version: 66.08
glider: 176
mission: 2
dive: 294
start: 10 14 110 22 58 4
data:
$ID,176
$MISSION,2
$DIVE,294
$N_DIVES,306
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$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,375
$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,225
$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,-5168.3472
$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,4
$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
$GPS1,141010,225254,2421.476,12708.979,25,0.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.3
$GPS2,141010,225737,2421.453,12709.026,10,1.2,15,-3.7
$SPEED_LIMITS,0.192,0.322
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,266.7,191320,-15.4,-11.111
$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,-0.61,-219.0,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,2,0.000,0.000,201,2440,2496,0,0,0,0,0,0
$GC,74,-0.61,-219.0,3.1,-5.0,7,117,8.65,2.25,-28.10,0.000,4,0.237,0.046,2393,942,3923,0,0,0,0,0,0
$GC,195,-0.60,-219.0,31.9,-20.7,25,205,0.00,2.28,0.00,0.000,6,0.000,0.047,2393,2416,3925,0,0,0,0,0,0
$GC,561,-0.59,-219.0,121.7,-20.9,86,570,0.00,2.05,0.00,0.000,4,0.000,0.056,2391,3760,3926,0,0,0,0,0,0
$GC,655,-0.60,-219.0,136.3,-12.5,101,664,0.00,2.03,0.00,0.000,6,0.000,0.028,2391,2347,3927,0,0,0,0,0,0
$GC,1007,-0.59,-219.0,193.8,-15.2,162,1016,0.05,2.20,0.00,0.000,4,0.238,0.055,2402,3766,3928,0,0,0,0,0,0
$GC,1058,-0.60,-219.0,200.2,-10.5,170,1067,0.00,2.03,0.00,0.000,6,0.000,0.028,2403,2348,3928,0,0,0,0,0,0
$GC,1411,-0.60,-219.0,244.3,-14.0,231,1417,0.00,2.00,0.00,0.000,4,0.000,0.035,2403,951,3927,0,0,0,0,0,0
$GC,1454,-0.61,-219.0,249.8,-11.6,238,1463,0.03,2.20,0.00,0.000,6,0.117,0.042,2359,2416,3927,0,0,0,0,0,0
$GC,1805,-0.60,-219.0,310.7,-17.4,299,1812,0.15,2.05,0.00,0.000,4,0.156,0.056,2403,3766,3927,0,0,0,0,0,0
$GC,1832,-0.60,-219.0,315.2,-15.6,303,1839,0.00,2.00,0.00,0.000,6,0.000,0.028,2404,2337,3927,0,0,0,0,0,0
$GC,2179,-0.60,-219.0,348.8,-9.4,364,2187,0.00,2.20,0.00,0.000,4,0.000,0.054,2403,3766,3925,0,0,0,0,0,0
$GC,2213,-0.61,-219.0,351.6,-8.4,369,2222,0.08,2.03,0.00,0.000,6,0.129,0.028,2348,2328,3925,0,0,0,0,0,0
$GC,2564,-0.60,-219.0,408.5,-17.8,430,2573,0.17,2.25,0.00,0.000,4,0.141,0.056,2402,3770,3924,0,0,0,0,0,0
$GC,2603,-0.62,-219.0,413.9,-11.3,436,2612,0.03,2.05,0.00,0.000,6,0.106,0.028,2361,2337,3924,0,0,0,0,0,0
$GC,2954,-0.61,-219.0,468.0,-15.5,497,2962,0.12,1.98,0.00,0.000,4,0.149,0.031,2400,946,3923,0,0,0,0,0,0
$GC,2987,-0.62,-219.0,472.6,-12.3,502,2996,0.03,2.22,0.00,0.000,6,0.102,0.041,2350,2427,3922,0,0,0,0,0,0
$GC,3330,-0.62,-219.0,514.4,-12.3,552,3331,0.15,0.00,0.00,0.000,6,0.138,0.000,2397,2428,3921,0,0,0,0,0,0
$GC,3650,-0.63,-219.0,539.2,-8.4,582,3652,0.05,0.00,0.00,0.000,6,0.171,0.000,2346,2428,3919,0,0,0,0,0,0
$GC,3966,-0.62,-219.0,581.2,-12.4,612,3971,0.17,2.17,0.00,0.000,4,0.130,0.034,2403,947,3916,0,0,0,0,0,0
$GC,3999,-0.64,-219.0,584.4,-8.3,614,4006,0.08,2.22,0.00,0.000,6,0.125,0.044,2354,2427,3916,0,0,0,0,0,0
$GC,4331,-0.64,-219.0,617.6,-10.7,638,4333,0.12,0.00,0.00,0.000,6,0.138,0.000,2394,2428,3913,0,0,0,0,0,0
$GC,4640,-0.65,-219.0,641.0,-8.0,653,4642,0.08,0.00,0.00,0.000,6,0.125,0.000,2335,2428,3911,0,0,0,0,0,0
$GC,4948,-0.65,-219.0,684.8,-13.9,668,4950,0.17,0.00,0.00,0.000,6,0.129,0.000,2393,2428,3908,0,0,0,0,0,0
$GC,5259,-0.66,-219.0,708.1,-6.9,683,5263,0.08,2.15,0.00,0.000,4,0.126,0.036,2333,957,3906,0,0,0,0,0,0
$GC,5286,-0.66,-219.0,710.8,-9.8,684,5290,0.15,2.20,0.00,0.000,6,0.133,0.046,2382,2423,3906,0,0,0,0,0,0
$GC,5603,-0.67,-219.0,734.9,-7.4,699,5604,0.05,0.00,0.00,0.000,6,0.171,0.000,2332,2425,3903,0,0,0,0,0,0
$GC,5912,-0.67,-219.0,771.0,-12.0,714,5916,0.15,2.05,0.00,0.000,4,0.132,0.057,2375,3767,3901,0,0,0,0,0,0
$GC,5938,-0.68,-219.0,773.6,-8.8,715,5942,0.00,2.03,0.00,0.000,6,0.000,0.028,2375,2357,3901,0,0,0,0,0,0
$GC,6261,-0.69,-219.0,793.3,-5.9,731,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2353,3898,0,0,0,0,0,0
$GC,6571,-0.70,-219.0,811.0,-5.8,746,6573,0.05,0.00,0.00,0.000,6,0.178,0.000,2325,2351,3896,0,0,0,0,0,0
$GC,6878,-0.69,-219.0,844.6,-11.4,761,6883,0.15,2.03,0.00,0.000,4,0.137,0.033,2374,952,3893,0,0,0,0,0,0
$GC,6905,-0.70,-219.0,847.3,-8.8,762,6910,0.05,2.20,0.00,0.000,6,0.169,0.044,2321,2421,3893,0,0,0,0,0,0
$GC,7221,-0.69,-219.0,883.8,-11.8,777,7225,0.17,2.05,0.00,0.000,4,0.131,0.057,2375,3762,3891,0,0,0,0,0,0
$GC,7265,-0.71,-219.0,887.3,-5.6,779,7269,0.08,2.03,0.00,0.000,6,0.125,0.028,2325,2354,3891,0,0,0,0,0,0
$GC,7585,-0.71,-219.0,919.0,-9.9,795,7590,0.15,2.05,0.00,0.000,4,0.135,0.034,2374,953,3889,0,0,0,0,0,0
$GC,7613,-0.72,-219.0,921.3,-8.0,796,7617,0.08,2.20,0.00,0.000,6,0.123,0.044,2319,2422,3889,0,0,0,0,0,0
$GC,7928,-0.72,-219.0,955.3,-11.7,811,7933,0.15,2.05,0.00,0.000,4,0.135,0.057,2361,3762,3888,0,0,0,0,0,0
$GC,7974,-0.73,-219.0,959.2,-6.7,813,7978,0.00,2.05,0.00,0.000,6,0.000,0.029,2361,2361,3887,0,0,0,0,0,0
$GC,8307,-0.74,-219.0,986.5,-8.3,829,8312,0.03,2.08,0.00,0.000,4,0.263,0.036,2317,946,3885,0,0,0,0,0,0
$GC,8367,-0.74,-219.0,993.2,-11.3,831,8375,0.15,2.25,0.00,0.000,6,0.134,0.044,2366,2429,3885,0,0,0,0,0,0
$STATE,8454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8455,begin apogee
$GC,8460,-0.11,0.0,1000.6,8.4,836,8639,0.52,0.17,173.52,1.279,6,0.090,0.076,2561,2140,3027,0,0,0,0,0,0
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8642,0.61,219.0,1010.4,0.0,844,8833,0.60,0.00,186.07,1.235,6,0.040,0.000,2818,2142,2134,0,0,0,0,0,0
$GC,9133,0.59,219.0,945.0,19.1,868,9138,0.17,2.25,0.00,0.000,4,0.188,0.040,2780,664,2122,0,0,0,0,0,0
$GC,9154,0.56,219.0,941.1,17.9,869,9159,0.03,2.25,0.00,0.000,6,0.200,0.037,2772,2118,2121,0,0,0,0,0,0
$GC,9481,0.55,219.0,892.3,14.5,885,9485,0.00,2.17,0.00,0.000,4,0.000,0.053,2772,3532,2120,0,0,0,0,0,0
$GC,9521,0.53,219.0,886.0,15.7,887,9526,0.12,2.17,0.00,0.000,6,0.203,0.029,2751,2055,2120,0,0,0,0,0,0
$GC,9849,0.52,219.0,844.7,12.3,903,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2051,2118,0,0,0,0,0,0
$GC,10158,0.51,224.4,809.0,10.9,918,10162,0.00,2.05,0.00,0.000,4,0.000,0.040,2758,653,2117,0,0,0,0,0,0
$GC,10204,0.50,225.9,803.8,11.1,920,10213,0.03,2.20,4.40,0.779,6,0.275,0.037,2747,2129,2106,0,0,0,0,0,0
$GC,10536,0.49,225.9,767.6,11.1,936,10540,0.00,2.10,0.00,0.000,4,0.000,0.051,2747,3523,2105,0,0,0,0,0,0
$GC,10563,0.48,225.9,764.0,13.7,937,10568,0.08,2.17,0.00,0.000,6,0.221,0.029,2738,2054,2106,0,0,0,0,0,0
$GC,10886,0.50,251.3,730.5,10.2,953,10915,0.08,2.30,22.90,1.088,4,0.131,0.050,2782,3530,2000,0,0,0,0,0,0
$GC,10931,0.48,251.3,724.0,14.9,955,10935,0.12,2.20,0.00,0.000,6,0.163,0.030,2738,2063,1999,0,0,0,0,0,0
$GC,11259,0.48,251.3,685.9,11.6,971,11263,0.00,2.28,0.00,0.000,4,0.000,0.050,2737,3530,1996,0,0,0,0,0,0
$GC,11313,0.47,251.3,678.7,13.3,973,11322,0.03,2.17,0.00,0.000,6,0.190,0.029,2738,2065,1996,0,0,0,0,0,0
$GC,11630,0.46,251.3,640.1,13.1,989,11633,0.00,2.08,0.00,0.000,4,0.000,0.037,2748,659,1994,0,0,0,0,0,0
$GC,11679,0.46,251.3,633.7,11.9,991,11684,0.08,2.20,0.00,0.000,6,0.187,0.036,2730,2124,1993,0,0,0,0,0,0
$GC,11998,0.46,251.3,595.8,11.9,1008,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2126,1993,0,0,0,0,0,0
$GC,12317,0.45,251.3,556.4,12.2,1038,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2126,1992,0,0,0,0,0,0
$GC,12635,0.50,291.2,519.0,9.7,1068,12674,0.10,2.17,33.17,0.959,4,0.106,0.050,2792,3532,1839,0,0,0,0,0,0
$GC,12713,0.48,291.2,506.9,17.3,1074,12721,0.22,2.20,0.00,0.000,6,0.161,0.028,2736,2061,1835,0,0,0,0,0,0
$GC,13053,0.53,325.8,473.5,9.9,1130,13090,0.10,0.00,29.75,0.910,6,0.105,0.000,2794,2055,1696,0,0,0,0,0,0
$GC,13433,0.52,325.8,409.4,17.9,1195,13440,0.15,2.10,0.00,0.000,4,0.162,0.044,2761,664,1689,0,0,0,0,0,0
$GC,13454,0.51,325.8,405.8,17.3,1198,13463,0.03,2.22,0.00,0.000,6,0.162,0.037,2750,2118,1688,0,0,0,0,0,0
$GC,13806,0.54,349.6,362.8,10.3,1259,13836,0.08,2.20,19.77,0.809,4,0.129,0.049,2804,3525,1600,0,0,0,0,0,0
$GC,13896,0.53,349.6,349.5,16.0,1273,13905,0.20,2.15,0.00,0.000,6,0.151,0.028,2754,2056,1598,0,0,0,0,0,0
$GC,14247,0.59,396.5,314.3,9.5,1334,14298,0.10,2.17,39.53,0.780,4,0.103,0.044,2830,662,1409,0,0,0,0,0,0
$GC,14325,0.58,396.5,302.7,17.0,1345,14334,0.20,2.22,0.00,0.000,6,0.139,0.037,2770,2119,1406,0,0,0,0,0,0
$GC,14673,0.61,423.4,261.6,10.2,1406,14703,0.08,2.25,22.55,0.719,4,0.122,0.050,2827,3534,1298,0,0,0,0,0,0
$GC,14774,0.61,423.4,244.4,16.3,1422,14783,0.15,2.22,0.00,0.000,6,0.122,0.031,2779,2063,1296,0,0,0,0,0,0
$GC,15123,0.61,423.4,201.3,11.3,1483,15130,0.00,2.08,0.00,0.000,4,0.000,0.043,2779,663,1295,0,0,0,0,0,0
$GC,15172,0.70,487.5,196.4,8.9,1491,15230,0.12,2.17,51.75,0.680,6,0.084,0.035,2857,2127,1038,0,0,0,0,0,0
$GC,15580,0.69,487.5,119.1,20.7,1559,15589,0.17,2.17,0.00,0.000,4,0.144,0.050,2803,3519,1032,0,0,0,0,0,0
$GC,15629,0.70,487.5,111.0,14.1,1566,15637,0.00,2.17,0.00,0.000,6,0.000,0.028,2804,2054,1032,0,0,0,0,0,0
$GC,15997,0.88,623.6,78.4,6.4,1627,16111,0.20,2.20,101.10,0.578,4,0.063,0.042,2926,660,498,0,0,0,0,0,0
$GC,16121,0.87,623.6,58.3,17.3,1642,16131,0.17,2.25,0.00,0.000,6,0.109,0.034,2864,2119,496,0,0,0,0,0,0
$GC,16491,1.02,730.0,28.3,7.5,1703,16500,0.17,2.17,0.00,0.000,4,0.068,0.049,2969,3518,494,0,0,0,0,0,0
$GC,16520,1.03,730.0,24.7,11.4,1707,16530,0.17,2.17,0.00,0.000,6,0.116,0.030,2916,2055,494,0,0,0,0,0,0
$STATE,16655,end climb,SURFACE_DEPTH_REACHED
$STATE,16655,begin surface coast
$FINISH,0.6,1.021101
$STATE,16676,end surface coast,CONTROL_FINISHED_OK
$STATE,16676,begin surface
$SM_CCo,16751,0.00,0.000,0,0,493,621.59
$SM_GC,1.49,6.85,0.00,0.00,0.037,0.000,0.000,207,2447,493,-7.39,1.33,621.59
$IRIDIUM_FIX,2413.38,12706.86,141010,212133
$TT8_MAMPS,0.026215
$HUMID,52.00
$INTERNAL_PRESSURE,8.67495
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.5,38.439
$10V_AH,10.3,33.600
$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,22.725,138.800,684.525,0.000,0.000,25.912,41.727,111.281,0.000,0.000,18.289,4237.473,7408.827,713.049,4385.253,291.408,0.000,2272.562,0.000,4213.971,0.000,0.541,0.000
$DEVICE_MAMPS,275.400,76.500,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.236,0.000,2413.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,103595,1732
$CAP_FILE_SIZE,196324,0
$CFSIZE,260165632,238940160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136, 99.9,1
$GPS,151010,033807,2420.911,12707.538,25,1.8,25,-3.7