version: 66.08
glider: 176
mission: 2
dive: 376
start: 10 31 110 11 1 23
data:
$ID,176
$MISSION,2
$DIVE,376
$N_DIVES,384
$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,-5410.4336
$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
$GPS1,311010,105331,2309.495,12620.310,40,1.4,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.0
$GPS2,311010,110056,2309.461,12620.223,11,1.3,11,-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,156.2,202434,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,69,0.00,0.00,-51.92,0.000,2,0.000,0.000,214,2444,2599,0,0,0,0,0,0
$GC,72,-0.53,-194.6,3.5,-4.2,6,114,9.20,2.22,-24.02,0.000,4,0.244,0.044,2414,956,3822,0,0,0,0,0,0
$GC,223,-0.53,-194.6,35.8,-23.5,29,232,0.00,2.25,0.00,0.000,6,0.000,0.042,2415,2419,3823,0,0,0,0,0,0
$GC,586,-0.52,-194.6,102.4,-13.6,90,595,0.05,2.08,0.00,0.000,4,0.249,0.054,2428,3762,3823,0,0,0,0,0,0
$GC,623,-0.52,-194.6,106.6,-11.5,95,631,0.00,2.05,0.00,0.000,6,0.000,0.027,2428,2332,3823,0,0,0,0,0,0
$GC,990,-0.52,-194.6,143.2,-9.6,156,999,0.00,2.00,0.00,0.000,4,0.000,0.032,2428,954,3823,0,0,0,0,0,0
$GC,1038,-0.52,-194.6,147.6,-9.3,163,1047,0.00,2.22,0.00,0.000,6,0.000,0.038,2428,2436,3823,0,0,0,0,0,0
$GC,1386,-0.52,-194.6,182.1,-9.4,224,1395,0.00,2.17,0.00,0.000,4,0.000,0.031,2428,949,3823,0,0,0,0,0,0
$GC,1444,-0.53,-194.6,187.3,-8.7,233,1452,0.05,2.17,0.00,0.000,6,0.174,0.037,2388,2435,3823,0,0,0,0,0,0
$GC,1795,-0.53,-194.6,229.1,-11.1,294,1804,0.12,2.05,0.00,0.000,4,0.155,0.053,2426,3766,3823,0,0,0,0,0,0
$GC,1811,-0.53,-194.6,230.9,-10.7,296,1820,0.03,2.03,0.00,0.000,6,0.103,0.025,2389,2335,3823,0,0,0,0,0,0
$GC,2163,-0.52,-194.6,268.7,-11.1,357,2171,0.12,2.00,0.00,0.000,4,0.151,0.032,2428,950,3823,0,0,0,0,0,0
$GC,2214,-0.53,-194.6,273.6,-8.4,365,2223,0.08,2.17,0.00,0.000,6,0.125,0.036,2373,2440,3822,0,0,0,0,0,0
$GC,2565,-0.53,-194.6,316.1,-12.2,426,2574,0.17,0.00,0.00,0.000,6,0.133,0.000,2430,2440,3821,0,0,0,0,0,0
$GC,2915,-0.54,-194.6,338.0,-5.8,487,2923,0.08,2.20,0.00,0.000,4,0.133,0.032,2375,941,3820,0,0,0,0,0,0
$GC,3010,-0.54,-194.6,346.1,-9.2,503,3017,0.15,2.20,0.00,0.000,6,0.136,0.039,2422,2433,3819,0,0,0,0,0,0
$GC,3359,-0.55,-194.6,368.8,-6.6,564,3368,0.05,2.20,0.00,0.000,4,0.174,0.032,2377,954,3818,0,0,0,0,0,0
$GC,3405,-0.56,-194.6,372.8,-9.4,571,3413,0.15,2.17,0.00,0.000,6,0.132,0.038,2426,2432,3817,0,0,0,0,0,0
$GC,3756,-0.58,-194.6,397.9,-8.6,632,3765,0.10,2.20,0.00,0.000,4,0.111,0.033,2376,954,3816,0,0,0,0,0,0
$GC,3847,-0.59,-194.6,406.3,-9.5,647,3854,0.10,2.20,0.00,0.000,6,0.145,0.038,2407,2434,3816,0,0,0,0,0,0
$GC,4198,-0.62,-194.6,436.6,-7.7,708,4208,0.08,2.05,0.00,0.000,4,0.129,0.050,2373,3772,3813,0,0,0,0,0,0
$GC,4340,-0.64,-194.6,448.8,-8.5,731,4347,0.08,2.03,0.00,0.000,6,0.121,0.026,2404,2341,3812,0,0,0,0,0,0
$GC,4697,-0.67,-194.6,476.8,-8.6,792,4707,0.12,2.22,0.00,0.000,4,0.098,0.050,2345,3771,3810,0,0,0,0,0,0
$GC,4755,-0.68,-194.6,482.0,-9.2,801,4763,0.12,2.03,0.00,0.000,6,0.126,0.024,2388,2330,3810,0,0,0,0,0,0
$GC,5102,-0.69,-194.6,510.8,-8.1,851,5107,0.10,2.00,0.00,0.000,4,0.107,0.033,2321,946,3808,0,0,0,0,0,0
$GC,5153,-0.69,-194.6,516.2,-11.3,855,5157,0.17,2.22,0.00,0.000,6,0.138,0.040,2376,2431,3808,0,0,0,0,0,0
$GC,5478,-0.69,-194.6,545.2,-8.3,885,5482,0.00,2.15,0.00,0.000,4,0.000,0.032,2376,949,3806,0,0,0,0,0,0
$GC,5541,-0.70,-194.6,550.6,-8.5,890,5546,0.05,2.20,0.00,0.000,6,0.176,0.039,2334,2426,3806,0,0,0,0,0,0
$GC,5871,-0.69,-194.6,589.3,-11.9,921,5873,0.15,0.00,0.00,0.000,6,0.139,0.000,2383,2426,3804,0,0,0,0,0,0
$GC,6197,-0.69,-194.6,615.6,-8.1,943,6201,0.08,2.17,0.00,0.000,4,0.125,0.034,2325,945,3802,0,0,0,0,0,0
$GC,6251,-0.69,-194.6,622.0,-12.2,945,6259,0.17,2.22,0.00,0.000,6,0.129,0.041,2379,2431,3801,0,0,0,0,0,0
$GC,6568,-0.69,-194.6,647.0,-7.6,961,6573,0.08,2.17,0.00,0.000,4,0.126,0.033,2325,949,3799,0,0,0,0,0,0
$GC,6617,-0.69,-194.6,652.3,-11.2,963,6622,0.12,2.25,0.00,0.000,6,0.110,0.041,2371,2426,3799,0,0,0,0,0,0
$GC,6941,-0.70,-194.6,677.5,-7.5,979,6945,0.00,2.15,0.00,0.000,4,0.000,0.033,2371,950,3797,0,0,0,0,0,0
$GC,7004,-0.70,-194.6,682.3,-7.9,982,7009,0.00,2.20,0.00,0.000,6,0.000,0.040,2366,2426,3796,0,0,0,0,0,0
$GC,7332,-0.71,-194.6,707.5,-7.7,998,7336,0.00,2.15,0.00,0.000,4,0.000,0.034,2366,953,3795,0,0,0,0,0,0
$GC,7381,-0.71,-194.6,711.8,-8.3,1000,7385,0.00,2.20,0.00,0.000,6,0.000,0.040,2363,2421,3794,0,0,0,0,0,0
$GC,7697,-0.71,-194.6,738.3,-8.7,1015,7701,0.00,2.15,0.00,0.000,4,0.000,0.034,2363,949,3792,0,0,0,0,0,0
$GC,7741,-0.72,-194.6,742.3,-8.5,1017,7745,0.00,2.25,0.00,0.000,6,0.000,0.041,2363,2431,3792,0,0,0,0,0,0
$GC,8062,-0.72,-194.6,770.8,-8.8,1033,8066,0.00,2.17,0.00,0.000,4,0.000,0.034,2362,946,3790,0,0,0,0,0,0
$GC,8089,-0.72,-194.6,773.5,-9.1,1034,8093,0.00,2.25,0.00,0.000,6,0.000,0.041,2363,2418,3790,0,0,0,0,0,0
$STATE,8409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8409,begin apogee
$GC,8414,-0.11,0.0,800.5,8.4,1050,8642,0.55,0.20,220.55,0.959,6,0.094,0.067,2563,2140,3026,0,0,0,0,0,0
$STATE,8645,end apogee,CONTROL_FINISHED_OK
$STATE,8645,begin climb
$GC,8647,0.53,194.6,812.5,0.0,1060,8889,0.52,0.00,236.07,0.923,6,0.037,0.000,2807,2140,2233,0,0,0,0,0,0
$GC,9196,0.51,194.6,757.1,15.0,1087,9201,0.22,2.17,0.00,0.000,4,0.177,0.046,2745,3537,2224,0,0,0,0,0,0
$GC,9328,0.49,194.6,740.8,12.4,1093,9332,0.00,2.20,0.00,0.000,6,0.000,0.029,2750,2064,2223,0,0,0,0,0,0
$GC,9655,0.47,194.6,705.5,10.7,1109,9659,0.05,2.10,0.00,0.000,4,0.248,0.037,2748,649,2220,0,0,0,0,0,0
$GC,9710,0.46,194.6,699.9,9.9,1111,9718,0.08,2.22,0.00,0.000,6,0.187,0.034,2729,2134,2219,0,0,0,0,0,0
$GC,10026,0.45,194.6,670.9,9.2,1127,10029,0.00,2.12,0.00,0.000,4,0.000,0.047,2729,3535,2219,0,0,0,0,0,0
$GC,10053,0.44,194.6,668.2,10.4,1128,10057,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2056,2219,0,0,0,0,0,0
$GC,10376,0.43,194.6,637.8,9.4,1144,10380,0.05,2.05,0.00,0.000,4,0.241,0.039,2734,655,2217,0,0,0,0,0,0
$GC,10409,0.42,194.6,634.6,9.5,1145,10416,0.08,2.20,0.00,0.000,6,0.180,0.034,2714,2127,2216,0,0,0,0,0,0
$GC,10726,0.46,229.2,608.9,7.8,1161,10772,0.10,2.22,39.72,0.884,4,0.102,0.048,2781,3530,2091,0,0,0,0,0,0
$GC,10856,0.44,229.2,591.9,14.7,1169,10861,0.22,2.20,0.00,0.000,6,0.151,0.028,2725,2062,2089,0,0,0,0,0,0
$GC,11181,0.47,259.9,564.8,7.9,1199,11217,0.08,2.35,26.02,0.934,4,0.127,0.049,2777,3522,1965,0,0,0,0,0,0
$GC,11244,0.45,259.9,557.7,13.5,1204,11251,0.20,2.17,0.00,0.000,6,0.151,0.027,2728,2056,1963,0,0,0,0,0,0
$GC,11570,0.46,272.5,530.4,8.5,1235,11583,0.05,0.00,11.18,0.849,6,0.174,0.000,2770,2051,1916,0,0,0,0,0,0
$GC,11903,0.45,272.5,491.6,11.4,1272,11912,0.15,2.33,0.00,0.000,4,0.147,0.049,2725,3520,1910,0,0,0,0,0,0
$GC,11926,0.44,272.5,489.2,11.3,1275,11934,0.00,2.15,0.00,0.000,6,0.000,0.026,2734,2059,1910,0,0,0,0,0,0
$GC,12278,0.48,304.4,459.6,7.9,1336,12328,0.00,2.35,39.35,0.803,4,0.000,0.048,2735,3517,1785,0,0,0,0,0,0
$GC,12377,0.48,304.4,450.7,9.3,1351,12385,0.00,2.17,0.00,0.000,6,0.000,0.028,2734,2051,1783,0,0,0,0,0,0
$GC,12727,0.52,339.6,422.5,7.8,1412,12778,0.10,2.35,44.30,0.774,4,0.103,0.046,2807,3531,1640,0,0,0,0,0,0
$GC,12805,0.50,339.6,412.6,14.5,1423,12813,0.25,2.20,0.00,0.000,6,0.137,0.028,2740,2059,1638,0,0,0,0,0,0
$GC,13155,0.54,367.9,382.5,8.0,1484,13193,0.10,0.00,34.08,0.740,6,0.102,0.000,2812,2054,1527,0,0,0,0,0,0
$GC,13535,0.53,367.9,329.3,14.4,1549,13543,0.20,2.30,0.00,0.000,4,0.138,0.046,2751,3531,1521,0,0,0,0,0,0
$GC,13566,0.53,367.9,324.9,13.0,1554,13575,0.00,2.20,0.00,0.000,6,0.000,0.028,2751,2063,1521,0,0,0,0,0,0
$GC,13916,0.57,399.7,295.6,7.9,1615,13962,0.10,2.35,39.00,0.689,4,0.099,0.047,2825,3525,1396,0,0,0,0,0,0
$GC,13989,0.56,399.7,285.4,16.9,1625,13996,0.22,2.20,0.00,0.000,6,0.132,0.027,2761,2057,1394,0,0,0,0,0,0
$GC,14338,0.58,411.0,253.6,8.5,1686,14355,0.08,0.00,14.05,0.621,6,0.124,0.000,2825,2051,1351,0,0,0,0,0,0
$GC,14698,0.57,411.0,203.5,12.5,1748,14707,0.20,2.30,0.00,0.000,4,0.130,0.045,2762,3525,1348,0,0,0,0,0,0
$GC,14755,0.64,457.0,198.1,7.5,1757,14820,0.12,2.12,56.83,0.624,6,0.081,0.026,2844,2051,1163,0,0,0,0,0,0
$GC,15166,0.63,457.0,141.3,14.4,1826,15175,0.20,0.00,0.00,0.000,6,0.135,0.000,2781,2051,1157,0,0,0,0,0,0
$GC,15536,0.79,577.2,118.1,5.2,1887,15685,0.20,2.33,138.38,0.564,4,0.063,0.044,2902,3525,673,0,0,0,0,0,0
$GC,15717,0.78,577.2,86.8,18.0,1910,15727,0.20,2.22,0.00,0.000,6,0.105,0.027,2833,2067,671,0,0,0,0,0,0
$GC,16086,0.82,577.2,56.1,11.2,1971,16095,0.10,2.12,0.00,0.000,4,0.138,0.037,2868,654,669,0,0,0,0,0,0
$GC,16312,0.84,577.2,23.8,15.4,2008,16320,0.00,2.20,0.00,0.000,6,0.000,0.031,2868,2135,668,0,0,0,0,0,0
$STATE,16456,end climb,SURFACE_DEPTH_REACHED
$STATE,16456,begin surface coast
$FINISH,1.0,1.010793
$STATE,16483,end surface coast,CONTROL_FINISHED_OK
$STATE,16483,begin surface
$SM_CCo,16558,0.00,0.000,0,0,668,578.66
$SM_GC,1.69,6.68,0.00,0.00,0.034,0.000,0.000,196,2500,668,-7.38,2.83,578.66
$IRIDIUM_FIX,2302.75,12622.66,311010,060612
$TT8_MAMPS,0.026215
$HUMID,51.26
$INTERNAL_PRESSURE,8.69449
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.7,56.287
$10V_AH,10.2,52.496
$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,22.875,145.075,899.525,0.000,0.000,29.019,40.970,218.994,0.000,0.000,14.666,4898.379,5387.818,901.445,5416.694,373.259,0.000,2689.841,0.000,5145.644,0.000,0.541,0.000
$DEVICE_MAMPS,249.390,66.555,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1378.322,0.000,3204.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120382,2036
$CAP_FILE_SIZE,210668,0
$CFSIZE,260165632,230391808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282,318.5,1
$GPS,311010,153843,2309.296,12619.977,49,2.0,54,-3.4