version: 66.08
glider: 176
mission: 2
dive: 347
start: 10 25 110 15 13 23
data:
$ID,176
$MISSION,2
$DIVE,347
$N_DIVES,360
$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,-5366.4868
$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
$GPS1,251010,150601,2323.303,12628.114,38,1.8,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.4
$GPS2,251010,151255,2323.356,12628.061,8,1.1,13,-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,190.8,64493,-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,-194.6,0.0,0.0,0,76,0.00,0.00,-59.25,0.000,2,0.000,0.000,199,2447,2561,0,0,0,0,0,0
$GC,79,-0.53,-194.6,3.5,-4.1,7,121,8.93,2.22,-23.67,0.000,4,0.236,0.043,2418,949,3824,0,0,0,0,0,0
$GC,253,-0.52,-194.6,42.2,-20.1,34,262,0.00,2.25,0.00,0.000,6,0.000,0.044,2419,2415,3825,0,0,0,0,0,0
$GC,619,-0.51,-194.6,119.7,-15.1,95,628,0.03,2.08,0.00,0.000,4,0.304,0.054,2429,3759,3825,0,0,0,0,0,0
$GC,674,-0.51,-194.6,126.7,-10.2,103,683,0.00,2.05,0.00,0.000,6,0.000,0.027,2429,2329,3825,0,0,0,0,0,0
$GC,1033,-0.51,-194.6,167.7,-11.5,164,1042,0.00,2.00,0.00,0.000,4,0.000,0.032,2429,949,3825,0,0,0,0,0,0
$GC,1067,-0.52,-194.6,171.0,-10.6,169,1075,0.00,2.20,0.00,0.000,6,0.000,0.038,2429,2434,3825,0,0,0,0,0,0
$GC,1420,-0.52,-194.6,206.5,-9.7,230,1428,0.00,2.03,0.00,0.000,4,0.000,0.052,2429,3767,3825,0,0,0,0,0,0
$GC,1453,-0.53,-194.6,210.0,-9.6,235,1461,0.05,2.00,0.00,0.000,6,0.174,0.026,2381,2323,3825,0,0,0,0,0,0
$GC,1803,-0.52,-194.6,255.1,-12.6,296,1811,0.15,0.00,0.00,0.000,6,0.148,0.000,2428,2321,3824,0,0,0,0,0,0
$GC,2155,-0.53,-194.6,282.8,-9.0,357,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2321,3823,0,0,0,0,0,0
$GC,2503,-0.53,-194.6,312.4,-7.9,418,2512,0.08,2.25,0.00,0.000,4,0.128,0.052,2363,3770,3822,0,0,0,0,0,0
$GC,2527,-0.54,-194.6,314.6,-8.5,421,2535,0.20,2.00,0.00,0.000,6,0.112,0.025,2431,2324,3822,0,0,0,0,0,0
$GC,2880,-0.55,-194.6,338.8,-5.6,482,2888,0.08,0.00,0.00,0.000,6,0.132,0.000,2375,2322,3819,0,0,0,0,0,0
$GC,3230,-0.54,-194.6,374.3,-10.9,543,3238,0.15,1.98,0.00,0.000,4,0.132,0.033,2424,948,3817,0,0,0,0,0,0
$GC,3270,-0.55,-194.6,377.8,-8.0,549,3279,0.08,2.20,0.00,0.000,6,0.123,0.038,2373,2431,3817,0,0,0,0,0,0
$GC,3621,-0.55,-194.6,419.0,-12.1,610,3631,0.15,2.05,0.00,0.000,4,0.132,0.054,2420,3759,3816,0,0,0,0,0,0
$GC,3645,-0.55,-194.6,421.6,-11.7,613,3653,0.00,2.00,0.00,0.000,6,0.000,0.027,2420,2335,3816,0,0,0,0,0,0
$GC,3993,-0.58,-194.6,449.0,-8.0,674,4003,0.08,2.03,0.00,0.000,4,0.130,0.034,2386,958,3814,0,0,0,0,0,0
$GC,4100,-0.60,-194.6,456.7,-7.0,691,4108,0.05,2.15,0.00,0.000,6,0.172,0.034,2415,2437,3813,0,0,0,0,0,0
$GC,4455,-0.64,-194.6,484.6,-9.7,752,4464,0.12,2.22,0.00,0.000,4,0.105,0.034,2361,948,3811,0,0,0,0,0,0
$GC,4621,-0.64,-194.6,500.2,-10.7,780,4626,0.10,2.20,0.00,0.000,6,0.148,0.040,2392,2425,3810,0,0,0,0,0,0
$GC,4947,-0.66,-194.6,529.0,-8.7,810,4951,0.08,2.05,0.00,0.000,4,0.127,0.053,2343,3770,3807,0,0,0,0,0,0
$GC,4968,-0.67,-194.6,531.0,-8.9,811,4977,0.12,2.03,0.00,0.000,6,0.125,0.027,2386,2326,3807,0,0,0,0,0,0
$GC,5294,-0.68,-194.6,557.7,-8.1,842,5298,0.08,2.00,0.00,0.000,4,0.124,0.035,2333,955,3805,0,0,0,0,0,0
$GC,5340,-0.68,-194.6,561.9,-10.4,846,5344,0.15,2.22,0.00,0.000,6,0.140,0.041,2381,2433,3805,0,0,0,0,0,0
$GC,5667,-0.68,-194.6,587.3,-6.9,876,5672,0.05,2.17,0.00,0.000,4,0.170,0.033,2334,950,3803,0,0,0,0,0,0
$GC,5710,-0.68,-194.6,591.6,-9.8,879,5719,0.15,2.20,0.00,0.000,6,0.135,0.043,2382,2420,3803,0,0,0,0,0,0
$GC,6032,-0.68,-194.6,612.1,-6.7,901,6037,0.08,2.15,0.00,0.000,4,0.125,0.032,2325,950,3801,0,0,0,0,0,0
$GC,6064,-0.68,-194.6,615.5,-10.8,902,6069,0.17,2.20,0.00,0.000,6,0.133,0.043,2379,2421,3800,0,0,0,0,0,0
$GC,6387,-0.68,-194.6,641.7,-8.3,918,6391,0.00,2.12,0.00,0.000,4,0.000,0.033,2380,955,3798,0,0,0,0,0,0
$GC,6420,-0.69,-194.6,644.9,-9.1,919,6429,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,2431,3798,0,0,0,0,0,0
$GC,6737,-0.69,-194.6,672.2,-8.7,935,6741,0.00,2.17,0.00,0.000,4,0.000,0.034,2377,952,3796,0,0,0,0,0,0
$GC,6781,-0.70,-194.6,676.5,-9.4,937,6786,0.05,2.20,0.00,0.000,6,0.174,0.043,2330,2420,3795,0,0,0,0,0,0
$GC,7108,-0.69,-194.6,718.1,-13.2,953,7113,0.15,2.10,0.00,0.000,4,0.139,0.056,2377,3776,3794,0,0,0,0,0,0
$GC,7141,-0.69,-194.6,721.9,-10.3,954,7148,0.05,2.05,0.00,0.000,6,0.172,0.026,2331,2345,3794,0,0,0,0,0,0
$GC,7456,-0.68,-194.6,759.8,-11.4,970,7461,0.15,2.03,0.00,0.000,4,0.135,0.034,2381,950,3791,0,0,0,0,0,0
$GC,7511,-0.70,-194.6,764.9,-8.5,972,7519,0.08,2.22,0.00,0.000,6,0.123,0.040,2321,2424,3791,0,0,0,0,0,0
$STATE,7826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7826,begin apogee
$GC,7831,-0.11,0.0,800.9,11.3,988,8056,0.68,0.10,219.62,0.950,6,0.105,0.053,2559,2145,3026,0,0,0,0,0,0
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8060,0.53,194.6,811.3,0.0,998,8305,0.52,2.40,233.95,0.921,4,0.039,0.037,2817,667,2232,0,0,0,0,0,0
$GC,8400,0.51,194.6,789.4,16.2,1014,8405,0.25,2.25,0.00,0.000,6,0.167,0.035,2749,2122,2226,0,0,0,0,0,0
$GC,8716,0.49,194.6,753.5,11.2,1029,8720,0.00,2.15,0.00,0.000,4,0.000,0.049,2749,3537,2222,0,0,0,0,0,0
$GC,8815,0.47,194.6,740.9,12.4,1033,8823,0.08,2.20,0.00,0.000,6,0.207,0.028,2734,2047,2220,0,0,0,0,0,0
$GC,9132,0.47,204.0,713.0,8.6,1049,9146,0.00,2.10,9.52,0.813,4,0.000,0.040,2736,663,2195,0,0,0,0,0,0
$GC,9169,0.49,227.9,709.7,8.1,1050,9206,0.05,2.17,31.38,0.897,6,0.174,0.035,2779,2123,2097,0,0,0,0,0,0
$GC,9522,0.47,227.9,667.0,12.8,1068,9527,0.15,2.15,0.00,0.000,4,0.166,0.047,2737,3530,2090,0,0,0,0,0,0
$GC,9541,0.45,227.9,664.8,13.0,1069,9545,0.00,2.17,0.00,0.000,6,0.000,0.028,2737,2061,2089,0,0,0,0,0,0
$GC,9868,0.44,227.9,632.2,10.2,1085,9872,0.00,2.25,0.00,0.000,4,0.000,0.048,2737,3532,2087,0,0,0,0,0,0
$GC,9901,0.43,227.9,628.2,12.0,1086,9909,0.10,2.17,0.00,0.000,6,0.170,0.027,2719,2049,2087,0,0,0,0,0,0
$GC,10218,0.43,227.9,599.1,9.2,1102,10222,0.00,2.28,0.00,0.000,4,0.000,0.048,2719,3528,2085,0,0,0,0,0,0
$GC,10262,0.42,227.9,594.5,9.8,1105,10269,0.00,2.17,0.00,0.000,6,0.000,0.028,2721,2044,2085,0,0,0,0,0,0
$GC,10587,0.41,227.9,564.2,9.1,1136,10591,0.00,2.03,0.00,0.000,4,0.000,0.039,2722,660,2085,0,0,0,0,0,0
$GC,10610,0.41,227.9,562.0,9.8,1138,10614,0.00,2.17,0.00,0.000,6,0.000,0.034,2722,2124,2083,0,0,0,0,0,0
$GC,10936,0.42,239.0,533.0,8.5,1168,10952,0.00,2.15,11.48,0.791,4,0.000,0.047,2722,3531,2052,0,0,0,0,0,0
$GC,11042,0.42,245.0,523.0,8.7,1177,11060,0.00,2.15,8.95,0.749,6,0.000,0.028,2722,2055,2028,0,0,0,0,0,0
$GC,11383,0.45,271.7,495.4,8.1,1214,11421,0.08,0.00,33.35,0.822,6,0.132,0.000,2776,2053,1919,0,0,0,0,0,0
$GC,11774,0.44,271.7,448.8,13.2,1279,11781,0.17,2.30,0.00,0.000,4,0.143,0.050,2723,3531,1913,0,0,0,0,0,0
$GC,11818,0.44,271.7,443.5,10.5,1286,11826,0.00,2.20,0.00,0.000,6,0.000,0.029,2723,2066,1913,0,0,0,0,0,0
$GC,12177,0.49,316.5,415.3,7.5,1347,12242,0.10,2.17,54.80,0.780,4,0.103,0.039,2802,666,1735,0,0,0,0,0,0
$GC,12256,0.48,316.5,406.4,11.9,1358,12265,0.17,2.25,0.00,0.000,6,0.119,0.034,2741,2121,1732,0,0,0,0,0,0
$GC,12617,0.48,316.5,375.8,9.0,1419,12624,0.00,2.17,0.00,0.000,4,0.000,0.039,2742,662,1728,0,0,0,0,0,0
$GC,12649,0.51,335.9,372.9,8.3,1424,12680,0.03,2.22,23.60,0.725,6,0.098,0.033,2791,2131,1657,0,0,0,0,0,0
$GC,13030,0.50,335.9,322.1,13.3,1488,13040,0.17,0.00,0.00,0.000,6,0.141,0.000,2737,2131,1653,0,0,0,0,0,0
$GC,13393,0.54,361.1,291.5,8.1,1549,13429,0.10,2.20,30.55,0.683,4,0.099,0.047,2814,3526,1554,0,0,0,0,0,0
$GC,13474,0.52,361.1,280.0,16.8,1561,13482,0.22,2.17,0.00,0.000,6,0.132,0.029,2747,2054,1552,0,0,0,0,0,0
$GC,13836,0.57,396.9,247.2,7.8,1622,13889,0.10,2.12,44.22,0.656,4,0.099,0.039,2830,657,1406,0,0,0,0,0,0
$GC,13917,0.57,396.9,237.0,14.3,1633,13924,0.22,2.22,0.00,0.000,6,0.123,0.036,2759,2131,1404,0,0,0,0,0,0
$GC,14277,0.70,499.0,212.7,5.7,1694,14405,0.17,2.28,120.18,0.627,4,0.066,0.049,2861,3531,990,0,0,0,0,0,0
$GC,14449,0.69,499.0,186.0,17.6,1719,14457,0.22,2.22,0.00,0.000,6,0.125,0.029,2799,2062,989,0,0,0,0,0,0
$GC,14812,0.70,499.0,147.8,9.6,1780,14822,0.08,2.12,0.00,0.000,4,0.124,0.041,2862,661,986,0,0,0,0,0,0
$GC,14837,0.70,499.0,144.8,10.8,1783,14846,0.15,2.20,0.00,0.000,6,0.098,0.034,2804,2120,986,0,0,0,0,0,0
$GC,15203,0.77,539.7,111.2,7.6,1844,15262,0.12,2.20,46.75,0.560,4,0.085,0.047,2902,3522,825,0,0,0,0,0,0
$GC,15291,0.75,539.7,98.0,18.5,1855,15300,0.25,2.20,0.00,0.000,6,0.109,0.030,2823,2067,825,0,0,0,0,0,0
$GC,15654,0.90,647.8,73.1,5.5,1916,15753,0.17,2.12,91.55,0.531,4,0.067,0.041,2940,665,498,0,0,0,0,0,0
$GC,15809,0.90,647.8,47.5,15.7,1937,15819,0.20,2.22,0.00,0.000,6,0.106,0.034,2869,2119,496,0,0,0,0,0,0
$GC,16179,0.93,647.8,6.9,14.2,1998,16189,0.10,2.17,0.00,0.000,4,0.116,0.044,2919,3533,495,0,0,0,0,0,0
$STATE,16207,end climb,SURFACE_DEPTH_REACHED
$STATE,16207,begin surface coast
$FINISH,0.8,1.021733
$STATE,16228,end surface coast,CONTROL_FINISHED_OK
$STATE,16228,begin surface
$SM_CCo,16305,0.00,0.000,0,0,495,621.10
$SM_GC,1.58,7.07,0.00,0.00,0.054,0.000,0.000,192,2394,495,-7.38,-0.17,621.10
$IRIDIUM_FIX,2316.83,12626.84,251010,101053
$TT8_MAMPS,0.026215
$HUMID,50.70
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.9,49.920
$10V_AH,10.2,45.604
$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,23.325,151.325,959.900,0.000,0.000,22.139,37.315,198.693,0.000,0.000,16.384,4800.526,5281.861,940.839,5295.490,374.554,0.000,2755.927,0.000,5062.433,0.000,0.543,0.000
$DEVICE_MAMPS,303.705,77.265,950.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1353.696,0.000,3118.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,116756,2005
$CAP_FILE_SIZE,211844,0
$CFSIZE,260165632,233451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245, 17.2,1
$GPS,251010,194606,2322.801,12628.978,30,1.7,30,-3.4