version: 66.08
glider: 176
mission: 2
dive: 331
start: 10 22 110 10 5 34
data:
$ID,176
$MISSION,2
$DIVE,331
$N_DIVES,342
$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,-5346.3599
$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
$GPS1,221010,095806,2332.563,12630.646,32,1.3,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.3
$GPS2,221010,100507,2332.601,12630.699,11,1.3,11,-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,211.4,79901,-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,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,67,0.00,0.00,-49.53,0.000,2,0.000,0.000,199,2456,2503,0,0,0,0,0,0
$GC,70,-0.53,-194.6,3.3,-4.3,6,112,9.00,2.22,-25.90,0.000,4,0.239,0.044,2416,946,3823,0,0,0,0,0,0
$GC,140,-0.50,-194.6,20.6,-28.3,15,149,0.03,2.28,0.00,0.000,6,0.190,0.047,2427,2412,3823,0,0,0,0,0,0
$GC,506,-0.49,-194.6,101.8,-17.3,76,516,0.00,2.08,0.00,0.000,4,0.000,0.055,2427,3764,3823,0,0,0,0,0,0
$GC,584,-0.50,-194.6,111.3,-9.8,88,593,0.00,2.05,0.00,0.000,6,0.000,0.027,2427,2332,3823,0,0,0,0,0,0
$GC,952,-0.49,-194.6,156.4,-11.6,149,958,0.00,1.95,0.00,0.000,4,0.000,0.033,2427,953,3823,0,0,0,0,0,0
$GC,1003,-0.50,-194.6,161.6,-9.7,157,1010,0.00,2.17,0.00,0.000,6,0.000,0.039,2427,2424,3824,0,0,0,0,0,0
$GC,1359,-0.50,-194.6,199.2,-9.8,218,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2424,3824,0,0,0,0,0,0
$GC,1719,-0.50,-194.6,230.7,-8.3,279,1726,0.00,2.12,0.00,0.000,4,0.000,0.033,2427,949,3823,0,0,0,0,0,0
$GC,1759,-0.51,-194.6,233.9,-8.3,285,1767,0.00,2.20,0.00,0.000,6,0.000,0.039,2427,2430,3823,0,0,0,0,0,0
$GC,2117,-0.51,-194.6,264.1,-8.6,346,2126,0.00,2.17,0.00,0.000,4,0.000,0.034,2427,951,3821,0,0,0,0,0,0
$GC,2152,-0.52,-194.6,267.0,-8.6,351,2159,0.00,2.20,0.00,0.000,6,0.000,0.039,2427,2431,3821,0,0,0,0,0,0
$GC,2509,-0.53,-194.6,294.5,-6.7,412,2519,0.05,2.20,0.00,0.000,4,0.174,0.033,2373,951,3820,0,0,0,0,0,0
$GC,2568,-0.53,-194.6,300.2,-10.4,421,2576,0.17,2.20,0.00,0.000,6,0.127,0.041,2430,2426,3820,0,0,0,0,0,0
$GC,2929,-0.54,-194.6,324.2,-6.2,482,2938,0.08,2.17,0.00,0.000,4,0.129,0.034,2373,960,3818,0,0,0,0,0,0
$GC,2965,-0.54,-194.6,327.2,-8.6,487,2973,0.17,2.20,0.00,0.000,6,0.129,0.041,2429,2430,3818,0,0,0,0,0,0
$GC,3328,-0.55,-194.6,350.3,-6.1,548,3338,0.08,2.20,0.00,0.000,4,0.129,0.034,2364,949,3816,0,0,0,0,0,0
$GC,3368,-0.55,-194.6,354.4,-10.6,554,3377,0.15,2.22,0.00,0.000,6,0.106,0.042,2420,2416,3816,0,0,0,0,0,0
$GC,3730,-0.56,-194.6,382.9,-7.5,615,3737,0.05,0.00,0.00,0.000,6,0.178,0.000,2371,2416,3814,0,0,0,0,0,0
$GC,4087,-0.55,-194.6,424.2,-12.0,676,4097,0.15,2.17,0.00,0.000,4,0.136,0.033,2418,953,3813,0,0,0,0,0,0
$GC,4115,-0.56,-194.6,426.8,-9.8,680,4126,0.00,2.22,0.00,0.000,6,0.000,0.041,2417,2421,3813,0,0,0,0,0,0
$GC,4479,-0.56,-194.6,451.6,-7.1,741,4486,0.05,2.15,0.00,0.000,4,0.182,0.034,2364,947,3810,0,0,0,0,0,0
$GC,4519,-0.57,-194.6,455.5,-10.2,747,4527,0.15,2.22,0.00,0.000,6,0.132,0.042,2412,2427,3810,0,0,0,0,0,0
$GC,4881,-0.58,-194.6,484.4,-7.6,808,4890,0.00,2.17,0.00,0.000,4,0.000,0.034,2413,956,3809,0,0,0,0,0,0
$GC,4917,-0.59,-194.6,487.1,-7.9,813,4924,0.08,2.20,0.00,0.000,6,0.123,0.041,2354,2427,3808,0,0,0,0,0,0
$GC,5260,-0.58,-194.6,525.8,-11.0,854,5262,0.17,0.00,0.00,0.000,6,0.132,0.000,2410,2427,3807,0,0,0,0,0,0
$GC,5578,-0.59,-194.6,544.5,-5.6,884,5583,0.05,2.17,0.00,0.000,4,0.170,0.034,2360,947,3805,0,0,0,0,0,0
$GC,5640,-0.59,-194.6,549.8,-9.5,889,5645,0.15,2.22,0.00,0.000,6,0.131,0.043,2409,2422,3805,0,0,0,0,0,0
$GC,5967,-0.60,-194.6,571.8,-6.4,919,5972,0.08,2.15,0.00,0.000,4,0.125,0.034,2349,952,3802,0,0,0,0,0,0
$GC,6017,-0.60,-194.6,576.8,-10.1,923,6021,0.17,2.22,0.00,0.000,6,0.124,0.044,2406,2421,3802,0,0,0,0,0,0
$GC,6344,-0.61,-194.6,598.7,-6.6,953,6349,0.08,2.15,0.00,0.000,4,0.127,0.034,2347,953,3801,0,0,0,0,0,0
$GC,6371,-0.61,-194.6,601.4,-9.7,954,6375,0.17,2.22,0.00,0.000,6,0.123,0.044,2404,2420,3800,0,0,0,0,0,0
$GC,6694,-0.62,-194.6,623.2,-6.6,970,6698,0.08,2.15,0.00,0.000,4,0.128,0.034,2346,955,3798,0,0,0,0,0,0
$GC,6742,-0.62,-194.6,628.1,-10.5,972,6747,0.12,2.25,0.00,0.000,6,0.099,0.044,2396,2420,3797,0,0,0,0,0,0
$GC,7067,-0.63,-194.6,650.9,-6.9,988,7070,0.00,2.15,0.00,0.000,4,0.000,0.034,2396,957,3795,0,0,0,0,0,0
$GC,7111,-0.64,-194.6,654.5,-7.8,990,7115,0.08,2.22,0.00,0.000,6,0.122,0.042,2338,2428,3795,0,0,0,0,0,0
$GC,7432,-0.63,-194.6,692.4,-12.2,1006,7434,0.17,0.00,0.00,0.000,6,0.131,0.000,2394,2429,3793,0,0,0,0,0,0
$GC,7742,-0.64,-194.6,715.6,-7.1,1021,7747,0.05,2.20,0.00,0.000,4,0.170,0.035,2347,955,3791,0,0,0,0,0,0
$GC,7797,-0.64,-194.6,720.9,-10.0,1023,7805,0.12,2.25,0.00,0.000,6,0.101,0.044,2396,2413,3790,0,0,0,0,0,0
$GC,8114,-0.65,-194.6,741.2,-6.4,1039,8119,0.08,2.15,0.00,0.000,4,0.125,0.034,2334,950,3789,0,0,0,0,0,0
$GC,8180,-0.65,-194.6,748.2,-10.9,1042,8185,0.17,2.25,0.00,0.000,6,0.129,0.045,2390,2425,3788,0,0,0,0,0,0
$GC,8509,-0.65,-194.6,770.3,-6.5,1058,8514,0.05,2.20,0.00,0.000,4,0.176,0.036,2337,959,3787,0,0,0,0,0,0
$GC,8574,-0.65,-194.6,776.5,-9.6,1061,8579,0.12,2.25,0.00,0.000,6,0.102,0.044,2386,2413,3786,0,0,0,0,0,0
$GC,8904,-0.66,-194.6,798.5,-6.8,1077,8908,0.00,2.15,0.00,0.000,4,0.000,0.034,2387,949,3785,0,0,0,0,0,0
$STATE,8924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8925,begin apogee
$GC,8931,-0.11,0.0,800.3,7.0,1078,9156,0.47,0.00,217.60,0.961,6,0.087,0.000,2566,2120,3027,0,0,0,0,0,0
$STATE,9157,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9160,0.53,194.6,813.4,0.0,1088,9408,0.52,2.35,233.93,0.929,4,0.041,0.048,2802,3523,2232,0,0,0,0,0,0
$GC,9498,0.50,194.6,792.5,17.4,1104,9503,0.25,2.22,0.00,0.000,6,0.178,0.028,2747,2059,2227,0,0,0,0,0,0
$GC,9826,0.48,194.6,755.2,10.8,1120,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2055,2222,0,0,0,0,0,0
$GC,10135,0.47,194.6,720.7,11.6,1135,10137,0.05,0.00,0.00,0.000,6,0.249,0.000,2735,2054,2221,0,0,0,0,0,0
$GC,10444,0.46,194.6,685.9,11.4,1150,10448,0.00,2.28,0.00,0.000,4,0.000,0.050,2734,3525,2219,0,0,0,0,0,0
$GC,10483,0.44,194.6,681.0,12.5,1152,10487,0.00,2.15,0.00,0.000,6,0.000,0.029,2738,2061,2220,0,0,0,0,0,0
$GC,10811,0.43,194.6,643.6,11.4,1168,10815,0.08,2.08,0.00,0.000,4,0.205,0.040,2723,660,2218,0,0,0,0,0,0
$GC,10844,0.42,194.6,640.1,10.4,1169,10851,0.00,2.20,0.00,0.000,6,0.000,0.034,2723,2136,2217,0,0,0,0,0,0
$GC,11160,0.41,194.6,609.8,9.3,1185,11164,0.00,2.10,0.00,0.000,4,0.000,0.048,2723,3527,2217,0,0,0,0,0,0
$GC,11250,0.39,194.6,600.1,10.8,1189,11254,0.00,2.15,0.00,0.000,6,0.000,0.029,2723,2064,2217,0,0,0,0,0,0
$GC,11577,0.39,199.5,570.5,8.7,1219,11581,0.00,2.25,0.00,0.000,4,0.000,0.049,2722,3524,2216,0,0,0,0,0,0
$GC,11629,0.38,199.5,565.2,10.1,1223,11634,0.10,2.12,0.00,0.000,6,0.181,0.030,2699,2062,2216,0,0,0,0,0,0
$GC,11961,0.46,268.9,540.4,6.7,1254,12055,0.12,2.20,85.68,0.860,4,0.089,0.039,2778,662,1929,0,0,0,0,0,0
$GC,12107,0.45,268.9,524.5,11.1,1267,12112,0.17,2.25,0.00,0.000,6,0.140,0.034,2726,2124,1924,0,0,0,0,0,0
$GC,12436,0.49,305.2,497.4,7.8,1299,12486,0.10,2.28,43.62,0.816,4,0.103,0.048,2792,3535,1781,0,0,0,0,0,0
$GC,12555,0.48,305.2,480.6,15.4,1317,12562,0.22,2.22,0.00,0.000,6,0.142,0.028,2733,2059,1777,0,0,0,0,0,0
$GC,12914,0.48,305.2,443.3,11.0,1378,12924,0.05,0.00,0.00,0.000,6,0.174,0.000,2775,2054,1773,0,0,0,0,0,0
$GC,13276,0.47,305.2,395.5,11.9,1439,13284,0.15,2.25,0.00,0.000,4,0.148,0.050,2730,3527,1772,0,0,0,0,0,0
$GC,13308,0.46,305.2,391.2,12.4,1444,13317,0.00,2.17,0.00,0.000,6,0.000,0.029,2735,2069,1772,0,0,0,0,0,0
$GC,13667,0.51,339.4,360.4,7.8,1505,13711,0.08,0.00,40.53,0.740,6,0.128,0.000,2792,2065,1643,0,0,0,0,0,0
$GC,14062,0.50,339.4,313.2,11.8,1571,14070,0.17,2.30,0.00,0.000,4,0.139,0.049,2739,3534,1637,0,0,0,0,0,0
$GC,14119,0.51,351.4,307.5,8.5,1580,14142,0.00,2.20,14.65,0.664,6,0.000,0.028,2748,2056,1593,0,0,0,0,0,0
$GC,14493,0.52,351.4,277.2,9.1,1643,14500,0.00,2.08,0.00,0.000,4,0.000,0.039,2749,656,1589,0,0,0,0,0,0
$GC,14532,0.53,352.7,273.9,8.8,1649,14540,0.05,2.20,0.00,0.000,6,0.171,0.033,2806,2136,1590,0,0,0,0,0,0
$GC,14890,0.52,352.7,225.0,13.3,1710,14900,0.20,2.15,0.00,0.000,4,0.137,0.046,2742,3532,1590,0,0,0,0,0,0
$GC,14951,0.53,359.2,218.8,8.7,1719,14967,0.08,2.15,10.38,0.588,6,0.122,0.028,2815,2058,1562,0,0,0,0,0,0
$GC,15319,0.52,359.2,172.6,12.0,1781,15326,0.20,2.10,0.00,0.000,4,0.141,0.041,2753,656,1560,0,0,0,0,0,0
$GC,15347,0.52,359.2,169.8,10.6,1785,15354,0.00,2.17,0.00,0.000,6,0.000,0.033,2753,2123,1559,0,0,0,0,0,0
$GC,15710,0.59,407.6,144.4,7.4,1846,15777,0.10,2.17,58.60,0.594,4,0.099,0.047,2829,3529,1364,0,0,0,0,0,0
$GC,15810,0.58,407.6,131.9,14.6,1859,15820,0.17,2.22,0.00,0.000,6,0.099,0.030,2766,2062,1362,0,0,0,0,0,0
$GC,16181,0.74,523.6,109.6,5.3,1920,16328,0.20,2.20,134.10,0.561,4,0.062,0.041,2886,660,891,0,0,0,0,0,0
$GC,16384,0.74,523.6,79.6,12.9,1947,16393,0.17,2.25,0.00,0.000,6,0.095,0.034,2820,2123,888,0,0,0,0,0,0
$GC,16753,0.77,523.6,52.0,9.3,2008,16762,0.08,2.17,0.00,0.000,4,0.144,0.047,2865,3529,885,0,0,0,0,0,0
$GC,16876,0.80,523.6,40.0,10.2,2028,16886,0.05,2.17,0.00,0.000,6,0.070,0.028,2810,2048,885,0,0,0,0,0,0
$STATE,17222,end climb,SURFACE_DEPTH_REACHED
$STATE,17222,begin surface coast
$FINISH,0.6,1.021677
$STATE,17254,end surface coast,CONTROL_FINISHED_OK
$STATE,17254,begin surface
$SM_CCo,17329,0.00,0.000,0,0,885,525.43
$SM_GC,1.73,6.55,0.00,0.00,0.037,0.000,0.000,202,2459,885,-7.40,1.67,525.43
$IRIDIUM_FIX,2326.22,12632.92,221010,040454
$TT8_MAMPS,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,46.479
$10V_AH,10.3,41.834
$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,22.525,153.350,839.075,0.000,0.000,27.087,38.628,203.875,0.000,0.000,13.933,5060.314,5910.939,846.388,5543.958,362.291,0.000,2692.087,0.000,5289.709,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,55.080,960.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1415.071,0.000,3246.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,123416,2091
$CAP_FILE_SIZE,217387,0
$CFSIZE,260165632,235118592
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208, 24.7,1
$GPS,221010,145531,2331.875,12630.388,40,1.0,40,-3.5