version: 66.08
glider: 176
mission: 2
dive: 363
start: 10 28 110 19 50 5
data:
$ID,176
$MISSION,2
$DIVE,363
$N_DIVES,373
$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,-5394.0913
$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
$GPS1,281010,194237,2316.332,12620.115,34,1.2,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-57.3
$GPS2,281010,194938,2316.317,12620.165,10,1.3,10,-3.4
$SPEED_LIMITS,0.154,0.282
$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,190.5,214958,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,78,0.00,0.00,-58.70,0.000,2,0.000,0.000,200,2465,2612,0,0,0,0,0,0
$GC,81,-0.53,-194.6,3.8,-4.8,7,123,9.00,2.05,-22.05,0.000,4,0.236,0.070,2416,3763,3823,0,0,0,0,0,0
$GC,221,-0.52,-194.6,34.5,-14.4,28,230,0.00,2.05,0.00,0.000,6,0.000,0.028,2416,2351,3824,0,0,0,0,0,0
$GC,587,-0.51,-194.6,107.0,-15.5,89,598,0.05,2.20,0.00,0.000,4,0.245,0.053,2428,3760,3824,0,0,0,0,0,0
$GC,655,-0.52,-194.6,114.2,-9.8,99,664,0.00,2.05,0.00,0.000,6,0.000,0.026,2429,2328,3824,0,0,0,0,0,0
$GC,1018,-0.52,-194.6,153.8,-9.3,160,1027,0.00,2.00,0.00,0.000,4,0.000,0.033,2428,951,3825,0,0,0,0,0,0
$GC,1085,-0.52,-194.6,159.2,-8.0,171,1092,0.00,2.20,0.00,0.000,6,0.000,0.037,2429,2437,3825,0,0,0,0,0,0
$GC,1429,-0.53,-194.6,187.6,-7.7,232,1437,0.00,2.17,0.00,0.000,4,0.000,0.031,2429,950,3825,0,0,0,0,0,0
$GC,1463,-0.54,-194.6,190.1,-7.6,237,1472,0.08,2.20,0.00,0.000,6,0.127,0.037,2374,2436,3825,0,0,0,0,0,0
$GC,1812,-0.53,-194.6,234.7,-12.7,298,1821,0.17,0.00,0.00,0.000,6,0.140,0.000,2429,2436,3825,0,0,0,0,0,0
$GC,2162,-0.53,-194.6,264.5,-9.7,359,2169,0.08,2.15,0.00,0.000,4,0.130,0.032,2366,949,3824,0,0,0,0,0,0
$GC,2192,-0.53,-194.6,268.4,-11.8,364,2201,0.15,2.22,0.00,0.000,6,0.104,0.040,2422,2427,3823,0,0,0,0,0,0
$GC,2542,-0.54,-194.6,298.9,-7.2,425,2550,0.00,2.12,0.00,0.000,4,0.000,0.031,2422,945,3822,0,0,0,0,0,0
$GC,2593,-0.55,-194.6,302.9,-7.8,433,2601,0.05,2.20,0.00,0.000,6,0.168,0.037,2376,2438,3822,0,0,0,0,0,0
$GC,2944,-0.55,-194.6,338.3,-9.5,494,2953,0.15,2.05,0.00,0.000,4,0.135,0.053,2424,3767,3820,0,0,0,0,0,0
$GC,2967,-0.55,-194.6,340.5,-9.3,497,2976,0.05,2.00,0.00,0.000,6,0.167,0.025,2386,2331,3821,0,0,0,0,0,0
$GC,3317,-0.55,-194.6,372.4,-9.7,558,3325,0.12,0.00,0.00,0.000,6,0.142,0.000,2427,2329,3818,0,0,0,0,0,0
$GC,3666,-0.57,-194.6,397.3,-8.5,619,3673,0.10,0.00,0.00,0.000,6,0.109,0.000,2381,2329,3816,0,0,0,0,0,0
$GC,4025,-0.59,-194.6,429.6,-8.4,680,4035,0.10,0.00,0.00,0.000,6,0.129,0.000,2421,2329,3815,0,0,0,0,0,0
$GC,4385,-0.62,-194.6,459.2,-8.7,741,4393,0.12,2.20,0.00,0.000,4,0.101,0.051,2372,3771,3813,0,0,0,0,0,0
$GC,4530,-0.65,-194.6,471.5,-8.3,765,4538,0.05,2.03,0.00,0.000,6,0.166,0.027,2402,2332,3813,0,0,0,0,0,0
$GC,4886,-0.67,-194.6,499.9,-8.3,826,4896,0.12,2.05,0.00,0.000,4,0.098,0.033,2348,944,3810,0,0,0,0,0,0
$GC,4948,-0.68,-194.6,505.4,-8.7,832,4953,0.10,2.22,0.00,0.000,6,0.151,0.039,2379,2431,3810,0,0,0,0,0,0
$GC,5274,-0.70,-194.6,530.2,-7.5,862,5278,0.08,2.05,0.00,0.000,4,0.126,0.052,2329,3776,3809,0,0,0,0,0,0
$GC,5297,-0.71,-194.6,532.1,-8.3,864,5301,0.12,2.03,0.00,0.000,6,0.135,0.025,2371,2332,3808,0,0,0,0,0,0
$GC,5623,-0.71,-194.6,560.4,-9.0,894,5628,0.05,2.00,0.00,0.000,4,0.174,0.034,2327,949,3806,0,0,0,0,0,0
$GC,5650,-0.71,-194.6,563.6,-11.5,896,5658,0.10,2.22,0.00,0.000,6,0.117,0.041,2366,2413,3806,0,0,0,0,0,0
$GC,5976,-0.71,-194.6,594.6,-9.7,927,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2413,3804,0,0,0,0,0,0
$GC,6287,-0.71,-194.6,623.6,-9.0,945,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2413,3802,0,0,0,0,0,0
$GC,6597,-0.71,-194.6,650.3,-8.3,960,6601,0.00,2.12,0.00,0.000,4,0.000,0.032,2366,949,3800,0,0,0,0,0,0
$GC,6629,-0.71,-194.6,653.3,-8.9,961,6637,0.00,2.20,0.00,0.000,6,0.000,0.041,2365,2422,3801,0,0,0,0,0,0
$GC,6945,-0.71,-194.6,679.6,-8.4,977,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2422,3798,0,0,0,0,0,0
$GC,7255,-0.71,-194.6,706.1,-8.9,992,7259,0.00,2.12,0.00,0.000,4,0.000,0.032,2365,954,3797,0,0,0,0,0,0
$GC,7298,-0.72,-194.6,710.1,-8.2,994,7302,0.00,2.20,0.00,0.000,6,0.000,0.041,2363,2422,3796,0,0,0,0,0,0
$GC,7620,-0.72,-194.6,737.4,-8.2,1010,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2423,3794,0,0,0,0,0,0
$GC,7929,-0.72,-194.6,761.0,-7.3,1025,7933,0.00,2.15,0.00,0.000,4,0.000,0.033,2363,948,3793,0,0,0,0,0,0
$GC,7984,-0.72,-194.6,765.1,-7.0,1027,7991,0.00,2.25,0.00,0.000,6,0.000,0.042,2363,2430,3792,0,0,0,0,0,0
$GC,8300,-0.72,-194.6,787.4,-7.1,1043,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2430,3791,0,0,0,0,0,0
$STATE,8483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8483,begin apogee
$GC,8488,-0.11,0.0,800.4,7.0,1052,8714,0.55,0.17,219.90,0.952,6,0.094,0.072,2563,2149,3027,0,0,0,0,0,0
$STATE,8716,end apogee,CONTROL_FINISHED_OK
$STATE,8716,begin climb
$GC,8718,0.53,194.6,811.0,0.0,1062,8963,0.52,2.42,234.93,0.919,4,0.039,0.037,2818,665,2232,0,0,0,0,0,0
$GC,9204,0.51,194.6,768.7,14.8,1085,9209,0.25,2.20,0.00,0.000,6,0.161,0.036,2746,2122,2224,0,0,0,0,0,0
$GC,9532,0.49,194.6,732.3,11.0,1101,9536,0.00,2.12,0.00,0.000,4,0.000,0.047,2747,3528,2221,0,0,0,0,0,0
$GC,9553,0.48,194.6,729.5,11.6,1102,9558,0.08,2.17,0.00,0.000,6,0.210,0.026,2736,2047,2221,0,0,0,0,0,0
$GC,9875,0.47,194.6,696.0,10.4,1118,9879,0.00,2.28,0.00,0.000,4,0.000,0.048,2736,3537,2218,0,0,0,0,0,0
$GC,9938,0.45,194.6,688.5,11.5,1121,9942,0.00,2.15,0.00,0.000,6,0.000,0.028,2736,2061,2219,0,0,0,0,0,0
$GC,10265,0.44,194.6,653.7,10.2,1137,10268,0.00,2.08,0.00,0.000,4,0.000,0.041,2736,665,2218,0,0,0,0,0,0
$GC,10292,0.43,194.6,650.7,10.3,1138,10296,0.05,2.15,0.00,0.000,6,0.212,0.034,2722,2122,2217,0,0,0,0,0,0
$GC,10622,0.45,213.5,622.0,8.3,1154,10648,0.08,2.15,20.80,0.864,4,0.128,0.047,2780,3533,2155,0,0,0,0,0,0
$GC,10727,0.43,213.5,608.6,13.3,1159,10732,0.25,2.15,0.00,0.000,6,0.153,0.027,2716,2059,2153,0,0,0,0,0,0
$GC,11050,0.47,254.1,583.6,7.6,1184,11108,0.10,2.33,49.62,0.865,4,0.103,0.047,2781,3525,1989,0,0,0,0,0,0
$GC,11154,0.45,254.1,570.9,14.7,1193,11159,0.20,2.20,0.00,0.000,6,0.153,0.026,2730,2058,1986,0,0,0,0,0,0
$GC,11479,0.45,254.1,541.0,9.0,1223,11483,0.00,2.28,0.00,0.000,4,0.000,0.048,2730,3526,1982,0,0,0,0,0,0
$GC,11541,0.44,254.1,534.5,10.3,1228,11545,0.00,2.15,0.00,0.000,6,0.000,0.027,2735,2054,1981,0,0,0,0,0,0
$GC,11867,0.44,254.1,502.2,9.7,1258,11871,0.00,2.28,0.00,0.000,4,0.000,0.048,2735,3537,1980,0,0,0,0,0,0
$GC,11914,0.43,254.1,497.3,11.0,1263,11921,0.05,2.17,0.00,0.000,6,0.230,0.028,2721,2056,1980,0,0,0,0,0,0
$GC,12265,0.45,273.5,467.0,8.3,1324,12295,0.08,2.28,22.42,0.792,4,0.128,0.047,2777,3526,1911,0,0,0,0,0,0
$GC,12351,0.44,273.5,456.3,13.9,1337,12359,0.22,2.15,0.00,0.000,6,0.138,0.026,2718,2057,1909,0,0,0,0,0,0
$GC,12701,0.47,301.3,425.9,8.0,1398,12746,0.10,2.35,34.72,0.775,4,0.102,0.049,2787,3518,1797,0,0,0,0,0,0
$GC,12770,0.46,301.3,417.6,13.5,1408,12779,0.17,2.20,0.00,0.000,6,0.122,0.027,2732,2064,1795,0,0,0,0,0,0
$GC,13121,0.52,350.4,388.5,7.4,1469,13193,0.10,2.38,59.90,0.752,4,0.102,0.047,2803,3522,1597,0,0,0,0,0,0
$GC,13209,0.51,350.4,377.5,14.1,1481,13217,0.20,2.22,0.00,0.000,6,0.137,0.027,2745,2049,1596,0,0,0,0,0,0
$GC,13559,0.54,373.1,348.4,8.2,1542,13598,0.08,2.38,27.77,0.708,4,0.125,0.047,2806,3529,1504,0,0,0,0,0,0
$GC,13650,0.53,373.1,336.0,14.6,1556,13660,0.17,2.22,0.00,0.000,6,0.116,0.027,2755,2052,1502,0,0,0,0,0,0
$GC,13999,0.53,373.1,301.8,9.3,1617,14007,0.00,2.05,0.00,0.000,4,0.000,0.039,2762,659,1499,0,0,0,0,0,0
$GC,14021,0.54,373.1,299.4,9.5,1620,14029,0.00,2.22,0.00,0.000,6,0.000,0.034,2762,2124,1499,0,0,0,0,0,0
$GC,14373,0.57,399.1,265.6,8.1,1681,14410,0.05,2.22,31.00,0.666,4,0.176,0.047,2822,3533,1400,0,0,0,0,0,0
$GC,14476,0.56,399.1,252.5,13.0,1697,14485,0.22,2.17,0.00,0.000,6,0.129,0.026,2759,2047,1398,0,0,0,0,0,0
$GC,14824,0.61,429.4,224.5,8.0,1758,14866,0.10,0.00,37.20,0.635,6,0.097,0.000,2832,2042,1275,0,0,0,0,0,0
$GC,15207,0.60,429.4,173.5,13.2,1824,15217,0.17,2.33,0.00,0.000,4,0.132,0.047,2776,3519,1270,0,0,0,0,0,0
$GC,15299,0.63,441.1,165.4,8.5,1839,15322,0.08,2.15,14.65,0.568,6,0.120,0.026,2845,2044,1228,0,0,0,0,0,0
$GC,15671,0.62,441.1,121.1,12.9,1902,15680,0.20,2.08,0.00,0.000,4,0.129,0.037,2780,665,1225,0,0,0,0,0,0
$GC,15719,0.73,510.3,116.7,6.7,1909,15810,0.10,2.17,82.00,0.567,6,0.049,0.030,2862,2129,945,0,0,0,0,0,0
$GC,16171,0.74,516.7,73.6,8.7,1980,16190,0.15,2.15,8.05,0.460,4,0.125,0.045,2809,3519,919,0,0,0,0,0,0
$GC,16229,0.85,586.2,69.7,6.7,1988,16319,0.12,2.15,80.38,0.527,6,0.047,0.025,2905,2042,636,0,0,0,0,0,0
$GC,16671,0.94,644.2,25.0,7.1,2059,16720,0.08,2.10,38.85,0.489,4,0.156,0.037,2875,653,500,0,0,0,0,0,0
$STATE,16828,end climb,SURFACE_DEPTH_REACHED
$STATE,16828,begin surface coast
$FINISH,1.0,1.009887
$STATE,16853,end surface coast,CONTROL_FINISHED_OK
$STATE,16854,begin surface
$SM_CCo,16932,0.00,0.000,0,0,497,620.61
$SM_GC,1.61,6.80,0.00,0.00,0.039,0.000,0.000,201,2417,497,-7.39,0.48,620.61
$IRIDIUM_FIX,2309.79,12618.89,281010,141422
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,53.452
$10V_AH,10.0,49.377
$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,22.175,140.250,962.200,0.000,0.000,23.120,30.272,213.959,0.000,0.000,13.585,4992.973,5519.476,924.668,5507.651,382.779,0.000,2793.234,0.000,5267.743,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,71.910,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1410.536,0.000,3258.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,123267,2087
$CAP_FILE_SIZE,213558,0
$CFSIZE,260165632,231755776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.298, 20.0,1
$GPS,291010,003330,2316.108,12621.061,40,1.1,45,-3.4