version: 66.08
glider: 176
mission: 2
dive: 352
start: 10 26 110 15 6 48
data:
$ID,176
$MISSION,2
$DIVE,352
$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,-5380.2515
$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
$GPS1,261010,145857,2320.989,12627.097,33,2.1,52,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.0
$GPS2,261010,150620,2320.996,12627.029,14,2.0,14,-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,217.2,60292,-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,-194.6,0.0,0.0,0,73,0.00,0.00,-56.50,0.000,2,0.000,0.000,179,2436,2349,0,0,0,0,0,0
$GC,76,-0.53,-194.6,3.4,-4.0,7,127,9.10,2.10,-32.10,0.000,4,0.237,0.070,2421,3766,3822,0,0,0,0,0,0
$GC,229,-0.52,-194.6,35.0,-16.8,30,238,0.00,2.08,0.00,0.000,6,0.000,0.028,2420,2348,3823,0,0,0,0,0,0
$GC,597,-0.51,-194.6,116.1,-14.2,91,606,0.00,2.03,0.00,0.000,4,0.000,0.034,2420,956,3823,0,0,0,0,0,0
$GC,661,-0.51,-194.6,125.2,-13.5,101,670,0.00,2.22,0.00,0.000,6,0.000,0.041,2420,2419,3823,0,0,0,0,0,0
$GC,1020,-0.50,-194.6,169.8,-11.2,162,1029,0.05,2.15,0.00,0.000,4,0.241,0.031,2433,955,3824,0,0,0,0,0,0
$GC,1066,-0.51,-194.6,173.8,-8.5,169,1073,0.00,2.20,0.00,0.000,6,0.000,0.040,2433,2434,3823,0,0,0,0,0,0
$GC,1413,-0.51,-194.6,204.7,-9.8,230,1421,0.00,2.17,0.00,0.000,4,0.000,0.032,2434,950,3824,0,0,0,0,0,0
$GC,1457,-0.52,-194.6,209.3,-10.2,237,1465,0.05,2.20,0.00,0.000,6,0.177,0.039,2389,2434,3824,0,0,0,0,0,0
$GC,1807,-0.51,-194.6,260.3,-14.4,298,1816,0.15,2.05,0.00,0.000,4,0.145,0.053,2434,3767,3823,0,0,0,0,0,0
$GC,1834,-0.51,-194.6,263.6,-11.9,302,1843,0.03,2.03,0.00,0.000,6,0.111,0.026,2402,2342,3822,0,0,0,0,0,0
$GC,2184,-0.51,-194.6,300.8,-9.9,363,2192,0.10,2.00,0.00,0.000,4,0.159,0.034,2434,945,3821,0,0,0,0,0,0
$GC,2247,-0.52,-194.6,305.9,-7.5,373,2254,0.08,2.20,0.00,0.000,6,0.126,0.037,2377,2434,3820,0,0,0,0,0,0
$GC,2599,-0.52,-194.6,344.9,-10.7,434,2608,0.17,2.20,0.00,0.000,4,0.132,0.033,2433,951,3820,0,0,0,0,0,0
$GC,2656,-0.53,-194.6,349.1,-6.0,443,2664,0.08,2.20,0.00,0.000,6,0.125,0.038,2375,2434,3820,0,0,0,0,0,0
$GC,3006,-0.52,-194.6,387.6,-11.5,504,3016,0.17,2.20,0.00,0.000,4,0.131,0.032,2432,952,3817,0,0,0,0,0,0
$GC,3054,-0.54,-194.6,391.7,-7.3,511,3062,0.08,2.20,0.00,0.000,6,0.127,0.037,2374,2437,3817,0,0,0,0,0,0
$GC,3406,-0.54,-194.6,433.1,-12.9,572,3415,0.15,2.20,0.00,0.000,4,0.135,0.032,2424,955,3815,0,0,0,0,0,0
$GC,3452,-0.55,-194.6,437.7,-8.6,579,3462,0.08,2.20,0.00,0.000,6,0.124,0.038,2366,2434,3815,0,0,0,0,0,0
$GC,3804,-0.54,-194.6,481.7,-11.5,640,3813,0.17,2.20,0.00,0.000,4,0.129,0.032,2424,956,3813,0,0,0,0,0,0
$GC,3862,-0.56,-194.6,486.6,-7.7,649,3869,0.08,2.20,0.00,0.000,6,0.124,0.038,2364,2434,3813,0,0,0,0,0,0
$GC,4205,-0.57,-194.6,512.8,-6.4,694,4210,0.15,2.17,0.00,0.000,4,0.121,0.032,2418,942,3810,0,0,0,0,0,0
$GC,4261,-0.59,-194.6,516.1,-5.5,698,4268,0.08,2.22,0.00,0.000,6,0.125,0.039,2380,2434,3809,0,0,0,0,0,0
$GC,4586,-0.60,-194.6,540.8,-9.2,729,4590,0.08,2.17,0.00,0.000,4,0.155,0.033,2410,943,3807,0,0,0,0,0,0
$GC,4637,-0.63,-194.6,545.6,-9.4,733,4642,0.10,2.20,0.00,0.000,6,0.108,0.037,2369,2430,3807,0,0,0,0,0,0
$GC,4963,-0.64,-194.6,577.3,-9.0,763,4967,0.08,2.17,0.00,0.000,4,0.149,0.033,2398,942,3805,0,0,0,0,0,0
$GC,4984,-0.66,-194.6,579.2,-8.1,764,4991,0.10,2.22,0.00,0.000,6,0.101,0.037,2335,2436,3805,0,0,0,0,0,0
$GC,5307,-0.66,-194.6,606.6,-7.9,791,5312,0.15,2.05,0.00,0.000,4,0.119,0.055,2389,3768,3802,0,0,0,0,0,0
$GC,5362,-0.68,-194.6,610.4,-6.7,793,5369,0.08,2.00,0.00,0.000,6,0.125,0.026,2335,2337,3801,0,0,0,0,0,0
$GC,5678,-0.67,-194.6,644.1,-12.0,809,5683,0.15,2.03,0.00,0.000,4,0.135,0.032,2385,939,3799,0,0,0,0,0,0
$GC,5722,-0.68,-194.6,648.2,-7.4,811,5727,0.08,2.22,0.00,0.000,6,0.122,0.038,2325,2423,3799,0,0,0,0,0,0
$GC,6043,-0.67,-194.6,690.7,-13.8,827,6048,0.17,2.17,0.00,0.000,4,0.135,0.034,2382,948,3797,0,0,0,0,0,0
$GC,6069,-0.67,-194.6,694.0,-10.4,828,6073,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,2420,3797,0,0,0,0,0,0
$GC,6392,-0.67,-194.6,722.5,-8.8,844,6396,0.00,2.15,0.00,0.000,4,0.000,0.034,2379,949,3795,0,0,0,0,0,0
$GC,6436,-0.68,-194.6,726.7,-9.0,846,6440,0.00,2.22,0.00,0.000,6,0.000,0.043,2377,2421,3794,0,0,0,0,0,0
$GC,6764,-0.68,-194.6,755.1,-8.9,862,6768,0.00,2.15,0.00,0.000,4,0.000,0.034,2377,948,3792,0,0,0,0,0,0
$GC,6797,-0.69,-194.6,758.3,-9.5,863,6806,0.05,2.25,0.00,0.000,6,0.174,0.043,2331,2431,3792,0,0,0,0,0,0
$GC,7114,-0.68,-194.6,798.5,-13.0,879,7116,0.15,0.00,0.00,0.000,6,0.136,0.000,2380,2431,3790,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7137,-0.11,0.0,800.8,12.8,880,7363,0.47,0.15,219.12,0.949,6,0.090,0.080,2558,2140,3027,0,0,0,0,0,0
$STATE,7364,end apogee,CONTROL_FINISHED_OK
$STATE,7364,begin climb
$GC,7366,0.53,194.6,816.7,0.0,890,7611,0.55,2.33,234.60,0.920,4,0.041,0.049,2804,3529,2232,0,0,0,0,0,0
$GC,7762,0.50,194.6,786.7,17.4,908,7767,0.25,2.22,0.00,0.000,6,0.179,0.028,2747,2050,2226,0,0,0,0,0,0
$GC,8084,0.49,194.6,749.6,11.2,924,8088,0.00,2.28,0.00,0.000,4,0.000,0.048,2747,3527,2221,0,0,0,0,0,0
$GC,8191,0.47,194.6,736.1,13.0,929,8195,0.08,2.17,0.00,0.000,6,0.208,0.028,2734,2054,2222,0,0,0,0,0,0
$GC,8518,0.46,194.6,703.2,9.9,945,8522,0.00,2.28,0.00,0.000,4,0.000,0.048,2733,3537,2219,0,0,0,0,0,0
$GC,8573,0.45,194.6,696.6,11.8,947,8577,0.00,2.17,0.00,0.000,6,0.000,0.029,2735,2062,2219,0,0,0,0,0,0
$GC,8889,0.43,194.6,665.0,9.7,962,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2058,2217,0,0,0,0,0,0
$GC,9198,0.42,194.6,635.4,9.3,977,9200,0.08,0.00,0.00,0.000,6,0.211,0.000,2716,2058,2216,0,0,0,0,0,0
$GC,9509,0.50,265.8,612.9,6.7,992,9599,0.12,2.40,82.15,0.884,4,0.089,0.048,2790,3523,1942,0,0,0,0,0,0
$GC,9643,0.49,265.8,595.9,15.2,999,9652,0.22,2.22,0.00,0.000,6,0.149,0.028,2735,2054,1938,0,0,0,0,0,0
$GC,9969,0.48,265.8,565.0,9.3,1030,9972,0.00,2.10,0.00,0.000,4,0.000,0.041,2735,653,1934,0,0,0,0,0,0
$GC,9992,0.48,265.8,562.9,9.4,1032,9996,0.00,2.22,0.00,0.000,6,0.000,0.034,2735,2129,1932,0,0,0,0,0,0
$GC,10317,0.47,265.8,530.2,10.3,1062,10321,0.00,2.20,0.00,0.000,4,0.000,0.042,2735,664,1931,0,0,0,0,0,0
$GC,10347,0.47,265.8,527.2,10.7,1064,10351,0.00,2.17,0.00,0.000,6,0.000,0.037,2735,2122,1931,0,0,0,0,0,0
$GC,10677,0.47,265.8,493.2,10.7,1099,10684,0.00,2.12,0.00,0.000,4,0.000,0.048,2735,3529,1931,0,0,0,0,0,0
$GC,10738,0.46,265.8,486.4,10.8,1109,10745,0.00,2.17,0.00,0.000,6,0.000,0.028,2735,2050,1931,0,0,0,0,0,0
$GC,11086,0.50,297.4,455.9,7.9,1170,11131,0.08,2.15,37.05,0.800,4,0.133,0.040,2802,660,1812,0,0,0,0,0,0
$GC,11163,0.48,297.4,447.8,11.2,1181,11171,0.20,2.22,0.00,0.000,6,0.145,0.034,2741,2129,1811,0,0,0,0,0,0
$GC,11510,0.49,303.5,419.0,8.7,1242,11525,0.00,2.15,7.50,0.665,4,0.000,0.049,2741,3526,1789,0,0,0,0,0,0
$GC,11546,0.49,303.5,415.6,9.7,1247,11553,0.00,2.17,0.00,0.000,6,0.000,0.028,2748,2059,1789,0,0,0,0,0,0
$GC,11897,0.48,303.5,381.2,9.5,1308,11906,0.00,2.30,0.00,0.000,4,0.000,0.050,2748,3522,1788,0,0,0,0,0,0
$GC,11920,0.48,303.5,378.7,10.5,1311,11928,0.00,2.15,0.00,0.000,6,0.000,0.028,2748,2064,1788,0,0,0,0,0,0
$GC,12270,0.50,317.1,345.2,8.5,1372,12293,0.00,2.15,17.77,0.705,4,0.000,0.041,2748,660,1734,0,0,0,0,0,0
$GC,12334,0.55,357.2,340.0,7.6,1382,12392,0.05,2.22,50.47,0.718,6,0.067,0.034,2805,2128,1569,0,0,0,0,0,0
$GC,12731,0.54,357.2,288.3,12.4,1450,12741,0.17,2.15,0.00,0.000,4,0.142,0.047,2752,3523,1562,0,0,0,0,0,0
$GC,12777,0.55,357.2,283.6,9.5,1457,12784,0.00,2.15,0.00,0.000,6,0.000,0.026,2760,2059,1561,0,0,0,0,0,0
$GC,13125,0.56,363.1,254.8,8.7,1518,13141,0.03,2.10,6.60,0.549,4,0.255,0.041,2817,666,1546,0,0,0,0,0,0
$GC,13154,0.56,363.1,251.7,9.8,1522,13163,0.15,2.20,0.00,0.000,6,0.108,0.035,2762,2121,1545,0,0,0,0,0,0
$GC,13503,0.56,363.1,222.6,9.0,1583,13510,0.00,2.12,0.00,0.000,4,0.000,0.046,2762,3529,1545,0,0,0,0,0,0
$GC,13542,0.57,363.1,218.9,9.8,1589,13549,0.05,2.15,0.00,0.000,6,0.171,0.027,2819,2052,1544,0,0,0,0,0,0
$GC,13892,0.56,363.1,174.5,12.2,1650,13900,0.20,0.00,0.00,0.000,6,0.139,0.000,2756,2049,1544,0,0,0,0,0,0
$GC,14243,0.76,515.7,152.1,4.2,1711,14436,0.22,2.40,178.88,0.584,4,0.057,0.047,2882,3524,923,0,0,0,0,0,0
$GC,14446,0.75,515.7,122.2,17.2,1736,14455,0.17,2.25,0.00,0.000,6,0.107,0.030,2823,2069,922,0,0,0,0,0,0
$GC,14816,0.86,600.6,92.2,6.3,1797,14923,0.15,2.17,96.53,0.539,4,0.074,0.041,2927,673,577,0,0,0,0,0,0
$GC,14986,0.86,600.6,65.0,14.5,1820,14995,0.17,2.22,0.00,0.000,6,0.106,0.034,2863,2126,576,0,0,0,0,0,0
$GC,15353,0.90,600.6,27.8,10.1,1881,15362,0.08,2.22,0.00,0.000,4,0.157,0.039,2893,661,574,0,0,0,0,0,0
$GC,15467,0.93,600.6,14.3,11.8,1899,15476,0.00,2.17,0.00,0.000,6,0.000,0.029,2893,2138,573,0,0,0,0,0,0
$STATE,15571,end climb,SURFACE_DEPTH_REACHED
$STATE,15571,begin surface coast
$FINISH,0.7,1.006051
$STATE,15609,end surface coast,CONTROL_FINISHED_OK
$STATE,15609,begin surface
$SM_CCo,15684,0.00,0.000,0,0,573,601.97
$SM_GC,1.44,6.68,0.00,0.00,0.030,0.000,0.000,183,2467,573,-7.38,1.89,601.97
$IRIDIUM_FIX,2314.48,12626.84,261010,101014
$TT8_MAMPS,0.026215
$HUMID,50.23
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.9,51.010
$10V_AH,10.2,46.768
$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,22.100,153.675,930.675,0.000,0.000,28.883,45.157,205.391,0.000,0.000,24.377,4610.191,5087.490,907.481,5136.527,361.593,0.000,2680.479,0.000,4867.603,0.000,0.542,0.000
$DEVICE_MAMPS,254.745,79.560,948.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1297.777,0.000,2961.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,113575,1922
$CAP_FILE_SIZE,205933,0
$CFSIZE,260165632,232931328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287, 30.3,1
$GPS,261010,192907,2321.072,12626.929,27,1.5,27,-3.4