version: 66.08
glider: 176
mission: 2
dive: 374
start: 10 31 110 1 21 10
data:
$ID,176
$MISSION,2
$DIVE,374
$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,-5407.9165
$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
$GPS1,311010,011336,2312.285,12622.326,35,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.2
$GPS2,311010,012043,2312.269,12622.274,12,1.6,12,-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,193.1,208157,-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,16,-0.53,-194.6,0.0,0.0,0,74,0.00,0.00,-56.28,0.000,2,0.000,0.000,191,2430,2630,0,0,0,0,0,0
$GC,77,-0.53,-194.6,3.6,-4.5,7,120,9.23,2.10,-23.10,0.000,4,0.240,0.067,2416,3765,3823,0,0,0,0,0,0
$GC,268,-0.53,-194.6,36.1,-13.3,37,276,0.00,2.08,0.00,0.000,6,0.000,0.031,2417,2364,3824,0,0,0,0,0,0
$GC,634,-0.52,-194.6,105.6,-15.9,98,643,0.00,2.10,0.00,0.000,4,0.000,0.041,2417,951,3824,0,0,0,0,0,0
$GC,694,-0.52,-194.6,113.9,-14.1,107,703,0.00,2.22,0.00,0.000,6,0.000,0.041,2417,2422,3825,0,0,0,0,0,0
$GC,1051,-0.52,-194.6,154.1,-10.0,168,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2422,3825,0,0,0,0,0,0
$GC,1400,-0.52,-194.6,192.1,-11.1,229,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2422,3825,0,0,0,0,0,0
$GC,1742,-0.52,-194.6,226.5,-9.1,290,1751,0.00,2.15,0.00,0.000,4,0.000,0.033,2417,956,3825,0,0,0,0,0,0
$GC,1810,-0.53,-194.6,232.3,-9.0,301,1817,0.00,2.17,0.00,0.000,6,0.000,0.039,2417,2425,3825,0,0,0,0,0,0
$GC,2153,-0.53,-194.6,262.7,-8.1,362,2162,0.00,2.15,0.00,0.000,4,0.000,0.033,2417,959,3824,0,0,0,0,0,0
$GC,2187,-0.54,-194.6,265.4,-8.3,367,2195,0.00,2.17,0.00,0.000,6,0.000,0.039,2417,2425,3824,0,0,0,0,0,0
$GC,2532,-0.54,-194.6,292.8,-8.9,428,2541,0.00,2.17,0.00,0.000,4,0.000,0.033,2417,948,3822,0,0,0,0,0,0
$GC,2567,-0.55,-194.6,295.7,-8.9,433,2573,0.00,2.20,0.00,0.000,6,0.000,0.039,2417,2426,3822,0,0,0,0,0,0
$GC,2911,-0.56,-194.6,325.0,-7.9,494,2920,0.00,2.17,0.00,0.000,4,0.000,0.034,2417,951,3820,0,0,0,0,0,0
$GC,2945,-0.57,-194.6,327.4,-7.6,499,2954,0.05,2.20,0.00,0.000,6,0.180,0.038,2372,2435,3820,0,0,0,0,0,0
$GC,3296,-0.56,-194.6,363.3,-10.2,560,3305,0.15,0.00,0.00,0.000,6,0.138,0.000,2420,2436,3819,0,0,0,0,0,0
$GC,3649,-0.57,-194.6,386.9,-7.0,621,3657,0.08,2.17,0.00,0.000,4,0.129,0.033,2361,950,3817,0,0,0,0,0,0
$GC,3722,-0.57,-194.6,394.5,-11.2,633,3729,0.17,2.20,0.00,0.000,6,0.130,0.041,2417,2424,3816,0,0,0,0,0,0
$GC,4073,-0.58,-194.6,422.4,-6.8,694,4082,0.08,2.17,0.00,0.000,4,0.131,0.033,2359,959,3815,0,0,0,0,0,0
$GC,4100,-0.59,-194.6,425.1,-8.8,698,4110,0.12,2.20,0.00,0.000,6,0.104,0.041,2406,2415,3815,0,0,0,0,0,0
$GC,4451,-0.59,-194.6,448.1,-5.8,759,4459,0.00,2.10,0.00,0.000,4,0.000,0.031,2407,953,3814,0,0,0,0,0,0
$GC,4485,-0.60,-194.6,450.3,-6.3,764,4494,0.03,2.22,0.00,0.000,6,0.107,0.038,2362,2432,3813,0,0,0,0,0,0
$GC,4834,-0.60,-194.6,484.3,-10.7,825,4842,0.12,2.17,0.00,0.000,4,0.140,0.032,2402,941,3811,0,0,0,0,0,0
$GC,4878,-0.61,-194.6,488.3,-8.4,832,4887,0.03,2.22,0.00,0.000,6,0.107,0.040,2355,2414,3810,0,0,0,0,0,0
$GC,5213,-0.61,-194.6,523.8,-10.6,872,5217,0.15,2.15,0.00,0.000,4,0.130,0.032,2404,952,3809,0,0,0,0,0,0
$GC,5234,-0.62,-194.6,526.1,-9.0,873,5241,0.08,2.20,0.00,0.000,6,0.125,0.041,2353,2423,3808,0,0,0,0,0,0
$GC,5560,-0.61,-194.6,558.7,-10.0,904,5564,0.15,2.17,0.00,0.000,4,0.129,0.032,2402,954,3807,0,0,0,0,0,0
$GC,5593,-0.62,-194.6,561.4,-7.0,906,5600,0.08,2.22,0.00,0.000,6,0.121,0.041,2345,2433,3806,0,0,0,0,0,0
$GC,5918,-0.62,-194.6,592.8,-9.7,937,5922,0.17,2.17,0.00,0.000,4,0.125,0.032,2404,957,3805,0,0,0,0,0,0
$GC,5944,-0.63,-194.6,594.8,-6.8,939,5953,0.08,2.22,0.00,0.000,6,0.124,0.041,2350,2432,3805,0,0,0,0,0,0
$GC,6264,-0.62,-194.6,623.0,-9.1,958,6268,0.15,2.17,0.00,0.000,4,0.127,0.033,2401,954,3802,0,0,0,0,0,0
$GC,6302,-0.64,-194.6,626.1,-7.1,959,6311,0.08,2.20,0.00,0.000,6,0.121,0.041,2341,2429,3801,0,0,0,0,0,0
$GC,6618,-0.63,-194.6,656.0,-9.6,975,6623,0.17,2.17,0.00,0.000,4,0.127,0.033,2400,950,3800,0,0,0,0,0,0
$GC,6639,-0.63,-194.6,657.8,-7.9,976,6644,0.08,2.20,0.00,0.000,6,0.120,0.042,2346,2420,3800,0,0,0,0,0,0
$GC,6960,-0.63,-194.6,688.6,-10.3,992,6965,0.15,2.15,0.00,0.000,4,0.126,0.033,2396,956,3797,0,0,0,0,0,0
$GC,7001,-0.64,-194.6,692.1,-7.6,994,7006,0.08,2.20,0.00,0.000,6,0.121,0.041,2335,2426,3797,0,0,0,0,0,0
$GC,7329,-0.64,-194.6,731.1,-12.2,1010,7333,0.17,2.17,0.00,0.000,4,0.126,0.034,2393,955,3795,0,0,0,0,0,0
$GC,7356,-0.64,-194.6,734.0,-9.0,1011,7361,0.03,2.25,0.00,0.000,6,0.245,0.044,2351,2431,3795,0,0,0,0,0,0
$GC,7673,-0.64,-194.6,764.4,-9.5,1026,7677,0.12,2.17,0.00,0.000,4,0.133,0.034,2392,957,3793,0,0,0,0,0,0
$GC,7717,-0.66,-194.6,768.0,-6.8,1028,7721,0.05,2.22,0.00,0.000,6,0.174,0.041,2346,2423,3792,0,0,0,0,0,0
$GC,8038,-0.66,-194.6,799.7,-10.0,1044,8042,0.12,2.00,0.00,0.000,3,0.135,0.034,2388,1064,3791,0,0,0,0,0,0
$STATE,8043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8043,begin apogee
$GC,8049,-0.11,0.0,800.2,9.9,1044,8278,0.47,0.08,220.12,0.951,6,0.089,0.101,2566,2047,3026,0,0,0,0,0,0
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8280,begin climb
$GC,8282,0.53,194.6,813.8,0.0,1055,8527,0.52,2.22,234.35,0.919,4,0.041,0.037,2816,663,2232,0,0,0,0,0,0
$GC,8731,0.51,194.6,779.9,15.3,1075,8736,0.25,2.22,0.00,0.000,6,0.163,0.035,2746,2134,2225,0,0,0,0,0,0
$GC,9047,0.49,194.6,744.5,11.2,1090,9051,0.00,2.12,0.00,0.000,4,0.000,0.050,2746,3531,2221,0,0,0,0,0,0
$GC,9097,0.47,194.6,737.9,13.7,1092,9101,0.08,2.15,0.00,0.000,6,0.213,0.029,2732,2058,2221,0,0,0,0,0,0
$GC,9419,0.46,194.6,704.3,10.0,1108,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2054,2218,0,0,0,0,0,0
$GC,9729,0.48,214.6,676.3,8.3,1123,9759,0.05,2.35,22.23,0.888,4,0.177,0.048,2777,3526,2151,0,0,0,0,0,0
$GC,9819,0.46,214.6,666.0,13.1,1127,9823,0.20,2.15,0.00,0.000,6,0.164,0.026,2731,2058,2149,0,0,0,0,0,0
$GC,10147,0.45,219.3,636.8,8.7,1143,10158,0.00,2.28,6.45,0.730,4,0.000,0.046,2731,3532,2132,0,0,0,0,0,0
$GC,10188,0.44,219.3,632.5,10.9,1145,10192,0.00,2.15,0.00,0.000,6,0.000,0.028,2736,2059,2132,0,0,0,0,0,0
$GC,10516,0.43,219.3,600.5,9.7,1161,10521,0.05,2.10,0.00,0.000,4,0.241,0.038,2732,654,2130,0,0,0,0,0,0
$GC,10549,0.43,223.4,597.4,8.8,1163,10560,0.00,2.17,6.22,0.715,6,0.000,0.034,2732,2124,2116,0,0,0,0,0,0
$GC,10880,0.42,223.4,567.3,8.9,1194,10884,0.00,2.15,0.00,0.000,4,0.000,0.047,2732,3534,2114,0,0,0,0,0,0
$GC,10943,0.41,223.4,561.2,10.3,1199,10947,0.08,2.17,0.00,0.000,6,0.196,0.028,2715,2058,2114,0,0,0,0,0,0
$GC,11268,0.46,263.9,536.1,7.6,1229,11325,0.10,2.38,49.80,0.851,4,0.103,0.049,2781,3527,1950,0,0,0,0,0,0
$GC,11349,0.44,263.9,526.7,12.7,1236,11357,0.22,2.22,0.00,0.000,6,0.147,0.028,2723,2051,1949,0,0,0,0,0,0
$GC,11674,0.51,319.3,501.1,7.2,1267,11754,0.12,2.40,68.38,0.822,4,0.089,0.049,2801,3516,1724,0,0,0,0,0,0
$GC,11792,0.49,319.3,486.2,14.7,1283,11799,0.20,2.20,0.00,0.000,6,0.142,0.028,2742,2060,1721,0,0,0,0,0,0
$GC,12152,0.49,319.3,451.1,9.2,1344,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2058,1715,0,0,0,0,0,0
$GC,12515,0.52,341.0,420.3,8.2,1405,12546,0.08,2.35,25.95,0.760,4,0.129,0.047,2804,3525,1636,0,0,0,0,0,0
$GC,12597,0.51,341.0,410.1,14.3,1417,12605,0.22,2.17,0.00,0.000,6,0.132,0.027,2742,2062,1633,0,0,0,0,0,0
$GC,12959,0.51,341.0,377.0,9.7,1478,12967,0.08,0.00,0.00,0.000,6,0.128,0.000,2805,2057,1629,0,0,0,0,0,0
$GC,13320,0.50,341.0,326.8,13.5,1539,13327,0.20,2.28,0.00,0.000,4,0.138,0.044,2743,3531,1629,0,0,0,0,0,0
$GC,13396,0.51,349.1,318.8,8.6,1551,13412,0.00,2.15,9.90,0.642,6,0.000,0.027,2749,2056,1603,0,0,0,0,0,0
$GC,13765,0.60,419.2,292.0,6.7,1613,13858,0.12,2.20,85.25,0.688,4,0.085,0.040,2844,664,1317,0,0,0,0,0,0
$GC,13881,0.59,419.2,276.2,14.9,1629,13888,0.22,2.25,0.00,0.000,6,0.129,0.035,2775,2125,1315,0,0,0,0,0,0
$GC,14240,0.60,419.2,242.6,9.9,1690,14248,0.00,2.17,0.00,0.000,4,0.000,0.048,2774,3527,1310,0,0,0,0,0,0
$GC,14275,0.60,419.2,239.1,10.5,1695,14282,0.00,2.17,0.00,0.000,6,0.000,0.027,2776,2050,1310,0,0,0,0,0,0
$GC,14633,0.61,419.2,205.1,9.3,1756,14643,0.00,2.08,0.00,0.000,4,0.000,0.039,2777,661,1310,0,0,0,0,0,0
$GC,14681,0.66,449.1,201.1,8.0,1763,14726,0.10,2.17,35.45,0.615,6,0.099,0.031,2848,2133,1195,0,0,0,0,0,0
$GC,15078,0.65,449.1,145.7,14.2,1829,15088,0.17,2.17,0.00,0.000,4,0.133,0.048,2791,3532,1191,0,0,0,0,0,0
$GC,15126,0.66,449.1,140.5,9.4,1836,15137,0.03,2.17,0.00,0.000,6,0.103,0.028,2840,2059,1191,0,0,0,0,0,0
$GC,15490,0.65,449.1,102.3,10.5,1897,15499,0.15,2.12,0.00,0.000,4,0.134,0.041,2791,657,1190,0,0,0,0,0,0
$GC,15520,0.66,449.1,99.2,10.0,1901,15529,0.03,2.20,0.00,0.000,6,0.101,0.032,2825,2133,1190,0,0,0,0,0,0
$GC,15890,0.70,469.0,70.7,8.3,1962,15926,0.08,2.15,24.27,0.521,4,0.158,0.047,2796,3526,1113,0,0,0,0,0,0
$GC,16190,0.73,469.0,43.4,10.2,2011,16199,0.08,2.17,0.00,0.000,6,0.072,0.028,2836,2045,1111,0,0,0,0,0,0
$GC,16556,0.80,499.5,10.8,7.9,2072,16596,0.00,2.10,32.67,0.477,4,0.000,0.039,2836,653,989,0,0,0,0,0,0
$STATE,16649,end climb,SURFACE_DEPTH_REACHED
$STATE,16649,begin surface coast
$FINISH,1.1,1.014425
$STATE,16681,end surface coast,CONTROL_FINISHED_OK
$STATE,16681,begin surface
$SM_CCo,16759,0.00,0.000,0,0,987,500.17
$SM_GC,1.73,6.65,0.00,0.00,0.037,0.000,0.000,199,2432,987,-7.39,0.90,500.17
$IRIDIUM_FIX,2305.10,12624.05,301010,202053
$TT8_MAMPS,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.8,55.857
$10V_AH,10.2,52.024
$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,22.500,157.450,821.050,0.000,0.000,22.273,38.208,207.552,0.000,0.000,15.016,5044.483,5281.038,869.115,5576.199,387.943,0.000,2696.494,0.000,5328.256,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,100.980,950.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1415.000,0.000,3361.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,123502,2091
$CAP_FILE_SIZE,216453,0
$CFSIZE,260165632,230596608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,286.9,1
$GPS,311010,060137,2310.407,12620.913,40,1.4,40,-3.4