version: 66.08
glider: 176
mission: 2
dive: 368
start: 10 29 110 20 16 59
data:
$ID,176
$MISSION,2
$DIVE,368
$N_DIVES,373
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,-5400.3809
$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
$GPS1,291010,200855,2315.124,12619.887,36,1.6,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.4
$GPS2,291010,201632,2315.141,12619.896,15,1.3,15,-3.4
$SPEED_LIMITS,0.154,0.282
$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,179.0,212735,-13.2,-8.889
$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,-0.53,-194.6,0.0,0.0,0,75,0.00,0.00,-56.72,0.000,2,0.000,0.000,202,2432,2556,0,0,0,0,0,0
$GC,78,-0.53,-194.6,3.2,-3.4,7,120,9.05,2.17,-26.23,0.000,4,0.237,0.044,2415,942,3822,0,0,0,0,0,0
$GC,245,-0.52,-194.6,34.0,-21.3,33,254,0.00,2.28,0.00,0.000,6,0.000,0.042,2415,2425,3823,0,0,0,0,0,0
$GC,612,-0.51,-194.6,107.7,-14.1,94,621,0.05,2.08,0.00,0.000,4,0.243,0.055,2429,3764,3822,0,0,0,0,0,0
$GC,649,-0.51,-194.6,112.2,-12.3,99,658,0.00,2.05,0.00,0.000,6,0.000,0.026,2428,2326,3822,0,0,0,0,0,0
$GC,1014,-0.51,-194.6,151.3,-10.4,160,1022,0.00,2.00,0.00,0.000,4,0.000,0.032,2429,945,3823,0,0,0,0,0,0
$GC,1060,-0.52,-194.6,155.7,-10.1,167,1067,0.00,2.20,0.00,0.000,6,0.000,0.039,2429,2429,3823,0,0,0,0,0,0
$GC,1408,-0.52,-194.6,187.1,-8.0,228,1416,0.00,2.15,0.00,0.000,4,0.000,0.031,2429,957,3823,0,0,0,0,0,0
$GC,1443,-0.53,-194.6,189.8,-7.9,233,1452,0.05,2.15,0.00,0.000,6,0.177,0.038,2385,2427,3822,0,0,0,0,0,0
$GC,1795,-0.52,-194.6,231.5,-11.9,294,1805,0.15,2.05,0.00,0.000,4,0.144,0.054,2433,3760,3822,0,0,0,0,0,0
$GC,1864,-0.54,-194.6,237.1,-7.7,305,1872,0.08,1.98,0.00,0.000,6,0.129,0.025,2382,2331,3823,0,0,0,0,0,0
$GC,2213,-0.55,-194.6,268.2,-9.7,366,2222,0.12,2.03,0.00,0.000,4,0.136,0.032,2427,948,3821,0,0,0,0,0,0
$GC,2287,-0.56,-194.6,274.9,-8.7,378,2296,0.05,2.20,0.00,0.000,6,0.069,0.037,2378,2423,3820,0,0,0,0,0,0
$GC,2637,-0.57,-194.6,307.6,-8.1,439,2644,0.12,0.00,0.00,0.000,6,0.127,0.000,2422,2423,3820,0,0,0,0,0,0
$GC,2990,-0.60,-194.6,334.4,-7.9,500,3000,0.10,2.17,0.00,0.000,4,0.113,0.033,2377,955,3818,0,0,0,0,0,0
$GC,3262,-0.63,-194.6,356.3,-8.0,546,3271,0.03,2.20,0.00,0.000,6,0.109,0.037,2402,2429,3816,0,0,0,0,0,0
$GC,3616,-0.65,-194.6,384.8,-7.9,607,3624,0.10,2.17,0.00,0.000,4,0.106,0.032,2346,941,3815,0,0,0,0,0,0
$GC,3705,-0.65,-194.6,394.5,-10.8,622,3714,0.10,2.25,0.00,0.000,6,0.108,0.041,2387,2427,3815,0,0,0,0,0,0
$GC,4059,-0.65,-194.6,425.1,-7.9,683,4066,0.00,2.03,0.00,0.000,4,0.000,0.054,2387,3766,3813,0,0,0,0,0,0
$GC,4102,-0.66,-194.6,428.5,-7.5,690,4111,0.03,2.05,0.00,0.000,6,0.101,0.025,2337,2330,3813,0,0,0,0,0,0
$GC,4455,-0.65,-194.6,473.8,-13.6,751,4462,0.17,2.00,0.00,0.000,4,0.135,0.032,2395,952,3811,0,0,0,0,0,0
$GC,4482,-0.65,-194.6,477.2,-12.1,755,4489,0.08,2.20,0.00,0.000,6,0.125,0.041,2335,2425,3810,0,0,0,0,0,0
$GC,4821,-0.64,-194.6,519.6,-11.8,801,4826,0.17,2.05,0.00,0.000,4,0.132,0.054,2390,3772,3809,0,0,0,0,0,0
$GC,4865,-0.65,-194.6,523.4,-6.7,804,4872,0.05,2.03,0.00,0.000,6,0.173,0.026,2346,2329,3809,0,0,0,0,0,0
$GC,5190,-0.65,-194.6,556.2,-10.8,835,5194,0.15,2.25,0.00,0.000,4,0.132,0.054,2391,3774,3807,0,0,0,0,0,0
$GC,5222,-0.66,-194.6,559.1,-7.5,837,5231,0.05,2.03,0.00,0.000,6,0.174,0.025,2348,2333,3806,0,0,0,0,0,0
$GC,5548,-0.65,-194.6,593.4,-11.1,868,5549,0.12,0.00,0.00,0.000,6,0.139,0.000,2389,2332,3805,0,0,0,0,0,0
$GC,5860,-0.66,-194.6,618.3,-7.5,887,5864,0.08,2.00,0.00,0.000,4,0.127,0.033,2334,958,3802,0,0,0,0,0,0
$GC,5892,-0.66,-194.6,622.0,-11.7,888,5897,0.17,2.20,0.00,0.000,6,0.125,0.041,2391,2430,3801,0,0,0,0,0,0
$GC,6210,-0.66,-194.6,643.1,-6.2,903,6214,0.08,2.17,0.00,0.000,4,0.126,0.032,2333,947,3799,0,0,0,0,0,0
$GC,6231,-0.66,-194.6,645.1,-8.2,904,6236,0.17,2.22,0.00,0.000,6,0.128,0.041,2390,2427,3799,0,0,0,0,0,0
$GC,6559,-0.67,-194.6,663.9,-5.6,920,6563,0.08,2.17,0.00,0.000,4,0.127,0.032,2333,955,3797,0,0,0,0,0,0
$GC,6585,-0.67,-194.6,666.2,-8.3,921,6590,0.15,2.20,0.00,0.000,6,0.133,0.041,2381,2428,3796,0,0,0,0,0,0
$GC,6914,-0.67,-194.6,687.2,-6.6,937,6918,0.00,2.15,0.00,0.000,4,0.000,0.033,2382,953,3795,0,0,0,0,0,0
$GC,6952,-0.68,-194.6,690.1,-7.5,938,6960,0.05,2.22,0.00,0.000,6,0.168,0.041,2333,2427,3794,0,0,0,0,0,0
$GC,7269,-0.68,-194.6,724.2,-11.1,954,7274,0.15,2.05,0.00,0.000,4,0.136,0.055,2376,3766,3792,0,0,0,0,0,0
$GC,7319,-0.69,-194.6,728.6,-7.0,956,7322,0.00,2.03,0.00,0.000,6,0.000,0.025,2376,2335,3792,0,0,0,0,0,0
$GC,7641,-0.69,-194.6,752.3,-7.5,972,7645,0.05,2.05,0.00,0.000,4,0.176,0.034,2330,950,3790,0,0,0,0,0,0
$GC,7668,-0.69,-194.6,755.2,-10.6,973,7673,0.10,2.25,0.00,0.000,6,0.109,0.042,2371,2413,3789,0,0,0,0,0,0
$GC,7997,-0.70,-194.6,778.7,-6.9,989,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2413,3788,0,0,0,0,0,0
$GC,8305,-0.70,-194.6,799.3,-6.5,1004,8309,0.00,2.12,0.00,0.000,4,0.000,0.033,2371,956,3786,0,0,0,0,0,0
$STATE,8314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8320,-0.11,0.0,800.1,6.4,1004,8547,0.52,0.08,219.43,0.948,6,0.091,0.101,2565,2053,3027,0,0,0,0,0,0
$STATE,8548,end apogee,CONTROL_FINISHED_OK
$STATE,8548,begin climb
$GC,8550,0.53,194.6,809.3,0.0,1015,8793,0.52,2.28,234.12,0.916,4,0.040,0.038,2817,659,2233,0,0,0,0,0,0
$GC,8833,0.51,194.6,793.8,15.9,1028,8840,0.25,2.28,0.00,0.000,6,0.165,0.034,2750,2126,2228,0,0,0,0,0,0
$GC,9149,0.49,194.6,756.0,11.2,1044,9153,0.00,2.15,0.00,0.000,4,0.000,0.047,2750,3536,2223,0,0,0,0,0,0
$GC,9170,0.47,194.6,753.3,12.0,1045,9175,0.10,2.17,0.00,0.000,6,0.186,0.027,2729,2055,2223,0,0,0,0,0,0
$GC,9493,0.47,202.6,724.4,8.6,1061,9508,0.08,2.33,8.12,0.778,4,0.129,0.048,2783,3520,2201,0,0,0,0,0,0
$GC,9530,0.45,202.6,719.7,12.8,1062,9538,0.22,2.15,0.00,0.000,6,0.168,0.026,2728,2053,2200,0,0,0,0,0,0
$GC,9848,0.44,202.6,689.8,9.7,1078,9852,0.00,2.28,0.00,0.000,4,0.000,0.047,2729,3529,2199,0,0,0,0,0,0
$GC,9902,0.43,202.6,683.4,11.6,1080,9910,0.08,2.15,0.00,0.000,6,0.199,0.028,2716,2051,2199,0,0,0,0,0,0
$GC,10219,0.42,202.6,652.5,10.0,1096,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2048,2197,0,0,0,0,0,0
$GC,10528,0.41,202.6,622.8,9.3,1111,10532,0.00,2.28,0.00,0.000,4,0.000,0.048,2716,3527,2196,0,0,0,0,0,0
$GC,10617,0.40,202.6,613.7,10.7,1115,10621,0.00,2.15,0.00,0.000,6,0.000,0.027,2721,2058,2196,0,0,0,0,0,0
$GC,10946,0.43,228.6,586.4,8.1,1138,10978,0.00,2.35,23.00,0.946,4,0.000,0.048,2721,3528,2093,0,0,0,0,0,0
$GC,11018,0.42,233.2,580.0,8.7,1144,11028,0.00,2.17,4.90,0.682,6,0.000,0.028,2721,2047,2076,0,0,0,0,0,0
$GC,11354,0.47,271.3,554.8,7.7,1176,11393,0.08,2.35,32.38,0.932,4,0.130,0.048,2776,3535,1920,0,0,0,0,0,0
$GC,11411,0.45,271.3,548.7,12.5,1181,11416,0.20,2.20,0.00,0.000,6,0.147,0.026,2725,2051,1918,0,0,0,0,0,0
$GC,11737,0.46,279.7,520.6,8.6,1211,11753,0.08,2.30,10.48,0.761,4,0.126,0.048,2779,3529,1885,0,0,0,0,0,0
$GC,11781,0.44,279.7,515.1,13.5,1214,11788,0.20,2.17,0.00,0.000,6,0.144,0.026,2728,2061,1884,0,0,0,0,0,0
$GC,12117,0.44,279.7,481.7,11.0,1260,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2057,1882,0,0,0,0,0,0
$GC,12469,0.46,288.7,448.8,8.6,1321,12486,0.00,2.33,11.50,0.739,4,0.000,0.047,2728,3527,1849,0,0,0,0,0,0
$GC,12523,0.46,288.7,443.7,9.7,1329,12530,0.00,2.15,0.00,0.000,6,0.000,0.026,2730,2049,1849,0,0,0,0,0,0
$GC,12871,0.47,298.7,414.8,8.6,1390,12895,0.05,2.10,13.93,0.736,4,0.175,0.038,2789,663,1807,0,0,0,0,0,0
$GC,12909,0.46,298.7,411.4,9.9,1395,12916,0.20,2.17,0.00,0.000,6,0.134,0.034,2727,2126,1806,0,0,0,0,0,0
$GC,13262,0.50,327.8,382.8,8.0,1456,13307,0.10,2.17,36.55,0.749,4,0.102,0.045,2802,3530,1690,0,0,0,0,0,0
$GC,13362,0.49,327.8,369.7,14.7,1471,13370,0.22,2.17,0.00,0.000,6,0.138,0.028,2737,2062,1687,0,0,0,0,0,0
$GC,13710,0.53,361.5,342.5,7.8,1532,13754,0.10,0.00,40.95,0.719,6,0.100,0.000,2808,2058,1553,0,0,0,0,0,0
$GC,14096,0.52,361.5,289.9,14.4,1598,14104,0.20,0.00,0.00,0.000,6,0.138,0.000,2747,2058,1547,0,0,0,0,0,0
$GC,14443,0.54,371.6,257.8,8.6,1659,14466,0.08,2.30,12.20,0.617,4,0.125,0.047,2812,3522,1512,0,0,0,0,0,0
$GC,14509,0.53,371.6,249.2,14.1,1669,14517,0.20,2.15,0.00,0.000,6,0.129,0.027,2753,2047,1511,0,0,0,0,0,0
$GC,14863,0.57,393.6,220.5,8.2,1730,14902,0.10,2.35,28.08,0.631,4,0.098,0.046,2829,3531,1421,0,0,0,0,0,0
$GC,14921,0.56,393.6,213.5,12.7,1738,14931,0.20,2.20,0.00,0.000,6,0.110,0.028,2760,2069,1420,0,0,0,0,0,0
$GC,15274,0.68,484.7,189.0,6.1,1799,15387,0.15,0.00,108.45,0.612,6,0.073,0.000,2846,2065,1050,0,0,0,0,0,0
$GC,15733,0.67,484.7,131.2,11.6,1875,15742,0.15,2.30,0.00,0.000,4,0.134,0.047,2797,3525,1044,0,0,0,0,0,0
$GC,15757,0.67,484.7,128.5,11.5,1878,15766,0.00,2.17,0.00,0.000,6,0.000,0.025,2797,2055,1043,0,0,0,0,0,0
$GC,16123,0.74,521.8,100.4,7.7,1939,16173,0.12,2.08,42.45,0.548,4,0.096,0.034,2849,655,898,0,0,0,0,0,0
$GC,16231,0.81,543.9,91.5,8.2,1954,16264,0.00,2.22,26.98,0.527,6,0.000,0.031,2849,2134,808,0,0,0,0,0,0
$GC,16614,0.84,543.9,53.6,11.2,2018,16624,0.05,2.15,0.00,0.000,4,0.196,0.046,2880,3522,805,0,0,0,0,0,0
$GC,16847,0.87,543.9,27.2,11.9,2057,16857,0.03,2.15,0.00,0.000,6,0.111,0.027,2852,2051,805,0,0,0,0,0,0
$STATE,17061,end climb,SURFACE_DEPTH_REACHED
$STATE,17061,begin surface coast
$FINISH,1.0,1.021967
$STATE,17086,end surface coast,CONTROL_FINISHED_OK
$STATE,17086,begin surface
$SM_CCo,17162,0.00,0.000,0,0,805,545.06
$SM_GC,1.70,6.65,0.00,0.00,0.037,0.000,0.000,210,2452,805,-7.38,1.44,545.06
$IRIDIUM_FIX,2307.44,12618.89,291010,151523
$TT8_MAMPS,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.8,54.549
$10V_AH,10.0,50.583
$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,22.825,151.950,853.500,0.000,0.000,29.939,40.993,225.232,0.000,0.000,18.237,5054.488,5722.974,866.588,5537.314,410.607,0.000,2700.607,0.000,5282.193,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,100.980,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1418.180,0.000,3300.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334048
$DATA_FILE_SIZE,123660,2097
$CAP_FILE_SIZE,219052,0
$CFSIZE,260165632,231219200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,  7.3,1
$GPS,301010,010407,2314.256,12620.837,38,0.8,38,-3.4