version: 66.08
glider: 168
mission: 2
dive: 340
start: 10 19 110 22 25 25
data:
$ID,168
$MISSION,2
$DIVE,340
$N_DIVES,353
$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,-3597.8853
$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,39
$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
$GPS1,191010,221937,2429.703,12705.603,31,1.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.6
$GPS2,191010,222444,2429.740,12705.694,11,1.2,11,-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,275.3,1265,-22.7,-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,-0.63,-104.8,0.0,0.0,0,67,0.00,0.00,-49.45,0.000,2,0.000,0.000,104,1537,2848,0,0,0,0,0,0
$GC,69,-0.73,-185.1,3.1,-3.5,7,107,10.12,2.22,-18.90,0.000,4,0.181,0.051,3005,2951,3826,0,0,0,0,0,0
$GC,227,-0.71,-185.1,44.2,-23.4,34,236,0.05,2.20,0.00,0.000,6,0.114,0.044,3027,1562,3827,0,0,0,0,0,0
$GC,553,-0.69,-185.1,121.9,-21.6,95,560,0.00,2.20,0.00,0.000,4,0.000,0.053,3027,169,3829,0,0,0,0,0,0
$GC,574,-0.67,-185.1,126.5,-20.8,98,583,0.05,2.12,0.00,0.000,6,0.125,0.040,3040,1545,3829,0,0,0,0,0,0
$GC,904,-0.67,-185.1,184.8,-17.2,159,910,0.00,2.15,0.00,0.000,4,0.000,0.044,3031,2965,3830,0,0,0,0,0,0
$GC,939,-0.70,-185.1,190.7,-16.0,165,947,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,1552,3830,0,0,0,0,0,0
$GC,1268,-0.70,-185.1,241.1,-15.0,226,1276,0.00,2.17,0.00,0.000,4,0.000,0.053,3031,167,3831,0,0,0,0,0,0
$GC,1322,-0.71,-185.1,249.3,-15.2,235,1329,0.00,2.10,0.00,0.000,6,0.000,0.040,3021,1557,3831,0,0,0,0,0,0
$GC,1659,-0.71,-185.1,305.7,-16.7,294,1663,0.00,2.12,0.00,0.000,4,0.000,0.043,3012,2968,3831,0,0,0,0,0,0
$GC,1712,-0.76,-185.1,314.3,-13.3,298,1721,0.00,2.17,0.00,0.000,6,0.000,0.043,3012,1570,3831,0,0,0,0,0,0
$GC,2041,-0.76,-185.1,366.5,-15.2,329,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1569,3830,0,0,0,0,0,0
$GC,2367,-0.77,-185.1,418.9,-16.1,360,2371,0.00,2.15,0.00,0.000,4,0.000,0.045,3004,2964,3829,0,0,0,0,0,0
$GC,2407,-0.80,-185.1,425.4,-15.8,363,2411,0.00,2.15,0.00,0.000,6,0.000,0.045,3004,1567,3829,0,0,0,0,0,0
$GC,2739,-0.82,-185.1,479.0,-14.8,394,2743,0.00,2.20,0.00,0.000,4,0.000,0.057,3004,163,3827,0,0,0,0,0,0
$GC,2780,-0.83,-185.1,484.8,-14.2,397,2784,0.00,2.15,0.00,0.000,6,0.000,0.040,2996,1577,3827,0,0,0,0,0,0
$GC,3105,-0.84,-185.1,529.5,-13.5,427,3109,0.00,2.10,0.00,0.000,4,0.000,0.045,2986,2962,3825,0,0,0,0,0,0
$GC,3148,-0.87,-185.1,535.2,-12.1,430,3155,0.00,2.17,0.00,0.000,6,0.000,0.044,2985,1575,3824,0,0,0,0,0,0
$GC,3473,-0.87,-185.1,581.0,-13.9,461,3477,0.00,2.22,0.00,0.000,4,0.000,0.058,2985,162,3822,0,0,0,0,0,0
$GC,3527,-0.89,-185.1,589.0,-13.7,465,3536,0.00,2.15,0.00,0.000,6,0.000,0.041,2977,1553,3822,0,0,0,0,0,0
$GC,3856,-0.89,-185.1,636.2,-14.3,485,3860,0.00,2.15,0.00,0.000,4,0.000,0.046,2968,2961,3820,0,0,0,0,0,0
$GC,3925,-0.92,-185.1,644.9,-12.0,488,3929,0.00,2.17,0.00,0.000,6,0.000,0.047,2968,1566,3819,0,0,0,0,0,0
$GC,4252,-0.92,-185.1,690.8,-14.1,504,4256,0.00,2.22,0.00,0.000,4,0.000,0.060,2968,163,3817,0,0,0,0,0,0
$GC,4300,-0.93,-185.1,698.3,-13.8,506,4304,0.00,2.15,0.00,0.000,6,0.000,0.042,2960,1562,3817,0,0,0,0,0,0
$GC,4622,-0.93,-185.1,746.6,-16.2,522,4626,0.00,2.12,0.00,0.000,4,0.000,0.047,2949,2959,3813,0,0,0,0,0,0
$GC,4695,-0.95,-185.1,758.0,-14.2,525,4699,0.00,2.17,0.00,0.000,6,0.000,0.050,2949,1573,3813,0,0,0,0,0,0
$GC,5011,-0.95,-185.1,813.3,-17.7,540,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1573,3810,0,0,0,0,0,0
$GC,5320,-0.95,-185.1,865.2,-15.7,555,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1572,3807,0,0,0,0,0,0
$GC,5629,-0.95,-185.1,910.5,-14.6,570,5633,0.00,2.25,0.00,0.000,4,0.000,0.065,2949,162,3805,0,0,0,0,0,0
$GC,5663,-0.94,-185.1,915.8,-15.8,571,5670,0.00,2.17,0.00,0.000,6,0.000,0.044,2940,1574,3804,0,0,0,0,0,0
$GC,5980,-0.93,-185.1,965.3,-16.2,587,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1577,3802,0,0,0,0,0,0
$STATE,6142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6142,begin apogee
$GC,6147,0.00,0.0,992.5,16.3,595,6302,0.88,0.00,149.75,1.229,4,0.102,0.000,3249,1709,3068,0,0,0,0,0,0
$STATE,6302,end apogee,CONTROL_FINISHED_OK
$STATE,6302,begin climb
$GC,6304,0.73,185.1,999.4,0.0,602,6471,0.62,2.42,158.62,1.180,4,0.029,0.062,3526,293,2313,0,0,0,0,0,0
$GC,6518,0.66,185.1,971.4,22.8,612,6523,0.22,2.22,0.00,0.000,6,0.150,0.033,3464,1705,2306,0,0,0,0,0,0
$GC,6845,0.62,185.1,907.9,19.6,628,6849,0.00,2.15,0.00,0.000,4,0.000,0.041,3464,3111,2299,0,0,0,0,0,0
$GC,6896,0.59,185.1,897.7,19.8,630,6900,0.12,2.25,0.00,0.000,6,0.172,0.048,3440,1700,2298,0,0,0,0,0,0
$GC,7218,0.57,185.1,841.9,17.6,646,7222,0.00,2.25,0.00,0.000,4,0.000,0.063,3451,293,2296,0,0,0,0,0,0
$GC,7239,0.54,185.1,837.6,17.6,647,7244,0.10,2.12,0.00,0.000,6,0.162,0.035,3422,1701,2294,0,0,0,0,0,0
$GC,7565,0.54,185.1,790.4,14.1,663,7569,0.00,2.15,0.00,0.000,4,0.000,0.044,3422,3108,2293,0,0,0,0,0,0
$GC,7637,0.54,185.1,780.1,14.3,666,7642,0.00,2.22,0.00,0.000,6,0.000,0.049,3431,1714,2293,0,0,0,0,0,0
$GC,7966,0.54,185.1,734.6,14.4,682,7970,0.00,2.15,0.00,0.000,4,0.000,0.045,3432,3104,2291,0,0,0,0,0,0
$GC,7986,0.54,185.1,730.9,16.0,683,7991,0.05,2.20,0.00,0.000,6,0.161,0.049,3422,1724,2292,0,0,0,0,0,0
$GC,8314,0.54,185.1,685.1,14.2,699,8318,0.00,2.30,0.00,0.000,4,0.000,0.063,3433,289,2290,0,0,0,0,0,0
$GC,8334,0.54,185.1,681.9,14.1,700,8339,0.00,2.17,0.00,0.000,6,0.000,0.036,3433,1702,2289,0,0,0,0,0,0
$GC,8662,0.54,185.1,633.2,15.0,716,8666,0.00,2.12,0.00,0.000,4,0.000,0.044,3433,3106,2289,0,0,0,0,0,0
$GC,8761,0.54,185.1,617.7,15.4,720,8769,0.08,2.20,0.00,0.000,6,0.202,0.049,3424,1712,2289,0,0,0,0,0,0
$GC,9083,0.54,185.1,574.4,12.7,745,9087,0.00,2.15,0.00,0.000,4,0.000,0.045,3424,3106,2289,0,0,0,0,0,0
$GC,9112,0.54,185.1,570.8,12.3,747,9116,0.00,2.17,0.00,0.000,6,0.000,0.048,3433,1723,2288,0,0,0,0,0,0
$GC,9438,0.54,185.1,530.3,12.9,777,9442,0.00,2.30,0.00,0.000,4,0.000,0.063,3445,288,2287,0,0,0,0,0,0
$GC,9487,0.54,185.1,523.7,12.5,781,9496,0.05,2.22,0.00,0.000,6,0.142,0.037,3425,1732,2287,0,0,0,0,0,0
$GC,9813,0.54,185.1,485.8,12.0,812,9817,0.00,2.10,0.00,0.000,4,0.000,0.044,3425,3106,2286,0,0,0,0,0,0
$GC,9907,0.55,185.1,473.9,12.3,820,9911,0.00,2.15,0.00,0.000,6,0.000,0.050,3435,1735,2286,0,0,0,0,0,0
$GC,10239,0.55,185.1,432.4,11.9,851,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1735,2286,0,0,0,0,0,0
$GC,10559,0.55,185.1,396.6,11.3,881,10563,0.00,2.12,0.00,0.000,4,0.000,0.043,3435,3112,2286,0,0,0,0,0,0
$GC,10591,0.56,185.1,392.2,12.6,883,10599,0.00,2.17,0.00,0.000,6,0.000,0.048,3445,1732,2286,0,0,0,0,0,0
$GC,10917,0.56,185.1,354.9,12.1,914,10921,0.00,2.12,0.00,0.000,4,0.000,0.042,3445,3110,2286,0,0,0,0,0,0
$GC,10971,0.56,185.1,347.9,13.1,918,10980,0.05,2.17,0.00,0.000,6,0.152,0.047,3435,1740,2286,0,0,0,0,0,0
$GC,11300,0.58,187.0,311.2,10.9,949,11304,0.00,2.33,0.00,0.000,4,0.000,0.060,3446,285,2286,0,0,0,0,0,0
$GC,11339,0.59,187.0,306.5,11.5,952,11343,0.00,2.20,0.00,0.000,6,0.000,0.034,3446,1741,2286,0,0,0,0,0,0
$GC,11670,0.59,187.0,268.4,12.1,1007,11677,0.00,2.30,0.00,0.000,4,0.000,0.058,3456,290,2286,0,0,0,0,0,0
$GC,11727,0.60,187.0,261.1,13.2,1017,11735,0.00,2.17,0.00,0.000,6,0.000,0.034,3456,1731,2286,0,0,0,0,0,0
$GC,12060,0.63,208.0,224.6,9.5,1078,12081,0.00,0.00,16.30,0.695,6,0.000,0.000,3456,1733,2219,0,0,0,0,0,0
$GC,12406,0.65,213.1,190.0,10.6,1141,12421,0.00,2.12,5.80,0.551,4,0.000,0.041,3456,3097,2199,0,0,0,0,0,0
$GC,12489,0.66,213.1,180.1,12.1,1155,12496,0.00,2.12,0.00,0.000,6,0.000,0.044,3463,1733,2199,0,0,0,0,0,0
$GC,12822,0.67,213.1,141.5,11.2,1216,12830,0.00,2.30,0.00,0.000,4,0.000,0.057,3474,295,2199,0,0,0,0,0,0
$GC,12866,0.70,213.1,136.4,11.0,1223,12874,0.00,2.17,0.00,0.000,6,0.000,0.033,3474,1725,2198,0,0,0,0,0,0
$GC,13194,0.72,227.7,102.5,10.0,1284,13210,0.00,0.00,14.25,0.591,6,0.000,0.000,3474,1726,2139,0,0,0,0,0,0
$GC,13530,0.84,290.7,74.0,6.6,1346,13591,0.15,2.15,51.20,0.602,4,0.070,0.035,3591,3116,1881,0,0,0,0,0,0
$GC,13710,0.82,290.7,47.1,14.0,1376,13719,0.25,2.20,0.00,0.000,6,0.112,0.043,3514,1731,1877,0,0,0,0,0,0
$GC,14041,0.91,338.5,19.9,7.6,1437,14087,0.10,2.30,37.28,0.548,4,0.091,0.051,3627,286,1688,0,0,0,0,0,0
$GC,14119,0.87,338.5,7.8,18.6,1448,14128,0.28,2.20,0.00,0.000,6,0.116,0.029,3532,1724,1684,0,0,0,0,0,0
$STATE,14146,end climb,SURFACE_DEPTH_REACHED
$STATE,14146,begin surface coast
$FINISH,1.0,1.021516
$STATE,14164,end surface coast,CONTROL_FINISHED_OK
$STATE,14164,begin surface
$SM_CCo,14181,34.95,0.411,1,0,1436,400.08
$SM_GC,1.76,0.00,0.00,34.95,0.000,0.000,0.411,102,1534,1436,-9.85,-0.45,400.08
$IRIDIUM_FIX,2420.48,12649.35,191010,181820
$TT8_MAMPS,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,23.2,43.184
$10V_AH,10.2,33.838
$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,21.600,136.075,433.200,34.950,0.000,30.711,15.158,139.841,0.250,0.000,14.278,3633.887,6584.176,560.980,3500.052,260.958,0.000,1867.458,0.000,3313.604,0.000,0.539,0.000
$DEVICE_MAMPS,201.960,73.440,1228.590,410.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.207,0.000,1820.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86996,1455
$CAP_FILE_SIZE,164810,0
$CFSIZE,260165632,235032576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160, 93.9,1
$GPS,201010,022336,2429.664,12704.906,31,1.0,31,-3.7