version: 66.08
glider: 176
mission: 2
dive: 318
start: 10 19 110 19 44 23
data:
$ID,176
$MISSION,2
$DIVE,318
$N_DIVES,327
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,950
$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,350
$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,200
$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,-5322.625
$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,3
$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
$GPS1,191010,193706,2345.945,12638.980,34,0.9,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.2
$GPS2,191010,194356,2345.952,12638.979,10,1.6,10,-3.5
$SPEED_LIMITS,0.154,0.282
$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,209.1,107974,-13.2,-8.889
$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,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-65.18,0.000,2,0.000,0.000,195,2360,2605,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.4,-4.3,8,127,9.10,2.10,-22.73,0.000,4,0.244,0.047,2417,949,3824,0,0,0,0,0,0
$GC,225,-0.52,-194.6,34.9,-17.8,29,234,0.00,2.28,0.00,0.000,6,0.000,0.044,2417,2425,3824,0,0,0,0,0,0
$GC,591,-0.51,-194.6,106.4,-15.6,90,600,0.05,2.08,0.00,0.000,4,0.241,0.055,2430,3768,3825,0,0,0,0,0,0
$GC,645,-0.52,-194.6,112.8,-9.9,98,654,0.00,2.05,0.00,0.000,6,0.000,0.028,2430,2336,3825,0,0,0,0,0,0
$GC,1011,-0.52,-194.6,153.0,-10.4,159,1017,0.00,1.98,0.00,0.000,4,0.000,0.033,2430,953,3825,0,0,0,0,0,0
$GC,1038,-0.52,-194.6,155.6,-10.1,163,1044,0.00,2.17,0.00,0.000,6,0.000,0.040,2430,2423,3824,0,0,0,0,0,0
$GC,1384,-0.52,-194.6,190.3,-8.8,224,1392,0.00,2.15,0.00,0.000,4,0.000,0.033,2430,955,3824,0,0,0,0,0,0
$GC,1429,-0.53,-194.6,194.1,-8.5,231,1438,0.05,2.15,0.00,0.000,6,0.181,0.039,2386,2426,3824,0,0,0,0,0,0
$GC,1780,-0.52,-194.6,242.7,-13.9,292,1789,0.15,2.17,0.00,0.000,4,0.148,0.033,2432,953,3824,0,0,0,0,0,0
$GC,1838,-0.53,-194.6,248.5,-7.9,301,1847,0.08,2.20,0.00,0.000,6,0.127,0.039,2375,2437,3823,0,0,0,0,0,0
$GC,2186,-0.52,-194.6,297.4,-14.3,362,2195,0.17,2.05,0.00,0.000,4,0.140,0.054,2429,3771,3822,0,0,0,0,0,0
$GC,2225,-0.53,-194.6,301.5,-9.1,368,2234,0.03,2.05,0.00,0.000,6,0.111,0.027,2393,2330,3822,0,0,0,0,0,0
$GC,2573,-0.53,-194.6,339.0,-10.3,429,2581,0.12,1.98,0.00,0.000,4,0.146,0.034,2433,951,3820,0,0,0,0,0,0
$GC,2624,-0.54,-194.6,343.2,-7.0,437,2633,0.08,2.20,0.00,0.000,6,0.129,0.038,2381,2436,3820,0,0,0,0,0,0
$GC,2975,-0.53,-194.6,383.2,-12.2,498,2985,0.15,2.05,0.00,0.000,4,0.141,0.054,2428,3767,3818,0,0,0,0,0,0
$GC,2998,-0.53,-194.6,385.5,-10.7,501,3007,0.05,2.03,0.00,0.000,6,0.168,0.027,2387,2333,3818,0,0,0,0,0,0
$GC,3349,-0.53,-194.6,419.2,-10.5,562,3358,0.12,2.03,0.00,0.000,4,0.142,0.034,2428,955,3816,0,0,0,0,0,0
$GC,3378,-0.54,-194.6,421.6,-9.1,566,3387,0.03,2.20,0.00,0.000,6,0.101,0.040,2385,2417,3816,0,0,0,0,0,0
$GC,3726,-0.54,-194.6,454.6,-8.8,627,3733,0.12,0.00,0.00,0.000,6,0.139,0.000,2427,2417,3815,0,0,0,0,0,0
$GC,4075,-0.57,-194.6,479.1,-8.3,688,4084,0.10,2.17,0.00,0.000,4,0.109,0.035,2383,955,3813,0,0,0,0,0,0
$GC,4345,-0.60,-194.6,505.2,-10.7,730,4349,0.08,2.20,0.00,0.000,6,0.136,0.039,2424,2437,3811,0,0,0,0,0,0
$GC,4670,-0.63,-194.6,539.9,-10.5,760,4675,0.15,2.17,0.00,0.000,4,0.096,0.034,2362,944,3809,0,0,0,0,0,0
$GC,4800,-0.63,-194.6,551.8,-9.0,771,4805,0.10,2.22,0.00,0.000,6,0.148,0.041,2394,2427,3808,0,0,0,0,0,0
$GC,5126,-0.64,-194.6,574.7,-7.2,801,5128,0.05,0.00,0.00,0.000,6,0.173,0.000,2347,2428,3806,0,0,0,0,0,0
$GC,5452,-0.63,-194.6,613.5,-12.4,827,5457,0.15,2.15,0.00,0.000,4,0.133,0.034,2396,956,3805,0,0,0,0,0,0
$GC,5524,-0.64,-194.6,619.7,-7.0,830,5528,0.05,2.20,0.00,0.000,6,0.169,0.041,2343,2434,3804,0,0,0,0,0,0
$GC,5845,-0.63,-194.6,657.8,-12.1,846,5850,0.15,2.05,0.00,0.000,4,0.135,0.055,2390,3771,3802,0,0,0,0,0,0
$GC,5871,-0.64,-194.6,660.7,-9.2,847,5875,0.00,2.05,0.00,0.000,6,0.000,0.026,2390,2351,3801,0,0,0,0,0,0
$GC,6194,-0.64,-194.6,682.9,-7.3,863,6198,0.00,2.00,0.00,0.000,4,0.000,0.033,2390,948,3800,0,0,0,0,0,0
$GC,6241,-0.65,-194.6,686.4,-7.8,865,6246,0.05,2.22,0.00,0.000,6,0.175,0.038,2341,2432,3800,0,0,0,0,0,0
$GC,6569,-0.65,-194.6,725.3,-12.3,881,6574,0.15,2.17,0.00,0.000,4,0.134,0.034,2391,949,3796,0,0,0,0,0,0
$GC,6609,-0.65,-194.6,729.2,-7.9,883,6614,0.05,2.22,0.00,0.000,6,0.174,0.041,2343,2426,3796,0,0,0,0,0,0
$GC,6937,-0.65,-194.6,762.6,-10.0,899,6939,0.15,0.00,0.00,0.000,6,0.130,0.000,2392,2426,3794,0,0,0,0,0,0
$GC,7245,-0.66,-194.6,781.7,-6.3,914,7250,0.08,2.17,0.00,0.000,4,0.126,0.036,2335,951,3793,0,0,0,0,0,0
$GC,7316,-0.66,-194.6,788.5,-10.1,917,7321,0.12,2.25,0.00,0.000,6,0.103,0.044,2385,2420,3792,0,0,0,0,0,0
$STATE,7471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7471,begin apogee
$GC,7476,-0.11,0.0,800.6,7.7,925,7703,0.47,0.17,218.90,0.968,6,0.089,0.075,2563,2142,3027,0,0,0,0,0,0
$STATE,7704,end apogee,CONTROL_FINISHED_OK
$STATE,7704,begin climb
$GC,7705,0.53,194.6,814.6,0.0,935,7950,0.52,2.40,234.02,0.936,4,0.038,0.039,2818,670,2231,0,0,0,0,0,0
$GC,7985,0.50,194.6,803.0,16.6,948,7990,0.28,2.30,0.00,0.000,6,0.171,0.037,2744,2130,2228,0,0,0,0,0,0
$GC,8313,0.49,194.6,763.5,12.1,964,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2130,2222,0,0,0,0,0,0
$GC,8621,0.47,194.6,726.7,11.8,979,8625,0.00,2.12,0.00,0.000,4,0.000,0.051,2744,3523,2221,0,0,0,0,0,0
$GC,8648,0.45,194.6,723.1,12.9,980,8653,0.10,2.17,0.00,0.000,6,0.188,0.029,2725,2052,2221,0,0,0,0,0,0
$GC,8970,0.44,194.6,690.7,9.8,996,8973,0.00,2.05,0.00,0.000,4,0.000,0.039,2735,662,2219,0,0,0,0,0,0
$GC,8993,0.43,194.6,688.4,9.8,997,8998,0.05,2.20,0.00,0.000,6,0.221,0.036,2723,2126,2217,0,0,0,0,0,0
$GC,9322,0.42,194.6,657.4,9.7,1013,9326,0.00,2.12,0.00,0.000,4,0.000,0.050,2722,3530,2216,0,0,0,0,0,0
$GC,9394,0.41,194.6,649.2,10.9,1016,9398,0.05,2.17,0.00,0.000,6,0.152,0.029,2711,2065,2217,0,0,0,0,0,0
$GC,9722,0.40,194.6,620.3,8.9,1032,9726,0.00,2.25,0.00,0.000,4,0.000,0.050,2710,3537,2215,0,0,0,0,0,0
$GC,9784,0.39,194.6,614.1,10.1,1035,9788,0.00,2.17,0.00,0.000,6,0.000,0.029,2721,2052,2215,0,0,0,0,0,0
$GC,10112,0.38,194.6,584.0,9.1,1058,10116,0.05,2.03,0.00,0.000,4,0.238,0.040,2708,660,2214,0,0,0,0,0,0
$GC,10161,0.38,198.4,579.6,8.8,1062,10168,0.00,2.15,0.00,0.000,6,0.000,0.034,2708,2121,2213,0,0,0,0,0,0
$GC,10487,0.41,229.0,551.9,7.9,1093,10534,0.08,2.25,38.08,0.873,4,0.129,0.049,2763,3536,2093,0,0,0,0,0,0
$GC,10640,0.39,229.0,533.5,13.0,1106,10647,0.22,2.22,0.00,0.000,6,0.149,0.028,2707,2061,2089,0,0,0,0,0,0
$GC,10966,0.44,267.0,509.9,7.7,1137,11022,0.10,2.40,44.92,0.842,4,0.103,0.050,2764,3529,1937,0,0,0,0,0,0
$GC,11035,0.43,267.0,502.5,11.9,1143,11040,0.20,2.22,0.00,0.000,6,0.148,0.028,2716,2054,1936,0,0,0,0,0,0
$GC,11393,0.47,303.3,473.6,7.8,1201,11442,0.10,0.00,44.53,0.812,6,0.103,0.000,2776,2048,1790,0,0,0,0,0,0
$GC,11792,0.46,303.3,424.2,11.5,1268,11802,0.15,2.33,0.00,0.000,4,0.149,0.050,2730,3520,1782,0,0,0,0,0,0
$GC,11840,0.46,303.3,419.5,9.1,1275,11846,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2061,1782,0,0,0,0,0,0
$GC,12197,0.47,308.3,389.2,8.7,1336,12208,0.00,2.15,5.18,0.585,4,0.000,0.040,2735,650,1769,0,0,0,0,0,0
$GC,12235,0.47,308.3,386.2,9.0,1341,12241,0.00,2.20,0.00,0.000,6,0.000,0.034,2735,2123,1769,0,0,0,0,0,0
$GC,12592,0.52,351.7,356.1,7.5,1402,12659,0.10,2.25,53.97,0.745,4,0.103,0.047,2808,3530,1592,0,0,0,0,0,0
$GC,12675,0.51,351.7,345.5,14.8,1413,12683,0.22,2.20,0.00,0.000,6,0.140,0.028,2748,2067,1591,0,0,0,0,0,0
$GC,13035,0.53,369.1,312.6,8.4,1474,13059,0.05,2.12,14.65,0.716,4,0.174,0.040,2802,655,1522,0,0,0,0,0,0
$GC,13086,0.52,369.1,307.0,12.0,1481,13093,0.17,2.22,0.00,0.000,6,0.135,0.034,2748,2130,1521,0,0,0,0,0,0
$GC,13446,0.57,406.6,276.1,7.7,1542,13498,0.10,2.20,38.97,0.698,4,0.099,0.048,2820,3522,1368,0,0,0,0,0,0
$GC,13513,0.56,406.6,267.4,15.2,1551,13520,0.22,2.20,0.00,0.000,6,0.134,0.029,2761,2056,1366,0,0,0,0,0,0
$GC,13874,0.60,434.1,236.0,8.0,1612,13914,0.10,2.17,33.35,0.649,4,0.099,0.044,2832,663,1256,0,0,0,0,0,0
$GC,13965,0.60,434.1,224.2,13.9,1625,13972,0.20,2.22,0.00,0.000,6,0.124,0.036,2768,2127,1254,0,0,0,0,0,0
$GC,14327,0.65,471.9,195.6,7.7,1686,14380,0.12,2.22,45.33,0.626,4,0.083,0.049,2846,3525,1102,0,0,0,0,0,0
$GC,14407,0.64,471.9,183.6,18.2,1697,14414,0.22,2.20,0.00,0.000,6,0.126,0.029,2786,2056,1101,0,0,0,0,0,0
$GC,14770,0.68,501.8,147.8,8.0,1758,14812,0.10,2.30,35.12,0.592,4,0.098,0.047,2854,3523,981,0,0,0,0,0,0
$GC,14841,0.68,501.8,138.4,16.0,1767,14850,0.15,2.20,0.00,0.000,6,0.105,0.030,2801,2069,980,0,0,0,0,0,0
$GC,15210,0.72,529.4,108.0,8.0,1828,15253,0.10,2.15,33.03,0.568,4,0.100,0.041,2874,661,867,0,0,0,0,0,0
$GC,15269,0.72,529.4,100.5,14.0,1835,15278,0.17,2.22,0.00,0.000,6,0.099,0.035,2808,2120,867,0,0,0,0,0,0
$GC,15639,0.85,611.4,72.0,6.4,1896,15739,0.20,2.25,93.65,0.549,4,0.109,0.047,2878,3531,533,0,0,0,0,0,0
$GC,15767,0.92,641.3,61.8,8.0,1912,15785,0.00,2.22,11.05,0.483,6,0.000,0.026,2879,2041,500,0,0,0,0,0,0
$GC,16136,0.95,641.3,25.6,10.4,1974,16144,0.08,0.00,0.00,0.000,6,0.165,0.000,2904,2041,497,0,0,0,0,0,0
$STATE,16341,end climb,SURFACE_DEPTH_REACHED
$STATE,16341,begin surface coast
$FINISH,0.8,1.013599
$STATE,16372,end surface coast,CONTROL_FINISHED_OK
$STATE,16373,begin surface
$SM_CCo,16447,0.00,0.000,0,0,496,620.85
$SM_GC,1.49,6.75,0.00,0.00,0.034,0.000,0.000,202,2465,496,-7.39,1.84,620.85
$IRIDIUM_FIX,2337.99,12640.42,191010,151536
$TT8_MAMPS,0.026215
$HUMID,49.92
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.9,43.738
$10V_AH,10.3,38.794
$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,23.175,148.900,944.750,0.000,0.000,28.249,40.256,196.096,0.000,0.000,13.581,4838.132,5333.425,911.323,5402.443,348.590,0.000,2735.221,0.000,5153.143,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,74.970,968.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1359.870,0.000,3211.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,120451,2013
$CAP_FILE_SIZE,211866,0
$CFSIZE,260165632,236498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156, 11.9,1
$GPS,201010,001936,2344.836,12639.198,38,1.1,38,-3.5