version: 66.08
glider: 176
mission: 2
dive: 326
start: 10 21 110 9 50 59
data:
$ID,176
$MISSION,2
$DIVE,326
$N_DIVES,336
$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,-5340.0684
$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
$GPS1,211010,094406,2336.673,12634.734,22,1.5,22,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,211010,095031,2336.759,12634.703,9,1.9,14,-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,215.8,90192,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,71,0.00,0.00,-54.50,0.000,2,0.000,0.000,193,2462,2534,0,0,0,0,0,0
$GC,74,-0.53,-194.6,3.3,-4.5,7,116,8.93,2.22,-24.90,0.000,4,0.237,0.044,2417,950,3824,0,0,0,0,0,0
$GC,148,-0.51,-194.6,22.3,-26.7,17,158,0.00,2.28,0.00,0.000,6,0.000,0.045,2417,2418,3824,0,0,0,0,0,0
$GC,515,-0.50,-194.6,104.9,-16.3,78,524,0.08,2.17,0.00,0.000,4,0.204,0.032,2437,955,3824,0,0,0,0,0,0
$GC,553,-0.49,-194.6,110.1,-14.2,83,561,0.00,2.22,0.00,0.000,6,0.000,0.041,2437,2421,3824,0,0,0,0,0,0
$GC,917,-0.49,-194.6,150.9,-11.2,144,926,0.00,2.15,0.00,0.000,4,0.000,0.031,2437,954,3825,0,0,0,0,0,0
$GC,951,-0.49,-194.6,154.3,-10.8,149,959,0.00,2.20,0.00,0.000,6,0.000,0.041,2437,2426,3825,0,0,0,0,0,0
$GC,1301,-0.49,-194.6,187.2,-8.4,210,1310,0.00,2.15,0.00,0.000,4,0.000,0.032,2437,956,3825,0,0,0,0,0,0
$GC,1336,-0.50,-194.6,190.1,-8.9,215,1343,0.00,2.20,0.00,0.000,6,0.000,0.040,2436,2433,3825,0,0,0,0,0,0
$GC,1680,-0.50,-194.6,222.1,-9.6,276,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2434,3825,0,0,0,0,0,0
$GC,2031,-0.51,-194.6,253.4,-7.8,337,2039,0.05,2.15,0.00,0.000,4,0.174,0.032,2390,949,3824,0,0,0,0,0,0
$GC,2104,-0.51,-194.6,260.3,-9.6,349,2112,0.15,2.20,0.00,0.000,6,0.135,0.041,2438,2424,3823,0,0,0,0,0,0
$GC,2455,-0.52,-194.6,282.9,-6.7,410,2464,0.08,2.17,0.00,0.000,4,0.129,0.033,2379,954,3822,0,0,0,0,0,0
$GC,2483,-0.52,-194.6,285.3,-8.1,414,2492,0.12,2.22,0.00,0.000,6,0.110,0.041,2427,2424,3822,0,0,0,0,0,0
$GC,2833,-0.53,-194.6,311.4,-7.7,475,2840,0.00,2.03,0.00,0.000,4,0.000,0.054,2427,3768,3822,0,0,0,0,0,0
$GC,2854,-0.54,-194.6,313.1,-7.2,478,2863,0.03,2.05,0.00,0.000,6,0.099,0.026,2386,2332,3821,0,0,0,0,0,0
$GC,3204,-0.53,-194.6,351.3,-11.9,539,3211,0.12,1.98,0.00,0.000,4,0.148,0.034,2427,953,3820,0,0,0,0,0,0
$GC,3253,-0.54,-194.6,356.2,-8.2,547,3261,0.08,2.17,0.00,0.000,6,0.124,0.039,2368,2431,3819,0,0,0,0,0,0
$GC,3604,-0.54,-194.6,400.0,-12.5,608,3613,0.17,2.20,0.00,0.000,4,0.135,0.033,2424,949,3818,0,0,0,0,0,0
$GC,3639,-0.54,-194.6,403.3,-9.7,613,3648,0.05,2.20,0.00,0.000,6,0.168,0.041,2379,2423,3817,0,0,0,0,0,0
$GC,3991,-0.54,-194.6,441.8,-11.5,674,4000,0.15,2.17,0.00,0.000,4,0.134,0.033,2428,958,3816,0,0,0,0,0,0
$GC,4037,-0.56,-194.6,445.9,-8.1,681,4045,0.08,2.20,0.00,0.000,6,0.124,0.040,2373,2433,3816,0,0,0,0,0,0
$GC,4386,-0.56,-194.6,483.6,-10.1,742,4395,0.15,2.20,0.00,0.000,4,0.131,0.033,2422,952,3814,0,0,0,0,0,0
$GC,4443,-0.57,-194.6,487.9,-6.8,751,4450,0.08,2.20,0.00,0.000,6,0.125,0.040,2364,2426,3814,0,0,0,0,0,0
$GC,4782,-0.57,-194.6,522.6,-10.5,793,4787,0.17,2.15,0.00,0.000,4,0.128,0.033,2421,952,3811,0,0,0,0,0,0
$GC,4823,-0.58,-194.6,525.7,-7.0,796,4827,0.08,2.20,0.00,0.000,6,0.125,0.041,2368,2423,3811,0,0,0,0,0,0
$GC,5149,-0.58,-194.6,557.8,-9.9,826,5151,0.15,0.00,0.00,0.000,6,0.132,0.000,2417,2424,3810,0,0,0,0,0,0
$GC,5467,-0.59,-194.6,578.7,-6.5,856,5472,0.08,2.15,0.00,0.000,4,0.133,0.035,2374,953,3808,0,0,0,0,0,0
$GC,5507,-0.60,-194.6,581.9,-8.5,859,5512,0.10,2.22,0.00,0.000,6,0.144,0.042,2406,2430,3807,0,0,0,0,0,0
$GC,5843,-0.62,-194.6,606.3,-7.1,886,5847,0.08,2.03,0.00,0.000,4,0.129,0.054,2363,3768,3805,0,0,0,0,0,0
$GC,5931,-0.63,-194.6,613.4,-8.7,890,5936,0.10,2.03,0.00,0.000,6,0.130,0.026,2399,2340,3804,0,0,0,0,0,0
$GC,6254,-0.65,-194.6,636.2,-7.1,906,6259,0.10,2.20,0.00,0.000,4,0.106,0.052,2343,3770,3802,0,0,0,0,0,0
$GC,6309,-0.65,-194.6,641.0,-8.8,908,6313,0.15,2.05,0.00,0.000,6,0.119,0.026,2394,2326,3802,0,0,0,0,0,0
$GC,6627,-0.67,-194.6,664.5,-7.8,923,6631,0.10,2.25,0.00,0.000,4,0.108,0.053,2335,3777,3800,0,0,0,0,0,0
$GC,6681,-0.67,-194.6,669.9,-10.4,925,6686,0.10,2.08,0.00,0.000,6,0.100,0.027,2378,2341,3799,0,0,0,0,0,0
$GC,7005,-0.68,-194.6,697.5,-8.7,941,7008,0.00,2.00,0.00,0.000,4,0.000,0.035,2377,952,3798,0,0,0,0,0,0
$GC,7065,-0.69,-194.6,703.0,-8.2,943,7072,0.00,2.22,0.00,0.000,6,0.000,0.041,2377,2427,3797,0,0,0,0,0,0
$GC,7382,-0.69,-194.6,728.2,-7.9,959,7387,0.05,2.20,0.00,0.000,4,0.178,0.035,2332,952,3795,0,0,0,0,0,0
$GC,7414,-0.69,-194.6,731.6,-11.4,960,7422,0.15,2.25,0.00,0.000,6,0.132,0.043,2381,2431,3795,0,0,0,0,0,0
$GC,7731,-0.69,-194.6,756.0,-7.8,976,7735,0.08,2.17,0.00,0.000,4,0.124,0.034,2322,953,3793,0,0,0,0,0,0
$GC,7793,-0.69,-194.6,763.0,-12.1,979,7798,0.17,2.25,0.00,0.000,6,0.128,0.044,2379,2429,3792,0,0,0,0,0,0
$GC,8121,-0.69,-194.6,789.0,-7.4,995,8125,0.08,2.17,0.00,0.000,4,0.125,0.034,2322,955,3790,0,0,0,0,0,0
$GC,8198,-0.69,-194.6,797.6,-11.4,998,8202,0.17,2.25,0.00,0.000,6,0.129,0.044,2379,2431,3790,0,0,0,0,0,0
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.11,0.0,801.2,8.0,1000,8473,0.47,0.15,218.85,0.968,6,0.090,0.079,2558,2142,3027,0,0,0,0,0,0
$STATE,8475,end apogee,CONTROL_FINISHED_OK
$STATE,8475,begin climb
$GC,8477,0.53,194.6,811.5,0.0,1010,8720,0.55,2.45,234.27,0.929,4,0.041,0.040,2805,658,2233,0,0,0,0,0,0
$GC,8798,0.51,194.6,791.1,16.4,1025,8803,0.22,2.28,0.00,0.000,6,0.168,0.034,2745,2120,2227,0,0,0,0,0,0
$GC,9115,0.49,194.6,755.6,10.1,1040,9119,0.00,2.15,0.00,0.000,4,0.000,0.050,2745,3526,2222,0,0,0,0,0,0
$GC,9155,0.47,194.6,750.9,11.8,1042,9159,0.08,2.17,0.00,0.000,6,0.207,0.030,2733,2063,2222,0,0,0,0,0,0
$GC,9483,0.46,194.6,718.2,10.0,1058,9487,0.00,2.25,0.00,0.000,4,0.000,0.047,2733,3533,2221,0,0,0,0,0,0
$GC,9526,0.44,194.6,713.1,11.6,1060,9530,0.00,2.20,0.00,0.000,6,0.000,0.030,2736,2063,2220,0,0,0,0,0,0
$GC,9855,0.43,194.6,680.5,10.0,1076,9857,0.05,0.00,0.00,0.000,6,0.245,0.000,2724,2059,2219,0,0,0,0,0,0
$GC,10163,0.42,194.6,650.9,9.9,1091,10167,0.00,2.25,0.00,0.000,4,0.000,0.048,2724,3532,2218,0,0,0,0,0,0
$GC,10213,0.41,194.6,645.4,11.0,1093,10218,0.08,2.15,0.00,0.000,6,0.198,0.029,2714,2063,2218,0,0,0,0,0,0
$GC,10531,0.44,226.3,619.4,7.9,1108,10573,0.08,0.00,35.62,0.900,6,0.129,0.000,2764,2058,2104,0,0,0,0,0,0
$GC,10886,0.42,226.3,577.5,12.2,1133,10891,0.15,2.12,0.00,0.000,4,0.155,0.040,2729,650,2098,0,0,0,0,0,0
$GC,10907,0.41,226.3,575.1,11.5,1134,10914,0.05,2.25,0.00,0.000,6,0.206,0.034,2714,2145,2097,0,0,0,0,0,0
$GC,11232,0.42,239.8,546.5,8.5,1165,11256,0.05,2.10,16.55,0.835,4,0.170,0.047,2762,3526,2048,0,0,0,0,0,0
$GC,11291,0.40,239.8,539.6,13.1,1170,11296,0.20,2.17,0.00,0.000,6,0.148,0.028,2710,2062,2047,0,0,0,0,0,0
$GC,11617,0.49,314.6,514.4,6.6,1200,11717,0.12,2.17,91.10,0.842,4,0.088,0.039,2790,664,1743,0,0,0,0,0,0
$GC,11733,0.48,314.6,500.6,12.4,1210,11741,0.17,2.25,0.00,0.000,6,0.142,0.033,2739,2120,1740,0,0,0,0,0,0
$GC,12078,0.48,314.6,470.2,9.7,1270,12086,0.00,2.17,0.00,0.000,4,0.000,0.047,2740,3518,1733,0,0,0,0,0,0
$GC,12116,0.48,314.6,465.9,10.7,1276,12124,0.00,2.17,0.00,0.000,6,0.000,0.027,2748,2065,1732,0,0,0,0,0,0
$GC,12466,0.47,314.6,429.3,10.4,1337,12473,0.05,2.10,0.00,0.000,4,0.230,0.041,2735,654,1732,0,0,0,0,0,0
$GC,12505,0.47,314.6,425.5,9.0,1343,12513,0.00,2.20,0.00,0.000,6,0.000,0.034,2735,2126,1731,0,0,0,0,0,0
$GC,12856,0.50,332.8,397.1,8.3,1404,12887,0.08,2.17,20.38,0.752,4,0.125,0.048,2797,3519,1669,0,0,0,0,0,0
$GC,12930,0.48,332.8,387.5,15.1,1415,12939,0.22,2.17,0.00,0.000,6,0.136,0.029,2731,2059,1668,0,0,0,0,0,0
$GC,13281,0.53,370.1,358.6,7.7,1476,13332,0.12,0.00,45.58,0.739,6,0.088,0.000,2811,2054,1517,0,0,0,0,0,0
$GC,13675,0.52,370.1,297.9,15.3,1543,13683,0.20,2.30,0.00,0.000,4,0.142,0.048,2750,3527,1512,0,0,0,0,0,0
$GC,13714,0.52,370.1,292.4,13.2,1549,13721,0.00,2.17,0.00,0.000,6,0.000,0.028,2751,2049,1511,0,0,0,0,0,0
$GC,14060,0.56,403.4,263.3,7.9,1610,14104,0.10,0.00,40.05,0.677,6,0.099,0.000,2825,2045,1381,0,0,0,0,0,0
$GC,14447,0.55,403.4,203.8,16.2,1676,14456,0.22,2.33,0.00,0.000,4,0.134,0.046,2755,3529,1376,0,0,0,0,0,0
$GC,14481,0.55,403.4,199.2,13.1,1681,14489,0.08,2.17,0.00,0.000,6,0.119,0.028,2821,2047,1376,0,0,0,0,0,0
$GC,14828,0.55,403.4,154.6,11.5,1742,14838,0.20,2.10,0.00,0.000,4,0.136,0.041,2762,659,1376,0,0,0,0,0,0
$GC,14855,0.55,403.4,151.9,10.4,1746,14863,0.00,2.20,0.00,0.000,6,0.000,0.033,2763,2122,1375,0,0,0,0,0,0
$GC,15222,0.64,467.4,129.1,6.9,1807,15306,0.12,2.20,75.38,0.587,4,0.087,0.046,2848,3537,1121,0,0,0,0,0,0
$GC,15361,0.63,467.4,109.5,14.8,1826,15371,0.20,2.22,0.00,0.000,6,0.096,0.028,2783,2065,1118,0,0,0,0,0,0
$GC,15730,0.68,480.2,83.6,8.5,1887,15756,0.10,2.12,15.00,0.526,4,0.132,0.038,2821,654,1069,0,0,0,0,0,0
$GC,16019,0.71,480.2,54.8,9.9,1935,16028,0.00,2.20,0.00,0.000,6,0.000,0.034,2821,2123,1067,0,0,0,0,0,0
$GC,16386,0.75,484.4,22.5,8.8,1996,16403,0.05,2.15,6.25,0.418,4,0.200,0.047,2845,3527,1052,0,0,0,0,0,0
$STATE,16585,end climb,SURFACE_DEPTH_REACHED
$STATE,16585,begin surface coast
$FINISH,0.6,1.021632
$STATE,16628,end surface coast,CONTROL_FINISHED_OK
$STATE,16628,begin surface
$SM_CCo,16704,0.00,0.000,0,0,1051,484.71
$SM_GC,1.70,6.62,0.00,0.00,0.037,0.000,0.000,205,2329,1051,-7.38,-2.01,484.71
$IRIDIUM_FIX,2326.22,12637.61,211010,040414
$TT8_MAMPS,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.9,45.402
$10V_AH,10.3,40.646
$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,22.850,157.175,799.025,0.000,0.000,23.251,14.716,192.083,0.000,0.000,17.230,4938.846,5479.561,844.782,5431.173,371.051,0.000,2633.632,0.000,5220.249,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,78.795,967.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1377.947,0.000,3243.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,120220,2036
$CAP_FILE_SIZE,216741,0
$CFSIZE,260165632,235659264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 19.5,1
$GPS,211010,143030,2335.730,12634.089,39,1.0,39,-3.5