version: 66.08
glider: 176
mission: 2
dive: 393
start: 11 3 110 23 17 18
data:
$ID,176
$MISSION,2
$DIVE,393
$N_DIVES,402
$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,-5431.8101
$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
$GPS1,031110,231007,2244.732,12618.926,27,1.4,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-57.7
$GPS2,031110,231650,2244.691,12618.942,13,1.4,13,-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,189.1,156898,-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,-65.10,0.000,2,0.000,0.000,207,2453,2399,0,0,0,0,0,0
$GC,85,-0.56,-194.6,3.0,-2.9,8,135,9.00,2.22,-32.67,0.000,4,0.236,0.044,2405,947,3822,0,0,0,0,0,0
$GC,238,-0.56,-194.6,26.0,-18.1,31,246,0.00,2.28,0.00,0.000,6,0.000,0.043,2405,2424,3823,0,0,0,0,0,0
$GC,604,-0.55,-194.6,100.4,-15.1,92,612,0.05,0.00,0.00,0.000,6,0.243,0.000,2418,2424,3823,0,0,0,0,0,0
$GC,972,-0.55,-194.6,145.3,-11.1,153,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2424,3824,0,0,0,0,0,0
$GC,1330,-0.55,-194.6,179.9,-10.2,214,1340,0.00,2.15,0.00,0.000,4,0.000,0.034,2418,960,3823,0,0,0,0,0,0
$GC,1390,-0.56,-194.6,185.4,-9.2,223,1397,0.05,2.17,0.00,0.000,6,0.177,0.037,2375,2429,3824,0,0,0,0,0,0
$GC,1749,-0.56,-194.6,232.6,-12.5,284,1758,0.15,2.05,0.00,0.000,4,0.146,0.054,2420,3759,3824,0,0,0,0,0,0
$GC,1765,-0.56,-194.6,234.4,-11.9,286,1776,0.03,2.03,0.00,0.000,6,0.112,0.025,2375,2336,3824,0,0,0,0,0,0
$GC,2129,-0.55,-194.6,279.3,-12.0,347,2136,0.15,2.03,0.00,0.000,4,0.144,0.033,2422,941,3823,0,0,0,0,0,0
$GC,2181,-0.57,-194.6,284.4,-8.1,355,2189,0.08,2.17,0.00,0.000,6,0.125,0.037,2368,2429,3823,0,0,0,0,0,0
$GC,2540,-0.56,-194.6,326.5,-11.2,416,2549,0.15,2.17,0.00,0.000,4,0.143,0.032,2415,960,3822,0,0,0,0,0,0
$GC,2564,-0.56,-194.6,328.7,-10.2,419,2571,0.00,2.17,0.00,0.000,6,0.000,0.037,2415,2427,3821,0,0,0,0,0,0
$GC,2920,-0.57,-194.6,351.3,-5.7,480,2929,0.05,2.20,0.00,0.000,4,0.173,0.032,2361,948,3820,0,0,0,0,0,0
$GC,2973,-0.58,-194.6,355.9,-9.5,488,2982,0.12,2.22,0.00,0.000,6,0.108,0.039,2409,2422,3820,0,0,0,0,0,0
$GC,3336,-0.59,-194.6,382.5,-7.5,549,3343,0.00,2.15,0.00,0.000,4,0.000,0.031,2408,942,3818,0,0,0,0,0,0
$GC,3388,-0.60,-194.6,386.9,-8.3,557,3395,0.08,2.20,0.00,0.000,6,0.126,0.037,2359,2427,3818,0,0,0,0,0,0
$GC,3746,-0.60,-194.6,425.0,-10.2,618,3756,0.15,2.20,0.00,0.000,4,0.138,0.032,2408,947,3816,0,0,0,0,0,0
$GC,3806,-0.61,-194.6,429.5,-7.2,627,3814,0.08,2.20,0.00,0.000,6,0.125,0.037,2350,2428,3816,0,0,0,0,0,0
$GC,4166,-0.61,-194.6,467.5,-10.9,688,4175,0.17,2.20,0.00,0.000,4,0.131,0.032,2407,953,3815,0,0,0,0,0,0
$GC,4206,-0.62,-194.6,471.0,-7.8,694,4216,0.05,2.22,0.00,0.000,6,0.069,0.038,2352,2430,3815,0,0,0,0,0,0
$GC,4566,-0.62,-194.6,506.9,-10.0,750,4570,0.15,2.17,0.00,0.000,4,0.135,0.031,2401,951,3813,0,0,0,0,0,0
$GC,4600,-0.63,-194.6,509.8,-7.8,753,4605,0.08,2.20,0.00,0.000,6,0.122,0.039,2346,2424,3812,0,0,0,0,0,0
$GC,4925,-0.63,-194.6,541.8,-10.2,783,4930,0.15,2.15,0.00,0.000,4,0.132,0.032,2395,953,3810,0,0,0,0,0,0
$GC,4987,-0.65,-194.6,546.8,-7.3,788,4992,0.08,2.20,0.00,0.000,6,0.125,0.037,2337,2430,3810,0,0,0,0,0,0
$GC,5318,-0.64,-194.6,584.4,-11.2,819,5323,0.17,2.17,0.00,0.000,4,0.127,0.032,2395,955,3807,0,0,0,0,0,0
$GC,5367,-0.66,-194.6,589.0,-8.1,823,5374,0.08,2.17,0.00,0.000,6,0.124,0.038,2337,2426,3807,0,0,0,0,0,0
$GC,5688,-0.66,-194.6,622.2,-10.4,844,5692,0.15,2.17,0.00,0.000,4,0.133,0.033,2387,956,3806,0,0,0,0,0,0
$GC,5760,-0.67,-194.6,628.3,-7.7,847,5764,0.08,2.20,0.00,0.000,6,0.121,0.039,2331,2425,3805,0,0,0,0,0,0
$GC,6076,-0.67,-194.6,663.4,-11.6,862,6081,0.17,2.17,0.00,0.000,4,0.129,0.032,2390,956,3803,0,0,0,0,0,0
$GC,6131,-0.68,-194.6,668.2,-7.1,864,6136,0.10,2.22,0.00,0.000,6,0.099,0.040,2319,2432,3802,0,0,0,0,0,0
$GC,6448,-0.67,-194.6,705.1,-11.7,879,6453,0.20,2.17,0.00,0.000,4,0.129,0.031,2385,965,3801,0,0,0,0,0,0
$GC,6481,-0.68,-194.6,708.4,-7.7,880,6486,0.08,2.20,0.00,0.000,6,0.120,0.041,2321,2427,3800,0,0,0,0,0,0
$GC,6798,-0.68,-194.6,743.3,-11.4,895,6803,0.17,2.20,0.00,0.000,4,0.129,0.034,2379,957,3797,0,0,0,0,0,0
$GC,6854,-0.69,-194.6,748.2,-7.5,897,6861,0.05,2.22,0.00,0.000,6,0.170,0.041,2327,2427,3797,0,0,0,0,0,0
$GC,7170,-0.69,-194.6,783.0,-11.2,913,7175,0.15,2.17,0.00,0.000,4,0.132,0.033,2377,954,3795,0,0,0,0,0,0
$GC,7225,-0.70,-194.6,787.9,-7.8,915,7233,0.08,2.22,0.00,0.000,6,0.124,0.040,2320,2434,3794,0,0,0,0,0,0
$GC,7542,-0.70,-194.6,823.4,-11.3,931,7546,0.17,2.22,0.00,0.000,4,0.129,0.034,2379,947,3792,0,0,0,0,0,0
$GC,7606,-0.71,-194.6,828.4,-7.2,934,7611,0.08,2.22,0.00,0.000,6,0.123,0.040,2319,2423,3792,0,0,0,0,0,0
$GC,7934,-0.71,-194.6,863.4,-10.9,950,7939,0.17,2.17,0.00,0.000,4,0.129,0.033,2377,953,3789,0,0,0,0,0,0
$GC,7983,-0.72,-194.6,867.5,-6.4,952,7988,0.08,2.20,0.00,0.000,6,0.122,0.040,2317,2420,3789,0,0,0,0,0,0
$STATE,8111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8112,begin apogee
$GC,8117,-0.11,0.0,880.4,10.6,958,8350,0.68,0.17,223.93,0.988,6,0.104,0.074,2555,2141,3027,0,0,0,0,0,0
$STATE,8351,end apogee,CONTROL_FINISHED_OK
$STATE,8351,begin climb
$GC,8353,0.56,194.6,891.8,0.0,969,8598,0.57,0.00,239.70,0.954,6,0.037,0.000,2817,2141,2233,0,0,0,0,0,0
$GC,8910,0.54,194.6,831.3,16.4,995,8914,0.22,2.25,0.00,0.000,4,0.181,0.035,2766,662,2224,0,0,0,0,0,0
$GC,8942,0.52,194.6,826.4,13.2,996,8950,0.08,2.22,0.00,0.000,6,0.190,0.035,2748,2127,2222,0,0,0,0,0,0
$GC,9258,0.51,194.6,790.4,11.6,1012,9262,0.00,2.12,0.00,0.000,4,0.000,0.049,2748,3531,2220,0,0,0,0,0,0
$GC,9299,0.49,194.6,785.4,13.0,1014,9304,0.08,2.15,0.00,0.000,6,0.210,0.029,2741,2060,2220,0,0,0,0,0,0
$GC,9627,0.49,194.6,749.8,10.9,1030,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2057,2219,0,0,0,0,0,0
$GC,9935,0.48,194.6,716.5,10.8,1045,9940,0.00,2.25,0.00,0.000,4,0.000,0.048,2741,3533,2217,0,0,0,0,0,0
$GC,10025,0.46,194.6,705.5,12.5,1049,10029,0.08,2.15,0.00,0.000,6,0.207,0.029,2730,2059,2217,0,0,0,0,0,0
$GC,10348,0.50,230.5,675.1,8.6,1065,10396,0.10,2.35,42.00,0.914,4,0.104,0.048,2799,3519,2086,0,0,0,0,0,0
$GC,10413,0.48,230.5,666.8,14.3,1068,10417,0.22,2.17,0.00,0.000,6,0.161,0.028,2738,2064,2085,0,0,0,0,0,0
$GC,10742,0.48,239.4,635.5,9.5,1084,10757,0.00,2.28,10.75,0.813,4,0.000,0.046,2738,3527,2050,0,0,0,0,0,0
$GC,10790,0.47,239.4,629.7,12.1,1085,10794,0.00,2.17,0.00,0.000,6,0.000,0.028,2748,2054,2050,0,0,0,0,0,0
$GC,11115,0.47,239.4,593.2,11.6,1103,11119,0.05,2.28,0.00,0.000,4,0.237,0.046,2735,3526,2047,0,0,0,0,0,0
$GC,11143,0.46,239.4,589.7,12.5,1105,11147,0.00,2.15,0.00,0.000,6,0.000,0.028,2736,2057,2047,0,0,0,0,0,0
$GC,11470,0.48,257.7,558.0,9.2,1135,11503,0.00,2.38,23.05,0.844,4,0.000,0.048,2736,3536,1975,0,0,0,0,0,0
$GC,11542,0.47,257.7,550.3,10.5,1141,11549,0.00,2.22,0.00,0.000,6,0.000,0.030,2736,2055,1974,0,0,0,0,0,0
$GC,11867,0.47,261.3,518.8,9.7,1172,11877,0.00,0.00,4.85,0.616,6,0.000,0.000,2736,2052,1961,0,0,0,0,0,0
$GC,12211,0.52,303.3,487.2,8.4,1215,12275,0.10,2.38,53.60,0.819,4,0.107,0.047,2804,3525,1789,0,0,0,0,0,0
$GC,12342,0.51,303.3,469.1,15.5,1235,12349,0.22,2.17,0.00,0.000,6,0.140,0.027,2748,2061,1786,0,0,0,0,0,0
$GC,12705,0.51,305.2,434.1,9.7,1296,12713,0.00,2.30,0.00,0.000,4,0.000,0.047,2748,3525,1782,0,0,0,0,0,0
$GC,12775,0.51,305.2,426.7,10.6,1307,12782,0.00,2.17,0.00,0.000,6,0.000,0.028,2749,2056,1782,0,0,0,0,0,0
$GC,13134,0.55,332.5,393.0,8.8,1368,13178,0.08,2.30,35.70,0.750,4,0.132,0.046,2810,3527,1670,0,0,0,0,0,0
$GC,13191,0.53,332.5,385.8,13.5,1376,13201,0.17,2.22,0.00,0.000,6,0.119,0.028,2757,2065,1668,0,0,0,0,0,0
$GC,13555,0.56,355.8,352.1,9.0,1437,13590,0.08,0.00,28.52,0.711,6,0.126,0.000,2819,2061,1576,0,0,0,0,0,0
$GC,13940,0.55,355.8,296.1,14.6,1502,13950,0.20,2.30,0.00,0.000,4,0.140,0.044,2758,3529,1571,0,0,0,0,0,0
$GC,14000,0.56,355.8,289.7,10.4,1511,14006,0.00,2.17,0.00,0.000,6,0.000,0.026,2762,2051,1570,0,0,0,0,0,0
$GC,14360,0.63,411.1,258.7,7.9,1572,14431,0.12,0.00,66.70,0.662,6,0.084,0.000,2845,2046,1351,0,0,0,0,0,0
$GC,14781,0.62,411.1,192.3,17.0,1642,14791,0.20,2.33,0.00,0.000,4,0.140,0.044,2783,3530,1345,0,0,0,0,0,0
$GC,14806,0.61,411.1,188.9,15.9,1645,14812,0.00,2.17,0.00,0.000,6,0.000,0.026,2790,2054,1344,0,0,0,0,0,0
$GC,15166,0.63,423.0,155.5,9.4,1706,15183,0.00,0.00,14.43,0.558,6,0.000,0.000,2790,2053,1302,0,0,0,0,0,0
$GC,15540,0.71,474.3,121.8,8.0,1768,15614,0.10,2.35,62.12,0.567,4,0.100,0.046,2862,3520,1092,0,0,0,0,0,0
$GC,15649,0.70,474.3,108.1,14.5,1782,15659,0.12,2.20,0.00,0.000,6,0.103,0.026,2813,2060,1091,0,0,0,0,0,0
$GC,16019,0.80,538.7,77.1,7.6,1843,16101,0.12,2.20,74.97,0.533,4,0.086,0.041,2905,656,829,0,0,0,0,0,0
$GC,16142,0.80,538.7,60.3,12.0,1859,16151,0.17,2.22,0.00,0.000,6,0.093,0.031,2838,2122,828,0,0,0,0,0,0
$GC,16505,0.86,554.4,32.9,9.2,1920,16530,0.10,2.15,18.25,0.480,4,0.127,0.044,2878,3535,767,0,0,0,0,0,0
$GC,16690,0.89,554.4,12.6,10.0,1950,16699,0.00,2.17,0.00,0.000,6,0.000,0.026,2878,2045,766,0,0,0,0,0,0
$STATE,16777,end climb,SURFACE_DEPTH_REACHED
$STATE,16777,begin surface coast
$FINISH,1.0,1.022548
$STATE,16803,end surface coast,CONTROL_FINISHED_OK
$STATE,16804,begin surface
$SM_CCo,16880,0.00,0.000,0,0,766,554.62
$SM_GC,1.80,6.82,0.00,0.00,0.042,0.000,0.000,204,2475,766,-7.39,2.15,554.62
$IRIDIUM_FIX,2237.01,12620.88,031110,181820
$TT8_MAMPS,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,8.69449
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.5,60.043
$10V_AH,9.9,56.487
$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,23.475,151.175,898.575,0.000,0.000,23.945,24.705,193.582,0.000,0.000,15.781,4750.416,5974.254,907.973,5216.040,410.324,0.000,2683.966,0.000,5008.861,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,74.205,988.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1331.408,0.000,3095.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116948,1968
$CAP_FILE_SIZE,211862,0
$CFSIZE,260165632,228593664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,290.1,1
$GPS,041110,035937,2242.040,12618.633,31,1.0,31,-3.2