version: 66.08
glider: 176
mission: 2
dive: 324
start: 10 21 110 0 12 5
data:
$ID,176
$MISSION,2
$DIVE,324
$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,-5337.5513
$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
$GPS1,211010,000506,2338.826,12635.982,34,1.3,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.6
$GPS2,211010,001138,2338.843,12635.989,15,1.4,15,-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,214.5,94547,-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,-194.6,0.0,0.0,0,84,0.00,0.00,-65.85,0.000,2,0.000,0.000,200,2472,2719,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.8,-5.2,8,121,9.02,2.30,-19.60,0.000,4,0.243,0.046,2416,952,3823,0,0,0,0,0,0
$GC,160,-0.51,-194.6,26.3,-28.2,18,170,0.03,2.28,0.00,0.000,6,0.194,0.046,2426,2418,3823,0,0,0,0,0,0
$GC,523,-0.50,-194.6,103.3,-17.3,79,532,0.00,2.08,0.00,0.000,4,0.000,0.054,2426,3767,3824,0,0,0,0,0,0
$GC,622,-0.50,-194.6,115.5,-9.6,95,631,0.00,2.05,0.00,0.000,6,0.000,0.028,2427,2335,3823,0,0,0,0,0,0
$GC,986,-0.50,-194.6,158.7,-11.0,156,995,0.00,2.00,0.00,0.000,4,0.000,0.033,2427,958,3824,0,0,0,0,0,0
$GC,1014,-0.50,-194.6,161.8,-11.1,160,1022,0.00,2.20,0.00,0.000,6,0.000,0.041,2427,2417,3824,0,0,0,0,0,0
$GC,1374,-0.50,-194.6,197.6,-9.2,221,1381,0.00,2.12,0.00,0.000,4,0.000,0.032,2427,943,3824,0,0,0,0,0,0
$GC,1426,-0.51,-194.6,202.0,-8.2,229,1433,0.00,2.20,0.00,0.000,6,0.000,0.038,2426,2425,3824,0,0,0,0,0,0
$GC,1783,-0.51,-194.6,233.7,-8.3,290,1792,0.00,2.15,0.00,0.000,4,0.000,0.033,2427,956,3823,0,0,0,0,0,0
$GC,1823,-0.52,-194.6,236.9,-7.9,296,1831,0.00,2.20,0.00,0.000,6,0.000,0.040,2427,2419,3823,0,0,0,0,0,0
$GC,2184,-0.52,-194.6,265.9,-7.0,357,2191,0.00,2.10,0.00,0.000,4,0.000,0.032,2427,953,3822,0,0,0,0,0,0
$GC,2225,-0.53,-194.6,268.7,-7.1,363,2232,0.05,2.20,0.00,0.000,6,0.172,0.040,2382,2430,3822,0,0,0,0,0,0
$GC,2584,-0.53,-194.6,308.8,-11.1,424,2593,0.15,2.17,0.00,0.000,4,0.144,0.032,2429,956,3820,0,0,0,0,0,0
$GC,2612,-0.53,-194.6,311.6,-9.8,428,2621,0.03,2.22,0.00,0.000,6,0.110,0.041,2386,2430,3820,0,0,0,0,0,0
$GC,2974,-0.52,-194.6,352.9,-12.1,489,2981,0.15,2.15,0.00,0.000,4,0.138,0.033,2434,948,3819,0,0,0,0,0,0
$GC,3014,-0.53,-194.6,356.8,-8.4,495,3022,0.08,2.20,0.00,0.000,6,0.127,0.041,2382,2424,3818,0,0,0,0,0,0
$GC,3374,-0.53,-194.6,396.2,-10.9,556,3383,0.15,2.17,0.00,0.000,4,0.137,0.034,2431,959,3817,0,0,0,0,0,0
$GC,3411,-0.54,-194.6,399.3,-8.7,561,3418,0.08,2.20,0.00,0.000,6,0.129,0.041,2383,2433,3816,0,0,0,0,0,0
$GC,3769,-0.54,-194.6,436.5,-10.2,622,3778,0.12,0.00,0.00,0.000,6,0.145,0.000,2423,2433,3815,0,0,0,0,0,0
$GC,4132,-0.55,-194.6,460.5,-6.2,683,4139,0.05,2.17,0.00,0.000,4,0.172,0.034,2374,954,3813,0,0,0,0,0,0
$GC,4184,-0.55,-194.6,465.1,-9.7,691,4191,0.15,2.20,0.00,0.000,6,0.133,0.042,2422,2422,3813,0,0,0,0,0,0
$GC,4545,-0.56,-194.6,487.5,-5.1,752,4554,0.08,2.17,0.00,0.000,4,0.126,0.033,2364,956,3810,0,0,0,0,0,0
$GC,4573,-0.57,-194.6,489.7,-7.0,756,4582,0.12,2.22,0.00,0.000,6,0.104,0.043,2412,2416,3810,0,0,0,0,0,0
$GC,4916,-0.58,-194.6,511.4,-6.7,801,4920,0.00,2.10,0.00,0.000,4,0.000,0.032,2413,953,3808,0,0,0,0,0,0
$GC,4947,-0.59,-194.6,513.7,-7.4,803,4951,0.08,2.22,0.00,0.000,6,0.125,0.041,2354,2434,3808,0,0,0,0,0,0
$GC,5273,-0.58,-194.6,550.0,-10.9,833,5278,0.17,2.15,0.00,0.000,4,0.130,0.031,2411,954,3806,0,0,0,0,0,0
$GC,5308,-0.59,-194.6,553.2,-7.6,835,5315,0.05,2.22,0.00,0.000,6,0.164,0.042,2372,2431,3806,0,0,0,0,0,0
$GC,5634,-0.59,-194.6,583.0,-10.1,866,5638,0.12,2.15,0.00,0.000,4,0.135,0.033,2414,953,3804,0,0,0,0,0,0
$GC,5678,-0.60,-194.6,586.8,-7.2,869,5685,0.10,2.22,0.00,0.000,6,0.099,0.041,2345,2432,3804,0,0,0,0,0,0
$GC,6009,-0.60,-194.6,625.6,-11.9,891,6014,0.20,2.17,0.00,0.000,4,0.125,0.031,2411,946,3803,0,0,0,0,0,0
$GC,6042,-0.61,-194.6,628.9,-7.7,892,6049,0.08,2.25,0.00,0.000,6,0.122,0.043,2361,2431,3802,0,0,0,0,0,0
$GC,6357,-0.61,-194.6,659.7,-9.5,908,6359,0.12,0.00,0.00,0.000,6,0.135,0.000,2402,2432,3800,0,0,0,0,0,0
$GC,6668,-0.62,-194.6,680.1,-6.5,923,6672,0.05,2.17,0.00,0.000,4,0.176,0.035,2346,956,3798,0,0,0,0,0,0
$GC,6753,-0.62,-194.6,688.5,-10.4,927,6758,0.17,2.22,0.00,0.000,6,0.124,0.044,2403,2420,3797,0,0,0,0,0,0
$GC,7081,-0.62,-194.6,710.4,-6.3,943,7086,0.08,2.17,0.00,0.000,4,0.129,0.036,2346,956,3795,0,0,0,0,0,0
$GC,7126,-0.62,-194.6,714.7,-10.6,945,7131,0.17,2.22,0.00,0.000,6,0.124,0.045,2403,2419,3794,0,0,0,0,0,0
$GC,7454,-0.63,-194.6,736.8,-6.7,961,7459,0.08,2.15,0.00,0.000,4,0.127,0.035,2339,958,3792,0,0,0,0,0,0
$GC,7508,-0.63,-194.6,742.5,-10.2,963,7513,0.17,2.25,0.00,0.000,6,0.128,0.045,2393,2413,3792,0,0,0,0,0,0
$GC,7832,-0.64,-194.6,766.3,-6.9,979,7836,0.05,2.15,0.00,0.000,4,0.172,0.034,2345,956,3791,0,0,0,0,0,0
$GC,7871,-0.64,-194.6,770.0,-10.3,981,7876,0.15,2.22,0.00,0.000,6,0.129,0.044,2394,2419,3790,0,0,0,0,0,0
$GC,8199,-0.65,-194.6,792.1,-6.6,997,8204,0.08,2.17,0.00,0.000,4,0.125,0.035,2334,945,3787,0,0,0,0,0,0
$GC,8253,-0.65,-194.6,797.8,-10.3,999,8261,0.15,2.28,0.00,0.000,6,0.099,0.045,2391,2417,3787,0,0,0,0,0,0
$STATE,8300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8300,begin apogee
$GC,8305,-0.11,0.0,801.3,7.9,1002,8530,0.45,0.20,218.50,0.968,6,0.088,0.067,2562,2139,3027,0,0,0,0,0,0
$STATE,8532,end apogee,CONTROL_FINISHED_OK
$STATE,8532,begin climb
$GC,8534,0.53,194.6,813.8,0.0,1012,8780,0.52,2.42,234.05,0.935,4,0.038,0.037,2817,662,2233,0,0,0,0,0,0
$GC,8986,0.50,194.6,774.4,15.6,1033,8991,0.25,2.22,0.00,0.000,6,0.170,0.036,2749,2124,2225,0,0,0,0,0,0
$GC,9307,0.49,194.6,735.4,12.3,1049,9311,0.00,2.17,0.00,0.000,4,0.000,0.051,2748,3537,2221,0,0,0,0,0,0
$GC,9402,0.47,194.6,721.8,14.6,1053,9407,0.10,2.17,0.00,0.000,6,0.191,0.030,2730,2054,2221,0,0,0,0,0,0
$GC,9729,0.46,194.6,685.0,11.2,1069,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2049,2218,0,0,0,0,0,0
$GC,10039,0.45,194.6,652.8,10.0,1084,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2049,2218,0,0,0,0,0,0
$GC,10348,0.43,194.6,623.3,9.6,1099,10352,0.00,2.28,0.00,0.000,4,0.000,0.050,2729,3525,2217,0,0,0,0,0,0
$GC,10442,0.42,194.6,612.9,11.5,1103,10446,0.05,2.17,0.00,0.000,6,0.155,0.028,2706,2055,2216,0,0,0,0,0,0
$GC,10771,0.50,262.9,589.6,6.8,1126,10862,0.15,2.20,78.80,0.890,4,0.080,0.039,2800,661,1953,0,0,0,0,0,0
$GC,10878,0.48,262.9,577.0,12.9,1135,10887,0.22,2.25,0.00,0.000,6,0.148,0.034,2734,2119,1950,0,0,0,0,0,0
$GC,11204,0.47,262.9,546.9,9.4,1166,11207,0.00,2.17,0.00,0.000,4,0.000,0.049,2734,3526,1945,0,0,0,0,0,0
$GC,11281,0.46,262.9,538.4,11.8,1172,11288,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2060,1944,0,0,0,0,0,0
$GC,11606,0.46,262.9,506.2,9.6,1203,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2056,1942,0,0,0,0,0,0
$GC,11939,0.45,262.9,475.2,9.8,1256,11948,0.00,2.30,0.00,0.000,4,0.000,0.050,2736,3527,1942,0,0,0,0,0,0
$GC,11966,0.45,262.9,472.3,10.0,1260,11975,0.00,2.17,0.00,0.000,6,0.000,0.029,2736,2066,1942,0,0,0,0,0,0
$GC,12319,0.45,271.9,440.4,8.6,1321,12333,0.00,0.00,6.88,0.726,6,0.000,0.000,2736,2064,1918,0,0,0,0,0,0
$GC,12676,0.45,271.9,408.2,9.3,1383,12684,0.00,2.22,0.00,0.000,4,0.000,0.048,2736,3526,1917,0,0,0,0,0,0
$GC,12741,0.44,271.9,401.7,9.4,1394,12750,0.00,2.17,0.00,0.000,6,0.000,0.028,2736,2060,1917,0,0,0,0,0,0
$GC,13094,0.45,275.9,370.2,8.8,1455,13110,0.00,2.10,6.30,0.620,4,0.000,0.041,2735,662,1902,0,0,0,0,0,0
$GC,13139,0.46,289.7,366.0,8.5,1462,13163,0.00,2.20,18.75,0.724,6,0.000,0.034,2736,2125,1845,0,0,0,0,0,0
$GC,13506,0.47,293.1,333.8,8.8,1525,13521,0.00,2.17,5.22,0.555,4,0.000,0.050,2736,3525,1831,0,0,0,0,0,0
$GC,13559,0.47,297.8,329.4,8.7,1533,13574,0.00,2.15,7.32,0.612,6,0.000,0.028,2736,2050,1813,0,0,0,0,0,0
$GC,13915,0.51,323.9,304.0,8.1,1595,13960,0.08,2.12,33.40,0.700,4,0.131,0.041,2802,666,1705,0,0,0,0,0,0
$GC,14003,0.50,323.9,293.6,12.3,1608,14012,0.17,2.22,0.00,0.000,6,0.113,0.035,2740,2118,1702,0,0,0,0,0,0
$GC,14355,0.53,347.3,263.6,8.2,1669,14391,0.10,2.15,28.50,0.664,4,0.103,0.047,2817,3526,1610,0,0,0,0,0,0
$GC,14411,0.52,347.3,256.4,13.8,1677,14419,0.22,2.20,0.00,0.000,6,0.140,0.030,2749,2056,1609,0,0,0,0,0,0
$GC,14762,0.55,373.3,226.3,8.1,1738,14799,0.10,0.00,32.22,0.643,6,0.103,0.000,2821,2051,1503,0,0,0,0,0,0
$GC,15141,0.54,373.3,171.7,13.6,1803,15149,0.20,2.25,0.00,0.000,4,0.135,0.046,2759,3527,1498,0,0,0,0,0,0
$GC,15184,0.55,373.3,166.9,9.3,1810,15193,0.00,2.17,0.00,0.000,6,0.000,0.028,2762,2061,1497,0,0,0,0,0,0
$GC,15539,0.64,443.0,143.2,6.7,1871,15630,0.12,0.00,81.75,0.598,6,0.085,0.000,2846,2057,1219,0,0,0,0,0,0
$GC,15982,0.64,443.0,82.5,11.0,1942,15991,0.20,2.30,0.00,0.000,4,0.122,0.046,2779,3524,1214,0,0,0,0,0,0
$GC,16031,0.79,549.8,78.9,5.6,1949,16164,0.17,2.15,122.00,0.552,6,0.041,0.026,2895,2050,785,0,0,0,0,0,0
$GC,16514,0.79,549.8,22.4,12.1,2025,16523,0.20,0.00,0.00,0.000,6,0.128,0.000,2829,2049,780,0,0,0,0,0,0
$STATE,16741,end climb,SURFACE_DEPTH_REACHED
$STATE,16741,begin surface coast
$FINISH,0.8,1.021638
$STATE,16773,end surface coast,CONTROL_FINISHED_OK
$STATE,16773,begin surface
$SM_CCo,16848,0.00,0.000,0,0,779,551.43
$SM_GC,1.48,6.68,0.00,0.00,0.041,0.000,0.000,205,2445,779,-7.40,1.30,551.43
$IRIDIUM_FIX,2330.93,12637.61,201010,191917
$TT8_MAMPS,0.026215
$HUMID,49.56
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,23.9,45.010
$10V_AH,10.3,40.178
$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,22.325,145.900,873.700,0.000,0.000,26.405,17.392,197.749,0.000,0.000,17.971,4978.790,5553.269,873.276,5456.101,353.643,0.000,2726.805,0.000,5229.073,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,66.555,968.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1398.157,0.000,3201.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333792
$DATA_FILE_SIZE,123457,2068
$CAP_FILE_SIZE,214079,0
$CFSIZE,260165632,235868160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163, 56.2,1
$GPS,211010,045400,2337.594,12636.180,39,1.3,39,-3.5