version: 66.08
glider: 176
mission: 2
dive: 358
start: 10 27 110 19 24 42
data:
$ID,176
$MISSION,2
$DIVE,358
$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,-5387.7969
$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
$GPS1,271010,191737,2319.028,12625.646,35,1.0,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-48.1
$GPS2,271010,192414,2318.922,12625.603,13,1.6,13,-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,206.7,55974,-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,-194.6,0.0,0.0,0,90,0.00,0.00,-72.97,0.000,2,0.000,0.000,215,2447,2685,0,0,0,0,0,0
$GC,93,-0.53,-194.6,3.1,-3.4,9,136,9.02,2.25,-23.35,0.000,4,0.240,0.050,2417,964,3824,0,0,0,0,0,0
$GC,268,-0.53,-194.6,37.2,-24.3,36,276,0.00,2.25,0.00,0.000,6,0.000,0.045,2417,2421,3824,0,0,0,0,0,0
$GC,634,-0.51,-194.6,110.5,-17.2,97,644,0.00,2.08,0.00,0.000,4,0.000,0.054,2417,3769,3824,0,0,0,0,0,0
$GC,707,-0.52,-194.6,120.2,-10.4,108,716,0.00,2.05,0.00,0.000,6,0.000,0.025,2417,2336,3824,0,0,0,0,0,0
$GC,1064,-0.51,-194.6,159.2,-10.7,169,1072,0.00,2.00,0.00,0.000,4,0.000,0.033,2417,941,3824,0,0,0,0,0,0
$GC,1116,-0.52,-194.6,164.5,-9.5,177,1124,0.00,2.22,0.00,0.000,6,0.000,0.039,2417,2435,3825,0,0,0,0,0,0
$GC,1463,-0.52,-194.6,201.8,-10.7,238,1472,0.00,2.17,0.00,0.000,4,0.000,0.031,2417,950,3825,0,0,0,0,0,0
$GC,1513,-0.53,-194.6,206.9,-9.5,246,1522,0.00,2.22,0.00,0.000,6,0.000,0.040,2417,2430,3825,0,0,0,0,0,0
$GC,1865,-0.53,-194.6,239.4,-8.9,307,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2430,3824,0,0,0,0,0,0
$GC,2211,-0.53,-194.6,268.6,-8.2,368,2219,0.00,2.17,0.00,0.000,4,0.000,0.033,2416,949,3823,0,0,0,0,0,0
$GC,2283,-0.54,-194.6,274.3,-8.1,380,2291,0.00,2.22,0.00,0.000,6,0.000,0.039,2417,2429,3823,0,0,0,0,0,0
$GC,2634,-0.54,-194.6,300.9,-7.3,441,2642,0.00,2.12,0.00,0.000,4,0.000,0.033,2417,949,3822,0,0,0,0,0,0
$GC,2674,-0.55,-194.6,304.0,-7.7,447,2681,0.00,2.20,0.00,0.000,6,0.000,0.039,2417,2433,3822,0,0,0,0,0,0
$GC,3020,-0.56,-194.6,329.6,-7.4,508,3028,0.00,2.17,0.00,0.000,4,0.000,0.033,2417,953,3820,0,0,0,0,0,0
$GC,3060,-0.57,-194.6,332.5,-7.4,514,3069,0.03,2.20,0.00,0.000,6,0.121,0.039,2375,2418,3819,0,0,0,0,0,0
$GC,3412,-0.56,-194.6,371.8,-11.0,575,3419,0.12,2.08,0.00,0.000,4,0.148,0.054,2414,3774,3818,0,0,0,0,0,0
$GC,3451,-0.57,-194.6,375.5,-8.3,581,3460,0.05,2.03,0.00,0.000,6,0.168,0.024,2373,2323,3817,0,0,0,0,0,0
$GC,3805,-0.57,-194.6,413.0,-10.9,642,3815,0.12,2.03,0.00,0.000,4,0.145,0.033,2414,949,3816,0,0,0,0,0,0
$GC,3834,-0.57,-194.6,415.5,-9.1,646,3843,0.03,2.22,0.00,0.000,6,0.101,0.040,2365,2425,3816,0,0,0,0,0,0
$GC,4187,-0.57,-194.6,451.1,-10.6,707,4195,0.15,2.15,0.00,0.000,4,0.135,0.032,2413,946,3815,0,0,0,0,0,0
$GC,4231,-0.58,-194.6,455.2,-7.8,714,4241,0.03,2.22,0.00,0.000,6,0.100,0.040,2363,2422,3814,0,0,0,0,0,0
$GC,4583,-0.58,-194.6,492.1,-10.3,775,4591,0.15,2.15,0.00,0.000,4,0.132,0.032,2413,943,3812,0,0,0,0,0,0
$GC,4623,-0.59,-194.6,495.4,-7.7,781,4632,0.08,2.22,0.00,0.000,6,0.122,0.040,2353,2433,3811,0,0,0,0,0,0
$GC,4960,-0.58,-194.6,532.1,-11.0,816,4964,0.17,2.17,0.00,0.000,4,0.128,0.032,2410,942,3810,0,0,0,0,0,0
$GC,4990,-0.59,-194.6,534.6,-8.5,818,4994,0.08,2.22,0.00,0.000,6,0.122,0.041,2357,2423,3810,0,0,0,0,0,0
$GC,5316,-0.59,-194.6,569.8,-11.8,848,5318,0.15,0.00,0.00,0.000,6,0.128,0.000,2406,2424,3808,0,0,0,0,0,0
$GC,5634,-0.60,-194.6,595.4,-7.6,878,5639,0.05,2.17,0.00,0.000,4,0.177,0.034,2360,957,3806,0,0,0,0,0,0
$GC,5696,-0.60,-194.6,601.7,-10.6,883,5701,0.15,2.22,0.00,0.000,6,0.131,0.043,2408,2429,3805,0,0,0,0,0,0
$GC,6025,-0.61,-194.6,625.1,-6.6,899,6029,0.08,2.17,0.00,0.000,4,0.127,0.033,2348,948,3803,0,0,0,0,0,0
$GC,6079,-0.61,-194.6,630.7,-9.9,901,6088,0.12,2.25,0.00,0.000,6,0.103,0.043,2397,2419,3803,0,0,0,0,0,0
$GC,6397,-0.62,-194.6,651.8,-6.6,917,6401,0.00,2.12,0.00,0.000,4,0.000,0.033,2397,957,3801,0,0,0,0,0,0
$GC,6440,-0.63,-194.6,655.1,-7.1,919,6445,0.05,2.20,0.00,0.000,6,0.164,0.042,2349,2427,3800,0,0,0,0,0,0
$GC,6762,-0.62,-194.6,688.8,-11.0,935,6767,0.15,2.17,0.00,0.000,4,0.128,0.033,2399,957,3798,0,0,0,0,0,0
$GC,6806,-0.63,-194.6,692.9,-7.5,937,6810,0.08,2.22,0.00,0.000,6,0.119,0.043,2334,2427,3799,0,0,0,0,0,0
$GC,7127,-0.63,-194.6,733.8,-13.2,953,7132,0.20,2.15,0.00,0.000,4,0.125,0.031,2400,956,3796,0,0,0,0,0,0
$GC,7171,-0.64,-194.6,738.2,-8.4,955,7176,0.08,2.22,0.00,0.000,6,0.119,0.041,2334,2427,3796,0,0,0,0,0,0
$GC,7493,-0.63,-194.6,776.9,-11.7,971,7495,0.20,0.00,0.00,0.000,6,0.123,0.000,2401,2427,3794,0,0,0,0,0,0
$GC,7803,-0.64,-194.6,796.7,-5.8,986,7807,0.08,2.17,0.00,0.000,4,0.124,0.034,2335,955,3793,0,0,0,0,0,0
$GC,7842,-0.64,-194.6,799.9,-9.0,988,7846,0.00,2.10,0.00,0.000,3,0.000,0.044,2335,2336,3792,0,0,0,0,0,0
$STATE,7846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7847,begin apogee
$GC,7852,-0.11,0.0,800.4,8.6,988,8079,0.62,0.20,220.07,0.951,6,0.103,0.067,2556,2138,3028,0,0,0,0,0,0
$STATE,8082,end apogee,CONTROL_FINISHED_OK
$STATE,8082,begin climb
$GC,8083,0.53,194.6,808.8,0.0,999,8328,0.55,2.28,234.88,0.921,4,0.044,0.049,2795,3525,2233,0,0,0,0,0,0
$GC,8388,0.50,194.6,787.4,18.8,1013,8393,0.20,2.25,0.00,0.000,6,0.178,0.028,2750,2052,2228,0,0,0,0,0,0
$GC,8716,0.49,194.6,744.8,11.5,1029,8720,0.00,2.30,0.00,0.000,4,0.000,0.048,2750,3529,2223,0,0,0,0,0,0
$GC,8869,0.47,194.6,725.3,12.9,1036,8873,0.08,2.17,0.00,0.000,6,0.207,0.028,2736,2057,2222,0,0,0,0,0,0
$GC,9197,0.49,214.7,696.1,8.3,1052,9227,0.05,2.15,22.70,0.887,4,0.177,0.039,2789,661,2151,0,0,0,0,0,0
$GC,9278,0.47,214.7,686.9,12.1,1055,9286,0.20,2.22,0.00,0.000,6,0.155,0.034,2732,2130,2148,0,0,0,0,0,0
$GC,9595,0.46,214.7,656.0,10.2,1071,9598,0.00,2.12,0.00,0.000,4,0.000,0.050,2731,3532,2145,0,0,0,0,0,0
$GC,9627,0.45,214.7,652.2,11.9,1072,9634,0.00,2.17,0.00,0.000,6,0.000,0.029,2735,2060,2146,0,0,0,0,0,0
$GC,9943,0.44,214.7,618.2,10.8,1088,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2058,2145,0,0,0,0,0,0
$GC,10257,0.43,214.7,584.5,10.6,1109,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2058,2143,0,0,0,0,0,0
$GC,10576,0.42,214.7,552.0,9.8,1139,10578,0.08,0.00,0.00,0.000,6,0.200,0.000,2715,2058,2142,0,0,0,0,0,0
$GC,10893,0.45,236.8,525.7,8.2,1169,10929,0.08,2.33,26.30,0.837,4,0.126,0.050,2767,3519,2060,0,0,0,0,0,0
$GC,10982,0.43,236.8,515.5,13.4,1176,10989,0.20,2.17,0.00,0.000,6,0.151,0.028,2716,2053,2059,0,0,0,0,0,0
$GC,11318,0.46,259.7,486.9,8.2,1221,11354,0.10,2.30,28.27,0.812,4,0.103,0.047,2778,3527,1967,0,0,0,0,0,0
$GC,11386,0.44,259.7,478.8,13.8,1231,11393,0.22,2.20,0.00,0.000,6,0.143,0.027,2721,2049,1965,0,0,0,0,0,0
$GC,11734,0.48,292.4,449.5,7.9,1292,11779,0.10,0.00,40.53,0.796,6,0.104,0.000,2783,2045,1834,0,0,0,0,0,0
$GC,12122,0.47,292.4,402.8,12.1,1358,12131,0.17,2.35,0.00,0.000,4,0.142,0.049,2730,3526,1827,0,0,0,0,0,0
$GC,12146,0.47,292.4,400.3,11.5,1361,12154,0.00,2.17,0.00,0.000,6,0.000,0.027,2735,2053,1826,0,0,0,0,0,0
$GC,12498,0.53,341.1,373.4,7.4,1422,12564,0.10,2.35,58.55,0.755,4,0.103,0.046,2805,3529,1635,0,0,0,0,0,0
$GC,12603,0.51,341.1,360.4,14.1,1437,12611,0.22,2.22,0.00,0.000,6,0.136,0.028,2744,2049,1633,0,0,0,0,0,0
$GC,12951,0.55,372.3,330.5,7.9,1498,12995,0.10,2.40,37.25,0.715,4,0.102,0.047,2814,3533,1508,0,0,0,0,0,0
$GC,13043,0.54,372.3,318.2,15.2,1512,13052,0.17,2.22,0.00,0.000,6,0.114,0.028,2756,2068,1506,0,0,0,0,0,0
$GC,13395,0.57,394.2,288.6,8.2,1573,13431,0.08,2.12,26.90,0.678,4,0.125,0.039,2827,660,1419,0,0,0,0,0,0
$GC,13456,0.57,394.2,281.0,13.3,1582,13465,0.17,2.22,0.00,0.000,6,0.110,0.033,2765,2120,1418,0,0,0,0,0,0
$GC,13808,0.58,405.8,251.3,8.5,1643,13830,0.08,2.22,14.70,0.629,4,0.125,0.047,2830,3538,1371,0,0,0,0,0,0
$GC,13856,0.58,405.8,244.8,14.4,1650,13865,0.17,2.22,0.00,0.000,6,0.113,0.028,2769,2059,1370,0,0,0,0,0,0
$GC,14208,0.62,437.3,214.4,7.9,1711,14253,0.10,2.35,38.67,0.635,4,0.098,0.047,2839,3524,1243,0,0,0,0,0,0
$GC,14278,0.61,437.3,205.1,15.2,1721,14287,0.20,2.20,0.00,0.000,6,0.129,0.029,2780,2056,1241,0,0,0,0,0,0
$GC,14629,0.65,463.6,176.2,8.1,1782,14668,0.10,2.10,31.95,0.604,4,0.097,0.037,2858,658,1136,0,0,0,0,0,0
$GC,14717,0.65,463.6,165.0,14.0,1795,14725,0.22,2.20,0.00,0.000,6,0.121,0.034,2785,2133,1134,0,0,0,0,0,0
$GC,15073,0.75,536.7,138.2,6.6,1856,15164,0.15,0.00,85.38,0.583,6,0.076,0.000,2884,2134,839,0,0,0,0,0,0
$GC,15523,0.75,536.7,68.7,10.7,1927,15532,0.20,2.25,0.00,0.000,4,0.120,0.037,2817,659,833,0,0,0,0,0,0
$GC,15550,0.89,639.0,68.0,5.7,1930,15655,0.15,2.20,95.03,0.536,6,0.052,0.031,2902,2139,499,0,0,0,0,0,0
$GC,16010,0.89,639.0,25.9,16.5,2003,16020,0.12,2.28,0.00,0.000,4,0.142,0.042,2860,659,496,0,0,0,0,0,0
$GC,16061,0.95,680.3,21.8,7.6,2010,16070,0.10,2.17,0.00,0.000,6,0.066,0.030,2915,2127,496,0,0,0,0,0,0
$STATE,16292,end climb,SURFACE_DEPTH_REACHED
$STATE,16292,begin surface coast
$FINISH,0.7,1.022017
$STATE,16312,end surface coast,CONTROL_FINISHED_OK
$STATE,16312,begin surface
$SM_CCo,16388,0.00,0.000,0,0,496,620.85
$SM_GC,1.41,6.90,0.00,0.00,0.043,0.000,0.000,207,2434,496,-7.40,0.96,620.85
$IRIDIUM_FIX,2312.13,12623.56,271010,141426
$TT8_MAMPS,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.8,52.326
$10V_AH,10.2,48.186
$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,23.400,146.025,961.175,0.000,0.000,24.079,19.758,196.142,0.000,0.000,16.381,4907.496,5123.950,938.194,5393.059,398.217,0.000,2776.300,0.000,5190.974,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,67.320,950.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1384.515,0.000,3243.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120308,2051
$CAP_FILE_SIZE,213720,0
$CFSIZE,260165632,232292352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174, 43.8,1
$GPS,271010,235925,2317.887,12625.895,67,1.4,67,-3.4