version: 66.08
glider: 176
mission: 2
dive: 301
start: 10 16 110 8 37 17
data:
$ID,176
$MISSION,2
$DIVE,301
$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,-5184.5249
$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
$GPS1,161010,083006,2412.164,12700.027,35,1.1,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.4
$GPS2,161010,083650,2412.182,12700.036,10,1.4,10,-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,234.9,168362,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-219.0,0.0,0.0,0,83,0.00,0.00,-65.60,0.000,2,0.000,0.000,199,2430,2580,0,0,0,0,0,0
$GC,85,-0.61,-219.0,3.3,-5.5,8,127,8.77,2.17,-25.75,0.000,4,0.238,0.045,2391,956,3922,0,0,0,0,0,0
$GC,136,-0.56,-219.0,16.7,-26.6,14,146,0.05,2.28,0.00,0.000,6,0.188,0.047,2407,2414,3923,0,0,0,0,0,0
$GC,503,-0.55,-219.0,112.7,-22.7,75,511,0.00,2.15,0.00,0.000,4,0.000,0.032,2407,955,3924,0,0,0,0,0,0
$GC,590,-0.55,-219.0,126.5,-13.7,89,598,0.00,2.22,0.00,0.000,6,0.000,0.042,2407,2418,3924,0,0,0,0,0,0
$GC,949,-0.55,-219.0,183.7,-15.3,150,959,0.00,2.05,0.00,0.000,4,0.000,0.056,2404,3757,3925,0,0,0,0,0,0
$GC,1020,-0.56,-219.0,192.5,-10.5,161,1027,0.00,2.00,0.00,0.000,6,0.000,0.028,2404,2335,3925,0,0,0,0,0,0
$GC,1377,-0.56,-219.0,240.4,-12.9,222,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2332,3925,0,0,0,0,0,0
$GC,1738,-0.56,-219.0,280.1,-11.5,283,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2332,3925,0,0,0,0,0,0
$GC,2093,-0.56,-219.0,320.6,-11.0,344,2102,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,3761,3924,0,0,0,0,0,0
$GC,2141,-0.58,-219.0,324.7,-8.1,351,2148,0.00,2.00,0.00,0.000,6,0.000,0.028,2404,2347,3923,0,0,0,0,0,0
$GC,2498,-0.59,-219.0,357.3,-9.6,412,2507,0.00,2.03,0.00,0.000,4,0.000,0.035,2404,954,3922,0,0,0,0,0,0
$GC,2534,-0.60,-219.0,360.4,-9.5,417,2540,0.00,2.20,0.00,0.000,6,0.000,0.041,2404,2434,3922,0,0,0,0,0,0
$GC,2891,-0.61,-219.0,391.1,-7.8,478,2901,0.05,0.00,0.00,0.000,6,0.183,0.000,2360,2434,3920,0,0,0,0,0,0
$GC,3254,-0.60,-219.0,441.9,-15.1,539,3261,0.15,2.17,0.00,0.000,4,0.138,0.033,2408,948,3918,0,0,0,0,0,0
$GC,3286,-0.61,-219.0,446.2,-11.6,544,3295,0.05,2.22,0.00,0.000,6,0.070,0.042,2355,2420,3918,0,0,0,0,0,0
$GC,3645,-0.61,-219.0,490.6,-11.4,605,3652,0.15,0.00,0.00,0.000,6,0.136,0.000,2403,2420,3916,0,0,0,0,0,0
$GC,3984,-0.62,-219.0,513.7,-6.9,647,3986,0.08,0.00,0.00,0.000,6,0.129,0.000,2347,2420,3913,0,0,0,0,0,0
$GC,4301,-0.62,-219.0,553.2,-13.1,677,4306,0.17,2.08,0.00,0.000,4,0.129,0.057,2404,3771,3911,0,0,0,0,0,0
$GC,4345,-0.64,-219.0,557.6,-7.3,680,4352,0.10,2.03,0.00,0.000,6,0.110,0.028,2352,2344,3911,0,0,0,0,0,0
$GC,4670,-0.64,-219.0,595.4,-11.3,711,4675,0.12,2.03,0.00,0.000,4,0.141,0.037,2393,956,3908,0,0,0,0,0,0
$GC,4714,-0.66,-219.0,599.1,-6.9,714,4723,0.08,2.20,0.00,0.000,6,0.126,0.041,2335,2430,3908,0,0,0,0,0,0
$GC,5031,-0.65,-219.0,634.8,-11.5,731,5035,0.17,2.03,0.00,0.000,4,0.132,0.057,2389,3763,3905,0,0,0,0,0,0
$GC,5063,-0.66,-219.0,637.8,-7.3,732,5070,0.08,2.03,0.00,0.000,6,0.127,0.028,2338,2347,3905,0,0,0,0,0,0
$GC,5379,-0.66,-219.0,675.3,-13.2,748,5381,0.15,0.00,0.00,0.000,6,0.137,0.000,2386,2345,3903,0,0,0,0,0,0
$GC,5689,-0.67,-219.0,705.3,-9.8,763,5691,0.08,0.00,0.00,0.000,6,0.125,0.000,2327,2345,3900,0,0,0,0,0,0
$GC,5998,-0.67,-219.0,750.3,-14.6,778,6002,0.17,2.20,0.00,0.000,4,0.131,0.058,2385,3769,3897,0,0,0,0,0,0
$GC,6047,-0.68,-219.0,755.2,-7.6,780,6052,0.08,2.05,0.00,0.000,6,0.122,0.028,2335,2338,3897,0,0,0,0,0,0
$GC,6363,-0.68,-219.0,792.1,-12.0,795,6368,0.15,2.03,0.00,0.000,4,0.134,0.037,2385,958,3894,0,0,0,0,0,0
$GC,6390,-0.69,-219.0,794.8,-9.6,796,6395,0.10,2.20,0.00,0.000,6,0.099,0.042,2321,2422,3894,0,0,0,0,0,0
$GC,6706,-0.69,-219.0,833.7,-12.7,811,6708,0.17,0.00,0.00,0.000,6,0.130,0.000,2379,2422,3892,0,0,0,0,0,0
$GC,7016,-0.70,-219.0,855.4,-6.5,826,7021,0.08,2.15,0.00,0.000,4,0.126,0.036,2321,959,3890,0,0,0,0,0,0
$GC,7070,-0.70,-219.0,860.9,-10.4,828,7078,0.15,2.22,0.00,0.000,6,0.131,0.044,2372,2426,3890,0,0,0,0,0,0
$GC,7387,-0.71,-219.0,884.8,-7.5,844,7389,0.08,0.00,0.00,0.000,6,0.124,0.000,2308,2426,3887,0,0,0,0,0,0
$GC,7697,-0.71,-219.0,925.2,-13.3,859,7701,0.20,2.17,0.00,0.000,4,0.129,0.034,2375,959,3885,0,0,0,0,0,0
$GC,7752,-0.72,-219.0,930.1,-6.7,861,7759,0.08,2.20,0.00,0.000,6,0.123,0.043,2317,2431,3885,0,0,0,0,0,0
$GC,8068,-0.72,-219.0,967.1,-12.7,877,8073,0.15,2.20,0.00,0.000,4,0.139,0.034,2366,952,3883,0,0,0,0,0,0
$GC,8095,-0.73,-219.0,970.3,-10.1,878,8099,0.00,2.22,0.00,0.000,6,0.000,0.043,2362,2418,3883,0,0,0,0,0,0
$GC,8417,-0.74,-219.0,995.5,-7.8,894,8421,0.00,2.12,0.00,0.000,4,0.000,0.034,2361,958,3882,0,0,0,0,0,0
$GC,8458,-0.75,-219.0,998.6,-7.5,896,8462,0.08,2.22,0.00,0.000,6,0.125,0.043,2305,2426,3881,0,0,0,0,0,0
$STATE,8495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8495,begin apogee
$GC,8500,-0.11,0.0,1002.2,9.7,898,8681,0.73,0.17,173.30,1.268,6,0.109,0.076,2557,2134,3027,0,0,0,0,0,0
$STATE,8682,end apogee,CONTROL_FINISHED_OK
$STATE,8682,begin climb
$GC,8684,0.61,219.0,1011.0,0.0,906,8883,0.62,2.35,188.38,1.223,4,0.037,0.049,2825,3531,2132,0,0,0,0,0,0
$GC,8967,0.58,219.0,978.5,23.6,919,8975,0.25,2.28,0.00,0.000,6,0.193,0.031,2774,2067,2126,0,0,0,0,0,0
$GC,9284,0.57,219.0,925.4,16.3,935,9288,0.00,2.12,0.00,0.000,4,0.000,0.039,2780,653,2121,0,0,0,0,0,0
$GC,9384,0.55,219.0,909.2,16.5,939,9391,0.08,2.22,0.00,0.000,6,0.206,0.035,2764,2120,2119,0,0,0,0,0,0
$GC,9700,0.54,219.0,863.5,14.4,955,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2120,2119,0,0,0,0,0,0
$GC,10009,0.52,219.0,820.8,14.0,970,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2120,2118,0,0,0,0,0,0
$GC,10319,0.51,219.0,780.1,12.5,985,10321,0.08,0.00,0.00,0.000,6,0.228,0.000,2747,2120,2116,0,0,0,0,0,0
$GC,10628,0.50,219.0,744.9,11.4,1000,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2120,2116,0,0,0,0,0,0
$GC,10938,0.49,219.0,706.5,12.7,1015,10942,0.00,2.12,0.00,0.000,4,0.000,0.052,2747,3526,2115,0,0,0,0,0,0
$GC,11009,0.48,219.0,696.1,14.0,1018,11014,0.05,2.17,0.00,0.000,6,0.169,0.029,2735,2061,2115,0,0,0,0,0,0
$GC,11332,0.48,224.9,659.7,10.9,1034,11336,0.00,2.25,0.00,0.000,4,0.000,0.050,2735,3530,2115,0,0,0,0,0,0
$GC,11372,0.47,224.9,654.3,12.7,1036,11376,0.00,2.15,0.00,0.000,6,0.000,0.029,2742,2059,2115,0,0,0,0,0,0
$GC,11699,0.46,224.9,614.5,11.9,1052,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2054,2114,0,0,0,0,0,0
$GC,12015,0.45,229.1,578.1,11.0,1076,12025,0.00,0.00,6.70,0.830,6,0.000,0.000,2743,2054,2092,0,0,0,0,0,0
$GC,12344,0.49,263.7,545.8,9.9,1107,12376,0.00,0.00,30.35,0.962,6,0.000,0.000,2743,2054,1950,0,0,0,0,0,0
$GC,12691,0.48,263.7,510.3,11.1,1140,12695,0.00,2.28,0.00,0.000,4,0.000,0.050,2742,3533,1943,0,0,0,0,0,0
$GC,12800,0.48,263.7,496.5,13.2,1151,12807,0.00,2.17,0.00,0.000,6,0.000,0.029,2748,2061,1943,0,0,0,0,0,0
$GC,13158,0.53,306.9,454.0,9.6,1212,13201,0.05,2.12,36.42,0.890,4,0.185,0.041,2802,660,1774,0,0,0,0,0,0
$GC,13250,0.52,306.9,441.8,13.7,1226,13260,0.15,2.25,0.00,0.000,6,0.135,0.036,2752,2116,1769,0,0,0,0,0,0
$GC,13611,0.51,306.9,399.0,12.8,1287,13618,0.00,2.15,0.00,0.000,4,0.000,0.050,2752,3530,1766,0,0,0,0,0,0
$GC,13650,0.51,306.9,393.8,13.1,1293,13658,0.05,2.15,0.00,0.000,6,0.232,0.028,2749,2055,1765,0,0,0,0,0,0
$GC,14008,0.55,339.9,353.8,10.0,1354,14046,0.10,2.12,27.52,0.799,4,0.105,0.042,2818,673,1638,0,0,0,0,0,0
$GC,14076,0.54,339.9,344.2,15.4,1364,14085,0.17,2.22,0.00,0.000,6,0.127,0.037,2758,2118,1635,0,0,0,0,0,0
$GC,14436,0.56,349.4,304.3,10.8,1425,14452,0.05,0.00,8.27,0.671,6,0.174,0.000,2806,2119,1600,0,0,0,0,0,0
$GC,14803,0.55,349.4,250.8,14.3,1487,14810,0.17,2.15,0.00,0.000,4,0.150,0.049,2754,3532,1598,0,0,0,0,0,0
$GC,14823,0.54,349.4,247.7,13.5,1490,14833,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,2063,1598,0,0,0,0,0,0
$GC,15185,0.58,378.3,208.9,10.1,1551,15216,0.08,2.15,24.90,0.675,4,0.127,0.041,2830,664,1484,0,0,0,0,0,0
$GC,15301,0.58,378.3,193.2,12.5,1569,15308,0.20,2.20,0.00,0.000,6,0.136,0.035,2769,2127,1479,0,0,0,0,0,0
$GC,15661,0.67,448.1,164.3,8.7,1630,15728,0.12,2.20,55.83,0.643,4,0.083,0.048,2848,3518,1198,0,0,0,0,0,0
$GC,15755,0.66,448.1,149.8,19.4,1643,15764,0.17,2.20,0.00,0.000,6,0.119,0.030,2796,2068,1196,0,0,0,0,0,0
$GC,16121,0.77,531.1,111.6,8.3,1704,16195,0.15,2.17,64.95,0.596,4,0.076,0.042,2889,668,859,0,0,0,0,0,0
$GC,16263,0.77,531.1,87.1,14.3,1724,16272,0.15,2.25,0.00,0.000,6,0.114,0.037,2834,2127,856,0,0,0,0,0,0
$GC,16632,0.87,590.9,51.2,9.1,1785,16685,0.12,2.22,46.05,0.543,4,0.087,0.047,2923,3529,615,0,0,0,0,0,0
$GC,16751,0.87,590.9,33.3,13.0,1802,16762,0.17,2.22,0.00,0.000,6,0.099,0.031,2860,2060,613,0,0,0,0,0,0
$GC,17121,1.18,829.4,5.1,2.9,1863,17139,0.28,0.00,14.98,0.477,2,0.053,0.000,3009,2055,541,0,0,0,0,0,0
$STATE,17140,end climb,SURFACE_DEPTH_REACHED
$STATE,17140,begin surface coast
$FINISH,0.7,1.021999
$STATE,17182,end surface coast,CONTROL_FINISHED_OK
$STATE,17182,begin surface
$SM_CCo,17258,0.00,0.000,0,0,538,610.55
$SM_GC,1.47,7.12,0.00,0.00,0.038,0.000,0.000,199,2427,538,-7.40,0.76,610.55
$IRIDIUM_FIX,2401.56,12704.01,161010,030307
$TT8_MAMPS,0.026215
$HUMID,48.26
$INTERNAL_PRESSURE,8.68472
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.2,39.869
$10V_AH,10.3,34.987
$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,22.850,122.425,677.650,0.000,0.000,24.155,38.542,195.840,0.000,0.000,20.574,4538.424,7222.506,723.089,4846.761,311.053,0.000,2360.536,0.000,4600.268,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,76.500,1267.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1269.476,0.000,2714.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333948
$DATA_FILE_SIZE,110198,1872
$CAP_FILE_SIZE,199480,0
$CFSIZE,260165632,238260224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,130.5,1
$GPS,161010,132600,2410.026,12658.725,37,1.4,37,-3.7