version: 66.08
glider: 176
mission: 2
dive: 385
start: 11 2 110 7 4 40
data:
$ID,176
$MISSION,2
$DIVE,385
$N_DIVES,390
$D_SURF,3
$D_FLARE,3
$D_TGT,880
$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,-5421.7505
$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
$GPS1,021110,065707,2258.448,12620.151,29,1.1,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.8
$GPS2,021110,070413,2258.394,12620.084,10,1.2,15,-3.3
$SPEED_LIMITS,0.169,0.292
$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,175.3,182197,-14.6,-9.778
$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,-0.56,-194.6,0.0,0.0,0,82,0.00,0.00,-64.03,0.000,2,0.000,0.000,198,2309,2614,0,0,0,0,0,0
$GC,84,-0.56,-194.6,3.4,-4.1,8,126,9.07,2.03,-24.27,0.000,4,0.239,0.044,2403,949,3822,0,0,0,0,0,0
$GC,229,-0.56,-194.6,31.7,-19.8,30,237,0.00,2.25,0.00,0.000,6,0.000,0.043,2403,2414,3823,0,0,0,0,0,0
$GC,595,-0.55,-194.6,108.6,-13.9,91,604,0.05,2.08,0.00,0.000,4,0.245,0.054,2416,3760,3823,0,0,0,0,0,0
$GC,633,-0.54,-194.6,113.2,-12.7,96,641,0.00,2.05,0.00,0.000,6,0.000,0.026,2416,2329,3823,0,0,0,0,0,0
$GC,998,-0.54,-194.6,156.1,-12.3,157,1005,0.00,1.98,0.00,0.000,4,0.000,0.032,2416,950,3822,0,0,0,0,0,0
$GC,1037,-0.55,-194.6,160.5,-11.3,163,1044,0.00,2.20,0.00,0.000,6,0.000,0.037,2416,2434,3822,0,0,0,0,0,0
$GC,1385,-0.55,-194.6,194.0,-9.1,224,1393,0.00,2.17,0.00,0.000,4,0.000,0.031,2416,945,3822,0,0,0,0,0,0
$GC,1431,-0.56,-194.6,197.8,-8.4,231,1439,0.05,2.20,0.00,0.000,6,0.178,0.037,2372,2434,3823,0,0,0,0,0,0
$GC,1783,-0.56,-194.6,246.3,-14.3,292,1792,0.15,2.17,0.00,0.000,4,0.147,0.030,2418,956,3822,0,0,0,0,0,0
$GC,1834,-0.57,-194.6,251.9,-9.5,300,1843,0.03,2.20,0.00,0.000,6,0.115,0.037,2374,2426,3822,0,0,0,0,0,0
$GC,2185,-0.56,-194.6,294.5,-12.5,361,2192,0.15,0.00,0.00,0.000,6,0.140,0.000,2421,2427,3821,0,0,0,0,0,0
$GC,2533,-0.58,-194.6,324.4,-7.8,422,2542,0.08,2.20,0.00,0.000,4,0.128,0.033,2362,946,3820,0,0,0,0,0,0
$GC,2602,-0.58,-194.6,331.8,-11.7,433,2610,0.15,2.20,0.00,0.000,6,0.132,0.040,2410,2426,3820,0,0,0,0,0,0
$GC,2954,-0.59,-194.6,359.7,-7.8,494,2963,0.05,2.20,0.00,0.000,4,0.173,0.032,2363,948,3818,0,0,0,0,0,0
$GC,3000,-0.59,-194.6,363.9,-10.4,501,3008,0.15,2.20,0.00,0.000,6,0.130,0.039,2411,2426,3818,0,0,0,0,0,0
$GC,3351,-0.60,-194.6,386.3,-6.0,562,3361,0.08,2.20,0.00,0.000,4,0.129,0.032,2352,945,3816,0,0,0,0,0,0
$GC,3403,-0.60,-194.6,391.2,-10.1,570,3413,0.12,2.22,0.00,0.000,6,0.110,0.041,2400,2416,3816,0,0,0,0,0,0
$GC,3757,-0.61,-194.6,414.2,-6.4,631,3764,0.00,2.12,0.00,0.000,4,0.000,0.032,2400,953,3814,0,0,0,0,0,0
$GC,3806,-0.62,-194.6,417.6,-6.7,639,3813,0.08,2.17,0.00,0.000,6,0.122,0.037,2346,2433,3813,0,0,0,0,0,0
$GC,4156,-0.62,-194.6,457.4,-11.9,700,4165,0.17,2.20,0.00,0.000,4,0.130,0.031,2403,953,3812,0,0,0,0,0,0
$GC,4179,-0.62,-194.6,459.9,-11.1,703,4186,0.08,2.20,0.00,0.000,6,0.123,0.040,2346,2426,3812,0,0,0,0,0,0
$GC,4529,-0.62,-194.6,498.6,-10.3,764,4538,0.17,2.20,0.00,0.000,4,0.129,0.032,2403,949,3810,0,0,0,0,0,0
$GC,4572,-0.63,-194.6,502.4,-6.8,768,4579,0.08,2.20,0.00,0.000,6,0.124,0.040,2344,2434,3809,0,0,0,0,0,0
$GC,4897,-0.63,-194.6,534.7,-10.5,799,4902,0.17,2.17,0.00,0.000,4,0.128,0.031,2401,942,3807,0,0,0,0,0,0
$GC,4939,-0.64,-194.6,537.9,-7.5,802,4943,0.10,2.20,0.00,0.000,6,0.096,0.039,2333,2429,3807,0,0,0,0,0,0
$GC,5264,-0.64,-194.6,576.3,-12.2,832,5269,0.17,2.17,0.00,0.000,4,0.130,0.032,2391,942,3805,0,0,0,0,0,0
$GC,5304,-0.65,-194.6,580.2,-8.2,835,5309,0.05,2.20,0.00,0.000,6,0.172,0.040,2342,2423,3805,0,0,0,0,0,0
$GC,5635,-0.65,-194.6,616.7,-11.3,859,5640,0.15,2.17,0.00,0.000,4,0.132,0.032,2392,954,3803,0,0,0,0,0,0
$GC,5691,-0.67,-194.6,621.7,-7.9,861,5700,0.08,2.20,0.00,0.000,6,0.125,0.040,2333,2431,3802,0,0,0,0,0,0
$GC,6007,-0.66,-194.6,656.8,-11.1,877,6011,0.15,2.17,0.00,0.000,4,0.134,0.032,2383,950,3800,0,0,0,0,0,0
$GC,6034,-0.67,-194.6,659.4,-8.7,878,6039,0.05,2.20,0.00,0.000,6,0.164,0.041,2333,2422,3800,0,0,0,0,0,0
$GC,6350,-0.67,-194.6,691.5,-10.0,893,6352,0.15,0.00,0.00,0.000,6,0.132,0.000,2383,2422,3797,0,0,0,0,0,0
$GC,6660,-0.68,-194.6,712.2,-6.7,908,6665,0.08,2.17,0.00,0.000,4,0.125,0.034,2321,943,3795,0,0,0,0,0,0
$GC,6736,-0.68,-194.6,720.2,-10.7,911,6744,0.15,2.28,0.00,0.000,6,0.102,0.043,2379,2422,3794,0,0,0,0,0,0
$GC,7054,-0.69,-194.6,744.4,-7.9,927,7059,0.05,2.20,0.00,0.000,4,0.174,0.034,2331,946,3792,0,0,0,0,0,0
$GC,7103,-0.69,-194.6,749.8,-11.2,929,7108,0.15,2.22,0.00,0.000,6,0.131,0.043,2380,2427,3792,0,0,0,0,0,0
$GC,7427,-0.70,-194.6,774.5,-7.4,945,7432,0.08,2.17,0.00,0.000,4,0.125,0.034,2321,956,3790,0,0,0,0,0,0
$GC,7499,-0.70,-194.6,782.3,-11.2,948,7504,0.17,2.25,0.00,0.000,6,0.126,0.044,2378,2428,3789,0,0,0,0,0,0
$GC,7817,-0.71,-194.6,806.8,-7.7,963,7821,0.08,2.20,0.00,0.000,4,0.127,0.034,2320,949,3787,0,0,0,0,0,0
$GC,7877,-0.71,-194.6,813.7,-11.4,965,7886,0.17,2.25,0.00,0.000,6,0.129,0.043,2377,2423,3787,0,0,0,0,0,0
$GC,8194,-0.71,-194.6,836.4,-6.8,981,8198,0.08,2.17,0.00,0.000,4,0.127,0.034,2319,956,3785,0,0,0,0,0,0
$GC,8288,-0.71,-194.6,846.1,-10.1,985,8293,0.15,2.25,0.00,0.000,6,0.132,0.044,2367,2429,3784,0,0,0,0,0,0
$GC,8605,-0.72,-194.6,870.8,-7.9,1000,8610,0.05,2.20,0.00,0.000,4,0.168,0.034,2320,949,3782,0,0,0,0,0,0
$STATE,8692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8692,begin apogee
$GC,8699,-0.11,0.0,880.6,11.0,1004,8932,0.68,0.05,222.60,1.002,6,0.103,0.056,2558,2060,3026,0,0,0,0,0,0
$STATE,8935,end apogee,CONTROL_FINISHED_OK
$STATE,8935,begin climb
$GC,8937,0.56,194.6,894.1,0.0,1015,9188,0.57,2.50,239.62,0.969,4,0.041,0.048,2812,3528,2233,0,0,0,0,0,0
$GC,9356,0.53,194.6,854.7,19.8,1034,9361,0.25,2.20,0.00,0.000,6,0.180,0.028,2755,2059,2226,0,0,0,0,0,0
$GC,9683,0.52,194.6,812.2,12.5,1050,9687,0.00,2.08,0.00,0.000,4,0.000,0.038,2765,656,2222,0,0,0,0,0,0
$GC,9732,0.51,194.6,805.7,13.3,1052,9737,0.08,2.20,0.00,0.000,6,0.190,0.035,2748,2127,2220,0,0,0,0,0,0
$GC,10055,0.49,194.6,768.2,11.5,1068,10059,0.00,2.12,0.00,0.000,4,0.000,0.050,2748,3526,2219,0,0,0,0,0,0
$GC,10166,0.48,194.6,753.9,12.1,1073,10170,0.00,2.17,0.00,0.000,6,0.000,0.030,2750,2063,2219,0,0,0,0,0,0
$GC,10494,0.47,194.6,717.7,10.7,1089,10496,0.08,0.00,0.00,0.000,6,0.217,0.000,2732,2059,2218,0,0,0,0,0,0
$GC,10804,0.49,219.3,689.1,8.9,1104,10827,0.08,0.00,20.20,1.013,6,0.125,0.000,2788,2058,2133,0,0,0,0,0,0
$GC,11134,0.47,219.3,646.7,13.2,1120,11139,0.20,2.30,0.00,0.000,4,0.157,0.047,2730,3534,2126,0,0,0,0,0,0
$GC,11228,0.46,219.3,635.9,10.6,1124,11232,0.00,2.17,0.00,0.000,6,0.000,0.029,2736,2058,2126,0,0,0,0,0,0
$GC,11551,0.47,226.5,605.9,9.5,1140,11565,0.00,2.15,6.78,0.819,4,0.000,0.040,2736,658,2102,0,0,0,0,0,0
$GC,11595,0.48,241.4,601.8,9.3,1142,11620,0.00,2.20,19.27,0.869,6,0.000,0.034,2736,2123,2043,0,0,0,0,0,0
$GC,11946,0.48,241.5,565.8,9.8,1174,11950,0.00,2.15,0.00,0.000,4,0.000,0.047,2736,3527,2038,0,0,0,0,0,0
$GC,12031,0.47,241.5,556.4,10.9,1181,12035,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2061,2038,0,0,0,0,0,0
$GC,12356,0.54,304.2,528.6,7.6,1211,12437,0.10,0.00,77.35,0.851,6,0.107,0.000,2804,2056,1786,0,0,0,0,0,0
$GC,12766,0.53,304.2,471.5,14.5,1266,12775,0.17,2.33,0.00,0.000,4,0.154,0.048,2753,3525,1777,0,0,0,0,0,0
$GC,12828,0.53,304.2,463.2,12.4,1276,12837,0.00,2.20,0.00,0.000,6,0.000,0.027,2762,2063,1776,0,0,0,0,0,0
$GC,13178,0.53,304.2,422.1,11.0,1337,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2060,1775,0,0,0,0,0,0
$GC,13525,0.54,317.2,386.6,9.3,1398,13548,0.00,2.30,14.95,0.731,4,0.000,0.047,2761,3522,1732,0,0,0,0,0,0
$GC,13586,0.54,317.2,380.3,11.2,1407,13593,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,2058,1730,0,0,0,0,0,0
$GC,13936,0.57,338.9,346.8,9.0,1468,13966,0.05,0.00,27.62,0.728,6,0.180,0.000,2815,2053,1645,0,0,0,0,0,0
$GC,14310,0.56,338.9,296.3,13.0,1532,14319,0.17,2.33,0.00,0.000,4,0.145,0.047,2763,3525,1640,0,0,0,0,0,0
$GC,14345,0.55,338.9,292.1,12.4,1537,14352,0.00,2.17,0.00,0.000,6,0.000,0.027,2762,2051,1640,0,0,0,0,0,0
$GC,14693,0.57,352.9,262.1,9.3,1598,14718,0.05,2.30,17.45,0.653,4,0.176,0.045,2820,3532,1588,0,0,0,0,0,0
$GC,14767,0.56,352.9,252.4,14.5,1609,14774,0.22,2.17,0.00,0.000,6,0.137,0.028,2760,2050,1586,0,0,0,0,0,0
$GC,15120,0.65,420.7,220.7,7.5,1670,15214,0.15,2.38,82.25,0.645,4,0.074,0.047,2850,3519,1310,0,0,0,0,0,0
$GC,15230,0.64,420.7,204.3,17.4,1685,15238,0.22,2.20,0.00,0.000,6,0.134,0.027,2788,2063,1309,0,0,0,0,0,0
$GC,15583,0.69,452.7,171.7,8.7,1746,15628,0.10,0.00,38.72,0.601,6,0.099,0.000,2857,2058,1181,0,0,0,0,0,0
$GC,15984,0.68,452.7,111.3,15.0,1812,15994,0.17,2.30,0.00,0.000,4,0.136,0.045,2802,3525,1175,0,0,0,0,0,0
$GC,16014,0.68,452.7,107.3,13.4,1816,16023,0.00,2.17,0.00,0.000,6,0.000,0.025,2804,2056,1175,0,0,0,0,0,0
$GC,16384,0.80,536.3,80.3,6.9,1877,16489,0.15,0.00,97.20,0.546,6,0.076,0.000,2906,2053,839,0,0,0,0,0,0
$GC,16843,0.79,536.3,13.9,16.3,1950,16852,0.22,0.00,0.00,0.000,6,0.132,0.000,2833,2051,833,0,0,0,0,0,0
$STATE,16976,end climb,SURFACE_DEPTH_REACHED
$STATE,16977,begin surface coast
$FINISH,1.0,1.003834
$STATE,17067,end surface coast,CONTROL_FINISHED_OK
$STATE,17067,begin surface
$SM_CCo,17142,0.00,0.000,0,0,832,538.43
$SM_GC,1.77,6.62,0.00,0.00,0.036,0.000,0.000,199,2459,832,-7.39,1.67,538.43
$IRIDIUM_FIX,2253.38,12623.16,021110,010104
$TT8_MAMPS,0.026215
$HUMID,51.49
$INTERNAL_PRESSURE,8.71402
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,58.221
$10V_AH,10.1,54.633
$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,23.325,145.400,864.025,0.000,0.000,27.905,37.276,198.968,0.000,0.000,18.165,4826.117,6131.380,883.050,5310.285,391.946,0.000,2678.401,0.000,5065.996,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,55.845,1012.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1346.338,0.000,3021.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,116872,1987
$CAP_FILE_SIZE,213285,0
$CFSIZE,260165632,229445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,278.3,1
$GPS,021110,115130,2256.301,12619.287,39,1.5,39,-3.3