version: 66.08
glider: 176
mission: 2
dive: 307
start: 10 17 110 13 44 24
data:
$ID,176
$MISSION,2
$DIVE,307
$N_DIVES,313
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-5192.0732
$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
$GPS1,171010,133430,2401.546,12651.365,69,1.1,69,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-58.9
$GPS2,171010,134356,2401.604,12651.306,12,1.4,12,-3.6
$SPEED_LIMITS,0.191,0.321
$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,228.5,143759,-15.3,-11.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-219.0,0.0,0.0,0,90,0.00,0.00,-72.82,0.000,2,0.000,0.000,203,2434,2697,0,0,0,0,0,0
$GC,93,-0.61,-219.0,3.4,-4.7,9,135,8.62,2.22,-22.70,0.000,4,0.231,0.050,2393,964,3924,0,0,0,0,0,0
$GC,255,-0.60,-219.0,46.1,-21.2,34,265,0.00,2.25,0.00,0.000,6,0.000,0.045,2393,2417,3925,0,0,0,0,0,0
$GC,615,-0.58,-219.0,126.8,-22.1,95,624,0.05,2.17,0.00,0.000,4,0.250,0.033,2405,945,3925,0,0,0,0,0,0
$GC,651,-0.58,-219.0,133.6,-16.9,100,660,0.00,2.25,0.00,0.000,6,0.000,0.043,2404,2420,3926,0,0,0,0,0,0
$GC,1014,-0.58,-219.0,184.8,-15.4,161,1020,0.00,2.10,0.00,0.000,4,0.000,0.031,2405,950,3926,0,0,0,0,0,0
$GC,1053,-0.58,-219.0,190.3,-13.6,167,1060,0.00,2.20,0.00,0.000,6,0.000,0.042,2405,2422,3926,0,0,0,0,0,0
$GC,1409,-0.58,-219.0,236.9,-11.1,228,1418,0.00,2.05,0.00,0.000,4,0.000,0.055,2404,3763,3925,0,0,0,0,0,0
$GC,1457,-0.59,-219.0,241.1,-8.0,235,1464,0.00,2.00,0.00,0.000,6,0.000,0.027,2404,2334,3925,0,0,0,0,0,0
$GC,1813,-0.60,-219.0,277.0,-9.6,296,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2331,3924,0,0,0,0,0,0
$GC,2174,-0.60,-219.0,313.3,-9.2,357,2180,0.00,2.17,0.00,0.000,4,0.000,0.054,2404,3776,3923,0,0,0,0,0,0
$GC,2225,-0.62,-219.0,317.6,-7.3,365,2232,0.08,2.03,0.00,0.000,6,0.129,0.026,2349,2330,3922,0,0,0,0,0,0
$GC,2584,-0.61,-219.0,370.7,-16.1,426,2594,0.17,2.22,0.00,0.000,4,0.140,0.054,2403,3759,3920,0,0,0,0,0,0
$GC,2611,-0.61,-219.0,374.7,-13.5,430,2622,0.03,2.03,0.00,0.000,6,0.109,0.027,2357,2339,3920,0,0,0,0,0,0
$GC,2974,-0.60,-219.0,425.2,-14.5,491,2981,0.15,1.98,0.00,0.000,4,0.145,0.032,2403,953,3918,0,0,0,0,0,0
$GC,3014,-0.61,-219.0,430.3,-10.0,497,3021,0.08,2.20,0.00,0.000,6,0.128,0.040,2349,2432,3917,0,0,0,0,0,0
$GC,3373,-0.61,-219.0,478.3,-11.9,558,3383,0.17,2.05,0.00,0.000,4,0.132,0.056,2403,3763,3915,0,0,0,0,0,0
$GC,3421,-0.63,-219.0,482.0,-5.6,565,3429,0.08,2.03,0.00,0.000,6,0.128,0.028,2353,2334,3914,0,0,0,0,0,0
$GC,3771,-0.63,-219.0,522.6,-12.2,610,3775,0.15,1.98,0.00,0.000,4,0.141,0.034,2400,954,3912,0,0,0,0,0,0
$GC,3814,-0.64,-219.0,526.6,-6.4,613,3822,0.08,2.20,0.00,0.000,6,0.122,0.040,2344,2433,3912,0,0,0,0,0,0
$GC,4140,-0.64,-219.0,563.5,-12.4,644,4144,0.15,2.03,0.00,0.000,4,0.140,0.056,2390,3773,3909,0,0,0,0,0,0
$GC,4194,-0.66,-219.0,568.5,-6.9,648,4201,0.05,2.03,0.00,0.000,6,0.173,0.026,2347,2335,3908,0,0,0,0,0,0
$GC,4518,-0.66,-219.0,605.2,-11.0,677,4522,0.12,2.20,0.00,0.000,4,0.142,0.055,2387,3769,3906,0,0,0,0,0,0
$GC,4559,-0.67,-219.0,608.5,-6.8,679,4563,0.08,2.03,0.00,0.000,6,0.122,0.027,2337,2344,3906,0,0,0,0,0,0
$GC,4887,-0.67,-219.0,648.0,-13.2,695,4891,0.15,2.00,0.00,0.000,4,0.138,0.034,2385,951,3903,0,0,0,0,0,0
$GC,4936,-0.68,-219.0,653.5,-8.7,697,4940,0.08,2.20,0.00,0.000,6,0.122,0.041,2328,2424,3903,0,0,0,0,0,0
$GC,5258,-0.67,-219.0,700.3,-14.3,713,5262,0.17,2.08,0.00,0.000,4,0.135,0.057,2376,3772,3900,0,0,0,0,0,0
$GC,5301,-0.69,-219.0,704.9,-8.2,715,5305,0.00,2.05,0.00,0.000,6,0.000,0.027,2376,2340,3900,0,0,0,0,0,0
$GC,5629,-0.70,-219.0,726.9,-6.5,731,5633,0.05,2.03,0.00,0.000,4,0.180,0.035,2331,956,3897,0,0,0,0,0,0
$GC,5656,-0.70,-219.0,729.5,-8.7,732,5661,0.12,2.22,0.00,0.000,6,0.143,0.043,2371,2427,3896,0,0,0,0,0,0
$GC,5978,-0.71,-219.0,754.0,-7.6,748,5983,0.05,2.05,0.00,0.000,4,0.171,0.057,2321,3766,3894,0,0,0,0,0,0
$GC,6010,-0.71,-219.0,757.4,-10.7,749,6018,0.15,2.03,0.00,0.000,6,0.121,0.028,2373,2344,3894,0,0,0,0,0,0
$GC,6327,-0.72,-219.0,782.1,-8.1,765,6331,0.08,2.05,0.00,0.000,4,0.126,0.036,2317,945,3891,0,0,0,0,0,0
$GC,6353,-0.72,-219.0,785.2,-11.9,766,6358,0.12,2.25,0.00,0.000,6,0.111,0.043,2365,2418,3891,0,0,0,0,0,0
$GC,6676,-0.73,-219.0,816.8,-10.4,782,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2418,3889,0,0,0,0,0,0
$GC,6984,-0.73,-219.0,847.1,-9.4,797,6989,0.08,2.17,0.00,0.000,4,0.126,0.034,2311,950,3887,0,0,0,0,0,0
$GC,7024,-0.73,-219.0,851.7,-12.4,799,7029,0.17,2.22,0.00,0.000,6,0.133,0.044,2365,2418,3887,0,0,0,0,0,0
$GC,7352,-0.74,-219.0,877.6,-6.9,815,7357,0.08,2.17,0.00,0.000,4,0.127,0.034,2311,952,3884,0,0,0,0,0,0
$GC,7385,-0.74,-219.0,880.8,-10.5,816,7392,0.17,2.22,0.00,0.000,6,0.132,0.044,2366,2419,3884,0,0,0,0,0,0
$GC,7701,-0.75,-219.0,900.9,-6.2,832,7703,0.08,0.00,0.00,0.000,6,0.125,0.000,2310,2420,3882,0,0,0,0,0,0
$GC,8011,-0.74,-219.0,937.4,-12.5,847,8013,0.15,0.00,0.00,0.000,6,0.139,0.000,2359,2420,3880,0,0,0,0,0,0
$GC,8320,-0.75,-219.0,962.0,-7.8,862,8324,0.05,2.17,0.00,0.000,4,0.171,0.034,2309,956,3878,0,0,0,0,0,0
$GC,8382,-0.75,-219.0,968.4,-10.6,865,8387,0.15,2.22,0.00,0.000,6,0.136,0.044,2357,2419,3878,0,0,0,0,0,0
$STATE,8666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8666,begin apogee
$GC,8671,-0.11,0.0,991.6,7.9,879,9076,0.55,0.20,289.65,0.954,6,0.092,0.069,2561,2139,3027,0,0,0,0,21,0
$STATE,9077,end apogee,CONTROL_FINISHED_OK
$STATE,9077,begin climb
$GC,9079,0.61,219.0,1014.6,0.0,898,9526,0.60,2.25,315.08,0.920,4,0.037,0.047,2824,3522,2134,0,0,0,0,24,0
$GC,9542,0.58,219.0,982.7,20.1,920,9547,0.25,2.30,0.00,0.000,6,0.194,0.029,2772,2047,2132,0,0,0,0,0,0
$GC,9870,0.56,219.0,931.5,15.5,936,9874,0.00,2.08,0.00,0.000,4,0.000,0.039,2778,663,2126,0,0,0,0,0,0
$GC,9919,0.55,219.0,923.9,15.9,938,9924,0.08,2.25,0.00,0.000,6,0.202,0.035,2762,2126,2124,0,0,0,0,0,0
$GC,10241,0.53,219.0,878.0,13.9,954,10245,0.00,2.15,0.00,0.000,4,0.000,0.050,2762,3525,2123,0,0,0,0,0,0
$GC,10290,0.51,219.0,870.3,15.5,956,10295,0.05,2.17,0.00,0.000,6,0.179,0.028,2746,2066,2123,0,0,0,0,0,0
$GC,10613,0.50,219.0,828.4,13.3,972,10616,0.00,2.10,0.00,0.000,4,0.000,0.040,2750,659,2121,0,0,0,0,0,0
$GC,10658,0.49,219.0,822.4,12.3,974,10662,0.00,2.17,0.00,0.000,6,0.000,0.036,2750,2119,2120,0,0,0,0,0,0
$GC,10985,0.48,219.0,778.9,13.4,990,10989,0.00,2.12,0.00,0.000,4,0.000,0.050,2750,3528,2120,0,0,0,0,0,0
$GC,11057,0.47,219.0,768.3,14.3,993,11062,0.10,2.15,0.00,0.000,6,0.195,0.028,2732,2055,2120,0,0,0,0,0,0
$GC,11375,0.46,223.1,734.4,10.9,1008,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2051,2119,0,0,0,0,0,0
$GC,11682,0.45,223.1,697.8,11.8,1023,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2051,2118,0,0,0,0,0,0
$GC,11992,0.45,229.1,663.4,10.8,1038,12007,0.00,2.28,10.02,0.871,4,0.000,0.051,2732,3528,2093,0,0,0,0,0,0
$GC,12054,0.45,229.1,656.1,12.6,1040,12058,0.00,2.17,0.00,0.000,6,0.000,0.029,2735,2053,2092,0,0,0,0,0,0
$GC,12382,0.49,268.3,622.6,9.7,1056,12466,0.05,0.00,55.90,0.826,6,0.182,0.000,2776,2048,1934,0,0,0,0,4,0
$GC,12781,0.47,268.3,570.7,14.0,1085,12786,0.15,2.33,0.00,0.000,4,0.168,0.050,2734,3526,1929,0,0,0,0,0,0
$GC,12814,0.47,268.3,565.8,13.3,1087,12822,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2063,1929,0,0,0,0,0,0
$GC,13139,0.46,268.3,527.5,11.6,1118,13143,0.00,2.28,0.00,0.000,4,0.000,0.048,2736,3537,1928,0,0,0,0,0,0
$GC,13241,0.46,268.3,515.1,11.1,1127,13245,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2063,1929,0,0,0,0,0,0
$GC,13579,0.56,354.2,483.4,8.1,1173,13749,0.12,2.15,120.47,0.757,4,0.093,0.040,2817,671,1582,0,0,0,0,8,0
$GC,13775,0.55,354.2,453.2,16.7,1201,13782,0.20,2.28,0.00,0.000,6,0.148,0.036,2760,2130,1579,0,0,0,0,0,0
$GC,14124,0.55,354.2,409.1,12.4,1262,14133,0.00,2.17,0.00,0.000,4,0.000,0.049,2760,3525,1573,0,0,0,0,0,0
$GC,14180,0.55,354.2,402.2,12.4,1271,14188,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,2060,1572,0,0,0,0,0,0
$GC,14528,0.55,354.2,360.8,11.8,1332,14537,0.00,2.10,0.00,0.000,4,0.000,0.042,2763,667,1571,0,0,0,0,0,0
$GC,14578,0.59,385.9,355.3,9.9,1340,14644,0.05,2.20,42.12,0.672,6,0.067,0.037,2817,2115,1454,0,0,0,0,3,0
$GC,14986,0.58,385.9,288.2,14.8,1409,14993,0.17,0.00,0.00,0.000,6,0.150,0.000,2766,2115,1449,0,0,0,0,0,0
$GC,15335,0.58,385.9,247.6,11.1,1470,15343,0.08,0.00,0.00,0.000,6,0.124,0.000,2822,2115,1449,0,0,0,0,0,0
$GC,15684,0.57,385.9,194.1,15.3,1531,15692,0.17,2.17,0.00,0.000,4,0.143,0.049,2769,3537,1449,0,0,0,0,0,0
$GC,15713,0.57,385.9,190.0,13.9,1535,15721,0.00,2.17,0.00,0.000,6,0.000,0.028,2776,2052,1449,0,0,0,0,0,0
$GC,16063,0.62,425.6,157.5,9.7,1596,16144,0.08,2.15,54.55,0.559,4,0.126,0.041,2844,661,1291,0,0,0,0,4,0
$GC,16184,0.62,425.6,139.2,14.8,1613,16193,0.17,2.25,0.00,0.000,6,0.110,0.037,2781,2125,1290,0,0,0,0,0,0
$GC,16553,0.78,545.7,108.0,6.9,1674,16764,0.20,2.20,156.07,0.534,4,0.064,0.047,2903,3522,800,0,0,0,0,9,0
$GC,16784,0.77,545.7,60.5,22.1,1703,16794,0.22,2.25,0.00,0.000,6,0.116,0.031,2834,2067,799,0,0,0,0,0,0
$GC,17151,0.92,635.3,31.7,8.0,1764,17282,0.17,2.17,92.60,0.487,4,0.098,0.039,2906,657,500,0,0,0,0,5,0
$STATE,17405,end climb,SURFACE_DEPTH_REACHED
$STATE,17405,begin surface coast
$FINISH,0.8,1.021902
$STATE,17437,end surface coast,CONTROL_FINISHED_OK
$STATE,17437,begin surface
$SM_CCo,17514,0.00,0.000,0,0,497,620.61
$SM_GC,1.53,6.93,0.00,0.00,0.041,0.000,0.000,207,2439,497,-7.38,1.07,620.61
$IRIDIUM_FIX,2352.12,12653.14,171010,080813
$TT8_MAMPS,0.026215
$HUMID,48.54
$INTERNAL_PRESSURE,8.66519
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.9,41.316
$10V_AH,10.4,36.198
$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,22.350,147.650,1136.475,0.000,0.000,29.454,19.937,373.855,0.000,0.000,16.343,4252.677,7252.929,1308.323,4880.227,365.877,0.000,3164.996,0.000,4507.357,0.000,0.541,0.000
$DEVICE_MAMPS,250.155,68.850,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1217.250,0.000,2525.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,106817,1806
$CAP_FILE_SIZE,209214,0
$CFSIZE,260165632,237662208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,78,0
$CURRENT,0.053,114.6,1
$GPS,171010,183725,2359.693,12649.580,39,1.9,39,-3.6