version: 66.08
glider: 176
mission: 2
dive: 337
start: 10 23 110 15 2 24
data:
$ID,176
$MISSION,2
$DIVE,337
$N_DIVES,349
$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,-5353.9092
$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
$GPS1,231010,145407,2328.145,12628.623,33,1.0,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.0
$GPS2,231010,150156,2328.243,12628.674,12,1.7,12,-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,193.8,71593,-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,-194.6,0.0,0.0,0,83,0.00,0.00,-65.47,0.000,2,0.000,0.000,201,2454,2680,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.7,-5.1,8,120,9.10,2.28,-20.38,0.000,4,0.243,0.046,2418,951,3823,0,0,0,0,0,0
$GC,182,-0.52,-194.6,30.6,-20.2,22,191,0.00,2.28,0.00,0.000,6,0.000,0.044,2418,2424,3825,0,0,0,0,0,0
$GC,545,-0.51,-194.6,109.7,-17.4,83,554,0.05,2.08,0.00,0.000,4,0.241,0.054,2430,3766,3825,0,0,0,0,0,0
$GC,621,-0.52,-194.6,118.6,-9.1,95,630,0.00,2.05,0.00,0.000,6,0.000,0.027,2430,2334,3824,0,0,0,0,0,0
$GC,986,-0.52,-194.6,159.2,-10.9,156,995,0.00,2.00,0.00,0.000,4,0.000,0.033,2430,953,3825,0,0,0,0,0,0
$GC,1021,-0.52,-194.6,162.9,-11.1,161,1028,0.00,2.20,0.00,0.000,6,0.000,0.039,2430,2434,3825,0,0,0,0,0,0
$GC,1379,-0.52,-194.6,202.0,-10.4,222,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2434,3825,0,0,0,0,0,0
$GC,1741,-0.53,-194.6,233.3,-7.8,283,1749,0.05,2.15,0.00,0.000,4,0.184,0.033,2385,946,3824,0,0,0,0,0,0
$GC,1784,-0.53,-194.6,237.7,-10.6,290,1794,0.10,2.22,0.00,0.000,6,0.116,0.041,2424,2422,3824,0,0,0,0,0,0
$GC,2147,-0.53,-194.6,265.0,-7.0,351,2154,0.00,2.10,0.00,0.000,4,0.000,0.031,2424,953,3822,0,0,0,0,0,0
$GC,2186,-0.54,-194.6,268.0,-7.4,357,2193,0.00,2.20,0.00,0.000,6,0.000,0.038,2424,2434,3822,0,0,0,0,0,0
$GC,2544,-0.55,-194.6,294.7,-7.8,418,2553,0.05,0.00,0.00,0.000,6,0.174,0.000,2376,2434,3821,0,0,0,0,0,0
$GC,2907,-0.54,-194.6,339.3,-11.8,479,2914,0.15,2.15,0.00,0.000,4,0.136,0.032,2424,950,3819,0,0,0,0,0,0
$GC,2963,-0.55,-194.6,344.3,-7.0,488,2972,0.03,2.22,0.00,0.000,6,0.097,0.038,2383,2433,3818,0,0,0,0,0,0
$GC,3326,-0.55,-194.6,381.3,-11.1,549,3333,0.12,2.17,0.00,0.000,4,0.149,0.033,2423,949,3817,0,0,0,0,0,0
$GC,3371,-0.56,-194.6,385.6,-8.4,556,3380,0.05,2.22,0.00,0.000,6,0.067,0.040,2372,2426,3816,0,0,0,0,0,0
$GC,3733,-0.56,-194.6,427.8,-11.8,617,3741,0.15,2.05,0.00,0.000,4,0.140,0.054,2417,3766,3815,0,0,0,0,0,0
$GC,3762,-0.56,-194.6,430.8,-10.4,621,3769,0.00,2.05,0.00,0.000,6,0.000,0.027,2417,2340,3815,0,0,0,0,0,0
$GC,4119,-0.57,-194.6,457.4,-7.0,682,4129,0.05,2.03,0.00,0.000,4,0.182,0.034,2373,959,3813,0,0,0,0,0,0
$GC,4156,-0.57,-194.6,460.6,-9.4,687,4163,0.12,2.20,0.00,0.000,6,0.138,0.041,2413,2429,3812,0,0,0,0,0,0
$GC,4518,-0.58,-194.6,484.9,-6.1,748,4527,0.08,2.20,0.00,0.000,4,0.125,0.032,2349,948,3810,0,0,0,0,0,0
$GC,4565,-0.58,-194.6,489.3,-10.7,755,4572,0.20,2.22,0.00,0.000,6,0.124,0.041,2414,2429,3810,0,0,0,0,0,0
$GC,4913,-0.59,-194.6,511.8,-6.9,800,4917,0.08,2.17,0.00,0.000,4,0.128,0.032,2349,947,3808,0,0,0,0,0,0
$GC,4953,-0.59,-194.6,515.5,-9.4,803,4958,0.17,2.22,0.00,0.000,6,0.126,0.043,2405,2422,3808,0,0,0,0,0,0
$GC,5278,-0.60,-194.6,540.7,-7.3,833,5282,0.00,2.12,0.00,0.000,4,0.000,0.032,2405,949,3806,0,0,0,0,0,0
$GC,5321,-0.61,-194.6,544.2,-8.0,836,5329,0.05,2.22,0.00,0.000,6,0.177,0.040,2354,2434,3806,0,0,0,0,0,0
$GC,5647,-0.61,-194.6,579.5,-11.0,867,5649,0.15,0.00,0.00,0.000,6,0.133,0.000,2402,2434,3804,0,0,0,0,0,0
$GC,5965,-0.61,-194.6,598.8,-5.2,897,5970,0.05,2.17,0.00,0.000,4,0.177,0.032,2348,949,3802,0,0,0,0,0,0
$GC,6014,-0.61,-194.6,603.0,-8.7,900,6019,0.17,2.22,0.00,0.000,6,0.122,0.043,2405,2435,3801,0,0,0,0,0,0
$GC,6337,-0.62,-194.6,620.9,-5.7,916,6342,0.08,2.17,0.00,0.000,4,0.128,0.032,2347,945,3800,0,0,0,0,0,0
$GC,6391,-0.62,-194.6,626.0,-9.5,918,6401,0.12,2.25,0.00,0.000,6,0.099,0.042,2396,2415,3799,0,0,0,0,0,0
$GC,6709,-0.63,-194.6,647.9,-7.0,934,6713,0.05,2.15,0.00,0.000,4,0.171,0.032,2347,946,3797,0,0,0,0,0,0
$GC,6741,-0.63,-194.6,651.1,-10.4,935,6748,0.15,2.20,0.00,0.000,6,0.129,0.042,2396,2420,3796,0,0,0,0,0,0
$GC,7058,-0.64,-194.6,673.4,-7.2,951,7062,0.08,2.15,0.00,0.000,4,0.125,0.032,2336,951,3794,0,0,0,0,0,0
$GC,7098,-0.63,-194.6,677.3,-11.3,953,7103,0.17,2.25,0.00,0.000,6,0.127,0.044,2392,2427,3794,0,0,0,0,0,0
$GC,7426,-0.64,-194.6,703.3,-7.8,969,7430,0.00,2.15,0.00,0.000,4,0.000,0.034,2393,952,3793,0,0,0,0,0,0
$GC,7469,-0.65,-194.6,707.1,-8.2,971,7474,0.05,2.22,0.00,0.000,6,0.173,0.042,2340,2421,3792,0,0,0,0,0,0
$GC,7790,-0.65,-194.6,743.3,-11.5,987,7795,0.15,2.15,0.00,0.000,4,0.135,0.034,2389,957,3790,0,0,0,0,0,0
$GC,7830,-0.66,-194.6,746.9,-7.4,989,7835,0.05,2.22,0.00,0.000,6,0.170,0.044,2340,2419,3790,0,0,0,0,0,0
$GC,8158,-0.65,-194.6,781.6,-10.7,1005,8163,0.15,2.15,0.00,0.000,4,0.132,0.034,2390,957,3787,0,0,0,0,0,0
$GC,8196,-0.66,-194.6,785.2,-7.4,1006,8205,0.08,2.22,0.00,0.000,6,0.123,0.044,2334,2422,3787,0,0,0,0,0,0
$STATE,8345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8345,begin apogee
$GC,8351,-0.11,0.0,800.5,10.7,1014,8577,0.62,0.17,218.65,0.957,6,0.103,0.073,2556,2136,3027,0,0,0,0,0,0
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8579,begin climb
$GC,8580,0.53,194.6,811.2,0.0,1024,8825,0.55,2.33,235.30,0.927,4,0.038,0.049,2808,3523,2232,0,0,0,0,0,0
$GC,8848,0.50,194.6,798.5,18.0,1036,8856,0.28,2.28,0.00,0.000,6,0.174,0.028,2745,2058,2230,0,0,0,0,0,0
$GC,9164,0.49,194.6,759.2,11.9,1052,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2054,2223,0,0,0,0,0,0
$GC,9474,0.47,194.6,723.1,11.3,1067,9478,0.00,2.08,0.00,0.000,4,0.000,0.037,2755,660,2223,0,0,0,0,0,0
$GC,9513,0.46,194.6,718.5,10.8,1068,9520,0.10,2.20,0.00,0.000,6,0.172,0.036,2728,2119,2221,0,0,0,0,0,0
$GC,9831,0.45,194.6,687.2,9.3,1084,9835,0.00,2.12,0.00,0.000,4,0.000,0.050,2728,3525,2219,0,0,0,0,0,0
$GC,9902,0.43,194.6,679.5,10.0,1087,9906,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2059,2219,0,0,0,0,0,0
$GC,10225,0.42,194.6,650.2,9.1,1103,10229,0.08,2.25,0.00,0.000,4,0.210,0.049,2716,3526,2218,0,0,0,0,0,0
$GC,10252,0.41,194.6,647.4,9.9,1104,10256,0.00,2.12,0.00,0.000,6,0.000,0.028,2722,2060,2218,0,0,0,0,0,0
$GC,10568,0.43,215.7,621.6,8.2,1119,10594,0.00,0.00,23.48,0.880,6,0.000,0.000,2722,2057,2147,0,0,0,0,0,0
$GC,10902,0.42,215.7,590.3,9.7,1139,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2057,2142,0,0,0,0,0,0
$GC,11218,0.42,215.7,558.1,9.9,1169,11223,0.00,2.25,0.00,0.000,4,0.000,0.049,2722,3529,2141,0,0,0,0,0,0
$GC,11353,0.41,215.7,543.6,10.9,1180,11359,0.00,2.17,0.00,0.000,6,0.000,0.029,2722,2055,2141,0,0,0,0,0,0
$GC,11679,0.47,273.2,517.1,7.1,1211,11757,0.08,2.17,68.72,0.845,4,0.132,0.041,2778,669,1912,0,0,0,0,0,0
$GC,11809,0.46,273.2,503.7,11.1,1222,11818,0.15,2.22,0.00,0.000,6,0.144,0.034,2734,2130,1908,0,0,0,0,0,0
$GC,12162,0.46,273.2,472.4,8.9,1280,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2131,1904,0,0,0,0,0,0
$GC,12522,0.47,284.2,440.9,8.5,1341,12544,0.00,2.20,12.60,0.742,4,0.000,0.050,2734,3526,1868,0,0,0,0,0,0
$GC,12577,0.47,284.2,435.8,10.1,1349,12584,0.00,2.17,0.00,0.000,6,0.000,0.030,2735,2063,1867,0,0,0,0,0,0
$GC,12935,0.50,312.5,404.3,8.0,1410,12980,0.08,2.35,35.45,0.763,4,0.129,0.050,2792,3523,1752,0,0,0,0,0,0
$GC,13040,0.49,312.5,391.0,13.9,1426,13050,0.17,2.20,0.00,0.000,6,0.122,0.028,2741,2068,1750,0,0,0,0,0,0
$GC,13401,0.49,312.5,358.1,9.3,1487,13407,0.00,2.28,0.00,0.000,4,0.000,0.048,2741,3534,1748,0,0,0,0,0,0
$GC,13432,0.49,312.5,355.1,9.3,1492,13440,0.00,2.20,0.00,0.000,6,0.000,0.027,2748,2056,1748,0,0,0,0,0,0
$GC,13791,0.50,322.5,322.9,8.6,1553,13806,0.00,0.00,12.68,0.668,6,0.000,0.000,2748,2053,1712,0,0,0,0,0,0
$GC,14158,0.53,349.0,290.9,8.1,1615,14202,0.08,2.33,33.35,0.685,4,0.129,0.047,2811,3520,1603,0,0,0,0,0,0
$GC,14241,0.52,349.0,280.6,13.7,1627,14249,0.22,2.17,0.00,0.000,6,0.132,0.029,2746,2064,1601,0,0,0,0,0,0
$GC,14601,0.58,393.6,252.1,7.5,1688,14667,0.12,2.35,54.00,0.661,4,0.086,0.048,2829,3523,1421,0,0,0,0,0,0
$GC,14683,0.57,393.6,241.3,15.4,1699,14691,0.22,2.20,0.00,0.000,6,0.131,0.028,2761,2063,1420,0,0,0,0,0,0
$GC,15045,0.58,393.6,208.1,9.5,1760,15053,0.08,0.00,0.00,0.000,6,0.123,0.000,2825,2059,1417,0,0,0,0,0,0
$GC,15407,0.57,393.6,158.4,13.6,1821,15414,0.20,2.25,0.00,0.000,4,0.127,0.044,2762,3537,1416,0,0,0,0,0,0
$GC,15458,0.58,393.6,152.7,9.2,1829,15465,0.08,2.17,0.00,0.000,6,0.121,0.027,2828,2045,1416,0,0,0,0,0,0
$GC,15825,0.57,393.6,108.2,11.6,1890,15835,0.20,2.08,0.00,0.000,4,0.129,0.039,2763,666,1416,0,0,0,0,0,0
$GC,15869,0.69,475.3,104.9,6.4,1896,15976,0.12,2.17,94.82,0.572,6,0.048,0.032,2841,2127,1089,0,0,0,0,0,0
$GC,16329,0.74,509.4,63.9,7.8,1969,16379,0.08,2.25,39.83,0.532,4,0.171,0.037,2815,663,949,0,0,0,0,0,0
$GC,16413,0.81,549.6,58.0,7.6,1980,16470,0.10,2.20,47.33,0.525,6,0.066,0.030,2870,2124,784,0,0,0,0,0,0
$GC,16820,0.84,549.6,19.3,10.1,2047,16829,0.05,2.17,0.00,0.000,4,0.174,0.044,2837,3531,781,0,0,0,0,0,0
$STATE,16960,end climb,SURFACE_DEPTH_REACHED
$STATE,16960,begin surface coast
$FINISH,0.7,1.021635
$STATE,16991,end surface coast,CONTROL_FINISHED_OK
$STATE,16991,begin surface
$SM_CCo,17068,0.00,0.000,0,0,781,550.94
$SM_GC,1.56,6.60,0.00,0.00,0.035,0.000,0.000,207,2323,781,-7.38,-2.18,550.94
$IRIDIUM_FIX,2321.52,12628.24,231010,101021
$TT8_MAMPS,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.9,47.790
$10V_AH,10.2,43.246
$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,22.350,149.075,876.200,0.000,0.000,25.874,38.630,246.107,0.000,0.000,15.500,4988.459,5739.631,914.922,5483.535,385.910,0.000,2729.453,0.000,5204.530,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,72.675,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1402.926,0.000,3230.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123464,2075
$CAP_FILE_SIZE,214160,0
$CFSIZE,260165632,234491904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 19.6,1
$GPS,231010,194800,2327.208,12629.175,40,1.0,40,-3.4