version: 66.08
glider: 176
mission: 2
dive: 380
start: 11 1 110 6 30 42
data:
$ID,176
$MISSION,2
$DIVE,380
$N_DIVES,390
$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,-5415.4673
$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
$GPS1,011110,062330,2305.191,12620.534,38,1.3,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-57.4
$GPS2,011110,063014,2305.134,12620.460,11,1.4,11,-3.3
$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,166.9,194600,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,89,0.00,0.00,-72.22,0.000,2,0.000,0.000,201,2442,2647,0,0,0,0,0,0
$GC,92,-0.53,-194.6,3.5,-4.4,9,134,9.12,2.25,-23.05,0.000,4,0.238,0.048,2418,950,3824,0,0,0,0,0,0
$GC,236,-0.53,-194.6,34.5,-17.7,31,245,0.00,2.25,0.00,0.000,6,0.000,0.042,2417,2416,3824,0,0,0,0,0,0
$GC,603,-0.52,-194.6,101.6,-15.8,92,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2416,3824,0,0,0,0,0,0
$GC,971,-0.52,-194.6,148.3,-11.6,153,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2416,3825,0,0,0,0,0,0
$GC,1329,-0.52,-194.6,183.9,-9.8,214,1339,0.00,2.15,0.00,0.000,4,0.000,0.033,2418,950,3825,0,0,0,0,0,0
$GC,1377,-0.52,-194.6,188.4,-9.7,221,1383,0.00,2.17,0.00,0.000,6,0.000,0.038,2418,2430,3825,0,0,0,0,0,0
$GC,1734,-0.53,-194.6,220.9,-9.3,282,1743,0.00,2.17,0.00,0.000,4,0.000,0.031,2417,946,3825,0,0,0,0,0,0
$GC,1780,-0.53,-194.6,224.9,-9.0,289,1787,0.00,2.17,0.00,0.000,6,0.000,0.038,2418,2427,3824,0,0,0,0,0,0
$GC,2137,-0.54,-194.6,255.4,-8.1,350,2146,0.00,2.15,0.00,0.000,4,0.000,0.031,2418,956,3824,0,0,0,0,0,0
$GC,2177,-0.54,-194.6,258.7,-8.0,356,2186,0.00,2.20,0.00,0.000,6,0.000,0.038,2418,2422,3823,0,0,0,0,0,0
$GC,2541,-0.55,-194.6,285.5,-6.8,417,2547,0.00,2.12,0.00,0.000,4,0.000,0.031,2418,953,3822,0,0,0,0,0,0
$GC,2592,-0.56,-194.6,289.2,-7.2,425,2599,0.05,2.20,0.00,0.000,6,0.179,0.038,2374,2436,3821,0,0,0,0,0,0
$GC,2953,-0.56,-194.6,325.2,-9.7,486,2963,0.15,2.20,0.00,0.000,4,0.139,0.031,2422,948,3821,0,0,0,0,0,0
$GC,3002,-0.57,-194.6,328.6,-6.4,493,3009,0.08,2.17,0.00,0.000,6,0.125,0.037,2367,2431,3821,0,0,0,0,0,0
$GC,3363,-0.56,-194.6,367.4,-11.7,554,3372,0.15,0.00,0.00,0.000,6,0.139,0.000,2415,2431,3819,0,0,0,0,0,0
$GC,3727,-0.57,-194.6,394.8,-6.7,615,3734,0.05,2.17,0.00,0.000,4,0.177,0.033,2360,952,3818,0,0,0,0,0,0
$GC,3770,-0.57,-194.6,399.0,-9.9,622,3780,0.12,2.22,0.00,0.000,6,0.102,0.041,2409,2420,3817,0,0,0,0,0,0
$GC,4134,-0.58,-194.6,422.1,-6.2,683,4140,0.00,2.15,0.00,0.000,4,0.000,0.031,2409,939,3816,0,0,0,0,0,0
$GC,4173,-0.59,-194.6,425.1,-7.2,689,4181,0.05,2.20,0.00,0.000,6,0.166,0.037,2361,2436,3816,0,0,0,0,0,0
$GC,4534,-0.59,-194.6,462.9,-10.6,750,4544,0.15,2.20,0.00,0.000,4,0.132,0.031,2410,955,3814,0,0,0,0,0,0
$GC,4572,-0.59,-194.6,465.8,-8.2,755,4579,0.08,2.17,0.00,0.000,6,0.121,0.039,2348,2427,3814,0,0,0,0,0,0
$GC,4934,-0.59,-194.6,503.7,-10.4,814,4939,0.20,2.17,0.00,0.000,4,0.123,0.031,2415,948,3811,0,0,0,0,0,0
$GC,4966,-0.60,-194.6,506.5,-6.8,816,4974,0.08,2.22,0.00,0.000,6,0.120,0.040,2361,2434,3811,0,0,0,0,0,0
$GC,5292,-0.60,-194.6,536.7,-9.5,847,5296,0.15,2.17,0.00,0.000,4,0.125,0.031,2411,942,3810,0,0,0,0,0,0
$GC,5343,-0.61,-194.6,540.5,-6.7,851,5348,0.10,2.20,0.00,0.000,6,0.097,0.037,2336,2434,3809,0,0,0,0,0,0
$GC,5668,-0.61,-194.6,577.1,-11.3,881,5670,0.20,0.00,0.00,0.000,6,0.124,0.000,2402,2434,3807,0,0,0,0,0,0
$GC,5989,-0.62,-194.6,597.5,-6.3,911,5993,0.05,2.17,0.00,0.000,4,0.174,0.032,2346,950,3805,0,0,0,0,0,0
$GC,6052,-0.62,-194.6,603.3,-10.1,915,6057,0.17,2.20,0.00,0.000,6,0.124,0.041,2403,2422,3805,0,0,0,0,0,0
$GC,6380,-0.63,-194.6,624.4,-6.4,931,6385,0.08,2.15,0.00,0.000,4,0.128,0.034,2360,954,3802,0,0,0,0,0,0
$GC,6453,-0.64,-194.6,630.4,-8.2,934,6457,0.10,2.20,0.00,0.000,6,0.145,0.040,2393,2429,3802,0,0,0,0,0,0
$GC,6775,-0.66,-194.6,651.7,-6.6,950,6779,0.08,2.03,0.00,0.000,4,0.125,0.053,2347,3765,3801,0,0,0,0,0,0
$GC,6792,-0.67,-194.6,653.0,-7.0,950,6800,0.10,2.03,0.00,0.000,6,0.108,0.024,2387,2332,3799,0,0,0,0,0,0
$GC,7108,-0.69,-194.6,675.4,-7.4,966,7113,0.10,2.05,0.00,0.000,4,0.106,0.035,2327,945,3797,0,0,0,0,0,0
$GC,7145,-0.69,-194.6,679.0,-10.1,967,7154,0.12,2.25,0.00,0.000,6,0.112,0.040,2373,2420,3797,0,0,0,0,0,0
$GC,7464,-0.69,-194.6,705.3,-8.6,983,7467,0.00,2.15,0.00,0.000,4,0.000,0.032,2373,947,3795,0,0,0,0,0,0
$GC,7515,-0.70,-194.6,710.0,-9.2,985,7519,0.05,2.22,0.00,0.000,6,0.168,0.041,2321,2422,3794,0,0,0,0,0,0
$GC,7836,-0.69,-194.6,750.0,-12.4,1001,7838,0.17,0.00,0.00,0.000,6,0.131,0.000,2378,2422,3793,0,0,0,0,0,0
$GC,8145,-0.70,-194.6,773.7,-7.2,1016,8150,0.08,2.17,0.00,0.000,4,0.125,0.034,2320,948,3791,0,0,0,0,0,0
$GC,8234,-0.70,-194.6,782.8,-10.1,1020,8238,0.17,2.22,0.00,0.000,6,0.129,0.044,2377,2419,3791,0,0,0,0,0,0
$STATE,8490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8491,begin apogee
$GC,8496,-0.11,0.0,800.7,6.7,1033,8724,0.50,0.20,221.40,0.955,6,0.090,0.066,2563,2144,3027,0,0,0,0,0,0
$STATE,8725,end apogee,CONTROL_FINISHED_OK
$STATE,8725,begin climb
$GC,8727,0.53,194.6,811.6,0.0,1043,8975,0.52,2.30,236.57,0.923,4,0.042,0.046,2802,3525,2232,0,0,0,0,0,0
$GC,9005,0.50,194.6,800.5,16.7,1056,9010,0.22,2.25,0.00,0.000,6,0.177,0.029,2743,2066,2230,0,0,0,0,0,0
$GC,9333,0.49,194.6,766.4,9.6,1072,9337,0.00,2.28,0.00,0.000,4,0.000,0.047,2743,3531,2223,0,0,0,0,0,0
$GC,9360,0.47,194.6,763.3,10.6,1073,9364,0.05,2.17,0.00,0.000,6,0.246,0.028,2737,2057,2223,0,0,0,0,0,0
$GC,9688,0.46,194.6,734.0,9.1,1089,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2054,2222,0,0,0,0,0,0
$GC,9997,0.45,194.6,704.8,9.5,1104,10001,0.00,2.25,0.00,0.000,4,0.000,0.048,2736,3526,2220,0,0,0,0,0,0
$GC,10041,0.43,194.6,699.8,11.1,1106,10046,0.05,2.15,0.00,0.000,6,0.236,0.030,2723,2060,2220,0,0,0,0,0,0
$GC,10363,0.42,194.6,670.3,9.0,1122,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2056,2219,0,0,0,0,0,0
$GC,10672,0.41,194.6,642.2,8.9,1137,10676,0.00,2.28,0.00,0.000,4,0.000,0.048,2723,3531,2218,0,0,0,0,0,0
$GC,10694,0.40,194.6,640.1,9.4,1138,10698,0.00,2.15,0.00,0.000,6,0.000,0.029,2723,2061,2218,0,0,0,0,0,0
$GC,11016,0.42,215.2,613.4,8.3,1154,11044,0.00,2.12,22.95,0.876,4,0.000,0.039,2723,652,2148,0,0,0,0,0,0
$GC,11079,0.44,231.2,608.2,8.4,1157,11106,0.00,2.20,21.12,0.854,6,0.000,0.033,2723,2129,2084,0,0,0,0,0,0
$GC,11425,0.43,231.2,577.1,8.9,1185,11429,0.00,2.12,0.00,0.000,4,0.000,0.047,2723,3530,2078,0,0,0,0,0,0
$GC,11491,0.42,231.2,570.6,10.1,1190,11499,0.00,2.15,0.00,0.000,6,0.000,0.027,2731,2055,2077,0,0,0,0,0,0
$GC,11816,0.42,234.8,539.8,8.8,1221,11818,0.05,0.00,0.00,0.000,6,0.236,0.000,2719,2051,2076,0,0,0,0,0,0
$GC,12136,0.44,253.1,513.1,8.3,1251,12170,0.05,2.30,26.02,0.832,4,0.171,0.047,2763,3537,1994,0,0,0,0,0,0
$GC,12232,0.42,253.1,502.1,11.6,1259,12240,0.20,2.17,0.00,0.000,6,0.145,0.026,2714,2059,1993,0,0,0,0,0,0
$GC,12588,0.51,320.7,476.7,6.8,1318,12682,0.12,2.40,83.68,0.818,4,0.088,0.046,2791,3528,1717,0,0,0,0,0,0
$GC,12722,0.49,320.7,460.0,14.7,1337,12729,0.20,2.22,0.00,0.000,6,0.138,0.028,2741,2063,1714,0,0,0,0,0,0
$GC,13081,0.49,320.7,425.9,9.3,1398,13091,0.00,2.12,0.00,0.000,4,0.000,0.039,2749,663,1709,0,0,0,0,0,0
$GC,13097,0.49,320.7,424.3,9.0,1400,13106,0.00,2.22,0.00,0.000,6,0.000,0.032,2749,2131,1708,0,0,0,0,0,0
$GC,13458,0.53,350.1,393.1,8.0,1461,13502,0.05,2.20,34.35,0.760,4,0.176,0.046,2804,3529,1598,0,0,0,0,0,0
$GC,13529,0.52,350.1,384.6,13.6,1471,13537,0.22,2.17,0.00,0.000,6,0.136,0.027,2747,2062,1597,0,0,0,0,0,0
$GC,13888,0.55,376.9,353.9,8.1,1532,13932,0.10,2.35,33.38,0.729,4,0.101,0.047,2818,3523,1489,0,0,0,0,0,0
$GC,13966,0.53,376.9,343.7,15.7,1543,13974,0.22,2.20,0.00,0.000,6,0.134,0.028,2758,2056,1487,0,0,0,0,0,0
$GC,14328,0.54,376.9,311.4,9.1,1604,14335,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2053,1484,0,0,0,0,0,0
$GC,14689,0.54,376.9,277.7,9.3,1665,14696,0.00,2.25,0.00,0.000,4,0.000,0.047,2757,3526,1484,0,0,0,0,0,0
$GC,14732,0.55,376.9,273.0,11.0,1672,14740,0.00,2.17,0.00,0.000,6,0.000,0.026,2762,2059,1483,0,0,0,0,0,0
$GC,15093,0.57,390.5,239.0,8.5,1733,15115,0.05,2.15,16.58,0.629,4,0.174,0.040,2831,658,1435,0,0,0,0,0,0
$GC,15148,0.56,390.5,232.2,13.1,1741,15156,0.22,2.17,0.00,0.000,6,0.124,0.034,2759,2128,1434,0,0,0,0,0,0
$GC,15508,0.64,448.5,204.2,7.1,1802,15588,0.12,2.20,70.47,0.632,4,0.083,0.047,2841,3518,1197,0,0,0,0,0,0
$GC,15627,0.63,448.5,188.3,14.4,1819,15634,0.20,2.17,0.00,0.000,6,0.124,0.027,2780,2054,1195,0,0,0,0,0,0
$GC,15988,0.70,493.2,159.7,7.5,1880,16047,0.12,2.17,52.85,0.593,4,0.083,0.040,2871,660,1016,0,0,0,0,0,0
$GC,16087,0.69,493.2,146.2,15.0,1894,16098,0.17,2.25,0.00,0.000,6,0.101,0.034,2807,2127,1014,0,0,0,0,0,0
$GC,16458,0.74,527.6,116.4,7.8,1955,16508,0.10,2.17,39.95,0.562,4,0.101,0.046,2888,3518,877,0,0,0,0,0,0
$GC,16529,0.73,527.6,105.9,17.6,1964,16539,0.22,2.20,0.00,0.000,6,0.099,0.028,2815,2066,876,0,0,0,0,0,0
$GC,16901,0.77,527.6,71.3,10.5,2025,16910,0.10,2.28,0.00,0.000,4,0.131,0.045,2850,3521,874,0,0,0,0,0,0
$GC,17105,0.80,527.6,44.5,14.5,2059,17114,0.00,2.15,0.00,0.000,6,0.000,0.028,2851,2056,874,0,0,0,0,0,0
$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17462,begin surface coast
$FINISH,0.9,1.022266
$STATE,17495,end surface coast,CONTROL_FINISHED_OK
$STATE,17495,begin surface
$SM_CCo,17570,0.00,0.000,0,0,874,528.13
$SM_GC,1.77,6.57,0.00,0.00,0.031,0.000,0.000,204,2452,874,-7.37,1.47,528.13
$IRIDIUM_FIX,2300.41,12622.66,011110,010135
$TT8_MAMPS,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.71402
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.7,57.139
$10V_AH,10.2,53.458
$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,22.475,150.400,859.325,0.000,0.000,30.792,18.470,198.418,0.000,0.000,13.801,5102.051,5977.125,884.065,5569.386,416.980,0.000,2742.854,0.000,5361.534,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,65.790,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1437.988,0.000,3300.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,126879,2124
$CAP_FILE_SIZE,218815,0
$CFSIZE,260165632,229961728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,303.5,1
$GPS,011110,112437,2303.667,12619.822,37,1.0,37,-3.3