version: 66.08
glider: 176
mission: 2
dive: 305
start: 10 17 110 3 47 47
data:
$ID,176
$MISSION,2
$DIVE,305
$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,-5189.5576
$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
$GPS1,171010,033954,2405.082,12655.130,25,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-62.8
$GPS2,171010,034721,2405.050,12655.058,15,2.0,22,-3.6
$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,243.1,152720,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-74.05,0.000,2,0.000,0.000,203,2431,2799,0,0,0,0,0,0
$GC,94,-0.61,-219.0,3.6,-5.6,9,129,8.68,2.12,-19.52,0.000,4,0.234,0.068,2390,3767,3923,0,0,0,0,0,0
$GC,288,-0.61,-219.0,57.7,-17.5,40,298,0.00,2.05,0.00,0.000,6,0.000,0.027,2390,2347,3924,0,0,0,0,0,0
$GC,654,-0.59,-219.0,135.2,-22.0,101,663,0.05,0.00,0.00,0.000,6,0.247,0.000,2401,2344,3925,0,0,0,0,0,0
$GC,1013,-0.59,-219.0,197.4,-14.9,162,1022,0.00,2.20,0.00,0.000,4,0.000,0.054,2401,3764,3925,0,0,0,0,0,0
$GC,1064,-0.59,-219.0,203.7,-10.3,170,1073,0.00,2.05,0.00,0.000,6,0.000,0.027,2401,2328,3925,0,0,0,0,0,0
$GC,1425,-0.59,-219.0,249.0,-13.0,231,1431,0.00,2.17,0.00,0.000,4,0.000,0.054,2401,3766,3925,0,0,0,0,0,0
$GC,1468,-0.60,-219.0,254.4,-10.8,238,1477,0.00,2.05,0.00,0.000,6,0.000,0.026,2401,2329,3925,0,0,0,0,0,0
$GC,1830,-0.60,-219.0,295.7,-11.3,299,1837,0.00,2.17,0.00,0.000,4,0.000,0.054,2401,3769,3925,0,0,0,0,0,0
$GC,1861,-0.61,-219.0,299.3,-10.1,304,1872,0.03,2.05,0.00,0.000,6,0.105,0.027,2359,2326,3925,0,0,0,0,0,0
$GC,2224,-0.60,-219.0,355.7,-16.0,365,2230,0.15,0.00,0.00,0.000,6,0.151,0.000,2404,2325,3924,0,0,0,0,0,0
$GC,2580,-0.61,-219.0,389.5,-8.8,426,2589,0.05,2.25,0.00,0.000,4,0.181,0.054,2360,3769,3922,0,0,0,0,0,0
$GC,2651,-0.61,-219.0,396.5,-10.5,437,2658,0.12,2.03,0.00,0.000,6,0.127,0.027,2402,2327,3922,0,0,0,0,0,0
$GC,3010,-0.62,-219.0,431.2,-10.2,498,3020,0.08,2.00,0.00,0.000,4,0.128,0.034,2348,956,3919,0,0,0,0,0,0
$GC,3035,-0.63,-219.0,433.8,-11.5,501,3042,0.15,2.20,0.00,0.000,6,0.135,0.041,2396,2429,3919,0,0,0,0,0,0
$GC,3395,-0.63,-219.0,465.6,-6.1,562,3404,0.05,2.20,0.00,0.000,4,0.172,0.033,2347,949,3917,0,0,0,0,0,0
$GC,3431,-0.64,-219.0,468.5,-8.5,567,3439,0.15,2.20,0.00,0.000,6,0.130,0.042,2397,2426,3917,0,0,0,0,0,0
$GC,3791,-0.65,-219.0,496.5,-8.7,628,3801,0.08,2.08,0.00,0.000,4,0.127,0.056,2335,3766,3914,0,0,0,0,0,0
$GC,3847,-0.65,-219.0,503.5,-13.1,635,3854,0.12,2.03,0.00,0.000,6,0.099,0.028,2386,2350,3914,0,0,0,0,0,0
$GC,4173,-0.65,-219.0,535.8,-9.6,666,4176,0.00,2.00,0.00,0.000,4,0.000,0.033,2387,953,3912,0,0,0,0,0,0
$GC,4197,-0.66,-219.0,538.0,-9.7,668,4202,0.05,2.17,0.00,0.000,6,0.169,0.041,2333,2423,3912,0,0,0,0,0,0
$GC,4523,-0.65,-219.0,585.6,-15.6,698,4528,0.17,2.15,0.00,0.000,4,0.136,0.031,2390,953,3909,0,0,0,0,0,0
$GC,4556,-0.66,-219.0,589.7,-9.3,700,4565,0.08,2.22,0.00,0.000,6,0.125,0.042,2332,2432,3909,0,0,0,0,0,0
$GC,4875,-0.66,-219.0,629.7,-12.5,720,4880,0.17,2.03,0.00,0.000,4,0.133,0.056,2389,3769,3907,0,0,0,0,0,0
$GC,4924,-0.68,-219.0,633.6,-5.0,722,4929,0.08,2.03,0.00,0.000,6,0.129,0.026,2341,2343,3907,0,0,0,0,0,0
$GC,5240,-0.67,-219.0,667.0,-11.4,737,5245,0.12,2.03,0.00,0.000,4,0.144,0.033,2381,944,3904,0,0,0,0,0,0
$GC,5273,-0.68,-219.0,670.3,-8.3,738,5280,0.05,2.22,0.00,0.000,6,0.168,0.041,2329,2430,3904,0,0,0,0,0,0
$GC,5589,-0.68,-219.0,712.3,-13.9,754,5594,0.15,2.05,0.00,0.000,4,0.139,0.055,2376,3767,3902,0,0,0,0,0,0
$GC,5615,-0.68,-219.0,715.8,-11.5,755,5620,0.00,2.05,0.00,0.000,6,0.000,0.028,2376,2350,3902,0,0,0,0,0,0
$GC,5938,-0.69,-219.0,742.1,-7.8,771,5939,0.05,0.00,0.00,0.000,6,0.180,0.000,2329,2344,3899,0,0,0,0,0,0
$GC,6246,-0.69,-219.0,777.0,-11.5,786,6248,0.15,0.00,0.00,0.000,6,0.135,0.000,2378,2345,3896,0,0,0,0,0,0
$GC,6557,-0.70,-219.0,796.9,-6.0,801,6561,0.08,2.22,0.00,0.000,4,0.127,0.058,2322,3767,3895,0,0,0,0,0,0
$GC,6590,-0.70,-219.0,799.8,-9.1,802,6597,0.15,2.05,0.00,0.000,6,0.122,0.028,2373,2337,3894,0,0,0,0,0,0
$GC,6906,-0.71,-219.0,820.0,-6.4,818,6911,0.08,2.00,0.00,0.000,4,0.125,0.035,2317,955,3891,0,0,0,0,0,0
$GC,6929,-0.71,-219.0,822.0,-8.8,819,6934,0.17,2.22,0.00,0.000,6,0.130,0.043,2374,2425,3891,0,0,0,0,0,0
$GC,7257,-0.72,-219.0,846.3,-7.8,835,7259,0.08,0.00,0.00,0.000,6,0.125,0.000,2316,2426,3889,0,0,0,0,0,0
$GC,7565,-0.72,-219.0,886.4,-13.6,850,7567,0.15,0.00,0.00,0.000,6,0.138,0.000,2365,2426,3887,0,0,0,0,0,0
$GC,7875,-0.73,-219.0,914.6,-8.7,865,7877,0.05,0.00,0.00,0.000,6,0.173,0.000,2318,2426,3886,0,0,0,0,0,0
$GC,8184,-0.72,-219.0,953.0,-12.2,880,8188,0.15,2.08,0.00,0.000,4,0.136,0.057,2362,3766,3883,0,0,0,0,0,0
$GC,8224,-0.74,-219.0,956.8,-7.9,882,8227,0.00,2.05,0.00,0.000,6,0.000,0.028,2361,2347,3882,0,0,0,0,0,0
$GC,8557,-0.75,-219.0,983.5,-8.2,898,8561,0.05,2.05,0.00,0.000,4,0.176,0.037,2314,963,3881,0,0,0,0,0,0
$GC,8603,-0.75,-219.0,988.4,-11.0,900,8607,0.15,2.22,0.00,0.000,6,0.135,0.044,2357,2418,3881,0,0,0,0,0,0
$STATE,8741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8741,begin apogee
$GC,8746,-0.11,0.0,1001.3,9.1,907,9159,0.55,0.20,293.35,0.960,6,0.092,0.068,2561,2143,3027,0,0,0,0,22,0
$STATE,9161,end apogee,CONTROL_FINISHED_OK
$STATE,9161,begin climb
$GC,9163,0.61,219.0,1024.6,0.0,926,9611,0.60,2.42,315.77,0.931,4,0.040,0.038,2828,660,2133,0,0,0,0,24,0
$GC,9686,0.59,219.0,976.0,20.3,951,9691,0.20,2.30,0.00,0.000,6,0.184,0.037,2778,2123,2129,0,0,0,0,0,0
$GC,10014,0.57,219.0,921.2,16.3,967,10018,0.00,2.17,0.00,0.000,4,0.000,0.050,2778,3526,2125,0,0,0,0,0,0
$GC,10057,0.55,219.0,912.5,18.9,969,10062,0.08,2.20,0.00,0.000,6,0.179,0.028,2756,2063,2125,0,0,0,0,0,0
$GC,10385,0.54,219.0,860.6,15.6,985,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2060,2123,0,0,0,0,0,0
$GC,10694,0.52,219.0,815.0,14.1,1000,10698,0.00,2.28,0.00,0.000,4,0.000,0.050,2756,3532,2121,0,0,0,0,0,0
$GC,10736,0.51,219.0,808.2,16.4,1002,10741,0.05,2.17,0.00,0.000,6,0.171,0.028,2732,2063,2121,0,0,0,0,0,0
$GC,11065,0.50,219.0,769.3,11.7,1018,11067,0.10,0.00,0.00,0.000,6,0.106,0.000,2789,2058,2120,0,0,0,0,0,0
$GC,11373,0.48,219.0,720.9,16.3,1033,11377,0.17,2.08,0.00,0.000,4,0.177,0.037,2750,660,2120,0,0,0,0,0,0
$GC,11413,0.47,219.0,715.4,12.8,1035,11417,0.05,2.20,0.00,0.000,6,0.220,0.036,2739,2132,2119,0,0,0,0,0,0
$GC,11740,0.46,219.0,677.5,11.8,1051,11744,0.00,2.12,0.00,0.000,4,0.000,0.050,2738,3529,2119,0,0,0,0,0,0
$GC,11780,0.45,219.0,671.9,13.7,1053,11785,0.08,2.12,0.00,0.000,6,0.207,0.028,2730,2061,2119,0,0,0,0,0,0
$GC,12107,0.45,219.0,632.7,11.4,1069,12111,0.00,2.28,0.00,0.000,4,0.000,0.050,2729,3534,2118,0,0,0,0,0,0
$GC,12140,0.44,219.0,628.5,12.0,1070,12148,0.03,2.20,0.00,0.000,6,0.192,0.029,2727,2056,2118,0,0,0,0,0,0
$GC,12457,0.53,294.0,599.4,8.5,1086,12602,0.12,0.00,102.35,0.826,6,0.091,0.000,2796,2051,1828,0,0,0,0,7,0
$GC,12920,0.51,294.0,522.2,18.0,1130,12925,0.17,2.33,0.00,0.000,4,0.165,0.050,2748,3529,1820,0,0,0,0,0,0
$GC,13032,0.51,294.0,506.3,11.9,1139,13039,0.00,2.20,0.00,0.000,6,0.000,0.029,2750,2055,1820,0,0,0,0,0,0
$GC,13375,0.50,294.0,465.4,12.2,1195,13382,0.00,2.28,0.00,0.000,4,0.000,0.049,2750,3523,1818,0,0,0,0,0,0
$GC,13424,0.50,294.0,459.4,12.3,1203,13430,0.00,2.15,0.00,0.000,6,0.000,0.028,2755,2060,1818,0,0,0,0,0,0
$GC,13771,0.50,294.0,420.6,11.5,1264,13780,0.00,2.10,0.00,0.000,4,0.000,0.040,2762,663,1817,0,0,0,0,0,0
$GC,13854,0.50,294.0,411.3,11.4,1278,13863,0.05,2.20,0.00,0.000,6,0.139,0.036,2742,2120,1816,0,0,0,0,0,0
$GC,14205,0.52,312.7,375.2,10.5,1339,14241,0.08,2.22,23.77,0.718,4,0.130,0.047,2798,3537,1751,0,0,0,0,1,0
$GC,14289,0.51,312.7,362.1,16.9,1352,14298,0.15,2.22,0.00,0.000,6,0.138,0.031,2751,2062,1750,0,0,0,0,0,0
$GC,14641,0.53,334.1,322.1,10.4,1413,14690,0.05,2.12,30.85,0.661,4,0.180,0.038,2802,658,1665,0,0,0,0,2,0
$GC,14723,0.53,334.1,312.1,12.9,1425,14731,0.17,2.20,0.00,0.000,6,0.145,0.033,2751,2130,1663,0,0,0,0,0,0
$GC,15072,0.61,394.8,279.4,9.0,1486,15199,0.12,2.25,84.75,0.633,4,0.089,0.050,2826,3526,1417,0,0,0,0,6,0
$GC,15242,0.60,394.8,250.7,16.6,1511,15249,0.20,2.22,0.00,0.000,6,0.142,0.032,2771,2067,1415,0,0,0,0,0,0
$GC,15591,0.62,410.6,213.9,10.6,1572,15629,0.10,2.15,21.27,0.594,4,0.099,0.038,2843,659,1351,0,0,0,0,1,0
$GC,15693,0.62,410.6,197.7,15.5,1588,15702,0.17,2.22,0.00,0.000,6,0.118,0.034,2782,2117,1350,0,0,0,0,0,0
$GC,16041,0.66,443.0,157.9,10.0,1649,16108,0.10,2.25,44.60,0.560,4,0.099,0.048,2850,3534,1220,0,0,0,0,3,0
$GC,16152,0.65,443.0,139.8,17.4,1665,16162,0.17,2.22,0.00,0.000,6,0.112,0.032,2795,2072,1219,0,0,0,0,0,0
$GC,16522,0.69,470.5,101.7,10.2,1726,16580,0.08,2.15,36.88,0.535,4,0.125,0.039,2858,666,1108,0,0,0,0,2,0
$GC,16666,0.70,470.5,82.1,12.2,1747,16675,0.12,2.22,0.00,0.000,6,0.104,0.036,2808,2123,1107,0,0,0,0,0,0
$GC,17028,0.90,624.2,56.4,5.8,1808,17270,0.22,2.28,186.00,0.505,4,0.059,0.040,2940,664,500,0,0,0,0,9,0
$GC,17309,0.90,624.2,9.8,11.6,1844,17318,0.17,2.28,0.00,0.000,6,0.103,0.040,2876,2118,499,0,0,0,0,0,0
$STATE,17389,end climb,SURFACE_DEPTH_REACHED
$STATE,17389,begin surface coast
$FINISH,0.6,1.021863
$STATE,17457,end surface coast,CONTROL_FINISHED_OK
$STATE,17457,begin surface
$SM_CCo,17532,0.00,0.000,0,0,496,620.85
$SM_GC,1.43,6.90,0.00,0.00,0.043,0.000,0.000,207,2467,496,-7.39,1.87,620.85
$IRIDIUM_FIX,2401.56,12738.00,161010,232348
$TT8_MAMPS,0.026215
$HUMID,49.48
$INTERNAL_PRESSURE,8.68472
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.8,40.761
$10V_AH,10.3,35.785
$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,22.950,143.700,1139.600,0.000,0.000,28.168,42.340,218.889,0.000,0.000,25.321,4386.021,6956.379,1315.978,4975.940,325.192,0.000,3197.896,0.000,4670.517,0.000,0.541,0.000
$DEVICE_MAMPS,247.095,68.085,960.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.067,0.000,2689.082,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,110254,1868
$CAP_FILE_SIZE,212118,0
$CFSIZE,260165632,237862912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,77,0
$CURRENT,0.061,130.9,1
$GPS,171010,084106,2403.442,12652.982,40,0.9,40,-3.6