version: 66.08
glider: 176
mission: 2
dive: 348
start: 10 25 110 19 53 23
data:
$ID,176
$MISSION,2
$DIVE,348
$N_DIVES,360
$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,-5367.7461
$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
$GPS1,251010,194606,2322.801,12628.978,30,1.7,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-57.0
$GPS2,251010,195255,2322.807,12628.891,12,1.8,29,-3.4
$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,205.2,64884,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.53,-194.6,0.0,0.0,0,91,0.00,0.00,-73.47,0.000,2,0.000,0.000,192,2388,2709,0,0,0,0,0,0
$GC,93,-0.53,-194.6,3.2,-3.9,9,135,8.88,2.17,-21.42,0.000,4,0.233,0.050,2415,955,3824,0,0,0,0,0,0
$GC,336,-0.52,-194.6,56.5,-18.9,48,345,0.00,2.25,0.00,0.000,6,0.000,0.044,2415,2419,3824,0,0,0,0,0,0
$GC,698,-0.51,-194.6,127.8,-16.3,109,708,0.08,2.08,0.00,0.000,4,0.200,0.054,2434,3764,3824,0,0,0,0,0,0
$GC,717,-0.50,-194.6,130.7,-16.0,111,726,0.00,2.05,0.00,0.000,6,0.000,0.026,2434,2332,3824,0,0,0,0,0,0
$GC,1078,-0.50,-194.6,169.7,-8.7,172,1088,0.00,2.00,0.00,0.000,4,0.000,0.033,2434,950,3824,0,0,0,0,0,0
$GC,1103,-0.50,-194.6,171.6,-8.6,175,1110,0.00,2.20,0.00,0.000,6,0.000,0.040,2434,2430,3824,0,0,0,0,0,0
$GC,1459,-0.50,-194.6,201.9,-8.8,236,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2430,3824,0,0,0,0,0,0
$GC,1822,-0.51,-194.6,230.7,-7.2,297,1828,0.00,2.12,0.00,0.000,4,0.000,0.033,2434,946,3823,0,0,0,0,0,0
$GC,1873,-0.52,-194.6,234.4,-7.2,305,1881,0.08,2.20,0.00,0.000,6,0.131,0.038,2380,2437,3823,0,0,0,0,0,0
$GC,2233,-0.51,-194.6,278.6,-12.5,366,2242,0.17,2.20,0.00,0.000,4,0.142,0.031,2435,946,3822,0,0,0,0,0,0
$GC,2269,-0.52,-194.6,281.8,-9.1,371,2276,0.08,2.20,0.00,0.000,6,0.127,0.039,2381,2429,3821,0,0,0,0,0,0
$GC,2630,-0.51,-194.6,323.6,-11.8,432,2639,0.17,0.00,0.00,0.000,6,0.138,0.000,2437,2428,3821,0,0,0,0,0,0
$GC,2993,-0.52,-194.6,350.7,-7.6,493,3000,0.08,2.15,0.00,0.000,4,0.130,0.033,2389,943,3818,0,0,0,0,0,0
$GC,3044,-0.53,-194.6,355.7,-10.3,501,3052,0.12,2.20,0.00,0.000,6,0.141,0.041,2429,2424,3818,0,0,0,0,0,0
$GC,3402,-0.55,-194.6,383.6,-8.0,562,3411,0.08,2.05,0.00,0.000,4,0.130,0.051,2398,3763,3816,0,0,0,0,0,0
$GC,3520,-0.59,-194.6,393.2,-8.8,581,3527,0.00,2.03,0.00,0.000,6,0.000,0.027,2398,2322,3815,0,0,0,0,0,0
$GC,3875,-0.61,-194.6,422.7,-8.3,642,3884,0.00,2.22,0.00,0.000,4,0.000,0.051,2398,3767,3814,0,0,0,0,0,0
$GC,3922,-0.64,-194.6,426.8,-9.4,649,3930,0.08,2.00,0.00,0.000,6,0.148,0.027,2362,2330,3814,0,0,0,0,0,0
$GC,4272,-0.65,-194.6,456.9,-8.1,710,4281,0.08,2.03,0.00,0.000,4,0.159,0.034,2392,953,3811,0,0,0,0,0,0
$GC,4289,-0.67,-194.6,458.2,-7.5,712,4298,0.05,2.20,0.00,0.000,6,0.068,0.037,2336,2424,3811,0,0,0,0,0,0
$GC,4642,-0.67,-194.6,489.7,-9.8,773,4651,0.15,2.05,0.00,0.000,4,0.125,0.054,2389,3766,3809,0,0,0,0,0,0
$GC,4717,-0.68,-194.6,496.0,-8.2,785,4725,0.10,2.03,0.00,0.000,6,0.105,0.026,2321,2332,3809,0,0,0,0,0,0
$GC,5052,-0.67,-194.6,543.4,-15.0,819,5056,0.20,1.98,0.00,0.000,4,0.134,0.031,2387,954,3807,0,0,0,0,0,0
$GC,5092,-0.68,-194.6,547.8,-9.3,822,5097,0.08,2.20,0.00,0.000,6,0.122,0.041,2322,2424,3807,0,0,0,0,0,0
$GC,5418,-0.66,-194.6,593.9,-14.5,852,5422,0.20,2.05,0.00,0.000,4,0.136,0.053,2386,3765,3805,0,0,0,0,0,0
$GC,5462,-0.67,-194.6,598.7,-7.5,855,5469,0.08,2.00,0.00,0.000,6,0.122,0.026,2332,2346,3805,0,0,0,0,0,0
$GC,5788,-0.66,-194.6,642.4,-13.9,872,5793,0.17,2.03,0.00,0.000,4,0.133,0.034,2389,949,3803,0,0,0,0,0,0
$GC,5832,-0.68,-194.6,646.9,-8.5,874,5837,0.08,2.22,0.00,0.000,6,0.124,0.041,2330,2424,3803,0,0,0,0,0,0
$GC,6154,-0.67,-194.6,686.2,-12.2,890,6158,0.17,2.15,0.00,0.000,4,0.135,0.034,2388,956,3801,0,0,0,0,0,0
$GC,6204,-0.68,-194.6,690.6,-7.3,892,6208,0.08,2.22,0.00,0.000,6,0.119,0.042,2322,2428,3801,0,0,0,0,0,0
$GC,6519,-0.67,-194.6,727.7,-12.2,907,6524,0.20,2.17,0.00,0.000,4,0.129,0.031,2389,946,3798,0,0,0,0,0,0
$GC,6575,-0.68,-194.6,732.3,-6.8,909,6584,0.08,2.25,0.00,0.000,6,0.122,0.042,2328,2431,3798,0,0,0,0,0,0
$GC,6891,-0.67,-194.6,768.5,-11.9,925,6895,0.17,2.20,0.00,0.000,4,0.132,0.034,2386,952,3795,0,0,0,0,0,0
$GC,6912,-0.67,-194.6,770.9,-10.6,926,6916,0.08,2.22,0.00,0.000,6,0.121,0.042,2323,2420,3795,0,0,0,0,0,0
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7155,begin apogee
$GC,7160,-0.11,0.0,800.4,12.7,938,7386,0.68,0.20,219.27,0.943,6,0.105,0.067,2561,2143,3027,0,0,0,0,0,0
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7388,begin climb
$GC,7390,0.53,194.6,812.8,0.0,948,7634,0.52,2.42,233.38,0.913,4,0.041,0.039,2809,660,2233,0,0,0,0,0,0
$GC,7750,0.51,194.6,785.4,15.8,965,7754,0.22,2.25,0.00,0.000,6,0.165,0.034,2748,2123,2226,0,0,0,0,0,0
$GC,8078,0.49,194.6,744.8,11.7,981,8082,0.00,2.12,0.00,0.000,4,0.000,0.050,2747,3526,2221,0,0,0,0,0,0
$GC,8231,0.48,194.6,726.2,11.8,988,8235,0.08,2.17,0.00,0.000,6,0.210,0.029,2735,2052,2221,0,0,0,0,0,0
$GC,8559,0.48,208.2,697.8,8.5,1004,8582,0.05,2.12,14.23,0.853,4,0.175,0.039,2788,655,2178,0,0,0,0,0,0
$GC,8614,0.46,208.2,691.2,12.1,1006,8619,0.20,2.17,0.00,0.000,6,0.158,0.034,2731,2120,2177,0,0,0,0,0,0
$GC,8937,0.45,208.2,660.7,10.0,1022,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2120,2173,0,0,0,0,0,0
$GC,9245,0.44,208.2,629.9,9.7,1037,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2120,2172,0,0,0,0,0,0
$GC,9555,0.43,208.2,600.3,9.3,1052,9558,0.00,2.12,0.00,0.000,4,0.000,0.050,2730,3529,2171,0,0,0,0,0,0
$GC,9623,0.42,208.2,592.8,11.3,1057,9627,0.08,2.17,0.00,0.000,6,0.200,0.030,2716,2050,2171,0,0,0,0,0,0
$GC,9948,0.44,225.2,564.6,8.4,1087,9975,0.08,2.30,20.88,0.845,4,0.127,0.050,2768,3527,2108,0,0,0,0,0,0
$GC,10014,0.42,225.2,556.5,13.1,1092,10022,0.20,2.17,0.00,0.000,6,0.153,0.028,2716,2063,2106,0,0,0,0,0,0
$GC,10340,0.45,250.4,529.3,8.1,1123,10376,0.08,2.38,30.85,0.831,4,0.126,0.049,2767,3536,2006,0,0,0,0,0,0
$GC,10435,0.43,250.4,518.5,13.1,1131,10440,0.17,2.20,0.00,0.000,6,0.150,0.028,2724,2062,2003,0,0,0,0,0,0
$GC,10771,0.46,276.7,490.5,8.1,1171,10807,0.08,0.00,32.12,0.806,6,0.126,0.000,2778,2057,1899,0,0,0,0,0,0
$GC,11145,0.45,276.7,448.4,11.2,1236,11154,0.17,2.33,0.00,0.000,4,0.142,0.050,2725,3522,1893,0,0,0,0,0,0
$GC,11213,0.48,303.1,442.5,8.1,1247,11256,0.05,2.15,32.50,0.777,6,0.166,0.028,2792,2057,1790,0,0,0,0,0,0
$GC,11599,0.47,303.1,395.0,13.3,1313,11607,0.20,2.10,0.00,0.000,4,0.145,0.037,2736,656,1784,0,0,0,0,0,0
$GC,11638,0.47,303.1,390.9,9.7,1319,11645,0.00,2.20,0.00,0.000,6,0.000,0.033,2736,2126,1784,0,0,0,0,0,0
$GC,11985,0.48,306.9,359.5,8.8,1380,11994,0.00,2.22,0.00,0.000,4,0.000,0.041,2736,665,1783,0,0,0,0,0,0
$GC,12030,0.52,339.5,356.0,7.9,1387,12082,0.10,2.15,44.00,0.729,6,0.099,0.035,2806,2123,1643,0,0,0,0,0,0
$GC,12421,0.51,339.5,303.4,12.4,1454,12430,0.20,2.17,0.00,0.000,4,0.142,0.047,2744,3520,1636,0,0,0,0,0,0
$GC,12494,0.57,383.7,297.0,7.5,1466,12559,0.05,2.17,53.28,0.688,6,0.065,0.027,2817,2048,1461,0,0,0,0,0,0
$GC,12900,0.56,383.7,241.1,14.9,1535,12907,0.17,0.00,0.00,0.000,6,0.148,0.000,2764,2048,1455,0,0,0,0,0,0
$GC,13247,0.60,408.9,209.5,8.1,1596,13285,0.08,2.30,29.58,0.623,4,0.123,0.047,2830,3526,1358,0,0,0,0,0,0
$GC,13299,0.59,408.9,203.1,13.6,1603,13307,0.20,2.17,0.00,0.000,6,0.129,0.030,2767,2067,1357,0,0,0,0,0,0
$GC,13650,0.69,479.4,178.2,6.7,1664,13744,0.15,2.17,83.72,0.604,4,0.073,0.039,2858,664,1071,0,0,0,0,0,0
$GC,13759,0.68,479.4,162.9,16.5,1679,13767,0.20,2.25,0.00,0.000,6,0.119,0.035,2795,2134,1069,0,0,0,0,0,0
$GC,14119,0.80,569.6,137.2,6.1,1740,14233,0.17,0.00,103.72,0.571,6,0.068,0.000,2910,2134,703,0,0,0,0,0,0
$GC,14586,0.79,569.6,59.3,15.7,1814,14595,0.22,2.15,0.00,0.000,4,0.131,0.047,2837,3518,698,0,0,0,0,0,0
$GC,14616,0.80,569.6,55.0,14.7,1818,14625,0.00,2.15,0.00,0.000,6,0.000,0.026,2837,2058,698,0,0,0,0,0,0
$GC,14981,0.96,674.8,24.1,5.6,1879,15046,0.20,2.12,56.28,0.493,4,0.092,0.038,2918,660,500,0,0,0,0,0,0
$GC,15091,1.11,796.9,17.0,5.1,1894,15101,0.08,2.22,0.00,0.000,6,0.052,0.033,2993,2132,499,0,0,0,0,0,0
$STATE,15185,end climb,SURFACE_DEPTH_REACHED
$STATE,15185,begin surface coast
$FINISH,0.7,1.021690
$STATE,15200,end surface coast,CONTROL_FINISHED_OK
$STATE,15200,begin surface
$SM_CCo,15275,0.00,0.000,0,0,497,620.61
$SM_GC,1.38,7.25,0.00,0.00,0.050,0.000,0.000,211,2486,497,-7.39,2.43,620.61
$IRIDIUM_FIX,2314.48,12626.84,251010,151514
$TT8_MAMPS,0.026215
$HUMID,50.90
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.0,50.145
$10V_AH,10.3,45.825
$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,23.675,130.950,953.800,0.000,0.000,27.550,15.164,197.465,0.000,0.000,31.619,4559.500,4736.265,920.702,5098.883,345.209,0.000,2663.615,0.000,4860.046,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,66.555,943.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.998,0.000,3028.572,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,113464,1911
$CAP_FILE_SIZE,199390,0
$CFSIZE,260165632,233361408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 36.6,1
$GPS,261010,000907,2322.164,12629.053,41,1.1,41,-3.4