version: 66.08
glider: 176
mission: 2
dive: 369
start: 10 30 110 1 18 34
data:
$ID,176
$MISSION,2
$DIVE,369
$N_DIVES,373
$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,-5401.6377
$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
$GPS1,301010,010407,2314.256,12620.837,38,0.8,38,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.9
$GPS2,301010,011807,2314.257,12620.821,8,1.0,13,-3.4
$SPEED_LIMITS,0.154,0.282
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,191.0,211367,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-63.92,0.000,2,0.000,0.000,203,2455,2718,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.5,-4.2,8,127,9.05,2.08,-21.50,0.000,4,0.238,0.067,2416,3769,3822,0,0,0,0,0,0
$GC,264,-0.53,-194.6,37.6,-15.1,36,273,0.00,2.08,0.00,0.000,6,0.000,0.026,2416,2342,3823,0,0,0,0,0,0
$GC,631,-0.51,-194.6,105.6,-14.5,97,641,0.05,2.22,0.00,0.000,4,0.245,0.053,2428,3766,3823,0,0,0,0,0,0
$GC,697,-0.52,-194.6,112.3,-8.2,107,706,0.00,2.03,0.00,0.000,6,0.000,0.024,2429,2332,3823,0,0,0,0,0,0
$GC,1061,-0.52,-194.6,151.0,-9.9,168,1070,0.00,2.00,0.00,0.000,4,0.000,0.031,2429,948,3823,0,0,0,0,0,0
$GC,1096,-0.52,-194.6,154.2,-10.0,173,1104,0.00,2.20,0.00,0.000,6,0.000,0.037,2429,2434,3823,0,0,0,0,0,0
$GC,1442,-0.53,-194.6,184.1,-7.9,234,1451,0.05,2.03,0.00,0.000,4,0.181,0.052,2380,3760,3823,0,0,0,0,0,0
$GC,1476,-0.53,-194.6,187.3,-9.4,239,1483,0.15,2.00,0.00,0.000,6,0.122,0.025,2431,2325,3823,0,0,0,0,0,0
$GC,1822,-0.53,-194.6,217.4,-9.2,300,1831,0.08,2.00,0.00,0.000,4,0.132,0.031,2380,950,3822,0,0,0,0,0,0
$GC,1879,-0.53,-194.6,224.0,-12.2,309,1888,0.15,2.20,0.00,0.000,6,0.138,0.038,2427,2434,3822,0,0,0,0,0,0
$GC,2231,-0.54,-194.6,252.6,-7.0,370,2239,0.08,0.00,0.00,0.000,6,0.129,0.000,2363,2436,3821,0,0,0,0,0,0
$GC,2583,-0.53,-194.6,293.8,-11.7,431,2591,0.20,2.15,0.00,0.000,4,0.131,0.028,2427,949,3819,0,0,0,0,0,0
$GC,2623,-0.54,-194.6,297.1,-7.7,437,2632,0.05,2.20,0.00,0.000,6,0.168,0.037,2379,2436,3819,0,0,0,0,0,0
$GC,2972,-0.53,-194.6,335.5,-11.6,498,2982,0.15,2.20,0.00,0.000,4,0.138,0.031,2428,948,3818,0,0,0,0,0,0
$GC,2998,-0.54,-194.6,338.1,-11.3,501,3006,0.08,2.20,0.00,0.000,6,0.123,0.037,2375,2431,3818,0,0,0,0,0,0
$GC,3350,-0.54,-194.6,377.5,-10.7,562,3359,0.15,2.05,0.00,0.000,4,0.137,0.054,2417,3760,3816,0,0,0,0,0,0
$GC,3389,-0.55,-194.6,380.7,-7.1,568,3398,0.00,2.03,0.00,0.000,6,0.000,0.025,2417,2337,3816,0,0,0,0,0,0
$GC,3747,-0.58,-194.6,405.5,-6.9,629,3754,0.08,2.17,0.00,0.000,4,0.132,0.050,2387,3773,3814,0,0,0,0,0,0
$GC,3901,-0.60,-194.6,418.4,-8.3,655,3909,0.05,2.00,0.00,0.000,6,0.168,0.026,2422,2338,3813,0,0,0,0,0,0
$GC,4256,-0.64,-194.6,454.8,-11.1,716,4266,0.15,2.03,0.00,0.000,4,0.101,0.031,2368,956,3811,0,0,0,0,0,0
$GC,4529,-0.66,-194.6,477.6,-7.0,762,4539,0.03,2.20,0.00,0.000,6,0.110,0.036,2394,2428,3809,0,0,0,0,0,0
$GC,4888,-0.69,-194.6,498.6,-6.4,823,4896,0.10,2.05,0.00,0.000,4,0.109,0.052,2344,3774,3807,0,0,0,0,0,0
$GC,4918,-0.70,-194.6,501.2,-7.0,827,4926,0.10,2.03,0.00,0.000,6,0.120,0.025,2383,2322,3807,0,0,0,0,0,0
$GC,5244,-0.72,-194.6,527.3,-8.8,858,5246,0.10,0.00,0.00,0.000,6,0.108,0.000,2321,2322,3805,0,0,0,0,0,0
$GC,5562,-0.72,-194.6,560.3,-9.8,888,5567,0.15,2.22,0.00,0.000,4,0.125,0.053,2373,3771,3803,0,0,0,0,0,0
$GC,5662,-0.73,-194.6,568.9,-8.2,896,5671,0.08,2.05,0.00,0.000,6,0.123,0.025,2310,2316,3802,0,0,0,0,0,0
$GC,5985,-0.71,-194.6,611.6,-13.8,923,5987,0.17,0.00,0.00,0.000,6,0.142,0.000,2365,2315,3800,0,0,0,0,0,0
$GC,6294,-0.71,-194.6,640.6,-9.5,938,6298,0.00,2.22,0.00,0.000,4,0.000,0.053,2364,3777,3799,0,0,0,0,0,0
$GC,6338,-0.72,-194.6,644.9,-9.6,940,6341,0.00,2.05,0.00,0.000,6,0.000,0.025,2363,2343,3798,0,0,0,0,0,0
$GC,6664,-0.72,-194.6,678.2,-10.5,956,6668,0.00,2.00,0.00,0.000,4,0.000,0.033,2363,946,3796,0,0,0,0,0,0
$GC,6691,-0.72,-194.6,681.2,-10.2,957,6695,0.00,2.22,0.00,0.000,6,0.000,0.039,2363,2424,3796,0,0,0,0,0,0
$GC,7020,-0.72,-194.6,709.4,-8.4,973,7024,0.00,2.15,0.00,0.000,4,0.000,0.033,2363,949,3794,0,0,0,0,0,0
$GC,7060,-0.73,-194.6,712.9,-8.2,975,7064,0.00,2.20,0.00,0.000,6,0.000,0.041,2363,2420,3793,0,0,0,0,0,0
$GC,7387,-0.73,-194.6,737.9,-7.7,991,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2420,3791,0,0,0,0,0,0
$GC,7697,-0.73,-194.6,762.0,-7.9,1006,7700,0.00,2.15,0.00,0.000,4,0.000,0.032,2363,953,3789,0,0,0,0,0,0
$GC,7758,-0.73,-194.6,767.3,-8.2,1008,7766,0.05,2.20,0.00,0.000,6,0.176,0.040,2319,2426,3788,0,0,0,0,0,0
$STATE,8052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8052,begin apogee
$GC,8058,-0.11,0.0,801.7,12.1,1023,8283,0.68,0.17,219.23,0.949,6,0.105,0.071,2558,2152,3027,0,0,0,0,0,0
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8288,0.53,194.6,816.1,0.0,1033,8532,0.55,2.40,234.20,0.920,4,0.041,0.037,2818,673,2232,0,0,0,0,0,0
$GC,8655,0.51,194.6,794.0,14.7,1050,8663,0.25,2.22,0.00,0.000,6,0.166,0.034,2748,2122,2226,0,0,0,0,0,0
$GC,8972,0.49,194.6,758.4,11.0,1066,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2122,2222,0,0,0,0,0,0
$GC,9280,0.48,194.6,722.8,11.7,1081,9284,0.00,2.20,0.00,0.000,4,0.000,0.037,2750,656,2219,0,0,0,0,0,0
$GC,9307,0.46,194.6,719.5,11.7,1082,9312,0.08,2.20,0.00,0.000,6,0.188,0.035,2730,2128,2218,0,0,0,0,0,0
$GC,9630,0.45,194.6,686.7,9.7,1098,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2128,2218,0,0,0,0,0,0
$GC,9938,0.44,194.6,658.3,9.3,1113,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2128,2216,0,0,0,0,0,0
$GC,10248,0.43,194.6,626.9,10.3,1128,10252,0.00,2.10,0.00,0.000,4,0.000,0.048,2730,3527,2216,0,0,0,0,0,0
$GC,10292,0.42,194.6,621.7,11.8,1130,10296,0.08,2.15,0.00,0.000,6,0.199,0.028,2716,2061,2216,0,0,0,0,0,0
$GC,10613,0.44,212.3,593.5,8.3,1149,10635,0.08,0.00,18.40,0.855,6,0.126,0.000,2769,2056,2161,0,0,0,0,0,0
$GC,10953,0.42,212.3,557.1,10.6,1181,10958,0.17,2.28,0.00,0.000,4,0.148,0.048,2716,3530,2157,0,0,0,0,0,0
$GC,10996,0.41,212.3,552.9,9.2,1184,11003,0.00,2.15,0.00,0.000,6,0.000,0.028,2721,2053,2157,0,0,0,0,0,0
$GC,11321,0.47,260.9,528.1,7.4,1215,11383,0.08,0.00,59.12,0.844,6,0.128,0.000,2778,2048,1963,0,0,0,0,0,0
$GC,11709,0.45,260.9,482.0,13.1,1263,11716,0.17,2.33,0.00,0.000,4,0.145,0.048,2725,3529,1955,0,0,0,0,0,0
$GC,11770,0.45,260.9,475.1,11.0,1273,11778,0.00,2.17,0.00,0.000,6,0.000,0.026,2735,2058,1955,0,0,0,0,0,0
$GC,12124,0.49,292.7,443.5,7.9,1334,12168,0.05,2.38,38.30,0.785,4,0.174,0.048,2786,3525,1832,0,0,0,0,0,0
$GC,12211,0.47,292.7,433.3,14.0,1347,12218,0.20,2.20,0.00,0.000,6,0.145,0.027,2730,2054,1830,0,0,0,0,0,0
$GC,12562,0.47,292.7,403.0,9.1,1408,12571,0.08,0.00,0.00,0.000,6,0.126,0.000,2788,2049,1826,0,0,0,0,0,0
$GC,12913,0.46,292.7,360.9,11.5,1469,12921,0.20,2.30,0.00,0.000,4,0.137,0.046,2725,3533,1826,0,0,0,0,0,0
$GC,12978,0.47,292.7,354.5,8.9,1480,12986,0.00,2.20,0.00,0.000,6,0.000,0.027,2735,2050,1825,0,0,0,0,0,0
$GC,13329,0.49,308.4,325.6,8.4,1541,13359,0.05,2.33,18.85,0.689,4,0.175,0.047,2792,3526,1768,0,0,0,0,0,0
$GC,13399,0.48,308.4,316.7,13.8,1552,13408,0.17,2.20,0.00,0.000,6,0.116,0.027,2740,2050,1767,0,0,0,0,0,0
$GC,13752,0.52,338.7,286.7,7.9,1613,13798,0.08,2.10,37.75,0.681,4,0.127,0.040,2805,663,1646,0,0,0,0,0,0
$GC,13837,0.51,338.7,277.8,10.5,1625,13845,0.20,2.22,0.00,0.000,6,0.129,0.034,2743,2130,1643,0,0,0,0,0,0
$GC,14186,0.70,484.2,257.4,4.4,1686,14370,0.22,2.28,171.90,0.649,4,0.057,0.047,2862,3525,1052,0,0,0,0,0,0
$GC,14393,0.69,484.2,225.7,18.7,1716,14402,0.20,2.25,0.00,0.000,6,0.112,0.028,2802,2067,1050,0,0,0,0,0,0
$GC,14744,0.69,484.2,188.6,9.5,1777,14751,0.00,2.10,0.00,0.000,4,0.000,0.040,2804,662,1047,0,0,0,0,0,0
$GC,14786,0.70,484.2,184.4,9.2,1784,14796,0.03,2.20,0.00,0.000,6,0.103,0.032,2852,2121,1046,0,0,0,0,0,0
$GC,15139,0.70,484.2,133.7,15.3,1845,15149,0.15,2.15,0.00,0.000,4,0.141,0.047,2803,3524,1046,0,0,0,0,0,0
$GC,15199,0.71,484.2,126.7,9.1,1854,15209,0.03,2.17,0.00,0.000,6,0.100,0.027,2856,2045,1045,0,0,0,0,0,0
$GC,15569,0.73,496.8,86.3,8.5,1915,15586,0.12,0.00,14.65,0.515,6,0.135,0.000,2813,2043,1001,0,0,0,0,0,0
$GC,15937,0.76,496.8,54.5,10.9,1977,15946,0.10,2.30,0.00,0.000,4,0.132,0.045,2849,3525,998,0,0,0,0,0,0
$GC,16211,0.81,506.3,27.1,8.6,2023,16228,0.00,2.15,12.82,0.462,6,0.000,0.026,2849,2040,962,0,0,0,0,0,0
$STATE,16472,end climb,SURFACE_DEPTH_REACHED
$STATE,16472,begin surface coast
$FINISH,0.9,1.009532
$STATE,16503,end surface coast,CONTROL_FINISHED_OK
$STATE,16503,begin surface
$SM_CCo,16579,0.00,0.000,0,0,961,506.79
$SM_GC,1.75,6.65,0.00,0.00,0.037,0.000,0.000,196,2455,961,-7.40,1.55,506.79
$IRIDIUM_FIX,2302.75,12622.66,301010,010132
$TT8_MAMPS,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,54.768
$10V_AH,10.0,50.824
$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,21.925,126.600,825.225,0.000,0.000,83.943,93.962,343.741,0.000,0.000,16.182,4952.988,5452.965,853.425,5730.377,403.291,0.000,2616.119,0.000,5223.291,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,71.145,949.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1401.177,0.000,3313.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334060
$DATA_FILE_SIZE,123460,2072
$CAP_FILE_SIZE,207474,0
$CFSIZE,260165632,231124992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.276,307.7,1
$GPS,301010,055601,2313.371,12619.621,40,1.0,40,-3.4