version: 66.08
glider: 176
mission: 2
dive: 395
start: 11 4 110 9 12 29
data:
$ID,176
$MISSION,2
$DIVE,395
$N_DIVES,407
$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,-5434.3286
$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
$GPS1,041110,090424,2239.575,12617.523,40,1.3,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,041110,091201,2239.522,12617.472,15,1.3,20,-3.2
$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,175.6,147015,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.56,-194.6,0.0,0.0,0,74,0.00,0.00,-56.62,0.000,2,0.000,0.000,203,2446,2459,0,0,0,0,0,0
$GC,76,-0.56,-194.6,3.2,-3.8,7,128,9.05,2.25,-28.67,0.000,4,0.237,0.044,2404,952,3825,0,0,0,0,0,0
$GC,229,-0.56,-194.6,32.6,-20.3,30,238,0.00,2.22,0.00,0.000,6,0.000,0.037,2404,2422,3825,0,0,0,0,0,0
$GC,596,-0.55,-194.6,101.2,-15.6,91,605,0.08,2.08,0.00,0.000,4,0.202,0.054,2424,3756,3825,0,0,0,0,0,0
$GC,670,-0.56,-194.6,109.4,-8.5,102,679,0.05,2.03,0.00,0.000,6,0.068,0.025,2369,2331,3825,0,0,0,0,0,0
$GC,1037,-0.55,-194.6,171.0,-16.9,163,1044,0.17,2.00,0.00,0.000,4,0.152,0.031,2422,946,3825,0,0,0,0,0,0
$GC,1077,-0.55,-194.6,176.2,-11.7,169,1085,0.05,2.20,0.00,0.000,6,0.170,0.037,2379,2430,3825,0,0,0,0,0,0
$GC,1438,-0.55,-194.6,224.5,-12.2,230,1447,0.12,2.05,0.00,0.000,4,0.153,0.053,2417,3761,3825,0,0,0,0,0,0
$GC,1487,-0.57,-194.6,228.7,-7.4,237,1494,0.05,2.00,0.00,0.000,6,0.176,0.024,2367,2332,3825,0,0,0,0,0,0
$GC,1845,-0.56,-194.6,270.5,-11.8,298,1855,0.15,2.03,0.00,0.000,4,0.146,0.032,2414,948,3825,0,0,0,0,0,0
$GC,1882,-0.57,-194.6,273.7,-9.2,303,1889,0.00,2.17,0.00,0.000,6,0.000,0.037,2415,2427,3825,0,0,0,0,0,0
$GC,2240,-0.58,-194.6,300.3,-7.2,364,2249,0.08,2.17,0.00,0.000,4,0.128,0.031,2354,957,3824,0,0,0,0,0,0
$GC,2268,-0.58,-194.6,303.0,-8.8,368,2279,0.15,2.20,0.00,0.000,6,0.110,0.039,2409,2418,3824,0,0,0,0,0,0
$GC,2633,-0.59,-194.6,330.5,-8.0,429,2640,0.05,2.15,0.00,0.000,4,0.174,0.031,2362,949,3822,0,0,0,0,0,0
$GC,2662,-0.60,-194.6,333.4,-9.0,433,2670,0.15,2.17,0.00,0.000,6,0.132,0.039,2409,2425,3822,0,0,0,0,0,0
$GC,3022,-0.61,-194.6,365.1,-8.5,494,3031,0.08,2.17,0.00,0.000,4,0.127,0.031,2353,953,3821,0,0,0,0,0,0
$GC,3050,-0.61,-194.6,368.2,-10.2,498,3060,0.12,2.22,0.00,0.000,6,0.109,0.040,2400,2423,3821,0,0,0,0,0,0
$GC,3413,-0.62,-194.6,394.8,-6.5,559,3421,0.05,2.15,0.00,0.000,4,0.174,0.031,2348,939,3819,0,0,0,0,0,0
$GC,3457,-0.62,-194.6,399.0,-9.7,566,3467,0.12,2.25,0.00,0.000,6,0.106,0.041,2394,2421,3819,0,0,0,0,0,0
$GC,3820,-0.63,-194.6,425.8,-8.2,627,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2422,3817,0,0,0,0,0,0
$GC,4176,-0.64,-194.6,453.2,-7.0,688,4186,0.05,2.20,0.00,0.000,4,0.173,0.031,2348,946,3816,0,0,0,0,0,0
$GC,4248,-0.64,-194.6,460.1,-10.0,699,4256,0.15,2.22,0.00,0.000,6,0.132,0.041,2396,2429,3815,0,0,0,0,0,0
$GC,4611,-0.65,-194.6,485.5,-7.1,760,4621,0.08,2.20,0.00,0.000,4,0.126,0.032,2342,953,3813,0,0,0,0,0,0
$GC,4651,-0.65,-194.6,489.6,-10.1,766,4661,0.12,2.22,0.00,0.000,6,0.109,0.041,2388,2414,3812,0,0,0,0,0,0
$GC,4992,-0.66,-194.6,516.4,-7.9,807,4996,0.05,2.15,0.00,0.000,4,0.176,0.031,2337,953,3811,0,0,0,0,0,0
$GC,5028,-0.66,-194.6,520.4,-10.7,810,5036,0.12,2.25,0.00,0.000,6,0.106,0.041,2385,2425,3811,0,0,0,0,0,0
$GC,5355,-0.66,-194.6,546.2,-7.8,841,5360,0.05,2.15,0.00,0.000,4,0.171,0.032,2334,953,3808,0,0,0,0,0,0
$GC,5387,-0.66,-194.6,549.9,-11.7,843,5395,0.12,2.25,0.00,0.000,6,0.104,0.042,2383,2421,3808,0,0,0,0,0,0
$GC,5713,-0.67,-194.6,575.4,-7.7,874,5718,0.05,2.17,0.00,0.000,4,0.171,0.031,2335,950,3807,0,0,0,0,0,0
$GC,5741,-0.67,-194.6,578.2,-10.6,876,5746,0.15,2.22,0.00,0.000,6,0.133,0.041,2383,2422,3807,0,0,0,0,0,0
$GC,6077,-0.68,-194.6,603.5,-7.1,905,6081,0.08,2.15,0.00,0.000,4,0.125,0.031,2327,949,3805,0,0,0,0,0,0
$GC,6108,-0.68,-194.6,607.0,-11.0,906,6113,0.12,2.25,0.00,0.000,6,0.109,0.041,2374,2415,3804,0,0,0,0,0,0
$GC,6432,-0.69,-194.6,631.0,-6.9,922,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2415,3802,0,0,0,0,0,0
$GC,6740,-0.69,-194.6,653.2,-7.3,937,6744,0.00,2.15,0.00,0.000,4,0.000,0.032,2374,949,3800,0,0,0,0,0,0
$GC,6785,-0.70,-194.6,657.0,-8.1,939,6789,0.05,2.20,0.00,0.000,6,0.169,0.041,2325,2421,3800,0,0,0,0,0,0
$GC,7106,-0.70,-194.6,695.4,-12.4,955,7108,0.15,0.00,0.00,0.000,6,0.138,0.000,2374,2422,3798,0,0,0,0,0,0
$GC,7415,-0.71,-194.6,722.9,-8.7,970,7420,0.08,2.17,0.00,0.000,4,0.125,0.033,2317,945,3797,0,0,0,0,0,0
$GC,7484,-0.71,-194.6,730.9,-12.7,973,7489,0.17,2.25,0.00,0.000,6,0.129,0.043,2373,2422,3796,0,0,0,0,0,0
$GC,7813,-0.71,-194.6,759.8,-8.7,989,7817,0.08,2.17,0.00,0.000,4,0.125,0.033,2315,948,3794,0,0,0,0,0,0
$GC,7867,-0.71,-194.6,766.4,-12.9,991,7875,0.20,2.22,0.00,0.000,6,0.126,0.043,2374,2424,3794,0,0,0,0,0,0
$GC,8184,-0.72,-194.6,792.8,-8.1,1007,8189,0.08,2.17,0.00,0.000,4,0.124,0.033,2317,950,3792,0,0,0,0,0,0
$GC,8226,-0.72,-194.6,797.6,-11.4,1009,8231,0.12,2.25,0.00,0.000,6,0.103,0.044,2365,2412,3791,0,0,0,0,0,0
$GC,8557,-0.73,-194.6,824.2,-7.7,1025,8562,0.05,2.17,0.00,0.000,4,0.176,0.033,2319,947,3790,0,0,0,0,0,0
$GC,8594,-0.73,-194.6,828.4,-11.2,1026,8602,0.12,2.28,0.00,0.000,6,0.104,0.043,2368,2421,3790,0,0,0,0,0,0
$GC,8912,-0.73,-194.6,851.1,-7.1,1042,8917,0.08,2.17,0.00,0.000,4,0.125,0.033,2312,954,3788,0,0,0,0,0,0
$GC,8995,-0.73,-194.6,859.9,-10.7,1045,9002,0.12,2.25,0.00,0.000,6,0.111,0.043,2358,2413,3787,0,0,0,0,0,0
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9273,-0.11,0.0,881.1,7.6,1059,9509,0.55,0.15,224.90,0.998,6,0.093,0.047,2560,2144,3026,0,0,0,0,0,0
$STATE,9510,end apogee,CONTROL_FINISHED_OK
$STATE,9510,begin climb
$GC,9512,0.56,194.6,892.4,0.0,1070,9767,0.57,2.33,240.68,0.963,4,0.037,0.047,2818,3522,2232,0,0,0,0,0,0
$GC,9836,0.53,194.6,868.5,20.7,1085,9841,0.28,2.25,0.00,0.000,6,0.184,0.027,2758,2059,2227,0,0,0,0,0,0
$GC,10165,0.52,194.6,825.3,12.6,1101,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2055,2222,0,0,0,0,0,0
$GC,10472,0.50,194.6,787.8,11.7,1116,10476,0.00,2.28,0.00,0.000,4,0.000,0.048,2758,3530,2220,0,0,0,0,0,0
$GC,10500,0.48,194.6,784.2,12.4,1117,10504,0.12,2.15,0.00,0.000,6,0.184,0.028,2734,2058,2220,0,0,0,0,0,0
$GC,10829,0.48,197.5,752.0,9.7,1133,10833,0.03,2.28,0.00,0.000,4,0.253,0.048,2777,3525,2219,0,0,0,0,0,0
$GC,10878,0.45,197.5,745.0,15.7,1135,10883,0.20,2.15,0.00,0.000,6,0.171,0.027,2733,2057,2220,0,0,0,0,0,0
$GC,11201,0.45,197.5,712.7,9.8,1151,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2054,2217,0,0,0,0,0,0
$GC,11508,0.44,197.5,681.6,10.0,1166,11513,0.00,2.25,0.00,0.000,4,0.000,0.048,2732,3529,2217,0,0,0,0,0,0
$GC,11542,0.43,197.5,677.7,11.2,1167,11549,0.08,2.15,0.00,0.000,6,0.201,0.028,2717,2052,2217,0,0,0,0,0,0
$GC,11858,0.47,235.3,649.9,8.5,1183,11911,0.10,2.10,47.45,0.907,4,0.102,0.036,2790,660,2067,0,0,0,0,0,0
$GC,11964,0.45,235.3,636.5,13.2,1188,11969,0.22,2.22,0.00,0.000,6,0.151,0.034,2725,2131,2063,0,0,0,0,0,0
$GC,12293,0.48,260.7,605.2,8.9,1204,12329,0.10,2.22,30.83,0.867,4,0.099,0.049,2792,3541,1964,0,0,0,0,0,0
$GC,12377,0.46,260.7,593.4,15.7,1209,12384,0.25,2.22,0.00,0.000,6,0.150,0.027,2728,2060,1962,0,0,0,0,0,0
$GC,12703,0.50,291.7,563.0,8.7,1240,12746,0.10,0.00,39.40,0.851,6,0.104,0.000,2792,2054,1837,0,0,0,0,0,0
$GC,13061,0.49,291.7,515.5,13.4,1274,13065,0.17,2.30,0.00,0.000,4,0.151,0.049,2741,3525,1830,0,0,0,0,0,0
$GC,13149,0.49,291.7,505.8,9.8,1281,13156,0.00,2.17,0.00,0.000,6,0.000,0.027,2748,2055,1829,0,0,0,0,0,0
$GC,13499,0.52,318.4,473.2,8.9,1336,13536,0.00,0.00,32.70,0.800,6,0.000,0.000,2748,2052,1728,0,0,0,0,0,0
$GC,13888,0.53,327.0,436.5,9.5,1401,13903,0.05,0.00,11.32,0.721,6,0.179,0.000,2804,2050,1693,0,0,0,0,0,0
$GC,14255,0.52,327.0,387.7,13.8,1463,14264,0.17,2.33,0.00,0.000,4,0.145,0.048,2751,3537,1689,0,0,0,0,0,0
$GC,14296,0.52,327.0,382.5,11.5,1469,14303,0.00,2.17,0.00,0.000,6,0.000,0.028,2751,2052,1689,0,0,0,0,0,0
$GC,14655,0.55,352.3,349.6,8.9,1530,14692,0.08,0.00,32.03,0.722,6,0.129,0.000,2817,2048,1590,0,0,0,0,0,0
$GC,15044,0.54,352.3,295.9,14.0,1595,15052,0.20,2.28,0.00,0.000,4,0.142,0.045,2756,3527,1584,0,0,0,0,0,0
$GC,15109,0.57,370.6,288.9,9.2,1605,15139,0.05,2.17,23.00,0.669,6,0.164,0.027,2819,2048,1515,0,0,0,0,0,0
$GC,15491,0.56,370.6,236.5,14.0,1669,15498,0.17,2.10,0.00,0.000,4,0.146,0.040,2775,659,1511,0,0,0,0,0,0
$GC,15547,0.61,404.9,230.3,8.6,1678,15599,0.03,2.20,42.22,0.643,6,0.100,0.033,2822,2117,1377,0,0,0,0,0,0
$GC,15953,0.61,404.9,179.4,11.2,1745,15960,0.15,0.00,0.00,0.000,6,0.140,0.000,2775,2117,1372,0,0,0,0,0,0
$GC,16312,0.72,488.0,152.5,7.0,1806,16422,0.15,2.25,99.45,0.586,4,0.075,0.045,2862,3530,1036,0,0,0,0,0,0
$GC,16443,0.72,488.0,133.8,17.0,1823,16453,0.15,2.22,0.00,0.000,6,0.102,0.027,2814,2069,1034,0,0,0,0,0,0
$GC,16813,0.79,541.3,102.7,8.0,1884,16888,0.12,2.17,62.20,0.547,4,0.086,0.041,2905,668,820,0,0,0,0,0,0
$GC,16929,0.79,541.3,87.1,12.8,1899,16939,0.17,2.22,0.00,0.000,6,0.100,0.032,2840,2124,818,0,0,0,0,0,0
$GC,17300,1.01,709.8,62.7,4.1,1960,17399,0.22,0.00,90.62,0.516,6,0.057,0.000,2954,2126,498,0,0,0,0,0,0
$STATE,17602,end climb,SURFACE_DEPTH_REACHED
$STATE,17603,begin surface coast
$FINISH,0.9,1.010148
$STATE,17625,end surface coast,CONTROL_FINISHED_OK
$STATE,17625,begin surface
$SM_CCo,17700,0.00,0.000,0,0,494,621.34
$SM_GC,1.75,6.97,0.00,0.00,0.034,0.000,0.000,204,2456,494,-7.39,1.58,621.34
$IRIDIUM_FIX,2234.68,12620.88,041110,040450
$TT8_MAMPS,0.026215
$HUMID,51.26
$INTERNAL_PRESSURE,8.65542
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,60.507
$10V_AH,10.0,56.939
$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,24.450,145.725,976.800,0.000,0.000,30.732,37.669,217.625,0.000,0.000,24.586,4847.193,6650.189,944.801,5280.004,410.296,0.000,2780.407,0.000,5009.884,0.000,0.541,0.000
$DEVICE_MAMPS,253.215,54.315,997.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.642,0.000,2964.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116915,2010
$CAP_FILE_SIZE,216701,0
$CFSIZE,260165632,228380672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,300.2,1
$GPS,041110,140837,2237.671,12616.990,38,0.9,38,-3.2