version: 66.08
glider: 176
mission: 2
dive: 302
start: 10 16 110 13 32 45
data:
$ID,176
$MISSION,2
$DIVE,302
$N_DIVES,313
$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,-5185.7827
$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
$GPS1,161010,132600,2410.026,12658.725,37,1.4,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.2
$GPS2,161010,133220,2410.043,12658.716,12,1.6,12,-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,240.0,163850,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-72.43,0.000,2,0.000,0.000,198,2433,2759,0,0,0,0,0,0
$GC,94,-0.61,-219.0,3.7,-5.9,9,128,8.70,2.12,-20.52,0.000,4,0.235,0.070,2390,3773,3925,0,0,0,0,0,0
$GC,287,-0.60,-219.0,57.9,-23.0,40,296,0.00,2.08,0.00,0.000,6,0.000,0.029,2390,2357,3926,0,0,0,0,0,0
$GC,653,-0.59,-219.0,135.6,-20.0,101,662,0.08,2.05,0.00,0.000,4,0.205,0.034,2409,960,3926,0,0,0,0,0,0
$GC,694,-0.59,-219.0,142.8,-16.0,107,704,0.00,2.22,0.00,0.000,6,0.000,0.043,2409,2424,3926,0,0,0,0,0,0
$GC,1039,-0.59,-219.0,196.1,-13.1,168,1048,0.00,2.05,0.00,0.000,4,0.000,0.054,2407,3766,3926,0,0,0,0,0,0
$GC,1107,-0.60,-219.0,202.6,-7.8,179,1116,0.08,2.03,0.00,0.000,6,0.128,0.027,2355,2320,3926,0,0,0,0,0,0
$GC,1458,-0.59,-219.0,263.4,-18.6,240,1467,0.17,0.00,0.00,0.000,6,0.151,0.000,2407,2319,3926,0,0,0,0,0,0
$GC,1809,-0.59,-219.0,303.3,-11.3,301,1816,0.05,2.22,0.00,0.000,4,0.178,0.054,2366,3774,3925,0,0,0,0,0,0
$GC,1862,-0.60,-219.0,310.1,-11.7,310,1871,0.08,2.05,0.00,0.000,6,0.101,0.027,2401,2332,3925,0,0,0,0,0,0
$GC,2214,-0.61,-219.0,345.9,-8.4,371,2222,0.00,1.98,0.00,0.000,4,0.000,0.034,2401,953,3924,0,0,0,0,0,0
$GC,2242,-0.62,-219.0,348.3,-8.4,375,2251,0.05,2.20,0.00,0.000,6,0.174,0.041,2352,2433,3924,0,0,0,0,0,0
$GC,2594,-0.61,-219.0,398.3,-13.9,436,2603,0.17,2.05,0.00,0.000,4,0.138,0.055,2404,3763,3921,0,0,0,0,0,0
$GC,2640,-0.62,-219.0,402.9,-7.3,443,2649,0.08,2.03,0.00,0.000,6,0.130,0.028,2359,2332,3921,0,0,0,0,0,0
$GC,2991,-0.62,-219.0,447.6,-14.1,504,3000,0.12,2.22,0.00,0.000,4,0.149,0.055,2393,3760,3919,0,0,0,0,0,0
$GC,3014,-0.62,-219.0,450.5,-12.6,507,3022,0.00,2.00,0.00,0.000,6,0.000,0.028,2393,2350,3918,0,0,0,0,0,0
$GC,3363,-0.63,-219.0,480.8,-8.4,568,3371,0.00,2.05,0.00,0.000,4,0.000,0.036,2393,949,3916,0,0,0,0,0,0
$GC,3397,-0.64,-219.0,483.3,-7.9,573,3404,0.05,2.20,0.00,0.000,6,0.175,0.041,2346,2424,3916,0,0,0,0,0,0
$GC,3731,-0.63,-219.0,524.1,-12.9,616,3736,0.15,2.03,0.00,0.000,4,0.138,0.056,2391,3764,3913,0,0,0,0,0,0
$GC,3787,-0.65,-219.0,529.2,-6.6,620,3795,0.05,2.03,0.00,0.000,6,0.174,0.027,2348,2341,3913,0,0,0,0,0,0
$GC,4112,-0.65,-219.0,573.1,-14.0,651,4117,0.12,2.03,0.00,0.000,4,0.142,0.035,2389,952,3910,0,0,0,0,0,0
$GC,4146,-0.66,-219.0,577.1,-11.0,654,4151,0.08,2.20,0.00,0.000,6,0.124,0.041,2333,2423,3910,0,0,0,0,0,0
$GC,4477,-0.66,-219.0,622.1,-13.1,677,4479,0.17,0.00,0.00,0.000,6,0.134,0.000,2390,2424,3907,0,0,0,0,0,0
$GC,4787,-0.67,-219.0,643.6,-6.8,692,4792,0.08,2.15,0.00,0.000,4,0.127,0.035,2335,952,3905,0,0,0,0,0,0
$GC,4831,-0.67,-219.0,648.1,-10.4,694,4836,0.15,2.22,0.00,0.000,6,0.132,0.043,2384,2427,3905,0,0,0,0,0,0
$GC,5153,-0.68,-219.0,675.4,-8.4,710,5155,0.08,0.00,0.00,0.000,6,0.125,0.000,2324,2427,3902,0,0,0,0,0,0
$GC,5461,-0.68,-219.0,716.0,-13.3,725,5463,0.17,0.00,0.00,0.000,6,0.134,0.000,2381,2427,3899,0,0,0,0,0,0
$GC,5771,-0.69,-219.0,740.7,-8.0,740,5773,0.08,0.00,0.00,0.000,6,0.125,0.000,2327,2427,3896,0,0,0,0,0,0
$GC,6080,-0.68,-219.0,782.1,-13.8,755,6084,0.15,2.20,0.00,0.000,4,0.136,0.035,2376,945,3894,0,0,0,0,0,0
$GC,6123,-0.70,-219.0,786.6,-8.2,757,6128,0.05,2.22,0.00,0.000,6,0.174,0.043,2330,2431,3894,0,0,0,0,0,0
$GC,6445,-0.69,-219.0,823.8,-11.4,773,6449,0.15,2.05,0.00,0.000,4,0.137,0.057,2376,3763,3891,0,0,0,0,0,0
$GC,6471,-0.70,-219.0,826.5,-8.8,774,6476,0.03,2.05,0.00,0.000,6,0.106,0.028,2336,2350,3891,0,0,0,0,0,0
$GC,6793,-0.70,-219.0,858.9,-10.9,790,6795,0.12,0.00,0.00,0.000,6,0.138,0.000,2376,2345,3888,0,0,0,0,0,0
$GC,7102,-0.71,-219.0,881.6,-7.4,805,7106,0.08,2.05,0.00,0.000,4,0.129,0.036,2322,949,3887,0,0,0,0,0,0
$GC,7129,-0.72,-219.0,884.5,-11.1,806,7134,0.15,2.22,0.00,0.000,6,0.131,0.043,2372,2420,3886,0,0,0,0,0,0
$GC,7446,-0.73,-219.0,910.8,-8.6,821,7450,0.08,2.15,0.00,0.000,4,0.124,0.034,2310,956,3885,0,0,0,0,0,0
$GC,7479,-0.73,-219.0,914.9,-13.2,822,7486,0.17,2.22,0.00,0.000,6,0.132,0.044,2365,2418,3885,0,0,0,0,0,0
$GC,7795,-0.73,-219.0,944.2,-9.0,838,7800,0.08,2.15,0.00,0.000,4,0.126,0.034,2309,956,3882,0,0,0,0,0,0
$GC,7827,-0.73,-219.0,948.3,-12.7,839,7832,0.12,2.25,0.00,0.000,6,0.111,0.044,2358,2416,3882,0,0,0,0,0,0
$GC,8150,-0.74,-219.0,976.5,-8.1,855,8154,0.00,2.12,0.00,0.000,4,0.000,0.034,2358,954,3881,0,0,0,0,0,0
$GC,8178,-0.75,-219.0,979.1,-8.3,856,8182,0.05,2.22,0.00,0.000,6,0.168,0.043,2315,2425,3880,0,0,0,0,0,0
$STATE,8373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8373,begin apogee
$GC,8378,-0.11,0.0,1002.3,12.1,866,8557,0.73,0.20,173.32,1.264,6,0.109,0.070,2561,2142,3027,0,0,0,0,0,0
$STATE,8558,end apogee,CONTROL_FINISHED_OK
$STATE,8558,begin climb
$GC,8560,0.61,219.0,1010.5,0.0,874,8759,0.60,2.33,188.48,1.222,4,0.038,0.048,2821,3527,2131,0,0,0,0,0,0
$GC,8927,0.58,219.0,964.8,20.4,891,8932,0.22,2.25,0.00,0.000,6,0.196,0.029,2775,2069,2125,0,0,0,0,0,0
$GC,9249,0.57,219.0,917.9,14.1,907,9253,0.00,2.10,0.00,0.000,4,0.000,0.040,2785,653,2120,0,0,0,0,0,0
$GC,9311,0.55,219.0,909.0,14.0,910,9316,0.10,2.22,0.00,0.000,6,0.192,0.036,2761,2119,2119,0,0,0,0,0,0
$GC,9639,0.54,219.0,864.7,13.9,926,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2120,2118,0,0,0,0,0,0
$GC,9947,0.52,219.0,822.0,13.7,941,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2120,2117,0,0,0,0,0,0
$GC,10257,0.51,219.0,778.7,14.0,956,10261,0.05,2.17,0.00,0.000,4,0.256,0.040,2760,662,2116,0,0,0,0,0,0
$GC,10302,0.50,219.0,772.4,13.4,958,10307,0.08,2.20,0.00,0.000,6,0.194,0.037,2742,2127,2114,0,0,0,0,0,0
$GC,10635,0.49,219.0,732.5,11.7,974,10639,0.00,2.12,0.00,0.000,4,0.000,0.051,2742,3526,2114,0,0,0,0,0,0
$GC,10689,0.48,219.0,725.1,12.9,976,10693,0.00,2.17,0.00,0.000,6,0.000,0.029,2750,2065,2115,0,0,0,0,0,0
$GC,11012,0.47,219.0,685.5,11.9,992,11016,0.08,2.08,0.00,0.000,4,0.220,0.041,2736,663,2114,0,0,0,0,0,0
$GC,11038,0.46,220.2,682.3,11.1,993,11042,0.00,2.20,0.00,0.000,6,0.000,0.036,2736,2118,2113,0,0,0,0,0,0
$GC,11361,0.48,241.5,648.8,10.4,1009,11383,0.00,2.22,16.95,1.006,4,0.000,0.050,2736,3529,2042,0,0,0,0,0,0
$GC,11430,0.47,241.5,640.8,12.1,1012,11434,0.00,2.17,0.00,0.000,6,0.000,0.029,2737,2061,2040,0,0,0,0,0,0
$GC,11757,0.48,253.6,605.8,10.7,1028,11773,0.00,2.10,11.45,0.933,4,0.000,0.040,2744,656,1991,0,0,0,0,0,0
$GC,11807,0.52,283.6,600.2,10.1,1029,11842,0.08,2.22,26.75,0.981,6,0.131,0.036,2792,2124,1869,0,0,0,0,0,0
$GC,12159,0.50,283.6,547.3,15.1,1062,12163,0.17,2.20,0.00,0.000,4,0.164,0.041,2750,667,1862,0,0,0,0,0,0
$GC,12180,0.49,283.6,544.2,13.8,1063,12188,0.00,2.20,0.00,0.000,6,0.000,0.036,2750,2119,1861,0,0,0,0,0,0
$GC,12505,0.49,283.6,505.6,12.3,1094,12509,0.00,2.12,0.00,0.000,4,0.000,0.050,2750,3525,1860,0,0,0,0,0,0
$GC,12563,0.48,283.6,498.3,12.3,1099,12570,0.00,2.15,0.00,0.000,6,0.000,0.028,2750,2061,1860,0,0,0,0,0,0
$GC,12913,0.58,362.0,463.7,8.4,1160,12985,0.10,2.22,64.53,0.900,4,0.109,0.044,2817,668,1550,0,0,0,0,0,0
$GC,13048,0.57,362.0,444.2,14.5,1181,13056,0.17,2.25,0.00,0.000,6,0.146,0.035,2767,2131,1544,0,0,0,0,0,0
$GC,13398,0.57,362.0,397.6,13.0,1242,13407,0.00,2.17,0.00,0.000,4,0.000,0.050,2767,3526,1540,0,0,0,0,0,0
$GC,13421,0.57,362.0,394.5,13.6,1245,13428,0.00,2.17,0.00,0.000,6,0.000,0.029,2775,2063,1539,0,0,0,0,0,0
$GC,13767,0.56,362.0,352.1,11.6,1306,13776,0.00,2.10,0.00,0.000,4,0.000,0.044,2776,673,1539,0,0,0,0,0,0
$GC,13800,0.58,377.4,348.7,10.6,1311,13822,0.00,2.17,12.52,0.750,6,0.000,0.034,2776,2129,1487,0,0,0,0,0,0
$GC,14163,0.58,377.4,306.2,11.6,1374,14171,0.00,2.22,0.00,0.000,4,0.000,0.042,2776,670,1483,0,0,0,0,0,0
$GC,14242,0.64,416.2,298.1,9.8,1387,14286,0.08,2.17,32.58,0.753,6,0.126,0.037,2833,2120,1328,0,0,0,0,0,0
$GC,14629,0.63,416.2,227.8,18.2,1453,14636,0.17,2.22,0.00,0.000,4,0.151,0.042,2789,665,1323,0,0,0,0,0,0
$GC,14657,0.62,416.2,223.4,15.5,1457,14664,0.00,2.20,0.00,0.000,6,0.000,0.035,2789,2130,1323,0,0,0,0,0,0
$GC,15005,0.62,416.2,181.4,11.9,1518,15013,0.00,2.15,0.00,0.000,4,0.000,0.050,2789,3526,1322,0,0,0,0,0,0
$GC,15027,0.63,416.2,178.7,11.7,1521,15034,0.00,2.15,0.00,0.000,6,0.000,0.029,2789,2063,1322,0,0,0,0,0,0
$GC,15378,0.72,490.0,144.7,8.6,1582,15445,0.12,2.12,58.72,0.632,4,0.087,0.042,2877,666,1027,0,0,0,0,0,0
$GC,15486,0.72,490.0,126.6,18.1,1596,15495,0.17,2.22,0.00,0.000,6,0.124,0.034,2816,2117,1025,0,0,0,0,0,0
$GC,15853,0.78,533.5,77.1,9.6,1657,15895,0.10,0.00,34.10,0.571,6,0.103,0.000,2890,2117,850,0,0,0,0,0,0
$GC,16252,0.78,533.5,18.4,11.7,1722,16260,0.20,0.00,0.00,0.000,6,0.129,0.000,2823,2117,846,0,0,0,0,0,0
$STATE,16491,end climb,SURFACE_DEPTH_REACHED
$STATE,16491,begin surface coast
$FINISH,0.9,1.006055
$STATE,16533,end surface coast,CONTROL_FINISHED_OK
$STATE,16533,begin surface
$SM_CCo,16608,0.00,0.000,0,0,845,535.24
$SM_GC,1.56,6.65,0.00,0.00,0.042,0.000,0.000,205,2444,845,-7.39,1.27,535.24
$IRIDIUM_FIX,2401.56,12700.70,161010,080805
$TT8_MAMPS,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.68472
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.2,40.066
$10V_AH,10.3,35.182
$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,21.850,143.125,619.400,0.000,0.000,30.385,16.425,187.389,0.000,0.000,15.424,4341.076,7027.535,687.771,4608.386,299.806,0.000,2271.193,0.000,4375.918,0.000,0.541,0.000
$DEVICE_MAMPS,256.275,69.615,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1201.000,0.000,2529.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,103412,1769
$CAP_FILE_SIZE,197644,0
$CFSIZE,260165632,238166016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 82.3,1
$GPS,161010,181036,2408.767,12657.017,36,0.9,36,-3.6