version: 66.08
glider: 176
mission: 2
dive: 320
start: 10 20 110 5 13 23
data:
$ID,176
$MISSION,2
$DIVE,320
$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,-5325.1392
$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
$GPS1,201010,050206,2342.958,12639.996,34,0.9,34,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.8
$GPS2,201010,051256,2343.031,12640.066,12,1.5,12,-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,247.9,104959,-13.2,-8.889
$D_GRID,1000
$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,-0.53,-194.6,0.0,0.0,0,90,0.00,0.00,-71.62,0.000,2,0.000,0.000,192,2490,2630,0,0,0,0,0,0
$GC,92,-0.53,-194.6,3.7,-5.0,9,135,8.98,2.30,-22.20,0.000,4,0.239,0.046,2416,952,3824,0,0,0,0,0,0
$GC,260,-0.52,-194.6,42.8,-20.8,35,269,0.00,2.25,0.00,0.000,6,0.000,0.042,2416,2423,3824,0,0,0,0,0,0
$GC,627,-0.50,-194.6,113.8,-16.2,96,636,0.08,2.08,0.00,0.000,4,0.201,0.054,2434,3764,3824,0,0,0,0,0,0
$GC,665,-0.50,-194.6,119.0,-14.3,101,673,0.00,2.05,0.00,0.000,6,0.000,0.027,2434,2333,3824,0,0,0,0,0,0
$GC,1024,-0.50,-194.6,162.2,-10.8,162,1033,0.00,2.00,0.00,0.000,4,0.000,0.033,2434,953,3824,0,0,0,0,0,0
$GC,1047,-0.50,-194.6,164.5,-10.9,165,1054,0.00,2.20,0.00,0.000,6,0.000,0.040,2434,2432,3824,0,0,0,0,0,0
$GC,1391,-0.50,-194.6,195.9,-9.6,226,1400,0.00,2.17,0.00,0.000,4,0.000,0.033,2434,948,3824,0,0,0,0,0,0
$GC,1426,-0.50,-194.6,198.9,-9.3,231,1434,0.00,2.20,0.00,0.000,6,0.000,0.039,2434,2431,3824,0,0,0,0,0,0
$GC,1773,-0.51,-194.6,230.6,-9.8,292,1781,0.00,2.15,0.00,0.000,4,0.000,0.033,2434,959,3823,0,0,0,0,0,0
$GC,1800,-0.51,-194.6,233.3,-9.5,296,1809,0.03,2.20,0.00,0.000,6,0.116,0.040,2399,2426,3823,0,0,0,0,0,0
$GC,2149,-0.51,-194.6,272.8,-9.5,357,2156,0.12,0.00,0.00,0.000,6,0.154,0.000,2439,2426,3821,0,0,0,0,0,0
$GC,2493,-0.52,-194.6,354.7,-9.1,418,2502,0.08,2.05,0.00,0.000,4,0.132,0.054,2378,3760,3820,0,0,0,0,0,0
$GC,2538,-0.52,-194.6,358.9,-10.6,425,2545,0.17,2.00,0.00,0.000,6,0.114,0.028,2438,2338,3820,0,0,0,0,0,0
$GC,2883,-0.53,-194.6,380.8,-5.7,486,2893,0.10,2.22,0.00,0.000,4,0.109,0.053,2372,3767,3819,0,0,0,0,0,0
$GC,2907,-0.54,-194.6,382.4,-6.4,489,2914,0.17,2.03,0.00,0.000,6,0.116,0.027,2431,2328,3819,0,0,0,0,0,0
$GC,3257,-0.55,-194.6,402.5,-5.0,550,3266,0.08,0.00,0.00,0.000,6,0.132,0.000,2377,2324,3816,0,0,0,0,0,0
$GC,3609,-0.54,-194.6,439.5,-11.6,611,3617,0.15,2.22,0.00,0.000,4,0.132,0.054,2426,3766,3814,0,0,0,0,0,0
$GC,3664,-0.56,-194.6,444.3,-7.0,620,3673,0.05,2.03,0.00,0.000,6,0.070,0.026,2375,2343,3814,0,0,0,0,0,0
$GC,4013,-0.57,-194.6,475.7,-8.3,681,4021,0.12,2.00,0.00,0.000,4,0.125,0.034,2421,952,3812,0,0,0,0,0,0
$GC,4064,-0.59,-194.6,479.4,-7.2,689,4072,0.10,2.17,0.00,0.000,6,0.108,0.038,2369,2431,3812,0,0,0,0,0,0
$GC,4410,-0.60,-194.6,505.0,-7.7,745,4415,0.12,2.05,0.00,0.000,4,0.127,0.054,2413,3777,3809,0,0,0,0,0,0
$GC,4421,-0.61,-194.6,505.8,-7.5,745,4428,0.10,2.05,0.00,0.000,6,0.107,0.027,2361,2332,3809,0,0,0,0,0,0
$GC,4747,-0.62,-194.6,533.9,-9.2,776,4751,0.12,2.00,0.00,0.000,4,0.125,0.034,2407,944,3808,0,0,0,0,0,0
$GC,4774,-0.63,-194.6,536.4,-8.7,778,4781,0.10,2.22,0.00,0.000,6,0.104,0.040,2346,2433,3807,0,0,0,0,0,0
$GC,5099,-0.64,-194.6,564.0,-8.3,809,5104,0.15,2.05,0.00,0.000,4,0.120,0.054,2400,3769,3806,0,0,0,0,0,0
$GC,5208,-0.65,-194.6,570.9,-6.1,818,5212,0.10,2.05,0.00,0.000,6,0.102,0.026,2335,2312,3805,0,0,0,0,0,0
$GC,5547,-0.64,-194.6,608.6,-12.6,847,5549,0.17,0.00,0.00,0.000,6,0.132,0.000,2392,2307,3802,0,0,0,0,0,0
$GC,5856,-0.65,-194.6,631.1,-7.0,862,5861,0.05,2.28,0.00,0.000,4,0.175,0.054,2346,3772,3801,0,0,0,0,0,0
$GC,5906,-0.65,-194.6,635.6,-8.8,864,5910,0.15,2.03,0.00,0.000,6,0.117,0.026,2398,2344,3800,0,0,0,0,0,0
$GC,6229,-0.66,-194.6,657.3,-6.9,880,6230,0.10,0.00,0.00,0.000,6,0.099,0.000,2329,2339,3799,0,0,0,0,0,0
$GC,6536,-0.65,-194.6,695.9,-13.0,895,6541,0.20,2.22,0.00,0.000,4,0.129,0.054,2391,3774,3796,0,0,0,0,0,0
$GC,6562,-0.65,-194.6,698.8,-10.0,896,6567,0.05,2.03,0.00,0.000,6,0.173,0.027,2347,2346,3796,0,0,0,0,0,0
$GC,6884,-0.65,-194.6,733.1,-11.0,912,6888,0.12,2.05,0.00,0.000,4,0.139,0.034,2388,940,3794,0,0,0,0,0,0
$GC,6905,-0.65,-194.6,735.4,-9.7,913,6909,0.00,2.25,0.00,0.000,6,0.000,0.041,2388,2431,3794,0,0,0,0,0,0
$GC,7233,-0.66,-194.6,756.7,-6.1,929,7234,0.05,0.00,0.00,0.000,6,0.174,0.000,2335,2433,3792,0,0,0,0,0,0
$GC,7542,-0.65,-194.6,786.9,-9.9,944,7547,0.17,2.20,0.00,0.000,4,0.125,0.033,2393,948,3789,0,0,0,0,0,0
$GC,7569,-0.66,-194.6,789.4,-7.7,945,7574,0.08,2.22,0.00,0.000,6,0.123,0.042,2344,2427,3789,0,0,0,0,0,0
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7708,-0.11,0.0,801.5,9.8,952,7933,0.60,0.15,218.80,0.962,6,0.102,0.054,2559,2141,3027,0,0,0,0,0,0
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7937,0.53,194.6,813.7,0.0,962,8176,0.52,0.00,234.93,0.935,6,0.039,0.000,2805,2141,2233,0,0,0,0,0,0
$GC,8479,0.51,194.6,757.8,16.9,989,8484,0.22,2.25,0.00,0.000,4,0.178,0.038,2751,653,2223,0,0,0,0,0,0
$GC,8523,0.49,194.6,751.7,12.2,991,8527,0.00,2.22,0.00,0.000,6,0.000,0.037,2751,2120,2221,0,0,0,0,0,0
$GC,8844,0.48,194.6,713.2,11.8,1007,8848,0.05,2.15,0.00,0.000,4,0.231,0.050,2739,3523,2221,0,0,0,0,0,0
$GC,8862,0.46,194.6,711.2,11.7,1008,8866,0.08,2.15,0.00,0.000,6,0.207,0.028,2730,2061,2221,0,0,0,0,0,0
$GC,9190,0.45,194.6,679.8,9.1,1024,9193,0.00,2.05,0.00,0.000,4,0.000,0.040,2736,658,2218,0,0,0,0,0,0
$GC,9262,0.45,203.7,673.3,8.6,1027,9276,0.00,2.20,8.60,0.805,6,0.000,0.035,2737,2129,2196,0,0,0,0,0,0
$GC,9583,0.44,203.7,643.8,9.7,1043,9587,0.00,2.15,0.00,0.000,4,0.000,0.050,2736,3534,2194,0,0,0,0,0,0
$GC,9622,0.42,203.7,639.2,12.3,1045,9627,0.10,2.17,0.00,0.000,6,0.178,0.030,2713,2060,2194,0,0,0,0,0,0
$GC,9950,0.42,203.7,609.1,9.5,1061,9952,0.05,0.00,0.00,0.000,6,0.174,0.000,2753,2055,2192,0,0,0,0,0,0
$GC,10266,0.40,203.7,572.0,12.0,1087,10268,0.15,0.00,0.00,0.000,6,0.155,0.000,2708,2055,2192,0,0,0,0,0,0
$GC,10583,0.46,254.0,545.5,7.3,1117,10651,0.10,2.40,60.45,0.868,4,0.103,0.050,2771,3523,1990,0,0,0,0,0,0
$GC,10720,0.45,254.0,529.0,13.0,1129,10725,0.17,2.20,0.00,0.000,6,0.153,0.029,2725,2062,1988,0,0,0,0,0,0
$GC,11045,0.49,294.7,502.5,7.6,1159,11104,0.10,2.20,49.05,0.829,4,0.103,0.041,2797,658,1824,0,0,0,0,0,0
$GC,11137,0.48,294.7,492.2,12.8,1171,11145,0.20,2.25,0.00,0.000,6,0.140,0.034,2738,2126,1821,0,0,0,0,0,0
$GC,11487,0.48,294.7,458.3,9.4,1232,11495,0.00,2.17,0.00,0.000,4,0.000,0.049,2738,3523,1817,0,0,0,0,0,0
$GC,11514,0.47,294.7,455.3,9.9,1236,11523,0.00,2.17,0.00,0.000,6,0.000,0.028,2745,2067,1817,0,0,0,0,0,0
$GC,11866,0.47,294.7,421.5,10.3,1297,11873,0.00,2.08,0.00,0.000,4,0.000,0.039,2748,660,1815,0,0,0,0,0,0
$GC,11905,0.47,294.7,417.4,10.1,1303,11913,0.05,2.20,0.00,0.000,6,0.200,0.034,2733,2136,1814,0,0,0,0,0,0
$GC,12259,0.48,301.5,385.0,8.7,1364,12269,0.05,0.00,7.43,0.656,6,0.174,0.000,2784,2135,1797,0,0,0,0,0,0
$GC,12611,0.47,301.5,341.9,12.1,1425,12617,0.17,0.00,0.00,0.000,6,0.144,0.000,2730,2137,1796,0,0,0,0,0,0
$GC,12961,0.53,348.1,315.1,7.4,1486,13026,0.10,2.28,56.97,0.716,4,0.103,0.043,2804,667,1607,0,0,0,0,0,0
$GC,13058,0.52,348.1,303.2,13.8,1500,13067,0.15,2.25,0.00,0.000,6,0.114,0.037,2751,2118,1604,0,0,0,0,0,0
$GC,13410,0.52,348.1,271.2,8.9,1561,13417,0.00,2.15,0.00,0.000,4,0.000,0.049,2751,3527,1600,0,0,0,0,0,0
$GC,13437,0.52,348.1,268.4,9.9,1565,13443,0.00,2.17,0.00,0.000,6,0.000,0.028,2751,2051,1600,0,0,0,0,0,0
$GC,13783,0.56,376.2,239.0,8.0,1626,13821,0.10,0.00,33.60,0.654,6,0.100,0.000,2827,2046,1492,0,0,0,0,0,0
$GC,14163,0.55,376.2,183.4,14.6,1691,14171,0.22,2.05,0.00,0.000,4,0.135,0.038,2762,658,1488,0,0,0,0,0,0
$GC,14180,0.54,376.2,181.2,14.0,1693,14186,0.00,2.20,0.00,0.000,6,0.000,0.034,2762,2135,1487,0,0,0,0,0,0
$GC,14527,0.58,401.3,154.2,8.1,1754,14565,0.08,2.15,29.48,0.601,4,0.126,0.047,2828,3537,1391,0,0,0,0,0,0
$GC,14585,0.57,401.3,147.0,14.1,1762,14594,0.17,2.22,0.00,0.000,6,0.107,0.030,2767,2059,1390,0,0,0,0,0,0
$GC,14951,0.66,464.7,117.5,6.9,1823,15034,0.12,2.33,75.28,0.585,4,0.083,0.046,2848,3526,1131,0,0,0,0,0,0
$GC,15103,0.66,464.7,100.1,11.2,1844,15112,0.15,2.22,0.00,0.000,6,0.090,0.030,2790,2059,1128,0,0,0,0,0,0
$GC,15472,0.70,472.9,73.8,8.6,1905,15489,0.10,0.00,9.10,0.489,6,0.127,0.000,2831,2054,1100,0,0,0,0,0,0
$GC,15839,0.76,488.8,41.6,8.4,1967,15865,0.00,2.33,20.08,0.509,4,0.000,0.048,2831,3532,1033,0,0,0,0,0,0
$GC,16127,0.78,488.8,13.4,10.4,2015,16136,0.00,2.17,0.00,0.000,6,0.000,0.028,2832,2052,1032,0,0,0,0,0,0
$STATE,16230,end climb,SURFACE_DEPTH_REACHED
$STATE,16231,begin surface coast
$FINISH,0.7,1.001774
$STATE,16269,end surface coast,CONTROL_FINISHED_OK
$STATE,16269,begin surface
$SM_CCo,16344,0.00,0.000,0,0,1031,489.37
$SM_GC,1.49,6.55,0.00,0.00,0.034,0.000,0.000,203,2438,1031,-7.38,1.07,489.37
$IRIDIUM_FIX,2333.28,12639.02,201010,050517
$TT8_MAMPS,0.026215
$HUMID,50.47
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,44.180
$10V_AH,10.4,39.256
$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,22.450,130.800,803.750,0.000,0.000,54.362,81.962,274.087,0.000,0.000,15.069,4912.254,5324.029,844.000,5513.781,377.348,0.000,2571.014,0.000,5119.294,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,54.315,962.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1378.438,0.000,3262.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333840
$DATA_FILE_SIZE,120256,2038
$CAP_FILE_SIZE,209234,0
$CFSIZE,260165632,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 42.3,1
$GPS,201010,094654,2342.360,12638.776,22,1.1,39,-3.5