version: 66.08
glider: 168
mission: 2
dive: 322
start: 10 16 110 19 9 48
data:
$ID,168
$MISSION,2
$DIVE,322
$N_DIVES,331
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$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,375
$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,0
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$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,400
$N_FILEKB,8
$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,-3573.7341
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-59.994087
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,161010,190357,2430.459,12705.186,48,2.3,67,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.3
$GPS2,161010,190920,2430.449,12705.228,12,1.4,12,-3.7
$SPEED_LIMITS,0.192,0.299
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$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,240.1,916,-27.4,-11.111
$D_GRID,4367
$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,-0.70,-73.7,0.0,0.0,0,68,0.00,0.00,-50.88,0.000,2,0.000,0.000,104,1540,2908,0,0,0,0,0,0
$GC,71,-0.78,-141.6,3.0,-4.3,7,102,10.05,2.22,-13.75,0.000,4,0.180,0.054,2986,2956,3648,0,0,0,0,0,0
$GC,227,-0.75,-141.6,49.4,-27.4,34,236,0.05,2.22,0.00,0.000,6,0.133,0.044,3005,1551,3650,0,0,0,0,0,0
$GC,555,-0.74,-141.6,131.6,-20.6,95,563,0.00,2.20,0.00,0.000,4,0.000,0.044,2996,2951,3652,0,0,0,0,0,0
$GC,598,-0.74,-141.6,140.3,-19.8,102,606,0.05,2.20,0.00,0.000,6,0.120,0.045,3018,1552,3652,0,0,0,0,0,0
$GC,930,-0.74,-141.6,200.9,-16.5,163,937,0.00,2.17,0.00,0.000,4,0.000,0.045,3009,2955,3653,0,0,0,0,0,0
$GC,967,-0.77,-141.6,206.7,-14.9,169,975,0.00,2.15,0.00,0.000,6,0.000,0.044,3009,1555,3654,0,0,0,0,0,0
$GC,1298,-0.78,-141.6,263.8,-16.4,230,1306,0.00,2.17,0.00,0.000,4,0.000,0.052,3009,165,3654,0,0,0,0,0,0
$GC,1334,-0.80,-141.6,270.2,-18.1,236,1342,0.00,2.12,0.00,0.000,6,0.000,0.038,2999,1550,3654,0,0,0,0,0,0
$GC,1668,-0.82,-141.6,331.8,-17.7,282,1672,0.00,2.17,0.00,0.000,4,0.000,0.046,2990,2968,3653,0,0,0,0,0,0
$GC,1683,-0.83,-141.6,335.0,-17.9,283,1690,0.00,2.15,0.00,0.000,6,0.000,0.043,2990,1565,3653,0,0,0,0,0,0
$GC,2009,-0.85,-141.6,391.7,-16.3,314,2013,0.00,2.15,0.00,0.000,4,0.000,0.044,2982,2961,3653,0,0,0,0,0,0
$GC,2044,-0.87,-141.6,397.0,-15.3,317,2048,0.00,2.15,0.00,0.000,6,0.000,0.044,2982,1564,3652,0,0,0,0,0,0
$GC,2372,-0.89,-141.6,446.6,-14.6,347,2376,0.00,2.17,0.00,0.000,4,0.000,0.053,2982,161,3651,0,0,0,0,0,0
$GC,2393,-0.90,-141.6,450.6,-14.7,348,2402,0.00,2.12,0.00,0.000,6,0.000,0.038,2972,1550,3651,0,0,0,0,0,0
$GC,2720,-0.91,-141.6,507.1,-18.6,379,2724,0.00,2.17,0.00,0.000,4,0.000,0.047,2961,2959,3649,0,0,0,0,0,0
$GC,2849,-0.94,-141.6,529.5,-16.1,390,2853,0.00,2.15,0.00,0.000,6,0.000,0.045,2961,1567,3649,0,0,0,0,0,0
$GC,3173,-0.95,-141.6,584.8,-15.6,420,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1566,3646,0,0,0,0,0,0
$GC,3487,-0.97,-141.6,629.8,-14.2,440,3491,0.08,2.15,0.00,0.000,4,0.122,0.047,2856,2959,3643,0,0,0,0,0,0
$GC,3507,-0.96,-141.6,633.6,-16.0,441,3512,0.22,2.17,0.00,0.000,6,0.110,0.047,2947,1574,3643,0,0,0,0,0,0
$GC,3837,-0.96,-141.6,687.9,-17.2,457,3841,0.00,2.22,0.00,0.000,4,0.000,0.057,2947,159,3641,0,0,0,0,0,0
$GC,3877,-0.96,-141.6,695.3,-17.4,459,3881,0.00,2.15,0.00,0.000,6,0.000,0.041,2937,1572,3641,0,0,0,0,0,0
$GC,4211,-0.96,-141.6,753.6,-17.1,475,4215,0.00,2.12,0.00,0.000,4,0.000,0.050,2926,2958,3638,0,0,0,0,0,0
$GC,4252,-0.98,-141.6,760.3,-16.4,477,4256,0.00,2.17,0.00,0.000,6,0.000,0.050,2926,1572,3637,0,0,0,0,0,0
$GC,4579,-0.98,-141.6,817.0,-16.9,493,4583,0.00,2.15,0.00,0.000,4,0.000,0.049,2916,2964,3635,0,0,0,0,0,0
$GC,4597,-0.98,-141.6,820.1,-16.7,494,4602,0.08,2.17,0.00,0.000,6,0.173,0.050,2939,1577,3634,0,0,0,0,0,0
$GC,4925,-0.99,-141.6,872.9,-16.1,510,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1576,3632,0,0,0,0,0,0
$GC,5234,-1.01,-141.6,919.3,-15.1,525,5238,0.00,2.17,0.00,0.000,4,0.000,0.052,2929,2958,3629,0,0,0,0,0,0
$GC,5296,-1.03,-141.6,928.0,-12.6,528,5300,0.00,2.17,0.00,0.000,6,0.000,0.053,2929,1582,3628,0,0,0,0,0,0
$GC,5622,-1.04,-141.6,976.2,-14.8,544,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1581,3625,0,0,0,0,0,0
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5790,0.00,0.0,1002.3,15.8,552,5910,0.93,0.00,114.20,1.250,4,0.103,0.000,3253,1707,3068,0,0,0,0,0,0
$STATE,5911,end apogee,CONTROL_FINISHED_OK
$STATE,5911,begin climb
$GC,5912,0.78,141.6,1005.9,0.0,557,6044,0.68,2.40,121.35,1.182,4,0.028,0.060,3549,290,2490,0,0,0,0,0,0
$GC,6208,0.72,141.6,958.0,22.7,571,6213,0.22,2.17,0.00,0.000,6,0.147,0.033,3483,1707,2478,0,0,0,0,0,0
$GC,6537,0.68,141.6,896.1,18.8,587,6541,0.00,2.25,0.00,0.000,4,0.000,0.057,3494,289,2473,0,0,0,0,0,0
$GC,6677,0.65,141.6,868.2,19.0,593,6681,0.12,2.15,0.00,0.000,6,0.159,0.034,3458,1705,2471,0,0,0,0,0,0
$GC,6994,0.64,141.6,817.2,15.9,608,6998,0.00,2.17,0.00,0.000,4,0.000,0.045,3458,3111,2470,0,0,0,0,0,0
$GC,7097,0.63,141.6,799.4,16.5,612,7106,0.00,2.25,0.00,0.000,6,0.000,0.050,3469,1706,2469,0,0,0,0,0,0
$GC,7414,0.62,141.6,747.3,16.8,628,7419,0.08,2.17,0.00,0.000,4,0.218,0.046,3451,3105,2467,0,0,0,0,0,0
$GC,7467,0.62,141.6,737.8,17.1,630,7476,0.00,2.22,0.00,0.000,6,0.000,0.050,3462,1716,2467,0,0,0,0,0,0
$GC,7785,0.61,141.6,686.0,16.7,646,7789,0.00,2.15,0.00,0.000,4,0.000,0.047,3461,3114,2465,0,0,0,0,0,0
$GC,7856,0.60,141.6,673.4,17.0,649,7861,0.12,2.22,0.00,0.000,6,0.183,0.050,3438,1725,2465,0,0,0,0,0,0
$GC,8180,0.60,141.6,626.6,13.8,665,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1726,2464,0,0,0,0,0,0
$GC,8490,0.62,143.4,589.0,10.9,684,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1725,2464,0,0,0,0,0,0
$GC,8812,0.63,143.4,551.4,12.1,714,8816,0.00,2.15,0.00,0.000,4,0.000,0.047,3438,3106,2463,0,0,0,0,0,0
$GC,8862,0.64,143.4,544.1,14.5,718,8866,0.00,2.17,0.00,0.000,6,0.000,0.050,3449,1723,2463,0,0,0,0,0,0
$GC,9194,0.65,143.4,500.4,12.5,749,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1723,2463,0,0,0,0,0,0
$GC,9513,0.66,143.4,461.4,11.6,779,9517,0.00,2.15,0.00,0.000,4,0.000,0.046,3449,3108,2462,0,0,0,0,0,0
$GC,9543,0.67,143.4,457.7,12.2,781,9547,0.00,2.17,0.00,0.000,6,0.000,0.048,3459,1720,2462,0,0,0,0,0,0
$GC,9871,0.68,149.0,421.1,10.5,811,9875,0.00,2.12,0.00,0.000,4,0.000,0.045,3459,3105,2462,0,0,0,0,0,0
$GC,9976,0.69,149.0,408.0,12.3,820,9980,0.00,2.17,0.00,0.000,6,0.000,0.048,3470,1721,2462,0,0,0,0,0,0
$GC,10301,0.69,149.0,367.6,12.0,850,10305,0.00,2.15,0.00,0.000,4,0.000,0.045,3470,3111,2462,0,0,0,0,0,0
$GC,10376,0.69,149.0,358.3,12.0,856,10385,0.00,2.20,0.00,0.000,6,0.000,0.048,3480,1730,2462,0,0,0,0,0,0
$GC,10703,0.69,150.4,323.7,11.0,887,10707,0.00,2.10,0.00,0.000,4,0.000,0.044,3480,3106,2462,0,0,0,0,0,0
$GC,10787,0.69,150.4,314.2,11.7,894,10792,0.08,2.15,0.00,0.000,6,0.200,0.047,3473,1731,2462,0,0,0,0,0,0
$GC,11118,0.70,156.7,277.9,10.5,943,11132,0.00,0.00,9.12,0.692,6,0.000,0.000,3473,1731,2429,0,0,0,0,0,0
$GC,11456,0.75,181.3,243.6,8.6,1005,11486,0.08,2.28,22.12,0.727,4,0.123,0.052,3574,293,2327,0,0,0,0,0,0
$GC,11597,0.70,181.3,221.7,17.4,1029,11605,0.32,2.17,0.00,0.000,6,0.131,0.031,3474,1733,2323,0,0,0,0,0,0
$GC,11930,0.72,181.3,181.3,11.6,1090,11938,0.00,2.12,0.00,0.000,4,0.000,0.044,3474,3100,2322,0,0,0,0,0,0
$GC,11967,0.75,181.3,176.2,13.1,1096,11975,0.00,2.17,0.00,0.000,6,0.000,0.045,3482,1722,2323,0,0,0,0,0,0
$GC,12298,0.80,204.3,142.9,8.8,1157,12330,0.08,2.28,20.08,0.643,4,0.127,0.051,3576,299,2233,0,0,0,0,0,0
$GC,12339,0.78,207.1,138.6,10.8,1162,12347,0.20,2.15,0.00,0.000,6,0.122,0.031,3507,1713,2231,0,0,0,0,0,0
$GC,12667,0.81,210.8,105.1,10.7,1223,12683,0.00,2.17,6.15,0.508,4,0.000,0.042,3507,3098,2208,0,0,0,0,0,0
$GC,12865,0.86,230.9,82.5,9.1,1259,12889,0.00,2.12,18.17,0.590,6,0.000,0.044,3515,1746,2125,0,0,0,0,0,0
$GC,13210,0.93,257.4,49.4,8.4,1322,13242,0.10,2.10,22.08,0.568,4,0.091,0.037,3600,3105,2019,0,0,0,0,0,0
$GC,13465,0.93,257.4,19.0,12.1,1368,13473,0.17,2.17,0.00,0.000,6,0.128,0.043,3550,1721,2016,0,0,0,0,0,0
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,0.8,1.009105
$STATE,13667,end surface coast,CONTROL_FINISHED_OK
$STATE,13667,begin surface
$SM_CCo,13684,79.15,0.493,1,0,1436,400.08
$SM_GC,1.65,0.00,0.00,79.15,0.000,0.000,0.493,104,1533,1436,-9.84,-0.51,400.08
$IRIDIUM_FIX,2420.48,12706.40,161010,151513
$TT8_MAMPS,0.026964
$HUMID,43.85
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,23.4,40.654
$10V_AH,10.3,31.039
$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,22.075,122.300,333.275,79.150,0.000,24.481,17.673,151.938,0.500,0.000,15.331,3529.803,6119.396,501.618,3681.243,256.849,0.000,1761.993,0.000,3488.567,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,71.910,1250.010,493.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.589,0.000,2256.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,87048,1405
$CAP_FILE_SIZE,159550,0
$CFSIZE,260165632,236621824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.177,100.3,1
$GPS,161010,230031,2429.281,12705.302,37,1.3,37,-3.7