,0.054,2419,3770,3812,0,0,0,0,0,0
$GC,4205,-0.56,-194.6,463.6,-6.2,693,4213,0.05,2.05,0.00,0.000,6,0.174,0.026,2384,2311,3812,0,0,0,0,0,0
$GC,4567,-0.57,-194.6,490.3,-8.2,754,4577,0.10,2.00,0.00,0.000,4,0.151,0.034,2417,953,3809,0,0,0,0,0,0
$GC,4596,-0.57,-194.6,492.3,-6.8,758,4607,0.03,2.22,0.00,0.000,6,0.111,0.039,2375,2428,3809,0,0,0,0,0,0
$GC,4939,-0.57,-194.6,523.0,-9.4,797,4943,0.12,2.15,0.00,0.000,4,0.135,0.033,2416,954,3807,0,0,0,0,0,0
$GC,4982,-0.59,-194.6,526.4,-7.1,800,4990,0.08,2.20,0.00,0.000,6,0.124,0.038,2358,2428,3807,0,0,0,0,0,0
$GC,5308,-0.59,-194.6,560.3,-10.7,831,5310,0.17,0.00,0.00,0.000,6,0.125,0.000,2415,2429,3805,0,0,0,0,0,0
$GC,5626,-0.61,-194.6,582.1,-7.5,861,5631,0.10,2.17,0.00,0.000,4,0.112,0.035,2372,949,3804,0,0,0,0,0,0
$GC,5801,-0.63,-194.6,596.6,-8.5,876,5806,0.08,2.20,0.00,0.000,6,0.158,0.041,2398,2423,3802,0,0,0,0,0,0
$GC,6135,-0.65,-194.6,623.9,-8.1,894,6140,0.10,2.05,0.00,0.000,4,0.107,0.054,2345,3776,3800,0,0,0,0,0,0
$GC,6201,-0.66,-194.6,629.9,-9.2,897,6206,0.12,2.05,0.00,0.000,6,0.127,0.027,2388,2346,3799,0,0,0,0,0,0
$GC,6523,-0.66,-194.6,653.6,-7.3,913,6528,0.05,2.03,0.00,0.000,4,0.177,0.035,2340,959,3797,0,0,0,0,0,0
$GC,6546,-0.66,-194.6,655.9,-9.4,914,6551,0.15,2.22,0.00,0.000,6,0.133,0.042,2386,2424,3797,0,0,0,0,0,0
$GC,6875,-0.67,-194.6,682.1,-8.2,930,6879,0.08,2.15,0.00,0.000,4,0.124,0.034,2322,956,3795,0,0,0,0,0,0
$GC,6914,-0.66,-194.6,686.7,-12.5,932,6919,0.20,2.22,0.00,0.000,6,0.125,0.044,2387,2420,3794,0,0,0,0,0,0
$GC,7243,-0.67,-194.6,715.3,-8.6,948,7247,0.08,2.15,0.00,0.000,4,0.122,0.033,2322,951,3793,0,0,0,0,0,0
$GC,7309,-0.67,-194.6,723.7,-13.3,951,7314,0.20,2.25,0.00,0.000,6,0.125,0.044,2386,2428,3792,0,0,0,0,0,0
$GC,7633,-0.67,-194.6,749.9,-7.7,967,7638,0.08,2.17,0.00,0.000,4,0.124,0.034,2324,950,3790,0,0,0,0,0,0
$GC,7673,-0.67,-194.6,754.4,-12.3,969,7677,0.20,2.25,0.00,0.000,6,0.125,0.044,2387,2425,3789,0,0,0,0,0,0
$GC,8001,-0.68,-194.6,778.8,-7.1,985,8006,0.08,2.17,0.00,0.000,4,0.122,0.034,2327,950,3788,0,0,0,0,0,0
$GC,8041,-0.67,-194.6,782.8,-11.2,987,8046,0.17,2.25,0.00,0.000,6,0.129,0.044,2379,2422,3787,0,0,0,0,0,0
$STATE,8263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8263,begin apogee
$GC,8268,-0.11,0.0,800.1,7.3,998,8494,0.47,0.15,219.00,0.960,6,0.090,0.053,2558,2143,3027,0,0,0,0,0,0
$STATE,8497,end apogee,CONTROL_FINISHED_OK
$STATE,8497,begin climb
$GC,8499,0.53,194.6,810.2,0.0,1008,8738,0.52,0.00,235.12,0.926,6,0.039,0.000,2806,2143,2233,0,0,0,0,0,0
$GC,9041,0.50,194.6,747.2,17.8,1035,9046,0.22,2.25,0.00,0.000,4,0.176,0.037,2754,661,2225,0,0,0,0,0,0
$GC,9112,0.49,194.6,737.6,12.2,1038,9116,0.00,2.22,0.00,0.000,6,0.000,0.037,2754,2127,2222,0,0,0,0,0,0
$GC,9435,0.48,194.6,703.3,10.1,1054,9439,0.08,2.22,0.00,0.000,4,0.204,0.040,2736,657,2220,0,0,0,0,0,0
$GC,9483,0.49,217.3,699.0,8.2,1056,9517,0.08,2.20,26.20,0.889,6,0.126,0.037,2790,2123,2141,0,0,0,0,0,0
$GC,9825,0.47,217.3,655.6,12.9,1073,9830,0.20,2.15,0.00,0.000,4,0.158,0.050,2731,3525,2135,0,0,0,0,0,0
$GC,9865,0.46,217.3,650.9,10.7,1075,9869,0.00,2.17,0.00,0.000,6,0.000,0.029,2736,2057,2135,0,0,0,0,0,0
$GC,10192,0.46,224.6,623.1,8.7,1091,10207,0.00,2.33,8.73,0.786,4,0.000,0.050,2735,3523,2111,0,0,0,0,0,0
$GC,10229,0.45,224.6,619.3,10.6,1092,10236,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2060,2110,0,0,0,0,0,0
$GC,10550,0.44,224.6,587.7,10.3,1113,10553,0.00,2.08,0.00,0.000,4,0.000,0.040,2735,665,2108,0,0,0,0,0,0
$GC,10586,0.43,224.6,584.2,9.3,1116,10590,0.00,2.20,0.00,0.000,6,0.000,0.034,2736,2131,2107,0,0,0,0,0,0
$GC,10916,0.45,242.4,552.6,8.3,1147,10946,0.00,0.00,22.38,0.846,6,0.000,0.000,2736,2132,2038,0,0,0,0,0,0
$GC,11265,0.48,278.0,524.2,7.8,1180,11314,0.00,0.00,43.80,0.838,6,0.000,0.000,2735,2132,1892,0,0,0,0,0,0
$GC,11639,0.48,278.0,489.8,9.7,1224,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2132,1888,0,0,0,0,0,0
$GC,11990,0.47,278.0,455.9,9.6,1285,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2132,1886,0,0,0,0,0,0
$GC,12335,0.47,278.0,423.9,9.1,1346,12344,0.00,2.17,0.00,0.000,4,0.000,0.050,2736,3524,1886,0,0,0,0,0,0
$GC,12381,0.47,278.0,419.5,9.8,1353,12387,0.00,2.15,0.00,0.000,6,0.000,0.029,2736,2060,1885,0,0,0,0,0,0
$GC,12728,0.54,336.3,391.4,7.1,1414,12808,0.10,2.17,70.40,0.762,4,0.106,0.041,2805,666,1656,0,0,0,0,0,0
$GC,12846,0.54,336.3,376.9,12.4,1431,12854,0.17,2.25,0.00,0.000,6,0.132,0.035,2753,2133,1653,0,0,0,0,0,0
$GC,13198,0.58,372.6,347.0,7.8,1492,13249,0.10,0.00,44.20,0.718,6,0.099,0.000,2823,2134,1506,0,0,0,0,0,0
$GC,13591,0.57,372.6,289.0,16.6,1559,13599,0.20,2.25,0.00,0.000,4,0.136,0.041,2764,660,1500,0,0,0,0,0,0
$GC,13623,0.57,372.6,284.7,13.0,1564,13632,0.00,2.22,0.00,0.000,6,0.000,0.036,2763,2120,1500,0,0,0,0,0,0
$GC,13976,0.58,378.1,251.3,8.7,1625,13991,0.05,2.15,5.90,0.531,4,0.174,0.046,2821,3521,1486,0,0,0,0,0,0
$GC,14022,0.57,378.1,245.3,14.1,1632,14031,0.17,2.17,0.00,0.000,6,0.112,0.028,2767,2059,1486,0,0,0,0,0,0
$GC,14375,0.59,393.3,212.7,8.4,1693,14405,0.08,2.12,20.75,0.621,4,0.124,0.041,2842,658,1422,0,0,0,0,0,0
$GC,14431,0.58,393.3,206.1,12.9,1701,14438,0.22,2.20,0.00,0.000,6,0.127,0.035,2771,2120,1421,0,0,0,0,0,0
$GC,14782,0.69,474.3,179.8,6.4,1762,14891,0.15,2.30,96.55,0.613,4,0.074,0.041,2862,665,1092,0,0,0,0,0,0
$GC,14907,0.68,474.3,162.0,16.1,1779,14916,0.20,2.25,0.00,0.000,6,0.122,0.036,2798,2127,1091,0,0,0,0,0,0
$GC,15270,0.69,474.3,128.5,9.0,1840,15279,0.08,2.17,0.00,0.000,4,0.125,0.049,2858,3523,1087,0,0,0,0,0,0
$GC,15300,0.69,474.3,125.1,10.8,1844,15310,0.15,2.17,0.00,0.000,6,0.097,0.028,2799,2062,1087,0,0,0,0,0,0
$GC,15671,0.75,514.8,98.3,7.6,1905,15730,0.12,2.15,46.97,0.551,4,0.084,0.042,2893,661,927,0,0,0,0,0,0
$GC,15797,0.75,514.8,80.9,14.2,1923,15807,0.17,2.22,0.00,0.000,6,0.101,0.034,2827,2131,925,0,0,0,0,0,0
$GC,16167,0.82,536.8,51.7,8.2,1984,16201,0.10,2.12,26.08,0.508,4,0.128,0.045,2867,3533,837,0,0,0,0,0,0
$GC,16463,0.85,536.8,20.1,12.0,2033,16472,0.00,2.17,0.00,0.000,6,0.000,0.028,2867,2055,836,0,0,0,0,0,0
$STATE,16638,end climb,SURFACE_DEPTH_REACHED
$STATE,16638,begin surface coast
$FINISH,0.7,1.021781
$STATE,16682,end surface coast,CONTROL_FINISHED_OK
$STATE,16682,begin surface
$SM_CCo,16757,0.00,0.000,0,0,835,537.70
$SM_GC,1.72,6.68,0.00,0.00,0.036,0.000,0.000,201,2461,835,-7.39,1.72,537.70
$IRIDIUM_FIX,2316.83,12626.84,241010,191913
$TT8_MAMPS,0.026215
$HUMID,50.31
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,49.261
$10V_AH,10.3,44.891
$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,22.925,143.900,866.075,0.000,0.000,25.833,15.681,203.938,0.000,0.000,19.437,4975.547,5418.396,915.107,5433.010,392.199,0.000,2699.390,0.000,5227.040,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,67.320,960.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1398.960,0.000,3275.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123387,2069
$CAP_FILE_SIZE,211729,0
$CFSIZE,260165632,233758720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267,  6.2,1
$GPS,251010,051931,2324.394,12628.095,41,1.0,41,-3.4