version: 66.08
glider: 176
mission: 2
dive: 349
start: 10 26 110 0 18 11
data:
$ID,176
$MISSION,2
$DIVE,349
$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,-5369.0005
$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
$GPS1,261010,000907,2322.164,12629.053,41,1.1,41,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-57.9
$GPS2,261010,001744,2322.185,12628.919,9,1.5,9,-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,223.4,64177,-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,-194.6,0.0,0.0,0,84,0.00,0.00,-66.97,0.000,2,0.000,0.000,208,2488,2495,0,0,0,0,0,0
$GC,87,-0.53,-194.6,3.2,-4.3,8,129,8.98,2.28,-25.90,0.000,4,0.239,0.046,2417,952,3824,0,0,0,0,0,0
$GC,289,-0.52,-194.6,42.5,-19.4,40,297,0.00,2.25,0.00,0.000,6,0.000,0.041,2416,2428,3825,0,0,0,0,0,0
$GC,655,-0.50,-194.6,119.6,-20.1,101,665,0.08,2.17,0.00,0.000,4,0.209,0.031,2436,954,3824,0,0,0,0,0,0
$GC,693,-0.49,-194.6,126.2,-18.4,106,701,0.00,2.22,0.00,0.000,6,0.000,0.041,2437,2424,3824,0,0,0,0,0,0
$GC,1053,-0.49,-194.6,167.9,-11.4,167,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2425,3824,0,0,0,0,0,0
$GC,1398,-0.50,-194.6,197.5,-7.3,228,1408,0.00,2.15,0.00,0.000,4,0.000,0.032,2437,952,3824,0,0,0,0,0,0
$GC,1456,-0.51,-194.6,201.6,-7.0,237,1465,0.05,2.17,0.00,0.000,6,0.170,0.038,2399,2429,3824,0,0,0,0,0,0
$GC,1810,-0.51,-194.6,246.4,-12.3,298,1820,0.12,2.17,0.00,0.000,4,0.158,0.031,2437,951,3824,0,0,0,0,0,0
$GC,1839,-0.51,-194.6,249.8,-11.6,302,1848,0.03,2.20,0.00,0.000,6,0.103,0.040,2401,2418,3824,0,0,0,0,0,0
$GC,2187,-0.51,-194.6,285.5,-10.2,363,2194,0.10,0.00,0.00,0.000,6,0.160,0.000,2433,2418,3823,0,0,0,0,0,0
$GC,2533,-0.52,-194.6,312.9,-7.8,424,2542,0.05,2.17,0.00,0.000,4,0.179,0.033,2387,948,3821,0,0,0,0,0,0
$GC,2590,-0.52,-194.6,318.4,-10.4,433,2598,0.15,2.20,0.00,0.000,6,0.135,0.040,2436,2427,3820,0,0,0,0,0,0
$GC,2944,-0.53,-194.6,341.1,-5.4,494,2953,0.10,2.17,0.00,0.000,4,0.106,0.033,2367,954,3819,0,0,0,0,0,0
$GC,2973,-0.54,-194.6,343.5,-7.4,498,2982,0.15,2.22,0.00,0.000,6,0.110,0.041,2423,2426,3819,0,0,0,0,0,0
$GC,3325,-0.54,-194.6,370.1,-8.7,559,3331,0.00,2.15,0.00,0.000,4,0.000,0.032,2423,943,3817,0,0,0,0,0,0
$GC,3363,-0.56,-194.6,373.7,-9.5,565,3372,0.05,2.20,0.00,0.000,6,0.171,0.038,2375,2429,3816,0,0,0,0,0,0
$GC,3715,-0.55,-194.6,417.9,-12.4,626,3725,0.15,2.17,0.00,0.000,4,0.137,0.032,2423,959,3815,0,0,0,0,0,0
$GC,3774,-0.57,-194.6,423.2,-7.9,635,3781,0.08,2.17,0.00,0.000,6,0.124,0.038,2363,2428,3815,0,0,0,0,0,0
$GC,4123,-0.56,-194.6,462.3,-11.0,696,4133,0.17,2.17,0.00,0.000,4,0.130,0.032,2420,959,3813,0,0,0,0,0,0
$GC,4163,-0.57,-194.6,465.7,-7.9,702,4172,0.05,2.20,0.00,0.000,6,0.069,0.040,2363,2419,3812,0,0,0,0,0,0
$GC,4516,-0.57,-194.6,499.3,-8.9,763,4522,0.17,0.00,0.00,0.000,6,0.127,0.000,2420,2419,3810,0,0,0,0,0,0
$GC,4841,-0.59,-194.6,518.1,-6.6,794,4846,0.10,2.15,0.00,0.000,4,0.112,0.034,2375,943,3808,0,0,0,0,0,0
$GC,4927,-0.60,-194.6,523.9,-6.9,801,4932,0.10,2.22,0.00,0.000,6,0.147,0.041,2407,2426,3808,0,0,0,0,0,0
$GC,5253,-0.62,-194.6,545.8,-7.1,831,5257,0.08,2.05,0.00,0.000,4,0.127,0.053,2361,3771,3806,0,0,0,0,0,0
$GC,5303,-0.63,-194.6,549.9,-8.1,835,5310,0.12,2.03,0.00,0.000,6,0.120,0.025,2404,2334,3805,0,0,0,0,0,0
$GC,5628,-0.65,-194.6,573.6,-7.0,866,5633,0.10,2.22,0.00,0.000,4,0.111,0.051,2348,3779,3803,0,0,0,0,0,0
$GC,5650,-0.67,-194.6,575.4,-7.7,867,5658,0.12,2.05,0.00,0.000,6,0.117,0.025,2393,2328,3802,0,0,0,0,0,0
$GC,5976,-0.68,-194.6,595.9,-5.8,898,5980,0.10,2.00,0.00,0.000,4,0.110,0.035,2334,956,3800,0,0,0,0,0,0
$GC,6014,-0.68,-194.6,598.9,-7.8,901,6021,0.15,2.22,0.00,0.000,6,0.140,0.041,2381,2434,3799,0,0,0,0,0,0
$GC,6342,-0.69,-194.6,620.9,-7.1,918,6346,0.08,2.17,0.00,0.000,4,0.125,0.033,2330,946,3798,0,0,0,0,0,0
$GC,6411,-0.68,-194.6,628.0,-10.7,921,6416,0.15,2.25,0.00,0.000,6,0.136,0.044,2378,2429,3797,0,0,0,0,0,0
$GC,6739,-0.69,-194.6,654.2,-7.9,937,6743,0.00,2.15,0.00,0.000,4,0.000,0.034,2378,952,3796,0,0,0,0,0,0
$GC,6772,-0.69,-194.6,657.2,-8.0,938,6780,0.05,2.22,0.00,0.000,6,0.174,0.043,2332,2425,3794,0,0,0,0,0,0
$GC,7089,-0.68,-194.6,696.9,-13.4,954,7094,0.15,2.17,0.00,0.000,4,0.138,0.034,2381,945,3792,0,0,0,0,0,0
$GC,7143,-0.69,-194.6,702.9,-9.4,956,7153,0.08,2.22,0.00,0.000,6,0.125,0.042,2321,2422,3792,0,0,0,0,0,0
$GC,7460,-0.68,-194.6,746.1,-13.9,972,7465,0.17,2.15,0.00,0.000,4,0.132,0.033,2379,954,3789,0,0,0,0,0,0
$GC,7514,-0.69,-194.6,752.0,-9.1,974,7522,0.05,2.22,0.00,0.000,6,0.171,0.042,2327,2425,3789,0,0,0,0,0,0
$GC,7831,-0.69,-194.6,790.5,-12.5,990,7833,0.15,0.00,0.00,0.000,6,0.137,0.000,2375,2425,3787,0,0,0,0,0,0
$STATE,7952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7952,begin apogee
$GC,7957,-0.11,0.0,801.4,8.2,996,8182,0.50,0.15,218.40,0.953,6,0.092,0.052,2561,2144,3027,0,0,0,0,0,0
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8184,begin climb
$GC,8186,0.53,194.6,814.2,0.0,1006,8429,0.52,2.42,235.10,0.922,4,0.039,0.038,2817,664,2232,0,0,0,0,0,0
$GC,8453,0.50,194.6,804.6,14.8,1019,8458,0.25,2.30,0.00,0.000,6,0.167,0.035,2749,2121,2229,0,0,0,0,0,0
$GC,8782,0.49,194.6,766.0,11.8,1035,8786,0.00,2.15,0.00,0.000,4,0.000,0.049,2750,3531,2223,0,0,0,0,0,0
$GC,8854,0.47,194.6,756.6,12.5,1038,8859,0.10,2.17,0.00,0.000,6,0.187,0.028,2731,2060,2222,0,0,0,0,0,0
$GC,9176,0.46,194.6,724.7,9.9,1054,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2056,2220,0,0,0,0,0,0
$GC,9485,0.45,194.6,695.4,8.9,1069,9489,0.00,2.08,0.00,0.000,4,0.000,0.041,2736,659,2219,0,0,0,0,0,0
$GC,9553,0.45,202.7,689.7,8.6,1072,9570,0.00,2.20,7.55,0.781,6,0.000,0.034,2736,2130,2200,0,0,0,0,0,0
$GC,9880,0.44,202.7,660.4,8.9,1088,9884,0.00,2.12,0.00,0.000,4,0.000,0.049,2736,3527,2198,0,0,0,0,0,0
$GC,9912,0.42,202.7,656.6,10.6,1089,9920,0.10,2.15,0.00,0.000,6,0.174,0.028,2718,2062,2198,0,0,0,0,0,0
$GC,10229,0.42,202.7,629.8,8.9,1105,10233,0.00,2.28,0.00,0.000,4,0.000,0.050,2717,3536,2197,0,0,0,0,0,0
$GC,10270,0.41,202.7,625.6,10.9,1107,10274,0.00,2.17,0.00,0.000,6,0.000,0.030,2721,2057,2197,0,0,0,0,0,0
$GC,10589,0.40,202.7,595.0,9.2,1125,10592,0.00,2.08,0.00,0.000,4,0.000,0.042,2722,661,2196,0,0,0,0,0,0
$GC,10624,0.40,207.4,591.8,8.7,1128,10637,0.00,2.17,6.55,0.734,6,0.000,0.034,2722,2123,2181,0,0,0,0,0,0
$GC,10955,0.42,226.4,563.9,8.3,1159,10988,0.00,2.20,25.10,0.857,4,0.000,0.047,2722,3532,2103,0,0,0,0,0,0
$GC,11024,0.41,226.4,557.8,9.0,1165,11028,0.00,2.20,0.00,0.000,6,0.000,0.028,2722,2050,2101,0,0,0,0,0,0
$GC,11350,0.44,260.4,532.1,7.8,1195,11397,0.05,2.40,40.78,0.843,4,0.177,0.050,2765,3523,1965,0,0,0,0,0,0
$GC,11426,0.43,260.4,523.9,12.4,1201,11433,0.20,2.20,0.00,0.000,6,0.144,0.027,2716,2055,1962,0,0,0,0,0,0
$GC,11755,0.43,260.4,496.9,9.0,1235,11763,0.08,2.30,0.00,0.000,4,0.127,0.050,2768,3536,1959,0,0,0,0,0,0
$GC,11819,0.42,260.4,489.2,13.3,1245,11826,0.20,2.17,0.00,0.000,6,0.145,0.028,2715,2061,1959,0,0,0,0,0,0
$GC,12180,0.49,318.2,461.2,7.1,1306,12260,0.12,2.38,70.43,0.802,4,0.089,0.047,2793,3522,1727,0,0,0,0,0,0
$GC,12277,0.48,318.2,449.9,13.3,1319,12284,0.22,2.22,0.00,0.000,6,0.141,0.028,2734,2051,1726,0,0,0,0,0,0
$GC,12639,0.48,318.2,416.0,10.1,1380,12647,0.00,2.33,0.00,0.000,4,0.000,0.049,2734,3519,1720,0,0,0,0,0,0
$GC,12701,0.48,318.2,409.2,10.4,1390,12710,0.00,2.17,0.00,0.000,6,0.000,0.027,2735,2061,1718,0,0,0,0,0,0
$GC,13062,0.54,364.9,377.2,7.4,1451,13127,0.10,2.17,54.70,0.746,4,0.103,0.038,2817,657,1538,0,0,0,0,0,0
$GC,13171,0.53,364.9,364.2,12.6,1467,13178,0.20,2.25,0.00,0.000,6,0.129,0.034,2755,2134,1536,0,0,0,0,0,0
$GC,13533,0.55,381.7,330.5,8.4,1528,13563,0.05,2.17,20.92,0.691,4,0.171,0.047,2810,3520,1469,0,0,0,0,0,0
$GC,13632,0.54,381.7,317.1,14.3,1543,13639,0.20,2.17,0.00,0.000,6,0.133,0.028,2754,2059,1467,0,0,0,0,0,0
$GC,13993,0.58,404.8,284.7,8.2,1604,14030,0.10,2.15,28.15,0.670,4,0.099,0.041,2831,658,1376,0,0,0,0,0,0
$GC,14049,0.56,404.8,277.0,15.0,1612,14059,0.17,2.25,0.00,0.000,6,0.107,0.035,2768,2127,1375,0,0,0,0,0,0
$GC,14411,0.60,433.8,242.9,8.0,1673,14455,0.08,2.17,35.80,0.646,4,0.123,0.047,2832,3529,1257,0,0,0,0,0,0
$GC,14498,0.60,433.8,230.7,14.7,1686,14508,0.17,2.22,0.00,0.000,6,0.103,0.028,2776,2055,1255,0,0,0,0,0,0
$GC,14862,0.66,476.7,202.5,7.6,1747,14921,0.10,2.17,51.60,0.620,4,0.099,0.038,2857,654,1082,0,0,0,0,0,0
$GC,14949,0.65,476.7,191.2,15.0,1759,14956,0.22,2.22,0.00,0.000,6,0.123,0.032,2785,2121,1081,0,0,0,0,0,0
$GC,15310,0.75,544.7,160.0,6.8,1820,15398,0.15,2.22,79.10,0.591,4,0.075,0.045,2886,3526,805,0,0,0,0,0,0
$GC,15433,0.74,544.7,141.1,17.1,1837,15442,0.17,2.22,0.00,0.000,6,0.101,0.028,2821,2067,804,0,0,0,0,0,0
$GC,15803,0.76,544.7,108.2,9.8,1898,15813,0.08,2.10,0.00,0.000,4,0.125,0.036,2857,660,802,0,0,0,0,0,0
$GC,15880,0.79,544.7,99.3,11.8,1910,15890,0.05,2.20,0.00,0.000,6,0.069,0.031,2810,2131,801,0,0,0,0,0,0
$GC,16247,0.82,544.7,60.5,11.9,1971,16256,0.15,0.00,0.00,0.000,6,0.116,0.000,2863,2131,801,0,0,0,0,0,0
$GC,16615,0.85,544.7,18.6,12.5,2032,16624,0.00,2.12,0.00,0.000,4,0.000,0.047,2863,3531,802,0,0,0,0,0,0
$STATE,16781,end climb,SURFACE_DEPTH_REACHED
$STATE,16781,begin surface coast
$FINISH,0.6,1.021698
$STATE,16824,end surface coast,CONTROL_FINISHED_OK
$STATE,16825,begin surface
$SM_CCo,16902,0.00,0.000,0,0,804,545.30
$SM_GC,1.66,7.03,0.00,0.00,0.063,0.000,0.000,180,2386,804,-7.39,-0.42,545.30
$IRIDIUM_FIX,2316.83,12630.12,251010,191922
$TT8_MAMPS,0.025466
$HUMID,51.10
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,50.365
$10V_AH,10.2,46.059
$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,23.600,158.275,874.175,0.000,0.000,53.525,56.090,194.255,0.000,0.000,12.113,4963.891,5666.456,940.173,5425.030,401.618,0.000,2743.698,0.000,5159.292,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,71.145,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1396.242,0.000,3163.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123453,2067
$CAP_FILE_SIZE,217460,0
$CFSIZE,260165632,233226240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,354.3,1
$GPS,261010,050101,2322.175,12627.569,40,1.7,40,-3.4