version: 66.08
glider: 168
mission: 2
dive: 327
start: 10 17 110 16 24 44
data:
$ID,168
$MISSION,2
$DIVE,327
$N_DIVES,338
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-3580.4966
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,171010,161821,2430.354,12704.649,36,3.0,55,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.3
$GPS2,171010,162416,2430.401,12704.698,12,2.9,31,-3.7
$SPEED_LIMITS,0.191,0.298
$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,154.2,900,-27.4,-11.000
$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,-72.6,0.0,0.0,0,74,0.00,0.00,-56.88,0.000,2,0.000,0.000,104,1535,3119,0,0,0,0,0,0
$GC,77,-0.77,-134.4,3.6,-4.7,8,102,10.07,2.25,-8.43,0.000,4,0.181,0.051,2985,2958,3618,0,0,0,0,0,0
$GC,126,-0.67,-134.4,24.5,-43.1,15,135,0.15,2.22,0.00,0.000,6,0.106,0.049,3037,1570,3620,0,0,0,0,0,0
$GC,451,-0.67,-134.4,101.9,-18.3,76,459,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1569,3622,0,0,0,0,0,0
$GC,780,-0.69,-134.4,161.6,-18.0,137,787,0.00,2.12,0.00,0.000,4,0.000,0.043,3028,2952,3624,0,0,0,0,0,0
$GC,850,-0.73,-134.4,172.8,-15.0,149,857,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,1548,3624,0,0,0,0,0,0
$GC,1189,-0.76,-134.4,230.6,-16.8,210,1199,0.08,2.22,0.00,0.000,4,0.124,0.044,2907,2955,3624,0,0,0,0,0,0
$GC,1216,-0.75,-134.4,235.9,-19.2,214,1226,0.30,2.20,0.00,0.000,6,0.116,0.044,3010,1547,3624,0,0,0,0,0,0
$GC,1562,-0.76,-134.4,296.9,-18.4,275,1569,0.00,2.10,0.00,0.000,4,0.000,0.050,3010,164,3624,0,0,0,0,0,0
$GC,1612,-0.79,-134.4,306.6,-17.1,281,1619,0.00,2.10,0.00,0.000,6,0.000,0.038,3001,1541,3624,0,0,0,0,0,0
$GC,1938,-0.80,-134.4,360.3,-15.5,312,1942,0.00,2.17,0.00,0.000,4,0.000,0.044,2991,2959,3624,0,0,0,0,0,0
$GC,2026,-0.85,-134.4,373.6,-14.5,319,2033,0.00,2.15,0.00,0.000,6,0.000,0.044,2991,1557,3623,0,0,0,0,0,0
$GC,2351,-0.86,-134.4,423.2,-15.3,350,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1557,3621,0,0,0,0,0,0
$GC,2672,-0.89,-134.4,470.0,-15.2,380,2676,0.08,2.17,0.00,0.000,4,0.122,0.047,2860,2958,3620,0,0,0,0,0,0
$GC,2716,-0.85,-134.4,479.2,-22.6,384,2721,0.38,2.15,0.00,0.000,6,0.119,0.046,2984,1557,3620,0,0,0,0,0,0
$GC,3041,-0.87,-134.4,528.9,-13.6,414,3045,0.00,2.17,0.00,0.000,4,0.000,0.056,2985,166,3618,0,0,0,0,0,0
$GC,3062,-0.89,-134.4,531.5,-14.3,415,3066,0.00,2.10,0.00,0.000,6,0.000,0.039,2975,1562,3618,0,0,0,0,0,0
$GC,3389,-0.90,-134.4,577.3,-15.1,445,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1565,3616,0,0,0,0,0,0
$GC,3703,-0.93,-134.4,624.2,-14.3,467,3707,0.08,2.17,0.00,0.000,4,0.118,0.049,2867,2965,3613,0,0,0,0,0,0
$GC,3747,-0.90,-134.4,632.1,-19.2,469,3752,0.30,2.20,0.00,0.000,6,0.122,0.048,2965,1556,3613,0,0,0,0,0,0
$GC,4071,-0.92,-134.4,677.9,-14.2,485,4075,0.00,2.20,0.00,0.000,4,0.000,0.059,2965,163,3611,0,0,0,0,0,0
$GC,4142,-0.94,-134.4,689.1,-15.0,488,4146,0.00,2.15,0.00,0.000,6,0.000,0.041,2956,1555,3610,0,0,0,0,0,0
$GC,4464,-0.95,-134.4,737.8,-16.2,504,4468,0.00,2.15,0.00,0.000,4,0.000,0.050,2945,2958,3607,0,0,0,0,0,0
$GC,4531,-0.98,-134.4,748.5,-14.6,507,4535,0.00,2.20,0.00,0.000,6,0.000,0.050,2945,1558,3606,0,0,0,0,0,0
$GC,4860,-0.99,-134.4,801.3,-16.3,523,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1558,3603,0,0,0,0,0,0
$GC,5167,-1.00,-134.4,849.1,-15.2,538,5171,0.00,2.20,0.00,0.000,4,0.000,0.051,2935,2958,3600,0,0,0,0,0,0
$GC,5223,-1.03,-134.4,857.2,-14.2,540,5227,0.00,2.20,0.00,0.000,6,0.000,0.053,2935,1557,3600,0,0,0,0,0,0
$GC,5540,-1.03,-134.4,904.8,-14.6,555,5544,0.00,2.20,0.00,0.000,4,0.000,0.053,2924,2964,3597,0,0,0,0,0,0
$GC,5589,-1.05,-134.4,912.1,-13.6,557,5593,0.00,2.22,0.00,0.000,6,0.000,0.054,2924,1563,3596,0,0,0,0,0,0
$GC,5912,-1.05,-134.4,959.7,-14.8,573,5916,0.00,2.17,0.00,0.000,4,0.000,0.053,2913,2956,3594,0,0,0,0,0,0
$GC,5938,-1.06,-134.4,964.0,-14.1,574,5943,0.00,2.25,0.00,0.000,6,0.000,0.055,2913,1563,3594,0,0,0,0,0,0
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6117,begin apogee
$GC,6123,0.00,0.0,991.2,15.8,583,6236,0.98,0.00,108.20,1.232,4,0.105,0.000,3252,1718,3067,0,0,0,0,0,0
$STATE,6237,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6239,0.77,134.4,994.2,0.0,588,6367,0.68,2.28,115.35,1.181,4,0.031,0.047,3548,3101,2520,0,0,0,0,0,0
$GC,6618,0.71,134.4,925.7,22.1,605,6623,0.28,2.25,0.00,0.000,6,0.171,0.048,3481,1697,2511,0,0,0,0,0,0
$GC,6948,0.67,134.4,866.8,18.0,621,6952,0.00,2.22,0.00,0.000,4,0.000,0.057,3492,292,2505,0,0,0,0,0,0
$GC,7087,0.64,134.4,841.1,16.7,627,7092,0.12,2.15,0.00,0.000,6,0.155,0.033,3456,1708,2501,0,0,0,0,0,0
$GC,7403,0.63,134.4,799.0,12.9,642,7407,0.00,2.15,0.00,0.000,4,0.000,0.044,3456,3105,2501,0,0,0,0,0,0
$GC,7441,0.62,134.4,793.4,13.9,643,7449,0.08,2.22,0.00,0.000,6,0.207,0.049,3449,1689,2501,0,0,0,0,0,0
$GC,7760,0.62,134.4,752.0,13.3,659,7764,0.00,2.17,0.00,0.000,4,0.000,0.045,3449,3105,2500,0,0,0,0,0,0
$GC,7949,0.62,134.4,724.7,13.5,667,7957,0.00,2.22,0.00,0.000,6,0.000,0.050,3459,1715,2499,0,0,0,0,0,0
$GC,8268,0.61,134.4,680.6,14.4,683,8272,0.00,2.17,0.00,0.000,4,0.000,0.045,3459,3109,2498,0,0,0,0,0,0
$GC,8312,0.60,134.4,673.5,15.0,685,8316,0.10,2.20,0.00,0.000,6,0.194,0.049,3445,1703,2497,0,0,0,0,0,0
$GC,8640,0.60,134.4,628.1,13.9,701,8644,0.00,2.25,0.00,0.000,4,0.000,0.060,3455,293,2496,0,0,0,0,0,0
$GC,8717,0.60,134.4,616.5,14.4,704,8727,0.00,2.17,0.00,0.000,6,0.000,0.034,3455,1711,2494,0,0,0,0,0,0
$GC,9041,0.60,134.4,573.6,13.7,729,9045,0.00,2.15,0.00,0.000,4,0.000,0.046,3455,3107,2494,0,0,0,0,0,0
$GC,9096,0.60,134.4,565.6,13.6,733,9104,0.08,2.20,0.00,0.000,6,0.207,0.050,3448,1712,2494,0,0,0,0,0,0
$GC,9422,0.60,134.4,527.4,11.4,764,9426,0.00,2.28,0.00,0.000,4,0.000,0.059,3459,285,2494,0,0,0,0,0,0
$GC,9462,0.60,134.4,522.8,12.3,767,9466,0.00,2.12,0.00,0.000,6,0.000,0.034,3459,1707,2492,0,0,0,0,0,0
$GC,9790,0.60,134.4,486.0,11.8,797,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1709,2492,0,0,0,0,0,0
$GC,10108,0.60,134.4,446.8,11.9,827,10112,0.00,2.15,0.00,0.000,4,0.000,0.046,3459,3114,2492,0,0,0,0,0,0
$GC,10242,0.60,134.4,429.3,12.9,838,10252,0.08,2.22,0.00,0.000,6,0.151,0.050,3444,1723,2492,0,0,0,0,0,0
$GC,10571,0.64,155.5,397.8,8.9,869,10596,0.00,2.20,14.32,0.835,4,0.000,0.045,3443,3106,2434,0,0,0,0,0,0
$GC,10623,0.67,163.0,392.4,10.2,873,10643,0.00,2.17,8.23,0.758,6,0.000,0.048,3454,1720,2402,0,0,0,0,0,0
$GC,10961,0.71,173.6,356.0,9.9,905,10976,0.08,2.17,10.25,0.769,4,0.128,0.044,3509,3108,2359,0,0,0,0,0,0
$GC,11007,0.69,173.6,350.2,13.5,909,11012,0.17,2.15,0.00,0.000,6,0.161,0.047,3469,1735,2359,0,0,0,0,0,0
$GC,11334,0.70,173.6,308.5,13.8,939,11338,0.00,2.12,0.00,0.000,4,0.000,0.043,3470,3109,2357,0,0,0,0,0,0
$GC,11397,0.72,173.6,299.3,14.5,944,11405,0.00,2.17,0.00,0.000,6,0.000,0.047,3480,1739,2357,0,0,0,0,0,0
$GC,11738,0.73,173.6,254.2,11.8,1005,11745,0.00,2.30,0.00,0.000,4,0.000,0.056,3490,288,2357,0,0,0,0,0,0
$GC,11802,0.74,173.6,246.3,12.8,1016,11810,0.00,2.20,0.00,0.000,6,0.000,0.032,3490,1731,2356,0,0,0,0,0,0
$GC,12146,0.75,177.4,205.2,10.6,1077,12161,0.00,2.15,4.82,0.524,4,0.000,0.043,3490,3106,2344,0,0,0,0,0,0
$GC,12257,0.76,177.4,191.6,12.2,1096,12265,0.00,2.15,0.00,0.000,6,0.000,0.045,3500,1743,2343,0,0,0,0,0,0
$GC,12599,0.81,210.1,160.6,7.7,1157,12633,0.00,2.17,28.17,0.669,4,0.000,0.041,3500,3108,2211,0,0,0,0,0,0
$GC,12686,0.84,220.7,152.6,9.9,1171,12706,0.00,2.10,10.45,0.604,6,0.000,0.044,3509,1751,2167,0,0,0,0,0,0
$GC,13029,0.86,220.7,110.6,13.2,1234,13038,0.05,2.12,0.00,0.000,4,0.174,0.041,3579,3103,2162,0,0,0,0,0,0
$GC,13104,0.83,220.7,98.1,16.3,1247,13113,0.20,2.12,0.00,0.000,6,0.130,0.044,3522,1759,2162,0,0,0,0,0,0
$GC,13431,0.86,220.7,63.1,12.0,1308,13439,0.00,2.33,0.00,0.000,4,0.000,0.052,3532,292,2162,0,0,0,0,0,0
$GC,13536,0.95,264.1,54.4,6.6,1327,13583,0.05,2.20,35.03,0.585,6,0.058,0.030,3606,1752,1989,0,0,0,0,0,0
$GC,13904,0.94,264.1,16.0,13.5,1393,13912,0.17,2.10,0.00,0.000,4,0.151,0.040,3552,3102,1983,0,0,0,0,0,0
$STATE,14018,end climb,SURFACE_DEPTH_REACHED
$STATE,14018,begin surface coast
$FINISH,0.9,1.022015
$STATE,14047,end surface coast,CONTROL_FINISHED_OK
$STATE,14047,begin surface
$SM_CCo,14066,71.60,0.061,0,0,1436,400.08
$SM_GC,1.77,0.00,0.00,71.60,0.000,0.000,0.061,104,1546,1436,-9.84,-0.14,400.08
$IRIDIUM_FIX,2422.84,12707.83,171010,111132
$TT8_MAMPS,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.4,41.363
$10V_AH,10.2,31.896
$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,22.775,135.875,334.825,71.600,0.000,25.996,14.804,169.019,0.500,0.000,35.029,3575.901,6316.368,530.447,3801.437,263.589,0.000,1829.397,0.000,3573.962,0.000,0.540,0.000
$DEVICE_MAMPS,207.315,63.495,1232.415,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.128,0.000,2269.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,86903,1419
$CAP_FILE_SIZE,165321,0
$CFSIZE,260165632,236163072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 74.6,1
$GPS,171010,202234,2429.321,12706.498,89,1.0,92,-3.7