version: 66.08
glider: 176
mission: 2
dive: 297
start: 10 15 110 13 25 33
data:
$ID,176
$MISSION,2
$DIVE,297
$N_DIVES,309
$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,-5172.1187
$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
$GPS1,151010,131837,2417.464,12705.013,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.0
$GPS2,151010,132508,2417.437,12704.995,12,1.6,12,-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,245.5,181230,-15.4,-11.111
$D_GRID,5000
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.68,0.000,2,0.000,0.000,201,2452,2527,0,0,0,0,0,0
$GC,89,-0.61,-219.0,3.3,-5.2,8,131,8.60,2.10,-27.50,0.000,4,0.231,0.069,2387,3773,3922,0,0,0,0,0,0
$GC,263,-0.60,-219.0,43.3,-20.1,35,271,0.00,2.08,0.00,0.000,6,0.000,0.029,2387,2360,3924,0,0,0,0,0,0
$GC,628,-0.59,-219.0,125.7,-22.1,96,638,0.08,2.20,0.00,0.000,4,0.210,0.054,2404,3763,3925,0,0,0,0,0,0
$GC,653,-0.58,-219.0,130.5,-20.3,99,662,0.00,2.05,0.00,0.000,6,0.000,0.028,2404,2351,3925,0,0,0,0,0,0
$GC,1006,-0.57,-219.0,191.4,-13.6,160,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2347,3925,0,0,0,0,0,0
$GC,1358,-0.57,-219.0,233.6,-11.8,221,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2347,3925,0,0,0,0,0,0
$GC,1704,-0.57,-219.0,274.9,-11.0,282,1713,0.00,2.17,0.00,0.000,4,0.000,0.054,2404,3758,3924,0,0,0,0,0,0
$GC,1772,-0.59,-219.0,281.0,-7.9,293,1780,0.00,2.00,0.00,0.000,6,0.000,0.027,2404,2342,3924,0,0,0,0,0,0
$GC,2121,-0.59,-219.0,314.7,-10.0,354,2130,0.00,2.03,0.00,0.000,4,0.000,0.036,2404,955,3923,0,0,0,0,0,0
$GC,2156,-0.60,-219.0,317.7,-8.9,359,2163,0.00,2.20,0.00,0.000,6,0.000,0.041,2404,2431,3923,0,0,0,0,0,0
$GC,2503,-0.61,-219.0,348.9,-8.1,420,2513,0.05,2.20,0.00,0.000,4,0.181,0.035,2360,956,3922,0,0,0,0,0,0
$GC,2530,-0.61,-219.0,351.7,-10.4,424,2540,0.10,2.22,0.00,0.000,6,0.114,0.043,2399,2426,3921,0,0,0,0,0,0
$GC,2883,-0.62,-219.0,382.9,-9.8,485,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2426,3920,0,0,0,0,0,0
$GC,3231,-0.63,-219.0,421.5,-10.0,546,3240,0.08,2.20,0.00,0.000,4,0.128,0.035,2339,949,3917,0,0,0,0,0,0
$GC,3265,-0.63,-219.0,425.6,-12.6,551,3273,0.17,2.20,0.00,0.000,6,0.140,0.044,2393,2430,3916,0,0,0,0,0,0
$GC,3613,-0.63,-219.0,455.1,-7.7,612,3622,0.00,2.05,0.00,0.000,4,0.000,0.057,2391,3766,3915,0,0,0,0,0,0
$GC,3641,-0.64,-219.0,457.2,-7.5,616,3649,0.00,2.05,0.00,0.000,6,0.000,0.028,2391,2349,3914,0,0,0,0,0,0
$GC,3992,-0.65,-219.0,487.3,-8.9,677,4000,0.05,0.00,0.00,0.000,6,0.178,0.000,2345,2348,3912,0,0,0,0,0,0
$GC,4332,-0.64,-219.0,536.4,-14.4,716,4336,0.15,2.17,0.00,0.000,4,0.138,0.057,2390,3764,3910,0,0,0,0,0,0
$GC,4382,-0.66,-219.0,541.8,-8.3,720,4387,0.08,2.03,0.00,0.000,6,0.125,0.028,2341,2354,3909,0,0,0,0,0,0
$GC,4708,-0.66,-219.0,588.2,-14.5,750,4713,0.15,2.03,0.00,0.000,4,0.140,0.037,2389,955,3907,0,0,0,0,0,0
$GC,4748,-0.67,-219.0,592.7,-9.5,753,4752,0.08,2.20,0.00,0.000,6,0.123,0.042,2332,2423,3907,0,0,0,0,0,0
$GC,5067,-0.66,-219.0,634.9,-13.2,771,5069,0.17,0.00,0.00,0.000,6,0.136,0.000,2389,2423,3904,0,0,0,0,0,0
$GC,5376,-0.67,-219.0,658.3,-7.4,786,5377,0.08,0.00,0.00,0.000,6,0.126,0.000,2332,2424,3902,0,0,0,0,0,0
$GC,5684,-0.67,-219.0,698.7,-13.8,801,5689,0.15,2.15,0.00,0.000,4,0.138,0.035,2381,954,3899,0,0,0,0,0,0
$GC,5717,-0.68,-219.0,702.3,-9.7,802,5724,0.05,2.22,0.00,0.000,6,0.169,0.044,2331,2425,3899,0,0,0,0,0,0
$GC,6033,-0.68,-219.0,744.8,-14.1,818,6038,0.15,2.05,0.00,0.000,4,0.138,0.058,2376,3769,3897,0,0,0,0,0,0
$GC,6060,-0.68,-219.0,748.1,-10.9,819,6064,0.00,2.05,0.00,0.000,6,0.000,0.028,2376,2347,3896,0,0,0,0,0,0
$GC,6382,-0.69,-219.0,773.3,-7.5,835,6385,0.00,2.00,0.00,0.000,4,0.000,0.036,2376,950,3895,0,0,0,0,0,0
$GC,6415,-0.70,-219.0,776.1,-8.1,836,6419,0.08,2.22,0.00,0.000,6,0.126,0.041,2319,2429,3894,0,0,0,0,0,0
$GC,6731,-0.70,-219.0,816.8,-13.3,851,6733,0.17,0.00,0.00,0.000,6,0.135,0.000,2376,2429,3892,0,0,0,0,0,0
$GC,7041,-0.71,-219.0,840.2,-6.9,866,7045,0.08,2.17,0.00,0.000,4,0.129,0.036,2321,951,3889,0,0,0,0,0,0
$GC,7127,-0.71,-219.0,848.6,-10.9,870,7131,0.15,2.22,0.00,0.000,6,0.137,0.044,2370,2419,3888,0,0,0,0,0,0
$GC,7455,-0.72,-219.0,874.7,-8.4,886,7457,0.08,0.00,0.00,0.000,6,0.124,0.000,2310,2419,3887,0,0,0,0,0,0
$GC,7763,-0.71,-219.0,920.5,-15.5,901,7767,0.17,2.15,0.00,0.000,4,0.136,0.034,2367,956,3886,0,0,0,0,0,0
$GC,7800,-0.72,-219.0,925.5,-11.1,902,7807,0.00,2.22,0.00,0.000,6,0.000,0.044,2363,2424,3886,0,0,0,0,0,0
$GC,8117,-0.73,-219.0,955.8,-9.1,918,8119,0.05,0.00,0.00,0.000,6,0.175,0.000,2315,2424,3882,0,0,0,0,0,0
$GC,8425,-0.73,-219.0,996.1,-13.4,933,8427,0.15,0.00,0.00,0.000,6,0.139,0.000,2363,2424,3881,0,0,0,0,0,0
$STATE,8464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8465,begin apogee
$GC,8469,-0.11,0.0,1000.4,12.2,935,8650,0.52,0.17,173.32,1.266,6,0.091,0.073,2559,2143,3026,0,0,0,0,0,0
$STATE,8651,end apogee,CONTROL_FINISHED_OK
$STATE,8651,begin climb
$GC,8653,0.61,219.0,1010.9,0.0,943,8850,0.62,2.45,188.77,1.227,4,0.039,0.041,2831,661,2133,0,0,0,0,0,0
$GC,9099,0.59,219.0,954.2,20.5,963,9104,0.22,2.25,0.00,0.000,6,0.178,0.037,2772,2118,2123,0,0,0,0,0,0
$GC,9427,0.57,219.0,900.7,16.3,979,9431,0.00,2.17,0.00,0.000,4,0.000,0.052,2772,3522,2119,0,0,0,0,0,0
$GC,9477,0.55,219.0,891.3,17.1,981,9482,0.10,2.17,0.00,0.000,6,0.212,0.030,2759,2056,2120,0,0,0,0,0,0
$GC,9799,0.54,219.0,845.5,13.6,997,9803,0.00,2.05,0.00,0.000,4,0.000,0.040,2769,659,2117,0,0,0,0,0,0
$GC,9854,0.52,219.0,837.9,13.2,999,9862,0.08,2.20,0.00,0.000,6,0.197,0.035,2751,2120,2117,0,0,0,0,0,0
$GC,10171,0.51,219.0,797.3,12.4,1015,10175,0.00,2.17,0.00,0.000,4,0.000,0.038,2753,661,2116,0,0,0,0,0,0
$GC,10197,0.50,219.0,793.6,12.5,1016,10202,0.00,2.22,0.00,0.000,6,0.000,0.037,2753,2119,2116,0,0,0,0,0,0
$GC,10520,0.49,219.0,753.0,12.4,1032,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2119,2116,0,0,0,0,0,0
$GC,10830,0.50,233.3,718.5,10.6,1047,10845,0.00,2.15,10.32,0.998,4,0.000,0.050,2753,3531,2075,0,0,0,0,0,0
$GC,10869,0.48,233.3,713.7,12.6,1048,10873,0.10,2.15,0.00,0.000,6,0.199,0.029,2738,2056,2075,0,0,0,0,0,0
$GC,11196,0.51,260.3,680.2,10.2,1064,11227,0.08,2.15,24.10,1.050,4,0.130,0.041,2793,662,1965,0,0,0,0,0,0
$GC,11243,0.49,260.3,673.8,13.9,1066,11248,0.17,2.22,0.00,0.000,6,0.164,0.036,2745,2119,1962,0,0,0,0,0,0
$GC,11565,0.49,260.3,635.2,12.2,1082,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2119,1958,0,0,0,0,0,0
$GC,11874,0.50,277.3,601.2,10.5,1097,11896,0.00,2.20,14.85,0.961,4,0.000,0.051,2745,3530,1894,0,0,0,0,0,0
$GC,11924,0.49,277.3,595.2,12.0,1100,11931,0.00,2.20,0.00,0.000,6,0.000,0.029,2749,2065,1892,0,0,0,0,0,0
$GC,12250,0.49,277.3,556.5,12.2,1131,12254,0.00,2.08,0.00,0.000,4,0.000,0.041,2757,653,1891,0,0,0,0,0,0
$GC,12302,0.49,277.3,550.2,11.9,1135,12307,0.08,2.22,0.00,0.000,6,0.181,0.035,2738,2132,1890,0,0,0,0,0,0
$GC,12627,0.51,297.5,514.8,10.4,1165,12650,0.08,0.00,17.77,0.917,6,0.129,0.000,2790,2133,1814,0,0,0,0,0,0
$GC,12985,0.50,297.5,463.4,12.6,1218,12995,0.17,2.28,0.00,0.000,4,0.155,0.044,2749,666,1809,0,0,0,0,0,0
$GC,13045,0.56,351.1,457.0,9.3,1227,13103,0.10,2.20,45.62,0.898,6,0.102,0.038,2809,2120,1594,0,0,0,0,0,0
$GC,13454,0.55,351.1,387.3,18.0,1295,13462,0.17,2.17,0.00,0.000,4,0.152,0.050,2758,3526,1586,0,0,0,0,0,0
$GC,13487,0.55,351.1,381.8,15.9,1300,13495,0.00,2.20,0.00,0.000,6,0.000,0.029,2762,2063,1586,0,0,0,0,0,0
$GC,13846,0.58,377.3,343.0,10.2,1361,13876,0.08,2.15,21.52,0.787,4,0.125,0.043,2825,646,1488,0,0,0,0,0,0
$GC,13938,0.57,377.3,329.9,14.8,1375,13946,0.20,2.25,0.00,0.000,6,0.138,0.037,2764,2128,1485,0,0,0,0,0,0
$GC,14296,0.57,377.3,283.6,13.0,1436,14305,0.05,0.00,0.00,0.000,6,0.171,0.000,2815,2129,1483,0,0,0,0,0,0
$GC,14656,0.56,377.3,226.8,13.7,1497,14664,0.17,2.20,0.00,0.000,4,0.148,0.044,2763,666,1483,0,0,0,0,0,0
$GC,14697,0.65,443.4,222.3,8.8,1503,14761,0.12,2.17,53.67,0.702,6,0.083,0.037,2838,2119,1217,0,0,0,0,0,0
$GC,15111,0.65,443.4,150.4,17.8,1572,15120,0.17,2.20,0.00,0.000,4,0.143,0.050,2784,3527,1212,0,0,0,0,0,0
$GC,15160,0.66,447.6,144.1,11.0,1579,15170,0.03,2.17,3.90,0.418,6,0.099,0.028,2839,2061,1201,0,0,0,0,0,0
$GC,15526,0.66,447.6,88.5,14.9,1640,15536,0.15,2.12,0.00,0.000,4,0.145,0.043,2802,662,1201,0,0,0,0,0,0
$GC,15587,0.76,521.4,82.0,8.6,1649,15653,0.08,2.20,59.03,0.586,6,0.050,0.034,2874,2128,900,0,0,0,0,0,0
$GC,16006,0.79,540.8,27.8,10.4,1717,16025,0.12,0.00,15.43,0.513,6,0.142,0.000,2832,2128,821,0,0,0,0,0,0
$STATE,16328,end climb,SURFACE_DEPTH_REACHED
$STATE,16329,begin surface coast
$FINISH,0.8,1.021501
$STATE,16360,end surface coast,CONTROL_FINISHED_OK
$STATE,16360,begin surface
$SM_CCo,16435,0.00,0.000,0,0,817,542.11
$SM_GC,1.50,6.62,0.00,0.00,0.037,0.000,0.000,206,2458,817,-7.38,1.64,542.11
$IRIDIUM_FIX,2408.65,12705.43,151010,080813
$TT8_MAMPS,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,8.68472
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.2,39.049
$10V_AH,10.3,34.189
$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,21.400,122.175,628.325,0.000,0.000,28.875,44.656,176.219,0.000,0.000,15.364,4346.957,6837.862,682.169,4638.449,299.506,0.000,2253.994,0.000,4401.544,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,73.440,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1205.938,0.000,2583.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,103435,1776
$CAP_FILE_SIZE,192747,0
$CFSIZE,260165632,238653440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 92.9,1
$GPS,151010,180037,2416.219,12703.753,39,1.0,39,-3.7