version: 66.08
glider: 176
mission: 2
dive: 420
start: 11 9 110 17 17 59
data:
$ID,176
$MISSION,2
$DIVE,420
$N_DIVES,426
$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,-5465.7837
$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
$GPS1,091110,171037,2153.779,12611.770,34,1.1,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-66.8
$GPS2,091110,171732,2153.802,12611.845,14,1.4,14,-3.0
$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,188.9,62400,-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,-194.6,0.0,0.0,0,83,0.00,0.00,-65.70,0.000,2,0.000,0.000,198,2464,2745,0,0,0,0,0,0
$GC,86,-0.56,-194.6,3.6,-4.3,8,128,9.20,2.25,-20.90,0.000,4,0.239,0.043,2405,956,3825,0,0,0,0,0,0
$GC,238,-0.56,-194.6,35.0,-19.7,31,246,0.00,2.22,0.00,0.000,6,0.000,0.039,2405,2417,3825,0,0,0,0,0,0
$GC,603,-0.55,-194.6,102.2,-14.6,92,612,0.00,2.08,0.00,0.000,4,0.000,0.053,2405,3769,3825,0,0,0,0,0,0
$GC,622,-0.55,-194.6,104.6,-13.3,94,631,0.00,2.05,0.00,0.000,6,0.000,0.025,2404,2335,3825,0,0,0,0,0,0
$GC,989,-0.55,-194.6,151.5,-12.9,155,996,0.05,2.00,0.00,0.000,4,0.235,0.031,2417,945,3825,0,0,0,0,0,0
$GC,1088,-0.55,-194.6,162.7,-11.2,172,1097,0.00,2.22,0.00,0.000,6,0.000,0.036,2417,2434,3825,0,0,0,0,0,0
$GC,1442,-0.56,-194.6,196.0,-8.2,233,1450,0.00,2.12,0.00,0.000,4,0.000,0.030,2417,949,3825,0,0,0,0,0,0
$GC,1514,-0.57,-194.6,202.0,-8.1,245,1523,0.05,2.20,0.00,0.000,6,0.181,0.036,2375,2440,3825,0,0,0,0,0,0
$GC,1866,-0.57,-194.6,238.6,-10.7,306,1875,0.12,2.20,0.00,0.000,4,0.147,0.030,2414,949,3825,0,0,0,0,0,0
$GC,1905,-0.57,-194.6,242.3,-8.1,312,1914,0.03,2.20,0.00,0.000,6,0.104,0.037,2372,2424,3825,0,0,0,0,0,0
$GC,2256,-0.57,-194.6,276.9,-9.1,373,2264,0.12,0.00,0.00,0.000,6,0.146,0.000,2412,2424,3824,0,0,0,0,0,0
$GC,2602,-0.58,-194.6,299.3,-7.3,434,2612,0.05,2.17,0.00,0.000,4,0.173,0.032,2361,952,3822,0,0,0,0,0,0
$GC,2704,-0.59,-194.6,310.0,-10.6,451,2712,0.15,2.20,0.00,0.000,6,0.132,0.039,2408,2432,3821,0,0,0,0,0,0
$GC,3053,-0.60,-194.6,339.8,-8.7,512,3062,0.08,2.20,0.00,0.000,4,0.127,0.032,2353,950,3821,0,0,0,0,0,0
$GC,3110,-0.60,-194.6,346.5,-12.6,521,3119,0.17,2.20,0.00,0.000,6,0.133,0.039,2408,2426,3820,0,0,0,0,0,0
$GC,3460,-0.61,-194.6,376.2,-8.1,582,3469,0.08,2.20,0.00,0.000,4,0.126,0.031,2349,946,3818,0,0,0,0,0,0
$GC,3489,-0.61,-194.6,379.0,-8.9,586,3499,0.12,2.22,0.00,0.000,6,0.109,0.039,2396,2419,3818,0,0,0,0,0,0
$GC,3838,-0.62,-194.6,405.5,-7.2,647,3844,0.00,2.12,0.00,0.000,4,0.000,0.031,2397,943,3816,0,0,0,0,0,0
$GC,3887,-0.63,-194.6,409.5,-7.7,655,3894,0.05,2.20,0.00,0.000,6,0.165,0.037,2355,2430,3816,0,0,0,0,0,0
$GC,4234,-0.63,-194.6,444.8,-10.5,716,4244,0.12,2.20,0.00,0.000,4,0.144,0.031,2396,954,3815,0,0,0,0,0,0
$GC,4281,-0.65,-194.6,448.6,-8.7,723,4288,0.08,2.20,0.00,0.000,6,0.125,0.038,2344,2431,3814,0,0,0,0,0,0
$GC,4632,-0.64,-194.6,486.9,-10.8,784,4641,0.15,2.20,0.00,0.000,4,0.135,0.031,2393,958,3812,0,0,0,0,0,0
$GC,4659,-0.65,-194.6,489.5,-9.3,788,4668,0.03,2.22,0.00,0.000,6,0.114,0.039,2348,2429,3812,0,0,0,0,0,0
$GC,4994,-0.65,-194.6,521.0,-9.2,828,4999,0.12,2.15,0.00,0.000,4,0.138,0.031,2389,954,3810,0,0,0,0,0,0
$GC,5024,-0.66,-194.6,523.3,-7.8,830,5029,0.08,2.20,0.00,0.000,6,0.124,0.039,2333,2425,3810,0,0,0,0,0,0
$GC,5351,-0.66,-194.6,559.8,-11.6,860,5355,0.17,2.15,0.00,0.000,4,0.129,0.031,2391,954,3808,0,0,0,0,0,0
$GC,5390,-0.67,-194.6,563.8,-8.5,863,5395,0.08,2.22,0.00,0.000,6,0.124,0.040,2332,2434,3808,0,0,0,0,0,0
$GC,5727,-0.67,-194.6,602.4,-11.4,893,5731,0.17,2.17,0.00,0.000,4,0.129,0.031,2391,951,3806,0,0,0,0,0,0
$GC,5754,-0.67,-194.6,605.2,-8.2,894,5758,0.08,2.20,0.00,0.000,6,0.123,0.040,2336,2422,3806,0,0,0,0,0,0
$GC,6075,-0.67,-194.6,636.3,-9.4,910,6080,0.15,2.17,0.00,0.000,4,0.130,0.032,2385,943,3804,0,0,0,0,0,0
$GC,6113,-0.69,-194.6,639.3,-6.4,911,6121,0.08,2.25,0.00,0.000,6,0.121,0.040,2324,2434,3803,0,0,0,0,0,0
$GC,6430,-0.68,-194.6,672.9,-11.2,927,6435,0.17,2.17,0.00,0.000,4,0.132,0.031,2382,953,3802,0,0,0,0,0,0
$GC,6479,-0.70,-194.6,677.8,-8.2,929,6484,0.08,2.20,0.00,0.000,6,0.124,0.039,2324,2428,3801,0,0,0,0,0,0
$GC,6795,-0.69,-194.6,715.2,-12.0,944,6800,0.17,2.17,0.00,0.000,4,0.132,0.032,2382,954,3799,0,0,0,0,0,0
$GC,6839,-0.71,-194.6,719.3,-7.6,946,6844,0.08,2.20,0.00,0.000,6,0.123,0.040,2321,2424,3799,0,0,0,0,0,0
$GC,7161,-0.70,-194.6,753.8,-10.4,962,7165,0.17,2.17,0.00,0.000,4,0.130,0.033,2379,952,3796,0,0,0,0,0,0
$GC,7201,-0.71,-194.6,756.8,-6.3,964,7206,0.08,2.22,0.00,0.000,6,0.124,0.040,2318,2423,3796,0,0,0,0,0,0
$GC,7529,-0.71,-194.6,790.4,-10.6,980,7534,0.17,2.17,0.00,0.000,4,0.130,0.033,2376,958,3794,0,0,0,0,0,0
$GC,7579,-0.72,-194.6,794.6,-7.6,982,7583,0.10,2.20,0.00,0.000,6,0.099,0.040,2306,2425,3794,0,0,0,0,0,0
$GC,7900,-0.72,-194.6,832.4,-12.0,998,7905,0.20,2.17,0.00,0.000,4,0.131,0.032,2373,952,3792,0,0,0,0,0,0
$GC,7945,-0.73,-194.6,836.7,-7.6,1000,7949,0.10,2.22,0.00,0.000,6,0.096,0.041,2301,2432,3792,0,0,0,0,0,0
$GC,8266,-0.73,-194.6,874.4,-12.0,1016,8270,0.20,2.20,0.00,0.000,4,0.132,0.031,2368,956,3789,0,0,0,0,0,0
$GC,8322,-0.74,-194.6,879.2,-7.2,1018,8329,0.08,2.22,0.00,0.000,6,0.122,0.040,2308,2425,3789,0,0,0,0,0,0
$STATE,8348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8348,begin apogee
$GC,8353,-0.11,0.0,881.6,8.5,1020,8589,0.73,0.17,226.60,0.990,6,0.107,0.071,2561,2147,3027,0,0,0,0,0,0
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8592,0.56,194.6,892.8,0.0,1031,8843,0.55,0.00,241.25,0.957,6,0.037,0.000,2814,2147,2232,0,0,0,0,0,0
$GC,9152,0.54,194.6,828.5,17.3,1058,9157,0.20,2.25,0.00,0.000,4,0.177,0.034,2769,660,2223,0,0,0,0,0,0
$GC,9185,0.52,194.6,823.3,14.3,1059,9192,0.08,2.20,0.00,0.000,6,0.190,0.034,2752,2128,2222,0,0,0,0,0,0
$GC,9502,0.51,194.6,785.5,11.1,1075,9506,0.00,2.12,0.00,0.000,4,0.000,0.048,2752,3533,2220,0,0,0,0,0,0
$GC,9557,0.49,194.6,778.4,12.9,1077,9566,0.10,2.15,0.00,0.000,6,0.187,0.028,2736,2058,2220,0,0,0,0,0,0
$GC,9874,0.49,199.7,747.7,9.6,1093,9876,0.05,0.00,0.00,0.000,6,0.178,0.000,2782,2054,2219,0,0,0,0,0,0
$GC,10182,0.47,199.7,709.4,12.1,1108,10187,0.17,2.28,0.00,0.000,4,0.161,0.048,2731,3529,2217,0,0,0,0,0,0
$GC,10232,0.46,199.7,703.6,11.3,1110,10236,0.00,2.15,0.00,0.000,6,0.000,0.029,2737,2061,2217,0,0,0,0,0,0
$GC,10548,0.48,222.8,673.6,9.0,1125,10587,0.00,0.00,32.70,0.901,6,0.000,0.000,2737,2057,2117,0,0,0,0,0,0
$GC,10898,0.47,224.4,639.9,9.7,1142,10902,0.00,2.28,0.00,0.000,4,0.000,0.047,2737,3525,2112,0,0,0,0,0,0
$GC,10991,0.46,224.4,629.5,10.7,1146,10996,0.05,2.17,0.00,0.000,6,0.235,0.027,2733,2047,2112,0,0,0,0,0,0
$GC,11315,0.47,232.7,599.2,9.5,1162,11337,0.00,2.30,12.45,0.815,4,0.000,0.046,2733,3528,2077,0,0,0,0,0,0
$GC,11389,0.46,232.7,591.2,11.1,1168,11395,0.00,2.20,0.00,0.000,6,0.000,0.028,2736,2048,2076,0,0,0,0,0,0
$GC,11714,0.46,241.3,559.0,9.5,1199,11728,0.00,0.00,11.73,0.791,6,0.000,0.000,2736,2045,2043,0,0,0,0,0,0
$GC,12044,0.49,270.0,527.6,8.8,1230,12090,0.08,2.38,36.58,0.828,4,0.135,0.048,2793,3535,1925,0,0,0,0,0,0
$GC,12187,0.48,270.0,508.2,14.5,1242,12194,0.22,2.20,0.00,0.000,6,0.146,0.027,2735,2062,1923,0,0,0,0,0,0
$GC,12527,0.55,327.8,480.8,7.8,1294,12605,0.12,0.00,72.40,0.798,6,0.090,0.000,2815,2058,1689,0,0,0,0,0,0
$GC,12946,0.54,327.8,420.9,15.5,1365,12954,0.20,2.28,0.00,0.000,4,0.145,0.046,2755,3530,1682,0,0,0,0,0,0
$GC,13030,0.54,327.8,410.3,11.3,1379,13036,0.00,2.17,0.00,0.000,6,0.000,0.027,2762,2062,1680,0,0,0,0,0,0
$GC,13378,0.54,327.8,372.4,10.1,1440,13386,0.00,2.30,0.00,0.000,4,0.000,0.047,2762,3526,1680,0,0,0,0,0,0
$GC,13434,0.54,327.8,366.4,10.2,1449,13442,0.00,2.15,0.00,0.000,6,0.000,0.027,2762,2052,1679,0,0,0,0,0,0
$GC,13783,0.59,370.8,336.0,8.3,1510,13840,0.08,0.00,51.45,0.705,6,0.129,0.000,2826,2047,1515,0,0,0,0,0,0
$GC,14181,0.58,370.8,280.6,13.3,1578,14190,0.20,2.33,0.00,0.000,4,0.139,0.045,2764,3526,1508,0,0,0,0,0,0
$GC,14228,0.58,370.8,275.6,10.1,1585,14236,0.08,2.15,0.00,0.000,6,0.120,0.027,2829,2054,1508,0,0,0,0,0,0
$GC,14577,0.57,370.8,230.1,12.7,1646,14586,0.20,2.30,0.00,0.000,4,0.138,0.044,2767,3525,1507,0,0,0,0,0,0
$GC,14611,0.57,370.8,226.2,11.6,1651,14618,0.00,2.12,0.00,0.000,6,0.000,0.026,2767,2055,1507,0,0,0,0,0,0
$GC,14957,0.65,425.0,200.4,7.9,1712,15031,0.12,2.33,65.47,0.612,4,0.083,0.045,2848,3536,1293,0,0,0,0,0,0
$GC,15053,0.64,425.0,187.9,15.1,1725,15062,0.22,2.22,0.00,0.000,6,0.125,0.027,2786,2051,1291,0,0,0,0,0,0
$GC,15405,0.72,483.8,158.4,7.8,1786,15485,0.12,2.35,70.57,0.580,4,0.084,0.044,2862,3537,1053,0,0,0,0,0,0
$GC,15506,0.71,483.8,145.8,13.9,1800,15516,0.15,2.25,0.00,0.000,6,0.103,0.026,2813,2052,1052,0,0,0,0,0,0
$GC,15876,0.79,532.5,114.2,8.1,1861,15942,0.12,2.12,57.70,0.546,4,0.086,0.040,2902,657,855,0,0,0,0,0,0
$GC,15965,0.78,532.5,101.4,16.0,1872,15974,0.17,2.25,0.00,0.000,6,0.099,0.032,2836,2134,854,0,0,0,0,0,0
$GC,16333,0.82,532.5,64.2,11.5,1933,16343,0.08,2.15,0.00,0.000,4,0.143,0.045,2863,3529,850,0,0,0,0,0,0
$GC,16608,0.85,532.5,29.4,11.7,1979,16617,0.00,2.17,0.00,0.000,6,0.000,0.027,2863,2045,850,0,0,0,0,0,0
$STATE,16854,end climb,SURFACE_DEPTH_REACHED
$STATE,16854,begin surface coast
$FINISH,1.0,1.013330
$STATE,16885,end surface coast,CONTROL_FINISHED_OK
$STATE,16886,begin surface
$SM_CCo,16962,0.00,0.000,0,0,851,533.77
$SM_GC,1.77,6.68,0.00,0.00,0.036,0.000,0.000,199,2433,851,-7.39,0.93,533.77
$IRIDIUM_FIX,2148.09,12612.23,091110,111144
$TT8_MAMPS,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,8.69449
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.5,66.260
$10V_AH,10.1,62.843
$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,23.950,155.375,878.900,0.000,0.000,29.697,16.436,202.136,0.000,0.000,17.395,4877.272,5810.564,928.821,5338.769,393.148,0.000,2712.852,0.000,5107.817,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,71.145,989.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1370.472,0.000,3143.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120141,2025
$CAP_FILE_SIZE,215264,0
$CFSIZE,260165632,225693696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 93.8,1
$GPS,091110,220155,2151.540,12612.699,46,1.1,46,-3.0