version: 66.08
glider: 176
mission: 2
dive: 319
start: 10 20 110 0 27 16
data:
$ID,176
$MISSION,2
$DIVE,319
$N_DIVES,332
$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,-5323.8833
$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
$GPS1,201010,001936,2344.836,12639.198,38,1.1,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,201010,002650,2344.879,12639.232,13,1.4,13,-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,207.8,106684,-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,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,92,0.00,0.00,-73.53,0.000,2,0.000,0.000,202,2467,2700,0,0,0,0,0,0
$GC,95,-0.53,-194.6,3.4,-4.6,9,130,8.95,2.28,-20.40,0.000,4,0.240,0.045,2414,954,3823,0,0,0,0,0,0
$GC,254,-0.52,-194.6,42.4,-18.5,34,263,0.00,2.25,0.00,0.000,6,0.000,0.044,2414,2419,3824,0,0,0,0,0,0
$GC,620,-0.51,-194.6,118.7,-17.6,95,629,0.08,2.08,0.00,0.000,4,0.206,0.054,2433,3765,3824,0,0,0,0,0,0
$GC,658,-0.50,-194.6,124.2,-15.5,100,667,0.00,2.05,0.00,0.000,6,0.000,0.027,2433,2335,3824,0,0,0,0,0,0
$GC,1022,-0.50,-194.6,168.9,-10.3,161,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2333,3824,0,0,0,0,0,0
$GC,1375,-0.50,-194.6,202.7,-9.5,222,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2333,3824,0,0,0,0,0,0
$GC,1735,-0.51,-194.6,235.9,-8.6,283,1741,0.00,1.95,0.00,0.000,4,0.000,0.034,2432,955,3823,0,0,0,0,0,0
$GC,1766,-0.51,-194.6,238.8,-8.4,288,1778,0.03,2.20,0.00,0.000,6,0.119,0.039,2395,2426,3824,0,0,0,0,0,0
$GC,2130,-0.51,-194.6,280.9,-12.2,349,2137,0.12,2.12,0.00,0.000,4,0.155,0.034,2433,954,3822,0,0,0,0,0,0
$GC,2169,-0.51,-194.6,285.0,-9.1,355,2176,0.05,2.17,0.00,0.000,6,0.177,0.039,2390,2426,3822,0,0,0,0,0,0
$GC,2527,-0.51,-194.6,326.8,-11.9,416,2537,0.15,2.17,0.00,0.000,4,0.138,0.033,2440,954,3820,0,0,0,0,0,0
$GC,2564,-0.52,-194.6,330.2,-9.6,421,2571,0.08,2.17,0.00,0.000,6,0.126,0.039,2390,2426,3820,0,0,0,0,0,0
$GC,2923,-0.51,-194.6,373.1,-12.0,482,2931,0.15,0.00,0.00,0.000,6,0.136,0.000,2440,2426,3818,0,0,0,0,0,0
$GC,3282,-0.55,-194.6,398.3,-7.4,543,3290,0.10,2.15,0.00,0.000,4,0.116,0.034,2386,944,3816,0,0,0,0,0,0
$GC,3417,-0.55,-194.6,407.8,-7.4,566,3427,0.08,2.22,0.00,0.000,6,0.110,0.041,2418,2422,3815,0,0,0,0,0,0
$GC,3775,-0.57,-194.6,435.6,-8.7,627,3782,0.08,2.05,0.00,0.000,4,0.131,0.051,2378,3777,3814,0,0,0,0,0,0
$GC,3852,-0.59,-194.6,443.0,-9.3,640,3861,0.08,2.05,0.00,0.000,6,0.092,0.028,2413,2343,3814,0,0,0,0,0,0
$GC,4209,-0.61,-194.6,471.5,-7.3,701,4215,0.10,0.00,0.00,0.000,6,0.106,0.000,2357,2343,3812,0,0,0,0,0,0
$GC,4573,-0.62,-194.6,501.2,-8.8,762,4577,0.12,2.03,0.00,0.000,4,0.129,0.036,2401,943,3809,0,0,0,0,0,0
$GC,4658,-0.63,-194.6,508.3,-8.7,769,4662,0.08,2.22,0.00,0.000,6,0.122,0.041,2343,2431,3808,0,0,0,0,0,0
$GC,4983,-0.62,-194.6,553.8,-14.6,799,4985,0.17,0.00,0.00,0.000,6,0.135,0.000,2400,2433,3807,0,0,0,0,0,0
$GC,5302,-0.63,-194.6,582.6,-7.9,829,5307,0.08,2.17,0.00,0.000,4,0.125,0.034,2338,957,3805,0,0,0,0,0,0
$GC,5346,-0.62,-194.6,587.6,-11.7,832,5354,0.20,2.20,0.00,0.000,6,0.125,0.042,2402,2421,3805,0,0,0,0,0,0
$GC,5668,-0.63,-194.6,609.9,-6.3,856,5672,0.08,2.15,0.00,0.000,4,0.126,0.033,2344,945,3803,0,0,0,0,0,0
$GC,5734,-0.63,-194.6,616.2,-9.8,859,5738,0.17,2.22,0.00,0.000,6,0.129,0.042,2400,2422,3802,0,0,0,0,0,0
$GC,6056,-0.64,-194.6,637.1,-6.6,875,6060,0.08,2.15,0.00,0.000,4,0.125,0.033,2338,946,3800,0,0,0,0,0,0
$GC,6104,-0.64,-194.6,642.1,-10.5,877,6109,0.17,2.22,0.00,0.000,6,0.125,0.042,2393,2427,3800,0,0,0,0,0,0
$GC,6427,-0.64,-194.6,665.9,-7.3,893,6432,0.05,2.17,0.00,0.000,4,0.172,0.034,2347,944,3798,0,0,0,0,0,0
$GC,6466,-0.64,-194.6,669.8,-10.2,895,6471,0.15,2.22,0.00,0.000,6,0.127,0.044,2397,2420,3797,0,0,0,0,0,0
$GC,6794,-0.65,-194.6,694.1,-7.3,911,6799,0.08,2.15,0.00,0.000,4,0.125,0.033,2335,945,3795,0,0,0,0,0,0
$GC,6826,-0.65,-194.6,697.6,-11.3,912,6835,0.12,2.25,0.00,0.000,6,0.105,0.043,2385,2413,3795,0,0,0,0,0,0
$GC,7143,-0.65,-194.6,723.6,-7.8,928,7147,0.00,2.12,0.00,0.000,4,0.000,0.033,2385,945,3793,0,0,0,0,0,0
$GC,7184,-0.66,-194.6,727.0,-7.6,930,7188,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,2420,3792,0,0,0,0,0,0
$GC,7512,-0.67,-194.6,751.9,-7.6,946,7513,0.05,0.00,0.00,0.000,6,0.172,0.000,2332,2421,3791,0,0,0,0,0,0
$GC,7821,-0.66,-194.6,789.2,-12.3,961,7825,0.17,2.15,0.00,0.000,4,0.127,0.034,2391,955,3788,0,0,0,0,0,0
$GC,7889,-0.67,-194.6,795.1,-7.9,964,7893,0.08,2.22,0.00,0.000,6,0.124,0.041,2333,2427,3788,0,0,0,0,0,0
$STATE,7945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7945,begin apogee
$GC,7951,-0.11,0.0,801.2,10.7,967,8176,0.65,0.15,218.35,0.966,6,0.107,0.052,2562,2144,3028,0,0,0,0,0,0
$STATE,8178,end apogee,CONTROL_FINISHED_OK
$STATE,8178,begin climb
$GC,8180,0.53,194.6,814.3,0.0,977,8425,0.52,2.40,233.85,0.937,4,0.037,0.038,2818,667,2232,0,0,0,0,0,0
$GC,8542,0.51,194.6,786.7,17.4,994,8547,0.25,2.25,0.00,0.000,6,0.171,0.035,2750,2127,2226,0,0,0,0,0,0
$GC,8864,0.49,194.6,746.8,11.8,1010,8868,0.00,2.22,0.00,0.000,4,0.000,0.040,2750,653,2222,0,0,0,0,0,0
$GC,8886,0.47,194.6,744.0,11.6,1011,8890,0.08,2.22,0.00,0.000,6,0.190,0.037,2731,2118,2221,0,0,0,0,0,0
$GC,9213,0.46,194.6,712.4,9.4,1027,9217,0.00,2.12,0.00,0.000,4,0.000,0.050,2731,3526,2219,0,0,0,0,0,0
$GC,9261,0.44,194.6,707.2,11.3,1029,9265,0.00,2.17,0.00,0.000,6,0.000,0.029,2736,2043,2219,0,0,0,0,0,0
$GC,9584,0.43,194.6,674.4,10.7,1045,9586,0.08,0.00,0.00,0.000,6,0.215,0.000,2718,2038,2217,0,0,0,0,0,0
$GC,9892,0.42,194.6,644.9,9.5,1060,9896,0.00,2.25,0.00,0.000,4,0.000,0.047,2718,3526,2216,0,0,0,0,0,0
$GC,9942,0.41,194.6,639.4,10.6,1062,9946,0.00,2.17,0.00,0.000,6,0.000,0.027,2724,2052,2217,0,0,0,0,0,0
$GC,10264,0.42,218.1,610.7,8.2,1078,10294,0.00,2.08,25.67,0.887,4,0.000,0.037,2735,657,2138,0,0,0,0,0,0
$GC,10374,0.42,220.4,601.8,8.8,1083,10378,0.08,2.20,0.00,0.000,6,0.178,0.035,2714,2127,2134,0,0,0,0,0,0
$GC,10704,0.43,232.9,575.8,8.5,1113,10728,0.08,2.22,18.55,0.850,4,0.128,0.048,2769,3538,2077,0,0,0,0,0,0
$GC,10830,0.41,232.9,559.2,14.0,1124,10835,0.22,2.20,0.00,0.000,6,0.153,0.028,2710,2052,2074,0,0,0,0,0,0
$GC,11155,0.40,232.9,528.7,9.2,1154,11160,0.05,2.28,0.00,0.000,4,0.171,0.048,2751,3525,2072,0,0,0,0,0,0
$GC,11176,0.40,232.9,526.3,10.6,1155,11184,0.17,2.15,0.00,0.000,6,0.151,0.026,2709,2056,2072,0,0,0,0,0,0
$GC,11506,0.41,244.9,497.0,8.5,1189,11528,0.08,2.15,14.88,0.798,4,0.129,0.041,2766,655,2028,0,0,0,0,0,0
$GC,11549,0.40,244.9,492.4,11.3,1195,11556,0.17,2.20,0.00,0.000,6,0.144,0.035,2713,2134,2026,0,0,0,0,0,0
$GC,11909,0.46,293.6,462.6,7.4,1256,11976,0.10,2.25,59.45,0.812,4,0.101,0.048,2780,3529,1829,0,0,0,0,0,0
$GC,12007,0.44,293.6,450.6,14.1,1270,12017,0.17,2.22,0.00,0.000,6,0.125,0.028,2729,2073,1826,0,0,0,0,0,0
$GC,12369,0.44,293.6,414.2,10.3,1331,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2070,1822,0,0,0,0,0,0
$GC,12724,0.44,293.6,379.1,9.0,1392,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2070,1821,0,0,0,0,0,0
$GC,13086,0.49,329.8,347.7,7.8,1453,13136,0.08,2.28,43.08,0.735,4,0.128,0.049,2782,3523,1681,0,0,0,0,0,0
$GC,13159,0.48,329.8,339.4,13.3,1463,13166,0.17,2.20,0.00,0.000,6,0.139,0.029,2735,2053,1679,0,0,0,0,0,0
$GC,13517,0.51,352.2,307.1,8.2,1524,13556,0.08,2.12,26.85,0.692,4,0.127,0.041,2802,666,1590,0,0,0,0,0,0
$GC,13571,0.50,352.2,301.0,12.5,1531,13578,0.20,2.20,0.00,0.000,6,0.132,0.034,2739,2133,1589,0,0,0,0,0,0
$GC,13933,0.61,437.0,273.1,6.3,1592,14042,0.15,2.28,101.25,0.677,4,0.073,0.049,2833,3531,1244,0,0,0,0,0,0
$GC,14081,0.60,437.0,250.7,16.9,1613,14088,0.22,2.22,0.00,0.000,6,0.132,0.029,2774,2065,1241,0,0,0,0,0,0
$GC,14444,0.60,437.0,217.3,9.0,1674,14453,0.05,0.00,0.00,0.000,6,0.171,0.000,2830,2060,1238,0,0,0,0,0,0
$GC,14806,0.60,437.0,164.8,14.3,1735,14813,0.17,2.25,0.00,0.000,4,0.133,0.047,2775,3533,1237,0,0,0,0,0,0
$GC,14850,0.60,437.0,159.5,9.7,1742,14859,0.00,2.17,0.00,0.000,6,0.000,0.026,2775,2054,1237,0,0,0,0,0,0
$GC,15218,0.71,517.0,134.7,6.4,1803,15317,0.15,2.33,91.72,0.591,4,0.077,0.045,2875,3529,918,0,0,0,0,0,0
$GC,15346,0.70,517.0,113.8,18.9,1819,15355,0.20,2.22,0.00,0.000,6,0.103,0.028,2811,2068,917,0,0,0,0,0,0
$GC,15715,0.82,603.0,85.8,6.2,1880,15822,0.15,0.00,97.85,0.553,6,0.074,0.000,2914,2064,568,0,0,0,0,0,0
$GC,16175,0.82,603.0,17.2,13.6,1953,16184,0.22,2.12,0.00,0.000,4,0.125,0.039,2845,660,564,0,0,0,0,0,0
$GC,16235,0.93,679.3,11.9,6.5,1962,16260,0.12,2.17,17.95,0.484,6,0.052,0.028,2919,2134,500,0,0,0,0,0,0
$STATE,16321,end climb,SURFACE_DEPTH_REACHED
$STATE,16321,begin surface coast
$FINISH,0.6,1.008433
$STATE,16354,end surface coast,CONTROL_FINISHED_OK
$STATE,16354,begin surface
$SM_CCo,16428,0.00,0.000,0,0,497,620.61
$SM_GC,1.46,6.78,0.00,0.00,0.029,0.000,0.000,192,2489,497,-7.40,2.52,620.61
$IRIDIUM_FIX,2337.99,12640.42,191010,191921
$TT8_MAMPS,0.026215
$HUMID,49.56
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.0,43.968
$10V_AH,10.4,39.020
$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,23.325,132.275,949.450,0.000,0.000,29.195,44.963,210.139,0.000,0.000,16.004,4752.423,5563.832,895.943,5264.011,360.727,0.000,2697.404,0.000,5011.227,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,54.315,966.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1337.220,0.000,3050.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333868
$DATA_FILE_SIZE,116906,1980
$CAP_FILE_SIZE,207481,0
$CFSIZE,260165632,236396544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 80.8,1
$GPS,201010,050206,2342.958,12639.996,34,0.9,34,-3.5