version: 66.08
glider: 168
mission: 2
dive: 334
start: 10 18 110 22 9 16
data:
$ID,168
$MISSION,2
$DIVE,334
$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,-3589.8643
$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,29
$R_STBD_OVSHOOT,57
$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
$GPS1,181010,220255,2429.628,12705.704,42,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-77.8
$GPS2,181010,220831,2429.686,12705.804,9,1.4,14,-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,275.7,1474,-20.9,-11.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-122.5,0.0,0.0,0,73,0.00,0.00,-55.72,0.000,2,0.000,0.000,103,1578,3045,0,0,0,0,0,0
$GC,75,-0.69,-185.1,3.1,-2.7,8,107,10.12,2.22,-13.88,0.000,4,0.181,0.061,3021,164,3825,0,0,0,0,0,0
$GC,226,-0.63,-185.1,53.1,-27.5,34,235,0.10,2.10,0.00,0.000,6,0.120,0.036,3046,1523,3828,0,0,0,0,0,0
$GC,553,-0.60,-185.1,123.5,-19.6,95,561,0.00,2.25,0.00,0.000,4,0.000,0.045,3037,2963,3829,0,0,0,0,0,0
$GC,596,-0.63,-185.1,130.5,-15.0,102,605,0.00,2.20,0.00,0.000,6,0.000,0.044,3037,1557,3829,0,0,0,0,0,0
$GC,934,-0.61,-185.1,193.6,-18.5,163,941,0.08,0.00,0.00,0.000,6,0.193,0.000,3058,1556,3830,0,0,0,0,0,0
$GC,1272,-0.63,-185.1,241.3,-12.4,224,1280,0.00,2.17,0.00,0.000,4,0.000,0.053,3058,171,3830,0,0,0,0,0,0
$GC,1308,-0.65,-185.1,246.0,-13.2,230,1317,0.00,2.15,0.00,0.000,6,0.000,0.040,3053,1565,3830,0,0,0,0,0,0
$GC,1649,-0.67,-185.1,291.0,-12.9,291,1656,0.00,2.12,0.00,0.000,4,0.000,0.045,3044,2966,3830,0,0,0,0,0,0
$GC,1699,-0.72,-185.1,297.1,-11.5,299,1706,0.08,2.15,0.00,0.000,6,0.116,0.044,2941,1568,3830,0,0,0,0,0,0
$GC,2032,-0.66,-185.1,370.8,-22.7,332,2037,0.28,2.15,0.00,0.000,4,0.135,0.044,3026,2966,3829,0,0,0,0,0,0
$GC,2064,-0.66,-185.1,377.3,-17.1,334,2073,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,1581,3830,0,0,0,0,0,0
$GC,2392,-0.67,-185.1,421.5,-13.5,365,2396,0.00,2.22,0.00,0.000,4,0.000,0.055,3027,158,3828,0,0,0,0,0,0
$GC,2424,-0.68,-185.1,426.2,-15.1,367,2428,0.00,2.15,0.00,0.000,6,0.000,0.040,3026,1583,3828,0,0,0,0,0,0
$GC,2750,-0.70,-185.1,467.4,-12.6,397,2754,0.00,2.10,0.00,0.000,4,0.000,0.047,3017,2961,3826,0,0,0,0,0,0
$GC,2813,-0.75,-185.1,474.3,-9.5,402,2817,0.00,2.15,0.00,0.000,6,0.000,0.045,3017,1570,3827,0,0,0,0,0,0
$GC,3138,-0.76,-185.1,512.8,-12.3,432,3142,0.00,2.20,0.00,0.000,4,0.000,0.055,3017,160,3824,0,0,0,0,0,0
$GC,3171,-0.77,-185.1,517.1,-13.3,434,3179,0.00,2.15,0.00,0.000,6,0.000,0.041,3009,1582,3824,0,0,0,0,0,0
$GC,3496,-0.78,-185.1,556.3,-12.3,465,3500,0.00,2.12,0.00,0.000,4,0.000,0.048,3001,2959,3822,0,0,0,0,0,0
$GC,3536,-0.82,-185.1,560.7,-10.7,468,3540,0.00,2.15,0.00,0.000,6,0.000,0.047,3001,1576,3822,0,0,0,0,0,0
$GC,3860,-0.82,-185.1,604.2,-14.7,497,3864,0.00,2.22,0.00,0.000,4,0.000,0.057,3001,162,3820,0,0,0,0,0,0
$GC,3938,-0.84,-185.1,615.2,-13.4,500,3945,0.00,2.12,0.00,0.000,6,0.000,0.041,2992,1576,3819,0,0,0,0,0,0
$GC,4253,-0.84,-185.1,656.9,-13.7,516,4257,0.00,2.12,0.00,0.000,4,0.000,0.048,2983,2955,3816,0,0,0,0,0,0
$GC,4296,-0.87,-185.1,662.6,-12.3,518,4300,0.00,2.20,0.00,0.000,6,0.000,0.050,2983,1555,3816,0,0,0,0,0,0
$GC,4624,-0.87,-185.1,710.5,-16.0,534,4628,0.00,2.20,0.00,0.000,4,0.000,0.060,2983,165,3814,0,0,0,0,0,0
$GC,4667,-0.88,-185.1,718.0,-16.3,536,4672,0.00,2.17,0.00,0.000,6,0.000,0.042,2974,1563,3813,0,0,0,0,0,0
$GC,4995,-0.88,-185.1,772.8,-16.6,552,4999,0.00,2.17,0.00,0.000,4,0.000,0.050,2965,2962,3811,0,0,0,0,0,0
$GC,5021,-0.88,-185.1,777.3,-15.7,553,5026,0.00,2.22,0.00,0.000,6,0.000,0.050,2965,1563,3811,0,0,0,0,0,0
$GC,5344,-0.87,-185.1,827.9,-14.8,569,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1563,3808,0,0,0,0,0,0
$GC,5653,-0.87,-185.1,870.9,-13.5,584,5657,0.00,2.20,0.00,0.000,4,0.000,0.050,2956,2966,3805,0,0,0,0,0,0
$GC,5675,-0.87,-185.1,873.8,-13.0,585,5680,0.05,2.22,0.00,0.000,6,0.200,0.053,2973,1566,3805,0,0,0,0,0,0
$GC,6001,-0.87,-185.1,914.3,-12.4,601,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1565,3803,0,0,0,0,0,0
$GC,6311,-0.87,-185.1,951.7,-12.1,616,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1565,3801,0,0,0,0,0,0
$STATE,6619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6619,begin apogee
$GC,6624,0.00,0.0,990.6,12.8,631,6780,0.77,0.00,149.12,1.227,4,0.095,0.000,3253,1719,3068,0,0,0,0,0,0
$STATE,6780,end apogee,CONTROL_FINISHED_OK
$STATE,6781,begin climb
$GC,6782,0.69,185.1,996.0,0.0,638,6950,0.60,2.45,158.55,1.180,4,0.030,0.061,3522,290,2313,0,0,0,0,0,0
$GC,7010,0.61,185.1,966.2,22.3,649,7015,0.25,2.22,0.00,0.000,6,0.154,0.033,3452,1702,2305,0,0,0,0,0,0
$GC,7339,0.57,185.1,907.6,17.4,665,7343,0.08,2.20,0.00,0.000,4,0.207,0.044,3433,3116,2298,0,0,0,0,0,0
$GC,7387,0.54,185.1,899.0,16.0,667,7392,0.08,2.25,0.00,0.000,6,0.197,0.050,3425,1698,2298,0,0,0,0,0,0
$GC,7710,0.52,185.1,850.7,15.2,683,7714,0.00,2.22,0.00,0.000,4,0.000,0.045,3425,3113,2295,0,0,0,0,0,0
$GC,7754,0.50,185.1,843.1,16.5,685,7759,0.10,2.22,0.00,0.000,6,0.177,0.051,3408,1710,2295,0,0,0,0,0,0
$GC,8081,0.50,185.1,796.4,14.3,701,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1711,2293,0,0,0,0,0,0
$GC,8390,0.50,185.1,751.6,14.3,716,8394,0.00,2.25,0.00,0.000,4,0.000,0.062,3418,293,2292,0,0,0,0,0,0
$GC,8417,0.50,185.1,747.3,15.2,717,8421,0.00,2.20,0.00,0.000,6,0.000,0.035,3418,1713,2290,0,0,0,0,0,0
$GC,8739,0.49,185.1,702.3,12.8,733,8743,0.00,2.17,0.00,0.000,4,0.000,0.047,3418,3116,2290,0,0,0,0,0,0
$GC,8788,0.49,185.1,695.4,13.8,735,8793,0.05,2.22,0.00,0.000,6,0.158,0.051,3408,1728,2290,0,0,0,0,0,0
$GC,9110,0.49,185.1,656.6,12.1,751,9114,0.00,2.30,0.00,0.000,4,0.000,0.062,3418,286,2289,0,0,0,0,0,0
$GC,9220,0.49,185.1,641.7,13.5,756,9225,0.00,2.20,0.00,0.000,6,0.000,0.036,3418,1716,2288,0,0,0,0,0,0
$GC,9547,0.49,185.1,597.4,13.9,772,9551,0.00,2.15,0.00,0.000,4,0.000,0.047,3418,3116,2288,0,0,0,0,0,0
$GC,9627,0.49,185.1,586.0,14.6,779,9632,0.08,2.22,0.00,0.000,6,0.200,0.052,3409,1715,2288,0,0,0,0,0,0
$GC,9952,0.49,185.1,545.4,11.9,809,9956,0.00,2.28,0.00,0.000,4,0.000,0.063,3419,283,2288,0,0,0,0,0,0
$GC,10052,0.49,185.1,533.5,11.8,817,10059,0.00,2.17,0.00,0.000,6,0.000,0.037,3419,1709,2287,0,0,0,0,0,0
$GC,10376,0.49,185.1,496.8,11.7,848,10380,0.00,2.17,0.00,0.000,4,0.000,0.047,3419,3114,2287,0,0,0,0,0,0
$GC,10397,0.49,185.1,494.1,12.2,849,10405,0.08,2.22,0.00,0.000,6,0.200,0.051,3410,1705,2287,0,0,0,0,0,0
$GC,10723,0.53,206.5,461.0,9.7,880,10743,0.00,0.00,15.05,0.892,6,0.000,0.000,3410,1705,2226,0,0,0,0,0,0
$GC,11062,0.56,226.3,428.5,9.8,912,11087,0.08,2.35,18.48,0.877,4,0.122,0.060,3487,290,2144,0,0,0,0,0,0
$GC,11101,0.53,226.3,423.4,14.1,915,11106,0.22,2.17,0.00,0.000,6,0.126,0.034,3415,1706,2143,0,0,0,0,0,0
$GC,11428,0.56,236.8,386.8,10.4,945,11443,0.00,2.22,9.82,0.783,4,0.000,0.046,3415,3100,2102,0,0,0,0,0,0
$GC,11477,0.59,238.0,381.4,10.9,949,11484,0.08,2.22,0.00,0.000,6,0.115,0.050,3486,1708,2102,0,0,0,0,0,0
$GC,11802,0.55,238.0,334.6,16.5,980,11804,0.17,0.00,0.00,0.000,6,0.139,0.000,3432,1708,2099,0,0,0,0,0,0
$GC,12122,0.59,256.7,296.9,9.9,1012,12150,0.00,2.25,18.23,0.767,4,0.000,0.044,3432,3109,2020,0,0,0,0,0,0
$GC,12184,0.65,282.5,290.6,9.4,1022,12213,0.05,2.22,22.67,0.762,6,0.060,0.048,3514,1723,1915,0,0,0,0,0,0
$GC,12547,0.62,282.5,231.4,15.5,1086,12556,0.20,2.33,0.00,0.000,4,0.139,0.055,3463,290,1910,0,0,0,0,0,0
$GC,12653,0.64,282.5,217.7,11.8,1104,12661,0.00,2.20,0.00,0.000,6,0.000,0.032,3463,1719,1907,0,0,0,0,0,0
$GC,12996,0.65,282.5,170.4,12.5,1165,13002,0.00,2.15,0.00,0.000,4,0.000,0.043,3463,3112,1908,0,0,0,0,0,0
$GC,13033,0.68,282.5,165.2,13.9,1171,13040,0.00,2.20,0.00,0.000,6,0.000,0.047,3470,1711,1907,0,0,0,0,0,0
$GC,13363,0.69,282.5,123.1,11.1,1232,13371,0.00,2.25,0.00,0.000,4,0.000,0.056,3476,301,1907,0,0,0,0,0,0
$GC,13397,0.71,282.5,119.3,11.4,1237,13405,0.00,2.15,0.00,0.000,6,0.000,0.032,3476,1714,1907,0,0,0,0,0,0
$GC,13723,0.73,285.0,83.3,10.8,1298,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1715,1907,0,0,0,0,0,0
$GC,14050,0.85,355.6,56.3,6.7,1359,14118,0.15,2.33,58.10,0.588,4,0.069,0.054,3603,293,1617,0,0,0,0,0,0
$GC,14181,0.83,355.6,36.1,16.2,1379,14189,0.25,2.17,0.00,0.000,6,0.097,0.030,3512,1711,1612,0,0,0,0,0,0
$STATE,14507,end climb,SURFACE_DEPTH_REACHED
$STATE,14507,begin surface coast
$FINISH,1.0,1.021488
$STATE,14550,end surface coast,CONTROL_FINISHED_OK
$STATE,14550,begin surface
$SM_CCo,14567,24.50,0.352,1,0,1437,400.08
$SM_GC,2.25,0.00,0.00,24.50,0.000,0.000,0.352,104,1534,1437,-9.84,-0.45,400.08
$IRIDIUM_FIX,2420.48,12706.40,181010,181826
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.2,42.389
$10V_AH,10.3,32.950
$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,22.275,132.675,450.025,24.500,0.000,29.834,21.215,160.665,0.250,0.000,17.043,3620.535,7013.787,563.742,3488.639,260.945,0.000,1864.661,0.000,3273.256,0.000,0.539,0.000
$DEVICE_MAMPS,207.315,63.495,1227.060,351.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,990.456,0.000,1782.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,86923,1448
$CAP_FILE_SIZE,166207,0
$CFSIZE,260165632,235544576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157,105.7,1
$GPS,191010,021336,2429.391,12704.876,27,1.0,27,-3.7