version: 66.08
glider: 176
mission: 2
dive: 362
start: 10 28 110 14 58 17
data:
$ID,176
$MISSION,2
$DIVE,362
$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,-5392.832
$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
$GPS1,281010,145101,2315.924,12620.459,38,1.9,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-54.7
$GPS2,281010,145750,2315.958,12620.465,12,1.7,12,-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,193.4,45724,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,92,0.00,0.00,-74.03,0.000,2,0.000,0.000,204,2439,2713,0,0,0,0,0,0
$GC,95,-0.53,-194.6,3.4,-5.0,9,137,8.90,2.10,-21.90,0.000,4,0.233,0.069,2414,3765,3822,0,0,0,0,0,0
$GC,274,-0.53,-194.6,34.4,-12.5,37,283,0.00,2.05,0.00,0.000,6,0.000,0.026,2415,2350,3823,0,0,0,0,0,0
$GC,640,-0.51,-194.6,109.6,-15.4,98,649,0.05,2.22,0.00,0.000,4,0.256,0.053,2427,3770,3823,0,0,0,0,0,0
$GC,694,-0.52,-194.6,115.3,-8.4,106,703,0.00,2.05,0.00,0.000,6,0.000,0.024,2428,2332,3823,0,0,0,0,0,0
$GC,1060,-0.51,-194.6,156.8,-11.3,167,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2329,3824,0,0,0,0,0,0
$GC,1415,-0.51,-194.6,189.8,-9.5,228,1424,0.00,2.20,0.00,0.000,4,0.000,0.051,2428,3763,3824,0,0,0,0,0,0
$GC,1457,-0.52,-194.6,193.4,-8.9,234,1465,0.00,2.03,0.00,0.000,6,0.000,0.024,2427,2331,3824,0,0,0,0,0,0
$GC,1821,-0.53,-194.6,224.0,-6.4,295,1827,0.00,2.17,0.00,0.000,4,0.000,0.051,2427,3777,3824,0,0,0,0,0,0
$GC,1860,-0.54,-194.6,226.4,-5.4,301,1868,0.05,2.00,0.00,0.000,6,0.172,0.024,2381,2317,3824,0,0,0,0,0,0
$GC,2220,-0.53,-194.6,264.2,-12.0,362,2230,0.15,2.00,0.00,0.000,4,0.147,0.031,2428,946,3823,0,0,0,0,0,0
$GC,2248,-0.53,-194.6,267.3,-11.0,366,2258,0.03,2.22,0.00,0.000,6,0.102,0.037,2380,2435,3823,0,0,0,0,0,0
$GC,2612,-0.53,-194.6,310.4,-11.9,427,2619,0.15,2.00,0.00,0.000,4,0.142,0.052,2428,3768,3821,0,0,0,0,0,0
$GC,2657,-0.54,-194.6,314.4,-7.1,434,2666,0.05,2.03,0.00,0.000,6,0.070,0.024,2378,2333,3822,0,0,0,0,0,0
$GC,3018,-0.54,-194.6,354.0,-10.6,495,3024,0.15,0.00,0.00,0.000,6,0.136,0.000,2427,2332,3820,0,0,0,0,0,0
$GC,3375,-0.55,-194.6,378.1,-6.4,556,3385,0.08,2.22,0.00,0.000,4,0.126,0.052,2361,3766,3818,0,0,0,0,0,0
$GC,3400,-0.56,-194.6,380.0,-7.4,559,3407,0.17,2.00,0.00,0.000,6,0.113,0.025,2421,2316,3818,0,0,0,0,0,0
$GC,3760,-0.57,-194.6,405.0,-7.1,620,3770,0.08,0.00,0.00,0.000,6,0.128,0.000,2363,2312,3816,0,0,0,0,0,0
$GC,4123,-0.56,-194.6,444.4,-11.0,681,4131,0.17,2.25,0.00,0.000,4,0.125,0.052,2417,3767,3814,0,0,0,0,0,0
$GC,4175,-0.58,-194.6,448.6,-6.7,689,4182,0.08,2.00,0.00,0.000,6,0.129,0.024,2372,2325,3814,0,0,0,0,0,0
$GC,4535,-0.59,-194.6,476.8,-7.3,750,4544,0.12,2.03,0.00,0.000,4,0.121,0.033,2422,949,3812,0,0,0,0,0,0
$GC,4610,-0.62,-194.6,481.9,-7.1,762,4619,0.10,2.22,0.00,0.000,6,0.070,0.037,2375,2433,3812,0,0,0,0,0,0
$GC,4960,-0.64,-194.6,505.4,-7.0,816,4964,0.05,2.03,0.00,0.000,4,0.171,0.053,2404,3769,3809,0,0,0,0,0,0
$GC,5129,-0.67,-194.6,519.4,-9.5,831,5133,0.12,2.03,0.00,0.000,6,0.093,0.027,2341,2331,3808,0,0,0,0,0,0
$GC,5454,-0.68,-194.6,549.0,-9.0,861,5458,0.12,2.22,0.00,0.000,4,0.123,0.053,2387,3766,3806,0,0,0,0,0,0
$GC,5487,-0.69,-194.6,551.9,-8.1,863,5494,0.10,2.03,0.00,0.000,6,0.101,0.024,2319,2331,3806,0,0,0,0,0,0
$GC,5813,-0.68,-194.6,595.1,-14.0,894,5817,0.17,2.03,0.00,0.000,4,0.138,0.032,2376,946,3804,0,0,0,0,0,0
$GC,5853,-0.69,-194.6,599.4,-9.0,897,5857,0.00,2.22,0.00,0.000,6,0.000,0.040,2376,2426,3804,0,0,0,0,0,0
$GC,6169,-0.69,-194.6,625.5,-7.9,912,6171,0.05,0.00,0.00,0.000,6,0.177,0.000,2330,2427,3802,0,0,0,0,0,0
$GC,6478,-0.68,-194.6,660.2,-11.2,927,6483,0.15,2.15,0.00,0.000,4,0.135,0.032,2379,957,3800,0,0,0,0,0,0
$GC,6505,-0.69,-194.6,662.8,-8.8,928,6509,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,2427,3800,0,0,0,0,0,0
$GC,6821,-0.69,-194.6,686.3,-7.4,943,6826,0.05,2.17,0.00,0.000,4,0.179,0.032,2331,949,3798,0,0,0,0,0,0
$GC,6848,-0.69,-194.6,689.1,-10.2,944,6853,0.08,2.25,0.00,0.000,6,0.084,0.042,2380,2413,3797,0,0,0,0,0,0
$GC,7171,-0.69,-194.6,712.7,-7.1,960,7173,0.08,0.00,0.00,0.000,6,0.125,0.000,2322,2413,3795,0,0,0,0,0,0
$GC,7480,-0.69,-194.6,748.8,-11.9,975,7482,0.17,0.00,0.00,0.000,6,0.129,0.000,2380,2413,3793,0,0,0,0,0,0
$GC,7789,-0.69,-194.6,770.5,-6.7,990,7794,0.08,2.15,0.00,0.000,4,0.126,0.032,2323,952,3792,0,0,0,0,0,0
$GC,7839,-0.69,-194.6,775.5,-10.4,992,7844,0.17,2.22,0.00,0.000,6,0.130,0.043,2379,2426,3791,0,0,0,0,0,0
$GC,8156,-0.69,-194.6,798.3,-7.3,1007,8161,0.08,2.17,0.00,0.000,4,0.126,0.034,2321,954,3790,0,0,0,0,0,0
$STATE,8175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8175,begin apogee
$GC,8182,-0.11,0.0,800.3,8.4,1008,8408,0.68,0.00,219.82,0.955,6,0.106,0.000,2558,2121,3027,0,0,0,0,0,0
$STATE,8411,end apogee,CONTROL_FINISHED_OK
$STATE,8411,begin climb
$GC,8413,0.53,194.6,813.6,0.0,1019,8658,0.55,2.35,235.45,0.924,4,0.038,0.037,2817,662,2232,0,0,0,0,0,0
$GC,8910,0.51,194.6,771.2,14.7,1041,8919,0.25,2.22,0.00,0.000,6,0.163,0.034,2747,2120,2224,0,0,0,0,0,0
$GC,9227,0.49,194.6,738.3,9.7,1057,9231,0.00,2.15,0.00,0.000,4,0.000,0.047,2746,3534,2221,0,0,0,0,0,0
$GC,9270,0.47,194.6,733.0,12.7,1059,9274,0.10,2.15,0.00,0.000,6,0.186,0.027,2729,2060,2221,0,0,0,0,0,0
$GC,9598,0.46,194.6,703.0,9.0,1075,9600,0.05,0.00,0.00,0.000,6,0.173,0.000,2777,2054,2218,0,0,0,0,0,0
$GC,9907,0.44,194.6,667.5,11.3,1090,9912,0.17,2.25,0.00,0.000,4,0.159,0.049,2725,3528,2218,0,0,0,0,0,0
$GC,9979,0.43,194.6,659.8,10.3,1093,9983,0.00,2.15,0.00,0.000,6,0.000,0.028,2735,2051,2218,0,0,0,0,0,0
$GC,10301,0.43,202.6,632.3,8.6,1109,10310,0.00,0.00,7.10,0.757,6,0.000,0.000,2735,2047,2200,0,0,0,0,0,0
$GC,10610,0.43,208.2,605.6,8.7,1124,10621,0.05,0.00,8.40,0.780,6,0.240,0.000,2724,2048,2178,0,0,0,0,0,0
$GC,10927,0.45,228.5,579.3,8.3,1150,10961,0.05,2.30,26.48,0.862,4,0.174,0.048,2766,3524,2096,0,0,0,0,0,0
$GC,11014,0.43,228.5,569.4,12.3,1157,11022,0.20,2.15,0.00,0.000,6,0.155,0.025,2718,2056,2093,0,0,0,0,0,0
$GC,11340,0.50,288.4,543.1,7.0,1188,11419,0.12,2.38,72.82,0.849,4,0.089,0.049,2793,3530,1850,0,0,0,0,0,0
$GC,11456,0.48,288.4,527.5,15.2,1198,11461,0.22,2.22,0.00,0.000,6,0.149,0.027,2736,2061,1847,0,0,0,0,0,0
$GC,11783,0.48,288.4,497.2,9.1,1230,11792,0.00,2.33,0.00,0.000,4,0.000,0.048,2736,3528,1842,0,0,0,0,0,0
$GC,11818,0.48,288.4,493.8,10.1,1235,11824,0.00,2.15,0.00,0.000,6,0.000,0.028,2736,2062,1842,0,0,0,0,0,0
$GC,12164,0.49,303.0,462.6,8.4,1296,12189,0.08,2.28,17.25,0.771,4,0.129,0.045,2795,3526,1790,0,0,0,0,0,0
$GC,12204,0.48,303.0,458.2,12.0,1301,12213,0.22,2.17,0.00,0.000,6,0.143,0.027,2733,2062,1789,0,0,0,0,0,0
$GC,12555,0.52,329.6,427.6,8.1,1362,12599,0.10,2.38,33.30,0.773,4,0.102,0.047,2802,3536,1682,0,0,0,0,0,0
$GC,12619,0.50,329.6,419.8,13.9,1371,12626,0.20,2.20,0.00,0.000,6,0.144,0.028,2746,2054,1680,0,0,0,0,0,0
$GC,12970,0.52,344.1,389.2,8.4,1432,12995,0.05,2.35,17.90,0.727,4,0.174,0.047,2798,3526,1623,0,0,0,0,0,0
$GC,13037,0.51,344.1,380.8,14.1,1442,13046,0.15,2.20,0.00,0.000,6,0.119,0.028,2748,2065,1621,0,0,0,0,0,0
$GC,13389,0.51,344.1,348.7,9.4,1503,13396,0.00,2.28,0.00,0.000,4,0.000,0.047,2748,3538,1619,0,0,0,0,0,0
$GC,13416,0.51,344.1,345.9,9.7,1507,13422,0.00,2.15,0.00,0.000,6,0.000,0.027,2749,2061,1619,0,0,0,0,0,0
$GC,13766,0.52,344.1,313.2,9.3,1568,13774,0.00,2.10,0.00,0.000,4,0.000,0.037,2749,654,1618,0,0,0,0,0,0
$GC,13793,0.53,344.1,310.7,8.9,1572,13803,0.03,2.20,0.00,0.000,6,0.105,0.032,2795,2129,1617,0,0,0,0,0,0
$GC,14146,0.52,344.1,266.9,12.3,1633,14153,0.15,2.20,0.00,0.000,4,0.148,0.040,2750,659,1617,0,0,0,0,0,0
$GC,14162,0.51,344.1,264.7,12.5,1635,14170,0.00,2.17,0.00,0.000,6,0.000,0.034,2749,2133,1617,0,0,0,0,0,0
$GC,14512,0.59,406.6,239.2,7.0,1696,14598,0.12,2.20,75.12,0.655,4,0.085,0.047,2834,3520,1368,0,0,0,0,0,0
$GC,14646,0.59,406.6,221.6,14.5,1716,14655,0.20,2.20,0.00,0.000,6,0.113,0.026,2774,2063,1365,0,0,0,0,0,0
$GC,14998,0.60,410.5,190.6,8.8,1777,15005,0.00,0.00,4.75,0.449,6,0.000,0.000,2774,2060,1353,0,0,0,0,0,0
$GC,15347,0.71,494.5,162.3,6.3,1838,15456,0.15,2.17,99.40,0.597,4,0.074,0.038,2871,649,1011,0,0,0,0,0,0
$GC,15490,0.70,494.5,143.5,13.7,1858,15499,0.17,2.28,0.00,0.000,6,0.100,0.034,2807,2119,1010,0,0,0,0,0,0
$GC,15860,0.76,534.4,112.8,7.7,1919,15919,0.10,2.22,46.55,0.556,4,0.101,0.047,2894,3531,847,0,0,0,0,0,0
$GC,15929,0.75,534.4,102.4,17.6,1927,15939,0.20,2.22,0.00,0.000,6,0.111,0.028,2827,2063,847,0,0,0,0,0,0
$GC,16299,0.79,534.4,69.9,10.2,1988,16309,0.08,2.30,0.00,0.000,4,0.157,0.047,2854,3527,844,0,0,0,0,0,0
$GC,16329,0.82,534.4,66.6,10.2,1992,16338,0.00,2.17,0.00,0.000,6,0.000,0.028,2853,2056,844,0,0,0,0,0,0
$GC,16696,0.86,534.4,23.5,11.8,2053,16705,0.05,2.28,0.00,0.000,4,0.197,0.045,2870,3524,844,0,0,0,0,0,0
$GC,16737,0.89,534.4,18.7,11.9,2059,16746,0.00,2.15,0.00,0.000,6,0.000,0.028,2870,2056,844,0,0,0,0,0,0
$STATE,16890,end climb,SURFACE_DEPTH_REACHED
$STATE,16892,begin surface coast
$FINISH,0.9,1.022366
$STATE,16923,end surface coast,CONTROL_FINISHED_OK
$STATE,16923,begin surface
$SM_CCo,16998,0.00,0.000,0,0,844,535.49
$SM_GC,1.69,6.68,0.00,0.00,0.036,0.000,0.000,201,2462,844,-7.38,1.70,535.49
$IRIDIUM_FIX,2309.79,13107.62,281010,101052
$TT8_MAMPS,0.026215
$HUMID,51.45
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.8,53.223
$10V_AH,10.1,49.139
$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,22.975,143.725,864.350,0.000,0.000,30.831,15.684,206.551,0.000,0.000,14.812,5020.772,5526.278,902.070,5541.568,391.687,0.000,2736.672,0.000,5319.365,0.000,0.543,0.000
$DEVICE_MAMPS,255.510,68.850,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1412.355,0.000,3310.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,123483,2089
$CAP_FILE_SIZE,216189,0
$CFSIZE,260165632,231866368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.345,  7.4,1
$GPS,281010,194237,2316.332,12620.115,34,1.2,34,-3.4