version: 66.08
glider: 176
mission: 2
dive: 422
start: 11 10 110 3 2 47
data:
$ID,176
$MISSION,2
$DIVE,422
$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,-5468.3027
$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
$GPS1,101110,025507,2149.300,12611.364,37,1.1,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.0
$GPS2,101110,030220,2149.216,12611.305,11,1.4,11,-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,192.0,54033,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.56,-194.6,0.0,0.0,0,92,0.00,0.00,-73.40,0.000,2,0.000,0.000,199,2484,2639,0,0,0,0,0,0
$GC,95,-0.56,-194.6,3.3,-3.3,9,137,9.18,2.30,-23.38,0.000,4,0.241,0.043,2404,949,3823,0,0,0,0,0,0
$GC,235,-0.56,-194.6,31.8,-14.7,30,243,0.00,2.25,0.00,0.000,6,0.000,0.041,2404,2415,3823,0,0,0,0,0,0
$GC,600,-0.56,-194.6,100.9,-14.3,91,611,0.03,2.08,0.00,0.000,4,0.303,0.054,2414,3758,3824,0,0,0,0,0,0
$GC,661,-0.56,-194.6,107.6,-10.0,100,670,0.00,2.05,0.00,0.000,6,0.000,0.026,2415,2325,3824,0,0,0,0,0,0
$GC,1028,-0.56,-194.6,145.8,-9.8,161,1036,0.00,2.00,0.00,0.000,4,0.000,0.032,2415,949,3824,0,0,0,0,0,0
$GC,1107,-0.57,-194.6,153.6,-9.4,174,1117,0.03,2.20,0.00,0.000,6,0.109,0.037,2374,2422,3824,0,0,0,0,0,0
$GC,1460,-0.56,-194.6,203.1,-13.4,235,1467,0.15,0.00,0.00,0.000,6,0.145,0.000,2420,2423,3824,0,0,0,0,0,0
$GC,1805,-0.57,-194.6,232.1,-8.0,296,1815,0.08,2.17,0.00,0.000,4,0.130,0.031,2365,950,3824,0,0,0,0,0,0
$GC,1844,-0.57,-194.6,236.4,-11.0,302,1853,0.12,2.22,0.00,0.000,6,0.114,0.039,2410,2429,3824,0,0,0,0,0,0
$GC,2193,-0.58,-194.6,263.4,-7.9,363,2200,0.00,2.12,0.00,0.000,4,0.000,0.031,2411,946,3823,0,0,0,0,0,0
$GC,2232,-0.59,-194.6,266.6,-8.2,369,2240,0.08,2.20,0.00,0.000,6,0.125,0.037,2359,2433,3823,0,0,0,0,0,0
$GC,2582,-0.59,-194.6,307.0,-11.8,430,2590,0.15,0.00,0.00,0.000,6,0.142,0.000,2406,2433,3822,0,0,0,0,0,0
$GC,2934,-0.59,-194.6,332.7,-7.7,491,2942,0.00,2.15,0.00,0.000,4,0.000,0.031,2407,946,3821,0,0,0,0,0,0
$GC,2985,-0.61,-194.6,336.9,-8.4,499,2993,0.08,2.20,0.00,0.000,6,0.126,0.037,2359,2432,3820,0,0,0,0,0,0
$GC,3335,-0.61,-194.6,377.5,-11.2,560,3343,0.15,0.00,0.00,0.000,6,0.138,0.000,2406,2433,3818,0,0,0,0,0,0
$GC,3687,-0.62,-194.6,402.2,-6.3,621,3694,0.08,2.17,0.00,0.000,4,0.129,0.031,2348,951,3817,0,0,0,0,0,0
$GC,3731,-0.62,-194.6,406.3,-10.0,628,3740,0.12,2.22,0.00,0.000,6,0.108,0.040,2396,2420,3816,0,0,0,0,0,0
$GC,4084,-0.63,-194.6,432.2,-7.2,689,4091,0.05,0.00,0.00,0.000,6,0.171,0.000,2349,2420,3814,0,0,0,0,0,0
$GC,4431,-0.63,-194.6,465.7,-8.8,750,4440,0.15,2.17,0.00,0.000,4,0.129,0.031,2398,959,3813,0,0,0,0,0,0
$GC,4511,-0.64,-194.6,471.3,-7.0,763,4520,0.08,2.20,0.00,0.000,6,0.122,0.039,2345,2433,3812,0,0,0,0,0,0
$GC,4870,-0.65,-194.6,501.0,-8.4,824,4875,0.15,2.17,0.00,0.000,4,0.120,0.031,2399,946,3810,0,0,0,0,0,0
$GC,4918,-0.67,-194.6,504.9,-7.2,828,4922,0.10,2.22,0.00,0.000,6,0.099,0.038,2344,2436,3809,0,0,0,0,0,0
$GC,5243,-0.67,-194.6,533.8,-9.1,858,5248,0.12,2.17,0.00,0.000,4,0.131,0.031,2389,952,3807,0,0,0,0,0,0
$GC,5278,-0.69,-194.6,536.8,-7.9,861,5282,0.10,2.20,0.00,0.000,6,0.099,0.037,2331,2427,3807,0,0,0,0,0,0
$GC,5603,-0.69,-194.6,571.6,-10.8,891,5607,0.15,2.17,0.00,0.000,4,0.138,0.032,2381,945,3805,0,0,0,0,0,0
$GC,5647,-0.70,-194.6,575.6,-7.6,894,5654,0.08,2.20,0.00,0.000,6,0.125,0.040,2326,2423,3804,0,0,0,0,0,0
$GC,5981,-0.70,-194.6,611.7,-10.8,921,5985,0.15,2.15,0.00,0.000,4,0.139,0.032,2375,954,3802,0,0,0,0,0,0
$GC,6030,-0.71,-194.6,616.2,-7.6,923,6035,0.08,2.22,0.00,0.000,6,0.123,0.041,2320,2427,3802,0,0,0,0,0,0
$GC,6347,-0.70,-194.6,651.3,-11.2,938,6352,0.17,2.17,0.00,0.000,4,0.132,0.033,2379,950,3800,0,0,0,0,0,0
$GC,6380,-0.71,-194.6,654.5,-8.3,939,6389,0.08,2.22,0.00,0.000,6,0.123,0.041,2318,2422,3800,0,0,0,0,0,0
$GC,6696,-0.71,-194.6,690.1,-11.4,955,6701,0.17,2.17,0.00,0.000,4,0.132,0.032,2376,954,3797,0,0,0,0,0,0
$GC,6729,-0.72,-194.6,693.3,-7.7,956,6733,0.08,2.22,0.00,0.000,6,0.123,0.041,2317,2421,3797,0,0,0,0,0,0
$GC,7045,-0.71,-194.6,726.6,-10.7,971,7050,0.17,2.17,0.00,0.000,4,0.132,0.033,2375,951,3795,0,0,0,0,0,0
$GC,7111,-0.72,-194.6,731.8,-7.3,974,7116,0.08,2.22,0.00,0.000,6,0.121,0.040,2317,2423,3794,0,0,0,0,0,0
$GC,7432,-0.72,-194.6,767.0,-11.8,990,7434,0.15,0.00,0.00,0.000,6,0.138,0.000,2366,2424,3793,0,0,0,0,0,0
$GC,7743,-0.73,-194.6,794.2,-8.9,1005,7746,0.00,2.17,0.00,0.000,4,0.000,0.034,2366,948,3790,0,0,0,0,0,0
$GC,7812,-0.73,-194.6,800.6,-9.7,1008,7817,0.05,2.22,0.00,0.000,6,0.173,0.041,2317,2421,3789,0,0,0,0,0,0
$GC,8141,-0.73,-194.6,839.0,-11.5,1024,8146,0.15,2.17,0.00,0.000,4,0.137,0.033,2366,949,3787,0,0,0,0,0,0
$GC,8168,-0.74,-194.6,842.0,-9.6,1025,8173,0.05,2.22,0.00,0.000,6,0.171,0.041,2312,2426,3787,0,0,0,0,0,0
$GC,8485,-0.73,-194.6,877.2,-11.3,1040,8490,0.15,2.17,0.00,0.000,4,0.139,0.033,2360,956,3785,0,0,0,0,0,0
$STATE,8510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8510,begin apogee
$GC,8517,-0.11,0.0,880.2,9.6,1041,8751,0.55,0.05,225.68,0.996,6,0.087,0.057,2566,2053,3026,0,0,0,0,0,0
$STATE,8752,end apogee,CONTROL_FINISHED_OK
$STATE,8752,begin climb
$GC,8754,0.56,194.6,892.3,0.0,1052,9003,0.55,2.47,241.40,0.961,4,0.039,0.048,2813,3533,2233,0,0,0,0,0,0
$GC,9044,0.53,194.6,875.7,18.6,1066,9049,0.25,2.28,0.00,0.000,6,0.175,0.028,2758,2057,2228,0,0,0,0,0,0
$GC,9365,0.52,194.6,832.7,12.9,1082,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2051,2223,0,0,0,0,0,0
$GC,9675,0.50,194.6,794.9,12.2,1097,9679,0.05,2.28,0.00,0.000,4,0.252,0.048,2747,3532,2221,0,0,0,0,0,0
$GC,9715,0.49,194.6,789.9,13.4,1099,9720,0.05,2.20,0.00,0.000,6,0.246,0.029,2743,2053,2220,0,0,0,0,0,0
$GC,10043,0.48,194.6,756.3,10.0,1115,10047,0.00,2.25,0.00,0.000,4,0.000,0.047,2743,3525,2220,0,0,0,0,0,0
$GC,10087,0.46,194.6,751.2,11.3,1117,10091,0.08,2.15,0.00,0.000,6,0.206,0.028,2731,2053,2219,0,0,0,0,0,0
$GC,10416,0.48,213.3,720.9,9.1,1133,10443,0.08,2.12,21.30,0.907,4,0.128,0.039,2795,649,2157,0,0,0,0,0,0
$GC,10465,0.46,213.3,714.5,13.0,1135,10473,0.22,2.22,0.00,0.000,6,0.158,0.034,2730,2131,2154,0,0,0,0,0,0
$GC,10782,0.46,221.6,683.1,9.5,1151,10798,0.00,2.15,11.60,0.847,4,0.000,0.047,2730,3534,2122,0,0,0,0,0,0
$GC,10845,0.45,221.6,676.3,10.6,1153,10849,0.00,2.17,0.00,0.000,6,0.000,0.029,2735,2065,2121,0,0,0,0,0,0
$GC,11174,0.47,245.8,644.6,9.0,1169,11212,0.00,0.00,31.05,0.892,6,0.000,0.000,2736,2061,2024,0,0,0,0,0,0
$GC,11521,0.52,288.8,614.7,8.3,1186,11587,0.10,2.38,53.92,0.880,4,0.106,0.047,2803,3517,1848,0,0,0,0,0,0
$GC,11634,0.50,288.8,599.1,15.2,1191,11639,0.22,2.20,0.00,0.000,6,0.150,0.028,2745,2051,1846,0,0,0,0,0,0
$GC,11960,0.50,291.3,566.0,9.7,1221,11963,0.00,2.05,0.00,0.000,4,0.000,0.037,2749,667,1842,0,0,0,0,0,0
$GC,11987,0.50,291.3,562.9,10.1,1223,11994,0.00,2.22,0.00,0.000,6,0.000,0.033,2749,2119,1840,0,0,0,0,0,0
$GC,12313,0.50,291.3,528.6,11.0,1254,12317,0.00,2.15,0.00,0.000,4,0.000,0.047,2749,3531,1839,0,0,0,0,0,0
$GC,12386,0.50,291.3,519.9,10.9,1260,12390,0.00,2.15,0.00,0.000,6,0.000,0.028,2749,2064,1839,0,0,0,0,0,0
$GC,12728,0.51,303.6,485.7,9.4,1302,12752,0.00,2.35,17.48,0.793,4,0.000,0.047,2749,3537,1789,0,0,0,0,0,0
$GC,12778,0.50,303.6,480.5,10.6,1309,12785,0.00,2.20,0.00,0.000,6,0.000,0.028,2749,2059,1788,0,0,0,0,0,0
$GC,13137,0.54,331.4,446.7,8.8,1370,13180,0.08,2.10,36.15,0.790,4,0.132,0.037,2817,663,1675,0,0,0,0,0,0
$GC,13215,0.53,331.4,437.5,12.9,1381,13222,0.22,2.22,0.00,0.000,6,0.134,0.033,2749,2122,1673,0,0,0,0,0,0
$GC,13575,0.56,353.5,405.4,9.0,1442,13612,0.10,2.20,27.73,0.754,4,0.100,0.045,2818,3521,1585,0,0,0,0,0,0
$GC,13667,0.55,353.5,391.9,16.0,1456,13677,0.20,2.20,0.00,0.000,6,0.119,0.027,2758,2067,1582,0,0,0,0,0,0
$GC,14032,0.59,385.6,355.4,8.7,1517,14081,0.10,2.33,40.15,0.730,4,0.100,0.049,2829,3523,1454,0,0,0,0,0,0
$GC,14119,0.57,385.6,342.8,17.0,1530,14128,0.20,2.22,0.00,0.000,6,0.120,0.028,2768,2061,1452,0,0,0,0,0,0
$GC,14481,0.60,404.4,310.1,9.1,1591,14512,0.08,2.30,23.42,0.684,4,0.122,0.046,2831,3525,1378,0,0,0,0,0,0
$GC,14551,0.59,404.4,300.0,17.1,1601,14559,0.20,2.20,0.00,0.000,6,0.132,0.027,2769,2049,1376,0,0,0,0,0,0
$GC,14913,0.66,453.7,265.5,8.1,1662,14979,0.12,0.00,61.50,0.666,6,0.083,0.000,2848,2044,1177,0,0,0,0,0,0
$GC,15331,0.65,453.7,198.8,15.7,1731,15338,0.20,2.30,0.00,0.000,4,0.135,0.044,2784,3533,1171,0,0,0,0,0,0
$GC,15375,0.66,453.7,193.1,10.8,1738,15384,0.03,2.20,0.00,0.000,6,0.101,0.025,2838,2053,1171,0,0,0,0,0,0
$GC,15738,0.65,453.7,149.4,12.0,1799,15746,0.15,0.00,0.00,0.000,6,0.135,0.000,2790,2051,1170,0,0,0,0,0,0
$GC,16107,0.80,560.3,121.9,6.2,1860,16240,0.17,2.20,124.00,0.566,4,0.070,0.040,2900,660,741,0,0,0,0,0,0
$GC,16307,0.80,560.3,90.2,12.5,1887,16316,0.15,2.25,0.00,0.000,6,0.099,0.032,2843,2132,739,0,0,0,0,0,0
$GC,16677,0.84,560.3,59.7,10.1,1948,16686,0.10,2.15,0.00,0.000,4,0.135,0.045,2880,3523,737,0,0,0,0,0,0
$GC,16953,0.88,560.3,24.3,14.4,1994,16963,0.03,2.15,0.00,0.000,6,0.116,0.026,2856,2042,736,0,0,0,0,0,0
$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,1.0,1.011219
$STATE,17156,end surface coast,CONTROL_FINISHED_OK
$STATE,17156,begin surface
$SM_CCo,17231,0.00,0.000,0,0,737,561.74
$SM_GC,1.70,6.68,0.00,0.00,0.037,0.000,0.000,201,2474,737,-7.38,2.09,561.74
$IRIDIUM_FIX,2145.77,12612.23,091110,222230
$TT8_MAMPS,0.026215
$HUMID,52.59
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,66.732
$10V_AH,10.2,63.305
$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,23.675,149.875,915.375,0.000,0.000,30.832,38.753,199.014,0.000,0.000,13.799,4902.233,6018.810,934.778,5359.877,422.283,0.000,2732.323,0.000,5125.318,0.000,0.541,0.000
$DEVICE_MAMPS,302.940,57.375,996.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1375.109,0.000,3153.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120237,2027
$CAP_FILE_SIZE,215490,0
$CFSIZE,260165632,225480704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,299.7,1
$GPS,101110,075106,2147.152,12610.248,40,0.9,40,-3.0