version: 66.08
glider: 176
mission: 2
dive: 345
start: 10 25 110 5 26 41
data:
$ID,176
$MISSION,2
$DIVE,345
$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,-5363.9722
$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
$GPS1,251010,051931,2324.394,12628.095,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.5
$GPS2,251010,052613,2324.446,12628.025,11,1.0,16,-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,192.1,65821,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,73,0.00,0.00,-55.88,0.000,2,0.000,0.000,201,2463,2470,0,0,0,0,0,0
$GC,76,-0.53,-194.6,3.2,-3.9,7,118,8.98,2.28,-27.33,0.000,4,0.239,0.045,2413,953,3823,0,0,0,0,0,0
$GC,254,-0.52,-194.6,40.5,-20.0,35,264,0.03,2.25,0.00,0.000,6,0.203,0.043,2424,2418,3824,0,0,0,0,0,0
$GC,621,-0.51,-194.6,109.6,-13.4,96,631,0.00,2.05,0.00,0.000,4,0.000,0.054,2423,3762,3824,0,0,0,0,0,0
$GC,663,-0.51,-194.6,114.9,-12.4,102,671,0.00,2.05,0.00,0.000,6,0.000,0.027,2423,2329,3824,0,0,0,0,0,0
$GC,1029,-0.51,-194.6,160.6,-11.2,163,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2327,3824,0,0,0,0,0,0
$GC,1384,-0.51,-194.6,199.3,-10.7,224,1393,0.00,2.00,0.00,0.000,4,0.000,0.034,2423,949,3824,0,0,0,0,0,0
$GC,1444,-0.52,-194.6,205.2,-10.3,233,1451,0.00,2.20,0.00,0.000,6,0.000,0.037,2423,2437,3824,0,0,0,0,0,0
$GC,1800,-0.52,-194.6,238.3,-8.8,294,1808,0.00,2.17,0.00,0.000,4,0.000,0.032,2423,949,3823,0,0,0,0,0,0
$GC,1851,-0.53,-194.6,242.8,-8.4,302,1859,0.00,2.20,0.00,0.000,6,0.000,0.037,2423,2422,3823,0,0,0,0,0,0
$GC,2212,-0.53,-194.6,275.9,-9.0,363,2219,0.00,2.12,0.00,0.000,4,0.000,0.031,2423,948,3822,0,0,0,0,0,0
$GC,2252,-0.54,-194.6,279.4,-8.9,369,2259,0.00,2.20,0.00,0.000,6,0.000,0.039,2423,2433,3821,0,0,0,0,0,0
$GC,2608,-0.55,-194.6,307.4,-7.3,430,2617,0.05,2.20,0.00,0.000,4,0.174,0.032,2377,946,3820,0,0,0,0,0,0
$GC,2656,-0.55,-194.6,311.8,-10.2,437,2663,0.15,2.20,0.00,0.000,6,0.133,0.040,2426,2432,3819,0,0,0,0,0,0
$GC,3016,-0.56,-194.6,339.1,-8.0,498,3025,0.08,2.20,0.00,0.000,4,0.128,0.032,2363,946,3817,0,0,0,0,0,0
$GC,3087,-0.56,-194.6,346.7,-11.4,509,3094,0.17,2.20,0.00,0.000,6,0.129,0.041,2418,2424,3817,0,0,0,0,0,0
$GC,3448,-0.57,-194.6,377.8,-8.0,570,3457,0.08,2.17,0.00,0.000,4,0.129,0.032,2361,953,3815,0,0,0,0,0,0
$GC,3487,-0.57,-194.6,382.3,-11.5,576,3497,0.15,2.22,0.00,0.000,6,0.100,0.041,2417,2420,3815,0,0,0,0,0,0
$GC,3849,-0.57,-194.6,409.7,-7.2,637,3856,0.08,2.12,0.00,0.000,4,0.129,0.031,2360,951,3813,0,0,0,0,0,0
$GC,3878,-0.58,-194.6,412.3,-8.6,641,3885,0.17,2.20,0.00,0.000,6,0.127,0.041,2416,2424,3813,0,0,0,0,0,0
$GC,4238,-0.58,-194.6,438.1,-6.9,702,4247,0.08,2.17,0.00,0.000,4,0.130,0.032,2358,956,3811,0,0,0,0,0,0
$GC,4289,-0.58,-194.6,443.1,-10.1,710,4298,0.12,2.22,0.00,0.000,6,0.107,0.041,2405,2420,3810,0,0,0,0,0,0
$GC,4649,-0.59,-194.6,468.6,-6.6,771,4656,0.00,2.12,0.00,0.000,4,0.000,0.032,2405,943,3809,0,0,0,0,0,0
$GC,4701,-0.60,-194.6,472.1,-6.9,779,4708,0.05,2.22,0.00,0.000,6,0.174,0.040,2361,2432,3809,0,0,0,0,0,0
$GC,5058,-0.60,-194.6,506.0,-9.6,835,5063,0.15,2.17,0.00,0.000,4,0.135,0.031,2410,953,3807,0,0,0,0,0,0
$GC,5101,-0.61,-194.6,509.3,-6.1,838,5109,0.08,2.17,0.00,0.000,6,0.122,0.040,2351,2424,3807,0,0,0,0,0,0
$GC,5427,-0.60,-194.6,544.0,-10.8,869,5432,0.17,2.15,0.00,0.000,4,0.127,0.032,2408,946,3805,0,0,0,0,0,0
$GC,5471,-0.62,-194.6,548.0,-7.1,872,5480,0.08,2.22,0.00,0.000,6,0.125,0.041,2350,2431,3805,0,0,0,0,0,0
$GC,5796,-0.61,-194.6,583.8,-11.3,903,5801,0.17,2.15,0.00,0.000,4,0.127,0.032,2407,955,3803,0,0,0,0,0,0
$GC,5848,-0.63,-194.6,588.4,-7.4,907,5852,0.08,2.17,0.00,0.000,6,0.126,0.040,2348,2424,3803,0,0,0,0,0,0
$GC,6168,-0.62,-194.6,624.4,-11.4,927,6173,0.15,2.17,0.00,0.000,4,0.130,0.032,2398,949,3801,0,0,0,0,0,0
$GC,6201,-0.63,-194.6,627.8,-8.7,928,6210,0.08,2.20,0.00,0.000,6,0.119,0.042,2333,2421,3801,0,0,0,0,0,0
$GC,6517,-0.62,-194.6,665.7,-11.8,944,6519,0.20,0.00,0.00,0.000,6,0.125,0.000,2400,2422,3799,0,0,0,0,0,0
$GC,6826,-0.63,-194.6,684.1,-5.4,959,6831,0.08,2.15,0.00,0.000,4,0.124,0.034,2334,952,3797,0,0,0,0,0,0
$GC,6899,-0.63,-194.6,690.6,-9.5,962,6903,0.20,2.25,0.00,0.000,6,0.122,0.044,2399,2427,3796,0,0,0,0,0,0
$GC,7217,-0.64,-194.6,709.1,-6.2,977,7221,0.08,2.17,0.00,0.000,4,0.124,0.035,2333,957,3793,0,0,0,0,0,0
$GC,7299,-0.64,-194.6,717.8,-10.8,980,7308,0.15,2.25,0.00,0.000,6,0.099,0.044,2390,2416,3793,0,0,0,0,0,0
$GC,7616,-0.65,-194.6,740.7,-7.2,996,7620,0.00,2.12,0.00,0.000,4,0.000,0.034,2390,958,3791,0,0,0,0,0,0
$GC,7661,-0.66,-194.6,744.2,-8.0,998,7665,0.05,2.22,0.00,0.000,6,0.172,0.041,2336,2430,3790,0,0,0,0,0,0
$GC,7982,-0.65,-194.6,779.8,-11.5,1014,7987,0.17,2.17,0.00,0.000,4,0.127,0.034,2395,956,3788,0,0,0,0,0,0
$GC,8003,-0.65,-194.6,782.2,-9.9,1015,8008,0.08,2.20,0.00,0.000,6,0.122,0.044,2342,2418,3788,0,0,0,0,0,0
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8189,-0.11,0.0,800.6,10.6,1024,8416,0.60,0.17,218.85,0.955,6,0.099,0.076,2556,2135,3027,0,0,0,0,0,0
$STATE,8417,end apogee,CONTROL_FINISHED_OK
$STATE,8417,begin climb
$GC,8418,0.53,194.6,812.6,0.0,1034,8658,0.55,0.00,235.23,0.923,6,0.042,0.000,2803,2135,2233,0,0,0,0,0,0
$GC,8955,0.51,194.6,758.3,15.9,1060,8960,0.20,2.15,0.00,0.000,4,0.179,0.050,2749,3524,2223,0,0,0,0,0,0
$GC,9055,0.49,194.6,743.6,14.3,1064,9064,0.05,2.17,0.00,0.000,6,0.246,0.029,2742,2052,2222,0,0,0,0,0,0
$GC,9372,0.47,194.6,708.2,10.6,1080,9376,0.00,2.30,0.00,0.000,4,0.000,0.049,2742,3531,2221,0,0,0,0,0,0
$GC,9403,0.46,194.6,704.3,12.5,1081,9411,0.08,2.15,0.00,0.000,6,0.202,0.029,2730,2057,2221,0,0,0,0,0,0
$GC,9720,0.45,194.6,673.3,9.9,1097,9724,0.00,2.25,0.00,0.000,4,0.000,0.049,2730,3528,2219,0,0,0,0,0,0
$GC,9753,0.43,194.6,669.6,11.8,1098,9760,0.08,2.15,0.00,0.000,6,0.197,0.028,2717,2048,2219,0,0,0,0,0,0
$GC,10069,0.42,195.5,641.7,8.9,1114,10073,0.00,2.30,0.00,0.000,4,0.000,0.050,2717,3530,2217,0,0,0,0,0,0
$GC,10163,0.41,195.5,632.2,9.8,1118,10167,0.00,2.15,0.00,0.000,6,0.000,0.028,2721,2048,2217,0,0,0,0,0,0
$GC,10481,0.43,215.0,605.6,8.3,1133,10508,0.00,2.30,21.80,0.873,4,0.000,0.048,2721,3530,2150,0,0,0,0,0,0
$GC,10633,0.42,215.0,590.7,10.6,1144,10637,0.00,2.17,0.00,0.000,6,0.000,0.029,2721,2062,2148,0,0,0,0,0,0
$GC,10958,0.41,215.0,561.2,9.3,1174,10961,0.00,2.08,0.00,0.000,4,0.000,0.039,2722,664,2146,0,0,0,0,0,0
$GC,10993,0.41,215.0,558.0,9.1,1177,10998,0.00,2.17,0.00,0.000,6,0.000,0.034,2722,2130,2144,0,0,0,0,0,0
$GC,11319,0.41,219.6,527.9,8.7,1207,11331,0.00,2.12,5.68,0.669,4,0.000,0.047,2722,3540,2132,0,0,0,0,0,0
$GC,11370,0.40,219.6,523.0,10.2,1211,11377,0.00,2.15,0.00,0.000,6,0.000,0.029,2722,2063,2132,0,0,0,0,0,0
$GC,11702,0.48,287.2,496.8,6.8,1245,11792,0.10,0.00,82.72,0.832,6,0.107,0.000,2784,2058,1855,0,0,0,0,0,0
$GC,12142,0.47,287.2,440.2,12.3,1318,12151,0.17,0.00,0.00,0.000,6,0.144,0.000,2732,2058,1847,0,0,0,0,0,0
$GC,12502,0.47,287.2,406.2,9.1,1379,12508,0.00,2.28,0.00,0.000,4,0.000,0.050,2732,3533,1846,0,0,0,0,0,0
$GC,12552,0.47,287.2,401.2,10.0,1387,12559,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2055,1845,0,0,0,0,0,0
$GC,12908,0.47,287.2,368.1,9.2,1448,12918,0.00,2.30,0.00,0.000,4,0.000,0.049,2735,3527,1845,0,0,0,0,0,0
$GC,12967,0.47,287.2,362.6,10.3,1457,12975,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2056,1845,0,0,0,0,0,0
$GC,13325,0.50,311.2,333.2,8.1,1518,13364,0.08,2.33,27.80,0.711,4,0.130,0.048,2794,3528,1758,0,0,0,0,0,0
$GC,13391,0.48,311.2,325.8,13.5,1527,13398,0.22,2.15,0.00,0.000,6,0.138,0.029,2732,2063,1756,0,0,0,0,0,0
$GC,13752,0.56,369.0,296.5,7.1,1588,13831,0.12,0.00,70.00,0.694,6,0.088,0.000,2813,2058,1521,0,0,0,0,0,0
$GC,14183,0.55,369.0,242.6,11.9,1659,14191,0.17,2.30,0.00,0.000,4,0.138,0.048,2759,3531,1516,0,0,0,0,0,0
$GC,14212,0.54,369.0,239.5,11.4,1663,14219,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,2056,1515,0,0,0,0,0,0
$GC,14572,0.61,421.2,213.5,7.3,1724,14640,0.10,0.00,61.53,0.634,6,0.099,0.000,2835,2052,1309,0,0,0,0,0,0
$GC,14991,0.60,421.2,151.2,13.7,1793,14998,0.20,2.28,0.00,0.000,4,0.130,0.046,2771,3535,1304,0,0,0,0,0,0
$GC,15042,0.62,421.2,145.9,9.0,1801,15051,0.00,2.20,0.00,0.000,6,0.000,0.027,2776,2052,1303,0,0,0,0,0,0
$GC,15411,0.76,511.7,121.4,6.1,1862,15526,0.17,2.15,105.38,0.573,4,0.081,0.036,2852,656,940,0,0,0,0,0,0
$GC,15556,0.79,519.6,109.4,8.6,1880,15575,0.03,2.25,10.77,0.499,6,0.109,0.031,2832,2130,908,0,0,0,0,0,0
$GC,15928,0.85,541.0,72.0,8.2,1942,15963,0.12,2.15,25.27,0.518,4,0.125,0.046,2876,3540,819,0,0,0,0,0,0
$GC,16225,0.88,541.0,40.5,12.3,1991,16235,0.03,2.20,0.00,0.000,6,0.100,0.028,2838,2051,819,0,0,0,0,0,0
$STATE,16570,end climb,SURFACE_DEPTH_REACHED
$STATE,16570,begin surface coast
$FINISH,0.8,1.022244
$STATE,16603,end surface coast,CONTROL_FINISHED_OK
$STATE,16603,begin surface
$SM_CCo,16678,0.00,0.000,0,0,819,541.62
$SM_GC,1.61,6.57,0.00,0.00,0.033,0.000,0.000,199,2450,819,-7.39,1.41,541.62
$IRIDIUM_FIX,2314.48,12630.12,251010,000010
$TT8_MAMPS,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.9,49.472
$10V_AH,10.2,45.128
$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,21.775,145.725,865.025,0.000,0.000,24.845,18.557,198.178,0.000,0.000,18.630,4927.274,5434.796,896.470,5441.365,357.105,0.000,2686.955,0.000,5215.032,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,76.500,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1388.334,0.000,3284.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120027,2054
$CAP_FILE_SIZE,209046,0
$CFSIZE,260165632,233656320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,  7.1,1
$GPS,251010,100537,2323.621,12628.644,30,0.9,30,-3.4