version: 66.08
glider: 176
mission: 2
dive: 364
start: 10 29 110 0 41 17
data:
$ID,176
$MISSION,2
$DIVE,364
$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,-5395.3501
$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
$GPS1,291010,003330,2316.108,12621.061,40,1.1,45,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-59.0
$GPS2,291010,004050,2316.038,12621.084,13,1.1,13,-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,204.1,214695,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,91,0.00,0.00,-72.47,0.000,2,0.000,0.000,200,2422,2674,0,0,0,0,0,0
$GC,94,-0.53,-194.6,3.7,-4.7,9,136,8.98,2.15,-20.95,0.000,4,0.236,0.067,2413,3777,3824,0,0,0,0,0,0
$GC,238,-0.53,-194.6,37.5,-12.9,31,248,0.00,2.08,0.00,0.000,6,0.000,0.027,2414,2348,3824,0,0,0,0,0,0
$GC,605,-0.51,-194.6,107.0,-14.5,92,614,0.05,2.20,0.00,0.000,4,0.255,0.054,2428,3761,3824,0,0,0,0,0,0
$GC,694,-0.52,-194.6,116.3,-8.9,106,702,0.00,2.05,0.00,0.000,6,0.000,0.026,2428,2331,3824,0,0,0,0,0,0
$GC,1057,-0.52,-194.6,158.6,-11.7,167,1064,0.00,1.98,0.00,0.000,4,0.000,0.031,2428,948,3824,0,0,0,0,0,0
$GC,1119,-0.53,-194.6,165.6,-10.7,177,1125,0.00,2.20,0.00,0.000,6,0.000,0.037,2428,2437,3825,0,0,0,0,0,0
$GC,1466,-0.53,-194.6,200.6,-8.5,238,1474,0.00,2.17,0.00,0.000,4,0.000,0.031,2428,946,3825,0,0,0,0,0,0
$GC,1489,-0.53,-194.6,202.5,-8.9,241,1496,0.05,2.20,0.00,0.000,6,0.174,0.037,2380,2436,3824,0,0,0,0,0,0
$GC,1838,-0.52,-194.6,248.2,-12.5,302,1848,0.15,2.17,0.00,0.000,4,0.146,0.030,2427,954,3824,0,0,0,0,0,0
$GC,1873,-0.53,-194.6,251.8,-10.5,307,1881,0.00,2.17,0.00,0.000,6,0.000,0.037,2427,2426,3824,0,0,0,0,0,0
$GC,2219,-0.53,-194.6,281.6,-9.1,368,2228,0.05,0.00,0.00,0.000,6,0.174,0.000,2374,2427,3823,0,0,0,0,0,0
$GC,2570,-0.53,-194.6,322.3,-10.5,429,2577,0.17,2.15,0.00,0.000,4,0.130,0.032,2431,943,3822,0,0,0,0,0,0
$GC,2610,-0.54,-194.6,325.6,-7.4,435,2619,0.08,2.20,0.00,0.000,6,0.127,0.037,2374,2436,3821,0,0,0,0,0,0
$GC,2960,-0.54,-194.6,361.2,-10.3,496,2968,0.15,0.00,0.00,0.000,6,0.135,0.000,2423,2436,3820,0,0,0,0,0,0
$GC,3310,-0.54,-194.6,387.1,-7.4,557,3318,0.05,2.17,0.00,0.000,4,0.171,0.031,2373,952,3818,0,0,0,0,0,0
$GC,3370,-0.54,-194.6,392.9,-9.8,567,3379,0.15,2.20,0.00,0.000,6,0.132,0.038,2421,2430,3818,0,0,0,0,0,0
$GC,3720,-0.55,-194.6,415.0,-5.9,628,3729,0.05,2.20,0.00,0.000,4,0.173,0.031,2373,951,3816,0,0,0,0,0,0
$GC,3778,-0.56,-194.6,419.6,-9.2,637,3786,0.15,2.20,0.00,0.000,6,0.127,0.039,2422,2426,3816,0,0,0,0,0,0
$GC,4130,-0.59,-194.6,444.2,-8.2,698,4139,0.10,2.17,0.00,0.000,4,0.114,0.031,2372,955,3814,0,0,0,0,0,0
$GC,4247,-0.61,-194.6,453.4,-7.8,717,4254,0.10,2.20,0.00,0.000,6,0.125,0.037,2408,2436,3813,0,0,0,0,0,0
$GC,4603,-0.64,-194.6,480.4,-7.4,778,4612,0.10,0.00,0.00,0.000,6,0.110,0.000,2363,2436,3810,0,0,0,0,0,0
$GC,4947,-0.65,-194.6,508.6,-7.9,829,4949,0.10,0.00,0.00,0.000,6,0.123,0.000,2401,2436,3809,0,0,0,0,0,0
$GC,5266,-0.68,-194.6,533.4,-7.7,859,5270,0.12,2.17,0.00,0.000,4,0.097,0.033,2346,945,3806,0,0,0,0,0,0
$GC,5339,-0.68,-194.6,539.9,-9.6,865,5344,0.12,2.20,0.00,0.000,6,0.138,0.040,2387,2425,3805,0,0,0,0,0,0
$GC,5669,-0.69,-194.6,566.6,-8.2,896,5674,0.08,2.15,0.00,0.000,4,0.123,0.032,2325,954,3803,0,0,0,0,0,0
$GC,5692,-0.69,-194.6,568.9,-9.8,898,5697,0.17,2.22,0.00,0.000,6,0.131,0.042,2381,2429,3804,0,0,0,0,0,0
$GC,6018,-0.69,-194.6,596.0,-7.6,928,6022,0.08,2.15,0.00,0.000,4,0.124,0.032,2330,955,3801,0,0,0,0,0,0
$GC,6049,-0.68,-194.6,599.4,-10.7,930,6057,0.15,2.22,0.00,0.000,6,0.138,0.042,2378,2427,3801,0,0,0,0,0,0
$GC,6367,-0.69,-194.6,623.7,-7.2,946,6369,0.05,0.00,0.00,0.000,6,0.176,0.000,2333,2427,3799,0,0,0,0,0,0
$GC,6675,-0.68,-194.6,656.8,-11.2,961,6680,0.15,2.17,0.00,0.000,4,0.133,0.034,2384,953,3797,0,0,0,0,0,0
$GC,6730,-0.69,-194.6,661.6,-7.6,963,6737,0.08,2.22,0.00,0.000,6,0.122,0.042,2320,2422,3797,0,0,0,0,0,0
$GC,7046,-0.68,-194.6,699.1,-12.4,979,7051,0.17,2.15,0.00,0.000,4,0.132,0.032,2378,956,3795,0,0,0,0,0,0
$GC,7101,-0.69,-194.6,704.0,-7.0,981,7109,0.00,2.22,0.00,0.000,6,0.000,0.042,2376,2420,3794,0,0,0,0,0,0
$GC,7417,-0.69,-194.6,728.6,-8.2,997,7422,0.05,2.17,0.00,0.000,4,0.178,0.033,2330,945,3793,0,0,0,0,0,0
$GC,7460,-0.69,-194.6,733.4,-11.5,999,7465,0.10,2.25,0.00,0.000,6,0.107,0.044,2372,2411,3792,0,0,0,0,0,0
$GC,7788,-0.70,-194.6,764.5,-10.2,1015,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2412,3790,0,0,0,0,0,0
$GC,8098,-0.70,-194.6,795.5,-9.9,1030,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2412,3788,0,0,0,0,0,0
$STATE,8157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8157,begin apogee
$GC,8162,-0.11,0.0,801.6,9.8,1033,8389,0.50,0.17,219.48,0.955,6,0.090,0.074,2559,2141,3027,0,0,0,0,0,0
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8394,0.53,194.6,817.2,0.0,1043,8634,0.52,0.00,235.55,0.925,6,0.038,0.000,2807,2140,2233,0,0,0,0,0,0
$GC,8938,0.51,194.6,766.4,14.5,1070,8943,0.22,2.15,0.00,0.000,4,0.177,0.047,2745,3538,2224,0,0,0,0,0,0
$GC,9050,0.49,194.6,751.2,14.2,1075,9054,0.00,2.20,0.00,0.000,6,0.000,0.029,2752,2061,2223,0,0,0,0,0,0
$GC,9378,0.47,194.6,712.0,11.7,1091,9382,0.08,2.08,0.00,0.000,4,0.218,0.041,2736,654,2221,0,0,0,0,0,0
$GC,9454,0.46,194.6,703.7,10.2,1094,9458,0.00,2.20,0.00,0.000,6,0.000,0.036,2736,2133,2219,0,0,0,0,0,0
$GC,9777,0.45,194.6,669.2,10.3,1110,9781,0.00,2.22,0.00,0.000,4,0.000,0.040,2736,658,2218,0,0,0,0,0,0
$GC,9849,0.44,194.6,662.1,9.7,1113,9853,0.00,2.20,0.00,0.000,6,0.000,0.036,2736,2125,2217,0,0,0,0,0,0
$GC,10171,0.43,194.6,631.8,9.2,1129,10173,0.05,0.00,0.00,0.000,6,0.232,0.000,2725,2126,2216,0,0,0,0,0,0
$GC,10481,0.47,231.4,607.3,7.8,1144,10529,0.08,2.17,42.30,0.885,4,0.128,0.048,2780,3528,2082,0,0,0,0,0,0
$GC,10568,0.45,231.4,596.8,14.3,1148,10575,0.22,2.20,0.00,0.000,6,0.151,0.028,2724,2061,2079,0,0,0,0,0,0
$GC,10893,0.44,231.4,567.6,8.9,1179,10897,0.00,2.28,0.00,0.000,4,0.000,0.050,2724,3526,2075,0,0,0,0,0,0
$GC,10937,0.44,231.4,563.2,9.9,1182,10944,0.00,2.17,0.00,0.000,6,0.000,0.027,2731,2050,2075,0,0,0,0,0,0
$GC,11262,0.46,253.2,535.7,8.2,1213,11293,0.00,0.00,25.92,0.833,6,0.000,0.000,2731,2046,1994,0,0,0,0,0,0
$GC,11611,0.49,281.7,508.6,8.0,1246,11657,0.08,2.40,35.20,0.820,4,0.128,0.049,2786,3523,1877,0,0,0,0,0,0
$GC,11683,0.47,281.7,500.3,13.8,1252,11688,0.20,2.20,0.00,0.000,6,0.148,0.026,2735,2054,1875,0,0,0,0,0,0
$GC,12031,0.48,288.9,467.1,8.7,1312,12046,0.00,2.30,9.27,0.718,4,0.000,0.047,2736,3534,1848,0,0,0,0,0,0
$GC,12082,0.47,288.9,462.2,9.5,1320,12091,0.00,2.20,0.00,0.000,6,0.000,0.027,2736,2067,1847,0,0,0,0,0,0
$GC,12432,0.50,309.8,433.1,8.2,1381,12469,0.08,2.33,26.98,0.773,4,0.129,0.047,2797,3522,1763,0,0,0,0,0,0
$GC,12501,0.48,309.8,424.7,13.8,1391,12509,0.22,2.17,0.00,0.000,6,0.138,0.028,2732,2050,1761,0,0,0,0,0,0
$GC,12851,0.50,322.1,394.8,8.5,1452,12874,0.08,2.33,16.12,0.727,4,0.126,0.046,2790,3538,1711,0,0,0,0,0,0
$GC,12888,0.49,322.1,390.9,10.5,1457,12896,0.17,2.20,0.00,0.000,6,0.142,0.027,2738,2058,1711,0,0,0,0,0,0
$GC,13238,0.54,362.7,362.4,7.6,1518,13290,0.10,0.00,49.72,0.735,6,0.103,0.000,2810,2051,1548,0,0,0,0,0,0
$GC,13633,0.53,362.7,304.5,15.6,1585,13641,0.20,2.28,0.00,0.000,4,0.136,0.047,2748,3525,1541,0,0,0,0,0,0
$GC,13694,0.54,362.7,296.9,10.9,1595,13703,0.08,2.17,0.00,0.000,6,0.121,0.026,2816,2045,1540,0,0,0,0,0,0
$GC,14048,0.52,362.7,246.2,14.4,1656,14057,0.22,2.33,0.00,0.000,4,0.141,0.045,2746,3528,1540,0,0,0,0,0,0
$GC,14094,0.53,362.7,241.1,9.4,1663,14103,0.05,2.15,0.00,0.000,6,0.168,0.027,2809,2055,1540,0,0,0,0,0,0
$GC,14449,0.52,362.7,201.0,9.8,1724,14459,0.20,2.10,0.00,0.000,4,0.136,0.039,2749,659,1540,0,0,0,0,0,0
$GC,14473,0.52,362.7,199.0,9.0,1727,14481,0.00,2.15,0.00,0.000,6,0.000,0.033,2749,2123,1539,0,0,0,0,0,0
$GC,14822,0.64,451.7,178.5,6.1,1788,14937,0.15,2.17,105.00,0.610,4,0.076,0.046,2840,3524,1184,0,0,0,0,0,0
$GC,15007,0.64,451.7,153.0,13.2,1816,15016,0.15,2.20,0.00,0.000,6,0.097,0.027,2787,2067,1181,0,0,0,0,0,0
$GC,15375,0.69,478.8,129.0,8.1,1877,15418,0.10,2.15,31.77,0.560,4,0.100,0.041,2861,660,1074,0,0,0,0,0,0
$GC,15439,0.69,478.8,121.3,13.5,1885,15448,0.15,2.22,0.00,0.000,6,0.091,0.032,2803,2128,1073,0,0,0,0,0,0
$GC,15810,0.87,612.9,96.0,4.7,1946,15975,0.20,2.22,153.18,0.539,4,0.065,0.046,2920,3527,529,0,0,0,0,0,0
$GC,15984,0.86,612.9,73.6,14.4,1967,15995,0.17,2.22,0.00,0.000,6,0.104,0.028,2862,2070,528,0,0,0,0,0,0
$GC,16356,0.88,612.9,45.4,9.4,2028,16365,0.00,2.10,0.00,0.000,4,0.000,0.039,2862,663,526,0,0,0,0,0,0
$GC,16392,0.90,612.9,42.0,9.4,2033,16401,0.05,2.17,0.00,0.000,6,0.070,0.029,2917,2135,527,0,0,0,0,0,0
$GC,16759,0.90,612.9,3.7,13.7,2094,16769,0.15,2.15,0.00,0.000,4,0.135,0.050,2868,3530,527,0,0,0,0,0,0
$STATE,16776,end climb,SURFACE_DEPTH_REACHED
$STATE,16776,begin surface coast
$FINISH,0.8,1.022158
$STATE,16801,end surface coast,CONTROL_FINISHED_OK
$STATE,16801,begin surface
$SM_CCo,16878,0.00,0.000,0,0,526,613.50
$SM_GC,1.60,6.65,0.00,0.00,0.033,0.000,0.000,201,2361,526,-7.40,-1.10,613.50
$IRIDIUM_FIX,2307.44,12617.00,281010,191904
$TT8_MAMPS,0.026215
$HUMID,49.40
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.8,53.681
$10V_AH,10.2,49.620
$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,22.925,140.425,950.500,0.000,0.000,28.173,15.067,242.135,0.000,0.000,16.437,5027.500,5339.017,953.001,5585.631,387.778,0.000,2802.246,0.000,5335.441,0.000,0.542,0.000
$DEVICE_MAMPS,254.745,74.205,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1419.832,0.000,3364.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334048
$DATA_FILE_SIZE,123707,2100
$CAP_FILE_SIZE,213615,0
$CFSIZE,260165632,231649280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,338.3,1
$GPS,291010,052337,2314.942,12619.632,34,1.0,34,-3.4