version: 66.08
glider: 176
mission: 2
dive: 338
start: 10 23 110 19 55 5
data:
$ID,176
$MISSION,2
$DIVE,338
$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,-5355.1675
$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
$GPS1,231010,194800,2327.208,12629.175,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.4
$GPS2,231010,195437,2327.204,12629.199,10,0.9,15,-3.4
$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,214.2,70825,-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,-56.08,0.000,2,0.000,0.000,202,2321,2425,0,0,0,0,0,0
$GC,76,-0.53,-194.6,3.2,-3.7,7,127,8.88,2.08,-28.90,0.000,4,0.235,0.049,2417,949,3823,0,0,0,0,0,0
$GC,170,-0.52,-194.6,23.3,-22.0,20,179,0.00,2.28,0.00,0.000,6,0.000,0.044,2417,2421,3824,0,0,0,0,0,0
$GC,537,-0.50,-194.6,104.3,-18.6,81,546,0.08,2.08,0.00,0.000,4,0.206,0.054,2437,3761,3824,0,0,0,0,0,0
$GC,621,-0.51,-194.6,115.1,-10.9,94,630,0.05,2.03,0.00,0.000,6,0.071,0.027,2387,2335,3824,0,0,0,0,0,0
$GC,986,-0.50,-194.6,177.4,-15.1,155,993,0.17,2.00,0.00,0.000,4,0.152,0.033,2441,953,3824,0,0,0,0,0,0
$GC,1050,-0.51,-194.6,184.0,-8.1,165,1058,0.08,2.17,0.00,0.000,6,0.125,0.037,2386,2429,3825,0,0,0,0,0,0
$GC,1410,-0.50,-194.6,234.8,-14.2,226,1419,0.17,2.05,0.00,0.000,4,0.144,0.053,2441,3765,3825,0,0,0,0,0,0
$GC,1437,-0.50,-194.6,238.2,-12.1,230,1447,0.03,2.03,0.00,0.000,6,0.101,0.027,2401,2337,3825,0,0,0,0,0,0
$GC,1798,-0.50,-194.6,274.4,-10.1,291,1805,0.12,1.98,0.00,0.000,4,0.145,0.032,2442,953,3823,0,0,0,0,0,0
$GC,1826,-0.51,-194.6,276.9,-9.1,295,1833,0.08,2.17,0.00,0.000,6,0.126,0.037,2399,2426,3823,0,0,0,0,0,0
$GC,2185,-0.51,-194.6,313.0,-9.9,356,2194,0.12,0.00,0.00,0.000,6,0.145,0.000,2439,2427,3821,0,0,0,0,0,0
$GC,2549,-0.52,-194.6,338.0,-6.7,417,2556,0.08,2.17,0.00,0.000,4,0.128,0.033,2377,941,3820,0,0,0,0,0,0
$GC,2604,-0.52,-194.6,343.8,-10.9,426,2613,0.15,2.22,0.00,0.000,6,0.104,0.040,2434,2417,3820,0,0,0,0,0,0
$GC,2966,-0.54,-194.6,373.4,-8.8,487,2974,0.10,2.12,0.00,0.000,4,0.114,0.032,2385,948,3817,0,0,0,0,0,0
$GC,3052,-0.56,-194.6,381.5,-9.2,501,3059,0.10,2.20,0.00,0.000,6,0.137,0.038,2421,2426,3817,0,0,0,0,0,0
$GC,3408,-0.59,-194.6,410.1,-7.1,562,3417,0.10,2.20,0.00,0.000,4,0.111,0.034,2369,948,3816,0,0,0,0,0,0
$GC,3456,-0.59,-194.6,414.1,-8.8,569,3463,0.12,2.20,0.00,0.000,6,0.136,0.039,2407,2426,3815,0,0,0,0,0,0
$GC,3804,-0.60,-194.6,438.1,-6.9,630,3812,0.05,0.00,0.00,0.000,6,0.175,0.000,2361,2426,3813,0,0,0,0,0,0
$GC,4155,-0.60,-194.6,475.7,-11.1,691,4164,0.15,2.15,0.00,0.000,4,0.130,0.034,2410,955,3811,0,0,0,0,0,0
$GC,4207,-0.61,-194.6,480.1,-7.5,699,4216,0.08,2.20,0.00,0.000,6,0.123,0.039,2350,2428,3811,0,0,0,0,0,0
$GC,4547,-0.60,-194.6,520.7,-11.7,744,4551,0.17,2.15,0.00,0.000,4,0.129,0.033,2407,954,3809,0,0,0,0,0,0
$GC,4579,-0.61,-194.6,523.9,-8.0,746,4587,0.08,2.20,0.00,0.000,6,0.125,0.041,2354,2423,3809,0,0,0,0,0,0
$GC,4904,-0.61,-194.6,558.2,-10.5,777,4909,0.15,2.15,0.00,0.000,4,0.132,0.032,2402,950,3807,0,0,0,0,0,0
$GC,4945,-0.62,-194.6,561.6,-7.4,780,4950,0.08,2.22,0.00,0.000,6,0.122,0.041,2344,2428,3807,0,0,0,0,0,0
$GC,5270,-0.61,-194.6,597.7,-11.3,810,5272,0.17,0.00,0.00,0.000,6,0.128,0.000,2402,2429,3805,0,0,0,0,0,0
$GC,5592,-0.62,-194.6,618.4,-6.0,827,5596,0.05,2.17,0.00,0.000,4,0.176,0.034,2347,948,3803,0,0,0,0,0,0
$GC,5640,-0.62,-194.6,622.8,-9.1,829,5645,0.12,2.25,0.00,0.000,6,0.098,0.043,2397,2417,3802,0,0,0,0,0,0
$GC,5964,-0.63,-194.6,643.4,-6.3,845,5969,0.05,2.15,0.00,0.000,4,0.170,0.032,2346,948,3800,0,0,0,0,0,0
$GC,6013,-0.63,-194.6,647.9,-9.3,847,6018,0.15,2.25,0.00,0.000,6,0.129,0.043,2395,2431,3800,0,0,0,0,0,0
$GC,6336,-0.63,-194.6,666.9,-5.8,863,6341,0.05,2.17,0.00,0.000,4,0.171,0.033,2347,949,3798,0,0,0,0,0,0
$GC,6375,-0.63,-194.6,670.1,-9.1,865,6380,0.15,2.22,0.00,0.000,6,0.129,0.043,2395,2419,3797,0,0,0,0,0,0
$GC,6703,-0.64,-194.6,690.5,-6.5,881,6708,0.08,2.15,0.00,0.000,4,0.125,0.032,2335,955,3795,0,0,0,0,0,0
$GC,6753,-0.64,-194.6,695.4,-10.2,883,6758,0.17,2.22,0.00,0.000,6,0.125,0.044,2392,2419,3795,0,0,0,0,0,0
$GC,7075,-0.65,-194.6,717.1,-6.8,899,7080,0.05,2.15,0.00,0.000,4,0.173,0.033,2346,955,3793,0,0,0,0,0,0
$GC,7118,-0.65,-194.6,721.3,-9.9,901,7123,0.10,2.25,0.00,0.000,6,0.103,0.043,2387,2415,3792,0,0,0,0,0,0
$GC,7447,-0.65,-194.6,745.6,-7.6,917,7451,0.00,2.12,0.00,0.000,4,0.000,0.033,2388,954,3790,0,0,0,0,0,0
$GC,7488,-0.66,-194.6,748.9,-8.2,919,7493,0.08,2.20,0.00,0.000,6,0.123,0.041,2329,2420,3790,0,0,0,0,0,0
$GC,7816,-0.66,-194.6,787.6,-12.1,935,7821,0.17,2.17,0.00,0.000,4,0.130,0.033,2388,945,3788,0,0,0,0,0,0
$GC,7860,-0.67,-194.6,792.1,-7.7,937,7864,0.08,2.25,0.00,0.000,6,0.119,0.042,2330,2427,3787,0,0,0,0,0,0
$STATE,7951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7952,begin apogee
$GC,7957,-0.11,0.0,802.3,11.5,942,8184,0.65,0.17,219.07,0.965,6,0.103,0.073,2561,2143,3027,0,0,0,0,0,0
$STATE,8186,end apogee,CONTROL_FINISHED_OK
$STATE,8186,begin climb
$GC,8188,0.53,194.6,815.8,0.0,952,8429,0.52,0.00,235.68,0.934,6,0.039,0.000,2805,2143,2233,0,0,0,0,0,0
$GC,8736,0.51,194.6,763.7,15.4,979,8741,0.22,2.25,0.00,0.000,4,0.174,0.037,2750,655,2224,0,0,0,0,0,0
$GC,8802,0.49,194.6,755.2,11.4,982,8806,0.00,2.25,0.00,0.000,6,0.000,0.037,2750,2130,2222,0,0,0,0,0,0
$GC,9130,0.48,194.6,717.2,11.9,998,9134,0.05,2.15,0.00,0.000,4,0.235,0.050,2739,3530,2221,0,0,0,0,0,0
$GC,9150,0.46,194.6,714.3,12.5,999,9155,0.08,2.20,0.00,0.000,6,0.203,0.029,2730,2040,2221,0,0,0,0,0,0
$GC,9478,0.45,194.6,680.0,10.5,1015,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2037,2219,0,0,0,0,0,0
$GC,9787,0.44,194.6,646.4,10.7,1030,9791,0.00,2.28,0.00,0.000,4,0.000,0.048,2729,3527,2218,0,0,0,0,0,0
$GC,9849,0.43,194.6,639.0,12.2,1033,9854,0.08,2.17,0.00,0.000,6,0.199,0.029,2716,2051,2218,0,0,0,0,0,0
$GC,10178,0.42,194.6,607.6,9.4,1049,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2047,2217,0,0,0,0,0,0
$GC,10493,0.44,220.5,580.3,8.1,1074,10528,0.08,2.38,28.38,0.880,4,0.131,0.049,2766,3529,2128,0,0,0,0,0,0
$GC,10625,0.43,220.5,563.6,13.7,1085,10632,0.20,2.20,0.00,0.000,6,0.151,0.028,2717,2050,2125,0,0,0,0,0,0
$GC,10951,0.42,220.5,535.5,8.9,1116,10955,0.00,2.28,0.00,0.000,4,0.000,0.049,2717,3531,2123,0,0,0,0,0,0
$GC,11029,0.42,220.5,527.8,9.7,1122,11036,0.00,2.17,0.00,0.000,6,0.000,0.028,2721,2048,2122,0,0,0,0,0,0
$GC,11355,0.42,226.2,499.8,8.7,1153,11370,0.00,2.08,7.68,0.730,4,0.000,0.037,2722,649,2104,0,0,0,0,0,0
$GC,11420,0.44,243.5,494.6,8.4,1163,11450,0.05,2.20,22.30,0.819,6,0.176,0.034,2766,2122,2033,0,0,0,0,0,0
$GC,11803,0.43,243.5,453.5,10.7,1227,11810,0.15,2.15,0.00,0.000,4,0.149,0.048,2720,3527,2029,0,0,0,0,0,0
$GC,11843,0.42,243.5,449.7,9.1,1233,11850,0.00,2.17,0.00,0.000,6,0.000,0.028,2722,2054,2029,0,0,0,0,0,0
$GC,12202,0.50,309.4,425.6,6.8,1294,12288,0.10,2.42,79.30,0.793,4,0.104,0.050,2787,3522,1765,0,0,0,0,0,0
$GC,12357,0.49,309.4,407.0,13.1,1317,12364,0.17,2.20,0.00,0.000,6,0.145,0.028,2740,2056,1760,0,0,0,0,0,0
$GC,12716,0.49,309.4,373.0,9.1,1378,12724,0.00,2.33,0.00,0.000,4,0.000,0.049,2740,3529,1757,0,0,0,0,0,0
$GC,12750,0.49,309.4,369.7,9.7,1383,12757,0.00,2.17,0.00,0.000,6,0.000,0.027,2748,2058,1756,0,0,0,0,0,0
$GC,13108,0.51,324.0,337.7,8.4,1444,13131,0.00,2.10,16.80,0.700,4,0.000,0.038,2749,657,1706,0,0,0,0,0,0
$GC,13146,0.52,338.2,334.6,8.4,1449,13176,0.00,2.20,19.30,0.695,6,0.000,0.034,2749,2134,1646,0,0,0,0,0,0
$GC,13530,0.55,361.6,303.9,8.2,1513,13566,0.10,2.15,28.77,0.693,4,0.100,0.047,2822,3529,1551,0,0,0,0,0,0
$GC,13599,0.54,361.6,294.2,15.7,1523,13606,0.25,2.20,0.00,0.000,6,0.132,0.028,2752,2055,1549,0,0,0,0,0,0
$GC,13959,0.57,379.7,262.4,8.3,1584,13988,0.10,0.00,22.45,0.655,6,0.102,0.000,2826,2051,1478,0,0,0,0,0,0
$GC,14340,0.56,379.7,206.1,14.8,1648,14350,0.20,2.30,0.00,0.000,4,0.132,0.047,2763,3518,1475,0,0,0,0,0,0
$GC,14380,0.56,379.7,201.2,11.3,1654,14389,0.00,2.17,0.00,0.000,6,0.000,0.027,2763,2055,1474,0,0,0,0,0,0
$GC,14741,0.65,444.6,172.0,6.9,1715,14827,0.12,0.00,76.97,0.614,6,0.084,0.000,2845,2051,1214,0,0,0,0,0,0
$GC,15177,0.64,444.6,116.8,11.8,1787,15186,0.17,2.30,0.00,0.000,4,0.130,0.047,2788,3519,1207,0,0,0,0,0,0
$GC,15209,0.65,444.6,113.5,11.0,1791,15217,0.00,2.15,0.00,0.000,6,0.000,0.025,2788,2061,1207,0,0,0,0,0,0
$GC,15575,0.68,444.6,79.3,9.3,1852,15584,0.10,2.28,0.00,0.000,4,0.128,0.046,2832,3530,1206,0,0,0,0,0,0
$GC,15853,0.81,520.3,58.4,6.5,1898,15951,0.05,2.17,87.10,0.530,6,0.082,0.028,2867,2042,903,0,0,0,0,0,0
$GC,16301,0.84,520.3,17.2,10.0,1970,16310,0.00,2.05,0.00,0.000,4,0.000,0.037,2867,663,900,0,0,0,0,0,0
$STATE,16444,end climb,SURFACE_DEPTH_REACHED
$STATE,16444,begin surface coast
$FINISH,0.8,1.021166
$STATE,16475,end surface coast,CONTROL_FINISHED_OK
$STATE,16475,begin surface
$SM_CCo,16552,0.00,0.000,0,0,899,522.00
$SM_GC,1.72,6.68,0.00,0.00,0.034,0.000,0.000,199,2438,899,-7.39,1.07,522.00
$IRIDIUM_FIX,2321.52,12626.35,231010,141421
$TT8_MAMPS,0.026215
$HUMID,49.64
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.8,47.999
$10V_AH,10.3,43.475
$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,22.775,145.300,843.800,0.000,0.000,28.563,16.761,194.311,0.000,0.000,17.750,4811.556,5625.119,868.920,5258.363,361.249,0.000,2615.757,0.000,5033.742,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,73.440,965.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.270,0.000,3134.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116932,1999
$CAP_FILE_SIZE,207844,0
$CFSIZE,260165632,234401792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,  6.5,1
$GPS,241010,003206,2327.095,12628.721,41,0.8,41,-3.4