version: 66.08
glider: 176
mission: 2
dive: 340
start: 10 24 110 5 20 18
data:
$ID,176
$MISSION,2
$DIVE,340
$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,-5357.6821
$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
$GPS1,241010,051236,2326.524,12629.077,27,1.9,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.0
$GPS2,241010,051950,2326.616,12629.089,15,1.8,15,-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,206.3,69922,-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,-194.6,0.0,0.0,0,72,0.00,0.00,-54.67,0.000,2,0.000,0.000,198,2333,2485,0,0,0,0,0,0
$GC,74,-0.53,-194.6,3.4,-4.6,7,116,8.88,0.00,-26.98,0.000,6,0.235,0.000,2416,2333,3823,0,0,0,0,0,0
$GC,468,-0.52,-194.6,101.5,-18.2,72,477,0.00,2.22,0.00,0.000,4,0.000,0.054,2416,3766,3823,0,0,0,0,0,0
$GC,509,-0.51,-194.6,108.8,-16.5,78,518,0.03,2.05,0.00,0.000,6,0.151,0.026,2430,2331,3823,0,0,0,0,0,0
$GC,877,-0.51,-194.6,156.8,-11.3,139,884,0.00,2.00,0.00,0.000,4,0.000,0.033,2430,926,3824,0,0,0,0,0,0
$GC,920,-0.51,-194.6,161.3,-9.4,146,929,0.00,2.25,0.00,0.000,6,0.000,0.039,2430,2423,3824,0,0,0,0,0,0
$GC,1281,-0.51,-194.6,192.2,-8.0,207,1288,0.00,2.12,0.00,0.000,4,0.000,0.032,2430,949,3824,0,0,0,0,0,0
$GC,1321,-0.52,-194.6,195.1,-7.3,213,1328,0.00,2.20,0.00,0.000,6,0.000,0.038,2430,2433,3824,0,0,0,0,0,0
$GC,1680,-0.52,-194.6,224.8,-8.6,274,1689,0.05,2.20,0.00,0.000,4,0.181,0.032,2387,946,3823,0,0,0,0,0,0
$GC,1719,-0.52,-194.6,229.1,-11.3,280,1729,0.10,2.22,0.00,0.000,6,0.119,0.040,2426,2423,3823,0,0,0,0,0,0
$GC,2082,-0.53,-194.6,259.6,-8.2,341,2089,0.00,2.12,0.00,0.000,4,0.000,0.032,2426,954,3822,0,0,0,0,0,0
$GC,2122,-0.54,-194.6,263.0,-7.9,347,2129,0.05,2.17,0.00,0.000,6,0.170,0.037,2376,2429,3821,0,0,0,0,0,0
$GC,2482,-0.53,-194.6,309.3,-12.7,408,2491,0.17,0.00,0.00,0.000,6,0.135,0.000,2432,2428,3821,0,0,0,0,0,0
$GC,2845,-0.54,-194.6,338.3,-7.7,469,2853,0.08,2.15,0.00,0.000,4,0.130,0.033,2374,946,3818,0,0,0,0,0,0
$GC,2897,-0.54,-194.6,343.5,-10.9,477,2904,0.15,2.20,0.00,0.000,6,0.133,0.041,2422,2428,3818,0,0,0,0,0,0
$GC,3257,-0.55,-194.6,371.6,-7.2,538,3265,0.00,2.17,0.00,0.000,4,0.000,0.032,2422,947,3816,0,0,0,0,0,0
$GC,3292,-0.56,-194.6,374.2,-7.3,543,3300,0.08,2.20,0.00,0.000,6,0.125,0.038,2364,2426,3816,0,0,0,0,0,0
$GC,3652,-0.55,-194.6,417.3,-12.3,604,3662,0.17,0.00,0.00,0.000,6,0.134,0.000,2420,2426,3815,0,0,0,0,0,0
$GC,4016,-0.56,-194.6,442.6,-6.9,665,4024,0.08,2.15,0.00,0.000,4,0.128,0.033,2362,949,3812,0,0,0,0,0,0
$GC,4102,-0.56,-194.6,450.9,-9.6,679,4111,0.17,2.22,0.00,0.000,6,0.127,0.041,2419,2432,3811,0,0,0,0,0,0
$GC,4464,-0.57,-194.6,472.4,-6.0,740,4474,0.08,2.20,0.00,0.000,4,0.129,0.033,2361,954,3810,0,0,0,0,0,0
$GC,4529,-0.57,-194.6,478.3,-9.5,750,4538,0.12,2.22,0.00,0.000,6,0.104,0.041,2410,2419,3809,0,0,0,0,0,0
$GC,4890,-0.57,-194.6,503.3,-7.1,808,4894,0.00,2.12,0.00,0.000,4,0.000,0.032,2410,946,3807,0,0,0,0,0,0
$GC,4939,-0.59,-194.6,507.2,-8.0,812,4948,0.00,2.22,0.00,0.000,6,0.000,0.039,2410,2433,3807,0,0,0,0,0,0
$GC,5265,-0.60,-194.6,531.2,-7.8,843,5270,0.08,2.03,0.00,0.000,4,0.128,0.051,2369,3771,3805,0,0,0,0,0,0
$GC,5311,-0.62,-194.6,535.0,-8.6,847,5316,0.10,2.00,0.00,0.000,6,0.125,0.024,2405,2330,3804,0,0,0,0,0,0
$GC,5637,-0.64,-194.6,561.8,-8.2,877,5641,0.10,2.22,0.00,0.000,4,0.109,0.051,2347,3777,3803,0,0,0,0,0,0
$GC,5649,-0.66,-194.6,562.9,-8.6,878,5653,0.12,2.03,0.00,0.000,6,0.104,0.025,2396,2335,3802,0,0,0,0,0,0
$GC,5975,-0.67,-194.6,590.7,-8.7,908,5979,0.10,2.03,0.00,0.000,4,0.107,0.034,2334,948,3800,0,0,0,0,0,0
$GC,6015,-0.67,-194.6,594.8,-11.0,911,6020,0.15,2.22,0.00,0.000,6,0.142,0.042,2380,2424,3800,0,0,0,0,0,0
$GC,6345,-0.67,-194.6,625.1,-8.9,929,6349,0.00,2.15,0.00,0.000,4,0.000,0.033,2381,943,3798,0,0,0,0,0,0
$GC,6394,-0.68,-194.6,629.8,-9.0,931,6398,0.00,2.22,0.00,0.000,6,0.000,0.041,2377,2422,3798,0,0,0,0,0,0
$GC,6717,-0.68,-194.6,655.7,-7.6,947,6721,0.00,2.15,0.00,0.000,4,0.000,0.033,2377,943,3796,0,0,0,0,0,0
$GC,6749,-0.69,-194.6,658.2,-7.2,948,6756,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,2420,3796,0,0,0,0,0,0
$GC,7066,-0.69,-194.6,679.5,-6.6,964,7070,0.00,2.12,0.00,0.000,4,0.000,0.033,2377,955,3794,0,0,0,0,0,0
$GC,7093,-0.69,-194.6,681.6,-7.1,965,7098,0.05,2.22,0.00,0.000,6,0.176,0.043,2331,2421,3794,0,0,0,0,0,0
$GC,7409,-0.69,-194.6,711.5,-9.3,980,7411,0.15,0.00,0.00,0.000,6,0.140,0.000,2380,2422,3792,0,0,0,0,0,0
$GC,7720,-0.69,-194.6,729.6,-5.8,995,7724,0.08,2.17,0.00,0.000,4,0.125,0.034,2321,956,3790,0,0,0,0,0,0
$GC,7787,-0.69,-194.6,736.0,-9.8,998,7792,0.17,2.25,0.00,0.000,6,0.132,0.044,2377,2427,3789,0,0,0,0,0,0
$GC,8110,-0.69,-194.6,759.0,-7.3,1014,8114,0.05,2.17,0.00,0.000,4,0.176,0.034,2332,956,3788,0,0,0,0,0,0
$GC,8175,-0.69,-194.6,765.7,-9.9,1017,8180,0.10,2.28,0.00,0.000,6,0.110,0.045,2373,2423,3787,0,0,0,0,0,0
$GC,8505,-0.69,-194.6,790.3,-7.1,1033,8509,0.00,2.15,0.00,0.000,4,0.000,0.034,2373,950,3785,0,0,0,0,0,0
$GC,8543,-0.70,-194.6,793.5,-8.0,1034,8552,0.05,2.22,0.00,0.000,6,0.168,0.044,2322,2419,3785,0,0,0,0,0,0
$STATE,8609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8609,begin apogee
$GC,8614,-0.11,0.0,800.3,10.3,1038,8840,0.68,0.20,218.62,0.965,6,0.106,0.067,2558,2144,3027,0,0,0,0,0,0
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8843,0.53,194.6,811.5,0.0,1048,9086,0.52,0.00,234.75,0.931,6,0.040,0.000,2801,2144,2233,0,0,0,0,0,0
$GC,9409,0.51,194.6,754.6,15.7,1075,9414,0.20,2.22,0.00,0.000,4,0.177,0.036,2756,660,2224,0,0,0,0,0,0
$GC,9475,0.49,194.6,745.8,12.5,1078,9479,0.05,2.22,0.00,0.000,6,0.220,0.037,2744,2129,2222,0,0,0,0,0,0
$GC,9803,0.48,194.6,707.3,11.7,1094,9807,0.00,2.12,0.00,0.000,4,0.000,0.050,2744,3530,2220,0,0,0,0,0,0
$GC,9887,0.46,194.6,695.4,14.2,1098,9892,0.08,2.17,0.00,0.000,6,0.203,0.031,2730,2061,2220,0,0,0,0,0,0
$GC,10215,0.45,194.6,659.7,10.9,1114,10219,0.00,2.25,0.00,0.000,4,0.000,0.048,2730,3534,2219,0,0,0,0,0,0
$GC,10277,0.44,194.6,652.0,13.2,1117,10282,0.03,2.17,0.00,0.000,6,0.299,0.029,2725,2056,2219,0,0,0,0,0,0
$GC,10604,0.43,194.6,618.3,9.8,1133,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2053,2217,0,0,0,0,0,0
$GC,10916,0.42,194.6,588.5,9.7,1153,10919,0.00,2.05,0.00,0.000,4,0.000,0.038,2735,662,2217,0,0,0,0,0,0
$GC,10961,0.41,194.6,584.1,10.1,1157,10966,0.08,2.15,0.00,0.000,6,0.181,0.034,2714,2122,2216,0,0,0,0,0,0
$GC,11289,0.44,220.8,556.8,8.1,1187,11324,0.08,2.22,28.67,0.866,4,0.126,0.047,2770,3530,2126,0,0,0,0,0,0
$GC,11438,0.42,220.8,537.9,13.5,1200,11443,0.22,2.17,0.00,0.000,6,0.148,0.028,2713,2061,2125,0,0,0,0,0,0
$GC,11763,0.41,220.8,509.3,9.1,1230,11767,0.05,2.28,0.00,0.000,4,0.172,0.050,2753,3526,2121,0,0,0,0,0,0
$GC,11814,0.40,220.8,503.1,13.5,1234,11819,0.17,2.15,0.00,0.000,6,0.148,0.028,2708,2060,2122,0,0,0,0,0,0
$GC,12168,0.42,238.3,470.7,8.3,1292,12192,0.08,0.00,21.67,0.808,6,0.129,0.000,2761,2055,2055,0,0,0,0,0,0
$GC,12546,0.41,238.3,429.9,10.3,1355,12553,0.15,2.10,0.00,0.000,4,0.145,0.041,2721,662,2049,0,0,0,0,0,0
$GC,12578,0.43,256.0,427.0,8.3,1360,12607,0.00,2.20,21.70,0.777,6,0.000,0.034,2721,2116,1983,0,0,0,0,0,0
$GC,12960,0.52,328.9,401.5,6.6,1424,13053,0.12,0.00,88.80,0.773,6,0.086,0.000,2804,2116,1686,0,0,0,0,0,0
$GC,13405,0.50,328.9,341.9,13.4,1497,13412,0.20,2.15,0.00,0.000,4,0.142,0.046,2743,3526,1678,0,0,0,0,0,0
$GC,13425,0.49,328.9,338.9,13.4,1500,13434,0.00,2.20,0.00,0.000,6,0.000,0.028,2749,2055,1677,0,0,0,0,0,0
$GC,13785,0.49,328.9,306.3,9.0,1561,13791,0.00,2.25,0.00,0.000,4,0.000,0.048,2749,3523,1676,0,0,0,0,0,0
$GC,13823,0.49,328.9,302.5,10.5,1567,13830,0.00,2.15,0.00,0.000,6,0.000,0.027,2749,2056,1676,0,0,0,0,0,0
$GC,14182,0.56,383.2,270.9,7.2,1628,14253,0.10,0.00,63.72,0.683,6,0.103,0.000,2822,2051,1464,0,0,0,0,0,0
$GC,14603,0.55,383.2,216.2,11.9,1698,14612,0.20,2.33,0.00,0.000,4,0.135,0.047,2760,3529,1458,0,0,0,0,0,0
$GC,14654,0.62,436.0,211.6,7.3,1706,14727,0.08,2.17,63.28,0.638,6,0.050,0.028,2834,2059,1247,0,0,0,0,0,0
$GC,15079,0.62,436.0,153.3,14.0,1776,15088,0.17,2.10,0.00,0.000,4,0.138,0.039,2788,660,1242,0,0,0,0,0,0
$GC,15116,0.62,436.0,149.9,10.0,1781,15124,0.00,2.20,0.00,0.000,6,0.000,0.032,2788,2125,1241,0,0,0,0,0,0
$GC,15484,0.73,514.5,123.2,6.5,1842,15583,0.12,2.28,90.50,0.579,4,0.088,0.038,2874,656,929,0,0,0,0,0,0
$GC,15605,0.73,514.5,107.3,14.1,1857,15615,0.15,2.28,0.00,0.000,6,0.091,0.035,2816,2128,927,0,0,0,0,0,0
$GC,15975,0.76,514.5,73.0,10.8,1918,15984,0.10,2.17,0.00,0.000,4,0.123,0.048,2854,3527,924,0,0,0,0,0,0
$GC,16249,0.80,514.5,45.8,9.4,1964,16259,0.03,2.17,0.00,0.000,6,0.112,0.027,2824,2042,924,0,0,0,0,0,0
$GC,16615,0.83,514.5,8.8,10.0,2025,16624,0.12,2.30,0.00,0.000,4,0.112,0.045,2875,3531,924,0,0,0,0,0,0
$STATE,16672,end climb,SURFACE_DEPTH_REACHED
$STATE,16672,begin surface coast
$FINISH,0.7,1.005625
$STATE,16710,end surface coast,CONTROL_FINISHED_OK
$STATE,16710,begin surface
$SM_CCo,16786,0.00,0.000,0,0,925,515.87
$SM_GC,1.65,6.68,0.00,0.00,0.034,0.000,0.000,198,2338,925,-7.39,-1.75,515.87
$IRIDIUM_FIX,2319.18,12631.52,241010,000025
$TT8_MAMPS,0.026215
$HUMID,50.82
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.8,48.423
$10V_AH,10.2,43.942
$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,21.950,144.025,831.725,0.000,0.000,24.182,36.322,216.305,0.000,0.000,17.814,4915.163,5641.716,821.011,5435.398,384.183,0.000,2623.312,0.000,5186.097,0.000,0.542,0.000
$DEVICE_MAMPS,299.115,66.555,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1380.231,0.000,3198.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120051,2040
$CAP_FILE_SIZE,211694,0
$CFSIZE,260165632,234188800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 10.4,1
$GPS,241010,100107,2325.564,12628.807,35,0.9,35,-3.4