version: 66.08
glider: 176
mission: 2
dive: 321
start: 10 20 110 9 54 29
data:
$ID,176
$MISSION,2
$DIVE,321
$N_DIVES,332
$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,-5326.3984
$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
$GPS1,201010,094654,2342.360,12638.776,22,1.1,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.4
$GPS2,201010,095402,2342.474,12638.835,15,1.9,15,-3.5
$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,224.4,102814,-13.2,-8.889
$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,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,74,0.00,0.00,-56.15,0.000,2,0.000,0.000,202,2441,2712,0,0,0,0,0,0
$GC,77,-0.53,-194.6,3.9,-5.5,7,112,8.88,2.25,-19.33,0.000,4,0.237,0.044,2414,941,3823,0,0,0,0,0,0
$GC,190,-0.52,-194.6,35.1,-20.0,24,199,0.00,2.28,0.00,0.000,6,0.000,0.044,2414,2415,3824,0,0,0,0,0,0
$GC,557,-0.51,-194.6,116.5,-18.4,85,567,0.08,2.10,0.00,0.000,4,0.211,0.055,2433,3772,3824,0,0,0,0,0,0
$GC,595,-0.50,-194.6,122.0,-15.3,90,603,0.00,2.05,0.00,0.000,6,0.000,0.028,2433,2343,3825,0,0,0,0,0,0
$GC,957,-0.50,-194.6,163.3,-12.0,151,964,0.00,2.00,0.00,0.000,4,0.000,0.034,2433,946,3824,0,0,0,0,0,0
$GC,983,-0.50,-194.6,166.5,-11.7,155,990,0.00,2.20,0.00,0.000,6,0.000,0.040,2432,2424,3825,0,0,0,0,0,0
$GC,1328,-0.50,-194.6,201.0,-9.3,216,1337,0.00,2.15,0.00,0.000,4,0.000,0.032,2433,954,3825,0,0,0,0,0,0
$GC,1363,-0.51,-194.6,203.9,-9.2,221,1371,0.00,2.20,0.00,0.000,6,0.000,0.039,2433,2434,3825,0,0,0,0,0,0
$GC,1710,-0.51,-194.6,234.6,-8.3,282,1719,0.00,2.17,0.00,0.000,4,0.000,0.032,2432,948,3824,0,0,0,0,0,0
$GC,1746,-0.52,-194.6,237.5,-8.7,287,1753,0.05,2.20,0.00,0.000,6,0.180,0.039,2388,2430,3824,0,0,0,0,0,0
$GC,2094,-0.51,-194.6,281.8,-12.9,348,2103,0.15,2.05,0.00,0.000,4,0.146,0.054,2431,3764,3823,0,0,0,0,0,0
$GC,2129,-0.51,-194.6,285.3,-10.0,353,2137,0.00,2.03,0.00,0.000,6,0.000,0.026,2431,2324,3823,0,0,0,0,0,0
$GC,2476,-0.52,-194.6,308.7,-6.7,414,2485,0.05,2.03,0.00,0.000,4,0.183,0.034,2386,948,3821,0,0,0,0,0,0
$GC,2500,-0.53,-194.6,310.8,-8.0,417,2508,0.15,2.20,0.00,0.000,6,0.134,0.041,2434,2424,3821,0,0,0,0,0,0
$GC,2849,-0.54,-194.6,333.7,-5.9,478,2858,0.08,2.17,0.00,0.000,4,0.129,0.034,2379,956,3820,0,0,0,0,0,0
$GC,2895,-0.54,-194.6,337.6,-9.2,485,2904,0.15,2.20,0.00,0.000,6,0.135,0.041,2428,2432,3819,0,0,0,0,0,0
$GC,3248,-0.55,-194.6,361.1,-7.2,546,3256,0.08,0.00,0.00,0.000,6,0.127,0.000,2361,2433,3817,0,0,0,0,0,0
$GC,3602,-0.54,-194.6,407.1,-14.0,607,3609,0.20,2.15,0.00,0.000,4,0.128,0.031,2427,948,3816,0,0,0,0,0,0
$GC,3678,-0.55,-194.6,413.7,-7.3,620,3687,0.05,2.22,0.00,0.000,6,0.069,0.040,2365,2424,3815,0,0,0,0,0,0
$GC,4029,-0.55,-194.6,456.1,-12.3,681,4036,0.17,0.00,0.00,0.000,6,0.134,0.000,2422,2424,3814,0,0,0,0,0,0
$GC,4375,-0.55,-194.6,480.8,-6.5,742,4384,0.05,2.20,0.00,0.000,4,0.171,0.034,2374,952,3812,0,0,0,0,0,0
$GC,4421,-0.56,-194.6,484.6,-9.1,749,4430,0.15,2.22,0.00,0.000,6,0.128,0.042,2424,2433,3811,0,0,0,0,0,0
$GC,4764,-0.57,-194.6,504.9,-5.7,802,4769,0.08,2.17,0.00,0.000,4,0.127,0.033,2364,952,3809,0,0,0,0,0,0
$GC,4791,-0.57,-194.6,507.1,-8.8,804,4798,0.15,2.22,0.00,0.000,6,0.128,0.042,2412,2432,3809,0,0,0,0,0,0
$GC,5117,-0.58,-194.6,528.1,-6.5,835,5121,0.05,2.17,0.00,0.000,4,0.173,0.033,2361,942,3807,0,0,0,0,0,0
$GC,5156,-0.58,-194.6,531.6,-10.2,838,5161,0.15,2.22,0.00,0.000,6,0.128,0.042,2409,2421,3807,0,0,0,0,0,0
$GC,5482,-0.59,-194.6,553.7,-6.8,868,5486,0.05,2.15,0.00,0.000,4,0.172,0.033,2361,949,3805,0,0,0,0,0,0
$GC,5521,-0.59,-194.6,557.3,-9.7,871,5526,0.15,2.22,0.00,0.000,6,0.128,0.043,2409,2423,3805,0,0,0,0,0,0
$GC,5848,-0.60,-194.6,580.6,-7.2,901,5852,0.08,2.17,0.00,0.000,4,0.128,0.034,2349,950,3803,0,0,0,0,0,0
$GC,5881,-0.60,-194.6,584.0,-10.8,903,5888,0.17,2.22,0.00,0.000,6,0.124,0.043,2406,2421,3803,0,0,0,0,0,0
$GC,6214,-0.61,-194.6,606.8,-6.4,930,6219,0.08,2.15,0.00,0.000,4,0.128,0.033,2348,947,3801,0,0,0,0,0,0
$GC,6254,-0.61,-194.6,610.5,-10.5,932,6259,0.17,2.25,0.00,0.000,6,0.122,0.044,2405,2430,3800,0,0,0,0,0,0
$GC,6582,-0.61,-194.6,629.9,-5.9,948,6586,0.08,2.17,0.00,0.000,4,0.129,0.033,2347,943,3798,0,0,0,0,0,0
$GC,6630,-0.61,-194.6,634.6,-9.9,950,6635,0.12,2.28,0.00,0.000,6,0.099,0.044,2396,2426,3798,0,0,0,0,0,0
$GC,6954,-0.62,-194.6,656.9,-7.0,966,6958,0.00,2.15,0.00,0.000,4,0.000,0.034,2396,946,3796,0,0,0,0,0,0
$GC,6987,-0.63,-194.6,659.6,-7.6,967,6995,0.05,2.25,0.00,0.000,6,0.166,0.043,2347,2431,3795,0,0,0,0,0,0
$GC,7304,-0.63,-194.6,693.3,-11.1,983,7308,0.15,2.17,0.00,0.000,4,0.130,0.033,2397,948,3794,0,0,0,0,0,0
$GC,7347,-0.64,-194.6,697.2,-7.4,985,7352,0.08,2.25,0.00,0.000,6,0.122,0.043,2335,2431,3794,0,0,0,0,0,0
$GC,7669,-0.63,-194.6,735.5,-12.6,1001,7674,0.17,2.17,0.00,0.000,4,0.129,0.034,2393,950,3792,0,0,0,0,0,0
$GC,7701,-0.64,-194.6,739.0,-8.6,1002,7708,0.00,2.25,0.00,0.000,6,0.000,0.044,2390,2430,3792,0,0,0,0,0,0
$GC,8019,-0.65,-194.6,759.7,-6.3,1018,8023,0.00,2.15,0.00,0.000,4,0.000,0.034,2390,954,3790,0,0,0,0,0,0
$GC,8068,-0.66,-194.6,763.3,-6.6,1020,8073,0.05,2.22,0.00,0.000,6,0.176,0.042,2344,2423,3790,0,0,0,0,0,0
$GC,8384,-0.65,-194.6,797.2,-10.9,1035,8386,0.15,0.00,0.00,0.000,6,0.131,0.000,2394,2424,3788,0,0,0,0,0,0
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8429,-0.11,0.0,800.6,9.7,1037,8654,0.45,0.17,219.00,0.972,6,0.086,0.072,2566,2149,3028,0,0,0,0,0,0
$STATE,8656,end apogee,CONTROL_FINISHED_OK
$STATE,8656,begin climb
$GC,8658,0.53,194.6,812.9,0.0,1047,8903,0.52,2.42,234.50,0.940,4,0.039,0.038,2814,659,2232,0,0,0,0,0,0
$GC,9004,0.50,194.6,789.2,16.7,1063,9012,0.20,2.30,0.00,0.000,6,0.161,0.037,2741,2120,2226,0,0,0,0,0,0
$GC,9321,0.49,194.6,754.5,10.4,1079,9325,0.00,2.15,0.00,0.000,4,0.000,0.050,2741,3528,2222,0,0,0,0,0,0
$GC,9409,0.47,194.6,743.8,12.2,1083,9414,0.03,2.20,0.00,0.000,6,0.312,0.030,2739,2055,2221,0,0,0,0,0,0
$GC,9737,0.46,194.6,709.5,10.7,1099,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2051,2220,0,0,0,0,0,0
$GC,10046,0.44,194.6,675.5,11.4,1114,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2051,2219,0,0,0,0,0,0
$GC,10355,0.43,194.6,643.4,9.9,1129,10360,0.08,2.28,0.00,0.000,4,0.206,0.050,2718,3523,2217,0,0,0,0,0,0
$GC,10404,0.42,194.6,638.2,10.3,1131,10408,0.00,2.15,0.00,0.000,6,0.000,0.029,2721,2062,2217,0,0,0,0,0,0
$GC,10726,0.41,194.8,608.5,8.9,1147,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2059,2216,0,0,0,0,0,0
$GC,11042,0.40,194.8,578.9,9.6,1172,11046,0.00,2.25,0.00,0.000,4,0.000,0.049,2721,3533,2215,0,0,0,0,0,0
$GC,11104,0.39,194.8,571.9,11.5,1177,11109,0.08,2.17,0.00,0.000,6,0.199,0.030,2703,2056,2216,0,0,0,0,0,0
$GC,11432,0.42,228.7,544.1,7.8,1207,11478,0.10,2.38,38.17,0.873,4,0.103,0.050,2764,3526,2093,0,0,0,0,0,0
$GC,11514,0.41,228.7,534.4,13.6,1214,11519,0.20,2.20,0.00,0.000,6,0.149,0.028,2715,2054,2091,0,0,0,0,0,0
$GC,11839,0.42,247.6,506.3,8.3,1244,11871,0.05,0.00,22.85,0.830,6,0.171,0.000,2756,2049,2016,0,0,0,0,0,0
$GC,12214,0.41,247.6,464.3,11.1,1304,12224,0.15,2.33,0.00,0.000,4,0.148,0.050,2710,3518,2012,0,0,0,0,0,0
$GC,12243,0.41,247.6,461.1,11.1,1308,12252,0.00,2.17,0.00,0.000,6,0.000,0.028,2710,2062,2012,0,0,0,0,0,0
$GC,12603,0.54,353.8,436.7,5.6,1369,12746,0.17,2.42,128.12,0.799,4,0.072,0.047,2810,3532,1582,0,0,0,0,0,0
$GC,12764,0.52,353.8,414.3,16.6,1392,12774,0.20,2.28,0.00,0.000,6,0.125,0.029,2751,2069,1580,0,0,0,0,0,0
$GC,13126,0.52,353.8,377.2,11.1,1453,13133,0.00,2.08,0.00,0.000,4,0.000,0.039,2751,661,1574,0,0,0,0,0,0
$GC,13190,0.54,364.5,371.3,8.6,1463,13207,0.08,2.20,11.77,0.696,6,0.124,0.033,2810,2126,1541,0,0,0,0,0,0
$GC,13559,0.52,364.5,314.8,15.3,1525,13567,0.20,2.12,0.00,0.000,4,0.145,0.047,2749,3526,1538,0,0,0,0,0,0
$GC,13623,0.53,364.5,307.7,9.4,1535,13630,0.05,2.17,0.00,0.000,6,0.168,0.028,2807,2049,1537,0,0,0,0,0,0
$GC,13981,0.51,364.5,259.0,13.9,1596,13990,0.20,0.00,0.00,0.000,6,0.146,0.000,2746,2046,1536,0,0,0,0,0,0
$GC,14343,0.55,386.8,228.5,8.2,1657,14378,0.10,2.33,27.48,0.656,4,0.101,0.049,2820,3531,1449,0,0,0,0,0,0
$GC,14392,0.54,386.8,222.0,14.1,1664,14401,0.20,2.20,0.00,0.000,6,0.117,0.029,2759,2067,1448,0,0,0,0,0,0
$GC,14755,0.60,434.6,189.2,7.4,1725,14819,0.10,0.00,57.15,0.634,6,0.099,0.000,2831,2062,1256,0,0,0,0,0,0
$GC,15174,0.59,434.6,126.9,14.4,1794,15184,0.20,2.30,0.00,0.000,4,0.129,0.046,2768,3530,1250,0,0,0,0,0,0
$GC,15223,0.61,438.0,121.8,8.8,1801,15234,0.05,2.17,4.85,0.438,6,0.063,0.027,2835,2060,1241,0,0,0,0,0,0
$GC,15585,0.61,438.0,78.1,10.5,1862,15595,0.17,2.10,0.00,0.000,4,0.129,0.042,2778,668,1240,0,0,0,0,0,0
$GC,15611,0.61,438.0,76.1,8.9,1865,15620,0.00,2.17,0.00,0.000,6,0.000,0.033,2778,2122,1239,0,0,0,0,0,0
$GC,15977,0.67,457.3,47.2,8.3,1926,16011,0.10,2.17,23.92,0.529,4,0.122,0.046,2823,3534,1163,0,0,0,0,0,0
$GC,16273,0.70,457.3,22.2,9.1,1975,16282,0.03,2.17,0.00,0.000,6,0.099,0.028,2783,2051,1161,0,0,0,0,0,0
$STATE,16459,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,0.7,1.010138
$STATE,16496,end surface coast,CONTROL_FINISHED_OK
$STATE,16496,begin surface
$SM_CCo,16571,0.00,0.000,0,0,1161,457.73
$SM_GC,1.71,6.43,0.00,0.00,0.032,0.000,0.000,193,2471,1161,-7.40,2.01,457.73
$IRIDIUM_FIX,2333.28,12642.31,201010,050535
$TT8_MAMPS,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.9,44.383
$10V_AH,10.2,39.484
$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,22.375,146.275,767.825,0.000,0.000,26.053,38.090,213.343,0.000,0.000,18.434,4873.152,5640.801,812.286,5292.196,357.004,0.000,2556.341,0.000,5044.117,0.000,0.542,0.000
$DEVICE_MAMPS,312.120,71.910,972.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1362.437,0.000,3089.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333800
$DATA_FILE_SIZE,117092,2012
$CAP_FILE_SIZE,211626,0
$CFSIZE,260165632,236187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116, 46.9,1
$GPS,201010,143136,2340.815,12637.932,28,1.2,28,-3.5