version: 66.08
glider: 168
mission: 2
dive: 339
start: 10 19 110 18 37 12
data:
$ID,168
$MISSION,2
$DIVE,339
$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,-3596.5342
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,191010,183130,2431.081,12704.872,37,1.1,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-76.9
$GPS2,191010,183644,2431.126,12704.904,14,1.2,14,-3.8
$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,205.9,2091,-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,-72.6,0.0,0.0,0,75,0.00,0.00,-57.67,0.000,2,0.000,0.000,104,1535,3095,0,0,0,0,0,0
$GC,78,-0.79,-148.4,3.4,-3.3,8,109,10.00,2.20,-10.40,0.000,4,0.177,0.064,2969,167,3677,0,0,0,0,0,0
$GC,170,-0.72,-148.4,39.3,-37.2,23,179,0.17,2.12,0.00,0.000,6,0.138,0.038,3016,1536,3678,0,0,0,0,0,0
$GC,500,-0.72,-148.4,125.8,-22.7,84,507,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1540,3681,0,0,0,0,0,0
$GC,831,-0.73,-148.4,188.4,-16.9,145,837,0.00,2.15,0.00,0.000,4,0.000,0.041,3007,2966,3682,0,0,0,0,0,0
$GC,888,-0.77,-148.4,198.2,-15.6,155,896,0.00,2.15,0.00,0.000,6,0.000,0.041,3006,1551,3683,0,0,0,0,0,0
$GC,1218,-0.79,-148.4,257.3,-19.2,216,1226,0.00,2.17,0.00,0.000,4,0.000,0.053,3006,162,3683,0,0,0,0,0,0
$GC,1283,-0.82,-148.4,268.9,-17.9,227,1290,0.00,2.10,0.00,0.000,6,0.000,0.040,2997,1542,3683,0,0,0,0,0,0
$GC,1621,-0.83,-148.4,331.9,-17.3,273,1625,0.00,2.15,0.00,0.000,4,0.000,0.041,2987,2974,3683,0,0,0,0,0,0
$GC,1651,-0.85,-148.4,336.7,-15.5,275,1655,0.00,2.17,0.00,0.000,6,0.000,0.042,2987,1545,3682,0,0,0,0,0,0
$GC,1977,-0.87,-148.4,387.5,-14.8,305,1981,0.00,2.17,0.00,0.000,4,0.000,0.042,2977,2963,3681,0,0,0,0,0,0
$GC,2039,-0.90,-148.4,397.1,-14.9,310,2043,0.00,2.15,0.00,0.000,6,0.000,0.043,2977,1549,3681,0,0,0,0,0,0
$GC,2365,-0.92,-148.4,454.8,-17.5,340,2367,0.08,0.00,0.00,0.000,6,0.123,0.000,2865,1548,3680,0,0,0,0,0,0
$GC,2683,-0.86,-148.4,533.1,-24.8,370,2688,0.30,2.17,0.00,0.000,4,0.132,0.041,2959,2967,3678,0,0,0,0,0,0
$GC,2726,-0.90,-148.4,541.6,-16.2,373,2733,0.00,2.17,0.00,0.000,6,0.000,0.045,2959,1552,3678,0,0,0,0,0,0
$GC,3052,-0.91,-148.4,597.0,-16.9,404,3056,0.00,2.15,0.00,0.000,4,0.000,0.057,2959,167,3676,0,0,0,0,0,0
$GC,3095,-0.93,-148.4,605.0,-17.1,406,3100,0.00,2.12,0.00,0.000,6,0.000,0.041,2948,1561,3675,0,0,0,0,0,0
$GC,3423,-0.94,-148.4,656.9,-16.1,422,3427,0.00,2.15,0.00,0.000,4,0.000,0.046,2938,2960,3673,0,0,0,0,0,0
$GC,3467,-0.97,-148.4,663.9,-14.5,424,3471,0.00,2.20,0.00,0.000,6,0.000,0.046,2938,1547,3673,0,0,0,0,0,0
$GC,3788,-0.97,-148.4,717.3,-16.6,440,3792,0.00,2.20,0.00,0.000,4,0.000,0.046,2927,2964,3670,0,0,0,0,0,0
$GC,3828,-0.99,-148.4,724.0,-16.1,442,3832,0.00,2.20,0.00,0.000,6,0.000,0.049,2927,1550,3670,0,0,0,0,0,0
$GC,4154,-0.99,-148.4,781.3,-17.9,458,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1549,3667,0,0,0,0,0,0
$GC,4463,-0.99,-148.4,835.9,-16.7,473,4467,0.00,2.20,0.00,0.000,4,0.000,0.047,2917,2966,3664,0,0,0,0,0,0
$GC,4491,-1.00,-148.4,840.4,-15.5,474,4495,0.00,2.22,0.00,0.000,6,0.000,0.049,2917,1548,3663,0,0,0,0,0,0
$GC,4812,-1.00,-148.4,891.8,-16.2,490,4816,0.00,2.20,0.00,0.000,4,0.000,0.048,2906,2958,3661,0,0,0,0,0,0
$GC,4855,-1.02,-148.4,898.9,-15.6,492,4859,0.08,2.20,0.00,0.000,6,0.173,0.050,2928,1549,3661,0,0,0,0,0,0
$GC,5183,-1.03,-148.4,951.1,-16.5,508,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1549,3658,0,0,0,0,0,0
$STATE,5427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5427,begin apogee
$GC,5432,0.00,0.0,991.2,16.1,520,5562,0.93,0.00,120.65,1.232,4,0.101,0.000,3253,1710,3068,0,0,0,0,0,0
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5565,0.79,148.4,995.0,0.0,526,5703,0.68,2.28,126.95,1.178,4,0.029,0.050,3553,3104,2463,0,0,0,0,0,0
$GC,5775,0.73,148.4,962.8,25.6,535,5784,0.28,2.30,0.00,0.000,6,0.168,0.045,3487,1696,2456,0,0,0,0,0,0
$GC,6092,0.70,148.4,896.5,20.7,551,6096,0.00,2.15,0.00,0.000,4,0.000,0.039,3487,3106,2450,0,0,0,0,0,0
$GC,6154,0.67,148.4,883.5,20.9,554,6159,0.12,2.22,0.00,0.000,6,0.181,0.046,3464,1704,2450,0,0,0,0,0,0
$GC,6482,0.66,148.4,827.0,15.7,570,6486,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3105,2447,0,0,0,0,0,0
$GC,6560,0.65,148.4,813.5,16.8,573,6564,0.00,2.20,0.00,0.000,6,0.000,0.047,3475,1711,2447,0,0,0,0,0,0
$GC,6876,0.64,148.4,764.0,15.8,588,6881,0.08,2.15,0.00,0.000,4,0.220,0.041,3456,3105,2443,0,0,0,0,0,0
$GC,6987,0.64,148.4,746.2,15.1,593,6991,0.00,2.20,0.00,0.000,6,0.000,0.047,3468,1713,2443,0,0,0,0,0,0
$GC,7315,0.63,148.4,694.3,16.5,609,7318,0.00,2.12,0.00,0.000,4,0.000,0.041,3467,3106,2442,0,0,0,0,0,0
$GC,7378,0.62,148.4,683.8,17.1,612,7383,0.10,2.17,0.00,0.000,6,0.181,0.048,3451,1727,2442,0,0,0,0,0,0
$GC,7705,0.62,148.4,637.3,13.8,628,7709,0.00,2.28,0.00,0.000,4,0.000,0.063,3462,296,2441,0,0,0,0,0,0
$GC,7744,0.62,148.4,631.8,14.0,630,7748,0.00,2.17,0.00,0.000,6,0.000,0.035,3462,1729,2439,0,0,0,0,0,0
$GC,8061,0.62,148.4,594.0,12.4,647,8065,0.00,2.10,0.00,0.000,4,0.000,0.042,3462,3111,2438,0,0,0,0,0,0
$GC,8161,0.62,148.4,579.9,13.6,655,8170,0.05,2.17,0.00,0.000,6,0.165,0.047,3454,1740,2439,0,0,0,0,0,0
$GC,8487,0.63,148.4,534.8,14.4,686,8491,0.00,2.33,0.00,0.000,4,0.000,0.061,3465,292,2438,0,0,0,0,0,0
$GC,8530,0.63,148.4,528.0,15.6,689,8537,0.00,2.20,0.00,0.000,6,0.000,0.035,3465,1731,2436,0,0,0,0,0,0
$GC,8856,0.63,148.4,482.0,14.1,720,8860,0.00,2.10,0.00,0.000,4,0.000,0.042,3465,3115,2436,0,0,0,0,0,0
$GC,8978,0.63,148.4,465.3,12.9,731,8983,0.10,2.15,0.00,0.000,6,0.179,0.048,3449,1749,2436,0,0,0,0,0,0
$GC,9305,0.66,160.6,432.3,9.8,761,9314,0.00,0.00,6.93,0.757,6,0.000,0.000,3449,1749,2413,0,0,0,0,0,0
$GC,9632,0.68,160.6,397.1,11.1,792,9637,0.08,2.10,0.00,0.000,4,0.123,0.042,3510,3109,2412,0,0,0,0,0,0
$GC,9779,0.66,160.6,376.6,14.2,805,9784,0.20,2.12,0.00,0.000,6,0.158,0.047,3461,1747,2412,0,0,1,0,0,0
$GC,10105,0.68,160.6,334.7,12.2,835,10108,0.00,2.08,0.00,0.000,4,0.000,0.041,3462,3105,2413,0,0,0,0,0,0
$GC,10262,0.69,160.6,314.7,12.8,849,10266,0.00,2.10,0.00,0.000,6,0.000,0.045,3472,1759,2412,0,0,0,0,0,0
$GC,10592,0.71,160.6,275.6,11.1,898,10600,0.00,2.35,0.00,0.000,4,0.000,0.059,3483,294,2412,0,0,0,0,0,0
$GC,10634,0.71,160.6,271.1,11.3,905,10641,0.00,2.20,0.00,0.000,6,0.000,0.034,3483,1766,2412,0,0,0,0,0,0
$GC,10963,0.72,160.6,234.5,11.0,966,10971,0.00,2.38,0.00,0.000,4,0.000,0.057,3494,290,2412,0,0,0,0,0,0
$GC,10995,0.72,160.6,230.8,11.9,971,11003,0.00,2.20,0.00,0.000,6,0.000,0.033,3494,1766,2412,0,0,0,0,0,0
$GC,11327,0.72,165.2,191.4,10.5,1032,11336,0.00,0.00,5.93,0.555,6,0.000,0.000,3494,1767,2393,0,0,0,0,0,0
$GC,11662,0.75,181.0,156.1,9.4,1093,11683,0.00,2.10,15.18,0.634,4,0.000,0.040,3494,3111,2329,0,0,0,0,0,0
$GC,11717,0.77,186.9,149.8,10.4,1102,11733,0.00,2.10,6.85,0.549,6,0.000,0.042,3503,1774,2304,0,0,0,0,0,0
$GC,12052,0.79,186.9,112.9,11.2,1164,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1775,2301,0,0,0,0,0,0
$GC,12377,0.86,228.5,83.8,6.8,1225,12422,0.10,2.10,34.42,0.605,4,0.095,0.036,3593,3116,2134,0,0,0,0,0,0
$GC,12664,0.85,228.5,47.1,11.2,1276,12673,0.22,2.12,0.00,0.000,6,0.123,0.041,3526,1764,2131,0,0,0,0,0,0
$GC,12993,0.95,273.7,24.6,6.4,1337,13038,0.10,2.10,35.90,0.553,4,0.090,0.035,3625,3112,1950,0,0,0,0,0,0
$GC,13099,0.93,273.7,10.5,15.8,1354,13107,0.25,2.12,0.00,0.000,6,0.134,0.042,3553,1766,1948,0,0,0,0,0,0
$STATE,13155,end climb,SURFACE_DEPTH_REACHED
$STATE,13156,begin surface coast
$FINISH,0.9,1.003056
$STATE,13185,end surface coast,CONTROL_FINISHED_OK
$STATE,13185,begin surface
$SM_CCo,13202,68.32,0.483,1,0,1435,400.08
$SM_GC,1.70,0.00,0.00,68.32,0.000,0.000,0.483,103,1535,1435,-9.85,-0.42,400.08
$IRIDIUM_FIX,2418.11,12704.97,191010,141451
$TT8_MAMPS,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,23.4,43.044
$10V_AH,10.3,33.688
$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,22.300,117.950,352.800,68.325,0.000,29.769,15.798,143.225,0.750,0.000,17.359,3420.990,6021.234,519.761,3374.949,250.472,0.000,1746.252,0.000,3182.776,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,64.260,1231.650,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.261,0.000,1764.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334016
$DATA_FILE_SIZE,80354,1369
$CAP_FILE_SIZE,154568,0
$CFSIZE,260165632,235139072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.166, 83.1,1
$GPS,191010,221937,2429.703,12705.603,31,1.0,31,-3.7