version: 66.08
glider: 176
mission: 2
dive: 415
start: 11 8 110 15 44 29
data:
$ID,176
$MISSION,2
$DIVE,415
$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,-5459.4888
$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
$GPS1,081110,153637,2202.617,12612.622,38,1.0,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.2
$GPS2,081110,154401,2202.638,12612.688,9,1.5,14,-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,177.8,78542,-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,-194.6,0.0,0.0,0,89,0.00,0.00,-71.50,0.000,2,0.000,0.000,194,2502,2681,0,0,0,0,0,0
$GC,92,-0.56,-194.6,3.6,-4.4,9,134,9.00,2.33,-22.08,0.000,4,0.233,0.041,2408,948,3825,0,0,0,0,0,0
$GC,225,-0.56,-194.6,27.9,-14.3,29,233,0.00,2.25,0.00,0.000,6,0.000,0.042,2408,2414,3826,0,0,0,0,0,0
$GC,591,-0.55,-194.6,94.3,-14.2,90,601,0.00,2.08,0.00,0.000,4,0.000,0.052,2408,3766,3826,0,0,0,0,0,0
$GC,621,-0.55,-194.6,98.7,-14.6,94,631,0.00,2.05,0.00,0.000,6,0.000,0.024,2408,2325,3826,0,0,0,0,0,0
$GC,990,-0.55,-194.6,146.0,-11.7,155,998,0.00,2.00,0.00,0.000,4,0.000,0.031,2409,946,3826,0,0,0,0,0,0
$GC,1054,-0.56,-194.6,152.9,-10.1,165,1061,0.00,2.17,0.00,0.000,6,0.000,0.037,2408,2430,3826,0,0,0,0,0,0
$GC,1411,-0.56,-194.6,187.0,-9.3,226,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2430,3826,0,0,0,0,0,0
$GC,1772,-0.56,-194.6,221.9,-9.7,287,1779,0.00,2.12,0.00,0.000,4,0.000,0.031,2408,947,3826,0,0,0,0,0,0
$GC,1848,-0.57,-194.6,229.0,-9.2,299,1854,0.00,2.20,0.00,0.000,6,0.000,0.037,2408,2432,3826,0,0,0,0,0,0
$GC,2204,-0.58,-194.6,259.0,-8.4,360,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2432,3825,0,0,0,0,0,0
$GC,2566,-0.59,-194.6,290.3,-8.8,421,2572,0.00,2.12,0.00,0.000,4,0.000,0.031,2408,949,3823,0,0,0,0,0,0
$GC,2629,-0.60,-194.6,295.8,-8.9,431,2636,0.08,2.17,0.00,0.000,6,0.129,0.037,2361,2434,3822,0,0,0,0,0,0
$GC,2988,-0.60,-194.6,339.1,-11.7,492,2997,0.15,2.20,0.00,0.000,4,0.140,0.031,2409,945,3822,0,0,0,0,0,0
$GC,3025,-0.61,-194.6,342.4,-9.8,497,3032,0.08,2.17,0.00,0.000,6,0.124,0.037,2355,2427,3822,0,0,0,0,0,0
$GC,3386,-0.60,-194.6,385.0,-11.1,558,3396,0.15,2.17,0.00,0.000,4,0.140,0.031,2402,959,3820,0,0,0,0,0,0
$GC,3423,-0.61,-194.6,388.3,-8.9,563,3430,0.05,2.17,0.00,0.000,6,0.171,0.038,2349,2426,3820,0,0,0,0,0,0
$GC,3784,-0.61,-194.6,426.3,-10.8,624,3794,0.17,2.20,0.00,0.000,4,0.131,0.031,2406,948,3818,0,0,0,0,0,0
$GC,3814,-0.62,-194.6,428.9,-8.7,628,3823,0.05,2.22,0.00,0.000,6,0.070,0.039,2349,2425,3818,0,0,0,0,0,0
$GC,4174,-0.62,-194.6,465.2,-10.4,689,4181,0.17,0.00,0.00,0.000,6,0.128,0.000,2406,2425,3816,0,0,0,0,0,0
$GC,4533,-0.64,-194.6,490.1,-8.7,750,4543,0.10,2.20,0.00,0.000,4,0.114,0.034,2360,955,3814,0,0,0,0,0,0
$GC,4560,-0.67,-194.6,492.1,-8.6,753,4567,0.08,2.17,0.00,0.000,6,0.165,0.037,2385,2429,3814,0,0,0,0,0,0
$GC,4895,-0.69,-194.6,521.7,-8.3,791,4900,0.08,2.17,0.00,0.000,4,0.126,0.033,2335,941,3811,0,0,0,0,0,0
$GC,4990,-0.69,-194.6,531.4,-9.8,799,4995,0.15,2.22,0.00,0.000,6,0.132,0.041,2384,2432,3811,0,0,0,0,0,0
$GC,5316,-0.70,-194.6,553.9,-6.6,829,5321,0.08,2.17,0.00,0.000,4,0.125,0.032,2321,946,3808,0,0,0,0,0,0
$GC,5356,-0.70,-194.6,557.8,-10.7,832,5360,0.17,2.22,0.00,0.000,6,0.131,0.041,2378,2421,3808,0,0,0,0,0,0
$GC,5682,-0.70,-194.6,583.4,-8.2,862,5686,0.08,2.17,0.00,0.000,4,0.129,0.031,2321,946,3807,0,0,0,0,0,0
$GC,5713,-0.70,-194.6,587.2,-11.7,864,5723,0.10,2.25,0.00,0.000,6,0.111,0.041,2377,2418,3806,0,0,0,0,0,0
$GC,6037,-0.71,-194.6,613.1,-7.8,887,6041,0.08,2.15,0.00,0.000,4,0.129,0.031,2320,949,3804,0,0,0,0,0,0
$GC,6090,-0.71,-194.6,619.3,-11.1,889,6098,0.12,2.25,0.00,0.000,6,0.109,0.041,2368,2425,3804,0,0,0,0,0,0
$GC,6408,-0.71,-194.6,645.3,-8.2,905,6412,0.00,2.15,0.00,0.000,4,0.000,0.032,2368,946,3801,0,0,0,0,0,0
$GC,6458,-0.72,-194.6,649.9,-9.0,907,6463,0.05,2.22,0.00,0.000,6,0.174,0.041,2323,2433,3802,0,0,0,0,0,0
$GC,6774,-0.72,-194.6,684.3,-10.9,922,6779,0.15,2.17,0.00,0.000,4,0.140,0.032,2371,955,3799,0,0,0,0,0,0
$GC,6807,-0.73,-194.6,687.5,-8.5,923,6815,0.08,2.22,0.00,0.000,6,0.122,0.041,2312,2425,3799,0,0,0,0,0,0
$GC,7123,-0.72,-194.6,724.8,-12.6,939,7128,0.17,2.20,0.00,0.000,4,0.135,0.032,2370,946,3796,0,0,0,0,0,0
$GC,7173,-0.74,-194.6,729.8,-8.7,941,7178,0.08,2.22,0.00,0.000,6,0.122,0.041,2316,2429,3796,0,0,0,0,0,0
$GC,7489,-0.73,-194.6,770.3,-13.2,956,7494,0.15,2.20,0.00,0.000,4,0.141,0.033,2365,954,3794,0,0,0,0,0,0
$GC,7538,-0.74,-194.6,775.8,-9.9,958,7542,0.08,2.20,0.00,0.000,6,0.125,0.041,2308,2420,3794,0,0,0,0,0,0
$GC,7860,-0.74,-194.6,818.0,-13.4,974,7864,0.17,2.17,0.00,0.000,4,0.135,0.033,2364,948,3792,0,0,0,0,0,0
$GC,7900,-0.75,-194.6,822.1,-8.8,976,7904,0.08,2.22,0.00,0.000,6,0.125,0.041,2307,2428,3792,0,0,0,0,0,0
$GC,8228,-0.74,-194.6,861.8,-12.2,992,8233,0.17,2.17,0.00,0.000,4,0.133,0.033,2365,957,3789,0,0,0,0,0,0
$GC,8268,-0.75,-194.6,865.6,-8.2,994,8272,0.08,2.20,0.00,0.000,6,0.125,0.041,2308,2421,3789,0,0,0,0,0,0
$STATE,8407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8407,begin apogee
$GC,8413,-0.11,0.0,881.3,11.6,1001,8650,0.73,0.20,225.85,0.993,6,0.106,0.065,2561,2144,3027,0,0,0,0,0,0
$STATE,8651,end apogee,CONTROL_FINISHED_OK
$STATE,8651,begin climb
$GC,8653,0.56,194.6,892.9,0.0,1012,8904,0.55,0.00,241.73,0.960,6,0.037,0.000,2816,2144,2231,0,0,0,0,0,0
$GC,9215,0.54,194.6,827.6,17.4,1039,9217,0.22,0.00,0.00,0.000,6,0.180,0.000,2753,2144,2223,0,0,0,0,0,0
$GC,9522,0.52,194.6,786.9,13.0,1054,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2144,2220,0,0,0,0,0,0
$GC,9833,0.51,194.6,751.3,10.8,1069,9837,0.00,2.12,0.00,0.000,4,0.000,0.048,2754,3533,2220,0,0,0,0,0,0
$GC,9888,0.49,194.6,744.6,11.3,1071,9892,0.10,2.17,0.00,0.000,6,0.188,0.028,2737,2060,2220,0,0,0,0,0,0
$GC,10212,0.54,240.0,717.0,8.2,1087,10271,0.10,0.00,54.10,0.923,6,0.104,0.000,2803,2054,2047,0,0,0,0,0,0
$GC,10581,0.52,240.0,665.3,14.7,1105,10586,0.17,2.30,0.00,0.000,4,0.166,0.047,2753,3531,2040,0,0,0,0,0,0
$GC,10625,0.51,240.0,658.8,13.3,1107,10630,0.08,2.20,0.00,0.000,6,0.200,0.028,2744,2055,2040,0,0,0,0,0,0
$GC,10947,0.50,240.0,625.0,10.2,1123,10950,0.00,2.10,0.00,0.000,4,0.000,0.038,2749,655,2038,0,0,0,0,0,0
$GC,10985,0.50,240.0,620.9,10.5,1124,10994,0.00,2.20,0.00,0.000,6,0.000,0.034,2749,2133,2036,0,0,0,0,0,0
$GC,11306,0.49,240.0,587.3,10.0,1145,11310,0.00,2.12,0.00,0.000,4,0.000,0.048,2749,3530,2036,0,0,0,0,0,0
$GC,11350,0.48,240.0,582.0,11.5,1148,11358,0.10,2.15,0.00,0.000,6,0.175,0.028,2731,2048,2036,0,0,0,0,0,0
$GC,11677,0.50,259.0,552.2,9.1,1179,11705,0.10,2.30,22.25,0.836,4,0.106,0.048,2796,3525,1969,0,0,0,0,0,0
$GC,11746,0.48,259.0,542.9,15.2,1185,11751,0.22,2.15,0.00,0.000,6,0.149,0.027,2735,2061,1967,0,0,0,0,0,0
$GC,12071,0.48,259.0,509.1,10.2,1215,12075,0.00,2.28,0.00,0.000,4,0.000,0.047,2735,3537,1965,0,0,0,0,0,0
$GC,12101,0.48,259.0,506.0,11.7,1217,12105,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2051,1964,0,0,0,0,0,0
$GC,12449,0.54,309.3,475.0,8.1,1272,12516,0.10,0.00,62.95,0.806,6,0.106,0.000,2805,2046,1765,0,0,0,0,0,0
$GC,12870,0.53,309.3,417.5,14.0,1341,12877,0.17,2.30,0.00,0.000,4,0.149,0.047,2752,3525,1757,0,0,0,0,0,0
$GC,12968,0.53,309.3,405.9,10.9,1357,12975,0.00,2.17,0.00,0.000,6,0.000,0.026,2762,2051,1757,0,0,0,0,0,0
$GC,13329,0.53,316.9,369.3,9.5,1418,13343,0.00,0.00,8.80,0.656,6,0.000,0.000,2762,2048,1734,0,0,0,0,0,0
$GC,13697,0.53,317.2,334.3,9.8,1480,13706,0.00,2.30,0.00,0.000,4,0.000,0.047,2762,3521,1732,0,0,0,0,0,0
$GC,13732,0.53,317.2,330.5,11.2,1485,13739,0.00,2.15,0.00,0.000,6,0.000,0.026,2762,2051,1731,0,0,0,0,0,0
$GC,14091,0.54,325.0,295.6,9.5,1546,14115,0.00,2.33,11.48,0.634,4,0.000,0.047,2762,3526,1701,0,0,0,0,0,0
$GC,14165,0.54,325.0,288.2,10.5,1557,14171,0.00,2.15,0.00,0.000,6,0.000,0.027,2762,2050,1700,0,0,0,0,0,0
$GC,14524,0.59,359.2,256.1,8.6,1618,14578,0.08,2.35,43.12,0.653,4,0.129,0.045,2826,3528,1561,0,0,0,0,0,0
$GC,14617,0.58,359.2,244.3,14.8,1631,14624,0.20,2.20,0.00,0.000,6,0.135,0.028,2769,2058,1560,0,0,0,0,0,0
$GC,14978,0.64,403.8,211.6,8.3,1692,15045,0.10,2.17,54.80,0.623,4,0.099,0.041,2844,661,1379,0,0,0,0,0,0
$GC,15065,0.63,403.8,200.1,14.6,1704,15075,0.15,2.25,0.00,0.000,6,0.104,0.034,2789,2121,1377,0,0,0,0,0,0
$GC,15428,0.67,429.1,165.9,8.9,1765,15465,0.08,2.22,31.00,0.584,4,0.126,0.046,2848,3530,1276,0,0,0,0,0,0
$GC,15527,0.66,429.1,152.6,13.0,1780,15537,0.17,2.20,0.00,0.000,6,0.107,0.027,2794,2062,1274,0,0,0,0,0,0
$GC,15897,0.74,488.9,123.4,7.7,1841,15980,0.12,2.17,71.28,0.562,4,0.085,0.041,2874,660,1033,0,0,0,0,0,0
$GC,16025,0.75,488.9,108.6,10.7,1858,16034,0.12,2.22,0.00,0.000,6,0.099,0.032,2825,2124,1031,0,0,0,0,0,0
$GC,16395,0.87,567.3,81.0,7.1,1919,16494,0.15,2.17,91.22,0.530,4,0.082,0.043,2905,3529,713,0,0,0,0,0,0
$GC,16535,0.88,567.3,68.2,10.0,1937,16544,0.10,2.22,0.00,0.000,6,0.114,0.026,2865,2053,713,0,0,0,0,0,0
$GC,16906,0.98,646.0,39.1,7.1,1998,16973,0.15,2.17,61.20,0.496,4,0.074,0.041,2953,658,500,0,0,0,0,0,0
$GC,17026,0.98,646.0,17.5,16.2,2014,17035,0.15,2.22,0.00,0.000,6,0.101,0.032,2898,2132,497,0,0,0,0,0,0
$STATE,17149,end climb,SURFACE_DEPTH_REACHED
$STATE,17149,begin surface coast
$FINISH,0.9,1.009349
$STATE,17193,end surface coast,CONTROL_FINISHED_OK
$STATE,17193,begin surface
$SM_CCo,17269,0.00,0.000,0,0,495,621.10
$SM_GC,1.58,6.75,0.00,0.00,0.031,0.000,0.000,201,2485,495,-7.39,2.40,621.10
$IRIDIUM_FIX,2157.39,12928.98,081110,101035
$TT8_MAMPS,0.026215
$HUMID,49.96
$INTERNAL_PRESSURE,8.69449
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.4,65.119
$10V_AH,10.1,61.659
$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,23.150,150.425,979.775,0.000,0.000,28.673,20.386,222.033,0.000,0.000,16.783,4885.099,5995.267,984.436,5393.987,426.224,0.000,2804.008,0.000,5158.002,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,65.025,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1380.112,0.000,3210.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120209,2041
$CAP_FILE_SIZE,213766,0
$CFSIZE,260165632,226230272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 33.0,1
$GPS,081110,203325,2201.025,12613.555,39,1.4,39,-3.1