version: 66.08
glider: 176
mission: 2
dive: 354
start: 10 27 110 0 13 54
data:
$ID,176
$MISSION,2
$DIVE,354
$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,-5382.7637
$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
$GPS1,271010,000631,2320.600,12627.117,37,2.0,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-50.4
$GPS2,271010,001326,2320.588,12626.955,11,1.9,11,-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,219.8,59711,-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,-194.6,0.0,0.0,0,91,0.00,0.00,-73.32,0.000,2,0.000,0.000,202,2450,2681,0,0,0,0,0,0
$GC,94,-0.53,-194.6,4.2,-5.0,9,129,8.88,2.10,-20.70,0.000,4,0.234,0.070,2415,3766,3823,0,0,0,0,0,0
$GC,284,-0.52,-194.6,46.9,-17.0,39,293,0.00,2.08,0.00,0.000,6,0.000,0.028,2415,2345,3823,0,0,0,0,0,0
$GC,650,-0.51,-194.6,112.6,-18.7,100,660,0.08,2.05,0.00,0.000,4,0.207,0.034,2435,953,3823,0,0,0,0,0,0
$GC,723,-0.51,-194.6,122.2,-10.8,111,733,0.03,2.22,0.00,0.000,6,0.109,0.039,2402,2429,3823,0,0,0,0,0,0
$GC,1080,-0.51,-194.6,173.7,-13.8,172,1089,0.12,2.17,0.00,0.000,4,0.162,0.032,2440,954,3823,0,0,0,0,0,0
$GC,1115,-0.51,-194.6,177.7,-11.1,177,1122,0.08,2.17,0.00,0.000,6,0.125,0.039,2387,2426,3823,0,0,0,0,0,0
$GC,1463,-0.50,-194.6,224.8,-12.1,238,1472,0.17,2.17,0.00,0.000,4,0.140,0.032,2442,954,3823,0,0,0,0,0,0
$GC,1486,-0.50,-194.6,227.2,-11.2,241,1494,0.08,2.20,0.00,0.000,6,0.124,0.040,2389,2432,3823,0,0,0,0,0,0
$GC,1834,-0.49,-194.6,267.6,-11.4,302,1843,0.15,0.00,0.00,0.000,6,0.140,0.000,2438,2433,3823,0,0,0,0,0,0
$GC,2185,-0.50,-194.6,292.3,-6.6,363,2193,0.05,2.15,0.00,0.000,4,0.171,0.033,2388,952,3822,0,0,0,0,0,0
$GC,2251,-0.51,-194.6,298.3,-9.1,374,2260,0.10,2.22,0.00,0.000,6,0.109,0.040,2429,2426,3821,0,0,0,0,0,0
$GC,2602,-0.52,-194.6,319.4,-5.5,435,2609,0.00,2.12,0.00,0.000,4,0.000,0.032,2429,946,3819,0,0,0,0,0,0
$GC,2630,-0.53,-194.6,321.2,-5.9,439,2639,0.05,2.20,0.00,0.000,6,0.177,0.039,2385,2427,3819,0,0,0,0,0,0
$GC,2980,-0.52,-194.6,353.9,-10.0,500,2990,0.15,2.17,0.00,0.000,4,0.136,0.032,2434,957,3818,0,0,0,0,0,0
$GC,3027,-0.54,-194.6,357.6,-7.0,507,3034,0.08,2.17,0.00,0.000,6,0.126,0.038,2381,2426,3817,0,0,0,0,0,0
$GC,3374,-0.54,-194.6,395.5,-12.0,568,3383,0.15,2.20,0.00,0.000,4,0.139,0.032,2429,946,3815,0,0,0,0,0,0
$GC,3413,-0.55,-194.6,399.4,-9.4,574,3423,0.05,2.22,0.00,0.000,6,0.071,0.039,2373,2424,3815,0,0,0,0,0,0
$GC,3765,-0.55,-194.6,438.5,-10.3,635,3773,0.15,0.00,0.00,0.000,6,0.132,0.000,2422,2424,3814,0,0,0,0,0,0
$GC,4115,-0.57,-194.6,462.4,-7.3,696,4124,0.08,2.20,0.00,0.000,4,0.129,0.034,2387,949,3812,0,0,0,0,0,0
$GC,4325,-0.60,-194.6,478.1,-7.5,731,4333,0.05,2.20,0.00,0.000,6,0.178,0.040,2411,2427,3810,0,0,0,0,0,0
$GC,4684,-0.63,-194.6,504.8,-7.7,787,4688,0.10,2.17,0.00,0.000,4,0.109,0.035,2368,944,3807,0,0,0,0,0,0
$GC,4786,-0.65,-194.6,512.8,-7.9,795,4793,0.08,2.22,0.00,0.000,6,0.142,0.040,2397,2430,3807,0,0,0,0,0,0
$GC,5111,-0.67,-194.6,536.2,-6.9,826,5116,0.10,2.03,0.00,0.000,4,0.107,0.054,2335,3766,3805,0,0,0,0,0,0
$GC,5178,-0.66,-194.6,542.4,-10.1,832,5183,0.15,2.03,0.00,0.000,6,0.122,0.026,2386,2347,3804,0,0,0,0,0,0
$GC,5504,-0.66,-194.6,568.7,-8.6,862,5508,0.05,2.03,0.00,0.000,4,0.173,0.036,2339,962,3803,0,0,0,0,0,0
$GC,5575,-0.66,-194.6,577.1,-11.4,868,5584,0.10,2.22,0.00,0.000,6,0.112,0.044,2378,2412,3802,0,0,0,0,0,0
$GC,5899,-0.67,-194.6,608.6,-10.0,895,5902,0.00,2.15,0.00,0.000,4,0.000,0.034,2379,952,3800,0,0,0,0,0,0
$GC,5939,-0.67,-194.6,612.5,-9.9,897,5943,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,2422,3800,0,0,0,0,0,0
$GC,6267,-0.68,-194.6,643.2,-9.0,913,6271,0.00,2.17,0.00,0.000,4,0.000,0.034,2377,945,3799,0,0,0,0,0,0
$GC,6312,-0.68,-194.6,647.4,-8.8,915,6316,0.00,2.25,0.00,0.000,6,0.000,0.043,2377,2429,3798,0,0,0,0,0,0
$GC,6634,-0.69,-194.6,673.8,-7.6,931,6638,0.00,2.15,0.00,0.000,4,0.000,0.034,2376,956,3796,0,0,0,0,0,0
$GC,6655,-0.69,-194.6,675.8,-8.3,932,6660,0.05,2.22,0.00,0.000,6,0.175,0.044,2332,2422,3795,0,0,0,0,0,0
$GC,6976,-0.68,-194.6,709.4,-10.7,948,6978,0.15,0.00,0.00,0.000,6,0.137,0.000,2381,2423,3793,0,0,0,0,0,0
$GC,7287,-0.69,-194.6,731.9,-7.5,963,7291,0.08,2.17,0.00,0.000,4,0.123,0.034,2322,954,3791,0,0,0,0,0,0
$GC,7392,-0.69,-194.6,744.2,-12.1,967,7399,0.17,2.25,0.00,0.000,6,0.130,0.046,2378,2424,3791,0,0,0,0,0,0
$GC,7709,-0.69,-194.6,772.5,-9.1,983,7713,0.08,2.17,0.00,0.000,4,0.127,0.034,2322,950,3789,0,0,0,0,0,0
$GC,7776,-0.69,-194.6,780.6,-12.3,986,7781,0.17,2.25,0.00,0.000,6,0.130,0.045,2378,2421,3789,0,0,0,0,0,0
$STATE,7977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7977,begin apogee
$GC,7983,-0.11,0.0,800.7,9.6,996,8209,0.50,0.17,219.45,0.952,6,0.090,0.071,2565,2140,3027,0,0,0,0,0,0
$STATE,8212,end apogee,CONTROL_FINISHED_OK
$STATE,8212,begin climb
$GC,8214,0.53,194.6,816.5,0.0,1006,8465,0.52,2.38,235.62,0.923,4,0.039,0.036,2815,654,2230,0,0,0,0,0,0
$GC,8636,0.51,194.6,782.6,15.9,1025,8641,0.25,2.28,0.00,0.000,6,0.165,0.037,2745,2133,2224,0,0,0,0,0,0
$GC,8952,0.49,194.6,744.4,11.5,1040,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2134,2220,0,0,0,0,0,0
$GC,9261,0.48,194.6,710.7,10.7,1055,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2134,2219,0,0,0,0,0,0
$GC,9571,0.47,194.6,680.8,9.4,1070,9575,0.00,2.12,0.00,0.000,4,0.000,0.053,2744,3532,2218,0,0,0,0,0,0
$GC,9635,0.45,194.6,673.9,12.0,1073,9639,0.08,2.17,0.00,0.000,6,0.204,0.030,2730,2057,2217,0,0,0,0,0,0
$GC,9962,0.51,248.9,648.3,7.2,1089,10031,0.10,2.35,62.72,0.902,4,0.103,0.050,2797,3527,2012,0,0,0,0,0,0
$GC,10100,0.48,248.9,631.0,15.0,1095,10105,0.22,2.22,0.00,0.000,6,0.156,0.030,2737,2055,2008,0,0,0,0,0,0
$GC,10424,0.49,254.6,602.3,8.7,1111,10432,0.00,0.00,6.50,0.713,6,0.000,0.000,2737,2051,1989,0,0,0,0,0,0
$GC,10754,0.48,254.6,570.0,10.5,1140,10757,0.00,2.05,0.00,0.000,4,0.000,0.040,2737,664,1986,0,0,0,0,0,0
$GC,10778,0.47,254.6,567.7,10.3,1142,10782,0.00,2.20,0.00,0.000,6,0.000,0.034,2737,2124,1985,0,0,0,0,0,0
$GC,11103,0.47,254.6,533.4,10.9,1172,11107,0.00,2.12,0.00,0.000,4,0.000,0.048,2737,3526,1984,0,0,0,0,0,0
$GC,11160,0.46,254.6,526.7,12.2,1177,11164,0.00,2.15,0.00,0.000,6,0.000,0.028,2737,2064,1984,0,0,0,0,0,0
$GC,11489,0.46,254.6,492.0,10.0,1214,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2061,1984,0,0,0,0,0,0
$GC,11839,0.45,254.6,460.2,8.9,1275,11846,0.00,2.28,0.00,0.000,4,0.000,0.050,2737,3533,1984,0,0,0,0,0,0
$GC,11866,0.45,257.4,457.9,8.8,1279,11873,0.00,2.17,0.00,0.000,6,0.000,0.028,2738,2051,1983,0,0,0,0,0,0
$GC,12214,0.51,308.8,431.4,7.3,1340,12288,0.08,2.17,65.53,0.789,4,0.133,0.039,2802,663,1767,0,0,0,0,0,0
$GC,12357,0.50,308.8,414.7,11.9,1362,12366,0.17,2.25,0.00,0.000,6,0.119,0.034,2742,2119,1763,0,0,0,0,0,0
$GC,12710,0.56,355.2,385.9,7.5,1423,12774,0.10,2.20,56.33,0.749,4,0.103,0.045,2814,3530,1578,0,0,0,0,0,0
$GC,12800,0.54,355.2,373.6,15.7,1436,12809,0.17,2.25,0.00,0.000,6,0.122,0.028,2758,2058,1576,0,0,0,0,0,0
$GC,13150,0.54,355.2,340.4,9.3,1497,13158,0.00,2.08,0.00,0.000,4,0.000,0.039,2762,661,1570,0,0,0,0,0,0
$GC,13200,0.58,383.8,336.2,8.0,1505,13246,0.08,2.20,34.35,0.710,6,0.122,0.034,2821,2129,1461,0,0,0,0,0,0
$GC,13589,0.57,383.8,280.8,14.7,1571,13596,0.17,2.15,0.00,0.000,4,0.143,0.049,2767,3530,1455,0,0,0,0,0,0
$GC,13628,0.57,383.8,276.0,11.5,1577,13635,0.00,2.17,0.00,0.000,6,0.000,0.029,2767,2063,1454,0,0,0,0,0,0
$GC,13978,0.61,416.4,246.9,7.9,1638,14029,0.10,2.17,38.75,0.659,4,0.097,0.041,2845,662,1328,0,0,0,0,0,0
$GC,14048,0.60,416.4,237.1,16.2,1648,14057,0.20,2.22,0.00,0.000,6,0.112,0.032,2775,2122,1327,0,0,0,0,0,0
$GC,14398,0.61,416.4,201.6,9.0,1709,14406,0.05,0.00,0.00,0.000,6,0.171,0.000,2831,2123,1324,0,0,0,0,0,0
$GC,14749,0.60,416.4,158.1,12.7,1770,14758,0.17,2.17,0.00,0.000,4,0.127,0.048,2774,3525,1324,0,0,0,0,0,0
$GC,14788,0.61,416.4,154.0,9.3,1776,14797,0.00,2.15,0.00,0.000,6,0.000,0.026,2776,2059,1323,0,0,0,0,0,0
$GC,15154,0.73,502.9,129.5,6.2,1837,15262,0.15,2.20,100.93,0.577,4,0.080,0.042,2875,661,976,0,0,0,0,0,0
$GC,15283,0.72,502.9,112.0,15.0,1853,15294,0.15,2.25,0.00,0.000,6,0.100,0.034,2818,2120,975,0,0,0,0,0,0
$GC,15655,0.81,565.9,82.3,6.9,1914,15737,0.12,2.25,72.75,0.536,4,0.088,0.041,2913,666,718,0,0,0,0,0,0
$GC,15788,0.81,565.9,62.0,12.8,1932,15797,0.17,2.25,0.00,0.000,6,0.095,0.035,2847,2130,716,0,0,0,0,0,0
$GC,16155,0.85,565.9,32.8,9.0,1993,16165,0.08,2.15,0.00,0.000,4,0.151,0.047,2877,3524,715,0,0,0,0,0,0
$GC,16294,0.88,565.9,12.8,16.0,2015,16303,0.00,2.15,0.00,0.000,6,0.000,0.027,2878,2055,715,0,0,0,0,0,0
$STATE,16369,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,0.9,1.016788
$STATE,16401,end surface coast,CONTROL_FINISHED_OK
$STATE,16401,begin surface
$SM_CCo,16476,0.00,0.000,0,0,715,567.13
$SM_GC,1.48,6.72,0.00,0.00,0.037,0.000,0.000,200,2427,715,-7.39,0.76,567.13
$IRIDIUM_FIX,2314.48,12626.84,261010,191922
$TT8_MAMPS,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,51.453
$10V_AH,10.1,47.235
$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,22.125,141.000,892.925,0.000,0.000,29.176,37.638,195.527,0.000,0.000,14.371,4888.912,5278.021,889.325,5423.092,388.566,0.000,2716.582,0.000,5195.064,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,71.145,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1374.414,0.000,3204.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120225,2032
$CAP_FILE_SIZE,209715,0
$CFSIZE,260165632,232714240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 15.4,1
$GPS,271010,045007,2320.124,12625.663,69,1.1,69,-3.4