version: 66.08
glider: 176
mission: 2
dive: 371
start: 10 30 110 10 53 59
data:
$ID,176
$MISSION,2
$DIVE,371
$N_DIVES,384
$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,-5404.1489
$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
$GPS1,301010,104631,2313.306,12619.607,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.6
$GPS2,301010,105332,2313.268,12619.524,14,1.9,14,-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,147.1,209210,-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,-194.6,0.0,0.0,0,82,0.00,0.00,-64.82,0.000,2,0.000,0.000,201,2487,2616,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.6,-4.5,8,128,9.15,2.30,-23.65,0.000,4,0.241,0.043,2419,950,3823,0,0,0,0,0,0
$GC,230,-0.53,-194.6,32.8,-15.7,30,239,0.00,2.25,0.00,0.000,6,0.000,0.041,2419,2419,3824,0,0,0,0,0,0
$GC,596,-0.52,-194.6,97.0,-14.8,91,604,0.00,2.15,0.00,0.000,4,0.000,0.030,2419,953,3823,0,0,0,0,0,0
$GC,625,-0.51,-194.6,101.2,-14.3,95,634,0.00,2.22,0.00,0.000,6,0.000,0.041,2419,2422,3824,0,0,0,0,0,0
$GC,993,-0.51,-194.6,144.0,-10.7,156,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2422,3823,0,0,0,0,0,0
$GC,1354,-0.51,-194.6,180.0,-9.5,217,1361,0.00,2.12,0.00,0.000,4,0.000,0.031,2419,949,3823,0,0,0,0,0,0
$GC,1386,-0.51,-194.6,183.2,-9.7,222,1394,0.00,2.22,0.00,0.000,6,0.000,0.039,2419,2429,3823,0,0,0,0,0,0
$GC,1749,-0.52,-194.6,211.4,-7.6,283,1755,0.00,2.15,0.00,0.000,4,0.000,0.031,2419,941,3823,0,0,0,0,0,0
$GC,1801,-0.53,-194.6,215.8,-8.2,291,1808,0.00,2.20,0.00,0.000,6,0.000,0.038,2419,2426,3823,0,0,0,0,0,0
$GC,2158,-0.53,-194.6,247.5,-8.9,352,2167,0.00,2.05,0.00,0.000,4,0.000,0.054,2419,3766,3822,0,0,0,0,0,0
$GC,2194,-0.54,-194.6,250.5,-8.5,357,2201,0.00,2.03,0.00,0.000,6,0.000,0.025,2420,2331,3822,0,0,0,0,0,0
$GC,2552,-0.55,-194.6,280.7,-7.6,418,2560,0.00,2.00,0.00,0.000,4,0.000,0.032,2419,953,3821,0,0,0,0,0,0
$GC,2579,-0.56,-194.6,282.9,-7.8,422,2588,0.00,2.20,0.00,0.000,6,0.000,0.037,2419,2422,3821,0,0,0,0,0,0
$GC,2942,-0.57,-194.6,308.2,-6.8,483,2949,0.08,2.12,0.00,0.000,4,0.132,0.031,2364,949,3819,0,0,0,0,0,0
$GC,2971,-0.57,-194.6,310.9,-8.7,487,2978,0.15,2.17,0.00,0.000,6,0.132,0.040,2412,2424,3819,0,0,0,0,0,0
$GC,3332,-0.58,-194.6,338.6,-7.2,548,3342,0.00,2.15,0.00,0.000,4,0.000,0.031,2413,956,3817,0,0,0,0,0,0
$GC,3369,-0.59,-194.6,341.5,-7.9,553,3377,0.08,2.17,0.00,0.000,6,0.125,0.038,2355,2427,3817,0,0,0,0,0,0
$GC,3730,-0.58,-194.6,389.5,-14.3,614,3739,0.17,2.20,0.00,0.000,4,0.132,0.031,2412,945,3816,0,0,0,0,0,0
$GC,3758,-0.58,-194.6,392.9,-12.2,618,3768,0.03,2.22,0.00,0.000,6,0.096,0.039,2368,2423,3816,0,0,0,0,0,0
$GC,4122,-0.58,-194.6,432.3,-10.8,679,4128,0.15,0.00,0.00,0.000,6,0.135,0.000,2416,2423,3815,0,0,0,0,0,0
$GC,4478,-0.61,-194.6,458.3,-7.6,740,4488,0.10,2.20,0.00,0.000,4,0.112,0.033,2372,946,3813,0,0,0,0,0,0
$GC,4665,-0.63,-194.6,472.8,-7.4,771,4673,0.08,2.17,0.00,0.000,6,0.132,0.036,2411,2431,3811,0,0,0,0,0,0
$GC,5023,-0.66,-194.6,499.7,-8.0,832,5032,0.12,2.20,0.00,0.000,4,0.094,0.034,2355,956,3810,0,0,0,0,0,0
$GC,5106,-0.66,-194.6,507.3,-9.9,840,5111,0.10,2.17,0.00,0.000,6,0.153,0.040,2387,2425,3809,0,0,0,0,0,0
$GC,5432,-0.68,-194.6,534.3,-8.0,870,5436,0.08,2.05,0.00,0.000,4,0.123,0.054,2332,3765,3806,0,0,0,0,0,0
$GC,5504,-0.67,-194.6,541.7,-11.0,876,5511,0.15,2.03,0.00,0.000,6,0.122,0.027,2384,2336,3806,0,0,0,0,0,0
$GC,5830,-0.68,-194.6,569.4,-8.7,907,5834,0.08,2.03,0.00,0.000,4,0.127,0.034,2331,960,3805,0,0,0,0,0,0
$GC,5877,-0.67,-194.6,574.4,-11.9,911,5882,0.15,2.20,0.00,0.000,6,0.135,0.041,2380,2425,3805,0,0,0,0,0,0
$GC,6202,-0.68,-194.6,603.6,-8.7,939,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2426,3802,0,0,0,0,0,0
$GC,6511,-0.68,-194.6,629.8,-8.4,954,6516,0.05,2.17,0.00,0.000,4,0.171,0.034,2334,951,3800,0,0,0,0,0,0
$GC,6559,-0.68,-194.6,635.1,-11.0,956,6564,0.10,2.25,0.00,0.000,6,0.106,0.044,2375,2421,3800,0,0,0,0,0,0
$GC,6883,-0.68,-194.6,661.0,-8.1,972,6887,0.00,2.15,0.00,0.000,4,0.000,0.033,2376,945,3798,0,0,0,0,0,0
$GC,6932,-0.69,-194.6,665.5,-8.2,974,6937,0.03,2.20,0.00,0.000,6,0.252,0.041,2333,2421,3797,0,0,0,0,0,0
$GC,7249,-0.69,-194.6,699.3,-10.6,989,7253,0.15,2.17,0.00,0.000,4,0.136,0.032,2383,944,3795,0,0,0,0,0,0
$GC,7269,-0.69,-194.6,701.4,-9.2,990,7274,0.05,2.28,0.00,0.000,6,0.064,0.042,2320,2426,3795,0,0,0,0,0,0
$GC,7597,-0.68,-194.6,736.6,-10.6,1006,7602,0.17,2.17,0.00,0.000,4,0.132,0.033,2378,953,3793,0,0,0,0,0,0
$GC,7631,-0.68,-194.6,739.6,-8.0,1007,7637,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,2429,3793,0,0,0,0,0,0
$GC,7947,-0.69,-194.6,759.6,-6.6,1023,7951,0.00,2.17,0.00,0.000,4,0.000,0.034,2377,955,3792,0,0,0,0,0,0
$GC,7975,-0.70,-194.6,761.9,-7.7,1024,7980,0.05,2.20,0.00,0.000,6,0.174,0.042,2329,2420,3791,0,0,0,0,0,0
$GC,8296,-0.69,-194.6,796.0,-11.0,1040,8301,0.15,2.10,0.00,0.000,4,0.135,0.057,2376,3771,3789,0,0,0,0,0,0
$GC,8318,-0.69,-194.6,798.2,-9.8,1041,8323,0.05,2.05,0.00,0.000,6,0.171,0.025,2332,2345,3788,0,0,0,0,0,0
$STATE,8355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8355,begin apogee
$GC,8360,-0.11,0.0,801.8,9.7,1043,8588,0.65,0.15,220.57,0.953,6,0.103,0.055,2563,2135,3026,0,0,0,0,0,0
$STATE,8591,end apogee,CONTROL_FINISHED_OK
$STATE,8591,begin climb
$GC,8593,0.53,194.6,816.1,0.0,1053,8839,0.52,2.40,235.38,0.920,4,0.038,0.037,2817,663,2232,0,0,0,0,0,0
$GC,8940,0.51,194.6,797.9,13.7,1069,8948,0.17,2.28,0.00,0.000,6,0.158,0.035,2751,2119,2226,0,0,0,0,0,0
$GC,9256,0.49,194.6,764.1,10.1,1085,9260,0.00,2.15,0.00,0.000,4,0.000,0.048,2751,3537,2222,0,0,0,0,0,0
$GC,9368,0.47,194.6,751.1,11.9,1090,9373,0.05,2.20,0.00,0.000,6,0.161,0.028,2733,2058,2222,0,0,0,0,0,0
$GC,9697,0.49,218.2,722.3,8.2,1106,9730,0.08,2.30,26.90,0.901,4,0.126,0.047,2788,3524,2138,0,0,0,0,0,0
$GC,9760,0.46,218.2,714.7,15.1,1109,9765,0.22,2.20,0.00,0.000,6,0.167,0.028,2736,2052,2136,0,0,0,0,0,0
$GC,10088,0.45,218.2,683.3,9.5,1125,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2048,2132,0,0,0,0,0,0
$GC,10397,0.44,218.2,652.9,9.8,1140,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2048,2130,0,0,0,0,0,0
$GC,10706,0.43,218.2,623.3,9.4,1155,10710,0.00,2.28,0.00,0.000,4,0.000,0.049,2736,3536,2129,0,0,0,0,0,0
$GC,10739,0.42,218.2,619.5,11.2,1156,10747,0.08,2.17,0.00,0.000,6,0.194,0.028,2715,2060,2129,0,0,0,0,0,0
$GC,11059,0.45,242.8,592.9,8.1,1176,11096,0.08,2.33,29.60,0.868,4,0.125,0.048,2770,3518,2037,0,0,0,0,0,0
$GC,11115,0.43,242.8,586.6,12.9,1181,11120,0.20,2.15,0.00,0.000,6,0.149,0.028,2717,2062,2035,0,0,0,0,0,0
$GC,11441,0.45,257.1,558.1,8.4,1211,11461,0.08,0.00,17.67,0.822,6,0.126,0.000,2771,2057,1979,0,0,0,0,0,0
$GC,11779,0.43,257.1,516.4,12.1,1243,11784,0.17,2.28,0.00,0.000,4,0.142,0.047,2717,3528,1975,0,0,0,0,0,0
$GC,11833,0.43,257.1,510.2,10.4,1247,11842,0.00,2.17,0.00,0.000,6,0.000,0.028,2721,2055,1974,0,0,0,0,0,0
$GC,12176,0.49,304.3,481.6,7.4,1297,12240,0.10,0.00,58.38,0.812,6,0.103,0.000,2791,2050,1785,0,0,0,0,0,0
$GC,12580,0.48,304.3,432.9,12.0,1366,12589,0.20,2.33,0.00,0.000,4,0.141,0.047,2730,3519,1778,0,0,0,0,0,0
$GC,12615,0.47,304.3,429.3,10.9,1371,12623,0.00,2.15,0.00,0.000,6,0.000,0.027,2735,2051,1777,0,0,0,0,0,0
$GC,12965,0.48,308.6,399.6,8.8,1432,12973,0.00,2.30,0.00,0.000,4,0.000,0.048,2735,3518,1776,0,0,0,0,0,0
$GC,13033,0.48,308.6,393.2,9.9,1443,13040,0.00,2.12,0.00,0.000,6,0.000,0.027,2735,2058,1775,0,0,0,0,0,0
$GC,13383,0.51,335.4,363.6,8.1,1504,13427,0.08,2.17,37.62,0.732,4,0.128,0.039,2805,657,1658,0,0,0,0,0,0
$GC,13475,0.50,335.4,351.9,13.2,1518,13484,0.17,2.25,0.00,0.000,6,0.114,0.033,2744,2129,1655,0,0,0,0,0,0
$GC,13825,0.53,358.7,321.6,8.2,1579,13862,0.08,2.17,28.33,0.694,4,0.128,0.047,2808,3526,1562,0,0,0,0,0,0
$GC,13883,0.52,358.7,315.0,12.6,1587,13891,0.22,2.20,0.00,0.000,6,0.136,0.028,2748,2055,1562,0,0,0,0,0,0
$GC,14233,0.60,417.0,288.2,7.1,1648,14312,0.12,2.35,70.85,0.679,4,0.086,0.047,2831,3523,1325,0,0,0,0,0,0
$GC,14337,0.59,417.0,272.7,17.1,1663,14346,0.20,2.20,0.00,0.000,6,0.132,0.028,2773,2055,1323,0,0,0,0,0,0
$GC,14688,0.60,423.3,236.8,8.7,1724,14703,0.05,0.00,7.93,0.553,6,0.169,0.000,2828,2049,1300,0,0,0,0,0,0
$GC,15047,0.59,423.3,187.0,13.3,1786,15056,0.17,2.33,0.00,0.000,4,0.135,0.047,2773,3531,1298,0,0,0,0,0,0
$GC,15116,0.66,476.3,180.2,7.2,1797,15187,0.10,2.15,63.83,0.608,6,0.096,0.027,2849,2045,1085,0,0,0,0,0,0
$GC,15536,0.66,476.3,122.9,13.7,1867,15546,0.17,2.33,0.00,0.000,4,0.134,0.046,2793,3523,1079,0,0,0,0,0,0
$GC,15567,0.66,476.3,119.6,11.2,1871,15578,0.03,2.17,0.00,0.000,6,0.102,0.025,2838,2045,1078,0,0,0,0,0,0
$GC,15936,0.68,487.9,87.7,8.5,1932,15962,0.12,2.10,13.50,0.516,4,0.132,0.037,2795,655,1036,0,0,0,0,0,0
$GC,15995,0.84,601.4,84.0,5.4,1940,16136,0.17,2.20,131.15,0.539,6,0.041,0.029,2906,2137,574,0,0,0,0,0,0
$GC,16489,0.84,601.4,22.5,13.3,2017,16498,0.17,2.25,0.00,0.000,4,0.125,0.039,2845,661,570,0,0,0,0,0,0
$GC,16531,0.97,689.6,19.2,6.2,2023,16564,0.15,2.17,21.40,0.475,6,0.038,0.028,2946,2138,499,0,0,0,0,0,0
$STATE,16642,end climb,SURFACE_DEPTH_REACHED
$STATE,16642,begin surface coast
$FINISH,0.9,1.022184
$STATE,16655,end surface coast,CONTROL_FINISHED_OK
$STATE,16655,begin surface
$SM_CCo,16731,0.00,0.000,0,0,497,620.61
$SM_GC,1.61,6.93,0.00,0.00,0.034,0.000,0.000,202,2501,497,-7.40,2.86,620.61
$IRIDIUM_FIX,2302.75,12603.88,301010,050525
$TT8_MAMPS,0.026215
$HUMID,50.47
$INTERNAL_PRESSURE,8.69449
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.7,55.222
$10V_AH,10.1,51.299
$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,23.000,149.925,963.100,0.000,0.000,29.861,15.974,218.603,0.000,0.000,17.113,4880.874,5516.657,941.088,5397.878,389.446,0.000,2787.465,0.000,5161.566,0.000,0.543,0.000
$DEVICE_MAMPS,252.450,56.610,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1380.700,0.000,3182.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333948
$DATA_FILE_SIZE,120327,2042
$CAP_FILE_SIZE,214725,0
$CFSIZE,260165632,230916096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246,318.0,1
$GPS,301010,153400,2313.030,12619.809,37,1.5,42,-3.4