version: 66.08
glider: 176
mission: 2
dive: 300
start: 10 16 110 3 45 45
data:
$ID,176
$MISSION,2
$DIVE,300
$N_DIVES,313
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$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,375
$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,225
$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,-5175.8857
$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,4
$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
$GPS1,161010,033907,2413.426,12701.518,42,1.3,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.7
$GPS2,161010,034520,2413.462,12701.502,11,1.6,11,-3.7
$SPEED_LIMITS,0.192,0.322
$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,241.0,171764,-15.4,-11.111
$D_GRID,5000
$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,-0.61,-219.0,0.0,0.0,0,91,0.00,0.00,-73.15,0.000,2,0.000,0.000,203,2419,2700,0,0,0,0,0,0
$GC,94,-0.61,-219.0,3.6,-6.3,9,136,8.75,2.12,-22.35,0.000,4,0.238,0.069,2390,3768,3923,0,0,0,0,0,0
$GC,260,-0.60,-219.0,49.9,-19.4,35,270,0.00,2.08,0.00,0.000,6,0.000,0.029,2390,2354,3924,0,0,0,0,0,0
$GC,627,-0.59,-219.0,128.5,-20.4,96,636,0.08,2.05,0.00,0.000,4,0.210,0.033,2409,958,3925,0,0,0,0,0,0
$GC,675,-0.59,-219.0,136.0,-12.7,103,685,0.03,2.22,0.00,0.000,6,0.109,0.043,2375,2419,3925,0,0,0,0,0,0
$GC,1024,-0.58,-219.0,196.9,-17.4,164,1033,0.12,2.08,0.00,0.000,4,0.166,0.056,2410,3760,3925,0,0,0,0,0,0
$GC,1075,-0.59,-219.0,203.8,-11.0,172,1084,0.03,2.03,0.00,0.000,6,0.099,0.028,2370,2343,3925,0,0,0,0,0,0
$GC,1427,-0.58,-219.0,262.2,-16.5,233,1435,0.15,2.17,0.00,0.000,4,0.157,0.054,2414,3768,3925,0,0,0,0,0,0
$GC,1466,-0.59,-219.0,267.1,-10.2,239,1475,0.08,2.03,0.00,0.000,6,0.124,0.026,2359,2327,3925,0,0,0,0,0,0
$GC,1816,-0.58,-219.0,321.6,-17.2,300,1825,0.17,0.00,0.00,0.000,6,0.146,0.000,2412,2325,3924,0,0,0,0,0,0
$GC,2166,-0.59,-219.0,355.5,-8.6,361,2173,0.08,2.20,0.00,0.000,4,0.127,0.054,2360,3772,3923,0,0,0,0,0,0
$GC,2216,-0.59,-219.0,361.0,-11.2,369,2223,0.15,2.03,0.00,0.000,6,0.118,0.027,2411,2333,3922,0,0,0,0,0,0
$GC,2566,-0.60,-219.0,391.4,-8.6,430,2576,0.08,2.22,0.00,0.000,4,0.129,0.054,2353,3763,3920,0,0,0,0,0,0
$GC,2590,-0.61,-219.0,393.6,-9.2,433,2597,0.15,2.00,0.00,0.000,6,0.120,0.027,2402,2338,3920,0,0,0,0,0,0
$GC,2937,-0.61,-219.0,426.4,-8.8,494,2946,0.05,2.22,0.00,0.000,4,0.179,0.054,2350,3763,3918,0,0,0,0,0,0
$GC,2971,-0.62,-219.0,429.9,-10.8,499,2980,0.15,2.00,0.00,0.000,6,0.119,0.027,2401,2336,3917,0,0,0,0,0,0
$GC,3322,-0.62,-219.0,456.5,-7.6,560,3331,0.08,0.00,0.00,0.000,6,0.126,0.000,2346,2335,3916,0,0,0,0,0,0
$GC,3673,-0.62,-219.0,502.8,-12.8,620,3675,0.17,0.00,0.00,0.000,6,0.135,0.000,2402,2334,3913,0,0,0,0,0,0
$GC,3991,-0.63,-219.0,525.8,-5.9,650,3993,0.08,0.00,0.00,0.000,6,0.128,0.000,2346,2334,3911,0,0,0,0,0,0
$GC,4310,-0.63,-219.0,561.6,-12.2,680,4315,0.15,2.20,0.00,0.000,4,0.135,0.054,2390,3767,3909,0,0,0,0,0,0
$GC,4365,-0.65,-219.0,566.4,-6.4,684,4371,0.00,2.03,0.00,0.000,6,0.000,0.027,2390,2344,3908,0,0,0,0,0,0
$GC,4690,-0.66,-219.0,589.8,-6.9,715,4694,0.05,2.00,0.00,0.000,4,0.181,0.034,2345,956,3906,0,0,0,0,0,0
$GC,4716,-0.66,-219.0,592.3,-9.3,717,4724,0.12,2.20,0.00,0.000,6,0.139,0.041,2386,2423,3906,0,0,0,0,0,0
$GC,5037,-0.67,-219.0,615.3,-7.4,738,5039,0.08,0.00,0.00,0.000,6,0.124,0.000,2325,2424,3904,0,0,0,0,0,0
$GC,5345,-0.66,-219.0,656.4,-13.3,753,5346,0.17,0.00,0.00,0.000,6,0.135,0.000,2381,2424,3901,0,0,0,0,0,0
$GC,5655,-0.67,-219.0,680.6,-7.4,768,5659,0.05,2.15,0.00,0.000,4,0.171,0.036,2335,957,3899,0,0,0,0,0,0
$GC,5705,-0.68,-219.0,685.5,-9.4,770,5709,0.15,2.22,0.00,0.000,6,0.129,0.044,2385,2430,3898,0,0,0,0,0,0
$GC,6027,-0.69,-219.0,709.0,-7.5,786,6029,0.08,0.00,0.00,0.000,6,0.125,0.000,2322,2430,3896,0,0,0,0,0,0
$GC,6335,-0.68,-219.0,748.2,-13.4,801,6340,0.17,2.17,0.00,0.000,4,0.132,0.035,2380,949,3894,0,0,0,0,0,0
$GC,6362,-0.69,-219.0,751.5,-10.8,802,6366,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,2423,3894,0,0,0,0,0,0
$GC,6685,-0.70,-219.0,775.3,-7.7,818,6686,0.05,0.00,0.00,0.000,6,0.177,0.000,2328,2424,3891,0,0,0,0,0,0
$GC,6993,-0.69,-219.0,811.7,-12.2,833,6998,0.15,2.17,0.00,0.000,4,0.135,0.035,2378,945,3889,0,0,0,0,0,0
$GC,7039,-0.71,-219.0,816.1,-8.7,835,7043,0.08,2.22,0.00,0.000,6,0.125,0.043,2327,2424,3889,0,0,0,0,0,0
$GC,7371,-0.71,-219.0,859.3,-13.5,851,7375,0.15,2.08,0.00,0.000,4,0.138,0.059,2371,3763,3887,0,0,0,0,0,0
$GC,7403,-0.72,-219.0,863.0,-9.6,852,7411,0.08,2.03,0.00,0.000,6,0.125,0.028,2320,2344,3887,0,0,0,0,0,0
$GC,7720,-0.71,-219.0,903.3,-12.6,868,7725,0.15,2.22,0.00,0.000,4,0.136,0.057,2361,3773,3885,0,0,0,0,0,0
$GC,7747,-0.72,-219.0,906.5,-10.5,869,7750,0.00,2.05,0.00,0.000,6,0.000,0.027,2361,2341,3884,0,0,0,0,0,0
$GC,8074,-0.73,-219.0,932.0,-7.5,885,8078,0.00,2.00,0.00,0.000,4,0.000,0.034,2361,954,3882,0,0,0,0,0,0
$GC,8113,-0.74,-219.0,935.1,-7.4,886,8120,0.05,2.20,0.00,0.000,6,0.172,0.041,2310,2420,3882,0,0,0,0,0,0
$GC,8429,-0.73,-219.0,973.9,-12.8,902,8434,0.17,2.10,0.00,0.000,4,0.137,0.058,2362,3773,3880,0,0,0,0,0,0
$GC,8450,-0.73,-219.0,976.5,-11.3,903,8454,0.00,2.05,0.00,0.000,6,0.000,0.027,2362,2357,3880,0,0,0,0,0,0
$STATE,8775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8775,begin apogee
$GC,8780,-0.11,0.0,1001.2,7.4,919,8959,0.55,0.17,173.12,1.268,6,0.090,0.073,2565,2145,3027,0,0,0,0,0,0
$STATE,8960,end apogee,CONTROL_FINISHED_OK
$STATE,8960,begin climb
$GC,8962,0.61,219.0,1010.1,0.0,927,9161,0.60,2.42,188.07,1.226,4,0.040,0.038,2831,667,2132,0,0,0,0,0,0
$GC,9323,0.59,219.0,967.9,19.0,944,9328,0.22,2.28,0.00,0.000,6,0.184,0.037,2773,2126,2124,0,0,0,0,0,0
$GC,9645,0.57,219.0,918.3,14.7,960,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2126,2121,0,0,0,0,0,0
$GC,9954,0.55,219.0,873.8,14.3,975,9958,0.00,2.12,0.00,0.000,4,0.000,0.052,2773,3522,2119,0,0,0,0,0,0
$GC,9980,0.53,219.0,869.6,14.8,976,9985,0.08,2.17,0.00,0.000,6,0.181,0.030,2760,2064,2119,0,0,0,0,0,0
$GC,10303,0.52,219.0,826.2,13.3,992,10307,0.00,2.28,0.00,0.000,4,0.000,0.050,2760,3532,2117,0,0,0,0,0,0
$GC,10335,0.50,219.0,821.1,14.5,993,10343,0.10,2.17,0.00,0.000,6,0.207,0.029,2745,2051,2117,0,0,0,0,0,0
$GC,10651,0.49,219.0,780.2,13.3,1009,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2046,2117,0,0,0,0,0,0
$GC,10962,0.48,219.0,738.3,13.7,1024,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2046,2116,0,0,0,0,0,0
$GC,11270,0.47,219.0,696.3,13.2,1039,11274,0.00,2.25,0.00,0.000,4,0.000,0.050,2744,3524,2115,0,0,0,0,0,0
$GC,11343,0.46,219.0,686.3,14.1,1042,11347,0.08,2.15,0.00,0.000,6,0.215,0.028,2733,2055,2115,0,0,0,0,0,0
$GC,11660,0.49,247.4,651.9,10.1,1057,11685,0.08,0.00,22.17,1.029,6,0.126,0.000,2778,2049,2018,0,0,0,0,0,0
$GC,11989,0.47,247.4,606.7,13.9,1073,11993,0.15,2.30,0.00,0.000,4,0.173,0.050,2738,3523,2012,0,0,0,0,0,0
$GC,12044,0.47,247.4,598.9,13.2,1075,12051,0.00,2.15,0.00,0.000,6,0.000,0.028,2737,2063,2011,0,0,0,0,0,0
$GC,12369,0.47,255.3,563.3,10.8,1106,12382,0.00,2.15,7.12,0.835,4,0.000,0.041,2742,659,1986,0,0,0,0,0,0
$GC,12421,0.47,255.6,557.1,11.1,1110,12428,0.00,2.20,0.00,0.000,6,0.000,0.034,2742,2129,1983,0,0,0,0,0,0
$GC,12746,0.47,255.6,520.9,11.5,1141,12750,0.00,2.12,0.00,0.000,4,0.000,0.051,2741,3530,1982,0,0,0,0,0,0
$GC,12853,0.46,255.6,507.7,12.0,1150,12857,0.08,2.17,0.00,0.000,6,0.204,0.029,2728,2055,1982,0,0,0,0,0,0
$GC,13194,0.51,295.0,473.6,9.8,1203,13238,0.10,2.15,34.45,0.911,4,0.106,0.041,2797,659,1823,0,0,0,0,0,0
$GC,13299,0.50,295.0,459.6,13.9,1219,13307,0.17,2.22,0.00,0.000,6,0.152,0.034,2747,2120,1819,0,0,0,0,0,0
$GC,13648,0.52,313.1,418.6,10.5,1280,13671,0.05,2.17,15.45,0.828,4,0.174,0.049,2793,3523,1750,0,0,0,0,0,0
$GC,13712,0.51,313.1,409.3,14.9,1290,13721,0.15,2.20,0.00,0.000,6,0.141,0.029,2751,2066,1748,0,0,0,0,0,0
$GC,14062,0.58,366.8,376.2,9.3,1351,14119,0.10,2.20,45.45,0.827,4,0.106,0.043,2818,666,1529,0,0,0,0,0,0
$GC,14127,0.56,366.8,366.1,17.3,1360,14136,0.15,2.25,0.00,0.000,6,0.125,0.035,2767,2114,1527,0,0,0,0,0,0
$GC,14477,0.56,366.8,316.2,12.9,1421,14484,0.00,2.17,0.00,0.000,4,0.000,0.050,2767,3527,1521,0,0,0,0,0,0
$GC,14515,0.56,366.8,311.6,11.5,1427,14522,0.00,2.15,0.00,0.000,6,0.000,0.028,2775,2062,1521,0,0,0,0,0,0
$GC,14862,0.56,366.8,272.9,11.9,1488,14870,0.00,2.12,0.00,0.000,4,0.000,0.043,2775,659,1521,0,0,0,0,0,0
$GC,14918,0.60,390.1,267.2,10.3,1497,14948,0.00,2.20,18.88,0.712,6,0.000,0.035,2776,2134,1436,0,0,0,0,0,0
$GC,15291,0.67,442.6,226.4,9.3,1561,15341,0.10,0.00,43.38,0.696,6,0.099,0.000,2845,2134,1221,0,0,0,0,0,0
$GC,15681,0.66,442.6,157.5,16.7,1628,15690,0.17,2.28,0.00,0.000,4,0.147,0.041,2802,661,1215,0,0,0,0,0,0
$GC,15705,0.65,442.6,154.0,15.5,1631,15713,0.00,2.20,0.00,0.000,6,0.000,0.035,2802,2124,1214,0,0,0,0,0,0
$GC,16070,0.70,478.7,115.8,9.9,1692,16105,0.08,2.28,28.90,0.601,4,0.125,0.041,2871,664,1074,0,0,0,0,0,0
$GC,16125,0.69,478.7,108.4,14.4,1699,16135,0.17,2.22,0.00,0.000,6,0.119,0.036,2808,2120,1072,0,0,0,0,0,0
$GC,16495,0.84,586.2,79.7,7.4,1760,16584,0.17,0.00,82.88,0.572,6,0.070,0.000,2919,2120,636,0,0,0,0,0,0
$STATE,16911,end climb,SURFACE_DEPTH_REACHED
$STATE,16911,begin surface coast
$FINISH,0.7,1.021916
$STATE,16925,end surface coast,CONTROL_FINISHED_OK
$STATE,16925,begin surface
$SM_CCo,16999,0.00,0.000,0,0,630,588.23
$SM_GC,1.45,6.93,0.00,0.00,0.040,0.000,0.000,199,2424,630,-7.40,0.68,588.23
$IRIDIUM_FIX,2408.65,12705.43,151010,222212
$TT8_MAMPS,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.2,39.666
$10V_AH,10.3,34.780
$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,22.550,130.575,659.875,0.000,0.000,24.101,15.897,194.937,0.000,0.000,13.792,4452.368,7210.241,716.545,4678.555,291.385,0.000,2332.202,0.000,4449.178,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,72.675,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1241.451,0.000,2557.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,106800,1829
$CAP_FILE_SIZE,199094,0
$CFSIZE,260165632,238354432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 88.1,1
$GPS,161010,083006,2412.164,12700.027,35,1.1,35,-3.7