version: 66.08
glider: 176
mission: 2
dive: 412
start: 11 8 110 0 32 47
data:
$ID,176
$MISSION,2
$DIVE,412
$N_DIVES,417
$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,-5455.7183
$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
$GPS1,081110,002507,2207.148,12613.464,30,1.3,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.6
$GPS2,081110,003219,2207.210,12613.393,8,1.4,8,-3.1
$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,186.2,87048,-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,-194.6,0.0,0.0,0,83,0.00,0.00,-65.57,0.000,2,0.000,0.000,199,2461,2740,0,0,0,0,0,0
$GC,85,-0.56,-194.6,3.8,-4.9,8,120,8.93,2.30,-20.15,0.000,4,0.230,0.045,2407,941,3822,0,0,0,0,0,0
$GC,222,-0.56,-194.6,32.3,-14.8,29,231,0.00,2.28,0.00,0.000,6,0.000,0.041,2407,2425,3824,0,0,0,0,0,0
$GC,588,-0.56,-194.6,96.4,-12.9,90,596,0.00,2.17,0.00,0.000,4,0.000,0.031,2407,945,3824,0,0,0,0,0,0
$GC,624,-0.56,-194.6,100.7,-11.9,95,634,0.00,2.22,0.00,0.000,6,0.000,0.039,2407,2420,3824,0,0,0,0,0,0
$GC,985,-0.56,-194.6,139.7,-10.0,156,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2420,3824,0,0,0,0,0,0
$GC,1341,-0.56,-194.6,173.6,-10.0,217,1347,0.00,2.12,0.00,0.000,4,0.000,0.030,2407,946,3824,0,0,0,0,0,0
$GC,1401,-0.57,-194.6,179.2,-9.0,227,1409,0.00,2.20,0.00,0.000,6,0.000,0.037,2407,2431,3824,0,0,0,0,0,0
$GC,1752,-0.57,-194.6,212.5,-8.8,288,1761,0.00,2.17,0.00,0.000,4,0.000,0.031,2407,944,3824,0,0,0,0,0,0
$GC,1786,-0.58,-194.6,215.3,-8.7,293,1793,0.00,2.17,0.00,0.000,6,0.000,0.037,2407,2426,3824,0,0,0,0,0,0
$GC,2131,-0.59,-194.6,244.4,-8.4,354,2140,0.00,2.17,0.00,0.000,4,0.000,0.031,2407,942,3824,0,0,0,0,0,0
$GC,2177,-0.60,-194.6,248.1,-8.5,361,2184,0.05,2.20,0.00,0.000,6,0.177,0.037,2369,2433,3823,0,0,0,0,0,0
$GC,2528,-0.60,-194.6,287.2,-12.0,422,2537,0.12,2.20,0.00,0.000,4,0.151,0.032,2407,949,3822,0,0,0,0,0,0
$GC,2574,-0.61,-194.6,291.5,-8.9,429,2582,0.08,2.20,0.00,0.000,6,0.127,0.037,2359,2433,3822,0,0,0,0,0,0
$GC,2926,-0.61,-194.6,332.6,-11.6,490,2934,0.15,0.00,0.00,0.000,6,0.142,0.000,2405,2433,3821,0,0,0,0,0,0
$GC,3278,-0.62,-194.6,361.4,-7.4,551,3287,0.08,2.15,0.00,0.000,4,0.129,0.032,2349,953,3819,0,0,0,0,0,0
$GC,3329,-0.62,-194.6,366.7,-11.1,559,3337,0.15,2.20,0.00,0.000,6,0.132,0.040,2397,2423,3819,0,0,0,0,0,0
$GC,3681,-0.63,-194.6,393.2,-7.1,620,3690,0.05,2.17,0.00,0.000,4,0.171,0.032,2349,957,3817,0,0,0,0,0,0
$GC,3717,-0.63,-194.6,396.4,-9.2,625,3725,0.15,2.20,0.00,0.000,6,0.134,0.040,2396,2434,3817,0,0,0,0,0,0
$GC,4068,-0.64,-194.6,420.9,-6.8,686,4077,0.08,2.20,0.00,0.000,4,0.126,0.031,2342,953,3816,0,0,0,0,0,0
$GC,4118,-0.64,-194.6,425.8,-10.4,694,4127,0.12,2.22,0.00,0.000,6,0.106,0.041,2389,2419,3816,0,0,0,0,0,0
$GC,4472,-0.65,-194.6,451.8,-7.4,755,4480,0.00,2.15,0.00,0.000,4,0.000,0.031,2389,942,3813,0,0,0,0,0,0
$GC,4500,-0.66,-194.6,454.0,-7.4,759,4509,0.08,2.22,0.00,0.000,6,0.125,0.039,2335,2432,3814,0,0,0,0,0,0
$GC,4855,-0.65,-194.6,495.0,-11.8,820,4865,0.17,2.08,0.00,0.000,4,0.129,0.054,2390,3767,3810,0,0,0,0,0,0
$GC,4881,-0.66,-194.6,497.4,-10.5,823,4889,0.05,2.03,0.00,0.000,6,0.172,0.024,2351,2332,3811,0,0,0,0,0,0
$GC,5213,-0.66,-194.6,528.4,-9.1,856,5218,0.12,2.00,0.00,0.000,4,0.139,0.032,2391,949,3809,0,0,0,0,0,0
$GC,5287,-0.67,-194.6,534.4,-7.9,862,5292,0.08,2.20,0.00,0.000,6,0.126,0.037,2336,2434,3809,0,0,0,0,0,0
$GC,5617,-0.67,-194.6,569.5,-11.0,893,5622,0.15,2.17,0.00,0.000,4,0.132,0.031,2386,954,3807,0,0,0,0,0,0
$GC,5653,-0.68,-194.6,572.6,-8.5,896,5658,0.08,2.20,0.00,0.000,6,0.122,0.040,2325,2426,3806,0,0,0,0,0,0
$GC,5991,-0.67,-194.6,612.8,-12.1,923,5993,0.17,0.00,0.00,0.000,6,0.131,0.000,2382,2426,3804,0,0,0,0,0,0
$GC,6301,-0.68,-194.6,636.4,-7.3,938,6306,0.08,2.17,0.00,0.000,4,0.125,0.034,2322,949,3802,0,0,0,0,0,0
$GC,6372,-0.68,-194.6,644.2,-11.2,941,6377,0.15,2.25,0.00,0.000,6,0.105,0.042,2379,2413,3802,0,0,0,0,0,0
$GC,6697,-0.69,-194.6,667.3,-6.8,957,6702,0.08,2.15,0.00,0.000,4,0.125,0.032,2321,950,3799,0,0,0,0,0,0
$GC,6729,-0.69,-194.6,670.7,-11.0,958,6737,0.12,2.25,0.00,0.000,6,0.106,0.041,2371,2419,3798,0,0,0,0,0,0
$GC,7046,-0.70,-194.6,694.3,-7.4,974,7050,0.00,2.12,0.00,0.000,4,0.000,0.032,2372,957,3796,0,0,0,0,0,0
$GC,7102,-0.71,-194.6,698.7,-8.2,976,7109,0.05,2.20,0.00,0.000,6,0.167,0.040,2323,2427,3796,0,0,0,0,0,0
$GC,7418,-0.71,-194.6,732.4,-11.2,992,7423,0.15,2.17,0.00,0.000,4,0.137,0.032,2373,952,3794,0,0,0,0,0,0
$GC,7462,-0.72,-194.6,736.5,-7.9,994,7467,0.08,2.22,0.00,0.000,6,0.122,0.041,2317,2433,3794,0,0,0,0,0,0
$GC,7783,-0.71,-194.6,772.2,-11.4,1010,7788,0.17,2.20,0.00,0.000,4,0.130,0.033,2376,946,3791,0,0,0,0,0,0
$GC,7833,-0.73,-194.6,776.5,-7.2,1012,7838,0.10,2.22,0.00,0.000,6,0.097,0.041,2308,2423,3791,0,0,0,0,0,0
$GC,8155,-0.72,-194.6,815.0,-12.5,1028,8157,0.17,0.00,0.00,0.000,6,0.135,0.000,2364,2423,3789,0,0,0,0,0,0
$GC,8463,-0.73,-194.6,840.2,-7.9,1043,8467,0.00,2.15,0.00,0.000,4,0.000,0.034,2364,956,3787,0,0,0,0,0,0
$GC,8527,-0.74,-194.6,845.3,-8.1,1046,8532,0.05,2.22,0.00,0.000,6,0.176,0.041,2318,2422,3787,0,0,0,0,0,0
$STATE,8852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8852,begin apogee
$GC,8859,-0.11,0.0,881.6,10.9,1062,9020,0.68,0.17,155.65,1.169,6,0.103,0.073,2557,2140,3027,0,0,0,0,0,0
$STATE,9021,end apogee,CONTROL_FINISHED_OK
$STATE,9021,begin climb
$GC,9023,0.56,194.6,890.7,0.0,1069,9201,0.57,2.40,167.52,1.130,4,0.040,0.036,2828,659,2230,0,0,0,0,0,0
$GC,9360,0.54,194.6,860.2,15.8,1085,9365,0.25,2.25,0.00,0.000,6,0.168,0.034,2759,2130,2223,0,0,0,0,0,0
$GC,9688,0.52,194.6,817.3,13.0,1101,9692,0.00,2.15,0.00,0.000,4,0.000,0.050,2759,3533,2219,0,0,0,0,0,0
$GC,9750,0.50,194.6,808.2,14.5,1103,9757,0.10,2.17,0.00,0.000,6,0.196,0.028,2744,2048,2218,0,0,0,0,0,0
$GC,10066,0.49,194.6,771.0,11.6,1119,10070,0.00,2.28,0.00,0.000,4,0.000,0.048,2745,3533,2216,0,0,0,0,0,0
$GC,10093,0.47,194.6,767.4,12.9,1120,10098,0.03,2.20,0.00,0.000,6,0.200,0.028,2740,2065,2216,0,0,0,0,0,0
$GC,10415,0.46,194.6,731.7,10.8,1136,10419,0.00,2.25,0.00,0.000,4,0.000,0.047,2739,3525,2214,0,0,0,0,0,0
$GC,10479,0.45,194.6,724.1,12.6,1139,10484,0.10,2.12,0.00,0.000,6,0.184,0.028,2721,2058,2214,0,0,0,0,0,0
$GC,10808,0.47,216.0,692.8,9.1,1155,10827,0.10,0.00,16.90,0.998,6,0.104,0.000,2787,2053,2146,0,0,0,0,0,0
$GC,11136,0.45,216.0,648.6,13.1,1171,11141,0.20,2.28,0.00,0.000,4,0.153,0.047,2728,3530,2141,0,0,0,0,0,0
$GC,11199,0.44,216.0,641.3,10.4,1174,11203,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2057,2141,0,0,0,0,0,0
$GC,11531,0.44,216.0,608.4,9.8,1190,11535,0.00,2.28,0.00,0.000,4,0.000,0.049,2735,3537,2139,0,0,0,0,0,0
$GC,11558,0.43,216.0,605.6,10.4,1191,11563,0.05,2.15,0.00,0.000,6,0.234,0.028,2722,2062,2139,0,0,0,0,0,0
$GC,11882,0.46,245.0,576.8,8.8,1218,11928,0.08,2.35,35.62,0.874,4,0.129,0.047,2777,3526,2027,0,0,0,0,0,0
$GC,11947,0.44,245.0,569.0,13.6,1223,11954,0.22,2.17,0.00,0.000,6,0.148,0.026,2721,2054,2026,0,0,0,0,0,0
$GC,12272,0.48,276.9,539.0,8.7,1254,12318,0.10,2.40,39.75,0.847,4,0.103,0.048,2783,3523,1897,0,0,0,0,0,0
$GC,12375,0.47,276.9,524.6,15.7,1263,12380,0.20,2.17,0.00,0.000,6,0.145,0.027,2730,2061,1895,0,0,0,0,0,0
$GC,12709,0.50,306.3,494.0,8.8,1299,12754,0.10,2.17,37.10,0.817,4,0.104,0.039,2802,663,1778,0,0,0,0,0,0
$GC,12781,0.49,306.3,484.7,14.4,1309,12788,0.20,2.22,0.00,0.000,6,0.138,0.033,2742,2120,1775,0,0,0,0,0,0
$GC,13140,0.50,311.0,448.6,9.6,1370,13155,0.00,2.20,5.90,0.638,4,0.000,0.047,2742,3523,1758,0,0,0,0,0,0
$GC,13223,0.50,311.0,439.8,10.8,1383,13230,0.00,2.17,0.00,0.000,6,0.000,0.026,2749,2050,1757,0,0,0,0,0,0
$GC,13581,0.51,317.3,405.4,9.6,1444,13596,0.00,0.00,9.50,0.698,6,0.000,0.000,2748,2046,1732,0,0,0,0,0,0
$GC,13949,0.54,342.1,371.3,8.9,1506,13988,0.08,2.40,32.20,0.744,4,0.132,0.049,2811,3532,1631,0,0,0,0,0,0
$GC,14073,0.53,342.1,354.3,13.8,1525,14081,0.22,2.17,0.00,0.000,6,0.139,0.028,2749,2062,1629,0,0,0,0,0,0
$GC,14435,0.61,408.7,325.3,7.5,1586,14529,0.15,2.38,82.22,0.714,4,0.076,0.047,2838,3519,1359,0,0,0,0,0,0
$GC,14592,0.60,408.7,301.0,16.0,1609,14600,0.22,2.17,0.00,0.000,6,0.133,0.028,2775,2064,1356,0,0,0,0,0,0
$GC,14952,0.67,459.5,268.1,8.1,1670,15019,0.12,0.00,61.75,0.668,6,0.085,0.000,2854,2058,1152,0,0,0,0,0,0
$GC,15371,0.66,459.5,202.1,17.0,1739,15378,0.20,2.28,0.00,0.000,4,0.142,0.044,2792,3537,1147,0,0,0,0,0,0
$GC,15427,0.70,481.8,195.1,9.0,1748,15466,0.05,2.20,26.65,0.610,6,0.067,0.026,2858,2054,1061,0,0,0,0,0,0
$GC,15820,0.69,481.8,137.6,14.4,1813,15828,0.17,0.00,0.00,0.000,6,0.136,0.000,2802,2052,1058,0,0,0,0,0,0
$GC,16185,0.86,603.3,110.9,5.7,1874,16341,0.20,2.38,142.05,0.559,4,0.064,0.046,2918,3522,566,0,0,0,0,0,0
$GC,16381,0.86,603.3,79.7,15.6,1899,16390,0.17,2.22,0.00,0.000,6,0.105,0.027,2855,2057,565,0,0,0,0,0,0
$GC,16750,0.90,603.3,47.8,10.8,1960,16760,0.10,2.10,0.00,0.000,4,0.120,0.037,2902,659,563,0,0,0,0,0,0
$GC,16857,0.93,603.3,35.2,11.4,1977,16866,0.05,2.17,0.00,0.000,6,0.068,0.029,2857,2129,563,0,0,0,0,0,0
$STATE,17134,end climb,SURFACE_DEPTH_REACHED
$STATE,17134,begin surface coast
$FINISH,0.9,1.009705
$STATE,17165,end surface coast,CONTROL_FINISHED_OK
$STATE,17165,begin surface
$SM_CCo,17241,0.00,0.000,0,0,563,604.42
$SM_GC,1.70,6.68,0.00,0.00,0.037,0.000,0.000,202,2467,563,-7.38,1.89,604.42
$IRIDIUM_FIX,2157.39,12244.53,071110,191955
$TT8_MAMPS,0.026964
$HUMID,51.26
$INTERNAL_PRESSURE,8.67495
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.1,64.413
$10V_AH,10.1,60.952
$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,23.450,151.150,812.825,0.000,0.000,27.594,39.256,206.582,0.000,0.000,10.997,4891.346,6138.271,831.709,5363.057,421.594,0.000,2634.453,0.000,5132.557,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,72.675,1168.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1374.789,0.000,3159.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,120303,2029
$CAP_FILE_SIZE,213796,0
$CFSIZE,260165632,226549760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,312.2,1
$GPS,081110,052107,2205.193,12612.767,31,1.2,31,-3.1