version: 66.08
glider: 176
mission: 2
dive: 361
start: 10 28 110 10 6 52
data:
$ID,176
$MISSION,2
$DIVE,361
$N_DIVES,373
$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,-5391.5723
$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
$GPS1,281010,095707,2316.555,12622.083,40,1.4,40,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-53.2
$GPS2,281010,100625,2316.539,12621.874,11,1.2,11,-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,199.4,48258,-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,-194.6,0.0,0.0,0,81,0.00,0.00,-64.30,0.000,2,0.000,0.000,205,2474,2382,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.0,-3.0,8,129,9.23,2.05,-29.27,0.000,4,0.245,0.065,2418,3773,3822,0,0,0,0,0,0
$GC,265,-0.53,-194.6,41.4,-17.5,36,275,0.00,2.08,0.00,0.000,6,0.000,0.028,2418,2347,3823,0,0,0,0,0,0
$GC,632,-0.52,-194.6,107.2,-13.5,97,641,0.00,2.03,0.00,0.000,4,0.000,0.032,2418,952,3823,0,0,0,0,0,0
$GC,685,-0.52,-194.6,113.1,-10.4,105,694,0.00,2.22,0.00,0.000,6,0.000,0.039,2418,2426,3823,0,0,0,0,0,0
$GC,1050,-0.52,-194.6,156.2,-11.7,166,1058,0.00,2.03,0.00,0.000,4,0.000,0.053,2418,3756,3823,0,0,0,0,0,0
$GC,1135,-0.52,-194.6,164.7,-9.6,180,1144,0.00,2.03,0.00,0.000,6,0.000,0.026,2418,2327,3823,0,0,0,0,0,0
$GC,1498,-0.52,-194.6,199.7,-8.5,241,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2326,3823,0,0,0,0,0,0
$GC,1852,-0.53,-194.6,230.2,-8.2,302,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2327,3822,0,0,0,0,0,0
$GC,2213,-0.53,-194.6,260.3,-8.1,363,2220,0.00,1.95,0.00,0.000,4,0.000,0.034,2418,951,3820,0,0,0,0,0,0
$GC,2253,-0.54,-194.6,263.5,-7.8,369,2260,0.00,2.20,0.00,0.000,6,0.000,0.038,2418,2436,3820,0,0,0,0,0,0
$GC,2611,-0.54,-194.6,292.0,-8.1,430,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2436,3819,0,0,0,0,0,0
$GC,2971,-0.55,-194.6,319.3,-7.5,491,2978,0.00,2.15,0.00,0.000,4,0.000,0.031,2417,949,3817,0,0,0,0,0,0
$GC,3023,-0.56,-194.6,323.4,-8.2,499,3030,0.05,2.20,0.00,0.000,6,0.179,0.037,2374,2437,3817,0,0,0,0,0,0
$GC,3382,-0.56,-194.6,361.2,-9.7,560,3392,0.15,2.20,0.00,0.000,4,0.135,0.031,2423,951,3815,0,0,0,0,0,0
$GC,3420,-0.57,-194.6,364.0,-7.7,565,3427,0.08,2.20,0.00,0.000,6,0.124,0.039,2375,2429,3814,0,0,0,0,0,0
$GC,3777,-0.57,-194.6,397.5,-9.7,626,3787,0.12,0.00,0.00,0.000,6,0.139,0.000,2415,2429,3813,0,0,0,0,0,0
$GC,4142,-0.58,-194.6,423.3,-6.7,687,4149,0.08,2.15,0.00,0.000,4,0.127,0.032,2353,950,3811,0,0,0,0,0,0
$GC,4186,-0.58,-194.6,427.8,-10.4,694,4195,0.15,2.22,0.00,0.000,6,0.106,0.041,2408,2415,3811,0,0,0,0,0,0
$GC,4548,-0.58,-194.6,454.5,-7.3,755,4555,0.00,2.12,0.00,0.000,4,0.000,0.031,2408,952,3808,0,0,0,0,0,0
$GC,4576,-0.59,-194.6,456.7,-7.5,759,4584,0.05,2.20,0.00,0.000,6,0.171,0.039,2360,2425,3808,0,0,0,0,0,0
$GC,4937,-0.59,-194.6,492.8,-9.8,820,4946,0.15,0.00,0.00,0.000,6,0.129,0.000,2409,2426,3806,0,0,0,0,0,0
$GC,5281,-0.60,-194.6,514.4,-6.3,860,5286,0.08,2.15,0.00,0.000,4,0.126,0.033,2349,952,3804,0,0,0,0,0,0
$GC,5320,-0.60,-194.6,517.9,-10.6,863,5325,0.17,2.22,0.00,0.000,6,0.125,0.042,2404,2426,3804,0,0,0,0,0,0
$GC,5646,-0.61,-194.6,539.6,-6.5,893,5648,0.08,0.00,0.00,0.000,6,0.128,0.000,2347,2427,3802,0,0,0,0,0,0
$GC,5963,-0.61,-194.6,573.5,-10.7,923,5968,0.17,2.17,0.00,0.000,4,0.124,0.033,2405,946,3799,0,0,0,0,0,0
$GC,5990,-0.61,-194.6,576.2,-8.6,925,5997,0.05,2.22,0.00,0.000,6,0.173,0.042,2361,2420,3799,0,0,0,0,0,0
$GC,6324,-0.61,-194.6,606.0,-8.7,954,6328,0.12,2.08,0.00,0.000,4,0.136,0.055,2401,3767,3798,0,0,0,0,0,0
$GC,6345,-0.62,-194.6,607.7,-7.6,955,6349,0.05,2.03,0.00,0.000,6,0.167,0.024,2362,2338,3797,0,0,0,0,0,0
$GC,6673,-0.62,-194.6,635.4,-8.8,971,6677,0.12,2.00,0.00,0.000,4,0.136,0.034,2403,954,3795,0,0,0,0,0,0
$GC,6705,-0.63,-194.6,637.8,-6.5,972,6714,0.08,2.22,0.00,0.000,6,0.123,0.040,2347,2433,3794,0,0,0,0,0,0
$GC,7022,-0.62,-194.6,668.9,-10.0,988,7024,0.15,0.00,0.00,0.000,6,0.129,0.000,2397,2433,3792,0,0,0,0,0,0
$GC,7331,-0.63,-194.6,688.5,-6.3,1003,7333,0.08,0.00,0.00,0.000,6,0.125,0.000,2336,2434,3791,0,0,0,0,0,0
$GC,7640,-0.63,-194.6,722.1,-11.1,1018,7645,0.20,2.17,0.00,0.000,4,0.121,0.032,2402,956,3789,0,0,0,0,0,0
$GC,7673,-0.64,-194.6,725.1,-7.4,1019,7680,0.08,2.22,0.00,0.000,6,0.121,0.042,2352,2422,3789,0,0,0,0,0,0
$GC,7989,-0.64,-194.6,753.2,-8.5,1035,7991,0.12,0.00,0.00,0.000,6,0.132,0.000,2394,2423,3787,0,0,0,0,0,0
$GC,8299,-0.65,-194.6,769.0,-4.7,1050,8304,0.08,2.20,0.00,0.000,4,0.126,0.034,2336,949,3785,0,0,0,0,0,0
$GC,8370,-0.65,-194.6,775.2,-8.9,1053,8375,0.12,2.28,0.00,0.000,6,0.102,0.044,2385,2420,3784,0,0,0,0,0,0
$GC,8695,-0.65,-194.6,794.2,-5.9,1069,8699,0.00,2.15,0.00,0.000,4,0.000,0.033,2385,948,3783,0,0,0,0,0,0
$GC,8735,-0.66,-194.6,797.1,-7.4,1071,8740,0.05,2.25,0.00,0.000,6,0.165,0.042,2334,2426,3782,0,0,0,0,0,0
$STATE,8771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8772,begin apogee
$GC,8777,-0.11,0.0,800.1,8.4,1073,9003,0.62,0.15,218.68,0.965,6,0.103,0.054,2556,2140,3026,0,0,0,0,0,0
$STATE,9005,end apogee,CONTROL_FINISHED_OK
$STATE,9005,begin climb
$GC,9007,0.53,194.6,812.0,0.0,1083,9254,0.55,2.38,236.05,0.929,4,0.038,0.037,2817,659,2232,0,0,0,0,0,0
$GC,9440,0.51,194.6,780.0,14.3,1103,9445,0.25,2.22,0.00,0.000,6,0.164,0.034,2748,2123,2224,0,0,0,0,0,0
$GC,9757,0.49,194.6,747.0,9.9,1118,9761,0.00,2.20,0.00,0.000,4,0.000,0.037,2749,663,2221,0,0,0,0,0,0
$GC,9812,0.50,210.6,741.8,8.4,1120,9840,0.00,2.17,18.35,0.882,6,0.000,0.037,2749,2120,2167,0,0,0,0,0,0
$GC,10150,0.49,210.6,707.7,10.1,1137,10154,0.00,2.12,0.00,0.000,4,0.000,0.048,2749,3526,2164,0,0,0,0,0,0
$GC,10212,0.47,210.6,700.5,12.0,1140,10216,0.08,2.15,0.00,0.000,6,0.205,0.028,2731,2064,2163,0,0,0,0,0,0
$GC,10545,0.46,210.6,669.2,9.9,1156,10549,0.00,2.28,0.00,0.000,4,0.000,0.048,2731,3529,2161,0,0,0,0,0,0
$GC,10656,0.45,210.6,656.7,11.5,1161,10660,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2055,2161,0,0,0,0,0,0
$GC,10984,0.44,210.6,624.5,9.8,1177,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2051,2159,0,0,0,0,0,0
$GC,11295,0.43,210.6,594.1,9.7,1194,11299,0.05,2.25,0.00,0.000,4,0.246,0.049,2724,3525,2158,0,0,0,0,0,0
$GC,11346,0.42,210.6,589.0,10.3,1198,11350,0.05,2.15,0.00,0.000,6,0.232,0.026,2720,2050,2159,0,0,0,0,0,0
$GC,11671,0.43,223.5,560.5,8.5,1228,11692,0.00,0.00,15.30,0.838,6,0.000,0.000,2720,2046,2115,0,0,0,0,0,0
$GC,12010,0.46,251.4,531.8,8.0,1260,12055,0.08,2.40,34.92,0.851,4,0.130,0.049,2773,3530,1999,0,0,0,0,0,0
$GC,12092,0.45,251.4,522.2,13.3,1267,12096,0.20,2.20,0.00,0.000,6,0.150,0.027,2722,2058,1998,0,0,0,0,0,0
$GC,12423,0.48,277.7,494.0,8.1,1303,12467,0.10,2.33,32.28,0.824,4,0.104,0.047,2788,3533,1893,0,0,0,0,0,0
$GC,12482,0.46,277.7,486.7,13.6,1311,12490,0.22,2.22,0.00,0.000,6,0.144,0.027,2728,2047,1891,0,0,0,0,0,0
$GC,12833,0.49,302.1,456.2,8.1,1372,12871,0.10,0.00,30.25,0.801,6,0.103,0.000,2795,2042,1794,0,0,0,0,0,0
$GC,13214,0.48,302.1,408.0,12.3,1437,13222,0.20,2.30,0.00,0.000,4,0.142,0.047,2736,3528,1789,0,0,0,0,0,0
$GC,13264,0.48,302.1,402.6,9.5,1445,13272,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2058,1788,0,0,0,0,0,0
$GC,13615,0.49,312.3,374.3,8.6,1506,13630,0.05,0.00,12.25,0.711,6,0.176,0.000,2790,2053,1753,0,0,0,0,0,0
$GC,13974,0.48,312.3,331.5,10.8,1568,13983,0.17,2.33,0.00,0.000,4,0.141,0.049,2736,3528,1750,0,0,0,0,0,0
$GC,14025,0.55,363.7,327.0,7.3,1576,14097,0.08,2.17,63.40,0.730,6,0.054,0.028,2815,2063,1543,0,0,0,0,0,0
$GC,14438,0.53,363.7,273.8,13.6,1646,14447,0.20,2.30,0.00,0.000,4,0.146,0.045,2754,3525,1535,0,0,0,0,0,0
$GC,14477,0.53,363.7,269.3,11.1,1652,14485,0.00,2.17,0.00,0.000,6,0.000,0.027,2754,2065,1535,0,0,0,0,0,0
$GC,14827,0.56,379.7,241.5,8.4,1713,14857,0.08,2.12,18.90,0.641,4,0.125,0.039,2830,670,1478,0,0,0,0,0,0
$GC,14883,0.55,379.7,234.7,13.2,1721,14892,0.22,2.17,0.00,0.000,6,0.128,0.034,2760,2131,1477,0,0,0,0,0,0
$GC,15233,0.60,416.7,207.9,7.7,1782,15285,0.10,2.20,45.00,0.636,4,0.099,0.047,2833,3524,1326,0,0,0,0,0,0
$GC,15345,0.59,416.7,193.4,12.7,1799,15352,0.22,2.17,0.00,0.000,6,0.130,0.026,2773,2062,1324,0,0,0,0,0,0
$GC,15694,0.76,543.9,174.3,5.0,1860,15853,0.20,0.00,148.27,0.601,6,0.062,0.000,2887,2056,810,0,0,0,0,0,0
$GC,16204,0.76,543.9,83.1,9.7,1942,16213,0.20,2.30,0.00,0.000,4,0.128,0.045,2821,3526,805,0,0,0,0,0,0
$GC,16281,0.89,631.6,77.5,6.2,1954,16380,0.12,2.17,86.82,0.540,6,0.046,0.025,2911,2043,498,0,0,0,0,0,0
$GC,16733,0.89,631.6,17.7,17.4,2026,16742,0.15,2.10,0.00,0.000,4,0.132,0.042,2862,667,496,0,0,0,0,0,0
$GC,16770,0.90,631.6,14.4,9.0,2031,16779,0.05,2.17,0.00,0.000,6,0.066,0.030,2928,2130,496,0,0,0,0,0,0
$STATE,16875,end climb,SURFACE_DEPTH_REACHED
$STATE,16875,begin surface coast
$FINISH,1.1,1.022069
$STATE,16908,end surface coast,CONTROL_FINISHED_OK
$STATE,16908,begin surface
$SM_CCo,16983,0.00,0.000,0,0,495,621.10
$SM_GC,1.57,6.95,0.00,0.00,0.043,0.000,0.000,210,2431,495,-7.40,0.88,621.10
$IRIDIUM_FIX,2309.79,12620.28,281010,090929
$TT8_MAMPS,0.026215
$HUMID,51.22
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.7,53.009
$10V_AH,10.2,48.898
$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,23.150,127.625,960.475,0.000,0.000,54.082,74.183,205.895,0.000,0.000,13.878,4899.079,5870.010,933.333,5419.674,391.557,0.000,2771.033,0.000,5117.335,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,65.025,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1388.653,0.000,3086.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,120139,2053
$CAP_FILE_SIZE,210932,0
$CFSIZE,260165632,231981056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,334.2,1
$GPS,281010,145101,2315.924,12620.459,38,1.9,38,-3.4