version: 66.08
glider: 176
mission: 2
dive: 323
start: 10 20 110 19 17 34
data:
$ID,176
$MISSION,2
$DIVE,323
$N_DIVES,336
$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,-5336.293
$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
$GPS1,201010,191006,2339.587,12637.115,24,1.8,24,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.6
$GPS2,201010,191707,2339.589,12637.179,9,1.9,14,-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,227.3,96916,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-64.95,0.000,2,0.000,0.000,203,2476,2645,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.3,-4.6,8,128,8.98,2.28,-22.17,0.000,4,0.240,0.046,2415,954,3824,0,0,0,0,0,0
$GC,159,-0.51,-194.6,24.8,-28.9,18,169,0.03,2.28,0.00,0.000,6,0.200,0.046,2425,2417,3825,0,0,0,0,0,0
$GC,526,-0.49,-194.6,104.0,-17.0,79,535,0.00,2.08,0.00,0.000,4,0.000,0.054,2423,3766,3825,0,0,0,0,0,0
$GC,602,-0.50,-194.6,114.5,-10.9,91,612,0.00,2.05,0.00,0.000,6,0.000,0.027,2423,2337,3825,0,0,0,0,0,0
$GC,965,-0.49,-194.6,162.5,-12.6,152,974,0.05,2.03,0.00,0.000,4,0.239,0.034,2437,953,3826,0,0,0,0,0,0
$GC,993,-0.49,-194.6,165.7,-11.7,156,1002,0.00,2.20,0.00,0.000,6,0.000,0.040,2436,2414,3826,0,0,0,0,0,0
$GC,1343,-0.49,-194.6,198.8,-8.5,217,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2414,3826,0,0,0,0,0,0
$GC,1688,-0.50,-194.6,229.2,-9.1,278,1697,0.00,2.15,0.00,0.000,4,0.000,0.033,2437,946,3826,0,0,0,0,0,0
$GC,1737,-0.51,-194.6,233.7,-9.3,286,1746,0.03,2.22,0.00,0.000,6,0.105,0.038,2399,2431,3826,0,0,0,0,0,0
$GC,2087,-0.51,-194.6,275.4,-12.0,347,2095,0.12,2.15,0.00,0.000,4,0.155,0.033,2439,948,3825,0,0,0,0,0,0
$GC,2131,-0.52,-194.6,279.9,-8.3,354,2140,0.05,2.22,0.00,0.000,6,0.072,0.039,2388,2429,3825,0,0,0,0,0,0
$GC,2481,-0.51,-194.6,319.7,-10.2,415,2488,0.15,0.00,0.00,0.000,6,0.140,0.000,2436,2429,3824,0,0,0,0,0,0
$GC,2830,-0.52,-194.6,340.1,-6.0,476,2839,0.08,2.20,0.00,0.000,4,0.129,0.034,2380,948,3822,0,0,0,0,0,0
$GC,2876,-0.53,-194.6,344.0,-9.6,483,2885,0.15,2.20,0.00,0.000,6,0.136,0.041,2428,2423,3822,0,0,0,0,0,0
$GC,3225,-0.54,-194.6,372.0,-8.2,544,3234,0.08,2.17,0.00,0.000,4,0.129,0.033,2365,958,3821,0,0,0,0,0,0
$GC,3259,-0.54,-194.6,375.5,-10.5,549,3266,0.20,2.20,0.00,0.000,6,0.129,0.041,2429,2425,3820,0,0,0,0,0,0
$GC,3605,-0.55,-194.6,400.5,-6.3,610,3614,0.08,2.17,0.00,0.000,4,0.130,0.033,2368,959,3818,0,0,0,0,0,0
$GC,3641,-0.55,-194.6,403.5,-8.7,615,3649,0.17,2.20,0.00,0.000,6,0.129,0.041,2425,2430,3818,0,0,0,0,0,0
$GC,3990,-0.56,-194.6,427.7,-6.5,676,3999,0.08,2.20,0.00,0.000,4,0.128,0.034,2364,950,3817,0,0,0,0,0,0
$GC,4019,-0.56,-194.6,430.3,-8.4,680,4028,0.12,2.22,0.00,0.000,6,0.106,0.041,2412,2415,3817,0,0,0,0,0,0
$GC,4370,-0.57,-194.6,452.4,-5.4,741,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2415,3815,0,0,0,0,0,0
$GC,4716,-0.58,-194.6,473.5,-6.5,802,4724,0.00,2.15,0.00,0.000,4,0.000,0.034,2412,957,3813,0,0,0,0,0,0
$GC,4773,-0.59,-194.6,477.6,-7.3,811,4781,0.08,2.20,0.00,0.000,6,0.125,0.041,2358,2427,3813,0,0,0,0,0,0
$GC,5113,-0.58,-194.6,518.6,-12.1,858,5115,0.17,0.00,0.00,0.000,6,0.131,0.000,2415,2427,3810,0,0,0,0,0,0
$GC,5432,-0.59,-194.6,541.5,-6.8,888,5436,0.08,2.15,0.00,0.000,4,0.129,0.034,2351,956,3810,0,0,0,0,0,0
$GC,5493,-0.59,-194.6,547.9,-11.1,893,5498,0.17,2.22,0.00,0.000,6,0.125,0.044,2408,2427,3809,0,0,0,0,0,0
$GC,5820,-0.60,-194.6,570.8,-6.3,923,5825,0.08,2.15,0.00,0.000,4,0.128,0.034,2352,956,3807,0,0,0,0,0,0
$GC,5848,-0.60,-194.6,573.1,-8.9,925,5853,0.17,2.22,0.00,0.000,6,0.126,0.043,2407,2432,3807,0,0,0,0,0,0
$GC,6173,-0.61,-194.6,593.8,-6.7,955,6178,0.08,2.17,0.00,0.000,4,0.128,0.034,2349,948,3805,0,0,0,0,0,0
$GC,6212,-0.61,-194.6,597.7,-10.7,958,6217,0.17,2.22,0.00,0.000,6,0.125,0.044,2405,2419,3805,0,0,0,0,0,0
$GC,6530,-0.62,-194.6,622.5,-7.6,974,6535,0.08,2.17,0.00,0.000,4,0.129,0.034,2349,953,3803,0,0,0,0,0,0
$GC,6557,-0.62,-194.6,625.1,-10.0,975,6562,0.15,2.22,0.00,0.000,6,0.129,0.044,2397,2420,3803,0,0,0,0,0,0
$GC,6880,-0.63,-194.6,647.2,-6.3,991,6882,0.05,0.00,0.00,0.000,6,0.171,0.000,2347,2420,3802,0,0,0,0,0,0
$GC,7188,-0.62,-194.6,679.8,-10.8,1006,7193,0.15,2.15,0.00,0.000,4,0.130,0.034,2397,956,3799,0,0,0,0,0,0
$GC,7237,-0.64,-194.6,684.1,-7.2,1008,7242,0.08,2.22,0.00,0.000,6,0.121,0.044,2335,2426,3799,0,0,0,0,0,0
$GC,7554,-0.63,-194.6,722.9,-12.7,1023,7556,0.20,0.00,0.00,0.000,6,0.125,0.000,2401,2427,3797,0,0,0,0,0,0
$GC,7863,-0.64,-194.6,743.1,-6.1,1038,7868,0.08,2.17,0.00,0.000,4,0.126,0.036,2339,956,3795,0,0,0,0,0,0
$GC,7939,-0.64,-194.6,750.7,-9.9,1041,7947,0.17,2.25,0.00,0.000,6,0.125,0.045,2393,2413,3795,0,0,0,0,0,0
$GC,8256,-0.65,-194.6,772.4,-6.6,1057,8261,0.08,2.15,0.00,0.000,4,0.125,0.034,2335,951,3793,0,0,0,0,0,0
$GC,8305,-0.65,-194.6,777.5,-10.7,1059,8310,0.17,2.25,0.00,0.000,6,0.125,0.045,2392,2427,3792,0,0,0,0,0,0
$GC,8628,-0.65,-194.6,799.6,-6.7,1075,8633,0.08,2.03,0.00,0.000,3,0.125,0.036,2334,1044,3791,0,0,0,0,0,0
$STATE,8633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8634,begin apogee
$GC,8640,-0.11,0.0,800.1,6.5,1075,8795,0.65,0.00,150.73,1.121,6,0.104,0.000,2563,2118,3027,0,0,0,0,0,0
$STATE,8797,end apogee,CONTROL_FINISHED_OK
$STATE,8797,begin climb
$GC,8798,0.53,194.6,808.5,0.0,1082,8968,0.52,2.38,161.15,1.086,4,0.039,0.038,2817,667,2232,0,0,0,0,0,0
$GC,8990,0.50,194.6,802.3,14.3,1091,8998,0.25,2.33,0.00,0.000,6,0.172,0.037,2750,2129,2227,0,0,0,0,0,0
$GC,9307,0.49,194.6,762.5,12.1,1107,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2130,2221,0,0,0,0,0,0
$GC,9616,0.47,194.6,727.6,11.3,1122,9618,0.08,0.00,0.00,0.000,6,0.218,0.000,2731,2130,2219,0,0,0,0,0,0
$GC,9926,0.46,194.6,699.4,9.0,1137,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2130,2218,0,0,0,0,0,0
$GC,10235,0.45,194.6,670.1,10.2,1152,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2130,2216,0,0,0,0,0,0
$GC,10544,0.43,194.6,636.4,11.3,1167,10548,0.00,2.15,0.00,0.000,4,0.000,0.054,2731,3529,2216,0,0,0,0,0,0
$GC,10587,0.42,194.6,631.0,12.2,1169,10592,0.08,2.17,0.00,0.000,6,0.200,0.030,2717,2050,2216,0,0,0,0,0,0
$GC,10910,0.42,201.3,600.7,8.7,1185,10914,0.00,2.30,0.00,0.000,4,0.000,0.050,2717,3532,2214,0,0,0,0,0,0
$GC,10963,0.41,201.3,595.6,9.8,1189,10975,0.00,2.15,3.72,0.610,6,0.000,0.029,2722,2055,2205,0,0,0,0,0,0
$GC,11293,0.41,210.2,568.3,8.6,1220,11304,0.00,0.00,9.15,0.877,6,0.000,0.000,2722,2054,2170,0,0,0,0,0,0
$GC,11622,0.41,215.9,539.1,8.7,1251,11634,0.00,2.28,6.43,0.783,4,0.000,0.048,2722,3525,2147,0,0,0,0,0,0
$GC,11658,0.40,215.9,535.5,9.5,1254,11662,0.00,2.17,0.00,0.000,6,0.000,0.029,2722,2051,2146,0,0,0,0,0,0
$GC,11983,0.40,223.9,505.2,8.6,1284,11997,0.00,2.12,8.23,0.815,4,0.000,0.041,2722,660,2114,0,0,0,0,0,0
$GC,12048,0.44,251.2,499.7,8.0,1289,12090,0.00,2.20,33.53,0.842,6,0.000,0.034,2722,2127,2003,0,0,0,0,0,0
$GC,12443,0.45,267.3,465.9,8.4,1355,12466,0.08,0.00,19.77,0.800,6,0.130,0.000,2778,2127,1937,0,0,0,0,0,0
$GC,12818,0.44,267.3,421.6,10.6,1418,12827,0.17,0.00,0.00,0.000,6,0.148,0.000,2726,2127,1933,0,0,0,0,0,0
$GC,13180,0.50,316.3,393.7,7.4,1479,13252,0.10,2.25,60.10,0.777,4,0.103,0.051,2795,3523,1736,0,0,0,0,0,0
$GC,13296,0.49,316.3,377.6,14.7,1496,13306,0.17,2.22,0.00,0.000,6,0.119,0.031,2742,2073,1733,0,0,0,0,0,0
$GC,13657,0.51,338.3,346.0,8.2,1557,13693,0.08,2.17,26.75,0.727,4,0.127,0.043,2802,669,1647,0,0,0,0,0,0
$GC,13742,0.51,338.3,335.7,12.6,1570,13751,0.15,2.22,0.00,0.000,6,0.119,0.036,2750,2116,1644,0,0,0,0,0,0
$GC,14102,0.51,338.3,303.4,9.7,1631,14109,0.00,2.12,0.00,0.000,4,0.000,0.047,2749,3527,1641,0,0,0,0,0,0
$GC,14122,0.51,338.3,301.2,10.0,1634,14130,0.00,2.17,0.00,0.000,6,0.000,0.028,2749,2065,1641,0,0,0,0,0,0
$GC,14481,0.51,341.7,267.8,8.8,1695,14488,0.00,2.08,0.00,0.000,4,0.000,0.040,2749,659,1641,0,0,0,0,0,0
$GC,14521,0.55,366.3,264.5,8.1,1701,14565,0.08,2.20,33.25,0.679,6,0.124,0.034,2813,2138,1533,0,0,0,0,0,0
$GC,14916,0.54,366.3,207.3,13.5,1767,14923,0.20,0.00,0.00,0.000,6,0.140,0.000,2751,2138,1528,0,0,0,0,0,0
$GC,15276,0.63,440.2,180.8,6.6,1828,15371,0.15,2.35,87.72,0.626,4,0.074,0.041,2844,663,1231,0,0,0,0,0,0
$GC,15403,0.63,440.2,163.0,14.7,1846,15412,0.17,2.25,0.00,0.000,6,0.105,0.036,2781,2116,1229,0,0,0,0,0,0
$GC,15769,0.68,472.1,131.8,7.9,1907,15813,0.10,2.25,37.67,0.584,4,0.099,0.047,2851,3537,1101,0,0,0,0,0,0
$GC,15857,0.67,472.1,119.9,15.4,1919,15867,0.15,2.22,0.00,0.000,6,0.103,0.028,2801,2063,1099,0,0,0,0,0,0
$GC,16227,0.79,554.8,92.5,6.3,1980,16334,0.15,2.20,95.07,0.559,4,0.075,0.042,2900,660,763,0,0,0,0,0,0
$GC,16387,0.79,554.8,69.9,12.9,2001,16396,0.17,2.25,0.00,0.000,6,0.096,0.033,2834,2130,762,0,0,0,0,0,0
$GC,16756,0.83,560.1,36.3,8.7,2062,16774,0.10,2.17,6.97,0.436,4,0.122,0.047,2883,3536,742,0,0,0,0,0,0
$GC,16964,0.86,560.1,15.5,9.8,2096,16973,0.05,2.17,0.00,0.000,6,0.071,0.028,2838,2051,742,0,0,0,0,0,0
$STATE,17082,end climb,SURFACE_DEPTH_REACHED
$STATE,17082,begin surface coast
$FINISH,0.9,1.021707
$STATE,17115,end surface coast,CONTROL_FINISHED_OK
$STATE,17115,begin surface
$SM_CCo,17190,0.00,0.000,0,0,741,560.76
$SM_GC,1.56,6.62,0.00,0.00,0.037,0.000,0.000,200,2469,741,-7.40,1.95,560.76
$IRIDIUM_FIX,2333.28,12637.13,201010,141446
$TT8_MAMPS,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.7,44.796
$10V_AH,10.3,39.943
$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,22.900,136.125,740.250,0.000,0.000,27.083,21.170,220.711,0.000,0.000,17.579,5097.082,5844.313,780.123,5504.952,362.181,0.000,2590.141,0.000,5263.659,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,54.315,1120.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1435.167,0.000,3300.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333800
$DATA_FILE_SIZE,123611,2121
$CAP_FILE_SIZE,213829,0
$CFSIZE,260165632,235970560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157, 23.2,1
$GPS,211010,000506,2338.826,12635.982,34,1.3,34,-3.5