version: 66.08
glider: 176
mission: 2
dive: 306
start: 10 17 110 8 51 6
data:
$ID,176
$MISSION,2
$DIVE,306
$N_DIVES,313
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-5190.8149
$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
$GPS1,171010,084106,2403.442,12652.982,40,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.4
$GPS2,171010,085038,2403.485,12652.979,15,1.0,15,-3.6
$SPEED_LIMITS,0.191,0.321
$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,232.0,148260,-15.3,-11.000
$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,15,-0.61,-219.0,0.0,0.0,0,84,0.00,0.00,-66.65,0.000,2,0.000,0.000,202,2470,2471,0,0,0,0,0,0
$GC,87,-0.61,-219.0,3.0,-4.2,8,136,8.70,2.28,-29.75,0.000,4,0.236,0.047,2392,959,3924,0,0,0,0,0,0
$GC,291,-0.60,-219.0,47.6,-19.6,40,300,0.00,2.25,0.00,0.000,6,0.000,0.046,2392,2414,3925,0,0,0,0,0,0
$GC,656,-0.59,-219.0,121.7,-18.5,101,665,0.05,0.00,0.00,0.000,6,0.247,0.000,2404,2414,3925,0,0,0,0,0,0
$GC,1016,-0.58,-219.0,179.1,-14.8,162,1026,0.00,2.05,0.00,0.000,4,0.000,0.055,2403,3757,3925,0,0,0,0,0,0
$GC,1044,-0.58,-219.0,183.1,-14.0,166,1053,0.00,2.03,0.00,0.000,6,0.000,0.027,2404,2340,3925,0,0,0,0,0,0
$GC,1405,-0.58,-219.0,227.6,-10.7,227,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2338,3925,0,0,0,0,0,0
$GC,1760,-0.58,-219.0,265.9,-9.7,288,1768,0.00,2.03,0.00,0.000,4,0.000,0.033,2404,943,3924,0,0,0,0,0,0
$GC,1784,-0.58,-219.0,268.0,-9.9,291,1791,0.00,2.20,0.00,0.000,6,0.000,0.041,2404,2422,3924,0,0,0,0,0,0
$GC,2140,-0.59,-219.0,302.8,-10.4,352,2149,0.00,2.05,0.00,0.000,4,0.000,0.054,2404,3766,3922,0,0,0,0,0,0
$GC,2199,-0.60,-219.0,308.0,-8.0,361,2205,0.00,2.03,0.00,0.000,6,0.000,0.027,2404,2324,3922,0,0,0,0,0,0
$GC,2554,-0.61,-219.0,344.0,-9.2,422,2564,0.05,0.00,0.00,0.000,6,0.184,0.000,2361,2322,3920,0,0,0,0,0,0
$GC,2916,-0.60,-219.0,392.1,-12.3,483,2924,0.15,2.20,0.00,0.000,4,0.136,0.054,2404,3766,3918,0,0,0,0,0,0
$GC,2992,-0.62,-219.0,398.6,-6.7,495,2999,0.08,2.03,0.00,0.000,6,0.130,0.026,2349,2325,3917,0,0,0,0,0,0
$GC,3351,-0.62,-219.0,451.4,-16.2,556,3360,0.15,0.00,0.00,0.000,6,0.139,0.000,2397,2324,3915,0,0,0,0,0,0
$GC,3713,-0.62,-219.0,482.3,-7.1,617,3720,0.00,2.20,0.00,0.000,4,0.000,0.054,2394,3766,3912,0,0,0,0,0,0
$GC,3788,-0.64,-219.0,486.8,-5.6,629,3795,0.05,2.03,0.00,0.000,6,0.175,0.026,2347,2331,3912,0,0,0,0,0,0
$GC,4127,-0.64,-219.0,527.2,-13.1,670,4131,0.15,2.00,0.00,0.000,4,0.137,0.034,2396,953,3909,0,0,0,0,0,0
$GC,4144,-0.64,-219.0,529.5,-12.2,671,4149,0.08,2.20,0.00,0.000,6,0.122,0.041,2336,2423,3909,0,0,0,0,0,0
$GC,4469,-0.63,-219.0,574.3,-14.0,701,4474,0.17,2.05,0.00,0.000,4,0.133,0.055,2390,3774,3907,0,0,0,0,0,0
$GC,4512,-0.65,-219.0,578.7,-7.0,704,4519,0.05,2.03,0.00,0.000,6,0.174,0.027,2347,2346,3907,0,0,0,0,0,0
$GC,4844,-0.65,-219.0,618.1,-12.1,729,4849,0.15,2.03,0.00,0.000,4,0.134,0.035,2397,956,3904,0,0,0,0,0,0
$GC,4877,-0.66,-219.0,621.4,-9.0,730,4886,0.10,2.20,0.00,0.000,6,0.100,0.041,2330,2423,3904,0,0,0,0,0,0
$GC,5193,-0.66,-219.0,661.4,-12.8,746,5198,0.17,2.05,0.00,0.000,4,0.132,0.055,2388,3764,3901,0,0,0,0,0,0
$GC,5236,-0.67,-219.0,665.4,-5.9,748,5241,0.08,2.03,0.00,0.000,6,0.129,0.025,2335,2328,3901,0,0,0,0,0,0
$GC,5564,-0.67,-219.0,705.3,-12.6,764,5568,0.15,2.22,0.00,0.000,4,0.133,0.053,2376,3765,3898,0,0,0,0,0,0
$GC,5590,-0.68,-219.0,708.4,-10.1,765,5594,0.00,2.03,0.00,0.000,6,0.000,0.028,2376,2354,3898,0,0,0,0,0,0
$GC,5912,-0.68,-219.0,734.7,-8.1,781,5916,0.00,2.20,0.00,0.000,4,0.000,0.057,2376,3777,3895,0,0,0,0,0,0
$GC,5936,-0.69,-219.0,736.5,-7.5,782,5940,0.05,2.05,0.00,0.000,6,0.175,0.027,2332,2345,3895,0,0,0,0,0,0
$GC,6257,-0.69,-219.0,773.1,-12.0,798,6261,0.15,2.03,0.00,0.000,4,0.135,0.035,2382,958,3892,0,0,0,0,0,0
$GC,6291,-0.70,-219.0,776.5,-8.8,799,6298,0.08,2.22,0.00,0.000,6,0.122,0.041,2333,2431,3892,0,0,0,0,0,0
$GC,6607,-0.70,-219.0,811.7,-11.6,815,6608,0.12,0.00,0.00,0.000,6,0.141,0.000,2373,2431,3889,0,0,0,0,0,0
$GC,6916,-0.71,-219.0,836.0,-7.4,830,6918,0.08,0.00,0.00,0.000,6,0.125,0.000,2315,2431,3888,0,0,0,0,0,0
$GC,7225,-0.71,-219.0,874.1,-12.5,845,7230,0.17,2.20,0.00,0.000,4,0.132,0.036,2374,957,3886,0,0,0,0,0,0
$GC,7269,-0.72,-219.0,878.1,-6.8,847,7273,0.08,2.22,0.00,0.000,6,0.122,0.042,2316,2431,3886,0,0,0,0,0,0
$GC,7591,-0.72,-219.0,914.6,-12.1,863,7595,0.15,2.03,0.00,0.000,4,0.138,0.055,2361,3763,3882,0,0,0,0,0,0
$GC,7640,-0.73,-219.0,919.2,-7.2,865,7644,0.00,2.03,0.00,0.000,6,0.000,0.027,2361,2356,3882,0,0,0,0,0,0
$GC,7962,-0.74,-219.0,944.9,-8.2,881,7966,0.05,2.05,0.00,0.000,4,0.175,0.037,2311,962,3880,0,0,0,0,0,0
$GC,8011,-0.74,-219.0,950.7,-11.5,883,8016,0.12,2.25,0.00,0.000,6,0.108,0.044,2358,2414,3880,0,0,0,0,0,0
$GC,8342,-0.75,-219.0,978.7,-8.6,899,8345,0.00,2.15,0.00,0.000,4,0.000,0.034,2358,947,3878,0,0,0,0,0,0
$GC,8369,-0.76,-219.0,981.4,-9.1,900,8374,0.05,2.22,0.00,0.000,6,0.166,0.041,2307,2421,3878,0,0,0,0,0,0
$STATE,8461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8461,begin apogee
$GC,8466,-0.11,0.0,992.2,12.3,905,8863,0.73,0.17,287.73,0.959,6,0.108,0.073,2561,2145,3027,0,0,0,0,20,0
$STATE,8865,end apogee,CONTROL_FINISHED_OK
$STATE,8865,begin climb
$GC,8866,0.61,219.0,1012.7,0.0,923,9313,0.62,2.25,314.17,0.920,4,0.037,0.047,2825,3527,2133,0,0,0,0,24,0
$GC,9480,0.58,219.0,939.3,23.2,952,9485,0.25,2.22,0.00,0.000,6,0.191,0.029,2772,2055,2128,0,0,0,0,0,0
$GC,9802,0.56,219.0,889.3,14.7,968,9806,0.00,2.30,0.00,0.000,4,0.000,0.049,2772,3527,2125,0,0,0,0,0,0
$GC,9835,0.54,219.0,883.9,17.0,969,9843,0.10,2.20,0.00,0.000,6,0.210,0.029,2758,2048,2125,0,0,0,0,0,0
$GC,10151,0.53,219.0,842.3,13.0,985,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2044,2123,0,0,0,0,0,0
$GC,10460,0.51,219.0,801.6,13.1,1000,10464,0.00,2.28,0.00,0.000,4,0.000,0.050,2758,3533,2122,0,0,0,0,0,0
$GC,10504,0.50,219.0,795.1,15.1,1002,10509,0.10,2.20,0.00,0.000,6,0.201,0.029,2743,2059,2122,0,0,0,0,0,0
$GC,10832,0.49,219.0,755.3,12.1,1018,10836,0.00,2.08,0.00,0.000,4,0.000,0.041,2749,663,2120,0,0,0,0,0,0
$GC,10865,0.48,219.0,751.0,12.2,1019,10869,0.00,2.20,0.00,0.000,6,0.000,0.035,2749,2136,2119,0,0,0,0,0,0
$GC,11188,0.47,219.0,712.3,11.6,1035,11192,0.08,2.10,0.00,0.000,4,0.208,0.050,2731,3524,2118,0,0,0,0,0,0
$GC,11259,0.46,219.0,703.1,13.1,1038,11264,0.00,2.17,0.00,0.000,6,0.000,0.028,2738,2055,2119,0,0,0,0,0,0
$GC,11581,0.45,219.0,666.3,11.3,1054,11585,0.00,2.05,0.00,0.000,4,0.000,0.040,2748,665,2117,0,0,0,0,0,0
$GC,11597,0.44,219.0,664.3,11.6,1054,11605,0.10,2.15,0.00,0.000,6,0.175,0.035,2721,2122,2117,0,0,0,0,0,0
$GC,11913,0.48,255.3,632.1,9.8,1070,11981,0.10,2.20,47.00,0.847,4,0.104,0.050,2780,3534,1986,0,0,0,0,3,0
$GC,12032,0.46,255.3,614.8,16.5,1075,12037,0.17,2.22,0.00,0.000,6,0.145,0.028,2734,2068,1983,0,0,0,0,0,0
$GC,12360,0.46,255.3,577.9,11.2,1100,12363,0.00,2.10,0.00,0.000,4,0.000,0.041,2736,658,1980,0,0,0,0,0,0
$GC,12397,0.47,263.1,573.5,10.7,1103,12416,0.00,2.22,9.45,0.811,6,0.000,0.035,2736,2116,1955,0,0,0,0,0,0
$GC,12735,0.48,278.1,534.6,10.5,1135,12769,0.00,2.17,22.23,0.800,4,0.000,0.049,2736,3522,1893,0,0,0,0,1,0
$GC,12897,0.48,278.1,514.5,12.7,1149,12904,0.00,2.20,0.00,0.000,6,0.000,0.028,2736,2062,1891,0,0,0,0,0,0
$GC,13242,0.51,308.8,479.0,10.0,1197,13313,0.08,2.17,44.17,0.757,4,0.135,0.041,2791,663,1766,0,0,0,0,3,0
$GC,13329,0.50,308.8,467.4,14.3,1209,13337,0.15,2.25,0.00,0.000,6,0.153,0.034,2749,2131,1765,0,0,0,0,0,0
$GC,13689,0.50,308.8,425.5,12.1,1270,13699,0.00,2.17,0.00,0.000,4,0.000,0.050,2749,3526,1761,0,0,0,0,0,0
$GC,13771,0.50,308.8,415.0,12.9,1283,13778,0.00,2.17,0.00,0.000,6,0.000,0.029,2749,2060,1761,0,0,0,0,0,0
$GC,14128,0.63,413.5,378.8,7.4,1344,14337,0.15,0.00,146.23,0.682,6,0.081,0.000,2831,2054,1340,0,0,0,0,11,0
$GC,14687,0.62,413.5,278.3,18.7,1434,14697,0.17,2.33,0.00,0.000,4,0.156,0.050,2780,3519,1334,0,0,0,0,0,0
$GC,14711,0.61,413.5,274.4,17.1,1437,14718,0.00,2.17,0.00,0.000,6,0.000,0.028,2788,2056,1333,0,0,0,0,0,0
$GC,15067,0.61,413.5,226.9,12.5,1498,15077,0.00,2.10,0.00,0.000,4,0.000,0.043,2789,668,1332,0,0,0,0,0,0
$GC,15150,0.67,457.6,218.6,9.5,1511,15235,0.08,2.17,59.03,0.597,6,0.123,0.036,2844,2120,1161,0,0,0,0,4,0
$GC,15588,0.66,457.6,135.2,20.1,1583,15598,0.17,2.25,0.00,0.000,4,0.148,0.041,2791,661,1157,0,0,0,0,0,0
$GC,15630,0.67,457.6,128.8,12.5,1589,15639,0.03,2.22,0.00,0.000,6,0.101,0.035,2838,2126,1157,0,0,0,0,0,0
$GC,15999,0.67,457.6,77.3,11.8,1650,16008,0.15,0.00,0.00,0.000,6,0.138,0.000,2790,2127,1157,0,0,0,0,0,0
$GC,16366,0.94,662.5,55.6,4.1,1711,16633,0.28,2.33,204.27,0.503,4,0.073,0.040,2914,663,500,0,0,0,0,11,0
$GC,16678,0.95,662.5,14.0,13.5,1751,16688,0.05,2.25,0.00,0.000,6,0.109,0.032,2890,2130,498,0,0,0,0,0,0
$STATE,16800,end climb,SURFACE_DEPTH_REACHED
$STATE,16801,begin surface coast
$FINISH,1.0,1.021869
$STATE,16833,end surface coast,CONTROL_FINISHED_OK
$STATE,16833,begin surface
$SM_CCo,16908,0.00,0.000,0,0,495,620.85
$SM_GC,1.51,6.88,0.00,0.00,0.039,0.000,0.000,210,2431,495,-7.38,0.88,620.85
$IRIDIUM_FIX,2354.48,12657.86,171010,030356
$TT8_MAMPS,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,8.67495
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.9,41.039
$10V_AH,10.3,35.991
$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,21.850,138.875,1134.275,0.000,0.000,28.913,37.640,360.560,0.000,0.000,18.550,4166.667,6737.581,1293.057,4901.722,359.043,0.000,3139.787,0.000,4522.424,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,73.440,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.786,0.000,2557.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,103578,1776
$CAP_FILE_SIZE,204063,0
$CFSIZE,260165632,237772800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,77,0
$CURRENT,0.042,141.1,1
$GPS,171010,133430,2401.546,12651.365,69,1.1,69,-3.6