version: 66.08
glider: 176
mission: 2
dive: 353
start: 10 26 110 19 36 11
data:
$ID,176
$MISSION,2
$DIVE,353
$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,-5381.5059
$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
$GPS1,261010,192907,2321.072,12626.929,27,1.5,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-55.0
$GPS2,261010,193543,2321.054,12626.793,9,1.6,9,-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,213.4,60056,-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,-194.6,0.0,0.0,0,90,0.00,0.00,-72.78,0.000,2,0.000,0.000,183,2469,2761,0,0,0,0,0,0
$GC,92,-0.53,-194.6,3.6,-5.0,9,128,9.00,2.05,-19.92,0.000,4,0.235,0.066,2417,3767,3823,0,0,0,0,0,0
$GC,230,-0.52,-194.6,35.5,-20.5,30,239,0.00,2.08,0.00,0.000,6,0.000,0.028,2417,2349,3824,0,0,0,0,0,0
$GC,596,-0.50,-194.6,112.1,-20.4,91,605,0.08,2.05,0.00,0.000,4,0.209,0.033,2436,955,3824,0,0,0,0,0,0
$GC,703,-0.51,-194.6,125.6,-11.2,108,713,0.03,2.22,0.00,0.000,6,0.106,0.039,2403,2432,3824,0,0,0,0,0,0
$GC,1060,-0.50,-194.6,181.5,-15.2,169,1068,0.12,0.00,0.00,0.000,6,0.160,0.000,2440,2431,3825,0,0,0,0,0,0
$GC,1410,-0.51,-194.6,213.3,-8.3,230,1419,0.08,2.20,0.00,0.000,4,0.126,0.034,2380,950,3825,0,0,0,0,0,0
$GC,1489,-0.51,-194.6,222.1,-11.2,243,1496,0.17,2.20,0.00,0.000,6,0.134,0.040,2437,2427,3824,0,0,0,0,0,0
$GC,1838,-0.51,-194.6,248.5,-7.3,304,1847,0.08,2.17,0.00,0.000,4,0.129,0.033,2378,956,3824,0,0,0,0,0,0
$GC,1865,-0.52,-194.6,251.3,-9.3,308,1875,0.12,2.22,0.00,0.000,6,0.109,0.041,2427,2430,3823,0,0,0,0,0,0
$GC,2217,-0.52,-194.6,278.0,-7.4,369,2224,0.00,2.15,0.00,0.000,4,0.000,0.033,2427,947,3822,0,0,0,0,0,0
$GC,2279,-0.53,-194.6,282.8,-7.2,379,2286,0.05,2.20,0.00,0.000,6,0.170,0.037,2377,2434,3822,0,0,0,0,0,0
$GC,2628,-0.53,-194.6,323.2,-11.7,440,2636,0.15,0.00,0.00,0.000,6,0.137,0.000,2425,2434,3820,0,0,0,0,0,0
$GC,2980,-0.54,-194.6,352.1,-8.3,501,2987,0.00,2.12,0.00,0.000,4,0.000,0.032,2425,953,3819,0,0,0,0,0,0
$GC,3053,-0.55,-194.6,358.6,-9.1,513,3061,0.08,2.20,0.00,0.000,6,0.126,0.037,2366,2437,3818,0,0,0,0,0,0
$GC,3404,-0.54,-194.6,398.9,-10.4,574,3413,0.17,2.20,0.00,0.000,4,0.135,0.032,2423,955,3816,0,0,0,0,0,0
$GC,3455,-0.56,-194.6,402.6,-5.8,582,3465,0.03,2.20,0.00,0.000,6,0.103,0.038,2377,2421,3816,0,0,0,0,0,0
$GC,3809,-0.56,-194.6,435.0,-9.8,643,3817,0.12,2.12,0.00,0.000,4,0.139,0.032,2417,953,3815,0,0,0,0,0,0
$GC,3859,-0.57,-194.6,439.4,-8.0,651,3866,0.05,2.20,0.00,0.000,6,0.175,0.039,2370,2433,3814,0,0,0,0,0,0
$GC,4209,-0.57,-194.6,475.1,-10.3,712,4218,0.15,2.20,0.00,0.000,4,0.132,0.034,2420,956,3812,0,0,0,0,0,0
$GC,4267,-0.58,-194.6,479.4,-6.7,721,4275,0.08,2.20,0.00,0.000,6,0.125,0.039,2364,2431,3812,0,0,0,0,0,0
$GC,4609,-0.58,-194.6,514.7,-10.6,769,4613,0.15,2.17,0.00,0.000,4,0.133,0.034,2413,945,3809,0,0,0,0,0,0
$GC,4660,-0.60,-194.6,519.2,-7.4,773,4665,0.08,2.22,0.00,0.000,6,0.123,0.040,2354,2430,3809,0,0,0,0,0,0
$GC,4985,-0.59,-194.6,559.0,-12.5,803,4990,0.17,2.17,0.00,0.000,4,0.127,0.034,2412,949,3807,0,0,0,0,0,0
$GC,5037,-0.60,-194.6,563.8,-8.4,807,5041,0.08,2.22,0.00,0.000,6,0.122,0.041,2355,2433,3806,0,0,0,0,0,0
$GC,5361,-0.60,-194.6,602.8,-11.7,836,5366,0.15,2.17,0.00,0.000,4,0.131,0.034,2403,952,3804,0,0,0,0,0,0
$GC,5394,-0.61,-194.6,606.2,-8.9,837,5403,0.05,2.22,0.00,0.000,6,0.174,0.041,2359,2425,3804,0,0,0,0,0,0
$GC,5710,-0.61,-194.6,639.6,-10.7,853,5715,0.15,2.17,0.00,0.000,4,0.129,0.034,2409,946,3802,0,0,0,0,0,0
$GC,5760,-0.62,-194.6,643.7,-7.2,855,5764,0.08,2.22,0.00,0.000,6,0.122,0.041,2351,2423,3801,0,0,0,0,0,0
$GC,6076,-0.62,-194.6,675.7,-10.0,870,6080,0.15,2.17,0.00,0.000,4,0.131,0.034,2399,949,3800,0,0,0,0,0,0
$GC,6116,-0.63,-194.6,678.9,-6.4,872,6121,0.08,2.22,0.00,0.000,6,0.120,0.042,2340,2420,3800,0,0,0,0,0,0
$GC,6444,-0.62,-194.6,712.8,-10.8,888,6448,0.17,2.15,0.00,0.000,4,0.128,0.033,2397,955,3797,0,0,0,0,0,0
$GC,6476,-0.63,-194.6,715.9,-7.6,889,6485,0.05,2.22,0.00,0.000,6,0.163,0.043,2347,2422,3796,0,0,0,0,0,0
$GC,6793,-0.63,-194.6,746.5,-9.7,905,6798,0.15,2.17,0.00,0.000,4,0.128,0.034,2398,945,3794,0,0,0,0,0,0
$GC,6833,-0.64,-194.6,749.5,-6.5,907,6837,0.08,2.25,0.00,0.000,6,0.120,0.042,2337,2428,3794,0,0,0,0,0,0
$GC,7161,-0.63,-194.6,781.6,-10.0,923,7166,0.17,2.17,0.00,0.000,4,0.126,0.034,2395,957,3792,0,0,0,0,0,0
$GC,7205,-0.65,-194.6,785.1,-5.9,925,7209,0.05,2.22,0.00,0.000,6,0.168,0.043,2347,2425,3792,0,0,0,0,0,0
$STATE,7380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7380,begin apogee
$GC,7385,-0.11,0.0,800.2,9.1,934,7617,0.60,0.17,219.12,0.945,6,0.099,0.071,2562,2149,3027,0,0,0,0,0,0
$STATE,7618,end apogee,CONTROL_FINISHED_OK
$STATE,7618,begin climb
$GC,7620,0.53,194.6,811.3,0.0,945,7866,0.52,2.42,234.50,0.913,4,0.038,0.037,2817,659,2232,0,0,0,0,0,0
$GC,8068,0.51,194.6,774.3,14.6,965,8073,0.25,2.25,0.00,0.000,6,0.164,0.036,2747,2130,2224,0,0,0,0,0,0
$GC,8385,0.49,194.6,738.9,10.7,980,8389,0.00,2.12,0.00,0.000,4,0.000,0.050,2746,3529,2221,0,0,0,0,0,0
$GC,8473,0.48,194.6,728.0,12.1,984,8478,0.05,2.17,0.00,0.000,6,0.249,0.030,2739,2060,2220,0,0,0,0,0,0
$GC,8801,0.47,194.6,696.2,9.5,1000,8805,0.00,2.25,0.00,0.000,4,0.000,0.050,2738,3525,2219,0,0,0,0,0,0
$GC,8855,0.45,194.6,690.5,10.2,1002,8862,0.08,2.15,0.00,0.000,6,0.204,0.028,2729,2056,2218,0,0,0,0,0,0
$GC,9172,0.44,194.6,662.4,9.0,1018,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2052,2217,0,0,0,0,0,0
$GC,9481,0.46,215.8,635.9,8.2,1033,9510,0.00,2.30,23.05,0.869,4,0.000,0.048,2729,3529,2146,0,0,0,0,0,0
$GC,9585,0.45,215.8,625.9,10.0,1037,9593,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2062,2145,0,0,0,0,0,0
$GC,9902,0.44,215.8,595.8,9.7,1055,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2059,2142,0,0,0,0,0,0
$GC,10224,0.43,215.8,564.4,10.4,1085,10229,0.05,2.28,0.00,0.000,4,0.243,0.048,2722,3536,2141,0,0,0,0,0,0
$GC,10252,0.42,215.8,561.0,11.0,1087,10256,0.00,2.15,0.00,0.000,6,0.000,0.028,2722,2061,2141,0,0,0,0,0,0
$GC,10584,0.42,218.5,531.6,8.8,1118,10587,0.00,2.08,0.00,0.000,4,0.000,0.039,2722,660,2141,0,0,0,0,0,0
$GC,10633,0.43,222.9,527.1,8.8,1122,10651,0.00,2.20,8.88,0.747,6,0.000,0.033,2722,2118,2117,0,0,0,0,0,0
$GC,10973,0.42,222.9,496.0,9.6,1157,10980,0.00,2.12,0.00,0.000,4,0.000,0.047,2722,3534,2116,0,0,0,0,0,0
$GC,11011,0.42,222.9,491.9,10.8,1163,11018,0.00,2.17,0.00,0.000,6,0.000,0.028,2722,2052,2116,0,0,0,0,0,0
$GC,11360,0.46,260.5,461.4,7.7,1224,11413,0.08,2.17,45.95,0.800,4,0.132,0.040,2778,657,1964,0,0,0,0,0,0
$GC,11441,0.45,260.5,453.4,10.6,1235,11448,0.17,2.22,0.00,0.000,6,0.138,0.034,2725,2134,1961,0,0,0,0,0,0
$GC,11788,0.52,318.3,426.5,7.1,1296,11869,0.12,2.35,70.30,0.770,4,0.087,0.042,2806,663,1728,0,0,0,0,0,0
$GC,11894,0.51,318.3,413.5,13.2,1311,11902,0.20,2.25,0.00,0.000,6,0.132,0.036,2745,2120,1725,0,0,0,0,0,0
$GC,12243,0.51,325.0,381.7,8.7,1372,12260,0.05,2.15,8.05,0.640,4,0.174,0.045,2798,3534,1701,0,0,0,0,0,0
$GC,12313,0.50,325.0,372.3,14.8,1383,12321,0.20,2.20,0.00,0.000,6,0.139,0.028,2740,2051,1699,0,0,0,0,0,0
$GC,12662,0.50,325.0,338.0,9.5,1444,12671,0.05,2.10,0.00,0.000,4,0.174,0.041,2792,668,1697,0,0,0,0,0,0
$GC,12709,0.50,325.0,332.9,11.5,1451,12716,0.17,2.15,0.00,0.000,6,0.129,0.034,2737,2124,1697,0,0,0,0,0,0
$GC,13056,0.60,402.6,305.7,6.5,1512,13156,0.15,2.28,93.35,0.693,4,0.077,0.048,2831,3530,1384,0,0,0,0,0,0
$GC,13210,0.59,402.6,284.1,14.8,1535,13218,0.20,2.22,0.00,0.000,6,0.136,0.028,2771,2059,1381,0,0,0,0,0,0
$GC,13559,0.61,421.6,254.4,8.3,1596,13588,0.08,0.00,22.27,0.634,6,0.123,0.000,2832,2054,1307,0,0,0,0,0,0
$GC,13931,0.60,421.6,203.8,13.2,1660,13941,0.17,2.33,0.00,0.000,4,0.132,0.048,2777,3529,1303,0,0,0,0,0,0
$GC,13955,0.60,421.6,201.0,12.2,1663,13962,0.00,2.17,0.00,0.000,6,0.000,0.028,2777,2049,1302,0,0,0,0,0,0
$GC,14303,0.64,452.2,174.8,7.9,1724,14348,0.10,0.00,37.05,0.599,6,0.099,0.000,2849,2047,1182,0,0,0,0,0,0
$GC,14700,0.64,452.2,120.0,13.8,1790,14709,0.20,2.10,0.00,0.000,4,0.125,0.039,2790,660,1178,0,0,0,0,0,0
$GC,14730,0.64,452.2,117.0,10.8,1794,14739,0.00,2.20,0.00,0.000,6,0.000,0.031,2790,2130,1178,0,0,0,0,0,0
$GC,15099,0.77,529.8,93.8,6.5,1855,15198,0.15,2.25,89.68,0.545,4,0.093,0.037,2852,660,866,0,0,0,0,0,0
$GC,15220,0.84,563.4,85.4,7.8,1870,15270,0.00,2.22,39.80,0.522,6,0.000,0.031,2853,2119,729,0,0,0,0,0,0
$GC,15621,0.92,616.1,48.4,7.3,1936,15688,0.12,2.22,59.95,0.503,4,0.093,0.044,2913,3529,514,0,0,0,0,0,0
$GC,15710,1.02,681.4,41.3,6.9,1947,15727,0.00,2.20,6.25,0.398,6,0.000,0.028,2913,2060,499,0,0,0,0,0,0
$STATE,16059,end climb,SURFACE_DEPTH_REACHED
$STATE,16059,begin surface coast
$FINISH,0.9,1.022036
$STATE,16080,end surface coast,CONTROL_FINISHED_OK
$STATE,16081,begin surface
$SM_CCo,16155,0.00,0.000,0,0,496,620.85
$SM_GC,1.57,6.90,0.00,0.00,0.042,0.000,0.000,202,2443,496,-7.39,1.22,620.85
$IRIDIUM_FIX,2314.48,12626.84,261010,101014
$TT8_MAMPS,0.026215
$HUMID,50.86
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,51.234
$10V_AH,10.2,47.001
$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,23.025,146.100,958.200,0.000,0.000,27.093,18.330,201.597,0.000,0.000,11.962,4805.572,5070.722,925.435,5355.404,371.777,0.000,2751.164,0.000,5136.178,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,71.145,944.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1356.155,0.000,3207.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120223,2009
$CAP_FILE_SIZE,210864,0
$CFSIZE,260165632,232816640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.254, 34.9,1
$GPS,271010,000631,2320.600,12627.117,37,2.0,37,-3.4