version: 66.08
glider: 176
mission: 2
dive: 381
start: 11 1 110 11 31 53
data:
$ID,176
$MISSION,2
$DIVE,381
$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,-5416.7212
$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
$GPS1,011110,112437,2303.667,12619.822,37,1.0,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.6
$GPS2,011110,113126,2303.669,12619.721,9,1.8,9,-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,150.0,191711,-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,-194.6,0.0,0.0,0,75,0.00,0.00,-57.17,0.000,2,0.000,0.000,202,2455,2541,0,0,0,0,0,0
$GC,78,-0.53,-194.6,3.3,-3.6,7,120,9.07,2.22,-25.58,0.000,4,0.237,0.044,2415,950,3822,0,0,0,0,0,0
$GC,210,-0.53,-194.6,33.6,-18.3,27,219,0.00,2.25,0.00,0.000,6,0.000,0.042,2415,2416,3823,0,0,0,0,0,0
$GC,577,-0.52,-194.6,102.5,-13.6,88,587,0.00,2.15,0.00,0.000,4,0.000,0.031,2416,954,3823,0,0,0,0,0,0
$GC,619,-0.52,-194.6,107.2,-11.0,94,628,0.00,2.22,0.00,0.000,6,0.000,0.039,2417,2424,3823,0,0,0,0,0,0
$GC,986,-0.51,-194.6,152.7,-12.5,155,993,0.05,0.00,0.00,0.000,6,0.235,0.000,2431,2425,3823,0,0,0,0,0,0
$GC,1344,-0.52,-194.6,187.9,-8.5,216,1354,0.00,2.15,0.00,0.000,4,0.000,0.032,2431,958,3823,0,0,0,0,0,0
$GC,1392,-0.53,-194.6,191.7,-8.1,223,1400,0.08,2.15,0.00,0.000,6,0.130,0.037,2379,2427,3822,0,0,0,0,0,0
$GC,1753,-0.52,-194.6,237.8,-12.8,284,1763,0.17,0.00,0.00,0.000,6,0.138,0.000,2435,2428,3823,0,0,0,0,0,0
$GC,2117,-0.53,-194.6,265.4,-7.5,345,2124,0.08,2.15,0.00,0.000,4,0.129,0.032,2376,945,3822,0,0,0,0,0,0
$GC,2180,-0.53,-194.6,272.0,-10.8,355,2187,0.17,2.20,0.00,0.000,6,0.129,0.040,2431,2434,3821,0,0,0,0,0,0
$GC,2540,-0.54,-194.6,298.6,-7.6,416,2550,0.08,2.20,0.00,0.000,4,0.129,0.031,2373,946,3821,0,0,0,0,0,0
$GC,2588,-0.54,-194.6,303.6,-11.4,423,2595,0.17,2.17,0.00,0.000,6,0.127,0.038,2429,2424,3821,0,0,0,0,0,0
$GC,2949,-0.55,-194.6,331.7,-7.2,484,2958,0.08,0.00,0.00,0.000,6,0.130,0.000,2366,2425,3819,0,0,0,0,0,0
$GC,3311,-0.54,-194.6,372.3,-11.8,545,3318,0.17,2.17,0.00,0.000,4,0.132,0.032,2423,944,3817,0,0,0,0,0,0
$GC,3375,-0.56,-194.6,377.6,-7.1,555,3382,0.08,2.17,0.00,0.000,6,0.124,0.037,2362,2429,3817,0,0,0,0,0,0
$GC,3735,-0.55,-194.6,415.8,-10.4,616,3745,0.17,2.20,0.00,0.000,4,0.129,0.031,2420,949,3816,0,0,0,0,0,0
$GC,3773,-0.56,-194.6,418.8,-8.3,621,3780,0.05,2.17,0.00,0.000,6,0.171,0.037,2374,2427,3815,0,0,0,0,0,0
$GC,4132,-0.56,-194.6,452.9,-9.2,682,4141,0.15,0.00,0.00,0.000,6,0.129,0.000,2425,2427,3814,0,0,0,0,0,0
$GC,4490,-0.59,-194.6,484.1,-10.2,743,4498,0.10,2.03,0.00,0.000,4,0.119,0.052,2384,3769,3811,0,0,0,0,0,0
$GC,4645,-0.62,-194.6,498.9,-9.1,769,4652,0.00,2.05,0.00,0.000,6,0.000,0.026,2384,2330,3810,0,0,0,0,0,0
$GC,4978,-0.65,-194.6,523.5,-8.1,801,4981,0.00,1.98,0.00,0.000,4,0.000,0.034,2384,952,3809,0,0,0,0,0,0
$GC,5002,-0.68,-194.6,525.3,-7.6,803,5007,0.08,2.20,0.00,0.000,6,0.132,0.036,2353,2436,3809,0,0,0,0,0,0
$GC,5329,-0.69,-194.6,551.8,-8.6,833,5334,0.08,2.17,0.00,0.000,4,0.149,0.032,2382,946,3806,0,0,0,0,0,0
$GC,5403,-0.70,-194.6,558.2,-8.9,839,5407,0.08,2.20,0.00,0.000,6,0.123,0.038,2323,2429,3806,0,0,0,0,0,0
$GC,5733,-0.70,-194.6,591.1,-10.0,870,5738,0.15,2.05,0.00,0.000,4,0.125,0.054,2375,3777,3804,0,0,0,0,0,0
$GC,5825,-0.71,-194.6,598.6,-8.5,878,5830,0.08,2.03,0.00,0.000,6,0.123,0.024,2308,2335,3803,0,0,0,0,0,0
$GC,6152,-0.70,-194.6,640.8,-13.0,894,6156,0.20,2.03,0.00,0.000,4,0.135,0.031,2374,948,3801,0,0,0,0,0,0
$GC,6192,-0.70,-194.6,644.8,-8.3,896,6197,0.05,2.22,0.00,0.000,6,0.167,0.041,2321,2424,3801,0,0,0,0,0,0
$GC,6520,-0.70,-194.6,683.9,-12.5,912,6525,0.17,2.17,0.00,0.000,4,0.132,0.033,2379,943,3799,0,0,0,0,0,0
$GC,6548,-0.70,-194.6,687.3,-10.8,913,6552,0.08,2.22,0.00,0.000,6,0.123,0.041,2317,2430,3799,0,0,0,0,0,0
$GC,6863,-0.69,-194.6,728.8,-13.9,928,6868,0.17,2.20,0.00,0.000,4,0.132,0.033,2375,952,3796,0,0,0,0,0,0
$GC,6902,-0.70,-194.6,733.2,-9.5,929,6910,0.05,2.22,0.00,0.000,6,0.170,0.041,2320,2423,3796,0,0,0,0,0,0
$GC,7218,-0.69,-194.6,774.0,-13.0,945,7220,0.17,0.00,0.00,0.000,6,0.129,0.000,2379,2423,3793,0,0,0,0,0,0
$GC,7527,-0.70,-194.6,798.3,-7.2,960,7532,0.08,2.20,0.00,0.000,4,0.125,0.035,2320,955,3792,0,0,0,0,0,0
$STATE,7546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7546,begin apogee
$GC,7553,-0.11,0.0,800.4,9.7,961,7783,0.68,0.08,221.55,0.953,6,0.106,0.101,2556,2041,3027,0,0,0,0,0,0
$STATE,7786,end apogee,CONTROL_FINISHED_OK
$STATE,7786,begin climb
$GC,7788,0.53,194.6,813.1,0.0,972,7959,0.55,2.45,164.02,1.064,4,0.038,0.045,2809,3527,2231,0,0,0,0,0,0
$GC,7992,0.50,194.6,803.9,17.8,981,7997,0.28,2.25,0.00,0.000,6,0.176,0.028,2746,2061,2227,0,0,0,0,0,0
$GC,8309,0.49,194.6,766.3,11.6,996,8312,0.00,2.08,0.00,0.000,4,0.000,0.039,2749,660,2221,0,0,0,0,0,0
$GC,8350,0.48,194.6,761.6,11.5,998,8354,0.00,2.20,0.00,0.000,6,0.000,0.034,2749,2132,2219,0,0,0,0,0,0
$GC,8677,0.46,194.6,724.2,11.1,1014,8681,0.08,2.10,0.00,0.000,4,0.207,0.050,2731,3525,2218,0,0,0,0,0,0
$GC,8709,0.45,194.6,719.9,12.7,1015,8717,0.00,2.17,0.00,0.000,6,0.000,0.029,2736,2053,2217,0,0,0,0,0,0
$GC,9025,0.43,194.6,686.1,10.5,1031,9027,0.05,0.00,0.00,0.000,6,0.242,0.000,2725,2050,2216,0,0,0,0,0,0
$GC,9335,0.44,208.3,658.7,8.5,1046,9358,0.00,2.33,13.50,0.852,4,0.000,0.049,2725,3524,2177,0,0,0,0,0,0
$GC,9386,0.43,208.3,653.8,10.0,1048,9390,0.03,2.15,0.00,0.000,6,0.291,0.028,2724,2055,2176,0,0,0,0,0,0
$GC,9708,0.46,240.6,627.4,7.9,1064,9755,0.08,2.15,40.88,0.889,4,0.126,0.039,2783,666,2044,0,0,0,0,0,0
$GC,9785,0.45,240.6,618.9,12.0,1067,9789,0.20,2.22,0.00,0.000,6,0.149,0.034,2725,2123,2041,0,0,0,0,0,0
$GC,10105,0.44,240.6,590.2,9.2,1087,10109,0.00,2.12,0.00,0.000,4,0.000,0.046,2725,3529,2038,0,0,0,0,0,0
$GC,10179,0.44,240.6,582.5,9.9,1093,10183,0.00,2.17,0.00,0.000,6,0.000,0.027,2735,2051,2037,0,0,0,0,0,0
$GC,10510,0.43,240.6,551.3,9.4,1124,10514,0.00,2.28,0.00,0.000,4,0.000,0.049,2734,3525,2036,0,0,0,0,0,0
$GC,10531,0.42,240.6,548.9,10.2,1125,10540,0.08,2.15,0.00,0.000,6,0.193,0.028,2715,2059,2036,0,0,0,0,0,0
$GC,10856,0.46,276.2,521.8,7.8,1156,10906,0.10,2.35,42.05,0.842,4,0.103,0.048,2780,3519,1900,0,0,0,0,0,0
$GC,10929,0.45,276.2,513.2,13.5,1162,10936,0.22,2.17,0.00,0.000,6,0.139,0.028,2720,2056,1898,0,0,0,0,0,0
$GC,11263,0.50,319.1,486.1,7.6,1208,11308,0.12,2.40,37.15,0.885,4,0.089,0.048,2800,3529,1724,0,0,0,0,0,0
$GC,11364,0.49,319.1,472.4,16.0,1223,11372,0.22,2.20,0.00,0.000,6,0.138,0.028,2733,2054,1720,0,0,0,0,0,0
$GC,11712,0.49,319.1,439.6,9.0,1284,11722,0.08,2.33,0.00,0.000,4,0.125,0.047,2790,3526,1715,0,0,0,0,0,0
$GC,11746,0.48,319.1,435.4,13.1,1289,11755,0.20,2.15,0.00,0.000,6,0.142,0.026,2737,2048,1715,0,0,0,0,0,0
$GC,12098,0.48,319.1,399.1,9.6,1350,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2045,1714,0,0,0,0,0,0
$GC,12451,0.53,365.7,369.4,7.4,1411,12515,0.10,2.35,55.00,0.747,4,0.105,0.047,2810,3523,1535,0,0,0,0,0,0
$GC,12557,0.52,365.7,355.7,14.6,1427,12565,0.22,2.20,0.00,0.000,6,0.133,0.027,2747,2058,1533,0,0,0,0,0,0
$GC,12910,0.57,403.4,327.1,7.7,1488,12963,0.10,2.17,46.00,0.711,4,0.100,0.037,2830,660,1381,0,0,0,0,0,0
$GC,12990,0.56,403.4,316.6,15.2,1499,12997,0.22,2.20,0.00,0.000,6,0.127,0.032,2761,2120,1379,0,0,0,0,0,0
$GC,13339,0.57,404.8,282.9,8.8,1560,13348,0.08,2.20,0.00,0.000,4,0.123,0.048,2823,3530,1376,0,0,0,0,0,0
$GC,13401,0.56,404.8,274.5,15.0,1570,13410,0.17,2.20,0.00,0.000,6,0.110,0.028,2767,2059,1375,0,0,0,0,0,0
$GC,13753,0.57,404.8,239.9,9.1,1631,13760,0.00,2.08,0.00,0.000,4,0.000,0.037,2766,650,1375,0,0,0,0,0,0
$GC,13791,0.58,409.3,236.4,8.8,1637,13809,0.05,2.17,6.88,0.549,6,0.168,0.030,2822,2127,1357,0,0,0,0,0,0
$GC,14154,0.58,409.3,191.0,12.0,1699,14160,0.17,0.00,0.00,0.000,6,0.132,0.000,2766,2127,1355,0,0,0,0,0,0
$GC,14503,0.69,495.5,167.1,6.2,1760,14612,0.15,2.20,100.07,0.604,4,0.073,0.046,2859,3531,1007,0,0,0,0,0,0
$GC,14628,0.68,495.5,150.6,15.2,1777,14637,0.20,2.20,0.00,0.000,6,0.123,0.028,2799,2059,1006,0,0,0,0,0,0
$GC,14990,0.73,521.9,121.2,8.1,1838,15032,0.10,2.12,31.30,0.558,4,0.099,0.041,2874,670,898,0,0,0,0,0,0
$GC,15060,0.73,521.9,112.6,13.5,1847,15069,0.15,2.20,0.00,0.000,6,0.093,0.032,2816,2120,897,0,0,0,0,0,0
$GC,15430,0.86,618.8,83.6,5.9,1908,15554,0.17,2.30,111.80,0.539,4,0.073,0.041,2918,663,503,0,0,0,0,0,0
$GC,15595,0.87,618.8,62.1,13.3,1929,15605,0.15,2.22,0.00,0.000,6,0.093,0.032,2860,2122,502,0,0,0,0,0,0
$GC,15959,0.91,618.8,27.5,12.4,1990,15968,0.10,2.22,0.00,0.000,4,0.118,0.037,2910,654,500,0,0,0,0,0,0
$GC,16054,0.93,618.8,17.2,13.2,2005,16064,0.08,2.17,0.00,0.000,6,0.067,0.030,2864,2131,499,0,0,0,0,0,0
$STATE,16153,end climb,SURFACE_DEPTH_REACHED
$STATE,16153,begin surface coast
$FINISH,0.9,1.013767
$STATE,16180,end surface coast,CONTROL_FINISHED_OK
$STATE,16180,begin surface
$SM_CCo,16255,0.00,0.000,0,0,499,620.12
$SM_GC,1.69,6.57,0.00,0.00,0.027,0.000,0.000,189,2467,499,-7.40,1.89,620.12
$IRIDIUM_FIX,2255.72,12618.00,011110,060655
$TT8_MAMPS,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.6,57.355
$10V_AH,10.1,53.692
$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,23.850,144.525,870.200,0.000,0.000,29.277,16.704,206.697,0.000,0.000,11.833,4861.974,5162.374,885.036,5322.199,406.137,0.000,2662.521,0.000,5115.067,0.000,0.542,0.000
$DEVICE_MAMPS,291.465,100.980,1064.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1369.582,0.000,3230.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,119919,2025
$CAP_FILE_SIZE,208975,0
$CFSIZE,260165632,229867520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,311.3,1
$GPS,011110,160355,2303.400,12619.624,38,1.6,38,-3.3