version: 66.08
glider: 176
mission: 2
dive: 389
start: 11 3 110 3 17 29
data:
$ID,176
$MISSION,2
$DIVE,389
$N_DIVES,402
$D_SURF,3
$D_FLARE,3
$D_TGT,880
$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,-5426.7788
$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
$GPS1,031110,030936,2251.786,12620.129,39,1.0,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.8
$GPS2,031110,031702,2251.783,12620.087,12,1.4,12,-3.3
$SPEED_LIMITS,0.169,0.292
$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,197.9,170167,-14.6,-9.778
$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,-0.56,-194.6,0.0,0.0,0,85,0.00,0.00,-66.95,0.000,2,0.000,0.000,198,2480,2616,0,0,0,0,0,0
$GC,87,-0.56,-194.6,3.4,-4.0,8,130,9.05,2.28,-24.73,0.000,4,0.237,0.044,2405,947,3822,0,0,0,0,0,0
$GC,243,-0.56,-194.6,30.1,-14.5,32,252,0.00,2.25,0.00,0.000,6,0.000,0.041,2405,2414,3823,0,0,0,0,0,0
$GC,609,-0.55,-194.6,96.5,-15.5,93,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2415,3823,0,0,0,0,0,0
$GC,977,-0.55,-194.6,146.4,-13.3,154,988,0.05,2.08,0.00,0.000,4,0.238,0.054,2419,3762,3823,0,0,0,0,0,0
$GC,1009,-0.55,-194.6,149.9,-11.8,158,1019,0.00,2.03,0.00,0.000,6,0.000,0.026,2419,2338,3823,0,0,0,0,0,0
$GC,1373,-0.56,-194.6,184.8,-9.0,219,1379,0.00,1.98,0.00,0.000,4,0.000,0.032,2418,946,3823,0,0,0,0,0,0
$GC,1412,-0.56,-194.6,188.3,-8.7,225,1420,0.05,2.20,0.00,0.000,6,0.178,0.037,2375,2434,3824,0,0,0,0,0,0
$GC,1772,-0.56,-194.6,235.0,-12.3,286,1782,0.15,2.20,0.00,0.000,4,0.147,0.031,2421,945,3823,0,0,0,0,0,0
$GC,1825,-0.57,-194.6,240.8,-9.8,294,1835,0.05,2.22,0.00,0.000,6,0.070,0.037,2372,2435,3823,0,0,0,0,0,0
$GC,2187,-0.57,-194.6,285.4,-12.2,355,2195,0.12,2.15,0.00,0.000,4,0.151,0.031,2411,948,3822,0,0,0,0,0,0
$GC,2240,-0.58,-194.6,290.8,-9.1,363,2247,0.05,2.17,0.00,0.000,6,0.168,0.037,2372,2429,3822,0,0,0,0,0,0
$GC,2598,-0.58,-194.6,332.6,-11.2,424,2608,0.12,2.20,0.00,0.000,4,0.148,0.032,2412,946,3822,0,0,0,0,0,0
$GC,2635,-0.59,-194.6,335.7,-9.2,429,2643,0.08,2.20,0.00,0.000,6,0.124,0.037,2354,2430,3821,0,0,0,0,0,0
$GC,2996,-0.59,-194.6,376.5,-10.2,490,3006,0.17,2.20,0.00,0.000,4,0.136,0.031,2410,950,3820,0,0,0,0,0,0
$GC,3033,-0.59,-194.6,379.5,-8.5,495,3041,0.05,2.20,0.00,0.000,6,0.169,0.037,2361,2430,3819,0,0,0,0,0,0
$GC,3393,-0.59,-194.6,416.9,-11.5,556,3402,0.15,2.20,0.00,0.000,4,0.137,0.032,2410,955,3818,0,0,0,0,0,0
$GC,3434,-0.61,-194.6,420.6,-9.1,562,3444,0.05,2.20,0.00,0.000,6,0.066,0.038,2355,2418,3817,0,0,0,0,0,0
$GC,3796,-0.61,-194.6,459.2,-10.0,623,3804,0.15,2.15,0.00,0.000,4,0.132,0.032,2403,952,3816,0,0,0,0,0,0
$GC,3837,-0.62,-194.6,462.7,-7.6,629,3845,0.08,2.20,0.00,0.000,6,0.126,0.038,2346,2427,3816,0,0,0,0,0,0
$GC,4197,-0.62,-194.6,500.1,-9.9,690,4202,0.17,2.05,0.00,0.000,4,0.129,0.054,2403,3766,3814,0,0,0,0,0,0
$GC,4225,-0.63,-194.6,502.2,-5.8,692,4230,0.08,2.00,0.00,0.000,6,0.129,0.024,2359,2332,3814,0,0,0,0,0,0
$GC,4552,-0.63,-194.6,528.2,-9.0,722,4557,0.12,2.00,0.00,0.000,4,0.136,0.033,2401,944,3811,0,0,0,0,0,0
$GC,4591,-0.64,-194.6,531.5,-7.7,725,4596,0.08,2.22,0.00,0.000,6,0.120,0.037,2341,2436,3811,0,0,0,0,0,0
$GC,4918,-0.64,-194.6,569.2,-12.1,755,4923,0.17,2.20,0.00,0.000,4,0.128,0.031,2400,945,3809,0,0,0,0,0,0
$GC,4980,-0.66,-194.6,575.1,-8.6,760,4985,0.10,2.22,0.00,0.000,6,0.095,0.038,2330,2434,3809,0,0,0,0,0,0
$GC,5302,-0.65,-194.6,612.9,-11.6,785,5307,0.17,2.17,0.00,0.000,4,0.130,0.031,2388,949,3807,0,0,0,0,0,0
$GC,5344,-0.67,-194.6,616.5,-8.2,787,5348,0.08,2.22,0.00,0.000,6,0.122,0.040,2330,2430,3807,0,0,0,0,0,0
$GC,5672,-0.66,-194.6,654.9,-12.0,803,5676,0.17,2.17,0.00,0.000,4,0.129,0.033,2389,953,3804,0,0,0,0,0,0
$GC,5721,-0.68,-194.6,659.6,-8.3,805,5726,0.08,2.22,0.00,0.000,6,0.121,0.040,2330,2430,3804,0,0,0,0,0,0
$GC,6043,-0.67,-194.6,695.4,-11.4,821,6048,0.17,2.17,0.00,0.000,4,0.129,0.033,2388,953,3802,0,0,0,0,0,0
$GC,6105,-0.69,-194.6,700.7,-7.4,824,6110,0.10,2.22,0.00,0.000,6,0.096,0.039,2320,2432,3801,0,0,0,0,0,0
$GC,6434,-0.68,-194.6,739.9,-12.3,840,6438,0.17,2.17,0.00,0.000,4,0.132,0.033,2378,957,3799,0,0,0,0,0,0
$GC,6474,-0.69,-194.6,744.0,-8.0,842,6479,0.05,2.22,0.00,0.000,6,0.171,0.041,2325,2429,3799,0,0,0,0,0,0
$GC,6801,-0.69,-194.6,779.8,-11.2,858,6806,0.15,2.20,0.00,0.000,4,0.134,0.035,2375,960,3796,0,0,0,0,0,0
$GC,6873,-0.70,-194.6,785.7,-7.3,861,6877,0.05,2.22,0.00,0.000,6,0.169,0.040,2327,2431,3795,0,0,0,0,0,0
$GC,7194,-0.70,-194.6,817.9,-9.9,877,7199,0.15,2.20,0.00,0.000,4,0.133,0.034,2377,950,3794,0,0,0,0,0,0
$GC,7256,-0.71,-194.6,822.8,-6.9,880,7261,0.08,2.22,0.00,0.000,6,0.125,0.041,2321,2430,3793,0,0,0,0,0,0
$GC,7589,-0.71,-194.6,858.9,-11.5,896,7594,0.15,2.20,0.00,0.000,4,0.133,0.034,2372,955,3791,0,0,0,0,0,0
$GC,7633,-0.72,-194.6,863.1,-7.8,898,7638,0.08,2.22,0.00,0.000,6,0.120,0.041,2311,2422,3790,0,0,0,0,0,0
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7787,begin apogee
$GC,7792,-0.11,0.0,881.1,12.3,906,8027,0.70,0.17,223.85,0.998,6,0.108,0.071,2555,2146,3027,0,0,0,0,0,0
$STATE,8028,end apogee,CONTROL_FINISHED_OK
$STATE,8028,begin climb
$GC,8030,0.56,194.6,894.9,0.0,917,8278,0.57,0.00,240.43,0.963,6,0.037,0.000,2816,2145,2232,0,0,0,0,0,0
$GC,8587,0.54,194.6,835.2,16.4,944,8592,0.22,2.12,0.00,0.000,4,0.181,0.047,2755,3525,2224,0,0,0,0,0,0
$GC,8664,0.52,194.6,823.6,13.7,947,8671,0.00,2.17,0.00,0.000,6,0.000,0.028,2763,2051,2222,0,0,0,0,0,0
$GC,8981,0.50,194.6,786.6,11.1,963,8986,0.08,2.08,0.00,0.000,4,0.220,0.040,2750,662,2221,0,0,0,0,0,0
$GC,9002,0.49,194.6,784.1,10.7,964,9006,0.00,2.17,0.00,0.000,6,0.000,0.034,2750,2126,2219,0,0,0,0,0,0
$GC,9330,0.48,194.6,750.4,10.4,980,9332,0.05,0.00,0.00,0.000,6,0.239,0.000,2739,2126,2219,0,0,0,0,0,0
$GC,9640,0.47,194.6,718.7,10.5,995,9644,0.00,2.12,0.00,0.000,4,0.000,0.049,2739,3526,2218,0,0,0,0,0,0
$GC,9680,0.46,194.6,713.9,12.7,997,9684,0.08,2.15,0.00,0.000,6,0.204,0.028,2729,2048,2217,0,0,0,0,0,0
$GC,10008,0.45,194.6,679.5,10.5,1013,10012,0.00,2.28,0.00,0.000,4,0.000,0.048,2729,3525,2217,0,0,0,0,0,0
$GC,10062,0.44,194.6,672.6,12.5,1015,10069,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2061,2216,0,0,0,0,0,0
$GC,10379,0.43,194.6,638.9,10.5,1031,10383,0.03,2.08,0.00,0.000,4,0.304,0.038,2735,659,2215,0,0,0,0,0,0
$GC,10443,0.43,198.4,632.8,9.6,1034,10448,0.05,2.20,0.00,0.000,6,0.213,0.034,2722,2136,2214,0,0,0,0,0,0
$GC,10771,0.47,238.1,604.3,8.4,1050,10827,0.10,2.25,50.03,0.895,4,0.102,0.047,2790,3537,2055,0,0,0,0,0,0
$GC,10856,0.45,238.1,593.3,15.3,1055,10864,0.25,2.22,0.00,0.000,6,0.148,0.026,2727,2061,2052,0,0,0,0,0,0
$GC,11182,0.46,249.2,561.1,9.4,1086,11206,0.08,2.35,13.93,0.815,4,0.125,0.047,2779,3523,2009,0,0,0,0,0,0
$GC,11252,0.45,249.2,551.7,14.7,1092,11257,0.22,2.17,0.00,0.000,6,0.145,0.027,2722,2061,2008,0,0,0,0,0,0
$GC,11583,0.51,301.7,523.1,8.0,1123,11656,0.12,0.00,65.35,0.842,6,0.090,0.000,2799,2056,1795,0,0,0,0,0,0
$GC,11996,0.50,301.7,464.2,14.4,1181,12003,0.20,2.30,0.00,0.000,4,0.146,0.046,2739,3529,1787,0,0,0,0,0,0
$GC,12050,0.50,301.7,457.1,10.9,1190,12060,0.00,2.20,0.00,0.000,6,0.000,0.028,2748,2065,1786,0,0,0,0,0,0
$GC,12411,0.50,301.7,420.3,9.9,1251,12417,0.00,2.25,0.00,0.000,4,0.000,0.047,2748,3532,1785,0,0,0,0,0,0
$GC,12438,0.50,301.7,417.5,10.3,1255,12445,0.00,2.17,0.00,0.000,6,0.000,0.028,2748,2063,1785,0,0,0,0,0,0
$GC,12795,0.60,383.2,388.1,7.0,1316,12903,0.12,2.20,97.40,0.760,4,0.088,0.040,2831,670,1464,0,0,0,0,0,0
$GC,12919,0.59,383.2,370.9,16.4,1333,12926,0.20,2.22,0.00,0.000,6,0.134,0.034,2772,2121,1463,0,0,0,0,0,0
$GC,13279,0.59,383.2,332.2,10.3,1394,13288,0.00,2.17,0.00,0.000,4,0.000,0.047,2772,3519,1456,0,0,0,0,0,0
$GC,13351,0.59,383.2,324.2,11.0,1405,13358,0.00,2.15,0.00,0.000,6,0.000,0.026,2776,2058,1455,0,0,0,0,0,0
$GC,13711,0.60,383.2,285.7,10.6,1466,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2056,1454,0,0,0,0,0,0
$GC,14072,0.60,383.2,248.9,10.0,1527,14079,0.00,2.28,0.00,0.000,4,0.000,0.047,2776,3536,1455,0,0,0,0,0,0
$GC,14123,0.60,383.2,243.4,10.8,1535,14130,0.00,2.15,0.00,0.000,6,0.000,0.027,2776,2055,1454,0,0,0,0,0,0
$GC,14482,0.67,433.4,211.4,8.1,1596,14548,0.10,2.17,59.38,0.634,4,0.101,0.040,2858,662,1260,0,0,0,0,0,0
$GC,14568,0.66,433.4,199.5,15.8,1608,14578,0.17,2.22,0.00,0.000,6,0.109,0.033,2795,2113,1257,0,0,0,0,0,0
$GC,14930,0.75,496.3,166.6,7.6,1669,15016,0.12,2.25,74.97,0.598,4,0.084,0.047,2886,3525,1002,0,0,0,0,0,0
$GC,15066,0.74,496.3,143.0,18.4,1689,15075,0.17,2.22,0.00,0.000,6,0.110,0.028,2823,2067,1001,0,0,0,0,0,0
$GC,15436,0.76,502.4,104.2,9.6,1750,15446,0.00,0.00,7.53,0.476,6,0.000,0.000,2823,2066,979,0,0,0,0,0,0
$GC,15802,0.83,555.6,73.4,8.0,1811,15876,0.12,2.33,63.30,0.535,4,0.084,0.046,2914,3523,761,0,0,0,0,0,0
$GC,15906,0.83,555.6,59.6,15.4,1824,15915,0.17,2.20,0.00,0.000,6,0.100,0.028,2849,2068,760,0,0,0,0,0,0
$GC,16270,0.91,605.1,22.9,8.1,1885,16337,0.12,2.15,56.00,0.497,4,0.088,0.041,2940,672,560,0,0,0,0,0,0
$GC,16406,0.94,626.5,5.5,9.0,1904,16433,0.15,2.20,14.65,0.452,6,0.103,0.032,2884,2133,498,0,0,0,0,0,0
$STATE,16440,end climb,SURFACE_DEPTH_REACHED
$STATE,16440,begin surface coast
$FINISH,1.0,1.013463
$STATE,16471,end surface coast,CONTROL_FINISHED_OK
$STATE,16473,begin surface
$SM_CCo,16548,0.00,0.000,0,0,496,621.10
$SM_GC,1.54,6.80,0.00,0.00,0.033,0.000,0.000,199,2448,496,-7.40,1.36,621.10
$IRIDIUM_FIX,2244.02,12620.39,021110,212129
$TT8_MAMPS,0.026215
$HUMID,49.88
$INTERNAL_PRESSURE,8.68472
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.5,59.147
$10V_AH,10.2,55.564
$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,23.775,154.175,966.800,0.000,0.000,30.886,55.052,201.284,0.000,0.000,15.444,4606.973,5888.815,981.041,5105.456,385.224,0.000,2719.058,0.000,4838.919,0.000,0.542,0.000
$DEVICE_MAMPS,304.470,71.145,998.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.455,0.000,2964.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333948
$DATA_FILE_SIZE,113727,1913
$CAP_FILE_SIZE,209132,0
$CFSIZE,260165632,229019648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,257.2,1
$GPS,031110,075424,2249.197,12618.431,38,1.9,38,-3.3