version: 66.08
glider: 176
mission: 2
dive: 355
start: 10 27 110 4 57 47
data:
$ID,176
$MISSION,2
$DIVE,355
$N_DIVES,368
$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,-5384.0215
$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
$GPS1,271010,045007,2320.124,12625.663,69,1.1,69,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-51.0
$GPS2,271010,045719,2320.110,12625.560,10,1.3,15,-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,203.6,57322,-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,-194.6,0.0,0.0,0,82,0.00,0.00,-64.57,0.000,2,0.000,0.000,200,2435,2618,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.5,-5.2,8,128,8.75,2.10,-22.88,0.000,4,0.230,0.068,2418,3765,3823,0,0,0,0,0,0
$GC,271,-0.52,-194.6,44.1,-17.9,37,280,0.00,2.08,0.00,0.000,6,0.000,0.029,2419,2354,3823,0,0,0,0,0,0
$GC,637,-0.51,-194.6,115.7,-18.4,98,646,0.00,2.05,0.00,0.000,4,0.000,0.034,2418,950,3823,0,0,0,0,0,0
$GC,667,-0.51,-194.6,120.7,-16.7,102,677,0.03,2.22,0.00,0.000,6,0.175,0.042,2429,2413,3823,0,0,0,0,0,0
$GC,1034,-0.50,-194.6,165.1,-10.2,163,1040,0.00,2.05,0.00,0.000,4,0.000,0.053,2429,3776,3823,0,0,0,0,0,0
$GC,1097,-0.51,-194.6,170.7,-7.8,173,1104,0.00,2.00,0.00,0.000,6,0.000,0.026,2429,2336,3823,0,0,0,0,0,0
$GC,1455,-0.51,-194.6,207.9,-10.3,234,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2333,3823,0,0,0,0,0,0
$GC,1815,-0.52,-194.6,243.7,-9.7,295,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2333,3823,0,0,0,0,0,0
$GC,2171,-0.53,-194.6,274.3,-6.8,356,2180,0.05,0.00,0.00,0.000,6,0.182,0.000,2378,2333,3822,0,0,0,0,0,0
$GC,2533,-0.52,-194.6,314.4,-10.8,417,2541,0.17,2.20,0.00,0.000,4,0.132,0.053,2434,3777,3822,0,0,0,0,0,0
$GC,2566,-0.53,-194.6,317.2,-7.9,422,2575,0.05,2.05,0.00,0.000,6,0.086,0.026,2390,2334,3820,0,0,0,0,0,0
$GC,2926,-0.53,-194.6,351.4,-10.0,483,2933,0.12,2.00,0.00,0.000,4,0.143,0.034,2431,944,3820,0,0,0,0,0,0
$GC,2955,-0.53,-194.6,353.8,-8.6,487,2962,0.08,2.20,0.00,0.000,6,0.125,0.038,2376,2426,3819,0,0,0,0,0,0
$GC,3315,-0.53,-194.6,392.9,-11.4,548,3324,0.17,0.00,0.00,0.000,6,0.125,0.000,2433,2426,3817,0,0,0,0,0,0
$GC,3678,-0.56,-194.6,423.1,-9.5,609,3685,0.10,2.15,0.00,0.000,4,0.126,0.035,2394,956,3815,0,0,0,0,0,0
$GC,3695,-0.59,-194.6,424.7,-9.7,611,3702,0.00,2.17,0.00,0.000,6,0.000,0.038,2394,2427,3815,0,0,0,0,0,0
$GC,4049,-0.61,-194.6,449.5,-5.8,672,4058,0.00,2.05,0.00,0.000,4,0.000,0.053,2394,3766,3814,0,0,0,0,0,0
$GC,4088,-0.63,-194.6,452.1,-6.5,678,4097,0.00,2.05,0.00,0.000,6,0.000,0.027,2394,2345,3813,0,0,0,0,0,0
$GC,4449,-0.64,-194.6,478.3,-8.4,739,4456,0.05,2.20,0.00,0.000,4,0.174,0.053,2347,3766,3811,0,0,0,0,0,0
$GC,4558,-0.64,-194.6,489.0,-9.7,757,4566,0.15,2.00,0.00,0.000,6,0.118,0.026,2399,2343,3810,0,0,0,0,0,0
$GC,4898,-0.65,-194.6,516.0,-7.4,799,4902,0.08,2.03,0.00,0.000,4,0.125,0.034,2336,962,3808,0,0,0,0,0,0
$GC,4932,-0.65,-194.6,519.4,-11.6,802,4937,0.17,2.22,0.00,0.000,6,0.129,0.042,2392,2432,3807,0,0,0,0,0,0
$GC,5258,-0.65,-194.6,541.6,-5.9,832,5259,0.08,0.00,0.00,0.000,6,0.128,0.000,2336,2433,3805,0,0,0,0,0,0
$GC,5576,-0.64,-194.6,576.0,-12.3,862,5578,0.17,0.00,0.00,0.000,6,0.127,0.000,2394,2433,3804,0,0,0,0,0,0
$GC,5897,-0.65,-194.6,602.5,-8.5,891,5901,0.08,2.17,0.00,0.000,4,0.127,0.034,2344,953,3802,0,0,0,0,0,0
$GC,5936,-0.65,-194.6,607.2,-12.0,893,5940,0.15,2.22,0.00,0.000,6,0.130,0.042,2393,2425,3801,0,0,0,0,0,0
$GC,6264,-0.66,-194.6,634.1,-7.9,909,6268,0.08,2.17,0.00,0.000,4,0.125,0.034,2336,945,3800,0,0,0,0,0,0
$GC,6296,-0.66,-194.6,637.7,-11.6,910,6305,0.15,2.25,0.00,0.000,6,0.132,0.043,2385,2427,3799,0,0,0,0,0,0
$GC,6612,-0.66,-194.6,662.1,-7.6,926,6616,0.00,2.15,0.00,0.000,4,0.000,0.033,2385,950,3797,0,0,0,0,0,0
$GC,6640,-0.67,-194.6,664.4,-7.6,927,6645,0.08,2.22,0.00,0.000,6,0.122,0.042,2323,2420,3796,0,0,0,0,0,0
$GC,6956,-0.66,-194.6,702.2,-12.0,942,6961,0.20,2.08,0.00,0.000,4,0.129,0.055,2389,3765,3795,0,0,0,0,0,0
$GC,7006,-0.68,-194.6,706.1,-5.2,944,7010,0.08,2.03,0.00,0.000,6,0.122,0.025,2336,2346,3794,0,0,0,0,0,0
$GC,7327,-0.67,-194.6,739.4,-10.8,960,7332,0.15,2.03,0.00,0.000,4,0.131,0.032,2386,952,3793,0,0,0,0,0,0
$GC,7396,-0.68,-194.6,745.1,-7.6,963,7401,0.08,2.22,0.00,0.000,6,0.122,0.038,2329,2431,3792,0,0,0,0,0,0
$GC,7725,-0.67,-194.6,783.5,-11.9,979,7730,0.17,2.20,0.00,0.000,4,0.129,0.035,2388,948,3790,0,0,0,0,0,0
$GC,7765,-0.68,-194.6,787.5,-8.5,981,7770,0.08,2.25,0.00,0.000,6,0.121,0.041,2331,2433,3790,0,0,0,0,0,0
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7889,-0.11,0.0,800.9,11.9,987,8117,0.65,0.17,219.50,0.954,6,0.102,0.073,2562,2141,3027,0,0,0,0,0,0
$STATE,8117,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8119,0.53,194.6,815.1,0.0,997,8365,0.52,2.30,234.48,0.922,4,0.040,0.047,2809,3521,2233,0,0,0,0,0,0
$GC,8512,0.50,194.6,786.5,17.5,1015,8517,0.28,2.20,0.00,0.000,6,0.175,0.029,2743,2065,2227,0,0,0,0,0,0
$GC,8841,0.49,194.6,755.1,9.2,1031,8845,0.00,2.08,0.00,0.000,4,0.000,0.037,2753,658,2221,0,0,0,0,0,0
$GC,8909,0.47,194.6,748.4,9.3,1034,8913,0.08,2.20,0.00,0.000,6,0.190,0.034,2734,2134,2220,0,0,0,0,0,0
$GC,9237,0.46,194.6,716.2,10.2,1050,9241,0.00,2.22,0.00,0.000,4,0.000,0.041,2735,660,2220,0,0,0,0,0,0
$GC,9286,0.45,194.6,710.9,10.7,1052,9290,0.00,2.17,0.00,0.000,6,0.000,0.036,2735,2122,2218,0,0,0,0,0,0
$GC,9608,0.44,194.6,678.1,10.1,1068,9612,0.00,2.12,0.00,0.000,4,0.000,0.050,2736,3530,2218,0,0,0,0,0,0
$GC,9652,0.43,194.6,672.9,12.0,1070,9657,0.05,2.15,0.00,0.000,6,0.239,0.028,2723,2060,2219,0,0,0,0,0,0
$GC,9980,0.45,216.0,644.9,8.2,1086,10012,0.05,2.35,23.38,0.886,4,0.174,0.049,2765,3527,2146,0,0,0,0,0,0
$GC,10072,0.43,216.0,634.8,12.7,1090,10077,0.20,2.17,0.00,0.000,6,0.155,0.028,2717,2062,2145,0,0,0,0,0,0
$GC,10401,0.47,251.4,608.9,7.8,1106,10452,0.10,2.40,43.80,0.880,4,0.103,0.048,2779,3534,2001,0,0,0,0,0,0
$GC,10468,0.45,251.4,600.8,13.5,1109,10473,0.22,2.22,0.00,0.000,6,0.147,0.027,2723,2058,1999,0,0,0,0,0,0
$GC,10799,0.48,281.3,573.8,8.0,1140,10840,0.10,0.00,36.62,0.851,6,0.104,0.000,2787,2053,1880,0,0,0,0,0,0
$GC,11158,0.47,281.3,530.0,12.0,1174,11163,0.17,2.30,0.00,0.000,4,0.148,0.049,2736,3532,1873,0,0,0,0,0,0
$GC,11232,0.46,281.3,522.5,9.1,1180,11236,0.00,2.20,0.00,0.000,6,0.000,0.029,2736,2053,1872,0,0,0,0,0,0
$GC,11564,0.46,281.3,493.1,9.7,1216,11573,0.00,2.10,0.00,0.000,4,0.000,0.039,2735,656,1870,0,0,0,0,0,0
$GC,11599,0.46,281.3,490.0,9.7,1221,11605,0.00,2.20,0.00,0.000,6,0.000,0.033,2736,2129,1869,0,0,0,0,0,0
$GC,11957,0.46,281.3,451.6,11.1,1282,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2129,1869,0,0,0,0,0,0
$GC,12318,0.45,281.3,413.1,9.5,1343,12325,0.00,2.12,0.00,0.000,4,0.000,0.048,2736,3527,1869,0,0,0,0,0,0
$GC,12346,0.45,281.3,410.3,10.4,1347,12352,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2063,1869,0,0,0,0,0,0
$GC,12702,0.54,355.5,381.9,6.6,1408,12795,0.10,0.00,88.80,0.755,6,0.104,0.000,2806,2058,1576,0,0,0,0,0,0
$GC,13148,0.53,355.5,325.9,13.0,1481,13155,0.17,2.28,0.00,0.000,4,0.145,0.048,2754,3531,1568,0,0,0,0,0,0
$GC,13191,0.53,355.5,320.6,9.9,1488,13200,0.00,2.20,0.00,0.000,6,0.000,0.029,2762,2068,1567,0,0,0,0,0,0
$GC,13552,0.55,371.4,289.0,8.4,1549,13582,0.00,2.17,17.90,0.664,4,0.000,0.039,2762,649,1512,0,0,0,0,0,0
$GC,13625,0.60,405.8,282.8,7.8,1560,13677,0.05,2.22,43.17,0.677,6,0.063,0.033,2821,2120,1371,0,0,0,0,0,0
$GC,14031,0.59,405.8,226.4,13.2,1627,14038,0.15,2.15,0.00,0.000,4,0.142,0.048,2774,3525,1366,0,0,0,0,0,0
$GC,14071,0.59,405.8,221.6,11.0,1633,14077,0.00,2.17,0.00,0.000,6,0.000,0.027,2776,2051,1365,0,0,0,0,0,0
$GC,14431,0.64,440.8,190.6,7.8,1694,14484,0.10,2.12,41.60,0.617,4,0.100,0.039,2858,662,1229,0,0,0,0,0,0
$GC,14504,0.63,440.8,181.5,13.5,1704,14513,0.20,2.22,0.00,0.000,6,0.109,0.033,2787,2120,1227,0,0,0,0,0,0
$GC,14868,0.71,495.5,151.3,7.2,1765,14939,0.12,2.25,64.62,0.590,4,0.086,0.047,2867,3526,1006,0,0,0,0,0,0
$GC,14968,0.70,495.5,138.1,15.8,1778,14978,0.17,2.22,0.00,0.000,6,0.105,0.028,2807,2062,1004,0,0,0,0,0,0
$GC,15337,0.76,534.3,108.7,7.7,1839,15387,0.10,2.17,44.95,0.553,4,0.099,0.040,2900,657,848,0,0,0,0,0,0
$GC,15452,0.76,534.3,94.0,12.5,1855,15461,0.20,2.22,0.00,0.000,6,0.098,0.033,2825,2122,847,0,0,0,0,0,0
$GC,15820,0.80,534.3,64.1,10.7,1916,15829,0.10,2.17,0.00,0.000,4,0.135,0.047,2860,3526,846,0,0,0,0,0,0
$GC,16097,0.83,534.3,40.6,9.7,1962,16106,0.03,2.15,0.00,0.000,6,0.108,0.026,2838,2054,845,0,0,0,0,0,0
$STATE,16421,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.7,1.005891
$STATE,16448,end surface coast,CONTROL_FINISHED_OK
$STATE,16448,begin surface
$SM_CCo,16523,0.00,0.000,0,0,846,535.00
$SM_GC,1.55,6.53,0.00,0.00,0.031,0.000,0.000,202,2453,846,-7.38,1.50,535.00
$IRIDIUM_FIX,2312.13,12628.73,271010,000049
$TT8_MAMPS,0.026215
$HUMID,50.31
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,51.669
$10V_AH,10.3,47.469
$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,21.950,135.550,858.825,0.000,0.000,30.689,40.249,204.549,0.000,0.000,18.637,4868.855,5422.836,862.679,5394.702,382.644,0.000,2639.681,0.000,5149.919,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,72.675,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1366.907,0.000,3179.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120326,2020
$CAP_FILE_SIZE,207251,0
$CFSIZE,260165632,232615936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255,346.5,1
$GPS,271010,093407,2319.893,12624.954,29,1.2,29,-3.4