version: 66.08
glider: 176
mission: 2
dive: 421
start: 11 9 110 22 9 23
data:
$ID,176
$MISSION,2
$DIVE,421
$N_DIVES,426
$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,-5467.042
$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
$GPS1,091110,220155,2151.540,12612.699,46,1.1,46,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-62.6
$GPS2,091110,220855,2151.426,12612.756,10,1.4,15,-3.0
$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,209.7,58723,-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,15,-0.56,-194.6,0.0,0.0,0,74,0.00,0.00,-56.38,0.000,2,0.000,0.000,199,2439,2506,0,0,0,0,0,0
$GC,76,-0.56,-194.6,3.4,-3.8,7,119,9.07,2.25,-27.55,0.000,4,0.236,0.044,2404,941,3823,0,0,0,0,0,0
$GC,221,-0.56,-194.6,27.5,-14.5,29,230,0.00,2.25,0.00,0.000,6,0.000,0.040,2404,2415,3825,0,0,0,0,0,0
$GC,588,-0.55,-194.6,101.7,-16.9,90,597,0.05,2.10,0.00,0.000,4,0.243,0.054,2416,3770,3825,0,0,0,0,0,0
$GC,648,-0.56,-194.6,108.8,-10.0,99,657,0.00,2.05,0.00,0.000,6,0.000,0.025,2417,2332,3825,0,0,0,0,0,0
$GC,1015,-0.56,-194.6,149.8,-10.3,160,1025,0.00,2.00,0.00,0.000,4,0.000,0.031,2417,949,3825,0,0,0,0,0,0
$GC,1102,-0.56,-194.6,158.9,-10.2,174,1112,0.03,2.20,0.00,0.000,6,0.119,0.037,2380,2423,3825,0,0,0,0,0,0
$GC,1466,-0.56,-194.6,205.5,-12.6,235,1472,0.12,0.00,0.00,0.000,6,0.158,0.000,2418,2423,3825,0,0,0,0,0,0
$GC,1822,-0.57,-194.6,237.4,-8.1,296,1832,0.05,2.17,0.00,0.000,4,0.182,0.031,2371,947,3825,0,0,0,0,0,0
$GC,1893,-0.57,-194.6,244.8,-10.4,307,1900,0.15,2.20,0.00,0.000,6,0.143,0.038,2414,2431,3825,0,0,0,0,0,0
$GC,2253,-0.58,-194.6,272.9,-7.5,368,2263,0.08,2.17,0.00,0.000,4,0.126,0.031,2354,956,3824,0,0,0,0,0,0
$GC,2294,-0.58,-194.6,277.2,-10.7,374,2303,0.15,2.20,0.00,0.000,6,0.113,0.038,2408,2419,3824,0,0,0,0,0,0
$GC,2657,-0.59,-194.6,307.4,-7.8,435,2664,0.00,2.10,0.00,0.000,4,0.000,0.031,2408,949,3822,0,0,0,0,0,0
$GC,2689,-0.60,-194.6,310.3,-8.0,440,2699,0.03,2.20,0.00,0.000,6,0.102,0.037,2372,2423,3822,0,0,0,0,0,0
$GC,3050,-0.60,-194.6,346.3,-9.4,501,3057,0.12,2.12,0.00,0.000,4,0.144,0.031,2413,951,3822,0,0,0,0,0,0
$GC,3114,-0.61,-194.6,351.2,-7.3,511,3122,0.10,2.20,0.00,0.000,6,0.100,0.037,2347,2439,3822,0,0,0,0,0,0
$GC,3475,-0.61,-194.6,388.9,-10.3,572,3485,0.17,2.20,0.00,0.000,4,0.132,0.030,2404,953,3820,0,0,0,0,0,0
$GC,3536,-0.62,-194.6,393.5,-6.9,581,3544,0.08,2.20,0.00,0.000,6,0.127,0.037,2347,2435,3819,0,0,0,0,0,0
$GC,3897,-0.61,-194.6,432.4,-11.4,642,3906,0.17,2.20,0.00,0.000,4,0.131,0.031,2404,952,3818,0,0,0,0,0,0
$GC,3925,-0.62,-194.6,435.3,-9.9,646,3934,0.05,2.22,0.00,0.000,6,0.071,0.038,2347,2428,3818,0,0,0,0,0,0
$GC,4286,-0.62,-194.6,473.9,-9.6,707,4293,0.15,2.17,0.00,0.000,4,0.134,0.031,2397,945,3817,0,0,0,0,0,0
$GC,4315,-0.63,-194.6,476.2,-8.3,711,4322,0.05,2.22,0.00,0.000,6,0.166,0.039,2348,2435,3816,0,0,0,0,0,0
$GC,4666,-0.63,-194.6,508.4,-9.3,764,4670,0.15,2.17,0.00,0.000,4,0.132,0.031,2398,940,3814,0,0,0,0,0,0
$GC,4716,-0.64,-194.6,512.4,-6.8,768,4725,0.08,2.22,0.00,0.000,6,0.123,0.037,2342,2435,3814,0,0,0,0,0,0
$GC,5041,-0.64,-194.6,544.7,-10.2,799,5046,0.15,2.17,0.00,0.000,4,0.135,0.031,2391,942,3812,0,0,0,0,0,0
$GC,5076,-0.65,-194.6,547.4,-7.4,802,5081,0.05,2.20,0.00,0.000,6,0.173,0.038,2344,2426,3812,0,0,0,0,0,0
$GC,5406,-0.65,-194.6,579.5,-9.8,833,5411,0.15,2.17,0.00,0.000,4,0.131,0.031,2395,949,3809,0,0,0,0,0,0
$GC,5445,-0.67,-194.6,582.6,-7.3,836,5454,0.08,2.22,0.00,0.000,6,0.122,0.038,2335,2436,3809,0,0,0,0,0,0
$GC,5777,-0.67,-194.6,615.5,-10.2,861,5782,0.15,2.17,0.00,0.000,4,0.133,0.031,2385,947,3807,0,0,0,0,0,0
$GC,5822,-0.68,-194.6,619.6,-7.2,863,5826,0.08,2.22,0.00,0.000,6,0.122,0.039,2324,2428,3807,0,0,0,0,0,0
$GC,6143,-0.68,-194.6,656.2,-11.8,879,6147,0.17,2.20,0.00,0.000,4,0.130,0.032,2382,946,3804,0,0,0,0,0,0
$GC,6176,-0.69,-194.6,659.5,-8.5,880,6185,0.05,2.22,0.00,0.000,6,0.168,0.041,2330,2422,3804,0,0,0,0,0,0
$GC,6492,-0.68,-194.6,691.8,-10.3,896,6497,0.15,2.15,0.00,0.000,4,0.132,0.032,2379,955,3802,0,0,0,0,0,0
$GC,6533,-0.70,-194.6,695.1,-7.0,898,6537,0.08,2.22,0.00,0.000,6,0.124,0.040,2321,2431,3802,0,0,0,0,0,0
$GC,6860,-0.69,-194.6,729.8,-10.6,914,6865,0.17,2.20,0.00,0.000,4,0.129,0.032,2379,953,3799,0,0,0,0,0,0
$GC,6910,-0.71,-194.6,733.9,-6.2,916,6915,0.08,2.22,0.00,0.000,6,0.122,0.040,2318,2428,3799,0,0,0,0,0,0
$GC,7226,-0.70,-194.6,766.6,-10.7,931,7231,0.17,2.17,0.00,0.000,4,0.129,0.033,2377,953,3796,0,0,0,0,0,0
$GC,7293,-0.71,-194.6,771.7,-7.1,934,7297,0.08,2.22,0.00,0.000,6,0.124,0.040,2320,2425,3796,0,0,0,0,0,0
$GC,7614,-0.71,-194.6,804.4,-10.4,950,7619,0.15,2.17,0.00,0.000,4,0.134,0.033,2370,956,3794,0,0,0,0,0,0
$GC,7654,-0.72,-194.6,807.7,-7.5,952,7659,0.08,2.22,0.00,0.000,6,0.122,0.041,2307,2422,3794,0,0,0,0,0,0
$GC,7983,-0.72,-194.6,846.2,-12.1,968,7988,0.20,2.17,0.00,0.000,4,0.129,0.034,2374,952,3792,0,0,0,0,0,0
$GC,8026,-0.73,-194.6,850.5,-7.7,970,8031,0.10,2.22,0.00,0.000,6,0.096,0.041,2304,2422,3791,0,0,0,0,0,0
$STATE,8283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8283,begin apogee
$GC,8289,-0.11,0.0,881.4,12.4,983,8528,0.73,0.15,227.05,0.988,6,0.106,0.053,2558,2139,3026,0,0,0,0,0,0
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8532,0.56,194.6,895.3,0.0,994,8782,0.57,2.35,240.23,0.958,4,0.037,0.036,2830,665,2232,0,0,0,0,0,0
$GC,8874,0.54,194.6,872.1,16.9,1009,8879,0.28,2.25,0.00,0.000,6,0.168,0.035,2755,2119,2226,0,0,0,0,0,0
$GC,9203,0.52,194.6,831.2,12.2,1025,9207,0.00,2.15,0.00,0.000,4,0.000,0.049,2754,3526,2221,0,0,0,0,0,0
$GC,9259,0.50,194.6,823.4,13.9,1027,9263,0.08,2.17,0.00,0.000,6,0.218,0.027,2747,2048,2221,0,0,0,0,0,0
$GC,9580,0.49,194.6,786.3,11.3,1043,9585,0.00,2.28,0.00,0.000,4,0.000,0.047,2747,3535,2218,0,0,0,0,0,0
$GC,9636,0.48,194.6,779.0,13.7,1045,9643,0.08,2.17,0.00,0.000,6,0.208,0.028,2734,2054,2218,0,0,0,0,0,0
$GC,9953,0.47,194.6,746.7,10.1,1061,9957,0.00,2.08,0.00,0.000,4,0.000,0.039,2738,657,2217,0,0,0,0,0,0
$GC,9980,0.46,194.6,743.7,10.0,1062,9984,0.00,2.20,0.00,0.000,6,0.000,0.034,2738,2121,2216,0,0,0,0,0,0
$GC,10304,0.45,194.6,708.8,11.1,1078,10307,0.00,2.12,0.00,0.000,4,0.000,0.047,2738,3537,2215,0,0,0,0,0,0
$GC,10382,0.43,194.6,699.2,12.0,1081,10389,0.10,2.17,0.00,0.000,6,0.184,0.028,2722,2054,2215,0,0,0,0,0,0
$GC,10698,0.44,200.7,668.1,9.6,1097,10702,0.00,2.28,0.00,0.000,4,0.000,0.046,2721,3533,2214,0,0,0,0,0,0
$GC,10739,0.43,200.7,663.4,11.5,1099,10743,0.00,2.17,0.00,0.000,6,0.000,0.028,2729,2047,2215,0,0,0,0,0,0
$GC,11066,0.42,200.7,629.2,10.2,1115,11070,0.00,2.28,0.00,0.000,4,0.000,0.047,2729,3536,2214,0,0,0,0,0,0
$GC,11155,0.41,200.7,619.2,11.3,1119,11159,0.08,2.17,0.00,0.000,6,0.203,0.028,2717,2058,2214,0,0,0,0,0,0
$GC,11477,0.48,260.7,593.3,7.7,1138,11560,0.10,0.00,78.15,0.875,6,0.103,0.000,2782,2054,1963,0,0,0,0,0,0
$GC,11878,0.46,260.7,541.8,13.4,1176,11883,0.17,2.28,0.00,0.000,4,0.146,0.047,2730,3524,1955,0,0,0,0,0,0
$GC,11962,0.46,260.7,531.5,11.4,1183,11966,0.00,2.17,0.00,0.000,6,0.000,0.027,2735,2057,1954,0,0,0,0,0,0
$GC,12291,0.46,260.7,496.7,10.8,1215,12298,0.00,2.25,0.00,0.000,4,0.000,0.047,2735,3526,1952,0,0,0,0,0,0
$GC,12342,0.46,260.7,490.7,12.5,1223,12349,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2053,1952,0,0,0,0,0,0
$GC,12698,0.51,300.2,457.1,8.4,1284,12750,0.08,0.00,47.72,0.798,6,0.132,0.000,2796,2048,1803,0,0,0,0,0,0
$GC,13103,0.49,300.2,404.2,13.1,1351,13111,0.17,2.30,0.00,0.000,4,0.146,0.048,2743,3537,1795,0,0,0,0,0,0
$GC,13178,0.49,300.2,395.7,10.4,1363,13185,0.00,2.20,0.00,0.000,6,0.000,0.028,2748,2053,1795,0,0,0,0,0,0
$GC,13536,0.55,347.3,364.4,8.2,1424,13603,0.08,2.35,58.10,0.740,4,0.129,0.046,2813,3525,1609,0,0,0,0,0,0
$GC,13648,0.54,347.3,350.1,14.8,1440,13658,0.17,2.22,0.00,0.000,6,0.118,0.028,2756,2068,1606,0,0,0,0,0,0
$GC,14011,0.56,359.4,316.4,9.4,1501,14033,0.08,2.17,14.95,0.667,4,0.125,0.039,2830,661,1560,0,0,0,0,0,0
$GC,14078,0.55,359.4,308.0,12.7,1511,14086,0.22,2.20,0.00,0.000,6,0.129,0.034,2760,2136,1558,0,0,0,0,0,0
$GC,14440,0.60,391.7,274.8,8.7,1572,14493,0.10,2.20,40.53,0.668,4,0.099,0.047,2832,3523,1429,0,0,0,0,0,0
$GC,14548,0.59,391.7,259.4,14.3,1588,14558,0.17,2.20,0.00,0.000,6,0.116,0.027,2777,2065,1426,0,0,0,0,0,0
$GC,14911,0.63,418.1,227.2,8.9,1649,14954,0.08,2.33,32.72,0.630,4,0.123,0.046,2840,3523,1321,0,0,0,0,0,0
$GC,14981,0.62,418.1,217.3,16.0,1659,14989,0.20,2.17,0.00,0.000,6,0.136,0.027,2782,2061,1319,0,0,0,0,0,0
$GC,15343,0.71,482.8,186.1,7.6,1720,15429,0.12,0.00,78.53,0.606,6,0.083,0.000,2861,2056,1056,0,0,0,0,0,0
$GC,15786,0.70,482.8,123.0,14.8,1792,15795,0.17,0.00,0.00,0.000,6,0.137,0.000,2805,2056,1050,0,0,0,0,0,0
$GC,16149,0.83,575.2,95.7,6.6,1853,16264,0.17,2.38,107.30,0.544,4,0.070,0.044,2917,3529,681,0,0,0,0,0,0
$GC,16298,0.83,575.2,75.8,15.0,1872,16308,0.20,2.22,0.00,0.000,6,0.096,0.026,2844,2061,680,0,0,0,0,0,0
$GC,16668,0.93,630.7,45.3,7.9,1933,16726,0.15,2.15,51.62,0.503,4,0.088,0.037,2914,658,499,0,0,0,0,0,0
$GC,16767,1.09,730.6,39.5,6.4,1946,16777,0.08,2.22,0.00,0.000,6,0.081,0.031,2955,2133,498,0,0,0,0,0,0
$STATE,16989,end climb,SURFACE_DEPTH_REACHED
$STATE,16989,begin surface coast
$FINISH,1.0,1.022581
$STATE,17003,end surface coast,CONTROL_FINISHED_OK
$STATE,17003,begin surface
$SM_CCo,17079,0.00,0.000,0,0,496,620.85
$SM_GC,1.61,7.10,0.00,0.00,0.046,0.000,0.000,199,2481,496,-7.39,2.29,620.85
$IRIDIUM_FIX,2145.77,12614.11,091110,171708
$TT8_MAMPS,0.026215
$HUMID,51.96
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.5,66.498
$10V_AH,10.1,63.072
$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,24.500,159.600,976.900,0.000,0.000,29.845,23.630,200.343,0.000,0.000,17.979,4778.624,6058.076,948.719,5271.390,417.805,0.000,2776.183,0.000,5046.148,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,53.550,988.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1342.274,0.000,3063.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116889,1985
$CAP_FILE_SIZE,216173,0
$CFSIZE,260165632,225591296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,289.2,1
$GPS,101110,025507,2149.300,12611.364,37,1.1,37,-3.0