version: 66.08
glider: 176
mission: 2
dive: 342
start: 10 24 110 14 58 59
data:
$ID,176
$MISSION,2
$DIVE,342
$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,-5360.2007
$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
$GPS1,241010,145131,2325.174,12628.148,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.5
$GPS2,241010,145831,2325.280,12628.136,11,1.3,16,-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,192.8,67026,-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,-194.6,0.0,0.0,0,66,0.00,0.00,-49.10,0.000,2,0.000,0.000,192,2339,2410,0,0,0,0,0,0
$GC,69,-0.53,-194.6,3.1,-3.9,6,118,8.95,2.08,-29.70,0.000,4,0.236,0.046,2414,946,3823,0,0,0,0,0,0
$GC,221,-0.52,-194.6,34.0,-19.0,29,229,0.00,2.28,0.00,0.000,6,0.000,0.044,2414,2423,3824,0,0,0,0,0,0
$GC,587,-0.51,-194.6,108.0,-14.4,90,596,0.08,2.08,0.00,0.000,4,0.209,0.054,2434,3763,3824,0,0,0,0,0,0
$GC,652,-0.52,-194.6,115.5,-8.7,100,663,0.03,2.05,0.00,0.000,6,0.113,0.027,2389,2326,3824,0,0,0,0,0,0
$GC,1019,-0.51,-194.6,176.8,-16.4,161,1026,0.15,2.00,0.00,0.000,4,0.154,0.034,2435,947,3824,0,0,0,0,0,0
$GC,1071,-0.52,-194.6,182.8,-9.7,169,1078,0.08,2.20,0.00,0.000,6,0.125,0.037,2383,2433,3825,0,0,0,0,0,0
$GC,1433,-0.51,-194.6,231.2,-11.9,230,1442,0.17,2.05,0.00,0.000,4,0.145,0.054,2439,3764,3825,0,0,0,0,0,0
$GC,1469,-0.51,-194.6,234.6,-9.1,235,1476,0.08,2.03,0.00,0.000,6,0.127,0.026,2390,2320,3825,0,0,0,0,0,0
$GC,1829,-0.51,-194.6,273.0,-12.1,296,1839,0.15,2.00,0.00,0.000,4,0.140,0.032,2439,952,3824,0,0,0,0,0,0
$GC,1854,-0.51,-194.6,275.4,-10.6,299,1861,0.08,2.20,0.00,0.000,6,0.125,0.037,2388,2435,3824,0,0,0,0,0,0
$GC,2214,-0.51,-194.6,313.3,-10.6,360,2223,0.15,0.00,0.00,0.000,6,0.136,0.000,2437,2435,3822,0,0,0,0,0,0
$GC,2577,-0.52,-194.6,335.7,-5.8,421,2584,0.08,2.17,0.00,0.000,4,0.128,0.032,2376,948,3820,0,0,0,0,0,0
$GC,2617,-0.52,-194.6,339.3,-9.5,427,2625,0.17,2.20,0.00,0.000,6,0.125,0.040,2432,2426,3820,0,0,0,0,0,0
$GC,2978,-0.53,-194.6,365.0,-7.9,488,2988,0.08,2.17,0.00,0.000,4,0.131,0.033,2375,959,3818,0,0,0,0,0,0
$GC,3006,-0.53,-194.6,367.9,-9.4,492,3017,0.12,2.20,0.00,0.000,6,0.104,0.041,2423,2416,3817,0,0,0,0,0,0
$GC,3369,-0.54,-194.6,397.0,-7.1,553,3376,0.00,2.12,0.00,0.000,4,0.000,0.032,2423,952,3816,0,0,0,0,0,0
$GC,3409,-0.56,-194.6,399.8,-6.8,559,3417,0.08,2.20,0.00,0.000,6,0.125,0.037,2362,2435,3816,0,0,0,0,0,0
$GC,3769,-0.55,-194.6,438.2,-10.3,620,3778,0.20,0.00,0.00,0.000,6,0.129,0.000,2427,2435,3814,0,0,0,0,0,0
$GC,4133,-0.57,-194.6,459.7,-6.3,681,4141,0.10,2.17,0.00,0.000,4,0.109,0.033,2375,953,3812,0,0,0,0,0,0
$GC,4188,-0.57,-194.6,464.7,-9.0,690,4197,0.10,2.22,0.00,0.000,6,0.103,0.040,2415,2424,3811,0,0,0,0,0,0
$GC,4547,-0.59,-194.6,494.3,-7.7,751,4554,0.08,2.03,0.00,0.000,4,0.129,0.051,2373,3773,3809,0,0,0,0,0,0
$GC,4587,-0.61,-194.6,497.5,-7.7,757,4594,0.10,2.03,0.00,0.000,6,0.106,0.027,2413,2325,3809,0,0,0,0,0,0
$GC,4922,-0.64,-194.6,521.6,-7.5,791,4927,0.12,2.22,0.00,0.000,4,0.108,0.052,2362,3766,3807,0,0,0,0,0,0
$GC,5030,-0.66,-194.6,530.3,-7.2,800,5035,0.08,2.00,0.00,0.000,6,0.136,0.026,2392,2335,3806,0,0,0,0,0,0
$GC,5356,-0.68,-194.6,556.9,-8.7,830,5360,0.10,2.03,0.00,0.000,4,0.109,0.033,2327,953,3804,0,0,0,0,0,0
$GC,5402,-0.67,-194.6,562.0,-12.0,834,5407,0.17,2.22,0.00,0.000,6,0.139,0.042,2381,2421,3804,0,0,0,0,0,0
$GC,5727,-0.67,-194.6,592.8,-8.8,864,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2422,3802,0,0,0,0,0,0
$GC,6040,-0.68,-194.6,618.0,-7.5,883,6044,0.05,2.15,0.00,0.000,4,0.171,0.032,2335,954,3801,0,0,0,0,0,0
$GC,6094,-0.67,-194.6,623.6,-10.2,885,6102,0.15,2.20,0.00,0.000,6,0.132,0.042,2384,2428,3800,0,0,0,0,0,0
$GC,6412,-0.68,-194.6,646.2,-6.9,901,6416,0.08,2.17,0.00,0.000,4,0.125,0.033,2322,943,3798,0,0,0,0,0,0
$GC,6451,-0.67,-194.6,650.3,-11.6,903,6456,0.20,2.22,0.00,0.000,6,0.128,0.041,2386,2431,3799,0,0,0,0,0,0
$GC,6780,-0.68,-194.6,676.0,-8.1,919,6784,0.08,2.17,0.00,0.000,4,0.123,0.031,2322,946,3796,0,0,0,0,0,0
$GC,6825,-0.67,-194.6,681.3,-12.8,921,6830,0.17,2.22,0.00,0.000,6,0.130,0.041,2379,2421,3795,0,0,0,0,0,0
$GC,7158,-0.68,-194.6,712.5,-9.7,937,7162,0.00,2.15,0.00,0.000,4,0.000,0.033,2378,944,3794,0,0,0,0,0,0
$GC,7185,-0.68,-194.6,715.5,-10.1,938,7190,0.00,2.28,0.00,0.000,6,0.000,0.042,2377,2426,3794,0,0,0,0,0,0
$GC,7507,-0.69,-194.6,745.7,-9.2,954,7511,0.00,2.15,0.00,0.000,4,0.000,0.034,2377,953,3792,0,0,0,0,0,0
$GC,7540,-0.69,-194.6,749.0,-10.2,955,7548,0.05,2.22,0.00,0.000,6,0.174,0.043,2331,2421,3791,0,0,0,0,0,0
$GC,7856,-0.69,-194.6,786.0,-11.2,971,7861,0.15,2.17,0.00,0.000,4,0.137,0.033,2381,958,3789,0,0,0,0,0,0
$GC,7884,-0.69,-194.6,788.6,-8.5,972,7888,0.05,2.22,0.00,0.000,6,0.169,0.044,2324,2430,3789,0,0,0,0,0,0
$STATE,7991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,7996,-0.11,0.0,800.2,11.4,977,8228,0.68,0.17,219.25,0.959,6,0.105,0.074,2561,2146,3027,0,0,0,0,0,0
$STATE,8229,end apogee,CONTROL_FINISHED_OK
$STATE,8229,begin climb
$GC,8231,0.53,194.6,810.9,0.0,988,8476,0.52,2.40,234.23,0.929,4,0.037,0.037,2818,669,2232,0,0,0,0,0,0
$GC,8692,0.51,194.6,771.2,15.8,1009,8697,0.25,2.22,0.00,0.000,6,0.168,0.036,2748,2120,2224,0,0,0,0,0,0
$GC,9020,0.49,194.6,737.6,9.7,1025,9024,0.00,2.15,0.00,0.000,4,0.000,0.049,2748,3526,2221,0,0,0,0,0,0
$GC,9076,0.47,194.6,731.2,11.1,1027,9080,0.08,2.15,0.00,0.000,6,0.208,0.029,2731,2056,2221,0,0,0,0,0,0
$GC,9392,0.46,194.6,702.3,9.8,1042,9396,0.00,2.25,0.00,0.000,4,0.000,0.049,2731,3526,2219,0,0,0,0,0,0
$GC,9442,0.45,194.6,696.8,11.2,1044,9446,0.00,2.17,0.00,0.000,6,0.000,0.028,2737,2046,2219,0,0,0,0,0,0
$GC,9763,0.43,194.6,663.7,10.5,1060,9768,0.05,2.28,0.00,0.000,4,0.246,0.048,2725,3525,2218,0,0,0,0,0,0
$GC,9796,0.42,194.6,659.9,10.9,1061,9800,0.08,2.12,0.00,0.000,6,0.195,0.027,2715,2057,2218,0,0,0,0,0,0
$GC,10118,0.41,194.6,628.3,9.8,1077,10121,0.00,2.08,0.00,0.000,4,0.000,0.038,2722,656,2216,0,0,0,0,0,0
$GC,10190,0.41,194.6,621.0,9.9,1080,10194,0.00,2.20,0.00,0.000,6,0.000,0.034,2722,2140,2215,0,0,0,0,0,0
$GC,10511,0.45,231.7,593.1,7.7,1099,10560,0.05,2.33,42.08,0.885,4,0.178,0.041,2777,659,2081,0,0,0,0,0,0
$GC,10600,0.43,231.7,583.4,11.0,1107,10605,0.20,2.22,0.00,0.000,6,0.145,0.035,2717,2120,2078,0,0,0,0,0,0
$GC,10926,0.47,266.6,556.2,7.8,1137,10975,0.10,2.25,41.85,0.856,4,0.102,0.049,2783,3526,1939,0,0,0,0,0,0
$GC,11017,0.45,266.6,545.1,14.8,1145,11021,0.20,2.20,0.00,0.000,6,0.150,0.028,2731,2055,1937,0,0,0,0,0,0
$GC,11342,0.45,266.6,514.0,9.6,1175,11346,0.00,2.30,0.00,0.000,4,0.000,0.048,2731,3533,1933,0,0,0,0,0,0
$GC,11382,0.45,266.6,509.8,10.6,1178,11386,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2063,1933,0,0,0,0,0,0
$GC,11730,0.44,266.6,474.1,10.2,1229,11737,0.00,2.28,0.00,0.000,4,0.000,0.049,2735,3531,1932,0,0,0,0,0,0
$GC,11770,0.44,266.6,469.8,11.4,1235,11776,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2057,1931,0,0,0,0,0,0
$GC,12130,0.45,280.3,437.1,8.5,1296,12154,0.00,2.30,16.60,0.767,4,0.000,0.047,2735,3537,1883,0,0,0,0,0,0
$GC,12184,0.45,280.3,431.8,10.1,1304,12193,0.00,2.20,0.00,0.000,6,0.000,0.028,2735,2068,1882,0,0,0,0,0,0
$GC,12546,0.47,297.8,400.7,8.3,1365,12574,0.00,0.00,21.92,0.754,6,0.000,0.000,2735,2066,1813,0,0,0,0,0,0
$GC,12927,0.50,321.6,368.5,8.1,1429,12963,0.08,2.17,30.58,0.739,4,0.132,0.039,2802,663,1714,0,0,0,0,0,0
$GC,12984,0.49,321.6,362.2,11.8,1437,12992,0.20,2.20,0.00,0.000,6,0.135,0.034,2741,2124,1712,0,0,0,0,0,0
$GC,13345,0.56,376.5,333.7,7.2,1498,13425,0.10,2.25,67.05,0.721,4,0.103,0.050,2813,3525,1490,0,0,0,0,0,0
$GC,13486,0.55,376.5,314.5,15.1,1519,13493,0.20,2.20,0.00,0.000,6,0.135,0.028,2756,2064,1487,0,0,0,0,0,0
$GC,13845,0.56,386.3,281.5,8.6,1580,13862,0.08,0.00,11.38,0.626,6,0.125,0.000,2819,2059,1452,0,0,0,0,0,0
$GC,14214,0.55,386.3,229.8,13.4,1642,14223,0.20,2.30,0.00,0.000,4,0.132,0.046,2755,3533,1449,0,0,0,0,0,0
$GC,14249,0.55,386.3,225.6,11.5,1647,14256,0.08,2.17,0.00,0.000,6,0.118,0.027,2823,2045,1448,0,0,0,0,0,0
$GC,14609,0.54,386.3,178.9,11.9,1708,14619,0.22,2.08,0.00,0.000,4,0.132,0.039,2751,666,1448,0,0,0,0,0,0
$GC,14646,0.57,400.4,176.0,8.5,1713,14676,0.10,2.15,18.12,0.596,6,0.099,0.033,2819,2133,1394,0,0,0,0,0,0
$GC,15032,0.56,400.4,136.9,10.5,1777,15042,0.17,2.25,0.00,0.000,4,0.125,0.040,2763,660,1391,0,0,0,0,0,0
$GC,15050,0.56,400.4,135.0,10.1,1779,15059,0.00,2.20,0.00,0.000,6,0.000,0.034,2763,2120,1390,0,0,0,0,0,0
$GC,15417,0.60,400.4,108.3,9.2,1840,15426,0.10,2.15,0.00,0.000,4,0.135,0.047,2799,3521,1390,0,0,0,0,0,0
$GC,15688,0.72,475.9,87.4,6.6,1886,15787,0.08,2.15,89.18,0.551,6,0.077,0.028,2837,2047,1085,0,0,0,0,0,0
$GC,16140,0.76,485.3,52.5,8.6,1958,16158,0.00,2.08,11.32,0.475,4,0.000,0.037,2837,649,1047,0,0,0,0,0,0
$GC,16257,0.79,485.3,42.3,8.9,1976,16266,0.00,2.22,0.00,0.000,6,0.000,0.033,2837,2133,1046,0,0,0,0,0,0
$GC,16615,0.82,485.3,9.0,10.0,2037,16624,0.08,2.15,0.00,0.000,4,0.153,0.046,2869,3537,1046,0,0,0,0,0,0
$STATE,16676,end climb,SURFACE_DEPTH_REACHED
$STATE,16677,begin surface coast
$FINISH,0.7,1.006893
$STATE,16714,end surface coast,CONTROL_FINISHED_OK
$STATE,16714,begin surface
$SM_CCo,16791,0.00,0.000,0,0,1046,485.94
$SM_GC,1.61,6.62,0.00,0.00,0.031,0.000,0.000,199,2341,1046,-7.39,-1.67,485.94
$IRIDIUM_FIX,2314.48,12626.84,241010,101026
$TT8_MAMPS,0.025466
$HUMID,50.07
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.8,48.839
$10V_AH,10.3,44.413
$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,22.950,156.850,803.550,0.000,0.000,23.003,37.828,200.625,0.000,0.000,19.115,4977.389,5478.346,831.103,5516.167,384.521,0.000,2652.402,0.000,5276.437,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,74.205,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1388.884,0.000,3297.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120067,2053
$CAP_FILE_SIZE,217129,0
$CFSIZE,260165632,233967616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274, 16.2,1
$GPS,241010,193955,2325.066,12628.915,37,1.6,37,-3.4