version: 66.08
glider: 176
mission: 2
dive: 392
start: 11 3 110 18 21 35
data:
$ID,176
$MISSION,2
$DIVE,392
$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,-5430.5513
$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
$GPS1,031110,181400,2246.375,12618.040,38,1.4,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.6
$GPS2,031110,182108,2246.399,12617.978,12,1.3,12,-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,166.3,159691,-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,-194.6,0.0,0.0,0,76,0.00,0.00,-58.08,0.000,2,0.000,0.000,194,2350,2559,0,0,0,0,0,0
$GC,79,-0.56,-194.6,3.2,-3.4,7,121,9.02,2.05,-26.08,0.000,4,0.236,0.043,2404,951,3822,0,0,0,0,0,0
$GC,223,-0.56,-194.6,28.8,-15.4,29,232,0.00,2.25,0.00,0.000,6,0.000,0.041,2404,2415,3823,0,0,0,0,0,0
$GC,589,-0.55,-194.6,100.3,-13.8,90,599,0.05,2.08,0.00,0.000,4,0.241,0.054,2417,3759,3823,0,0,0,0,0,0
$GC,609,-0.55,-194.6,102.9,-13.8,92,618,0.00,2.05,0.00,0.000,6,0.000,0.025,2417,2329,3823,0,0,0,0,0,0
$GC,976,-0.55,-194.6,141.9,-9.9,153,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2327,3823,0,0,0,0,0,0
$GC,1336,-0.55,-194.6,178.7,-10.3,214,1345,0.00,2.22,0.00,0.000,4,0.000,0.051,2417,3771,3823,0,0,0,0,0,0
$GC,1361,-0.56,-194.6,180.9,-10.3,217,1368,0.00,2.03,0.00,0.000,6,0.000,0.025,2417,2325,3823,0,0,0,0,0,0
$GC,1718,-0.56,-194.6,215.0,-9.2,278,1728,0.00,2.00,0.00,0.000,4,0.000,0.033,2417,946,3823,0,0,0,0,0,0
$GC,1743,-0.57,-194.6,217.0,-9.0,281,1750,0.05,2.17,0.00,0.000,6,0.181,0.037,2372,2431,3823,0,0,0,0,0,0
$GC,2103,-0.56,-194.6,262.1,-12.6,342,2112,0.15,0.00,0.00,0.000,6,0.144,0.000,2418,2432,3823,0,0,0,0,0,0
$GC,2467,-0.57,-194.6,292.0,-7.4,403,2474,0.08,2.15,0.00,0.000,4,0.128,0.032,2361,949,3821,0,0,0,0,0,0
$GC,2542,-0.58,-194.6,299.7,-10.7,415,2549,0.17,2.17,0.00,0.000,6,0.131,0.038,2416,2427,3821,0,0,0,0,0,0
$GC,2904,-0.59,-194.6,326.2,-7.0,476,2913,0.08,2.17,0.00,0.000,4,0.130,0.031,2357,956,3821,0,0,0,0,0,0
$GC,2956,-0.59,-194.6,331.3,-10.3,484,2965,0.12,2.20,0.00,0.000,6,0.109,0.039,2404,2416,3820,0,0,0,0,0,0
$GC,3320,-0.60,-194.6,359.3,-7.5,545,3326,0.00,2.12,0.00,0.000,4,0.000,0.031,2405,951,3818,0,0,0,0,0,0
$GC,3360,-0.61,-194.6,362.5,-7.8,551,3368,0.05,2.17,0.00,0.000,6,0.177,0.037,2361,2429,3818,0,0,0,0,0,0
$GC,3719,-0.61,-194.6,401.4,-10.9,612,3729,0.12,2.20,0.00,0.000,4,0.145,0.031,2401,945,3817,0,0,0,0,0,0
$GC,3768,-0.62,-194.6,405.2,-7.8,619,3775,0.05,2.20,0.00,0.000,6,0.166,0.038,2352,2426,3816,0,0,0,0,0,0
$GC,4129,-0.62,-194.6,446.4,-11.9,680,4138,0.15,2.08,0.00,0.000,4,0.137,0.054,2401,3763,3815,0,0,0,0,0,0
$GC,4170,-0.63,-194.6,449.8,-7.5,686,4181,0.05,2.05,0.00,0.000,6,0.067,0.025,2344,2330,3815,0,0,0,0,0,0
$GC,4534,-0.63,-194.6,491.4,-11.9,747,4541,0.17,2.00,0.00,0.000,4,0.134,0.034,2401,948,3814,0,0,0,0,0,0
$GC,4574,-0.64,-194.6,495.5,-9.4,753,4581,0.08,2.20,0.00,0.000,6,0.121,0.038,2343,2427,3813,0,0,0,0,0,0
$GC,4906,-0.63,-194.6,537.3,-12.1,787,4908,0.15,0.00,0.00,0.000,6,0.136,0.000,2391,2427,3811,0,0,0,0,0,0
$GC,5224,-0.64,-194.6,562.1,-7.0,817,5229,0.05,2.17,0.00,0.000,4,0.177,0.033,2346,946,3809,0,0,0,0,0,0
$GC,5302,-0.65,-194.6,569.4,-9.6,823,5309,0.15,2.20,0.00,0.000,6,0.132,0.040,2394,2424,3809,0,0,0,0,0,0
$GC,5628,-0.66,-194.6,592.8,-7.7,854,5632,0.08,2.15,0.00,0.000,4,0.125,0.033,2334,956,3807,0,0,0,0,0,0
$GC,5682,-0.66,-194.6,599.0,-11.5,858,5691,0.12,2.25,0.00,0.000,6,0.106,0.041,2384,2428,3806,0,0,0,0,0,0
$GC,6012,-0.66,-194.6,627.2,-8.5,875,6016,0.00,2.17,0.00,0.000,4,0.000,0.033,2384,949,3804,0,0,0,0,0,0
$GC,6062,-0.68,-194.6,632.2,-9.2,877,6066,0.08,2.22,0.00,0.000,6,0.123,0.038,2325,2433,3804,0,0,0,0,0,0
$GC,6378,-0.67,-194.6,669.7,-11.4,892,6382,0.17,2.17,0.00,0.000,4,0.134,0.032,2383,955,3802,0,0,0,0,0,0
$GC,6418,-0.68,-194.6,673.3,-7.7,894,6423,0.05,2.20,0.00,0.000,6,0.167,0.040,2331,2427,3802,0,0,0,0,0,0
$GC,6746,-0.68,-194.6,706.2,-10.1,910,6750,0.15,2.05,0.00,0.000,4,0.135,0.055,2377,3766,3799,0,0,0,0,0,0
$GC,6768,-0.68,-194.6,708.3,-9.1,911,6771,0.00,2.03,0.00,0.000,6,0.000,0.025,2377,2343,3798,0,0,0,0,0,0
$GC,7096,-0.69,-194.6,730.8,-7.2,927,7100,0.05,2.03,0.00,0.000,4,0.178,0.034,2332,955,3796,0,0,0,0,0,0
$GC,7151,-0.70,-194.6,736.2,-10.1,929,7156,0.15,2.22,0.00,0.000,6,0.130,0.041,2381,2431,3796,0,0,0,0,0,0
$GC,7468,-0.71,-194.6,758.4,-7.1,944,7473,0.10,2.17,0.00,0.000,4,0.101,0.034,2311,959,3794,0,0,0,0,0,0
$GC,7544,-0.71,-194.6,767.5,-11.9,947,7552,0.15,2.22,0.00,0.000,6,0.109,0.041,2365,2413,3794,0,0,0,0,0,0
$GC,7862,-0.71,-194.6,795.9,-8.9,963,7866,0.00,2.12,0.00,0.000,4,0.000,0.032,2365,954,3792,0,0,0,0,0,0
$GC,7918,-0.72,-194.6,801.3,-9.0,965,7925,0.00,2.20,0.00,0.000,6,0.000,0.040,2363,2425,3791,0,0,0,0,0,0
$GC,8235,-0.73,-194.6,827.1,-7.8,981,8239,0.00,2.15,0.00,0.000,4,0.000,0.034,2363,957,3790,0,0,0,0,0,0
$GC,8290,-0.74,-194.6,831.7,-8.4,983,8298,0.05,2.20,0.00,0.000,6,0.175,0.041,2319,2422,3789,0,0,0,0,0,0
$GC,8607,-0.73,-194.6,865.8,-11.3,999,8612,0.15,2.17,0.00,0.000,4,0.139,0.034,2368,950,3788,0,0,0,0,0,0
$GC,8648,-0.74,-194.6,869.6,-8.1,1001,8653,0.08,2.25,0.00,0.000,6,0.122,0.041,2306,2431,3787,0,0,0,0,0,0
$STATE,8745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8745,begin apogee
$GC,8751,-0.11,0.0,881.3,12.4,1006,8983,0.73,0.15,223.85,0.995,6,0.109,0.078,2558,2142,3027,0,0,0,0,0,0
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8986,0.56,194.6,895.5,0.0,1016,9237,0.57,2.42,239.77,0.962,4,0.037,0.037,2826,667,2233,0,0,0,0,0,0
$GC,9293,0.54,194.6,881.3,15.7,1030,9298,0.25,2.28,0.00,0.000,6,0.170,0.034,2760,2132,2227,0,0,0,0,0,0
$GC,9615,0.52,194.6,843.0,11.9,1046,9619,0.00,2.12,0.00,0.000,4,0.000,0.049,2760,3525,2222,0,0,0,0,0,0
$GC,9655,0.50,194.6,837.7,14.0,1048,9660,0.10,2.15,0.00,0.000,6,0.198,0.028,2745,2058,2222,0,0,0,0,0,0
$GC,9983,0.49,194.6,801.3,11.0,1064,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2054,2219,0,0,0,0,0,0
$GC,10292,0.48,194.6,768.1,10.7,1079,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2054,2219,0,0,0,0,0,0
$GC,10600,0.47,194.6,733.6,11.2,1094,10604,0.00,2.28,0.00,0.000,4,0.000,0.049,2745,3528,2218,0,0,0,0,0,0
$GC,10644,0.46,194.6,727.9,12.7,1096,10649,0.10,2.15,0.00,0.000,6,0.185,0.029,2725,2054,2219,0,0,0,0,0,0
$GC,10973,0.45,194.6,694.7,9.9,1112,10977,0.05,2.25,0.00,0.000,4,0.171,0.047,2771,3524,2217,0,0,0,0,0,0
$GC,11044,0.43,194.6,685.0,13.5,1115,11049,0.20,2.12,0.00,0.000,6,0.163,0.028,2720,2059,2217,0,0,0,0,0,0
$GC,11373,0.46,225.1,655.4,8.7,1131,11418,0.08,2.33,34.80,0.908,4,0.126,0.048,2775,3525,2109,0,0,0,0,0,0
$GC,11474,0.44,225.1,642.2,14.6,1135,11478,0.20,2.17,0.00,0.000,6,0.153,0.027,2728,2051,2107,0,0,0,0,0,0
$GC,11791,0.46,240.9,611.5,9.2,1150,11816,0.03,2.35,19.92,0.858,4,0.253,0.049,2768,3535,2045,0,0,0,0,0,0
$GC,11845,0.44,240.9,604.8,14.3,1152,11849,0.17,2.20,0.00,0.000,6,0.156,0.028,2725,2055,2043,0,0,0,0,0,0
$GC,12168,0.50,285.5,577.1,8.3,1179,12229,0.10,2.12,55.20,0.864,4,0.102,0.037,2802,661,1863,0,0,0,0,0,0
$GC,12265,0.49,285.5,565.3,12.8,1187,12270,0.22,2.22,0.00,0.000,6,0.140,0.033,2735,2122,1860,0,0,0,0,0,0
$GC,12590,0.49,285.5,532.6,10.4,1217,12592,0.05,0.00,0.00,0.000,6,0.174,0.000,2786,2123,1855,0,0,0,0,0,0
$GC,12915,0.48,285.5,489.0,13.0,1254,12924,0.17,2.17,0.00,0.000,4,0.146,0.046,2733,3529,1854,0,0,0,0,0,0
$GC,13001,0.48,286.3,479.9,9.7,1268,13011,0.00,2.20,0.00,0.000,6,0.000,0.028,2735,2056,1853,0,0,0,0,0,0
$GC,13363,0.54,335.3,449.9,8.1,1329,13427,0.10,0.00,60.90,0.794,6,0.103,0.000,2806,2051,1660,0,0,0,0,0,0
$GC,13779,0.53,335.3,390.2,14.7,1398,13788,0.17,0.00,0.00,0.000,6,0.145,0.000,2754,2051,1652,0,0,0,0,0,0
$GC,14142,0.54,345.4,355.9,9.4,1459,14160,0.05,2.35,11.90,0.675,4,0.168,0.050,2809,3523,1618,0,0,0,0,0,0
$GC,14234,0.53,345.4,344.0,14.2,1473,14242,0.20,2.15,0.00,0.000,6,0.138,0.027,2756,2055,1616,0,0,0,0,0,0
$GC,14594,0.59,385.5,311.4,8.4,1534,14652,0.10,2.35,50.38,0.694,4,0.099,0.046,2830,3535,1453,0,0,0,0,0,0
$GC,14698,0.58,385.5,297.0,15.8,1549,14705,0.20,2.22,0.00,0.000,6,0.135,0.028,2770,2057,1451,0,0,0,0,0,0
$GC,15061,0.59,395.7,261.6,9.4,1610,15076,0.05,0.00,12.90,0.611,6,0.171,0.000,2828,2053,1413,0,0,0,0,0,0
$GC,15431,0.59,395.7,210.1,13.8,1672,15442,0.20,2.30,0.00,0.000,4,0.135,0.045,2765,3523,1410,0,0,0,0,0,0
$GC,15469,0.59,395.7,205.7,11.9,1677,15477,0.08,2.12,0.00,0.000,6,0.120,0.025,2830,2052,1410,0,0,0,0,0,0
$GC,15829,0.58,395.7,159.5,12.9,1738,15838,0.20,2.30,0.00,0.000,4,0.134,0.044,2767,3529,1410,0,0,0,0,0,0
$GC,15857,0.58,395.7,156.2,11.3,1742,15866,0.03,2.17,0.00,0.000,6,0.098,0.026,2821,2052,1410,0,0,0,0,0,0
$GC,16218,0.58,395.7,116.7,11.0,1803,16227,0.17,2.30,0.00,0.000,4,0.132,0.046,2764,3526,1410,0,0,0,0,0,0
$GC,16273,0.69,469.2,112.1,7.3,1811,16372,0.12,2.15,88.18,0.562,6,0.040,0.026,2853,2050,1112,0,0,0,0,0,0
$GC,16725,0.77,527.2,68.7,7.8,1883,16800,0.10,2.33,67.15,0.527,4,0.154,0.044,2820,3530,877,0,0,0,0,0,0
$GC,16819,0.91,628.2,62.8,6.3,1894,16933,0.15,2.22,107.00,0.514,6,0.038,0.025,2935,2040,499,0,0,0,0,0,0
$STATE,17161,end climb,SURFACE_DEPTH_REACHED
$STATE,17161,begin surface coast
$FINISH,0.9,1.022359
$STATE,17181,end surface coast,CONTROL_FINISHED_OK
$STATE,17181,begin surface
$SM_CCo,17257,0.00,0.000,0,0,495,621.34
$SM_GC,1.61,6.95,0.00,0.00,0.037,0.000,0.000,212,2450,495,-7.37,1.41,621.34
$IRIDIUM_FIX,2239.35,12624.15,031110,131312
$TT8_MAMPS,0.026215
$HUMID,51.29
$INTERNAL_PRESSURE,8.67495
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,59.819
$10V_AH,9.9,56.259
$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,24.025,149.725,971.950,0.000,0.000,23.523,39.544,200.458,0.000,0.000,14.665,4714.192,6463.108,920.650,5148.244,412.107,0.000,2731.589,0.000,4919.337,0.000,0.542,0.000
$DEVICE_MAMPS,253.215,78.030,995.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1319.257,0.000,2935.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,113340,1950
$CAP_FILE_SIZE,214524,0
$CFSIZE,260165632,228700160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,346.1,1
$GPS,031110,231007,2244.732,12618.926,27,1.4,27,-3.3