version: 66.08
glider: 176
mission: 2
dive: 328
start: 10 21 110 19 32 36
data:
$ID,176
$MISSION,2
$DIVE,328
$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,-5342.5845
$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
$GPS1,211010,192507,2334.209,12633.564,33,1.2,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.9
$GPS2,211010,193208,2334.298,12633.587,11,1.7,11,-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,235.1,85517,-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,12,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,73,0.00,0.00,-56.47,0.000,2,0.000,0.000,194,2470,2469,0,0,0,0,0,0
$GC,76,-0.53,-194.6,3.2,-3.8,7,119,8.88,2.30,-27.10,0.000,4,0.235,0.045,2414,943,3824,0,0,0,0,0,0
$GC,209,-0.52,-194.6,32.7,-19.6,27,218,0.00,2.28,0.00,0.000,6,0.000,0.043,2414,2423,3825,0,0,0,0,0,0
$GC,575,-0.50,-194.6,112.7,-19.1,88,585,0.08,2.17,0.00,0.000,4,0.215,0.032,2433,957,3825,0,0,0,0,0,0
$GC,624,-0.50,-194.6,119.7,-12.0,95,632,0.00,2.22,0.00,0.000,6,0.000,0.041,2433,2425,3825,0,0,0,0,0,0
$GC,986,-0.50,-194.6,159.7,-11.4,156,994,0.00,2.05,0.00,0.000,4,0.000,0.054,2433,3766,3825,0,0,0,0,0,0
$GC,1020,-0.51,-194.6,163.1,-10.8,161,1028,0.00,2.03,0.00,0.000,6,0.000,0.027,2434,2328,3825,0,0,0,0,0,0
$GC,1369,-0.51,-194.6,196.9,-9.8,222,1377,0.00,2.00,0.00,0.000,4,0.000,0.034,2434,950,3825,0,0,0,0,0,0
$GC,1391,-0.52,-194.6,199.0,-9.8,225,1400,0.05,2.20,0.00,0.000,6,0.179,0.040,2389,2431,3825,0,0,0,0,0,0
$GC,1744,-0.51,-194.6,248.4,-13.6,286,1753,0.15,2.17,0.00,0.000,4,0.148,0.032,2436,955,3825,0,0,0,0,0,0
$GC,1789,-0.52,-194.6,253.1,-8.6,293,1798,0.08,2.20,0.00,0.000,6,0.126,0.039,2385,2435,3824,0,0,0,0,0,0
$GC,2140,-0.51,-194.6,294.7,-11.8,354,2149,0.15,2.20,0.00,0.000,4,0.145,0.032,2433,945,3823,0,0,0,0,0,0
$GC,2163,-0.51,-194.6,297.1,-11.0,357,2171,0.00,2.20,0.00,0.000,6,0.000,0.041,2431,2425,3823,0,0,0,0,0,0
$GC,2512,-0.52,-194.6,321.4,-6.6,418,2521,0.05,0.00,0.00,0.000,6,0.181,0.000,2380,2424,3821,0,0,0,0,0,0
$GC,2865,-0.52,-194.6,359.5,-11.1,479,2872,0.17,2.17,0.00,0.000,4,0.133,0.033,2437,942,3820,0,0,0,0,0,0
$GC,2904,-0.53,-194.6,362.9,-7.8,485,2912,0.08,2.22,0.00,0.000,6,0.125,0.040,2389,2434,3820,0,0,0,0,0,0
$GC,3254,-0.53,-194.6,398.1,-10.3,546,3263,0.12,0.00,0.00,0.000,6,0.142,0.000,2430,2434,3818,0,0,0,0,0,0
$GC,3609,-0.54,-194.6,422.4,-6.4,607,3617,0.08,2.17,0.00,0.000,4,0.132,0.033,2373,952,3816,0,0,0,0,0,0
$GC,3670,-0.54,-194.6,428.0,-10.3,617,3678,0.15,2.20,0.00,0.000,6,0.130,0.041,2422,2424,3816,0,0,0,0,0,0
$GC,4022,-0.55,-194.6,453.1,-7.1,678,4031,0.05,0.00,0.00,0.000,6,0.171,0.000,2374,2424,3814,0,0,0,0,0,0
$GC,4375,-0.55,-194.6,487.7,-9.6,739,4382,0.15,2.17,0.00,0.000,4,0.128,0.034,2424,950,3812,0,0,0,0,0,0
$GC,4426,-0.57,-194.6,491.4,-6.2,747,4433,0.08,2.20,0.00,0.000,6,0.123,0.039,2364,2425,3811,0,0,0,0,0,0
$GC,4763,-0.56,-194.6,526.3,-10.9,786,4765,0.17,0.00,0.00,0.000,6,0.129,0.000,2421,2426,3810,0,0,0,0,0,0
$GC,5082,-0.59,-194.6,550.3,-8.7,816,5087,0.10,2.15,0.00,0.000,4,0.112,0.035,2374,957,3808,0,0,0,0,0,0
$GC,5214,-0.62,-194.6,561.3,-7.8,827,5219,0.10,2.20,0.00,0.000,6,0.112,0.038,2418,2434,3806,0,0,0,0,0,0
$GC,5542,-0.65,-194.6,588.1,-8.3,857,5547,0.15,2.17,0.00,0.000,4,0.096,0.035,2355,953,3805,0,0,0,0,0,0
$GC,5583,-0.67,-194.6,591.8,-7.6,860,5588,0.10,2.20,0.00,0.000,6,0.121,0.038,2394,2430,3805,0,0,0,0,0,0
$GC,5914,-0.70,-194.6,615.4,-7.5,881,5919,0.12,2.05,0.00,0.000,4,0.093,0.054,2331,3777,3803,0,0,0,0,0,0
$GC,6030,-0.70,-194.6,627.3,-10.5,886,6035,0.12,2.05,0.00,0.000,6,0.131,0.027,2373,2339,3801,0,0,0,0,0,0
$GC,6358,-0.70,-194.6,656.2,-8.8,902,6361,0.00,2.00,0.00,0.000,4,0.000,0.036,2374,949,3800,0,0,0,0,0,0
$GC,6414,-0.70,-194.6,661.3,-8.6,904,6418,0.05,2.22,0.00,0.000,6,0.168,0.042,2322,2422,3800,0,0,0,0,0,0
$GC,6730,-0.69,-194.6,703.5,-14.1,919,6731,0.17,0.00,0.00,0.000,6,0.135,0.000,2379,2422,3797,0,0,0,0,0,0
$GC,7040,-0.70,-194.6,731.5,-8.6,934,7045,0.08,2.17,0.00,0.000,4,0.127,0.035,2322,948,3795,0,0,0,0,0,0
$GC,7102,-0.69,-194.6,738.6,-11.6,937,7107,0.17,2.25,0.00,0.000,6,0.132,0.046,2378,2422,3795,0,0,0,0,0,0
$GC,7431,-0.70,-194.6,764.1,-7.3,953,7435,0.08,2.15,0.00,0.000,4,0.126,0.034,2322,956,3793,0,0,0,0,0,0
$GC,7497,-0.70,-194.6,771.4,-11.8,956,7502,0.17,2.25,0.00,0.000,6,0.130,0.046,2378,2429,3792,0,0,0,0,0,0
$GC,7820,-0.70,-194.6,794.8,-7.2,972,7825,0.08,2.17,0.00,0.000,4,0.125,0.035,2321,955,3791,0,0,0,0,0,0
$STATE,7867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7867,begin apogee
$GC,7874,-0.11,0.0,800.0,11.1,974,8099,0.68,0.00,218.95,0.962,6,0.107,0.000,2558,2118,3027,0,0,0,0,0,0
$STATE,8101,end apogee,CONTROL_FINISHED_OK
$STATE,8101,begin climb
$GC,8103,0.53,194.6,812.8,0.0,985,8348,0.55,2.38,233.35,0.928,4,0.038,0.050,2809,3533,2232,0,0,0,0,0,0
$GC,8455,0.50,194.6,787.5,17.4,1001,8460,0.28,2.25,0.00,0.000,6,0.176,0.029,2745,2054,2227,0,0,0,0,0,0
$GC,8771,0.48,194.6,752.9,10.5,1016,8775,0.00,2.28,0.00,0.000,4,0.000,0.048,2746,3526,2222,0,0,0,0,0,0
$GC,8795,0.47,194.6,750.3,10.8,1017,8799,0.08,2.17,0.00,0.000,6,0.209,0.029,2734,2058,2222,0,0,0,0,0,0
$GC,9123,0.45,194.6,716.8,10.6,1033,9127,0.00,2.28,0.00,0.000,4,0.000,0.049,2734,3528,2221,0,0,0,0,0,0
$GC,9166,0.44,194.6,711.0,12.6,1035,9171,0.05,2.20,0.00,0.000,6,0.246,0.029,2725,2038,2220,0,0,0,0,0,0
$GC,9494,0.43,194.6,676.7,10.4,1051,9498,0.00,2.28,0.00,0.000,4,0.000,0.048,2725,3527,2219,0,0,0,0,0,0
$GC,9558,0.41,194.6,669.5,12.0,1054,9562,0.08,2.15,0.00,0.000,6,0.200,0.028,2716,2061,2219,0,0,0,0,0,0
$GC,9886,0.42,204.2,639.4,8.6,1070,9897,0.00,0.00,9.00,0.806,6,0.000,0.000,2716,2058,2194,0,0,0,0,0,0
$GC,10193,0.44,229.3,614.6,8.1,1085,10231,0.08,2.30,32.25,0.887,4,0.129,0.047,2763,3532,2091,0,0,0,0,0,0
$GC,10271,0.42,229.3,605.2,14.5,1087,10279,0.17,2.20,0.00,0.000,6,0.155,0.029,2719,2062,2089,0,0,0,0,0,0
$GC,10595,0.41,229.3,573.8,9.8,1115,10598,0.00,2.10,0.00,0.000,4,0.000,0.040,2721,651,2084,0,0,0,0,0,0
$GC,10636,0.41,229.3,569.9,9.6,1118,10640,0.00,2.22,0.00,0.000,6,0.000,0.034,2721,2133,2083,0,0,0,0,0,0
$GC,10961,0.40,229.3,536.6,10.1,1148,10965,0.00,2.12,0.00,0.000,4,0.000,0.048,2721,3530,2082,0,0,0,0,0,0
$GC,11036,0.40,229.3,528.2,11.6,1154,11039,0.00,2.15,0.00,0.000,6,0.000,0.029,2722,2061,2083,0,0,0,0,0,0
$GC,11364,0.41,241.4,497.6,8.5,1187,11387,0.00,2.08,13.90,0.794,4,0.000,0.039,2722,658,2041,0,0,0,0,0,0
$GC,11412,0.44,265.9,493.5,8.1,1194,11448,0.00,2.22,30.58,0.815,6,0.000,0.034,2722,2123,1942,0,0,0,0,0,0
$GC,11790,0.43,265.9,462.9,9.0,1259,11796,0.00,2.12,0.00,0.000,4,0.000,0.048,2722,3526,1937,0,0,0,0,0,0
$GC,11839,0.43,265.9,457.9,9.6,1267,11845,0.00,2.17,0.00,0.000,6,0.000,0.028,2722,2053,1936,0,0,0,0,0,0
$GC,12185,0.47,297.5,428.1,7.9,1328,12230,0.10,2.17,38.25,0.782,4,0.106,0.040,2793,654,1814,0,0,0,0,0,0
$GC,12263,0.46,297.5,419.5,12.6,1339,12271,0.20,2.25,0.00,0.000,6,0.138,0.034,2732,2131,1811,0,0,0,0,0,0
$GC,12614,0.46,297.5,388.0,9.2,1400,12622,0.00,2.15,0.00,0.000,4,0.000,0.049,2732,3519,1807,0,0,0,0,0,0
$GC,12665,0.46,297.5,382.9,9.9,1408,12673,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2063,1807,0,0,0,0,0,0
$GC,13016,0.49,320.3,352.5,8.2,1469,13052,0.05,0.00,27.70,0.725,6,0.177,0.000,2782,2058,1720,0,0,0,0,0,0
$GC,13392,0.48,320.3,307.4,12.7,1534,13401,0.15,0.00,0.00,0.000,6,0.145,0.000,2737,2058,1716,0,0,0,0,0,0
$GC,13740,0.48,320.3,276.9,9.1,1595,13747,0.00,2.25,0.00,0.000,4,0.000,0.049,2737,3524,1715,0,0,0,0,0,0
$GC,13805,0.49,320.3,270.3,9.9,1606,13814,0.00,2.17,0.00,0.000,6,0.000,0.028,2737,2057,1715,0,0,0,0,0,0
$GC,14157,0.53,353.3,242.0,7.9,1667,14207,0.10,2.33,40.15,0.656,4,0.102,0.047,2810,3523,1586,0,0,0,0,0,0
$GC,14220,0.52,353.3,233.8,14.5,1676,14230,0.17,2.20,0.00,0.000,6,0.118,0.028,2756,2062,1584,0,0,0,0,0,0
$GC,14570,0.54,362.5,201.4,8.6,1737,14587,0.00,2.15,11.60,0.581,4,0.000,0.041,2756,657,1549,0,0,0,0,0,0
$GC,14606,0.56,374.9,198.2,8.5,1742,14630,0.03,2.22,16.60,0.597,6,0.099,0.034,2806,2126,1498,0,0,0,0,0,0
$GC,14971,0.55,374.9,156.1,10.6,1805,14979,0.15,2.20,0.00,0.000,4,0.139,0.040,2763,660,1494,0,0,0,0,0,0
$GC,15014,0.66,451.8,152.7,6.5,1812,15117,0.10,2.20,91.10,0.599,6,0.044,0.034,2845,2122,1183,0,0,0,0,0,0
$GC,15469,0.65,451.8,87.7,12.7,1885,15479,0.17,2.17,0.00,0.000,4,0.132,0.047,2787,3523,1178,0,0,0,0,0,0
$GC,15523,0.75,517.0,82.8,6.9,1893,15606,0.10,2.17,74.90,0.551,6,0.046,0.027,2877,2046,918,0,0,0,0,0,0
$GC,15960,0.75,517.0,34.5,9.4,1963,15969,0.17,2.33,0.00,0.000,4,0.122,0.047,2817,3533,913,0,0,0,0,0,0
$GC,16013,0.89,608.6,30.7,6.1,1971,16126,0.12,2.17,102.82,0.515,6,0.048,0.026,2907,2044,545,0,0,0,0,0,0
$STATE,16315,end climb,SURFACE_DEPTH_REACHED
$STATE,16315,begin surface coast
$FINISH,0.7,1.011627
$STATE,16347,end surface coast,CONTROL_FINISHED_OK
$STATE,16348,begin surface
$SM_CCo,16422,0.00,0.000,0,0,541,609.82
$SM_GC,1.48,6.97,0.00,0.00,0.044,0.000,0.000,208,2442,541,-7.40,1.22,609.82
$IRIDIUM_FIX,2326.22,12636.21,211010,141443
$TT8_MAMPS,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,8.71402
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,45.838
$10V_AH,10.3,41.115
$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,22.525,144.600,941.150,0.000,0.000,31.104,38.728,195.523,0.000,0.000,16.218,4854.859,5341.178,894.687,5356.241,372.065,0.000,2732.899,0.000,5116.846,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,53.550,961.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1366.909,0.000,3124.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,120296,2022
$CAP_FILE_SIZE,210712,0
$CFSIZE,260165632,235450368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204, 36.9,1
$GPS,221010,000730,2333.990,12632.365,38,1.3,44,-3.5