version: 66.08
glider: 168
mission: 2
dive: 332
start: 10 18 110 14 5 13
data:
$ID,168
$MISSION,2
$DIVE,332
$N_DIVES,340
$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,-3587.1599
$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,44
$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
$GPS1,181010,135855,2429.039,12705.302,41,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.4
$GPS2,181010,140438,2429.080,12705.328,15,1.1,15,-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,331.2,1791,-25.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.67,-82.9,0.0,0.0,0,97,0.00,0.00,-79.72,0.000,2,0.000,0.000,104,1523,3029,0,0,0,0,0,0
$GC,99,-0.75,-144.7,3.5,-5.5,11,131,10.07,2.28,-11.32,0.000,4,0.181,0.055,2998,2955,3661,0,0,0,0,0,0
$GC,214,-0.72,-144.7,39.1,-26.4,30,223,0.05,2.20,0.00,0.000,6,0.121,0.046,3018,1570,3662,0,0,0,0,0,0
$GC,540,-0.70,-144.7,121.0,-23.5,91,548,0.00,2.20,0.00,0.000,4,0.000,0.051,3018,167,3663,0,0,0,0,0,0
$GC,588,-0.69,-144.7,131.8,-21.3,99,597,0.03,2.10,0.00,0.000,6,0.171,0.037,3021,1533,3664,0,0,0,0,0,0
$GC,919,-0.69,-144.7,196.8,-17.1,160,927,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1536,3665,0,0,0,0,0,0
$GC,1251,-0.69,-144.7,248.2,-16.7,221,1258,0.00,2.17,0.00,0.000,4,0.000,0.046,3011,2962,3665,0,0,0,0,0,0
$GC,1313,-0.72,-144.7,258.5,-15.4,232,1321,0.00,2.22,0.00,0.000,6,0.000,0.043,3011,1533,3665,0,0,0,0,0,0
$GC,1647,-0.72,-144.7,314.2,-17.1,286,1651,0.00,2.20,0.00,0.000,4,0.000,0.046,3001,2963,3665,0,0,0,0,0,0
$GC,1701,-0.75,-144.7,323.3,-15.0,290,1709,0.00,2.22,0.00,0.000,6,0.000,0.045,3001,1540,3665,0,0,0,0,0,0
$GC,2028,-0.76,-144.7,373.0,-16.2,321,2032,0.00,2.10,0.00,0.000,4,0.000,0.053,3001,165,3663,0,0,0,0,0,0
$GC,2103,-0.78,-144.7,385.7,-15.8,327,2107,0.00,2.10,0.00,0.000,6,0.000,0.039,2991,1549,3663,0,0,0,0,0,0
$GC,2430,-0.79,-144.7,440.5,-15.4,357,2434,0.00,2.15,0.00,0.000,4,0.000,0.047,2982,2960,3662,0,0,0,0,0,0
$GC,2482,-0.83,-144.7,448.2,-14.2,361,2486,0.00,2.20,0.00,0.000,6,0.000,0.045,2982,1539,3662,0,0,0,0,0,0
$GC,2809,-0.83,-144.7,496.1,-13.5,391,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1538,3661,0,0,0,0,0,0
$GC,3128,-0.85,-144.7,543.2,-15.2,421,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1538,3659,0,0,0,0,0,0
$GC,3446,-0.86,-144.7,590.3,-14.6,451,3450,0.00,2.20,0.00,0.000,4,0.000,0.048,2972,2961,3657,0,0,0,0,0,0
$GC,3509,-0.90,-144.7,599.1,-12.6,456,3513,0.00,2.22,0.00,0.000,6,0.000,0.048,2972,1536,3656,0,0,0,0,0,0
$GC,3835,-0.91,-144.7,646.3,-14.1,472,3839,0.00,2.15,0.00,0.000,4,0.000,0.057,2972,165,3654,0,0,0,0,0,0
$GC,3856,-0.92,-144.7,649.6,-14.7,473,3860,0.00,2.10,0.00,0.000,6,0.000,0.041,2963,1548,3653,0,0,0,0,0,0
$GC,4184,-0.93,-144.7,693.5,-13.3,489,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1551,3651,0,0,0,0,0,0
$GC,4493,-0.95,-144.7,732.7,-12.8,504,4497,0.00,2.17,0.00,0.000,4,0.000,0.051,2952,2957,3648,0,0,0,0,0,0
$GC,4609,-0.97,-144.7,746.9,-11.7,509,4613,0.00,2.25,0.00,0.000,6,0.000,0.050,2952,1529,3647,0,0,0,0,0,0
$GC,4925,-0.98,-144.7,790.6,-14.2,524,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1529,3645,0,0,0,0,0,0
$GC,5235,-0.99,-144.7,833.4,-13.5,539,5239,0.00,2.22,0.00,0.000,4,0.000,0.051,2943,2956,3642,0,0,0,0,0,0
$GC,5262,-1.01,-144.7,837.4,-13.8,540,5266,0.00,2.25,0.00,0.000,6,0.000,0.052,2942,1551,3642,0,0,0,0,0,0
$GC,5582,-1.01,-144.7,882.2,-14.2,556,5586,0.00,2.20,0.00,0.000,4,0.000,0.051,2932,2963,3639,0,0,0,0,0,0
$GC,5600,-1.01,-144.7,884.6,-14.2,557,5604,0.00,2.25,0.00,0.000,6,0.000,0.052,2933,1541,3639,0,0,0,0,0,0
$GC,5926,-1.01,-144.7,935.8,-15.9,573,5930,0.00,2.22,0.00,0.000,4,0.000,0.053,2922,2960,3636,0,0,0,0,0,0
$GC,5992,-1.02,-144.7,946.5,-15.5,576,5996,0.00,2.25,0.00,0.000,6,0.000,0.054,2922,1544,3636,0,0,0,0,0,0
$STATE,6255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6255,begin apogee
$GC,6261,0.00,0.0,992.3,17.4,589,6384,0.93,0.00,116.38,1.228,4,0.103,0.000,3247,1711,3067,0,0,0,0,0,0
$STATE,6385,end apogee,CONTROL_FINISHED_OK
$STATE,6385,begin climb
$GC,6387,0.75,144.7,998.2,0.0,594,6521,0.62,0.00,124.32,1.186,6,0.029,0.000,3529,1711,2476,0,0,0,0,0,0
$GC,6829,0.68,144.7,925.3,20.6,616,6834,0.22,2.20,0.00,0.000,4,0.174,0.042,3467,3106,2465,0,0,0,0,0,0
$GC,6941,0.65,144.7,904.8,17.9,621,6946,0.08,2.22,0.00,0.000,6,0.205,0.049,3459,1705,2464,0,0,0,0,0,0
$GC,7269,0.62,144.7,849.1,17.4,637,7273,0.00,2.17,0.00,0.000,4,0.000,0.045,3459,3104,2460,0,0,0,0,0,0
$GC,7306,0.60,144.7,841.6,18.2,638,7314,0.10,2.22,0.00,0.000,6,0.193,0.050,3444,1723,2460,0,0,0,0,0,0
$GC,7623,0.59,144.7,788.9,16.7,654,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1723,2459,0,0,0,0,0,0
$GC,7932,0.58,144.7,736.7,16.7,669,7936,0.00,2.15,0.00,0.000,4,0.000,0.047,3444,3105,2457,0,0,0,0,0,0
$GC,7965,0.57,144.7,730.7,17.8,670,7973,0.08,2.20,0.00,0.000,6,0.204,0.050,3435,1716,2457,0,0,0,0,0,0
$GC,8282,0.57,144.7,681.7,14.8,686,8286,0.00,2.15,0.00,0.000,4,0.000,0.047,3435,3104,2456,0,0,0,0,0,0
$GC,8353,0.57,144.7,670.2,15.6,689,8357,0.00,2.20,0.00,0.000,6,0.000,0.051,3446,1733,2456,0,0,0,0,0,0
$GC,8681,0.57,144.7,623.5,13.4,705,8684,0.00,2.15,0.00,0.000,4,0.000,0.047,3446,3112,2455,0,0,0,0,0,0
$GC,8713,0.56,144.7,618.7,14.4,706,8720,0.10,2.17,0.00,0.000,6,0.187,0.050,3430,1734,2455,0,0,0,0,0,0
$GC,9034,0.57,144.7,581.3,11.2,729,9038,0.00,2.30,0.00,0.000,4,0.000,0.060,3441,284,2454,0,0,0,0,0,0
$GC,9123,0.58,144.7,570.2,12.6,736,9130,0.00,2.20,0.00,0.000,6,0.000,0.035,3441,1727,2452,0,0,0,0,0,0
$GC,9448,0.58,144.7,533.5,11.4,767,9452,0.00,2.12,0.00,0.000,4,0.000,0.047,3440,3106,2452,0,0,0,0,0,0
$GC,9544,0.58,144.7,521.1,13.2,775,9548,0.00,2.17,0.00,0.000,6,0.000,0.051,3451,1720,2451,0,0,0,0,0,0
$GC,9870,0.58,144.7,476.3,13.8,805,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1719,2451,0,0,0,0,0,0
$GC,10190,0.58,144.7,436.5,11.1,835,10194,0.00,2.17,0.00,0.000,4,0.000,0.046,3451,3110,2452,0,0,0,0,0,0
$GC,10220,0.58,144.7,432.8,12.2,837,10224,0.10,2.15,0.00,0.000,6,0.178,0.051,3434,1736,2451,0,0,0,0,0,0
$GC,10546,0.61,157.8,400.4,9.8,867,10559,0.00,2.38,7.72,0.769,4,0.000,0.059,3445,282,2424,0,0,0,0,0,0
$GC,10595,0.62,157.8,395.2,11.3,871,10599,0.00,2.20,0.00,0.000,6,0.000,0.040,3446,1725,2422,0,0,0,0,0,0
$GC,10923,0.63,159.1,359.7,10.9,901,10927,0.00,2.28,0.00,0.000,4,0.000,0.057,3456,286,2423,0,0,0,0,0,0
$GC,10953,0.63,159.1,356.2,11.4,903,10957,0.00,2.17,0.00,0.000,6,0.000,0.034,3456,1722,2422,0,0,0,0,0,0
$GC,11279,0.64,163.7,319.2,10.6,933,11292,0.00,2.28,6.47,0.673,4,0.000,0.054,3466,283,2400,0,0,0,0,0,0
$GC,11341,0.64,163.7,311.8,11.1,938,11350,0.00,2.15,0.00,0.000,6,0.000,0.033,3466,1689,2399,0,0,0,0,0,0
$GC,11668,0.65,169.0,277.8,10.5,989,11683,0.00,2.22,6.40,0.639,4,0.000,0.045,3466,3105,2379,0,0,0,0,0,0
$GC,11783,0.65,169.0,264.5,12.1,1009,11791,0.08,2.20,0.00,0.000,6,0.190,0.047,3458,1695,2379,0,0,0,0,0,0
$GC,12115,0.68,188.2,231.8,9.3,1070,12143,0.00,2.22,18.05,0.710,4,0.000,0.044,3458,3098,2300,0,0,0,0,0,0
$GC,12227,0.72,199.3,219.7,10.0,1089,12244,0.00,2.17,10.68,0.662,6,0.000,0.047,3467,1706,2255,0,0,0,0,0,0
$GC,12573,0.74,204.1,181.8,10.6,1151,12588,0.08,2.28,5.12,0.522,4,0.121,0.054,3567,294,2235,0,0,0,0,0,0
$GC,12679,0.70,204.1,165.3,16.6,1169,12687,0.30,2.12,0.00,0.000,6,0.127,0.030,3472,1710,2234,0,0,0,0,0,0
$GC,13008,0.75,218.6,129.3,9.7,1230,13031,0.08,2.28,13.68,0.617,4,0.124,0.054,3570,294,2175,0,0,0,0,0,0
$GC,13051,0.71,218.6,123.3,15.0,1236,13059,0.25,2.12,0.00,0.000,6,0.115,0.031,3483,1692,2173,0,0,0,0,0,0
$GC,13377,0.74,218.6,88.1,11.7,1297,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1693,2173,0,0,0,0,0,0
$GC,13702,0.81,234.2,54.5,9.6,1358,13726,0.10,2.22,13.98,0.558,4,0.101,0.052,3588,300,2112,0,0,0,0,0,0
$GC,13740,0.82,241.3,50.6,10.4,1363,13756,0.20,2.10,7.35,0.499,6,0.109,0.030,3515,1691,2083,0,0,0,0,0,0
$GC,14075,0.92,289.6,33.9,6.7,1425,14122,0.10,2.22,39.28,0.570,4,0.090,0.050,3617,283,1885,0,0,0,0,0,0
$GC,14153,0.89,289.6,24.8,15.5,1436,14162,0.22,2.15,0.00,0.000,6,0.118,0.029,3538,1692,1881,0,0,0,0,0,0
$STATE,14343,end climb,SURFACE_DEPTH_REACHED
$STATE,14343,begin surface coast
$FINISH,0.9,1.008124
$STATE,14376,end surface coast,CONTROL_FINISHED_OK
$STATE,14376,begin surface
$SM_CCo,14393,63.70,0.480,1,0,1436,400.08
$SM_GC,1.91,0.00,0.00,63.70,0.000,0.000,0.480,104,1540,1436,-9.84,-0.28,400.08
$IRIDIUM_FIX,2420.48,12709.72,181010,090930
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,23.3,42.120
$10V_AH,10.2,32.656
$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,22.150,127.875,369.425,63.700,0.000,30.754,18.410,167.230,0.500,0.000,16.686,3677.204,6733.460,558.455,3580.884,257.316,0.000,1862.780,0.000,3359.551,0.000,0.539,0.000
$DEVICE_MAMPS,205.020,68.850,1227.825,479.655,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.857,0.000,1876.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,86953,1477
$CAP_FILE_SIZE,166072,0
$CFSIZE,260165632,235716608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091, 73.0,1
$GPS,181010,180737,2430.904,12704.937,44,0.9,44,-3.8