version: 66.08
glider: 176
mission: 2
dive: 370
start: 10 30 110 6 4 3
data:
$ID,176
$MISSION,2
$DIVE,370
$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,-5402.8916
$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
$GPS1,301010,055601,2313.371,12619.621,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.7
$GPS2,301010,060337,2313.333,12619.619,12,1.0,17,-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,147.1,209355,-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,17,-0.53,-194.6,0.0,0.0,0,68,0.00,0.00,-49.22,0.000,2,0.000,0.000,195,2456,2397,0,0,0,0,0,0
$GC,71,-0.53,-194.6,3.1,-3.4,6,121,9.00,2.28,-30.35,0.000,4,0.236,0.048,2413,952,3824,0,0,0,0,0,0
$GC,223,-0.53,-194.6,31.9,-16.7,29,231,0.00,2.25,0.00,0.000,6,0.000,0.041,2413,2421,3824,0,0,0,0,0,0
$GC,590,-0.51,-194.6,105.5,-15.2,90,599,0.08,2.08,0.00,0.000,4,0.206,0.054,2433,3762,3824,0,0,0,0,0,0
$GC,697,-0.52,-194.6,117.1,-10.1,107,706,0.03,2.05,0.00,0.000,6,0.112,0.027,2389,2332,3824,0,0,0,0,0,0
$GC,1061,-0.51,-194.6,168.0,-13.2,168,1070,0.15,0.00,0.00,0.000,6,0.151,0.000,2435,2329,3825,0,0,0,0,0,0
$GC,1424,-0.51,-194.6,197.5,-7.9,229,1431,0.08,2.20,0.00,0.000,4,0.131,0.051,2385,3778,3824,0,0,0,0,0,0
$GC,1463,-0.52,-194.6,201.3,-9.6,235,1470,0.15,2.03,0.00,0.000,6,0.122,0.024,2437,2327,3824,0,0,0,0,0,0
$GC,1823,-0.52,-194.6,228.2,-7.6,296,1833,0.08,2.00,0.00,0.000,4,0.129,0.033,2380,959,3824,0,0,0,0,0,0
$GC,1871,-0.52,-194.6,233.2,-11.6,303,1878,0.15,2.17,0.00,0.000,6,0.138,0.038,2427,2426,3824,0,0,0,0,0,0
$GC,2231,-0.53,-194.6,262.4,-7.2,364,2240,0.00,2.05,0.00,0.000,4,0.000,0.053,2427,3770,3823,0,0,0,0,0,0
$GC,2271,-0.54,-194.6,265.2,-6.5,370,2280,0.05,2.05,0.00,0.000,6,0.070,0.025,2365,2326,3823,0,0,0,0,0,0
$GC,2633,-0.54,-194.6,310.1,-13.0,431,2640,0.20,2.20,0.00,0.000,4,0.130,0.050,2430,3777,3821,0,0,0,0,0,0
$GC,2661,-0.54,-194.6,313.0,-10.6,435,2668,0.08,2.03,0.00,0.000,6,0.129,0.025,2383,2337,3821,0,0,0,0,0,0
$GC,3018,-0.54,-194.6,346.1,-9.1,496,3028,0.12,2.22,0.00,0.000,4,0.146,0.052,2424,3765,3820,0,0,0,0,0,0
$GC,3078,-0.55,-194.6,349.8,-5.9,505,3085,0.08,2.03,0.00,0.000,6,0.124,0.025,2377,2322,3820,0,0,0,0,0,0
$GC,3440,-0.56,-194.6,378.3,-8.3,566,3449,0.12,2.00,0.00,0.000,4,0.128,0.033,2421,956,3818,0,0,0,0,0,0
$GC,3475,-0.58,-194.6,380.9,-7.5,571,3483,0.08,2.15,0.00,0.000,6,0.124,0.036,2384,2430,3818,0,0,0,0,0,0
$GC,3837,-0.59,-194.6,409.4,-7.6,632,3847,0.08,2.20,0.00,0.000,4,0.160,0.034,2414,950,3816,0,0,0,0,0,0
$GC,4108,-0.62,-194.6,431.3,-8.6,678,4118,0.08,2.22,0.00,0.000,6,0.086,0.038,2378,2434,3815,0,0,0,0,0,0
$GC,4467,-0.65,-194.6,459.5,-9.1,739,4474,0.00,2.15,0.00,0.000,4,0.000,0.031,2378,939,3813,0,0,0,0,0,0
$GC,4736,-0.68,-194.6,482.3,-7.9,785,4742,0.00,2.20,0.00,0.000,6,0.000,0.037,2378,2436,3810,0,0,0,0,0,0
$GC,5082,-0.71,-194.6,505.6,-6.3,838,5087,0.08,2.17,0.00,0.000,4,0.143,0.032,2344,947,3809,0,0,0,0,0,0
$GC,5196,-0.71,-194.6,513.4,-8.4,848,5201,0.10,2.22,0.00,0.000,6,0.157,0.041,2375,2430,3808,0,0,0,0,0,0
$GC,5521,-0.71,-194.6,536.3,-7.7,878,5526,0.08,2.15,0.00,0.000,4,0.127,0.032,2320,954,3806,0,0,0,0,0,0
$GC,5562,-0.70,-194.6,540.4,-11.8,881,5566,0.17,2.22,0.00,0.000,6,0.134,0.041,2376,2433,3806,0,0,0,0,0,0
$GC,5887,-0.71,-194.6,568.1,-9.0,911,5891,0.08,2.03,0.00,0.000,4,0.126,0.054,2321,3766,3804,0,0,0,0,0,0
$GC,5910,-0.71,-194.6,570.5,-10.6,913,5915,0.15,2.03,0.00,0.000,6,0.126,0.024,2371,2338,3803,0,0,0,0,0,0
$GC,6235,-0.71,-194.6,600.4,-9.0,943,6237,0.05,0.00,0.00,0.000,6,0.173,0.000,2323,2333,3802,0,0,0,0,0,0
$GC,6544,-0.70,-194.6,638.6,-12.3,958,6549,0.15,2.22,0.00,0.000,4,0.140,0.054,2372,3772,3800,0,0,0,0,0,0
$GC,6594,-0.71,-194.6,643.0,-7.8,960,6599,0.08,2.05,0.00,0.000,6,0.123,0.025,2310,2336,3799,0,0,0,0,0,0
$GC,6910,-0.70,-194.6,682.2,-12.3,975,6915,0.20,2.00,0.00,0.000,4,0.134,0.031,2376,948,3798,0,0,0,0,0,0
$GC,6937,-0.70,-194.6,685.2,-8.9,976,6941,0.05,2.20,0.00,0.000,6,0.170,0.041,2328,2422,3798,0,0,0,0,0,0
$GC,7258,-0.69,-194.6,720.2,-11.5,992,7263,0.15,2.17,0.00,0.000,4,0.138,0.032,2377,945,3795,0,0,0,0,0,0
$GC,7279,-0.69,-194.6,722.6,-10.6,993,7284,0.03,2.25,0.00,0.000,6,0.109,0.041,2333,2413,3795,0,0,0,0,0,0
$GC,7607,-0.69,-194.6,758.1,-10.9,1009,7612,0.15,2.15,0.00,0.000,4,0.133,0.032,2383,953,3793,0,0,0,0,0,0
$GC,7628,-0.69,-194.6,760.4,-9.8,1010,7633,0.05,2.25,0.00,0.000,6,0.065,0.041,2321,2427,3793,0,0,0,0,0,0
$GC,7955,-0.68,-194.6,799.4,-12.6,1026,7960,0.17,1.92,0.00,0.000,3,0.129,0.055,2376,3683,3791,0,0,0,0,0,0
$STATE,7961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7961,begin apogee
$GC,7968,-0.11,0.0,800.4,12.8,1026,8199,0.50,0.12,220.48,0.952,6,0.092,0.086,2561,2143,3027,0,0,0,0,0,0
$STATE,8201,end apogee,CONTROL_FINISHED_OK
$STATE,8201,begin climb
$GC,8203,0.53,194.6,816.3,0.0,1037,8447,0.52,2.28,234.05,0.922,4,0.038,0.046,2809,3533,2232,0,0,0,0,0,0
$GC,8525,0.50,194.6,801.4,15.7,1052,8530,0.28,2.25,0.00,0.000,6,0.177,0.028,2745,2049,2228,0,0,0,0,0,0
$GC,8847,0.49,194.6,768.4,10.1,1068,8851,0.00,2.30,0.00,0.000,4,0.000,0.048,2745,3525,2222,0,0,0,0,0,0
$GC,8981,0.47,194.6,751.5,13.0,1074,8986,0.08,2.17,0.00,0.000,6,0.209,0.028,2732,2057,2221,0,0,0,0,0,0
$GC,9303,0.46,194.6,718.9,9.7,1090,9306,0.00,2.05,0.00,0.000,4,0.000,0.039,2735,664,2219,0,0,0,0,0,0
$GC,9326,0.45,194.6,716.6,9.7,1091,9330,0.00,2.20,0.00,0.000,6,0.000,0.034,2735,2131,2218,0,0,0,0,0,0
$GC,9659,0.43,194.6,684.0,9.8,1107,9663,0.00,2.12,0.00,0.000,4,0.000,0.050,2735,3530,2217,0,0,0,0,0,0
$GC,9708,0.42,194.6,678.3,11.2,1109,9713,0.08,2.17,0.00,0.000,6,0.199,0.028,2716,2052,2218,0,0,0,0,0,0
$GC,10031,0.43,210.8,650.7,8.4,1125,10055,0.08,2.15,17.05,0.873,4,0.126,0.039,2778,652,2167,0,0,0,0,0,0
$GC,10083,0.42,210.8,644.9,12.1,1127,10087,0.20,2.20,0.00,0.000,6,0.153,0.035,2719,2129,2165,0,0,0,0,0,0
$GC,10405,0.41,210.8,615.8,8.9,1143,10409,0.00,2.12,0.00,0.000,4,0.000,0.048,2718,3538,2163,0,0,0,0,0,0
$GC,10448,0.40,210.8,611.2,11.0,1145,10452,0.00,2.17,0.00,0.000,6,0.000,0.028,2722,2062,2163,0,0,0,0,0,0
$GC,10776,0.40,216.0,582.3,8.7,1170,10788,0.00,2.33,6.82,0.735,4,0.000,0.048,2722,3530,2146,0,0,0,0,0,0
$GC,10827,0.39,216.0,577.1,11.0,1174,10834,0.05,2.17,0.00,0.000,6,0.236,0.028,2709,2051,2146,0,0,0,0,0,0
$GC,11153,0.46,273.6,553.4,7.1,1205,11231,0.10,2.42,71.00,0.861,4,0.103,0.048,2775,3525,1910,0,0,0,0,0,0
$GC,11268,0.44,273.6,539.9,15.1,1215,11273,0.20,2.22,0.00,0.000,6,0.147,0.027,2724,2048,1907,0,0,0,0,0,0
$GC,11593,0.48,302.8,512.2,8.0,1245,11636,0.10,2.40,35.70,0.821,4,0.103,0.047,2790,3522,1791,0,0,0,0,0,0
$GC,11653,0.46,302.8,504.6,13.5,1250,11660,0.20,2.20,0.00,0.000,6,0.145,0.027,2734,2049,1790,0,0,0,0,0,0
$GC,12005,0.46,302.8,471.2,10.0,1307,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2046,1785,0,0,0,0,0,0
$GC,12360,0.46,302.8,435.5,10.0,1368,12370,0.00,2.33,0.00,0.000,4,0.000,0.047,2733,3529,1784,0,0,0,0,0,0
$GC,12407,0.46,302.8,430.7,11.0,1375,12413,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2052,1783,0,0,0,0,0,0
$GC,12765,0.48,312.1,396.1,8.6,1436,12781,0.00,2.35,10.65,0.708,4,0.000,0.048,2735,3535,1754,0,0,0,0,0,0
$GC,12825,0.48,312.1,390.8,9.5,1445,12832,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2059,1753,0,0,0,0,0,0
$GC,13183,0.53,356.5,361.9,7.5,1506,13250,0.10,2.17,55.47,0.745,4,0.103,0.040,2817,661,1571,0,0,0,0,0,0
$GC,13266,0.52,356.5,352.4,12.9,1517,13274,0.22,2.22,0.00,0.000,6,0.133,0.034,2749,2120,1570,0,0,0,0,0,0
$GC,13628,0.52,356.5,321.3,8.9,1578,13636,0.00,2.20,0.00,0.000,4,0.000,0.048,2749,3530,1565,0,0,0,0,0,0
$GC,13675,0.53,356.5,316.8,9.8,1585,13682,0.05,2.17,0.00,0.000,6,0.171,0.027,2807,2053,1565,0,0,0,0,0,0
$GC,14035,0.52,356.5,265.9,14.1,1646,14045,0.20,2.30,0.00,0.000,4,0.142,0.045,2745,3519,1564,0,0,0,0,0,0
$GC,14094,0.52,356.5,259.7,9.3,1655,14101,0.00,2.12,0.00,0.000,6,0.000,0.026,2749,2049,1564,0,0,0,0,0,0
$GC,14453,0.63,436.6,234.1,6.4,1716,14555,0.15,2.42,94.72,0.656,4,0.074,0.047,2841,3532,1247,0,0,0,0,0,0
$GC,14589,0.62,436.6,215.3,15.4,1735,14596,0.20,2.22,0.00,0.000,6,0.132,0.027,2782,2054,1244,0,0,0,0,0,0
$GC,14951,0.64,450.6,184.8,8.5,1796,14976,0.08,2.10,16.38,0.587,4,0.124,0.038,2846,659,1191,0,0,0,0,0,0
$GC,15026,0.64,450.6,175.9,12.5,1807,15033,0.17,2.20,0.00,0.000,6,0.121,0.034,2788,2121,1189,0,0,0,0,0,0
$GC,15389,0.69,482.6,144.1,7.9,1868,15441,0.10,2.20,39.22,0.584,4,0.102,0.047,2859,3525,1058,0,0,0,0,0,0
$GC,15469,0.68,482.6,133.5,15.7,1878,15478,0.17,2.20,0.00,0.000,6,0.103,0.027,2800,2061,1056,0,0,0,0,0,0
$GC,15838,0.80,571.3,104.5,6.1,1939,15947,0.15,2.20,102.30,0.555,4,0.074,0.040,2900,661,698,0,0,0,0,0,0
$GC,15992,0.80,571.3,82.4,12.9,1959,16001,0.17,2.25,0.00,0.000,6,0.094,0.032,2835,2131,696,0,0,0,0,0,0
$GC,16361,0.84,571.3,54.6,9.7,2020,16370,0.10,2.15,0.00,0.000,4,0.127,0.047,2876,3521,693,0,0,0,0,0,0
$GC,16634,0.86,571.3,20.1,15.4,2066,16644,0.03,2.15,0.00,0.000,6,0.098,0.028,2832,2063,694,0,0,0,0,0,0
$STATE,16775,end climb,SURFACE_DEPTH_REACHED
$STATE,16775,begin surface coast
$FINISH,1.0,1.022158
$STATE,16806,end surface coast,CONTROL_FINISHED_OK
$STATE,16806,begin surface
$SM_CCo,16881,0.00,0.000,0,0,693,572.53
$SM_GC,1.76,6.65,0.00,0.00,0.040,0.000,0.000,201,2485,693,-7.40,2.40,572.53
$IRIDIUM_FIX,2307.44,12622.17,301010,010103
$TT8_MAMPS,0.026215
$HUMID,51.53
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.8,54.992
$10V_AH,10.2,51.065
$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,23.225,161.925,903.850,0.000,0.000,30.443,42.410,220.826,0.000,0.000,21.850,5051.440,5390.624,902.003,5569.159,398.649,0.000,2750.707,0.000,5303.131,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,86.445,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1417.271,0.000,3281.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334040
$DATA_FILE_SIZE,123478,2094
$CAP_FILE_SIZE,217949,0
$CFSIZE,260165632,231010304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,303.0,1
$GPS,301010,104631,2313.306,12619.607,39,1.5,39,-3.4