version: 66.08
glider: 168
mission: 2
dive: 357
start: 10 23 110 5 53 27
data:
$ID,168
$MISSION,2
$DIVE,357
$N_DIVES,364
$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,-3620.2119
$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,22
$R_STBD_OVSHOOT,44
$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
$GPS1,231010,054924,2419.776,12657.389,49,1.1,66,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-76.7
$GPS2,231010,055302,2419.827,12657.447,9,2.0,9,-3.7
$SPEED_LIMITS,0.191,0.298
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,247.8,177335,-16.8,-11.000
$D_GRID,5000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-185.1,0.0,0.0,0,89,0.00,0.00,-70.35,0.000,2,0.000,0.000,104,1558,2945,0,0,0,0,0,0
$GC,92,-0.60,-185.1,3.5,-3.8,10,124,10.27,2.28,-15.93,0.000,4,0.182,0.064,3060,149,3826,0,0,0,0,0,0
$GC,191,-0.55,-185.1,29.8,-21.8,26,199,0.05,2.15,0.00,0.000,6,0.138,0.038,3070,1538,3828,0,0,0,0,0,0
$GC,518,-0.51,-185.1,103.5,-18.8,87,526,0.08,0.00,0.00,0.000,6,0.198,0.000,3093,1541,3829,0,0,0,0,0,0
$GC,843,-0.51,-185.1,145.0,-12.8,148,852,0.00,2.20,0.00,0.000,4,0.000,0.043,3085,2958,3830,0,0,0,0,0,0
$GC,908,-0.55,-185.1,151.9,-9.7,159,915,0.00,2.17,0.00,0.000,6,0.000,0.040,3084,1532,3831,0,0,0,0,0,0
$GC,1246,-0.55,-185.1,193.8,-12.6,220,1255,0.00,2.22,0.00,0.000,4,0.000,0.045,3078,2957,3831,0,0,0,0,0,0
$GC,1268,-0.56,-185.1,196.3,-12.5,223,1275,0.00,2.17,0.00,0.000,6,0.000,0.041,3078,1538,3830,0,0,0,0,0,0
$GC,1606,-0.57,-185.1,232.4,-9.3,284,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1538,3831,0,0,0,0,0,0
$GC,1951,-0.58,-185.1,263.2,-9.3,345,1958,0.00,2.20,0.00,0.000,4,0.000,0.047,3072,2967,3831,0,0,0,0,0,0
$GC,1989,-0.62,-185.1,266.6,-8.5,351,1996,0.08,2.17,0.00,0.000,6,0.119,0.041,2979,1549,3831,0,0,0,0,0,0
$GC,2331,-0.55,-185.1,332.0,-19.8,398,2333,0.30,0.00,0.00,0.000,6,0.115,0.000,3081,1550,3829,0,0,0,0,0,0
$GC,2650,-0.58,-185.1,360.9,-8.1,428,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1549,3829,0,0,0,0,0,0
$GC,2969,-0.61,-185.1,384.5,-7.9,458,2971,0.10,0.00,0.00,0.000,6,0.095,0.000,2976,1549,3827,0,0,0,0,0,0
$GC,3286,-0.56,-185.1,443.6,-18.5,488,3291,0.28,2.17,0.00,0.000,4,0.111,0.044,3065,2960,3825,0,0,0,0,0,0
$GC,3305,-0.53,-185.1,446.5,-17.6,489,3310,0.08,2.17,0.00,0.000,6,0.134,0.044,3095,1554,3825,0,0,0,0,0,0
$GC,3632,-0.58,-185.1,471.3,-6.5,519,3634,0.10,0.00,0.00,0.000,6,0.097,0.000,2995,1553,3823,0,0,0,0,0,0
$GC,3950,-0.55,-185.1,512.6,-12.9,549,3955,0.25,2.17,0.00,0.000,4,0.109,0.044,3080,2959,3821,0,0,0,0,0,0
$GC,3990,-0.62,-185.1,515.9,-6.1,552,3994,0.10,2.15,0.00,0.000,6,0.099,0.044,3003,1561,3821,0,0,0,0,0,0
$GC,4321,-0.60,-185.1,556.5,-12.6,583,4323,0.17,0.00,0.00,0.000,6,0.112,0.000,3063,1561,3820,0,0,0,0,0,0
$GC,4640,-0.64,-185.1,583.6,-9.0,613,4644,0.00,2.17,0.00,0.000,4,0.000,0.048,3060,2958,3817,0,0,0,0,0,0
$GC,4703,-0.70,-185.1,588.8,-8.2,618,4707,0.10,2.15,0.00,0.000,6,0.090,0.045,2967,1565,3816,0,0,0,0,0,0
$GC,5037,-0.66,-185.1,644.9,-16.6,638,5042,0.25,2.20,0.00,0.000,4,0.111,0.058,3058,168,3814,0,0,0,0,0,0
$GC,5087,-0.71,-185.1,650.9,-8.9,640,5092,0.10,2.12,0.00,0.000,6,0.091,0.039,2969,1562,3813,0,0,0,0,0,0
$GC,5404,-0.67,-185.1,696.0,-14.4,655,5409,0.22,2.17,0.00,0.000,4,0.110,0.044,3037,2964,3811,0,0,0,0,0,0
$GC,5460,-0.72,-185.1,701.4,-7.2,657,5467,0.08,2.17,0.00,0.000,6,0.117,0.045,2944,1569,3811,0,0,0,0,0,0
$GC,5776,-0.67,-185.1,749.7,-16.6,673,5781,0.25,2.22,0.00,0.000,4,0.119,0.060,3036,166,3807,0,0,0,0,0,0
$GC,5796,-0.65,-185.1,752.9,-14.4,674,5800,0.00,2.17,0.00,0.000,6,0.000,0.041,3032,1582,3808,0,0,0,0,0,0
$GC,6125,-0.67,-185.1,783.6,-9.6,690,6129,0.00,2.12,0.00,0.000,4,0.000,0.047,3024,2958,3805,0,0,0,0,0,0
$GC,6174,-0.71,-185.1,788.2,-8.3,692,6178,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,1581,3805,0,0,0,0,0,0
$GC,6497,-0.72,-185.1,820.0,-10.0,708,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1581,3803,0,0,0,0,0,0
$GC,6806,-0.74,-185.1,849.5,-9.3,723,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1581,3801,0,0,0,0,0,0
$GC,7115,-0.75,-185.1,878.4,-9.3,738,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1581,3798,0,0,0,0,0,0
$GC,7425,-0.77,-185.1,907.4,-9.1,753,7427,0.08,0.00,0.00,0.000,6,0.119,0.000,2930,1581,3796,0,0,0,0,0,0
$GC,7733,-0.71,-185.1,958.0,-16.5,768,7735,0.30,0.00,0.00,0.000,6,0.115,0.000,3030,1580,3794,0,0,0,0,0,0
$GC,8043,-0.74,-185.1,982.9,-7.7,783,8047,0.00,2.15,0.00,0.000,4,0.000,0.051,3024,2957,3792,0,0,0,0,0,0
$GC,8085,-0.78,-185.1,985.9,-7.1,785,8090,0.10,2.17,0.00,0.000,6,0.089,0.051,2926,1586,3791,0,0,0,0,0,0
$STATE,8120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8121,begin apogee
$GC,8126,0.00,0.0,990.4,11.7,787,8281,0.93,0.00,149.77,1.232,4,0.098,0.000,3254,1707,3068,0,0,0,0,0,0
$STATE,8282,end apogee,CONTROL_FINISHED_OK
$STATE,8282,begin climb
$GC,8283,0.60,185.1,996.3,0.0,794,8452,0.52,2.42,160.18,1.176,4,0.030,0.063,3493,291,2313,0,0,0,0,0,0
$GC,8519,0.51,185.1,966.4,20.6,805,8524,0.25,2.25,0.00,0.000,6,0.129,0.034,3417,1706,2305,0,0,0,0,0,0
$GC,8836,0.47,185.1,919.3,14.5,820,8840,0.00,2.17,0.00,0.000,4,0.000,0.043,3417,3105,2297,0,0,0,0,0,0
$GC,8870,0.44,185.1,913.9,15.1,821,8877,0.12,2.25,0.00,0.000,6,0.161,0.048,3390,1696,2296,0,0,0,0,0,0
$GC,9187,0.42,185.1,875.3,11.8,837,9191,0.00,2.25,0.00,0.000,4,0.000,0.065,3400,294,2295,0,0,0,0,0,0
$GC,9236,0.40,185.1,868.7,12.4,839,9241,0.08,2.15,0.00,0.000,6,0.164,0.035,3378,1705,2294,0,0,0,0,0,0
$GC,9559,0.41,203.8,834.8,10.3,855,9580,0.00,0.00,14.35,1.102,6,0.000,0.000,3378,1707,2236,0,0,0,0,0,0
$GC,9889,0.45,234.3,801.9,9.8,871,9920,0.08,0.00,28.15,1.113,6,0.119,0.000,3458,1707,2112,0,0,0,0,0,0
$GC,10221,0.40,234.3,751.9,14.9,887,10225,0.25,2.17,0.00,0.000,4,0.137,0.042,3373,3108,2104,0,0,0,0,0,0
$GC,10275,0.49,288.4,745.8,8.8,889,10328,0.12,2.25,46.38,1.056,6,0.077,0.051,3465,1704,1892,0,0,0,0,0,0
$GC,10655,0.45,288.4,683.5,17.5,908,10660,0.22,2.33,0.00,0.000,4,0.134,0.063,3405,287,1882,0,0,0,0,0,0
$GC,10719,0.47,288.4,675.3,11.2,911,10723,0.00,2.17,0.00,0.000,6,0.000,0.037,3405,1699,1880,0,0,0,0,0,0
$GC,11047,0.47,288.4,635.5,12.3,927,11051,0.00,2.28,0.00,0.000,4,0.000,0.066,3413,294,1879,0,0,0,0,0,0
$GC,11102,0.48,288.4,628.6,11.9,929,11109,0.00,2.15,0.00,0.000,6,0.000,0.036,3413,1699,1878,0,0,0,0,0,0
$GC,11423,0.48,288.4,588.7,12.7,949,11427,0.00,2.30,0.00,0.000,4,0.000,0.066,3421,293,1877,0,0,0,0,0,0
$GC,11451,0.48,288.4,584.7,13.7,951,11455,0.00,2.12,0.00,0.000,6,0.000,0.036,3421,1688,1876,0,0,0,0,0,0
$GC,11782,0.47,288.4,540.7,12.7,982,11784,0.08,0.00,0.00,0.000,6,0.177,0.000,3399,1691,1876,0,0,0,0,0,0
$GC,12100,0.50,300.2,506.6,10.5,1012,12114,0.00,2.33,8.93,0.854,4,0.000,0.065,3406,293,1844,0,0,0,0,0,0
$GC,12131,0.51,300.7,502.9,11.0,1014,12138,0.00,2.12,0.00,0.000,6,0.000,0.034,3406,1686,1843,0,0,0,0,0,0
$GC,12458,0.52,300.7,467.5,11.0,1045,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1689,1842,0,0,0,0,0,0
$GC,12777,0.57,324.6,434.3,10.0,1075,12807,0.10,2.30,22.33,0.880,4,0.093,0.063,3499,298,1744,0,0,0,0,0,0
$GC,12881,0.53,324.6,417.1,16.8,1084,12886,0.25,2.12,0.00,0.000,6,0.113,0.034,3417,1687,1740,0,0,0,0,0,0
$GC,13206,0.54,324.6,379.9,11.5,1114,13210,0.00,2.25,0.00,0.000,4,0.000,0.063,3424,285,1739,0,0,0,0,0,0
$GC,13270,0.62,362.3,373.5,9.5,1119,13309,0.10,2.10,32.10,0.842,6,0.093,0.034,3513,1676,1591,0,0,0,0,0,0
$GC,13637,0.57,362.3,300.8,19.9,1153,13641,0.25,2.22,0.00,0.000,4,0.127,0.038,3426,3111,1585,0,0,0,0,0,0
$GC,13678,0.60,362.3,294.7,11.9,1159,13685,0.08,2.30,0.00,0.000,6,0.119,0.048,3470,1653,1583,0,0,0,0,0,0
$GC,14017,0.59,362.3,245.3,14.8,1220,14027,0.10,2.22,0.00,0.000,4,0.152,0.061,3449,293,1583,0,0,0,0,0,0
$GC,14111,0.66,394.1,234.4,9.7,1236,14147,0.00,2.08,26.62,0.729,6,0.000,0.032,3450,1658,1458,0,0,0,0,0,0
$GC,14483,0.69,398.8,195.7,10.8,1301,14498,0.08,2.22,4.72,0.505,4,0.121,0.059,3544,300,1441,0,0,0,0,0,0
$GC,14569,0.66,398.8,181.2,18.2,1315,14576,0.25,2.03,0.00,0.000,6,0.110,0.031,3459,1650,1441,0,0,0,0,0,0
$GC,14915,0.76,464.9,146.0,8.4,1376,14976,0.12,2.22,54.10,0.662,4,0.080,0.057,3581,292,1170,0,0,0,0,0,0
$GC,14991,0.69,464.9,131.0,24.5,1386,15000,0.30,2.05,0.00,0.000,6,0.100,0.028,3474,1625,1167,0,0,0,0,0,0
$GC,15320,0.82,535.2,96.8,8.2,1447,15381,0.12,2.17,54.15,0.617,4,0.083,0.056,3587,292,885,0,0,0,0,0,0
$GC,15427,0.79,535.2,77.1,21.6,1463,15436,0.22,2.05,0.00,0.000,6,0.081,0.030,3501,1622,882,0,0,0,0,0,0
$GC,15758,1.03,618.2,50.1,7.7,1524,15825,0.22,0.00,62.28,0.574,6,0.088,0.000,3585,1625,547,0,0,0,0,0,0
$GC,16143,1.15,618.2,4.4,11.3,1593,16152,0.12,2.15,0.00,0.000,4,0.085,0.056,3669,294,543,0,0,0,0,0,0
$STATE,16158,end climb,SURFACE_DEPTH_REACHED
$STATE,16159,begin surface coast
$FINISH,1.2,1.010525
$STATE,16181,end surface coast,CONTROL_FINISHED_OK
$STATE,16181,begin surface
$SM_CCo,16260,0.00,0.000,0,0,542,619.63
$SM_GC,1.91,8.68,0.00,0.00,0.020,0.000,0.000,103,1564,542,-9.70,0.45,619.63
$IRIDIUM_FIX,2408.65,12700.23,231010,010159
$TT8_MAMPS,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,23.1,46.386
$10V_AH,10.2,36.554
$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,26.975,122.550,664.050,0.000,0.000,26.252,30.645,37.261,0.500,0.000,11.681,3952.657,7890.832,682.747,3655.940,281.552,0.000,2124.508,0.000,3558.854,0.000,0.540,0.000
$DEVICE_MAMPS,198.135,70.380,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.648,0.000,1914.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,96714,1599
$CAP_FILE_SIZE,184020,0
$CFSIZE,260165632,233373696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224, 78.0,1
$GPS,231010,102537,2419.522,12657.039,36,1.1,36,-3.7