version: 66.08
glider: 176
mission: 2
dive: 356
start: 10 27 110 9 41 41
data:
$ID,176
$MISSION,2
$DIVE,356
$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,-5385.2812
$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
$GPS1,271010,093407,2319.893,12624.954,29,1.2,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-50.5
$GPS2,271010,094114,2319.877,12624.816,14,1.1,14,-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,187.4,56079,-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,-194.6,0.0,0.0,0,83,0.00,0.00,-65.15,0.000,2,0.000,0.000,201,2456,2744,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.6,-4.9,8,120,9.15,2.28,-19.50,0.000,4,0.243,0.045,2420,946,3823,0,0,0,0,0,0
$GC,246,-0.53,-194.6,34.3,-6.6,33,255,0.00,2.28,0.00,0.000,6,0.000,0.046,2420,2418,3825,0,0,0,0,0,0
$GC,613,-0.52,-194.6,112.3,-16.4,94,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2419,3824,0,0,0,0,0,0
$GC,979,-0.51,-194.6,162.9,-12.0,155,986,0.00,2.12,0.00,0.000,4,0.000,0.033,2421,954,3825,0,0,0,0,0,0
$GC,1053,-0.52,-194.6,170.7,-9.8,167,1060,0.00,2.20,0.00,0.000,6,0.000,0.040,2420,2433,3825,0,0,0,0,0,0
$GC,1409,-0.52,-194.6,205.6,-9.6,228,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2433,3825,0,0,0,0,0,0
$GC,1770,-0.52,-194.6,237.9,-7.7,289,1776,0.00,2.12,0.00,0.000,4,0.000,0.033,2420,953,3824,0,0,0,0,0,0
$GC,1821,-0.53,-194.6,241.9,-7.9,297,1828,0.00,2.20,0.00,0.000,6,0.000,0.038,2421,2436,3825,0,0,0,0,0,0
$GC,2177,-0.53,-194.6,270.5,-8.2,358,2186,0.00,2.17,0.00,0.000,4,0.000,0.032,2420,953,3823,0,0,0,0,0,0
$GC,2224,-0.54,-194.6,274.6,-9.0,365,2231,0.00,2.20,0.00,0.000,6,0.000,0.038,2421,2435,3822,0,0,0,0,0,0
$GC,2581,-0.55,-194.6,303.3,-7.4,426,2590,0.00,2.17,0.00,0.000,4,0.000,0.031,2420,950,3821,0,0,0,0,0,0
$GC,2629,-0.56,-194.6,306.6,-7.7,433,2636,0.05,2.20,0.00,0.000,6,0.177,0.037,2377,2438,3821,0,0,0,0,0,0
$GC,2988,-0.55,-194.6,345.6,-11.1,494,2997,0.15,0.00,0.00,0.000,6,0.138,0.000,2425,2438,3819,0,0,0,0,0,0
$GC,3350,-0.56,-194.6,369.5,-6.2,555,3357,0.08,2.15,0.00,0.000,4,0.128,0.032,2362,953,3816,0,0,0,0,0,0
$GC,3437,-0.56,-194.6,377.8,-10.0,569,3444,0.17,2.20,0.00,0.000,6,0.129,0.041,2418,2424,3816,0,0,0,0,0,0
$GC,3796,-0.57,-194.6,401.3,-6.0,630,3805,0.08,2.17,0.00,0.000,4,0.129,0.033,2361,959,3815,0,0,0,0,0,0
$GC,3843,-0.57,-194.6,405.1,-9.1,637,3851,0.17,2.17,0.00,0.000,6,0.126,0.041,2417,2422,3815,0,0,0,0,0,0
$GC,4204,-0.59,-194.6,426.5,-6.7,698,4213,0.10,2.17,0.00,0.000,4,0.112,0.032,2368,959,3812,0,0,0,0,0,0
$GC,4256,-0.60,-194.6,430.8,-8.6,706,4265,0.10,2.20,0.00,0.000,6,0.109,0.040,2406,2414,3812,0,0,0,0,0,0
$GC,4616,-0.62,-194.6,457.9,-7.6,767,4623,0.08,2.08,0.00,0.000,4,0.130,0.051,2363,3777,3810,0,0,0,0,0,0
$GC,4656,-0.63,-194.6,461.3,-8.4,773,4663,0.10,2.05,0.00,0.000,6,0.128,0.024,2399,2323,3810,0,0,0,0,0,0
$GC,5013,-0.65,-194.6,489.9,-8.8,834,5022,0.10,2.03,0.00,0.000,4,0.105,0.034,2331,954,3808,0,0,0,0,0,0
$GC,5052,-0.65,-194.6,494.2,-11.0,840,5062,0.15,2.22,0.00,0.000,6,0.114,0.042,2387,2415,3807,0,0,0,0,0,0
$GC,5393,-0.65,-194.6,524.2,-8.7,876,5397,0.00,2.12,0.00,0.000,4,0.000,0.033,2387,946,3805,0,0,0,0,0,0
$GC,5425,-0.66,-194.6,527.0,-8.0,878,5432,0.05,2.20,0.00,0.000,6,0.167,0.041,2335,2425,3805,0,0,0,0,0,0
$GC,5751,-0.65,-194.6,564.7,-11.2,909,5755,0.17,2.08,0.00,0.000,4,0.132,0.055,2390,3769,3803,0,0,0,0,0,0
$GC,5784,-0.66,-194.6,567.4,-6.8,911,5791,0.08,2.05,0.00,0.000,6,0.125,0.026,2342,2336,3802,0,0,0,0,0,0
$GC,6109,-0.65,-194.6,599.3,-10.5,942,6113,0.15,2.00,0.00,0.000,4,0.138,0.032,2390,951,3801,0,0,0,0,0,0
$GC,6142,-0.66,-194.6,602.2,-7.6,944,6146,0.08,2.20,0.00,0.000,6,0.124,0.039,2333,2429,3801,0,0,0,0,0,0
$GC,6457,-0.65,-194.6,637.2,-11.7,959,6462,0.17,2.05,0.00,0.000,4,0.134,0.057,2390,3764,3799,0,0,0,0,0,0
$GC,6478,-0.65,-194.6,639.5,-9.8,960,6483,0.03,2.05,0.00,0.000,6,0.106,0.026,2348,2353,3798,0,0,0,0,0,0
$GC,6806,-0.65,-194.6,670.5,-9.5,976,6808,0.12,0.00,0.00,0.000,6,0.139,0.000,2388,2349,3797,0,0,0,0,0,0
$GC,7115,-0.65,-194.6,691.2,-6.6,991,7119,0.05,2.05,0.00,0.000,4,0.177,0.033,2343,947,3795,0,0,0,0,0,0
$GC,7141,-0.65,-194.6,693.7,-9.5,992,7146,0.15,2.20,0.00,0.000,6,0.132,0.040,2392,2424,3794,0,0,0,0,0,0
$GC,7470,-0.66,-194.6,718.0,-7.6,1008,7474,0.08,2.20,0.00,0.000,4,0.126,0.036,2335,943,3793,0,0,0,0,0,0
$GC,7524,-0.66,-194.6,724.2,-11.6,1010,7528,0.17,2.22,0.00,0.000,6,0.129,0.042,2391,2430,3792,0,0,0,0,0,0
$GC,7847,-0.66,-194.6,749.2,-7.4,1026,7851,0.08,2.20,0.00,0.000,4,0.128,0.034,2335,952,3791,0,0,0,0,0,0
$GC,7953,-0.66,-194.6,760.6,-11.1,1031,7958,0.15,2.25,0.00,0.000,6,0.133,0.044,2383,2430,3789,0,0,0,0,0,0
$GC,8282,-0.67,-194.6,783.5,-6.6,1047,8286,0.05,2.17,0.00,0.000,4,0.169,0.034,2333,958,3788,0,0,0,0,0,0
$GC,8330,-0.67,-194.6,788.2,-9.5,1049,8335,0.12,2.22,0.00,0.000,6,0.106,0.041,2381,2415,3787,0,0,0,0,0,0
$STATE,8526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8526,begin apogee
$GC,8532,-0.11,0.0,800.8,6.3,1059,8757,0.47,0.10,219.45,0.957,6,0.093,0.055,2557,2152,3027,0,0,0,0,0,0
$STATE,8759,end apogee,CONTROL_FINISHED_OK
$STATE,8760,begin climb
$GC,8761,0.53,194.6,813.4,0.0,1069,9007,0.55,2.42,235.23,0.927,4,0.040,0.039,2817,667,2232,0,0,0,0,0,0
$GC,9243,0.51,194.6,770.3,17.2,1091,9250,0.25,2.20,0.00,0.000,6,0.164,0.035,2747,2121,2224,0,0,0,0,0,0
$GC,9559,0.49,194.6,735.4,10.0,1107,9563,0.00,2.20,0.00,0.000,4,0.000,0.039,2749,662,2221,0,0,0,0,0,0
$GC,9666,0.48,194.6,724.6,9.8,1112,9670,0.00,2.17,0.00,0.000,6,0.000,0.035,2749,2119,2220,0,0,0,0,0,0
$GC,9993,0.47,194.6,690.1,10.4,1128,9995,0.08,0.00,0.00,0.000,6,0.200,0.000,2730,2120,2218,0,0,0,0,0,0
$GC,10303,0.46,194.6,662.1,9.1,1143,10306,0.00,2.12,0.00,0.000,4,0.000,0.048,2730,3533,2218,0,0,0,0,0,0
$GC,10343,0.44,194.6,658.0,9.8,1145,10347,0.00,2.15,0.00,0.000,6,0.000,0.028,2737,2053,2218,0,0,0,0,0,0
$GC,10671,0.43,194.6,626.1,9.9,1161,10675,0.05,2.28,0.00,0.000,4,0.240,0.048,2724,3528,2216,0,0,0,0,0,0
$GC,10711,0.42,194.6,621.9,11.1,1163,10716,0.08,2.15,0.00,0.000,6,0.191,0.028,2714,2061,2217,0,0,0,0,0,0
$GC,11029,0.47,241.6,596.1,7.4,1180,11090,0.10,2.38,54.30,0.886,4,0.104,0.049,2777,3529,2041,0,0,0,0,0,0
$GC,11145,0.45,241.6,581.8,14.0,1190,11153,0.20,2.22,0.00,0.000,6,0.152,0.028,2727,2048,2037,0,0,0,0,0,0
$GC,11473,0.46,246.5,553.2,8.7,1221,11486,0.05,2.30,5.78,0.672,4,0.171,0.047,2768,3529,2021,0,0,0,0,0,0
$GC,11522,0.44,246.5,547.2,13.4,1225,11527,0.17,2.15,0.00,0.000,6,0.154,0.027,2724,2059,2021,0,0,0,0,0,0
$GC,11847,0.44,246.5,516.4,9.1,1255,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2056,2019,0,0,0,0,0,0
$GC,12179,0.46,269.2,487.8,8.2,1297,12216,0.08,2.30,28.30,0.819,4,0.129,0.047,2778,3527,1928,0,0,0,0,0,0
$GC,12248,0.45,269.2,480.0,12.7,1307,12255,0.20,2.20,0.00,0.000,6,0.145,0.027,2728,2051,1926,0,0,0,0,0,0
$GC,12609,0.47,292.5,449.8,8.2,1368,12647,0.08,0.00,29.38,0.796,6,0.126,0.000,2781,2045,1832,0,0,0,0,0,0
$GC,12998,0.46,292.5,404.1,11.6,1433,13006,0.17,2.33,0.00,0.000,4,0.141,0.050,2727,3528,1827,0,0,0,0,0,0
$GC,13042,0.46,294.3,399.6,8.8,1440,13052,0.00,2.20,0.00,0.000,6,0.000,0.028,2735,2057,1827,0,0,0,0,0,0
$GC,13403,0.46,294.3,368.3,9.0,1501,13409,0.00,2.05,0.00,0.000,4,0.000,0.040,2735,662,1826,0,0,0,0,0,0
$GC,13430,0.47,297.4,365.9,8.8,1505,13445,0.00,2.17,5.80,0.601,6,0.000,0.033,2735,2137,1814,0,0,0,0,0,0
$GC,13797,0.55,361.8,335.6,6.9,1567,13884,0.12,2.20,78.72,0.731,4,0.088,0.045,2818,3530,1552,0,0,0,0,0,0
$GC,13946,0.53,361.8,316.8,13.6,1589,13953,0.25,2.22,0.00,0.000,6,0.131,0.028,2750,2058,1550,0,0,0,0,0,0
$GC,14306,0.56,376.6,288.8,8.4,1650,14330,0.10,0.00,18.58,0.666,6,0.099,0.000,2822,2052,1491,0,0,0,0,0,0
$GC,14681,0.55,376.6,234.3,14.0,1713,14688,0.20,2.28,0.00,0.000,4,0.137,0.047,2760,3526,1487,0,0,0,0,0,0
$GC,14733,0.55,376.6,228.8,9.1,1721,14740,0.00,2.15,0.00,0.000,6,0.000,0.028,2762,2065,1486,0,0,0,0,0,0
$GC,15093,0.66,461.1,205.8,6.3,1782,15200,0.15,0.00,100.18,0.633,6,0.074,0.000,2851,2061,1147,0,0,0,0,0,0
$GC,15552,0.65,461.1,140.7,15.0,1857,15561,0.20,0.00,0.00,0.000,6,0.133,0.000,2787,2060,1141,0,0,0,0,0,0
$GC,15921,0.68,461.1,111.1,9.0,1918,15931,0.10,0.00,0.00,0.000,6,0.111,0.000,2827,2059,1140,0,0,0,0,0,0
$GC,16281,0.71,461.1,84.7,9.5,1979,16290,0.05,2.28,0.00,0.000,4,0.176,0.047,2794,3524,1140,0,0,0,0,0,0
$GC,16553,0.75,461.1,55.7,10.8,2025,16563,0.10,2.15,0.00,0.000,6,0.064,0.027,2845,2046,1140,0,0,0,0,0,0
$GC,16922,0.76,461.1,16.3,13.8,2086,16931,0.08,2.28,0.00,0.000,4,0.145,0.044,2810,3527,1141,0,0,0,0,0,0
$STATE,17019,end climb,SURFACE_DEPTH_REACHED
$STATE,17019,begin surface coast
$FINISH,0.7,1.022026
$STATE,17052,end surface coast,CONTROL_FINISHED_OK
$STATE,17052,begin surface
$SM_CCo,17129,0.00,0.000,0,0,1141,462.64
$SM_GC,1.70,6.88,0.00,0.00,0.062,0.000,0.000,205,2380,1141,-7.40,-0.54,462.64
$IRIDIUM_FIX,2309.79,12625.45,271010,040427
$TT8_MAMPS,0.026215
$HUMID,50.86
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.8,51.871
$10V_AH,10.2,47.710
$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,22.925,135.575,775.700,0.000,0.000,25.007,16.243,228.108,0.000,0.000,17.165,5084.606,5655.750,810.304,5622.521,359.084,0.000,2624.399,0.000,5363.237,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,56.610,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1427.639,0.000,3332.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123645,2107
$CAP_FILE_SIZE,212937,0
$CFSIZE,260165632,232505344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,339.3,1
$GPS,271010,142907,2319.387,12625.091,89,1.0,89,-3.4