version: 66.08
glider: 176
mission: 2
dive: 317
start: 10 19 110 15 6 17
data:
$ID,176
$MISSION,2
$DIVE,317
$N_DIVES,327
$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,-5321.3667
$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
$GPS1,191010,145925,2346.958,12640.266,40,1.7,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.0
$GPS2,191010,150550,2346.956,12640.288,9,1.8,9,-3.5
$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,230.4,110814,-13.2,-8.889
$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,-0.53,-194.6,0.0,0.0,0,67,0.00,0.00,-49.83,0.000,2,0.000,0.000,199,2462,2559,0,0,0,0,0,0
$GC,70,-0.53,-194.6,3.3,-4.0,6,112,9.02,2.25,-24.23,0.000,4,0.243,0.044,2415,956,3822,0,0,0,0,0,0
$GC,225,-0.52,-194.6,38.9,-19.5,30,234,0.00,2.25,0.00,0.000,6,0.000,0.043,2416,2421,3823,0,0,0,0,0,0
$GC,591,-0.51,-194.6,118.7,-17.2,91,600,0.08,2.08,0.00,0.000,4,0.203,0.054,2434,3763,3823,0,0,0,0,0,0
$GC,656,-0.52,-194.6,127.0,-9.9,101,666,0.03,2.05,0.00,0.000,6,0.112,0.028,2392,2332,3824,0,0,0,0,0,0
$GC,1018,-0.50,-194.6,187.6,-14.8,162,1027,0.15,2.03,0.00,0.000,4,0.158,0.034,2438,950,3824,0,0,0,0,0,0
$GC,1044,-0.50,-194.6,190.6,-14.1,165,1051,0.00,2.20,0.00,0.000,6,0.000,0.040,2437,2430,3824,0,0,0,0,0,0
$GC,1401,-0.50,-194.6,223.2,-7.7,226,1410,0.00,2.17,0.00,0.000,4,0.000,0.033,2437,950,3824,0,0,0,0,0,0
$GC,1437,-0.51,-194.6,225.8,-7.8,231,1444,0.08,2.20,0.00,0.000,6,0.128,0.039,2386,2434,3824,0,0,0,0,0,0
$GC,1797,-0.50,-194.6,270.4,-12.0,292,1807,0.17,2.05,0.00,0.000,4,0.141,0.054,2442,3767,3823,0,0,0,0,0,0
$GC,1821,-0.50,-194.6,272.8,-11.1,295,1828,0.08,2.03,0.00,0.000,6,0.125,0.027,2390,2326,3823,0,0,0,0,0,0
$GC,2180,-0.49,-194.6,313.8,-12.4,356,2190,0.15,0.00,0.00,0.000,6,0.140,0.000,2438,2324,3822,0,0,0,0,0,0
$GC,2544,-0.50,-194.6,340.4,-6.5,417,2550,0.05,0.00,0.00,0.000,6,0.171,0.000,2391,2324,3820,0,0,0,0,0,0
$GC,2899,-0.50,-194.6,377.1,-10.1,478,2908,0.15,2.25,0.00,0.000,4,0.133,0.054,2440,3769,3819,0,0,0,0,0,0
$GC,2947,-0.52,-194.6,380.1,-5.3,485,2955,0.10,2.03,0.00,0.000,6,0.106,0.026,2382,2326,3819,0,0,0,0,0,0
$GC,3309,-0.53,-194.6,410.6,-8.5,546,3318,0.15,2.03,0.00,0.000,4,0.119,0.034,2437,949,3817,0,0,0,0,0,0
$GC,3580,-0.56,-194.6,434.8,-9.0,592,3589,0.08,2.20,0.00,0.000,6,0.065,0.037,2385,2425,3815,0,0,0,0,0,0
$GC,3938,-0.58,-194.6,460.7,-7.1,653,3946,0.08,2.17,0.00,0.000,4,0.127,0.034,2415,944,3814,0,0,0,0,0,0
$GC,4108,-0.61,-194.6,474.7,-9.2,682,4118,0.08,2.22,0.00,0.000,6,0.086,0.039,2378,2429,3813,0,0,0,0,0,0
$GC,4473,-0.63,-194.6,502.8,-7.8,741,4478,0.05,2.17,0.00,0.000,4,0.170,0.034,2402,952,3811,0,0,0,0,0,0
$GC,4563,-0.64,-194.6,510.1,-8.0,748,4571,0.10,2.20,0.00,0.000,6,0.103,0.039,2334,2430,3810,0,0,0,0,0,0
$GC,4889,-0.63,-194.6,554.8,-14.7,779,4891,0.20,0.00,0.00,0.000,6,0.133,0.000,2398,2430,3809,0,0,0,0,0,0
$GC,5207,-0.64,-194.6,578.0,-6.0,809,5211,0.08,2.15,0.00,0.000,4,0.125,0.034,2337,956,3807,0,0,0,0,0,0
$GC,5284,-0.64,-194.6,585.6,-9.4,815,5291,0.17,2.20,0.00,0.000,6,0.130,0.043,2392,2422,3807,0,0,0,0,0,0
$GC,5617,-0.64,-194.6,607.4,-6.7,842,5619,0.05,0.00,0.00,0.000,6,0.175,0.000,2347,2423,3805,0,0,0,0,0,0
$GC,5927,-0.64,-194.6,640.8,-11.1,857,5931,0.15,2.15,0.00,0.000,4,0.129,0.033,2397,949,3803,0,0,0,0,0,0
$GC,5959,-0.64,-194.6,643.8,-8.0,858,5968,0.08,2.22,0.00,0.000,6,0.122,0.042,2338,2426,3802,0,0,0,0,0,0
$GC,6275,-0.64,-194.6,680.0,-12.2,874,6280,0.17,2.15,0.00,0.000,4,0.131,0.034,2395,955,3801,0,0,0,0,0,0
$GC,6315,-0.65,-194.6,683.6,-8.0,876,6319,0.08,2.22,0.00,0.000,6,0.123,0.042,2340,2431,3801,0,0,0,0,0,0
$GC,6642,-0.64,-194.6,723.4,-13.0,892,6644,0.17,0.00,0.00,0.000,6,0.128,0.000,2397,2433,3799,0,0,0,0,0,0
$GC,6952,-0.65,-194.6,748.0,-7.5,907,6957,0.08,2.17,0.00,0.000,4,0.124,0.034,2335,949,3796,0,0,0,0,0,0
$GC,7018,-0.65,-194.6,755.2,-11.7,910,7023,0.15,2.25,0.00,0.000,6,0.100,0.043,2392,2415,3795,0,0,0,0,0,0
$GC,7347,-0.65,-194.6,777.5,-6.4,926,7352,0.08,2.17,0.00,0.000,4,0.125,0.034,2334,944,3793,0,0,0,0,0,0
$GC,7384,-0.65,-194.6,781.3,-10.4,927,7392,0.12,2.28,0.00,0.000,6,0.103,0.044,2384,2422,3793,0,0,0,0,0,0
$STATE,7657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7657,begin apogee
$GC,7663,-0.11,0.0,800.6,6.8,941,7888,0.47,0.15,219.43,0.965,6,0.090,0.054,2563,2159,3026,0,0,0,0,0,0
$STATE,7891,end apogee,CONTROL_FINISHED_OK
$STATE,7891,begin climb
$GC,7892,0.53,194.6,812.4,0.0,951,8138,0.52,2.28,233.52,0.937,4,0.037,0.050,2812,3519,2232,0,0,0,0,0,0
$GC,8301,0.50,194.6,771.7,18.3,970,8306,0.30,2.20,0.00,0.000,6,0.183,0.029,2742,2061,2226,0,0,0,0,0,0
$GC,8617,0.48,194.6,731.9,11.3,985,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2056,2221,0,0,0,0,0,0
$GC,8926,0.47,194.6,700.2,9.7,1000,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2056,2220,0,0,0,0,0,0
$GC,9236,0.45,194.6,668.2,10.4,1015,9240,0.00,2.08,0.00,0.000,4,0.000,0.039,2751,661,2219,0,0,0,0,0,0
$GC,9260,0.44,194.6,665.7,10.5,1016,9265,0.10,2.20,0.00,0.000,6,0.174,0.034,2724,2132,2217,0,0,0,0,0,0
$GC,9587,0.43,194.6,630.9,11.1,1032,9591,0.00,2.10,0.00,0.000,4,0.000,0.050,2725,3526,2217,0,0,0,0,0,0
$GC,9643,0.42,194.6,623.6,13.0,1034,9647,0.08,2.15,0.00,0.000,6,0.198,0.028,2714,2054,2217,0,0,0,0,0,0
$GC,9962,0.41,194.6,592.3,8.9,1053,9966,0.00,2.25,0.00,0.000,4,0.000,0.049,2714,3524,2215,0,0,0,0,0,0
$GC,10029,0.40,194.6,585.6,10.2,1058,10036,0.00,2.15,0.00,0.000,6,0.000,0.028,2722,2052,2215,0,0,0,0,0,0
$GC,10354,0.41,213.6,558.2,8.3,1089,10379,0.00,2.35,19.60,0.858,4,0.000,0.048,2722,3531,2156,0,0,0,0,0,0
$GC,10414,0.40,213.6,552.4,10.1,1094,10418,0.00,2.17,0.00,0.000,6,0.000,0.029,2723,2062,2155,0,0,0,0,0,0
$GC,10739,0.42,238.5,525.0,8.1,1124,10777,0.00,2.15,31.08,0.849,4,0.000,0.041,2723,667,2054,0,0,0,0,0,0
$GC,10844,0.47,278.7,516.6,7.6,1133,10900,0.08,2.22,49.58,0.839,6,0.128,0.034,2771,2132,1890,0,0,0,0,0,0
$GC,11244,0.46,278.7,466.3,14.8,1189,11251,0.15,2.22,0.00,0.000,4,0.154,0.043,2735,667,1882,0,0,0,0,0,0
$GC,11272,0.45,278.7,462.8,13.0,1193,11279,0.00,2.20,0.00,0.000,6,0.000,0.036,2735,2119,1881,0,0,0,0,0,0
$GC,11631,0.50,319.8,427.5,7.6,1254,11689,0.08,2.25,48.88,0.795,4,0.129,0.050,2793,3526,1722,0,0,0,0,0,0
$GC,11704,0.48,319.8,418.2,14.3,1264,11713,0.17,2.22,0.00,0.000,6,0.132,0.027,2743,2062,1720,0,0,0,0,0,0
$GC,12067,0.48,319.8,382.6,9.9,1325,12073,0.00,2.08,0.00,0.000,4,0.000,0.039,2749,663,1715,0,0,0,0,0,0
$GC,12086,0.48,319.8,380.3,9.9,1328,12095,0.00,2.22,0.00,0.000,6,0.000,0.035,2749,2128,1714,0,0,0,0,0,0
$GC,12448,0.51,339.8,344.7,8.3,1389,12477,0.00,2.22,24.05,0.727,4,0.000,0.049,2749,3535,1640,0,0,0,0,0,0
$GC,12508,0.51,339.8,338.8,10.2,1398,12518,0.00,2.20,0.00,0.000,6,0.000,0.028,2749,2069,1638,0,0,0,0,0,0
$GC,12868,0.51,339.8,303.5,10.2,1459,12875,0.00,2.10,0.00,0.000,4,0.000,0.041,2749,651,1636,0,0,0,0,0,0
$GC,12923,0.51,339.8,297.9,9.3,1468,12931,0.00,2.22,0.00,0.000,6,0.000,0.035,2749,2122,1636,0,0,0,0,0,0
$GC,13283,0.56,380.0,267.9,7.6,1529,13341,0.10,2.20,48.38,0.686,4,0.102,0.047,2821,3519,1477,0,0,0,0,0,0
$GC,13402,0.55,380.0,251.1,15.7,1547,13410,0.22,2.17,0.00,0.000,6,0.138,0.029,2762,2065,1475,0,0,0,0,0,0
$GC,13763,0.55,380.0,217.2,9.4,1608,13772,0.00,2.10,0.00,0.000,4,0.000,0.040,2762,660,1473,0,0,0,0,0,0
$GC,13798,0.56,380.0,214.1,9.2,1613,13805,0.00,2.17,0.00,0.000,6,0.000,0.033,2762,2127,1472,0,0,0,0,0,0
$GC,14158,0.57,385.1,182.7,8.7,1674,14170,0.05,2.17,6.32,0.513,4,0.177,0.048,2822,3526,1457,0,0,0,0,0,0
$GC,14196,0.56,385.1,178.2,12.0,1679,14204,0.22,2.15,0.00,0.000,6,0.129,0.028,2758,2059,1457,0,0,0,0,0,0
$GC,14557,0.65,451.4,150.1,6.8,1740,14648,0.15,2.15,79.60,0.607,4,0.074,0.038,2856,662,1186,0,0,0,0,0,0
$GC,14682,0.65,451.4,132.8,14.5,1756,14691,0.17,2.22,0.00,0.000,6,0.110,0.034,2793,2114,1185,0,0,0,0,0,0
$GC,15051,0.72,503.8,102.9,7.3,1817,15119,0.10,2.25,61.03,0.572,4,0.099,0.047,2865,3526,972,0,0,0,0,0,0
$GC,15160,0.71,503.8,88.6,16.4,1831,15169,0.15,2.20,0.00,0.000,6,0.105,0.028,2814,2068,971,0,0,0,0,0,0
$GC,15530,0.81,576.0,59.0,6.7,1892,15623,0.12,2.17,82.00,0.542,4,0.090,0.039,2906,657,677,0,0,0,0,0,0
$GC,15644,0.83,576.0,48.5,9.3,1906,15654,0.15,2.25,0.00,0.000,6,0.080,0.032,2843,2135,676,0,0,0,0,0,0
$GC,16010,0.87,576.0,11.2,11.7,1967,16019,0.10,2.15,0.00,0.000,4,0.129,0.047,2881,3531,674,0,0,0,0,0,0
$STATE,16079,end climb,SURFACE_DEPTH_REACHED
$STATE,16079,begin surface coast
$FINISH,0.7,1.013447
$STATE,16112,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16187,0.00,0.000,0,0,672,577.68
$SM_GC,1.53,6.75,0.00,0.00,0.037,0.000,0.000,199,2363,672,-7.40,-1.05,577.68
$IRIDIUM_FIX,2337.99,12643.72,191010,101042
$TT8_MAMPS,0.026215
$HUMID,50.15
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.9,43.508
$10V_AH,10.3,38.561
$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,22.400,139.575,903.450,0.000,0.000,25.885,15.618,196.687,0.000,0.000,11.907,4752.688,5313.919,873.336,5232.152,374.657,0.000,2649.771,0.000,5038.622,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,54.315,965.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1340.130,0.000,3105.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,116887,1983
$CAP_FILE_SIZE,203742,0
$CFSIZE,260165632,236613632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130, 10.3,1
$GPS,191010,193706,2345.945,12638.980,34,0.9,34,-3.5