version: 66.08
glider: 176
mission: 2
dive: 387
start: 11 2 110 17 6 58
data:
$ID,176
$MISSION,2
$DIVE,387
$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,-5424.2617
$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
$GPS1,021110,165936,2255.115,12619.092,32,1.0,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-65.5
$GPS2,021110,170630,2255.104,12619.012,10,1.0,14,-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,163.1,175874,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.56,-194.6,0.0,0.0,0,74,0.00,0.00,-57.47,0.000,2,0.000,0.000,199,2470,2496,0,0,0,0,0,0
$GC,77,-0.56,-194.6,3.1,-3.3,7,120,9.05,2.30,-28.27,0.000,4,0.239,0.046,2406,962,3822,0,0,0,0,0,0
$GC,221,-0.56,-194.6,28.1,-16.2,29,230,0.00,2.25,0.00,0.000,6,0.000,0.044,2406,2413,3824,0,0,0,0,0,0
$GC,588,-0.55,-194.6,103.8,-17.4,90,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2413,3824,0,0,0,0,0,0
$GC,957,-0.55,-194.6,155.2,-11.7,151,963,0.03,0.00,0.00,0.000,6,0.301,0.000,2418,2414,3824,0,0,0,0,0,0
$GC,1314,-0.55,-194.6,189.9,-9.3,212,1323,0.00,2.15,0.00,0.000,4,0.000,0.031,2418,946,3824,0,0,0,0,0,0
$GC,1353,-0.56,-194.6,193.6,-9.3,218,1364,0.03,2.22,0.00,0.000,6,0.116,0.038,2384,2429,3824,0,0,0,0,0,0
$GC,1717,-0.56,-194.6,239.0,-13.2,279,1724,0.12,2.03,0.00,0.000,4,0.154,0.054,2422,3769,3825,0,0,0,0,0,0
$GC,1737,-0.56,-194.6,241.8,-11.7,282,1747,0.03,2.05,0.00,0.000,6,0.112,0.024,2383,2328,3825,0,0,0,0,0,0
$GC,2097,-0.56,-194.6,280.1,-10.0,343,2105,0.12,0.00,0.00,0.000,6,0.149,0.000,2422,2328,3824,0,0,0,0,0,0
$GC,2456,-0.57,-194.6,307.6,-8.5,404,2465,0.08,0.00,0.00,0.000,6,0.127,0.000,2367,2328,3822,0,0,0,0,0,0
$GC,2819,-0.57,-194.6,349.4,-10.8,465,2826,0.15,0.00,0.00,0.000,6,0.141,0.000,2414,2328,3821,0,0,0,0,0,0
$GC,3177,-0.58,-194.6,371.9,-6.2,526,3186,0.05,0.00,0.00,0.000,6,0.177,0.000,2361,2328,3820,0,0,0,0,0,0
$GC,3539,-0.58,-194.6,411.0,-11.5,587,3546,0.15,2.20,0.00,0.000,4,0.133,0.052,2404,3766,3818,0,0,0,0,0,0
$GC,3572,-0.59,-194.6,414.1,-8.8,592,3580,0.00,2.05,0.00,0.000,6,0.000,0.026,2404,2335,3818,0,0,0,0,0,0
$GC,3932,-0.61,-194.6,440.5,-7.2,653,3940,0.05,2.20,0.00,0.000,4,0.181,0.050,2372,3774,3816,0,0,0,0,0,0
$GC,4012,-0.63,-194.6,446.8,-7.8,666,4022,0.05,2.05,0.00,0.000,6,0.103,0.025,2398,2336,3816,0,0,0,0,0,0
$GC,4372,-0.65,-194.6,475.4,-8.9,727,4379,0.08,2.00,0.00,0.000,4,0.125,0.034,2350,953,3814,0,0,0,0,0,0
$GC,4405,-0.66,-194.6,478.8,-9.6,732,4414,0.08,2.22,0.00,0.000,6,0.119,0.038,2381,2433,3814,0,0,0,0,0,0
$GC,4759,-0.68,-194.6,510.0,-7.9,783,4763,0.00,2.00,0.00,0.000,4,0.000,0.051,2377,3771,3812,0,0,0,0,0,0
$GC,4783,-0.70,-194.6,512.1,-8.2,785,4788,0.05,2.00,0.00,0.000,6,0.174,0.024,2335,2329,3812,0,0,0,0,0,0
$GC,5110,-0.71,-194.6,540.5,-8.6,815,5114,0.12,2.20,0.00,0.000,4,0.129,0.051,2377,3766,3810,0,0,0,0,0,0
$GC,5200,-0.72,-194.6,547.5,-7.6,822,5208,0.08,2.03,0.00,0.000,6,0.126,0.024,2320,2332,3809,0,0,0,0,0,0
$GC,5525,-0.71,-194.6,584.9,-12.2,853,5529,0.15,2.03,0.00,0.000,4,0.144,0.033,2368,950,3808,0,0,0,0,0,0
$GC,5547,-0.71,-194.6,587.4,-10.7,854,5555,0.00,2.20,0.00,0.000,6,0.000,0.039,2365,2430,3808,0,0,0,0,0,0
$GC,5878,-0.72,-194.6,618.9,-10.2,877,5882,0.00,2.15,0.00,0.000,4,0.000,0.033,2365,956,3805,0,0,0,0,0,0
$GC,5925,-0.72,-194.6,623.8,-10.0,879,5929,0.00,2.20,0.00,0.000,6,0.000,0.040,2365,2426,3806,0,0,0,0,0,0
$GC,6258,-0.73,-194.6,657.6,-10.1,895,6262,0.05,2.17,0.00,0.000,4,0.180,0.033,2321,952,3804,0,0,0,0,0,0
$GC,6303,-0.73,-194.6,663.2,-12.9,897,6308,0.15,2.22,0.00,0.000,6,0.132,0.041,2370,2430,3803,0,0,0,0,0,0
$GC,6637,-0.73,-194.6,694.1,-8.8,913,6641,0.08,2.17,0.00,0.000,4,0.125,0.033,2313,949,3801,0,0,0,0,0,0
$GC,6686,-0.73,-194.6,700.2,-12.9,915,6690,0.17,2.25,0.00,0.000,6,0.135,0.042,2368,2431,3801,0,0,0,0,0,0
$GC,7003,-0.74,-194.6,727.0,-8.0,930,7008,0.08,2.17,0.00,0.000,4,0.125,0.033,2314,955,3798,0,0,0,0,0,0
$GC,7043,-0.74,-194.6,731.3,-11.4,932,7047,0.15,2.22,0.00,0.000,6,0.141,0.041,2359,2422,3797,0,0,0,0,0,0
$GC,7371,-0.74,-194.6,759.3,-8.4,948,7375,0.00,2.15,0.00,0.000,4,0.000,0.032,2359,948,3796,0,0,0,0,0,0
$GC,7415,-0.75,-194.6,763.3,-7.8,950,7420,0.08,2.22,0.00,0.000,6,0.123,0.041,2301,2427,3795,0,0,0,0,0,0
$GC,7737,-0.74,-194.6,804.5,-13.7,966,7739,0.17,0.00,0.00,0.000,6,0.142,0.000,2358,2429,3793,0,0,0,0,0,0
$GC,8046,-0.75,-194.6,832.6,-8.6,981,8050,0.05,2.20,0.00,0.000,4,0.170,0.034,2308,946,3792,0,0,0,0,0,0
$GC,8145,-0.75,-194.6,844.3,-12.0,985,8153,0.17,2.22,0.00,0.000,6,0.132,0.043,2364,2418,3791,0,0,0,0,0,0
$GC,8462,-0.75,-194.6,870.2,-7.9,1001,8466,0.08,2.17,0.00,0.000,4,0.126,0.033,2307,949,3789,0,0,0,0,0,0
$GC,8510,-0.75,-194.6,875.8,-12.1,1003,8515,0.15,2.22,0.00,0.000,6,0.137,0.043,2356,2419,3788,0,0,0,0,0,0
$STATE,8561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8567,-0.11,0.0,880.5,9.2,1006,8797,0.57,0.20,224.27,0.998,6,0.094,0.066,2565,2145,3027,0,0,0,0,0,0
$STATE,8799,end apogee,CONTROL_FINISHED_OK
$STATE,8799,begin climb
$GC,8801,0.56,194.6,893.3,0.0,1016,9051,0.55,2.45,239.48,0.963,4,0.038,0.039,2818,664,2232,0,0,0,0,0,0
$GC,9200,0.54,194.6,862.5,15.4,1035,9204,0.22,2.22,0.00,0.000,6,0.168,0.034,2756,2126,2225,0,0,0,0,0,0
$GC,9527,0.53,194.6,821.6,12.2,1051,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2126,2221,0,0,0,0,0,0
$GC,9836,0.51,194.6,784.6,12.3,1066,9840,0.00,2.12,0.00,0.000,4,0.000,0.049,2756,3529,2219,0,0,0,0,0,0
$GC,9885,0.49,194.6,777.7,13.8,1068,9890,0.10,2.17,0.00,0.000,6,0.197,0.028,2741,2050,2219,0,0,0,0,0,0
$GC,10208,0.48,194.6,743.0,10.9,1084,10211,0.00,2.03,0.00,0.000,4,0.000,0.037,2749,664,2218,0,0,0,0,0,0
$GC,10235,0.47,194.6,739.9,10.6,1085,10240,0.05,2.17,0.00,0.000,6,0.220,0.034,2738,2129,2217,0,0,0,0,0,0
$GC,10557,0.48,206.5,708.0,9.4,1101,10579,0.00,2.20,12.00,0.869,4,0.000,0.048,2737,3530,2185,0,0,0,0,0,0
$GC,10637,0.47,206.5,699.8,11.1,1104,10641,0.00,2.17,0.00,0.000,6,0.000,0.028,2745,2050,2184,0,0,0,0,0,0
$GC,10953,0.49,230.6,670.9,9.0,1119,10989,0.00,2.12,31.65,0.912,4,0.000,0.039,2750,655,2085,0,0,0,0,0,0
$GC,11017,0.48,230.6,664.6,9.9,1121,11021,0.00,2.22,0.00,0.000,6,0.000,0.034,2750,2125,2083,0,0,0,0,0,0
$GC,11339,0.47,230.6,629.8,11.1,1137,11343,0.08,2.15,0.00,0.000,4,0.197,0.047,2730,3534,2079,0,0,0,0,0,0
$GC,11383,0.46,230.6,624.7,10.9,1139,11387,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2057,2079,0,0,0,0,0,0
$GC,11709,0.48,253.2,594.1,9.0,1158,11742,0.05,2.30,27.25,0.872,4,0.177,0.047,2783,3525,1994,0,0,0,0,0,0
$GC,11770,0.47,253.2,586.2,14.5,1163,11778,0.20,2.20,0.00,0.000,6,0.153,0.027,2732,2058,1992,0,0,0,0,0,0
$GC,12095,0.51,288.3,557.5,8.6,1194,12145,0.10,2.35,44.20,0.858,4,0.103,0.046,2798,3527,1849,0,0,0,0,0,0
$GC,12163,0.49,288.3,549.0,14.2,1199,12172,0.20,2.22,0.00,0.000,6,0.148,0.027,2744,2061,1848,0,0,0,0,0,0
$GC,12489,0.50,298.2,516.4,9.4,1230,12506,0.00,2.17,12.10,0.774,4,0.000,0.038,2749,658,1810,0,0,0,0,0,0
$GC,12551,0.50,298.2,510.2,9.8,1235,12555,0.00,2.22,0.00,0.000,6,0.000,0.033,2749,2132,1809,0,0,0,0,0,0
$GC,12890,0.52,314.8,477.3,9.2,1286,12919,0.00,2.17,21.80,0.795,4,0.000,0.048,2749,3529,1742,0,0,0,0,0,0
$GC,12966,0.52,314.8,469.5,10.6,1298,12975,0.00,2.22,0.00,0.000,6,0.000,0.028,2749,2063,1740,0,0,0,0,0,0
$GC,13317,0.52,314.8,434.9,10.2,1359,13324,0.00,2.08,0.00,0.000,4,0.000,0.039,2749,659,1738,0,0,0,0,0,0
$GC,13357,0.53,318.3,431.2,9.7,1365,13364,0.05,2.20,0.00,0.000,6,0.174,0.032,2802,2131,1737,0,0,0,0,0,0
$GC,13708,0.52,318.3,383.8,13.2,1426,13718,0.17,2.17,0.00,0.000,4,0.150,0.047,2749,3529,1737,0,0,0,0,0,0
$GC,13754,0.52,318.3,378.6,10.5,1433,13761,0.00,2.15,0.00,0.000,6,0.000,0.028,2749,2057,1736,0,0,0,0,0,0
$GC,14104,0.60,378.0,348.9,7.8,1494,14190,0.12,2.15,77.40,0.733,4,0.086,0.040,2841,659,1485,0,0,0,0,0,0
$GC,14212,0.59,378.0,333.9,15.3,1509,14219,0.22,2.25,0.00,0.000,6,0.132,0.034,2773,2120,1483,0,0,0,0,0,0
$GC,14560,0.59,378.0,295.1,11.0,1570,14569,0.00,2.17,0.00,0.000,4,0.000,0.047,2773,3525,1477,0,0,0,0,0,0
$GC,14599,0.59,378.0,290.7,11.7,1576,14608,0.00,2.20,0.00,0.000,6,0.000,0.026,2776,2051,1477,0,0,0,0,0,0
$GC,14949,0.62,400.8,258.1,9.0,1637,14985,0.08,2.33,27.23,0.649,4,0.125,0.047,2840,3531,1392,0,0,0,0,0,0
$GC,14999,0.61,400.8,251.8,13.5,1644,15008,0.17,2.22,0.00,0.000,6,0.116,0.028,2782,2059,1392,0,0,0,0,0,0
$GC,15350,0.62,400.8,216.8,10.5,1705,15356,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2056,1389,0,0,0,0,0,0
$GC,15695,0.69,453.9,185.0,8.0,1766,15768,0.12,2.38,64.35,0.612,4,0.084,0.046,2862,3530,1176,0,0,0,0,0,0
$GC,15799,0.68,453.9,169.3,17.0,1781,15807,0.22,2.20,0.00,0.000,6,0.127,0.027,2800,2064,1174,0,0,0,0,0,0
$GC,16157,0.80,544.0,139.4,6.7,1842,16271,0.15,0.00,105.10,0.576,6,0.074,0.000,2896,2059,810,0,0,0,0,0,0
$GC,16624,0.80,544.0,60.7,13.6,1916,16633,0.20,2.12,0.00,0.000,4,0.131,0.039,2831,664,805,0,0,0,0,0,0
$GC,16654,0.80,544.0,57.2,11.5,1920,16664,0.05,2.17,0.00,0.000,6,0.074,0.029,2881,2124,805,0,0,0,0,0,0
$GC,17023,0.81,544.7,17.8,9.8,1981,17032,0.12,0.00,0.00,0.000,6,0.143,0.000,2840,2124,805,0,0,0,0,0,0
$STATE,17221,end climb,SURFACE_DEPTH_REACHED
$STATE,17221,begin surface coast
$FINISH,1.0,1.022342
$STATE,17275,end surface coast,CONTROL_FINISHED_OK
$STATE,17275,begin surface
$SM_CCo,17351,0.00,0.000,0,0,804,545.30
$SM_GC,1.67,6.55,0.00,0.00,0.031,0.000,0.000,199,2445,804,-7.40,1.27,545.30
$IRIDIUM_FIX,2248.70,12621.77,021110,111152
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,8.71402
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.5,58.672
$10V_AH,10.1,55.104
$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,22.200,145.000,886.825,0.000,0.000,28.475,22.983,199.344,0.000,0.000,17.139,4891.664,6223.918,887.729,5337.049,398.161,0.000,2711.462,0.000,5108.338,0.000,0.542,0.000
$DEVICE_MAMPS,301.410,65.790,997.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1369.756,0.000,3041.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120209,2023
$CAP_FILE_SIZE,215684,0
$CFSIZE,260165632,229224448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,345.2,1
$GPS,021110,215707,2253.773,12619.523,30,1.8,30,-3.3