version: 66.08
glider: 168
mission: 2
dive: 338
start: 10 19 110 14 46 15
data:
$ID,168
$MISSION,2
$DIVE,338
$N_DIVES,348
$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,-3595.1809
$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,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
$GPS1,191010,143236,2429.375,12704.392,45,1.2,45,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-78.0
$GPS2,191010,144549,2429.402,12704.371,9,1.4,14,-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,2.4,1534,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-72.6,0.0,0.0,0,76,0.00,0.00,-56.65,0.000,2,0.000,0.000,104,1533,3087,0,0,0,0,0,0
$GC,78,-0.79,-147.6,3.3,-3.4,8,109,10.00,2.25,-10.45,0.000,4,0.177,0.055,2979,2947,3673,0,0,0,0,0,0
$GC,272,-0.74,-147.6,65.2,-30.9,42,281,0.10,2.20,0.00,0.000,6,0.115,0.044,3015,1555,3676,0,0,0,0,0,0
$GC,597,-0.74,-147.6,136.9,-20.2,103,605,0.00,2.17,0.00,0.000,4,0.000,0.051,3016,168,3678,0,0,0,0,0,0
$GC,634,-0.75,-147.6,144.6,-20.5,109,642,0.00,2.12,0.00,0.000,6,0.000,0.039,3008,1546,3678,0,0,0,0,0,0
$GC,966,-0.76,-147.6,208.2,-17.0,170,974,0.00,2.17,0.00,0.000,4,0.000,0.044,2997,2956,3679,0,0,0,0,0,0
$GC,1056,-0.79,-147.6,222.1,-14.7,186,1064,0.00,2.17,0.00,0.000,6,0.000,0.042,2997,1555,3678,0,0,0,0,0,0
$GC,1388,-0.80,-147.6,283.4,-18.6,247,1395,0.00,2.12,0.00,0.000,4,0.000,0.051,2997,163,3678,0,0,0,0,0,0
$GC,1425,-0.81,-147.6,290.2,-19.3,253,1432,0.00,2.10,0.00,0.000,6,0.000,0.039,2987,1562,3678,0,0,0,0,0,0
$GC,1752,-0.81,-147.6,349.4,-17.9,288,1756,0.00,2.12,0.00,0.000,4,0.000,0.044,2977,2961,3677,0,0,0,0,0,0
$GC,1896,-0.85,-147.6,371.8,-15.3,300,1904,0.00,2.17,0.00,0.000,6,0.000,0.044,2977,1567,3677,0,0,0,0,0,0
$GC,2224,-0.86,-147.6,426.1,-16.1,331,2228,0.00,2.17,0.00,0.000,4,0.000,0.053,2977,163,3675,0,0,0,0,0,0
$GC,2276,-0.87,-147.6,434.9,-16.1,335,2280,0.00,2.12,0.00,0.000,6,0.000,0.039,2968,1576,3675,0,0,0,0,0,0
$GC,2606,-0.87,-147.6,489.4,-16.5,366,2610,0.00,2.12,0.00,0.000,4,0.000,0.046,2957,2961,3673,0,0,0,0,0,0
$GC,2704,-0.91,-147.6,504.4,-13.4,374,2711,0.00,2.10,0.00,0.000,6,0.000,0.044,2957,1584,3672,0,0,0,0,0,0
$GC,3030,-0.92,-147.6,553.4,-14.8,405,3034,0.00,2.10,0.00,0.000,4,0.000,0.045,2947,2959,3670,0,0,0,0,0,0
$GC,3063,-0.93,-147.6,558.5,-14.9,407,3071,0.00,2.10,0.00,0.000,6,0.000,0.045,2946,1584,3670,0,0,0,0,0,0
$GC,3387,-0.93,-147.6,612.4,-17.5,435,3391,0.00,2.22,0.00,0.000,4,0.000,0.057,2947,167,3667,0,0,0,0,0,0
$GC,3481,-0.95,-147.6,630.3,-17.9,439,3485,0.00,2.15,0.00,0.000,6,0.000,0.042,2936,1584,3667,0,0,0,0,0,0
$GC,3797,-0.95,-147.6,687.0,-18.0,454,3801,0.00,2.10,0.00,0.000,4,0.000,0.047,2926,2961,3665,0,0,0,0,0,0
$GC,3818,-0.95,-147.6,691.4,-19.5,455,3823,0.05,2.17,0.00,0.000,6,0.138,0.047,2946,1585,3665,0,0,0,0,0,0
$GC,4147,-0.96,-147.6,746.9,-16.7,471,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1584,3662,0,0,0,0,0,0
$GC,4454,-0.98,-147.6,797.6,-16.1,486,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1584,3658,0,0,0,0,0,0
$GC,4764,-0.99,-147.6,845.3,-15.0,501,4768,0.00,2.12,0.00,0.000,4,0.000,0.048,2936,2961,3655,0,0,0,0,0,0
$GC,4791,-1.02,-147.6,849.9,-15.5,502,4795,0.00,2.15,0.00,0.000,6,0.000,0.050,2936,1581,3654,0,0,0,0,0,0
$GC,5113,-1.03,-147.6,900.0,-15.3,518,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1580,3652,0,0,0,0,0,0
$GC,5422,-1.04,-147.6,946.8,-14.9,533,5427,0.08,2.17,0.00,0.000,4,0.124,0.050,2841,2962,3649,0,0,0,0,0,0
$GC,5449,-1.03,-147.6,951.8,-18.5,534,5454,0.25,2.17,0.00,0.000,6,0.128,0.051,2922,1574,3649,0,0,0,0,0,0
$STATE,5692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5692,begin apogee
$GC,5697,0.00,0.0,991.1,15.8,546,5828,0.95,0.00,118.57,1.233,4,0.106,0.000,3253,1716,3068,0,0,0,0,0,0
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5831,0.79,147.6,995.0,0.0,552,5968,0.68,2.28,126.55,1.180,4,0.031,0.046,3551,3105,2464,0,0,0,0,0,0
$GC,6029,0.73,147.6,967.4,23.7,561,6034,0.28,2.30,0.00,0.000,6,0.170,0.047,3487,1700,2459,0,0,0,0,0,0
$GC,6352,0.70,147.6,904.2,19.4,577,6356,0.00,2.15,0.00,0.000,4,0.000,0.041,3487,3105,2452,0,0,0,0,0,0
$GC,6418,0.67,147.6,890.5,19.2,580,6422,0.12,2.20,0.00,0.000,6,0.178,0.047,3464,1701,2452,0,0,0,0,0,0
$GC,6746,0.66,147.6,832.8,16.6,596,6750,0.00,2.17,0.00,0.000,4,0.000,0.042,3464,3104,2448,0,0,0,0,0,0
$GC,6813,0.65,147.6,821.0,16.8,599,6817,0.00,2.22,0.00,0.000,6,0.000,0.048,3474,1704,2448,0,0,0,0,0,0
$GC,7141,0.63,147.6,768.6,16.0,615,7145,0.08,2.17,0.00,0.000,4,0.220,0.042,3457,3106,2446,0,0,0,0,0,0
$GC,7184,0.63,147.6,761.5,15.6,617,7188,0.00,2.22,0.00,0.000,6,0.000,0.048,3467,1712,2446,0,0,0,0,0,0
$GC,7512,0.62,147.6,708.8,16.2,633,7516,0.00,2.12,0.00,0.000,4,0.000,0.043,3467,3104,2444,0,0,0,0,0,0
$GC,7545,0.61,147.6,703.0,16.7,634,7552,0.10,2.20,0.00,0.000,6,0.181,0.049,3451,1712,2444,0,0,0,0,0,0
$GC,7860,0.61,147.6,653.6,16.2,650,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1712,2443,0,0,0,0,0,0
$GC,8170,0.61,147.6,604.5,15.1,665,8174,0.00,2.15,0.00,0.000,4,0.000,0.044,3451,3102,2442,0,0,0,0,0,0
$GC,8244,0.62,147.6,593.3,14.5,670,8248,0.00,2.20,0.00,0.000,6,0.000,0.050,3462,1711,2442,0,0,0,0,0,0
$GC,8569,0.62,147.6,548.7,13.3,700,8574,0.00,2.25,0.00,0.000,4,0.000,0.061,3473,291,2441,0,0,0,0,0,0
$GC,8602,0.62,147.6,543.8,14.0,702,8610,0.10,2.15,0.00,0.000,6,0.165,0.037,3445,1709,2439,0,0,0,0,0,0
$GC,8928,0.63,147.6,506.0,12.2,733,8932,0.00,2.15,0.00,0.000,4,0.000,0.044,3445,3110,2439,0,0,0,0,0,0
$GC,8962,0.65,147.6,501.5,13.4,735,8970,0.00,2.17,0.00,0.000,6,0.000,0.048,3455,1713,2439,0,0,0,0,0,0
$GC,9287,0.66,147.6,457.5,14.0,766,9291,0.00,2.15,0.00,0.000,4,0.000,0.044,3455,3108,2438,0,0,0,0,0,0
$GC,9367,0.66,147.6,446.6,13.4,773,9371,0.00,2.17,0.00,0.000,6,0.000,0.049,3465,1727,2439,0,0,0,0,0,0
$GC,9698,0.66,147.6,404.2,11.9,804,9702,0.00,2.28,0.00,0.000,4,0.000,0.060,3477,292,2439,0,0,0,0,0,0
$GC,9718,0.66,147.6,401.7,11.9,805,9725,0.00,2.17,0.00,0.000,6,0.000,0.035,3477,1728,2437,0,0,0,0,0,0
$GC,10044,0.68,163.8,366.4,9.3,836,10060,0.00,2.35,10.00,0.780,4,0.000,0.060,3487,288,2399,0,0,0,0,0,0
$GC,10104,0.68,163.8,360.2,11.5,841,10108,0.08,2.17,0.00,0.000,6,0.181,0.034,3468,1723,2397,0,0,0,0,0,0
$GC,10430,0.70,163.8,325.1,11.5,871,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1724,2397,0,0,0,0,0,0
$GC,10748,0.71,163.8,286.4,12.5,911,10755,0.00,2.12,0.00,0.000,4,0.000,0.042,3468,3111,2398,0,0,0,0,0,0
$GC,10849,0.73,163.8,274.8,11.5,929,10855,0.00,2.17,0.00,0.000,6,0.000,0.047,3478,1712,2397,0,0,0,0,0,0
$GC,11182,0.74,166.8,235.7,10.7,990,11191,0.00,2.20,4.30,0.511,4,0.000,0.041,3478,3106,2387,0,0,0,0,0,0
$GC,11270,0.76,179.0,226.8,9.8,1005,11290,0.00,2.12,12.18,0.684,6,0.000,0.047,3488,1731,2337,0,0,0,0,0,0
$GC,11617,0.79,188.4,189.8,10.0,1068,11632,0.05,2.35,9.40,0.628,4,0.171,0.054,3575,282,2299,0,0,0,0,0,0
$GC,11653,0.75,188.4,184.8,15.2,1073,11660,0.28,2.17,0.00,0.000,6,0.132,0.031,3489,1731,2297,0,0,0,0,0,0
$GC,11984,0.77,188.4,141.8,12.4,1134,11992,0.00,2.10,0.00,0.000,4,0.000,0.040,3489,3100,2297,0,0,0,0,0,0
$GC,12006,0.79,188.4,138.9,13.0,1137,12015,0.00,2.15,0.00,0.000,6,0.000,0.044,3498,1735,2297,0,0,0,0,0,0
$GC,12334,0.86,226.9,107.6,7.1,1198,12373,0.10,2.35,32.35,0.630,4,0.099,0.054,3602,293,2142,0,0,0,0,0,0
$GC,12457,0.82,226.9,91.6,15.1,1218,12465,0.25,2.20,0.00,0.000,6,0.121,0.031,3517,1727,2137,0,0,0,0,0,0
$GC,12783,0.90,259.8,56.3,7.7,1279,12822,0.08,2.15,27.00,0.584,4,0.118,0.039,3595,3100,2006,0,0,0,0,0,0
$GC,12958,0.90,259.8,38.8,11.9,1309,12966,0.20,2.17,0.00,0.000,6,0.122,0.043,3537,1724,2003,0,0,0,0,0,0
$GC,13285,0.98,295.2,10.5,7.4,1370,13322,0.10,0.00,28.58,0.540,6,0.092,0.000,3632,1724,1862,0,0,0,0,0,0
$STATE,13339,end climb,SURFACE_DEPTH_REACHED
$STATE,13339,begin surface coast
$FINISH,1.0,1.022174
$STATE,13357,end surface coast,CONTROL_FINISHED_OK
$STATE,13357,begin surface
$SM_CCo,13374,56.78,0.467,1,0,1436,400.08
$SM_GC,2.01,0.00,0.00,56.78,0.000,0.000,0.467,103,1536,1436,-9.85,-0.40,400.08
$IRIDIUM_FIX,2418.11,12703.08,191010,141444
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.4,42.922
$10V_AH,10.3,33.544
$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,22.500,126.800,368.925,56.775,0.000,145.128,114.871,152.711,0.250,0.000,17.307,3432.553,6429.754,534.508,3570.377,253.010,0.000,1764.700,0.000,3145.485,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,68.085,1233.180,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.210,0.000,1759.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83550,1381
$CAP_FILE_SIZE,159292,0
$CFSIZE,260165632,235216896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086, 91.5,1
$GPS,191010,183130,2431.081,12704.872,37,1.1,42,-3.8