version: 66.08
glider: 176
mission: 2
dive: 329
start: 10 22 110 0 15 11
data:
$ID,176
$MISSION,2
$DIVE,329
$N_DIVES,342
$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,-5343.8428
$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
$GPS1,221010,000730,2333.990,12632.365,38,1.3,44,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.9
$GPS2,221010,001443,2334.118,12632.417,13,1.4,24,-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,221.6,83944,-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,-194.6,0.0,0.0,0,82,0.00,0.00,-65.47,0.000,2,0.000,0.000,202,2446,2458,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.0,-3.2,8,128,8.88,2.25,-27.42,0.000,4,0.236,0.045,2415,953,3823,0,0,0,0,0,0
$GC,191,-0.52,-194.6,26.9,-22.0,23,199,0.00,2.25,0.00,0.000,6,0.000,0.044,2416,2418,3824,0,0,0,0,0,0
$GC,553,-0.50,-194.6,107.8,-17.2,84,562,0.08,2.08,0.00,0.000,4,0.205,0.055,2434,3758,3824,0,0,0,0,0,0
$GC,594,-0.50,-194.6,113.2,-12.6,90,604,0.00,2.05,0.00,0.000,6,0.000,0.027,2434,2329,3824,0,0,0,0,0,0
$GC,962,-0.50,-194.6,154.8,-11.2,151,969,0.00,2.20,0.00,0.000,4,0.000,0.051,2434,3777,3824,0,0,0,0,0,0
$GC,1002,-0.51,-194.6,159.0,-10.5,157,1008,0.00,2.00,0.00,0.000,6,0.000,0.025,2434,2333,3824,0,0,0,0,0,0
$GC,1359,-0.51,-194.6,193.6,-9.0,218,1369,0.05,2.03,0.00,0.000,4,0.182,0.033,2389,953,3823,0,0,0,0,0,0
$GC,1418,-0.51,-194.6,199.8,-11.2,227,1425,0.15,2.20,0.00,0.000,6,0.134,0.039,2438,2433,3824,0,0,0,0,0,0
$GC,1779,-0.52,-194.6,227.9,-7.9,288,1788,0.08,2.20,0.00,0.000,4,0.130,0.032,2380,943,3823,0,0,0,0,0,0
$GC,1807,-0.52,-194.6,231.2,-10.2,292,1816,0.12,2.22,0.00,0.000,6,0.114,0.040,2427,2422,3823,0,0,0,0,0,0
$GC,2168,-0.52,-194.6,265.5,-9.0,353,2174,0.00,2.12,0.00,0.000,4,0.000,0.032,2427,953,3822,0,0,0,0,0,0
$GC,2195,-0.53,-194.6,268.1,-9.1,357,2202,0.05,2.20,0.00,0.000,6,0.170,0.039,2379,2434,3821,0,0,0,0,0,0
$GC,2554,-0.53,-194.6,311.0,-11.2,418,2564,0.15,0.00,0.00,0.000,6,0.142,0.000,2426,2434,3821,0,0,0,0,0,0
$GC,2917,-0.53,-194.6,336.4,-6.9,479,2923,0.00,2.12,0.00,0.000,4,0.000,0.032,2427,951,3819,0,0,0,0,0,0
$GC,2972,-0.55,-194.6,340.7,-7.6,488,2981,0.05,2.20,0.00,0.000,6,0.068,0.038,2369,2422,3818,0,0,0,0,0,0
$GC,3333,-0.54,-194.6,384.2,-12.2,549,3341,0.17,2.05,0.00,0.000,4,0.134,0.054,2425,3766,3816,0,0,0,0,0,0
$GC,3354,-0.54,-194.6,386.8,-11.5,552,3363,0.03,2.05,0.00,0.000,6,0.099,0.026,2389,2333,3816,0,0,0,0,0,0
$GC,3713,-0.54,-194.6,422.6,-9.6,613,3720,0.12,0.00,0.00,0.000,6,0.140,0.000,2429,2333,3815,0,0,0,0,0,0
$GC,4069,-0.57,-194.6,445.1,-7.3,674,4079,0.10,2.03,0.00,0.000,4,0.112,0.035,2385,959,3813,0,0,0,0,0,0
$GC,4106,-0.59,-194.6,447.5,-6.8,679,4114,0.08,2.17,0.00,0.000,6,0.137,0.037,2416,2440,3813,0,0,0,0,0,0
$GC,4465,-0.62,-194.6,473.3,-8.4,740,4475,0.10,2.05,0.00,0.000,4,0.110,0.053,2364,3769,3810,0,0,0,0,0,0
$GC,4512,-0.64,-194.6,477.3,-8.4,747,4520,0.10,2.03,0.00,0.000,6,0.116,0.025,2402,2336,3810,0,0,0,0,0,0
$GC,4858,-0.65,-194.6,504.5,-6.9,802,4863,0.10,2.03,0.00,0.000,4,0.108,0.035,2333,949,3809,0,0,0,0,0,0
$GC,4907,-0.65,-194.6,509.4,-10.5,806,4915,0.17,2.22,0.00,0.000,6,0.135,0.041,2389,2430,3808,0,0,0,0,0,0
$GC,5233,-0.65,-194.6,532.7,-7.0,837,5237,0.00,2.15,0.00,0.000,4,0.000,0.033,2389,955,3806,0,0,0,0,0,0
$GC,5260,-0.66,-194.6,534.8,-7.3,839,5269,0.08,2.20,0.00,0.000,6,0.124,0.041,2331,2423,3806,0,0,0,0,0,0
$GC,5585,-0.65,-194.6,575.4,-12.8,870,5590,0.17,2.15,0.00,0.000,4,0.137,0.032,2388,948,3805,0,0,0,0,0,0
$GC,5625,-0.65,-194.6,579.4,-8.9,873,5629,0.05,2.22,0.00,0.000,6,0.168,0.041,2335,2429,3805,0,0,0,0,0,0
$GC,5947,-0.65,-194.6,619.2,-12.7,896,5949,0.17,0.00,0.00,0.000,6,0.130,0.000,2393,2429,3803,0,0,0,0,0,0
$GC,6255,-0.65,-194.6,643.7,-7.5,911,6260,0.08,2.17,0.00,0.000,4,0.127,0.033,2338,945,3800,0,0,0,0,0,0
$GC,6315,-0.65,-194.6,650.0,-10.6,913,6323,0.17,2.25,0.00,0.000,6,0.125,0.043,2393,2432,3800,0,0,0,0,0,0
$GC,6632,-0.66,-194.6,672.0,-6.6,929,6636,0.08,2.20,0.00,0.000,4,0.125,0.033,2336,944,3798,0,0,0,0,0,0
$GC,6671,-0.66,-194.6,675.6,-10.0,931,6676,0.15,2.25,0.00,0.000,6,0.133,0.044,2385,2427,3797,0,0,0,0,0,0
$GC,6999,-0.66,-194.6,699.5,-7.0,947,7004,0.05,2.17,0.00,0.000,4,0.170,0.034,2334,952,3795,0,0,0,0,0,0
$GC,7053,-0.66,-194.6,705.2,-10.3,949,7061,0.15,2.25,0.00,0.000,6,0.131,0.044,2383,2430,3794,0,0,0,0,0,0
$GC,7370,-0.67,-194.6,727.5,-7.0,965,7374,0.00,2.17,0.00,0.000,4,0.000,0.034,2384,949,3793,0,0,0,0,0,0
$GC,7402,-0.68,-194.6,730.0,-7.2,966,7410,0.08,2.22,0.00,0.000,6,0.122,0.042,2320,2420,3793,0,0,0,0,0,0
$GC,7719,-0.67,-194.6,768.6,-13.2,982,7723,0.20,2.15,0.00,0.000,4,0.126,0.033,2388,958,3790,0,0,0,0,0,0
$GC,7752,-0.67,-194.6,772.0,-9.0,983,7761,0.08,2.22,0.00,0.000,6,0.119,0.044,2330,2422,3790,0,0,0,0,0,0
$STATE,8005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8005,begin apogee
$GC,8010,-0.11,0.0,801.4,11.9,996,8235,0.65,0.15,218.45,0.960,6,0.104,0.054,2560,2139,3027,0,0,0,0,0,0
$STATE,8238,end apogee,CONTROL_FINISHED_OK
$STATE,8238,begin climb
$GC,8239,0.53,194.6,814.9,0.0,1006,8484,0.52,2.42,233.52,0.927,4,0.038,0.039,2817,663,2233,0,0,0,0,0,0
$GC,8711,0.51,194.6,773.5,16.6,1028,8715,0.25,2.22,0.00,0.000,6,0.169,0.036,2748,2120,2225,0,0,0,0,0,0
$GC,9039,0.49,194.6,735.1,11.2,1044,9042,0.00,2.17,0.00,0.000,4,0.000,0.050,2748,3536,2220,0,0,0,0,0,0
$GC,9071,0.47,194.6,730.9,11.9,1045,9079,0.08,2.20,0.00,0.000,6,0.211,0.029,2734,2058,2220,0,0,0,0,0,0
$GC,9388,0.46,198.0,700.8,8.8,1061,9392,0.00,2.28,0.00,0.000,4,0.000,0.049,2733,3529,2219,0,0,0,0,0,0
$GC,9451,0.45,198.0,694.4,9.7,1064,9455,0.00,2.17,0.00,0.000,6,0.000,0.029,2738,2051,2219,0,0,0,0,0,0
$GC,9778,0.47,228.8,665.8,7.9,1080,9824,0.00,2.17,38.95,0.911,4,0.000,0.038,2749,653,2093,0,0,0,0,0,0
$GC,9848,0.47,239.4,659.9,8.6,1083,9867,0.03,2.25,14.12,0.833,6,0.272,0.034,2738,2122,2050,0,0,0,0,0,0
$GC,10175,0.46,239.4,630.2,9.3,1099,10179,0.00,2.15,0.00,0.000,4,0.000,0.050,2738,3537,2045,0,0,0,0,0,0
$GC,10259,0.45,239.4,620.7,11.4,1103,10264,0.08,2.17,0.00,0.000,6,0.192,0.028,2725,2061,2044,0,0,0,0,0,0
$GC,10581,0.44,239.4,588.2,10.7,1123,10584,0.00,2.08,0.00,0.000,4,0.000,0.039,2735,656,2042,0,0,0,0,0,0
$GC,10626,0.44,239.4,583.1,11.1,1127,10630,0.00,2.20,0.00,0.000,6,0.000,0.034,2735,2120,2041,0,0,0,0,0,0
$GC,10951,0.43,239.4,547.1,10.7,1157,10956,0.05,2.15,0.00,0.000,4,0.234,0.048,2722,3533,2040,0,0,0,0,0,0
$GC,10995,0.42,239.4,542.0,11.7,1160,11002,0.00,2.17,0.00,0.000,6,0.000,0.028,2722,2067,2040,0,0,0,0,0,0
$GC,11320,0.45,263.2,513.7,8.2,1191,11351,0.08,0.00,27.50,0.833,6,0.131,0.000,2773,2062,1953,0,0,0,0,0,0
$GC,11684,0.43,263.2,471.3,11.7,1245,11691,0.17,2.28,0.00,0.000,4,0.146,0.050,2720,3528,1948,0,0,0,0,0,0
$GC,11744,0.43,263.2,464.8,9.7,1255,11752,0.00,2.17,0.00,0.000,6,0.000,0.029,2721,2053,1947,0,0,0,0,0,0
$GC,12092,0.47,290.9,437.4,8.0,1316,12136,0.10,2.35,34.00,0.786,4,0.105,0.049,2786,3519,1839,0,0,0,0,0,0
$GC,12179,0.45,290.9,426.5,15.3,1329,12186,0.20,2.17,0.00,0.000,6,0.144,0.028,2730,2059,1837,0,0,0,0,0,0
$GC,12528,0.46,293.2,394.9,8.8,1390,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2056,1835,0,0,0,0,0,0
$GC,12878,0.51,333.1,365.6,7.7,1451,12937,0.10,2.35,51.55,0.738,4,0.106,0.048,2797,3519,1667,0,0,0,0,0,0
$GC,12975,0.49,333.1,353.1,14.9,1465,12982,0.20,2.20,0.00,0.000,6,0.138,0.028,2741,2055,1665,0,0,0,0,0,0
$GC,13325,0.51,343.8,321.2,8.6,1526,13350,0.08,2.12,12.85,0.659,4,0.128,0.041,2804,665,1624,0,0,0,0,0,0
$GC,13365,0.50,343.8,317.0,11.3,1531,13373,0.20,2.20,0.00,0.000,6,0.134,0.034,2742,2125,1623,0,0,0,0,0,0
$GC,13715,0.53,360.1,285.3,8.4,1592,13745,0.08,2.17,20.40,0.663,4,0.128,0.049,2808,3536,1558,0,0,0,0,0,0
$GC,13793,0.52,360.1,275.0,13.7,1604,13802,0.20,2.20,0.00,0.000,6,0.112,0.029,2746,2070,1556,0,0,0,0,0,0
$GC,14146,0.54,371.3,244.6,8.5,1665,14168,0.08,2.08,14.55,0.623,4,0.128,0.037,2817,660,1512,0,0,0,0,0,0
$GC,14203,0.53,371.3,237.4,12.9,1674,14213,0.17,2.22,0.00,0.000,6,0.110,0.034,2754,2128,1511,0,0,0,0,0,0
$GC,14554,0.60,425.8,206.7,7.2,1735,14626,0.12,0.00,65.62,0.631,6,0.083,0.000,2834,2129,1290,0,0,0,0,0,0
$GC,14969,0.59,425.8,145.3,12.9,1805,14979,0.20,2.17,0.00,0.000,4,0.132,0.047,2770,3525,1284,0,0,0,0,0,0
$GC,14995,0.59,425.8,142.5,12.2,1808,15003,0.00,2.17,0.00,0.000,6,0.000,0.028,2776,2065,1284,0,0,0,0,0,0
$GC,15359,0.73,529.6,120.9,5.7,1869,15482,0.15,0.00,119.43,0.571,6,0.077,0.000,2874,2060,867,0,0,0,0,0,0
$GC,15837,0.76,548.4,61.5,8.3,1944,15872,0.15,2.30,21.67,0.515,4,0.125,0.047,2821,3523,790,0,0,0,0,0,0
$GC,15905,0.90,642.8,57.3,6.0,1953,15995,0.15,2.17,82.22,0.524,6,0.054,0.026,2899,2046,499,0,0,0,0,0,0
$GC,16347,0.94,642.8,11.8,11.3,2024,16356,0.08,0.00,0.00,0.000,6,0.124,0.000,2862,2046,496,0,0,0,0,0,0
$STATE,16423,end climb,SURFACE_DEPTH_REACHED
$STATE,16423,begin surface coast
$FINISH,0.8,1.020742
$STATE,16454,end surface coast,CONTROL_FINISHED_OK
$STATE,16454,begin surface
$SM_CCo,16529,0.00,0.000,0,0,496,620.85
$SM_GC,1.41,6.62,0.00,0.00,0.031,0.000,0.000,204,2467,496,-7.37,1.89,620.85
$IRIDIUM_FIX,2326.22,12636.21,211010,191925
$TT8_MAMPS,0.026215
$HUMID,49.13
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.9,46.066
$10V_AH,10.3,41.350
$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,22.850,144.975,954.850,0.000,0.000,28.666,21.077,209.911,0.000,0.000,25.090,4892.789,5294.275,940.183,5465.022,347.367,0.000,2787.949,0.000,5194.788,0.000,0.543,0.000
$DEVICE_MAMPS,272.340,55.080,960.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1378.344,0.000,3233.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,120198,2041
$CAP_FILE_SIZE,213493,0
$CFSIZE,260165632,235339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235, 50.0,1
$GPS,221010,045137,2333.211,12632.008,29,1.0,29,-3.5