version: 66.08
glider: 176
mission: 2
dive: 343
start: 10 24 110 19 46 59
data:
$ID,176
$MISSION,2
$DIVE,343
$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,-5361.4595
$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
$GPS1,241010,193955,2325.066,12628.915,37,1.6,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.0
$GPS2,241010,194631,2325.112,12628.932,13,1.1,13,-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,200.5,67791,-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,-194.6,0.0,0.0,0,65,0.00,0.00,-47.70,0.000,2,0.000,0.000,199,2340,2445,0,0,0,0,0,0
$GC,67,-0.53,-194.6,3.2,-3.8,6,110,8.95,2.10,-27.67,0.000,4,0.236,0.047,2416,941,3824,0,0,0,0,0,0
$GC,265,-0.52,-194.6,42.5,-18.0,37,273,0.00,2.28,0.00,0.000,6,0.000,0.042,2417,2423,3824,0,0,0,0,0,0
$GC,630,-0.50,-194.6,113.5,-19.0,98,640,0.08,2.08,0.00,0.000,4,0.206,0.054,2436,3765,3824,0,0,0,0,0,0
$GC,720,-0.51,-194.6,125.3,-10.0,112,730,0.03,2.05,0.00,0.000,6,0.105,0.026,2395,2326,3825,0,0,0,0,0,0
$GC,1086,-0.50,-194.6,180.6,-13.5,173,1095,0.15,2.00,0.00,0.000,4,0.155,0.033,2441,943,3824,0,0,0,0,0,0
$GC,1151,-0.51,-194.6,186.9,-8.1,183,1158,0.08,2.20,0.00,0.000,6,0.124,0.038,2384,2431,3825,0,0,0,0,0,0
$GC,1510,-0.50,-194.6,233.4,-13.7,244,1519,0.17,0.00,0.00,0.000,6,0.145,0.000,2439,2431,3825,0,0,0,0,0,0
$GC,1873,-0.51,-194.6,265.1,-8.7,305,1880,0.08,2.15,0.00,0.000,4,0.129,0.034,2377,950,3824,0,0,0,0,0,0
$GC,1928,-0.51,-194.6,271.6,-12.1,314,1937,0.15,2.22,0.00,0.000,6,0.110,0.040,2432,2427,3824,0,0,0,0,0,0
$GC,2289,-0.52,-194.6,297.2,-6.3,375,2297,0.05,2.15,0.00,0.000,4,0.179,0.033,2383,947,3822,0,0,0,0,0,0
$GC,2341,-0.52,-194.6,301.7,-9.1,383,2349,0.15,2.20,0.00,0.000,6,0.135,0.040,2431,2426,3822,0,0,0,0,0,0
$GC,2701,-0.53,-194.6,326.0,-6.8,444,2712,0.08,2.17,0.00,0.000,4,0.130,0.034,2373,959,3820,0,0,0,0,0,0
$GC,2753,-0.53,-194.6,331.3,-10.8,452,2763,0.12,2.20,0.00,0.000,6,0.102,0.041,2423,2417,3820,0,0,0,0,0,0
$GC,3115,-0.54,-194.6,356.9,-6.2,513,3122,0.00,2.10,0.00,0.000,4,0.000,0.032,2423,952,3818,0,0,0,0,0,0
$GC,3167,-0.55,-194.6,360.5,-7.3,521,3174,0.08,2.20,0.00,0.000,6,0.125,0.039,2367,2432,3818,0,0,0,0,0,0
$GC,3526,-0.55,-194.6,402.1,-12.5,582,3535,0.17,2.20,0.00,0.000,4,0.133,0.033,2424,953,3816,0,0,0,0,0,0
$GC,3578,-0.56,-194.6,406.8,-7.9,590,3588,0.05,2.22,0.00,0.000,6,0.067,0.039,2366,2431,3816,0,0,0,0,0,0
$GC,3940,-0.56,-194.6,443.4,-9.5,651,3947,0.17,0.00,0.00,0.000,6,0.132,0.000,2423,2432,3814,0,0,0,0,0,0
$GC,4297,-0.57,-194.6,468.4,-7.4,712,4307,0.08,2.20,0.00,0.000,4,0.129,0.034,2371,955,3812,0,0,0,0,0,0
$GC,4360,-0.57,-194.6,475.1,-11.0,722,4370,0.10,2.22,0.00,0.000,6,0.106,0.041,2411,2419,3811,0,0,0,0,0,0
$GC,4721,-0.58,-194.6,503.8,-6.8,779,4725,0.00,2.12,0.00,0.000,4,0.000,0.033,2411,949,3810,0,0,0,0,0,0
$GC,4765,-0.59,-194.6,507.0,-7.1,782,4772,0.08,2.22,0.00,0.000,6,0.123,0.040,2349,2434,3809,0,0,0,0,0,0
$GC,5090,-0.59,-194.6,542.0,-10.8,813,5095,0.17,2.17,0.00,0.000,4,0.129,0.031,2406,953,3808,0,0,0,0,0,0
$GC,5131,-0.60,-194.6,545.1,-6.8,816,5135,0.00,2.22,0.00,0.000,6,0.000,0.041,2404,2433,3807,0,0,0,0,0,0
$GC,5457,-0.60,-194.6,562.6,-5.1,846,5461,0.05,2.17,0.00,0.000,4,0.182,0.032,2358,949,3805,0,0,0,0,0,0
$GC,5507,-0.60,-194.6,566.5,-7.7,850,5511,0.15,2.22,0.00,0.000,6,0.129,0.042,2406,2423,3805,0,0,0,0,0,0
$GC,5833,-0.61,-194.6,583.8,-6.0,880,5837,0.08,2.15,0.00,0.000,4,0.129,0.033,2349,953,3803,0,0,0,0,0,0
$GC,5883,-0.61,-194.6,588.3,-9.5,884,5888,0.17,2.22,0.00,0.000,6,0.124,0.043,2405,2425,3803,0,0,0,0,0,0
$GC,6215,-0.62,-194.6,612.2,-7.4,907,6220,0.08,2.15,0.00,0.000,4,0.129,0.034,2348,955,3801,0,0,0,0,0,0
$GC,6269,-0.62,-194.6,618.1,-10.6,909,6279,0.12,2.25,0.00,0.000,6,0.103,0.043,2395,2423,3800,0,0,0,0,0,0
$GC,6587,-0.63,-194.6,642.0,-7.2,925,6591,0.00,2.15,0.00,0.000,4,0.000,0.034,2396,946,3799,0,0,0,0,0,0
$GC,6627,-0.64,-194.6,644.8,-7.2,927,6632,0.05,2.22,0.00,0.000,6,0.171,0.041,2345,2422,3798,0,0,0,0,0,0
$GC,6955,-0.64,-194.6,677.7,-10.0,943,6959,0.15,2.17,0.00,0.000,4,0.132,0.034,2395,956,3796,0,0,0,0,0,0
$GC,7002,-0.65,-194.6,681.3,-6.5,945,7006,0.08,2.22,0.00,0.000,6,0.122,0.043,2338,2430,3795,0,0,0,0,0,0
$GC,7335,-0.64,-194.6,715.1,-10.5,961,7340,0.17,2.17,0.00,0.000,4,0.128,0.034,2396,955,3794,0,0,0,0,0,0
$GC,7381,-0.65,-194.6,718.5,-6.0,963,7386,0.08,2.22,0.00,0.000,6,0.122,0.043,2335,2428,3793,0,0,0,0,0,0
$GC,7713,-0.65,-194.6,749.9,-9.3,979,7718,0.17,2.17,0.00,0.000,4,0.125,0.034,2393,949,3790,0,0,0,0,0,0
$GC,7757,-0.66,-194.6,752.8,-4.7,981,7762,0.08,2.25,0.00,0.000,6,0.123,0.043,2334,2429,3791,0,0,0,0,0,0
$GC,8079,-0.66,-194.6,781.4,-9.5,997,8083,0.17,2.17,0.00,0.000,4,0.126,0.035,2393,957,3788,0,0,0,0,0,0
$GC,8128,-0.67,-194.6,785.2,-6.3,999,8133,0.08,2.22,0.00,0.000,6,0.123,0.043,2332,2422,3788,0,0,0,0,0,0
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8303,-0.11,0.0,801.6,10.5,1007,8530,0.65,0.17,219.60,0.962,6,0.104,0.073,2562,2146,3027,0,0,0,0,0,0
$STATE,8533,end apogee,CONTROL_FINISHED_OK
$STATE,8533,begin climb
$GC,8535,0.53,194.6,813.5,0.0,1017,8780,0.52,2.40,234.23,0.931,4,0.041,0.037,2813,669,2232,0,0,0,0,0,0
$GC,9032,0.51,194.6,769.5,14.8,1040,9037,0.22,2.20,0.00,0.000,6,0.168,0.036,2750,2124,2224,0,0,0,0,0,0
$GC,9354,0.49,194.6,732.4,11.4,1056,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2124,2221,0,0,0,0,0,0
$GC,9664,0.48,194.6,698.5,10.3,1071,9668,0.05,2.20,0.00,0.000,4,0.251,0.040,2738,662,2219,0,0,0,0,0,0
$GC,9703,0.47,194.6,694.6,9.3,1073,9707,0.00,2.20,0.00,0.000,6,0.000,0.038,2738,2132,2218,0,0,0,0,0,0
$GC,10030,0.45,194.6,664.1,9.1,1089,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2133,2217,0,0,0,0,0,0
$GC,10340,0.44,194.6,633.6,10.2,1104,10345,0.05,2.12,0.00,0.000,4,0.232,0.051,2724,3537,2217,0,0,0,0,0,0
$GC,10389,0.43,194.6,627.8,11.7,1106,10394,0.05,2.17,0.00,0.000,6,0.233,0.029,2722,2059,2217,0,0,0,0,0,0
$GC,10713,0.42,194.6,594.7,10.3,1124,10717,0.00,2.25,0.00,0.000,4,0.000,0.050,2721,3528,2215,0,0,0,0,0,0
$GC,10819,0.41,194.6,583.0,11.1,1133,10823,0.00,2.15,0.00,0.000,6,0.000,0.030,2721,2061,2215,0,0,0,0,0,0
$GC,11144,0.47,253.4,555.9,7.1,1163,11223,0.10,2.17,67.75,0.871,4,0.106,0.041,2794,669,1991,0,0,0,0,0,0
$GC,11260,0.46,253.4,543.5,11.9,1173,11265,0.22,2.22,0.00,0.000,6,0.142,0.035,2727,2129,1988,0,0,0,0,0,0
$GC,11585,0.48,272.1,517.4,8.3,1203,11613,0.08,2.17,22.05,0.817,4,0.122,0.047,2785,3532,1918,0,0,0,0,0,0
$GC,11652,0.46,272.1,508.9,14.9,1208,11660,0.22,2.20,0.00,0.000,6,0.145,0.028,2728,2062,1916,0,0,0,0,0,0
$GC,11990,0.49,294.6,479.5,8.2,1260,12027,0.08,0.00,28.83,0.807,6,0.127,0.000,2781,2058,1824,0,0,0,0,0,0
$GC,12369,0.47,294.6,435.8,11.3,1325,12377,0.15,2.30,0.00,0.000,4,0.147,0.050,2736,3525,1819,0,0,0,0,0,0
$GC,12431,0.47,294.6,429.5,9.9,1335,12437,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2051,1818,0,0,0,0,0,0
$GC,12778,0.47,294.6,398.0,9.2,1396,12787,0.00,2.33,0.00,0.000,4,0.000,0.049,2735,3530,1817,0,0,0,0,0,0
$GC,12817,0.47,294.6,394.4,10.0,1402,12826,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2066,1817,0,0,0,0,0,0
$GC,13168,0.57,373.2,366.7,6.5,1463,13274,0.12,2.20,94.93,0.747,4,0.089,0.039,2829,665,1504,0,0,0,0,0,0
$GC,13318,0.56,373.2,348.5,12.9,1485,13326,0.22,2.22,0.00,0.000,6,0.129,0.034,2760,2127,1500,0,0,0,0,0,0
$GC,13670,0.56,373.2,314.6,11.3,1546,13679,0.05,2.17,0.00,0.000,4,0.170,0.048,2817,3530,1496,0,0,0,0,0,0
$GC,13716,0.55,373.2,307.8,15.9,1553,13724,0.20,2.17,0.00,0.000,6,0.133,0.028,2755,2054,1496,0,0,0,0,0,0
$GC,14067,0.56,373.2,271.7,9.2,1614,14076,0.08,2.10,0.00,0.000,4,0.124,0.041,2822,660,1495,0,0,0,0,0,0
$GC,14094,0.56,373.2,268.8,9.4,1618,14104,0.17,2.22,0.00,0.000,6,0.105,0.036,2759,2129,1495,0,0,0,0,0,0
$GC,14447,0.59,394.3,239.3,8.2,1679,14478,0.10,2.20,24.50,0.643,4,0.099,0.049,2833,3528,1418,0,0,0,0,0,0
$GC,14531,0.58,394.3,227.5,15.7,1692,14541,0.20,2.20,0.00,0.000,6,0.111,0.029,2771,2062,1417,0,0,0,0,0,0
$GC,14886,0.65,445.5,198.2,7.3,1753,14951,0.10,0.00,61.67,0.625,6,0.099,0.000,2844,2058,1211,0,0,0,0,0,0
$GC,15297,0.64,445.5,141.4,12.8,1822,15307,0.17,2.30,0.00,0.000,4,0.130,0.047,2787,3522,1205,0,0,0,0,0,0
$GC,15328,0.64,445.5,138.1,10.9,1826,15337,0.00,2.17,0.00,0.000,6,0.000,0.027,2789,2060,1204,0,0,0,0,0,0
$GC,15697,0.68,458.3,113.0,8.5,1887,15723,0.10,2.10,15.70,0.540,4,0.109,0.040,2847,667,1158,0,0,0,0,0,0
$GC,15740,0.71,470.2,109.4,8.5,1892,15768,0.10,2.20,15.45,0.532,6,0.096,0.033,2805,2135,1110,0,0,0,0,0,0
$GC,16123,0.75,471.5,74.4,8.9,1955,16132,0.10,2.15,0.00,0.000,4,0.126,0.047,2847,3527,1107,0,0,0,0,0,0
$GC,16397,0.78,471.5,49.4,8.9,2001,16406,0.03,2.15,0.00,0.000,6,0.109,0.028,2823,2054,1107,0,0,0,0,0,0
$GC,16762,0.82,471.5,15.4,9.3,2062,16771,0.12,2.28,0.00,0.000,4,0.113,0.045,2870,3532,1107,0,0,0,0,0,0
$GC,16815,0.89,500.8,10.5,8.0,2070,16856,0.00,2.15,32.55,0.483,6,0.000,0.028,2870,2056,984,0,0,0,0,0,0
$STATE,16908,end climb,SURFACE_DEPTH_REACHED
$STATE,16908,begin surface coast
$FINISH,0.9,1.008897
$STATE,16954,end surface coast,CONTROL_FINISHED_OK
$STATE,16954,begin surface
$SM_CCo,17029,0.00,0.000,0,0,981,501.88
$SM_GC,1.79,6.70,0.00,0.00,0.034,0.000,0.000,198,2446,981,-7.40,1.30,501.88
$IRIDIUM_FIX,2316.83,12628.24,241010,141442
$TT8_MAMPS,0.026215
$HUMID,49.76
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,49.046
$10V_AH,10.3,44.653
$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,23.625,154.575,817.250,0.000,0.000,24.327,20.452,197.004,0.000,0.000,16.069,5073.452,5538.738,838.627,5568.322,381.225,0.000,2690.517,0.000,5349.692,0.000,0.544,0.000
$DEVICE_MAMPS,250.920,72.675,962.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1414.702,0.000,3303.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123666,2091
$CAP_FILE_SIZE,220208,0
$CFSIZE,260165632,233857024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,353.8,1
$GPS,251010,003155,2324.556,12629.086,39,1.5,39,-3.4