version: 66.08
glider: 176
mission: 2
dive: 357
start: 10 27 110 14 36 35
data:
$ID,176
$MISSION,2
$DIVE,357
$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,-5386.5386
$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
$GPS1,271010,142907,2319.387,12625.091,89,1.0,89,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-54.5
$GPS2,271010,143607,2319.344,12625.080,11,1.3,16,-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,193.2,55780,-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,-194.6,0.0,0.0,0,66,0.00,0.00,-49.20,0.000,2,0.000,0.000,200,2375,2583,0,0,0,0,0,0
$GC,69,-0.53,-194.6,3.6,-4.5,6,111,8.82,2.17,-22.38,0.000,4,0.230,0.061,2406,3773,3825,0,0,0,0,0,0
$GC,232,-0.53,-194.6,36.8,-14.3,31,241,0.05,2.08,0.00,0.000,6,0.132,0.026,2428,2337,3825,0,0,0,0,0,0
$GC,598,-0.52,-194.6,111.1,-14.9,92,608,0.00,2.20,0.00,0.000,4,0.000,0.050,2428,3760,3825,0,0,0,0,0,0
$GC,641,-0.52,-194.6,116.4,-12.6,98,649,0.00,2.03,0.00,0.000,6,0.000,0.024,2428,2336,3825,0,0,0,0,0,0
$GC,1006,-0.51,-194.6,162.5,-11.3,159,1013,0.00,1.98,0.00,0.000,4,0.000,0.032,2428,953,3826,0,0,0,0,0,0
$GC,1074,-0.52,-194.6,168.5,-7.4,170,1082,0.00,2.20,0.00,0.000,6,0.000,0.038,2428,2422,3826,0,0,0,0,0,0
$GC,1435,-0.52,-194.6,203.0,-9.2,231,1442,0.00,2.03,0.00,0.000,4,0.000,0.052,2428,3774,3826,0,0,0,0,0,0
$GC,1466,-0.53,-194.6,205.8,-8.3,236,1477,0.03,2.05,0.00,0.000,6,0.104,0.025,2389,2329,3826,0,0,0,0,0,0
$GC,1829,-0.52,-194.6,249.0,-12.0,297,1836,0.12,0.00,0.00,0.000,6,0.150,0.000,2428,2329,3826,0,0,0,0,0,0
$GC,2185,-0.53,-194.6,276.3,-7.4,358,2194,0.05,2.03,0.00,0.000,4,0.177,0.034,2379,952,3824,0,0,0,0,0,0
$GC,2214,-0.53,-194.6,278.9,-8.5,362,2223,0.12,2.22,0.00,0.000,6,0.112,0.040,2427,2428,3825,0,0,0,0,0,0
$GC,2576,-0.54,-194.6,306.8,-7.6,423,2583,0.05,2.15,0.00,0.000,4,0.173,0.032,2373,947,3824,0,0,0,0,0,0
$GC,2620,-0.54,-194.6,311.8,-11.4,430,2629,0.12,2.22,0.00,0.000,6,0.106,0.040,2421,2423,3823,0,0,0,0,0,0
$GC,2982,-0.54,-194.6,338.3,-6.2,491,2989,0.00,2.12,0.00,0.000,4,0.000,0.031,2421,954,3821,0,0,0,0,0,0
$GC,3022,-0.55,-194.6,341.0,-6.6,497,3029,0.05,2.20,0.00,0.000,6,0.169,0.037,2376,2438,3821,0,0,0,0,0,0
$GC,3383,-0.55,-194.6,375.2,-8.6,558,3392,0.15,0.00,0.00,0.000,6,0.136,0.000,2424,2438,3820,0,0,0,0,0,0
$GC,3746,-0.56,-194.6,393.6,-5.7,619,3754,0.08,2.17,0.00,0.000,4,0.127,0.032,2360,942,3818,0,0,0,0,0,0
$GC,3825,-0.56,-194.6,401.0,-9.6,632,3835,0.15,2.25,0.00,0.000,6,0.102,0.040,2416,2429,3818,0,0,0,0,0,0
$GC,4189,-0.57,-194.6,428.8,-7.8,693,4196,0.05,2.17,0.00,0.000,4,0.180,0.032,2361,952,3816,0,0,0,0,0,0
$GC,4240,-0.57,-194.6,434.2,-11.1,701,4247,0.17,2.22,0.00,0.000,6,0.127,0.041,2417,2434,3815,0,0,0,0,0,0
$GC,4599,-0.59,-194.6,461.3,-8.5,762,4609,0.10,2.20,0.00,0.000,4,0.112,0.032,2367,953,3814,0,0,0,0,0,0
$GC,4683,-0.59,-194.6,469.5,-10.4,776,4692,0.10,2.22,0.00,0.000,6,0.106,0.040,2405,2423,3813,0,0,0,0,0,0
$GC,5034,-0.60,-194.6,494.2,-7.0,837,5041,0.00,2.15,0.00,0.000,4,0.000,0.031,2405,949,3811,0,0,0,0,0,0
$GC,5083,-0.61,-194.6,498.0,-7.6,845,5091,0.08,2.22,0.00,0.000,6,0.127,0.039,2350,2436,3810,0,0,0,0,0,0
$GC,5417,-0.61,-194.6,535.4,-11.7,878,5421,0.17,2.17,0.00,0.000,4,0.127,0.031,2408,952,3809,0,0,0,0,0,0
$GC,5440,-0.61,-194.6,537.6,-9.6,880,5445,0.08,2.22,0.00,0.000,6,0.125,0.041,2356,2432,3809,0,0,0,0,0,0
$GC,5765,-0.60,-194.6,571.4,-10.9,910,5770,0.15,2.15,0.00,0.000,4,0.132,0.031,2405,954,3806,0,0,0,0,0,0
$GC,5795,-0.61,-194.6,573.9,-8.4,912,5800,0.05,2.22,0.00,0.000,6,0.174,0.040,2357,2434,3806,0,0,0,0,0,0
$GC,6128,-0.61,-194.6,609.3,-10.7,939,6133,0.15,2.15,0.00,0.000,4,0.130,0.031,2407,953,3805,0,0,0,0,0,0
$GC,6169,-0.62,-194.6,612.7,-7.6,941,6174,0.08,2.22,0.00,0.000,6,0.125,0.040,2351,2435,3805,0,0,0,0,0,0
$GC,6496,-0.61,-194.6,647.4,-10.6,957,6501,0.15,2.17,0.00,0.000,4,0.132,0.031,2400,948,3802,0,0,0,0,0,0
$GC,6520,-0.62,-194.6,649.5,-8.7,958,6525,0.05,2.22,0.00,0.000,6,0.164,0.041,2351,2422,3802,0,0,0,0,0,0
$GC,6847,-0.61,-194.6,682.5,-10.0,974,6849,0.15,0.00,0.00,0.000,6,0.125,0.000,2401,2423,3800,0,0,0,0,0,0
$GC,7157,-0.62,-194.6,704.4,-7.0,989,7161,0.05,2.17,0.00,0.000,4,0.172,0.033,2346,949,3798,0,0,0,0,0,0
$GC,7222,-0.62,-194.6,711.5,-10.6,992,7227,0.12,2.25,0.00,0.000,6,0.102,0.043,2395,2412,3797,0,0,0,0,0,0
$GC,7552,-0.63,-194.6,736.8,-7.8,1008,7556,0.00,2.15,0.00,0.000,4,0.000,0.032,2395,943,3796,0,0,0,0,0,0
$GC,7603,-0.64,-194.6,741.3,-8.5,1010,7607,0.08,2.22,0.00,0.000,6,0.122,0.039,2340,2426,3794,0,0,0,0,0,0
$GC,7924,-0.64,-194.6,778.4,-11.4,1026,7928,0.17,2.17,0.00,0.000,4,0.126,0.032,2398,945,3793,0,0,0,0,0,0
$GC,7958,-0.64,-194.6,781.5,-7.8,1027,7967,0.08,2.25,0.00,0.000,6,0.119,0.041,2340,2429,3793,0,0,0,0,0,0
$STATE,8148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8148,begin apogee
$GC,8153,-0.11,0.0,801.4,10.9,1037,8379,0.62,0.15,219.02,0.955,6,0.101,0.054,2563,2153,3026,0,0,0,0,0,0
$STATE,8381,end apogee,CONTROL_FINISHED_OK
$STATE,8381,begin climb
$GC,8382,0.53,194.6,815.5,0.0,1047,8629,0.52,2.45,234.68,0.924,4,0.045,0.038,2802,663,2232,0,0,0,0,0,0
$GC,8787,0.51,194.6,787.3,14.5,1066,8791,0.20,2.22,0.00,0.000,6,0.171,0.035,2748,2119,2225,0,0,0,0,0,0
$GC,9115,0.49,194.6,749.6,10.4,1082,9119,0.00,2.12,0.00,0.000,4,0.000,0.048,2748,3526,2222,0,0,0,0,0,0
$GC,9304,0.48,194.6,727.1,11.5,1090,9312,0.10,2.20,0.00,0.000,6,0.189,0.028,2732,2050,2220,0,0,0,0,0,0
$GC,9621,0.47,194.6,697.6,9.4,1106,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2046,2219,0,0,0,0,0,0
$GC,9930,0.45,194.6,666.9,9.9,1121,9934,0.00,2.25,0.00,0.000,4,0.000,0.047,2732,3527,2218,0,0,0,0,0,0
$GC,9974,0.44,194.6,661.7,11.6,1123,9978,0.00,2.15,0.00,0.000,6,0.000,0.028,2738,2054,2218,0,0,0,0,0,0
$GC,10302,0.43,194.6,628.9,9.6,1139,10307,0.08,2.28,0.00,0.000,4,0.205,0.048,2718,3526,2217,0,0,0,0,0,0
$GC,10329,0.42,194.6,626.1,9.8,1140,10333,0.00,2.12,0.00,0.000,6,0.000,0.028,2721,2054,2216,0,0,0,0,0,0
$GC,10651,0.44,215.2,599.5,8.3,1156,10679,0.00,2.28,22.33,0.865,4,0.000,0.047,2722,3526,2149,0,0,0,0,0,0
$GC,10714,0.43,215.2,593.8,10.4,1161,10718,0.00,2.15,0.00,0.000,6,0.000,0.028,2722,2059,2147,0,0,0,0,0,0
$GC,11040,0.44,230.9,565.3,8.4,1191,11063,0.05,0.00,20.45,0.841,6,0.179,0.000,2763,2054,2084,0,0,0,0,0,0
$GC,11378,0.43,230.9,531.1,9.7,1223,11382,0.15,2.28,0.00,0.000,4,0.152,0.048,2718,3525,2080,0,0,0,0,0,0
$GC,11454,0.47,271.9,524.8,7.6,1229,11510,0.10,2.17,49.53,0.840,6,0.101,0.028,2788,2048,1918,0,0,0,0,0,0
$GC,11847,0.46,271.9,478.1,13.0,1279,11854,0.20,2.10,0.00,0.000,4,0.155,0.041,2736,659,1911,0,0,0,0,0,0
$GC,11864,0.44,271.9,476.2,12.3,1281,11871,0.00,2.20,0.00,0.000,6,0.000,0.034,2736,2134,1910,0,0,0,0,0,0
$GC,12224,0.52,332.7,448.1,7.0,1342,12305,0.08,2.38,74.03,0.798,4,0.131,0.042,2791,660,1669,0,0,0,0,0,0
$GC,12321,0.50,332.7,437.2,12.5,1355,12328,0.15,2.25,0.00,0.000,6,0.140,0.035,2748,2129,1667,0,0,0,0,0,0
$GC,12682,0.50,332.7,403.3,9.0,1416,12691,0.00,2.17,0.00,0.000,4,0.000,0.050,2747,3521,1661,0,0,0,0,0,0
$GC,12705,0.50,332.7,401.0,9.5,1419,12711,0.00,2.17,0.00,0.000,6,0.000,0.028,2748,2053,1660,0,0,0,0,0,0
$GC,13063,0.51,334.4,369.1,8.8,1480,13073,0.00,2.10,0.00,0.000,4,0.000,0.041,2748,659,1659,0,0,0,0,0,0
$GC,13079,0.51,334.4,367.6,9.0,1482,13088,0.00,2.20,0.00,0.000,6,0.000,0.034,2748,2117,1659,0,0,0,0,0,0
$GC,13441,0.56,375.1,337.2,7.6,1543,13499,0.10,2.20,49.78,0.723,4,0.104,0.045,2818,3535,1497,0,0,0,0,0,0
$GC,13548,0.55,375.1,322.4,15.0,1559,13555,0.20,2.20,0.00,0.000,6,0.136,0.028,2756,2067,1495,0,0,0,0,0,0
$GC,13910,0.55,375.1,289.0,9.9,1620,13919,0.00,2.10,0.00,0.000,4,0.000,0.038,2762,666,1491,0,0,0,0,0,0
$GC,13934,0.55,375.1,286.8,9.7,1623,13940,0.00,2.15,0.00,0.000,6,0.000,0.032,2761,2126,1491,0,0,0,0,0,0
$GC,14292,0.56,375.1,250.2,9.7,1684,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2126,1491,0,0,0,0,0,0
$GC,14653,0.63,426.6,219.2,7.3,1745,14725,0.12,2.20,61.67,0.642,4,0.086,0.045,2842,3524,1286,0,0,0,0,0,0
$GC,14756,0.62,426.6,204.2,16.5,1760,14767,0.17,2.22,0.00,0.000,6,0.110,0.028,2782,2062,1284,0,0,0,0,0,0
$GC,15121,0.62,428.7,172.8,8.8,1821,15128,0.00,2.08,0.00,0.000,4,0.000,0.040,2789,662,1281,0,0,0,0,0,0
$GC,15149,0.64,434.6,170.4,8.7,1825,15165,0.00,2.20,9.73,0.545,6,0.000,0.034,2789,2137,1255,0,0,0,0,0,0
$GC,15520,0.74,509.1,138.1,6.6,1887,15620,0.12,2.33,88.47,0.584,4,0.085,0.041,2874,661,950,0,0,0,0,0,0
$GC,15665,0.74,509.1,119.2,12.2,1906,15674,0.15,2.25,0.00,0.000,6,0.103,0.033,2819,2127,948,0,0,0,0,0,0
$GC,16035,0.86,600.4,89.2,6.1,1967,16150,0.15,0.00,103.93,0.545,6,0.076,0.000,2923,2127,577,0,0,0,0,0,0
$GC,16511,0.86,600.4,18.9,18.0,2041,16520,0.22,2.25,0.00,0.000,4,0.133,0.041,2858,661,574,0,0,0,0,0,0
$GC,16540,0.86,600.4,13.9,16.6,2045,16549,0.00,2.20,0.00,0.000,6,0.000,0.032,2858,2133,574,0,0,0,0,0,0
$STATE,16656,end climb,SURFACE_DEPTH_REACHED
$STATE,16656,begin surface coast
$FINISH,0.8,1.022032
$STATE,16723,end surface coast,CONTROL_FINISHED_OK
$STATE,16723,begin surface
$SM_CCo,16799,0.00,0.000,0,0,572,602.21
$SM_GC,1.46,6.95,0.00,0.00,0.057,0.000,0.000,218,2441,572,-7.37,1.16,602.21
$IRIDIUM_FIX,2309.79,12623.56,271010,090921
$TT8_MAMPS,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,52.097
$10V_AH,10.2,47.950
$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,22.275,149.800,933.600,0.000,0.000,27.939,20.297,208.573,0.000,0.000,19.056,4983.110,5400.812,911.159,5510.326,389.088,0.000,2771.526,0.000,5274.032,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,61.200,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1402.795,0.000,3252.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123398,2075
$CAP_FILE_SIZE,214625,0
$CFSIZE,260165632,232394752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233, 16.6,1
$GPS,271010,191737,2319.028,12625.646,35,1.0,35,-3.4