version: 66.08
glider: 176
mission: 2
dive: 372
start: 10 30 110 15 41 41
data:
$ID,176
$MISSION,2
$DIVE,372
$N_DIVES,384
$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,-5405.4053
$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
$GPS1,301010,153400,2313.030,12619.809,37,1.5,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.9
$GPS2,301010,154113,2313.019,12619.797,13,1.6,13,-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,149.7,208826,-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,-194.6,0.0,0.0,0,90,0.00,0.00,-72.60,0.000,2,0.000,0.000,201,2504,2660,0,0,0,0,0,0
$GC,93,-0.53,-194.6,3.5,-4.3,9,135,9.48,2.33,-22.50,0.000,4,0.252,0.045,2417,954,3824,0,0,0,0,0,0
$GC,248,-0.53,-194.6,33.5,-13.9,33,256,0.00,2.25,0.00,0.000,6,0.000,0.042,2416,2419,3825,0,0,0,0,0,0
$GC,614,-0.52,-194.6,101.0,-16.8,94,624,0.00,2.08,0.00,0.000,4,0.000,0.054,2416,3770,3825,0,0,0,0,0,0
$GC,640,-0.51,-194.6,104.9,-16.6,97,649,0.03,2.05,0.00,0.000,6,0.155,0.025,2428,2334,3825,0,0,0,0,0,0
$GC,1008,-0.51,-194.6,148.2,-9.9,158,1017,0.00,2.00,0.00,0.000,4,0.000,0.031,2429,953,3825,0,0,0,0,0,0
$GC,1059,-0.52,-194.6,153.4,-9.4,166,1069,0.00,2.20,0.00,0.000,6,0.000,0.038,2429,2421,3825,0,0,0,0,0,0
$GC,1422,-0.52,-194.6,187.7,-9.0,227,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2420,3825,0,0,0,0,0,0
$GC,1777,-0.53,-194.6,216.0,-7.6,288,1787,0.00,2.15,0.00,0.000,4,0.000,0.031,2429,947,3825,0,0,0,0,0,0
$GC,1826,-0.54,-194.6,219.5,-7.9,295,1833,0.08,2.17,0.00,0.000,6,0.127,0.037,2373,2427,3825,0,0,0,0,0,0
$GC,2185,-0.53,-194.6,260.9,-10.4,356,2194,0.17,2.05,0.00,0.000,4,0.132,0.053,2429,3759,3824,0,0,0,0,0,0
$GC,2209,-0.53,-194.6,262.9,-9.6,359,2216,0.08,2.00,0.00,0.000,6,0.125,0.025,2381,2332,3824,0,0,0,0,0,0
$GC,2568,-0.53,-194.6,297.9,-10.8,420,2576,0.15,0.00,0.00,0.000,6,0.138,0.000,2429,2329,3822,0,0,0,0,0,0
$GC,2931,-0.56,-194.6,327.5,-8.5,481,2938,0.10,2.00,0.00,0.000,4,0.112,0.034,2385,939,3822,0,0,0,0,0,0
$GC,3113,-0.59,-194.6,342.6,-7.5,512,3122,0.05,2.22,0.00,0.000,6,0.080,0.037,2422,2426,3820,0,0,0,0,0,0
$GC,3470,-0.62,-194.6,367.6,-7.7,573,3477,0.12,2.05,0.00,0.000,4,0.101,0.052,2371,3770,3818,0,0,0,0,0,0
$GC,3544,-0.64,-194.6,373.8,-8.1,585,3552,0.08,2.03,0.00,0.000,6,0.121,0.025,2405,2331,3818,0,0,0,0,0,0
$GC,3901,-0.67,-194.6,404.1,-9.3,646,3910,0.12,2.03,0.00,0.000,4,0.100,0.034,2346,958,3816,0,0,0,0,0,0
$GC,3929,-0.69,-194.6,407.0,-9.6,650,3939,0.08,2.20,0.00,0.000,6,0.109,0.038,2379,2423,3816,0,0,0,0,0,0
$GC,4280,-0.70,-194.6,440.7,-9.3,711,4287,0.08,0.00,0.00,0.000,6,0.128,0.000,2321,2424,3814,0,0,0,0,0,0
$GC,4628,-0.70,-194.6,475.3,-8.9,772,4637,0.15,2.08,0.00,0.000,4,0.124,0.054,2374,3763,3812,0,0,0,0,0,0
$GC,4685,-0.71,-194.6,479.7,-8.2,781,4694,0.08,2.03,0.00,0.000,6,0.124,0.026,2317,2332,3811,0,0,0,0,0,0
$GC,5025,-0.70,-194.6,527.0,-14.9,825,5030,0.17,2.00,0.00,0.000,4,0.142,0.033,2373,951,3810,0,0,0,0,0,0
$GC,5079,-0.70,-194.6,533.3,-9.4,829,5088,0.05,2.20,0.00,0.000,6,0.168,0.041,2326,2434,3810,0,0,0,0,0,0
$GC,5405,-0.70,-194.6,577.0,-13.4,860,5407,0.15,0.00,0.00,0.000,6,0.141,0.000,2374,2434,3808,0,0,0,0,0,0
$GC,5734,-0.70,-194.6,604.9,-7.5,888,5738,0.00,2.17,0.00,0.000,4,0.000,0.032,2375,943,3806,0,0,0,0,0,0
$GC,5789,-0.70,-194.6,609.2,-7.1,890,5793,0.05,2.20,0.00,0.000,6,0.171,0.041,2329,2423,3806,0,0,0,0,0,0
$GC,6105,-0.69,-194.6,641.8,-10.3,905,6109,0.15,2.08,0.00,0.000,4,0.138,0.054,2377,3770,3804,0,0,0,0,0,0
$GC,6129,-0.69,-194.6,643.8,-8.8,906,6133,0.05,2.05,0.00,0.000,6,0.171,0.025,2332,2336,3803,0,0,0,0,0,0
$GC,6457,-0.69,-194.6,677.0,-11.0,922,6461,0.15,2.03,0.00,0.000,4,0.134,0.031,2382,943,3802,0,0,0,0,0,0
$GC,6490,-0.69,-194.6,680.3,-8.8,923,6497,0.05,2.20,0.00,0.000,6,0.171,0.038,2323,2426,3801,0,0,0,0,0,0
$GC,6805,-0.69,-194.6,718.2,-12.3,939,6810,0.17,2.20,0.00,0.000,4,0.130,0.034,2382,953,3800,0,0,0,0,0,0
$GC,6839,-0.69,-194.6,721.6,-8.7,940,6846,0.08,2.22,0.00,0.000,6,0.123,0.042,2319,2421,3800,0,0,0,0,0,0
$GC,7154,-0.69,-194.6,759.9,-12.1,956,7156,0.17,0.00,0.00,0.000,6,0.130,0.000,2377,2422,3797,0,0,0,0,0,0
$GC,7464,-0.69,-194.6,782.1,-6.8,971,7469,0.05,2.17,0.00,0.000,4,0.177,0.034,2329,958,3795,0,0,0,0,0,0
$GC,7496,-0.69,-194.6,785.3,-10.1,972,7501,0.17,2.22,0.00,0.000,6,0.125,0.042,2381,2422,3795,0,0,0,0,0,0
$STATE,7728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7728,begin apogee
$GC,7733,-0.11,0.0,800.7,6.3,983,7961,0.47,0.17,220.75,0.945,6,0.089,0.074,2560,2143,3027,0,0,0,0,0,0
$STATE,7962,end apogee,CONTROL_FINISHED_OK
$STATE,7962,begin climb
$GC,7964,0.53,194.6,811.2,0.0,993,8209,0.52,2.40,235.02,0.913,4,0.040,0.037,2815,667,2232,0,0,0,0,0,0
$GC,8254,0.51,194.6,796.9,15.8,1006,8259,0.25,2.28,0.00,0.000,6,0.168,0.035,2748,2120,2228,0,0,0,0,0,0
$GC,8569,0.49,194.6,760.5,11.1,1021,8573,0.00,2.15,0.00,0.000,4,0.000,0.049,2748,3532,2222,0,0,0,0,0,0
$GC,8680,0.47,194.6,747.0,12.9,1026,8685,0.08,2.17,0.00,0.000,6,0.210,0.029,2733,2061,2221,0,0,0,0,0,0
$GC,9007,0.46,194.6,715.0,9.7,1042,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2057,2220,0,0,0,0,0,0
$GC,9316,0.45,194.6,685.1,9.6,1057,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2057,2218,0,0,0,0,0,0
$GC,9625,0.44,194.6,655.4,9.3,1072,9629,0.00,2.28,0.00,0.000,4,0.000,0.047,2733,3530,2217,0,0,0,0,0,0
$GC,9652,0.43,194.6,652.7,10.5,1073,9657,0.03,2.17,0.00,0.000,6,0.192,0.028,2726,2062,2217,0,0,0,0,0,0
$GC,9974,0.46,229.7,626.6,7.8,1089,10018,0.08,0.00,40.45,0.888,6,0.128,0.000,2782,2057,2090,0,0,0,0,0,0
$GC,10328,0.45,229.7,584.0,12.6,1111,10333,0.20,2.28,0.00,0.000,4,0.147,0.047,2722,3525,2082,0,0,0,0,0,0
$GC,10372,0.44,229.7,578.9,10.3,1114,10379,0.00,2.15,0.00,0.000,6,0.000,0.028,2722,2061,2082,0,0,0,0,0,0
$GC,10697,0.44,229.7,549.7,9.2,1145,10701,0.00,2.25,0.00,0.000,4,0.000,0.047,2722,3526,2081,0,0,0,0,0,0
$GC,10741,0.43,229.7,545.3,10.3,1148,10748,0.00,2.15,0.00,0.000,6,0.000,0.028,2722,2054,2081,0,0,0,0,0,0
$GC,11066,0.46,254.6,518.1,8.1,1179,11102,0.08,2.38,29.00,0.825,4,0.131,0.048,2779,3533,1988,0,0,0,0,0,0
$GC,11161,0.44,254.6,507.1,13.2,1187,11166,0.22,2.17,0.00,0.000,6,0.143,0.028,2720,2059,1986,0,0,0,0,0,0
$GC,11503,0.50,300.7,481.6,7.5,1239,11566,0.12,0.00,56.47,0.808,6,0.090,0.000,2802,2054,1801,0,0,0,0,0,0
$GC,11907,0.48,300.7,424.1,15.4,1308,11916,0.22,2.33,0.00,0.000,4,0.142,0.046,2733,3526,1794,0,0,0,0,0,0
$GC,11931,0.47,300.7,421.0,14.6,1311,11937,0.00,2.15,0.00,0.000,6,0.000,0.027,2735,2059,1793,0,0,0,0,0,0
$GC,12280,0.50,321.6,387.8,8.2,1372,12311,0.08,2.35,25.33,0.740,4,0.126,0.047,2799,3527,1715,0,0,0,0,0,0
$GC,12367,0.49,321.6,376.7,14.2,1385,12375,0.20,2.17,0.00,0.000,6,0.139,0.028,2740,2052,1712,0,0,0,0,0,0
$GC,12716,0.57,388.4,349.3,6.8,1446,12804,0.12,2.20,81.07,0.729,4,0.086,0.039,2831,661,1442,0,0,0,0,0,0
$GC,12826,0.56,388.4,334.9,14.7,1461,12834,0.22,2.25,0.00,0.000,6,0.128,0.033,2763,2124,1439,0,0,0,0,0,0
$GC,13177,0.56,388.4,301.8,9.4,1522,13185,0.00,2.17,0.00,0.000,4,0.000,0.047,2763,3525,1434,0,0,0,0,0,0
$GC,13204,0.56,388.4,298.7,10.8,1526,13213,0.00,2.20,0.00,0.000,6,0.000,0.027,2763,2054,1433,0,0,0,0,0,0
$GC,13554,0.57,388.4,264.2,9.1,1587,13561,0.00,2.28,0.00,0.000,4,0.000,0.047,2763,3534,1432,0,0,0,0,0,0
$GC,13581,0.57,388.4,261.5,9.4,1591,13588,0.05,2.15,0.00,0.000,6,0.172,0.028,2822,2055,1432,0,0,0,0,0,0
$GC,13931,0.56,388.4,214.6,13.1,1652,13940,0.20,2.10,0.00,0.000,4,0.140,0.038,2763,659,1432,0,0,0,0,0,0
$GC,13967,0.57,388.4,211.2,9.4,1657,13975,0.00,2.17,0.00,0.000,6,0.000,0.031,2763,2133,1432,0,0,0,0,0,0
$GC,14318,0.65,444.8,188.9,7.1,1718,14391,0.12,2.22,65.60,0.615,4,0.084,0.047,2846,3527,1212,0,0,0,0,0,0
$GC,14428,0.64,444.8,173.7,16.1,1734,14437,0.17,2.22,0.00,0.000,6,0.102,0.028,2790,2055,1209,0,0,0,0,0,0
$GC,14783,0.71,497.3,142.0,7.3,1795,14850,0.10,2.17,61.55,0.578,4,0.099,0.038,2870,655,998,0,0,0,0,0,0
$GC,14895,0.71,497.3,129.1,11.0,1810,14904,0.15,2.25,0.00,0.000,6,0.101,0.032,2813,2128,997,0,0,0,0,0,0
$GC,15264,0.82,571.8,104.5,6.6,1871,15363,0.15,2.33,85.93,0.547,4,0.078,0.040,2926,660,694,0,0,0,0,0,0
$GC,15403,0.81,571.8,81.5,15.4,1889,15413,0.22,2.25,0.00,0.000,6,0.103,0.033,2845,2129,693,0,0,0,0,0,0
$GC,15764,0.85,571.8,51.6,10.5,1950,15773,0.08,2.17,0.00,0.000,4,0.146,0.047,2885,3535,691,0,0,0,0,0,0
$GC,16034,0.87,571.8,24.1,11.2,1996,16043,0.05,2.17,0.00,0.000,6,0.073,0.028,2851,2056,691,0,0,0,0,0,0
$STATE,16209,end climb,SURFACE_DEPTH_REACHED
$STATE,16209,begin surface coast
$FINISH,0.8,1.020460
$STATE,16235,end surface coast,CONTROL_FINISHED_OK
$STATE,16235,begin surface
$SM_CCo,16311,0.00,0.000,0,0,692,573.02
$SM_GC,1.77,6.80,0.00,0.00,0.050,0.000,0.000,213,2456,692,-7.37,1.58,573.02
$IRIDIUM_FIX,2302.75,12620.78,301010,101052
$TT8_MAMPS,0.026215
$HUMID,50.78
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.8,55.442
$10V_AH,10.2,51.535
$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,23.300,136.050,901.175,0.000,0.000,27.923,44.418,203.576,0.000,0.000,15.861,4843.704,5191.411,893.391,5408.273,382.984,0.000,2687.811,0.000,5162.320,0.000,0.542,0.000
$DEVICE_MAMPS,251.685,74.205,944.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1370.900,0.000,3284.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,120251,2029
$CAP_FILE_SIZE,205652,0
$CFSIZE,260165632,230817792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,334.2,1
$GPS,301010,201437,2313.235,12621.035,37,1.0,37,-3.4