version: 66.08
glider: 176
mission: 2
dive: 309
start: 10 18 110 0 19 28
data:
$ID,176
$MISSION,2
$DIVE,309
$N_DIVES,313
$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,-5311.3027
$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
$GPS1,181010,001155,2358.818,12649.408,36,1.7,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.1
$GPS2,181010,001901,2358.778,12649.523,9,1.3,14,-3.6
$SPEED_LIMITS,0.154,0.282
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,238.5,137760,-13.2,-8.889
$D_GRID,5000
$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,-194.6,0.0,0.0,0,91,0.00,0.00,-73.18,0.000,2,0.000,0.000,199,2453,2673,0,0,0,0,0,0
$GC,94,-0.53,-194.6,3.5,-4.6,9,129,8.82,2.30,-20.85,0.000,4,0.236,0.052,2413,950,3825,0,0,0,0,0,0
$GC,284,-0.52,-194.6,48.4,-18.8,39,293,0.03,2.25,0.00,0.000,6,0.203,0.044,2423,2417,3827,0,0,0,0,0,0
$GC,650,-0.51,-194.6,115.9,-16.0,100,659,0.00,2.05,0.00,0.000,4,0.000,0.054,2421,3759,3827,0,0,0,0,0,0
$GC,722,-0.51,-194.6,125.1,-10.5,111,730,0.00,2.05,0.00,0.000,6,0.000,0.028,2421,2334,3828,0,0,0,0,0,0
$GC,1078,-0.51,-194.6,174.5,-14.3,172,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2332,3828,0,0,0,0,0,0
$GC,1438,-0.51,-194.6,218.5,-10.7,233,1445,0.00,1.98,0.00,0.000,4,0.000,0.034,2421,951,3828,0,0,0,0,0,0
$GC,1465,-0.51,-194.6,221.3,-10.2,237,1472,0.00,2.20,0.00,0.000,6,0.000,0.041,2421,2431,3828,0,0,0,0,0,0
$GC,1821,-0.51,-194.6,256.1,-10.5,298,1830,0.00,2.17,0.00,0.000,4,0.000,0.034,2421,948,3827,0,0,0,0,0,0
$GC,1872,-0.51,-194.6,260.9,-8.5,306,1882,0.00,2.22,0.00,0.000,6,0.000,0.040,2421,2429,3827,0,0,0,0,0,0
$GC,2235,-0.51,-194.6,291.2,-8.5,367,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2429,3826,0,0,0,0,0,0
$GC,2590,-0.52,-194.6,326.0,-9.9,428,2598,0.00,2.17,0.00,0.000,4,0.000,0.034,2421,949,3824,0,0,0,0,0,0
$GC,2648,-0.53,-194.6,330.9,-8.3,437,2655,0.00,2.20,0.00,0.000,6,0.000,0.040,2421,2432,3823,0,0,0,0,0,0
$GC,3004,-0.53,-194.6,357.1,-7.4,498,3013,0.00,2.17,0.00,0.000,4,0.000,0.034,2421,951,3821,0,0,0,0,0,0
$GC,3044,-0.54,-194.6,360.3,-8.0,504,3053,0.00,2.22,0.00,0.000,6,0.000,0.041,2421,2428,3821,0,0,0,0,0,0
$GC,3405,-0.55,-194.6,390.9,-8.4,565,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2428,3819,0,0,0,0,0,0
$GC,3762,-0.55,-194.6,419.3,-8.4,626,3772,0.05,2.20,0.00,0.000,4,0.181,0.034,2376,951,3817,0,0,0,0,0,0
$GC,3821,-0.56,-194.6,425.5,-11.2,635,3829,0.15,2.20,0.00,0.000,6,0.130,0.043,2425,2421,3817,0,0,0,0,0,0
$GC,4181,-0.56,-194.6,455.6,-7.8,696,4190,0.08,2.17,0.00,0.000,4,0.129,0.034,2363,955,3814,0,0,0,0,0,0
$GC,4209,-0.57,-194.6,458.4,-9.3,700,4218,0.12,2.22,0.00,0.000,6,0.111,0.043,2411,2420,3814,0,0,0,0,0,0
$GC,4570,-0.57,-194.6,488.9,-8.6,761,4577,0.00,2.15,0.00,0.000,4,0.000,0.034,2411,942,3812,0,0,0,0,0,0
$GC,4601,-0.58,-194.6,491.7,-8.4,766,4612,0.03,2.25,0.00,0.000,6,0.099,0.043,2369,2426,3812,0,0,0,0,0,0
$GC,4938,-0.57,-194.6,531.1,-10.8,803,4940,0.15,0.00,0.00,0.000,6,0.138,0.000,2416,2426,3811,0,0,0,0,0,0
$GC,5256,-0.58,-194.6,552.0,-6.3,833,5261,0.08,2.17,0.00,0.000,4,0.132,0.035,2361,949,3809,0,0,0,0,0,0
$GC,5299,-0.58,-194.6,556.3,-10.2,836,5307,0.12,2.22,0.00,0.000,6,0.103,0.044,2409,2413,3808,0,0,0,0,0,0
$GC,5626,-0.59,-194.6,581.0,-7.2,867,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2413,3806,0,0,0,0,0,0
$GC,5955,-0.60,-194.6,603.1,-6.7,896,5960,0.08,2.12,0.00,0.000,4,0.127,0.034,2349,955,3804,0,0,0,0,0,0
$GC,6021,-0.60,-194.6,609.8,-10.4,899,6025,0.12,2.22,0.00,0.000,6,0.105,0.043,2406,2419,3803,0,0,0,0,0,0
$GC,6351,-0.61,-194.6,634.1,-7.7,915,6355,0.08,2.15,0.00,0.000,4,0.129,0.033,2349,944,3801,0,0,0,0,0,0
$GC,6399,-0.61,-194.6,639.6,-11.5,917,6404,0.12,2.25,0.00,0.000,6,0.107,0.043,2398,2416,3801,0,0,0,0,0,0
$GC,6723,-0.61,-194.6,665.0,-7.7,933,6727,0.00,2.15,0.00,0.000,4,0.000,0.034,2398,948,3799,0,0,0,0,0,0
$GC,6756,-0.62,-194.6,667.9,-8.4,934,6764,0.00,2.20,0.00,0.000,6,0.000,0.042,2398,2421,3798,0,0,0,0,0,0
$GC,7072,-0.63,-194.6,689.7,-6.5,950,7077,0.05,2.17,0.00,0.000,4,0.168,0.034,2347,953,3797,0,0,0,0,0,0
$GC,7093,-0.63,-194.6,691.5,-8.6,951,7098,0.15,2.22,0.00,0.000,6,0.131,0.044,2396,2423,3796,0,0,0,0,0,0
$GC,7416,-0.63,-194.6,712.9,-6.9,967,7421,0.08,2.17,0.00,0.000,4,0.125,0.034,2337,955,3794,0,0,0,0,0,0
$GC,7448,-0.63,-194.6,716.5,-11.2,968,7456,0.17,2.22,0.00,0.000,6,0.130,0.044,2393,2426,3795,0,0,0,0,0,0
$GC,7765,-0.64,-194.6,741.3,-7.6,984,7769,0.00,2.15,0.00,0.000,4,0.000,0.036,2393,955,3793,0,0,0,0,0,0
$GC,7792,-0.65,-194.6,743.6,-8.2,985,7796,0.05,2.22,0.00,0.000,6,0.171,0.043,2352,2424,3793,0,0,0,0,0,0
$GC,8113,-0.64,-194.6,779.4,-11.3,1001,8118,0.15,2.17,0.00,0.000,4,0.131,0.035,2397,945,3790,0,0,0,0,0,0
$GC,8140,-0.64,-194.6,781.9,-8.8,1002,8145,0.08,2.22,0.00,0.000,6,0.121,0.044,2341,2426,3790,0,0,0,0,0,0
$STATE,8315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8315,begin apogee
$GC,8320,-0.11,0.0,802.2,12.2,1011,8546,0.62,0.15,218.68,0.964,6,0.107,0.052,2560,2145,3026,0,0,0,0,0,0
$STATE,8548,end apogee,CONTROL_FINISHED_OK
$STATE,8548,begin climb
$GC,8550,0.53,194.6,815.8,0.0,1021,8793,0.52,2.42,232.65,0.935,4,0.039,0.039,2818,667,2232,0,0,0,0,0,0
$GC,8894,0.50,194.6,792.7,16.0,1037,8898,0.25,2.25,0.00,0.000,6,0.174,0.037,2751,2119,2226,0,0,0,0,0,0
$GC,9216,0.49,194.6,751.3,13.2,1053,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2119,2222,0,0,0,0,0,0
$GC,9525,0.47,194.6,710.8,12.6,1068,9530,0.08,2.12,0.00,0.000,4,0.222,0.051,2732,3524,2220,0,0,0,0,0,0
$GC,9591,0.45,194.6,701.8,13.5,1071,9595,0.00,2.17,0.00,0.000,6,0.000,0.029,2739,2056,2220,0,0,0,0,0,0
$GC,9919,0.44,194.6,666.5,9.9,1087,9923,0.08,2.28,0.00,0.000,4,0.214,0.049,2722,3536,2218,0,0,0,0,0,0
$GC,9958,0.43,194.6,662.5,10.4,1089,9962,0.00,2.17,0.00,0.000,6,0.000,0.029,2727,2050,2218,0,0,0,0,0,0
$GC,10285,0.41,194.6,632.3,9.2,1105,10288,0.00,2.05,0.00,0.000,4,0.000,0.041,2735,657,2217,0,0,0,0,0,0
$GC,10323,0.40,194.6,628.6,9.1,1106,10331,0.10,2.22,0.00,0.000,6,0.175,0.036,2708,2144,2215,0,0,0,0,0,0
$GC,10640,0.42,210.0,602.3,8.4,1122,10663,0.08,2.10,16.05,0.858,4,0.129,0.048,2759,3527,2169,0,0,0,0,0,0
$GC,10674,0.40,210.0,598.4,11.8,1123,10679,0.20,2.17,0.00,0.000,6,0.160,0.028,2711,2047,2168,0,0,0,0,0,0
$GC,11006,0.46,262.4,571.5,7.3,1154,11075,0.10,2.20,63.03,0.873,4,0.103,0.041,2777,656,1956,0,0,0,0,0,0
$GC,11098,0.44,262.4,561.9,11.1,1162,11103,0.17,2.28,0.00,0.000,6,0.152,0.036,2727,2129,1953,0,0,0,0,0,0
$GC,11424,0.44,265.7,533.8,8.8,1192,11428,0.00,2.12,0.00,0.000,4,0.000,0.050,2727,3525,1949,0,0,0,0,0,0
$GC,11544,0.43,265.7,521.1,10.7,1202,11548,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2057,1947,0,0,0,0,0,0
$GC,11879,0.43,265.7,485.5,10.6,1244,11888,0.05,2.33,0.00,0.000,4,0.243,0.050,2723,3528,1946,0,0,0,0,0,0
$GC,11925,0.42,265.7,480.8,11.1,1251,11933,0.00,2.15,0.00,0.000,6,0.000,0.030,2722,2062,1945,0,0,0,0,0,0
$GC,12277,0.43,275.3,450.3,8.6,1312,12298,0.00,0.00,14.50,0.765,6,0.000,0.000,2723,2060,1903,0,0,0,0,0,0
$GC,12639,0.45,285.0,420.0,8.6,1375,12662,0.05,2.12,12.95,0.734,4,0.180,0.041,2773,660,1864,0,0,0,0,0,0
$GC,12681,0.44,285.0,415.5,10.9,1381,12689,0.17,2.20,0.00,0.000,6,0.138,0.034,2719,2124,1863,0,0,0,0,0,0
$GC,13031,0.50,335.1,388.8,7.3,1442,13103,0.12,2.25,61.60,0.759,4,0.088,0.050,2799,3526,1661,0,0,0,0,0,0
$GC,13150,0.49,335.1,372.0,16.2,1460,13160,0.17,2.22,0.00,0.000,6,0.127,0.029,2743,2067,1658,0,0,0,0,0,0
$GC,13500,0.49,335.1,337.0,9.0,1521,13507,0.00,2.25,0.00,0.000,4,0.000,0.048,2742,3525,1655,0,0,0,0,0,0
$GC,13538,0.49,335.1,333.4,9.7,1527,13546,0.00,2.15,0.00,0.000,6,0.000,0.028,2749,2061,1654,0,0,0,0,0,0
$GC,13888,0.54,382.1,306.0,7.4,1588,13954,0.08,2.17,55.40,0.702,4,0.130,0.042,2817,663,1468,0,0,0,0,0,0
$GC,14004,0.54,382.1,292.0,13.1,1605,14011,0.20,2.22,0.00,0.000,6,0.132,0.036,2756,2119,1465,0,0,0,0,0,0
$GC,14352,0.54,382.1,259.2,9.1,1666,14361,0.00,2.17,0.00,0.000,4,0.000,0.049,2755,3525,1461,0,0,0,0,0,0
$GC,14397,0.55,382.1,255.0,9.2,1673,14405,0.05,2.15,0.00,0.000,6,0.169,0.027,2815,2046,1461,0,0,0,0,0,0
$GC,14744,0.54,382.1,205.9,13.8,1734,14753,0.20,2.08,0.00,0.000,4,0.146,0.038,2762,660,1461,0,0,0,0,0,0
$GC,14802,0.57,398.3,200.4,8.4,1743,14833,0.05,2.17,18.98,0.613,6,0.168,0.034,2820,2131,1402,0,0,0,0,0,0
$GC,15177,0.56,398.3,148.1,12.8,1807,15187,0.20,2.15,0.00,0.000,4,0.137,0.047,2757,3528,1399,0,0,0,0,0,0
$GC,15238,0.62,439.5,142.5,7.6,1816,15296,0.08,2.17,49.25,0.597,6,0.050,0.028,2834,2047,1234,0,0,0,0,0,0
$GC,15648,0.62,439.5,94.2,11.2,1883,15658,0.17,2.10,0.00,0.000,4,0.132,0.042,2778,663,1230,0,0,0,0,0,0
$GC,15687,0.68,482.7,91.4,7.6,1888,15744,0.08,2.20,50.38,0.562,6,0.062,0.032,2833,2133,1058,0,0,0,0,0,0
$GC,16097,0.74,526.1,54.4,7.5,1955,16156,0.00,2.28,49.78,0.535,4,0.000,0.039,2833,663,882,0,0,0,0,0,0
$GC,16177,0.83,579.8,48.2,7.2,1965,16244,0.05,2.22,61.90,0.524,6,0.069,0.032,2903,2131,663,0,0,0,0,0,0
$GC,16595,0.84,579.8,8.8,9.3,2033,16604,0.15,2.25,0.00,0.000,4,0.120,0.041,2848,659,659,0,0,0,0,0,0
$GC,16655,0.86,582.0,3.2,8.8,2042,16664,0.05,2.17,0.00,0.000,6,0.074,0.031,2899,2131,658,0,0,0,0,0,0
$STATE,16671,end climb,SURFACE_DEPTH_REACHED
$STATE,16671,begin surface coast
$FINISH,0.7,1.008043
$STATE,16708,end surface coast,CONTROL_FINISHED_OK
$STATE,16708,begin surface
$SM_CCo,16783,0.00,0.000,0,0,657,581.36
$SM_GC,1.44,6.88,0.00,0.00,0.044,0.000,0.000,214,2449,657,-7.38,1.39,581.36
$IRIDIUM_FIX,2354.48,12651.25,171010,191944
$TT8_MAMPS,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.9,41.797
$10V_AH,10.4,36.678
$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,21.750,154.300,905.125,0.000,0.000,30.850,41.154,197.128,0.000,0.000,16.556,4921.813,5592.787,905.991,5407.087,353.948,0.000,2752.320,0.000,5159.571,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,54.315,963.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1385.023,0.000,3191.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,120129,2050
$CAP_FILE_SIZE,214940,0
$CFSIZE,260165632,237441024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 93.3,1
$GPS,181010,050006,2357.103,12648.817,27,0.9,27,-3.6