version: 66.08
glider: 168
mission: 2
dive: 362
start: 10 24 110 5 9 52
data:
$ID,168
$MISSION,2
$DIVE,362
$N_DIVES,370
$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,-3626.8809
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,241010,050400,2418.608,12657.203,38,1.0,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-77.1
$GPS2,241010,050926,2418.618,12657.291,13,1.2,13,-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,245.7,175324,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.60,-185.1,0.0,0.0,0,96,0.00,0.00,-78.75,0.000,2,0.000,0.000,104,1555,2781,0,0,0,0,0,0
$GC,98,-0.60,-185.1,3.1,-1.6,11,137,10.12,2.20,-20.62,0.000,4,0.176,0.063,3050,160,3824,0,0,0,0,0,0
$GC,178,-0.51,-185.1,24.9,-30.1,23,186,0.12,2.12,0.00,0.000,6,0.119,0.040,3086,1523,3826,0,0,0,0,0,0
$GC,504,-0.48,-185.1,100.9,-17.8,84,513,0.00,2.22,0.00,0.000,4,0.000,0.044,3076,2954,3826,0,0,0,0,0,0
$GC,560,-0.49,-185.1,109.6,-14.6,93,568,0.00,2.17,0.00,0.000,6,0.000,0.041,3076,1553,3827,0,0,0,0,0,0
$GC,885,-0.48,-185.1,157.1,-12.6,154,893,0.08,0.00,0.00,0.000,6,0.177,0.000,3100,1552,3828,0,0,0,0,0,0
$GC,1229,-0.50,-185.1,188.5,-9.3,215,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1552,3828,0,0,0,0,0,0
$GC,1564,-0.53,-185.1,221.1,-8.9,276,1573,0.08,0.00,0.00,0.000,6,0.123,0.000,2994,1552,3828,0,0,0,0,0,0
$GC,1912,-0.47,-185.1,285.7,-18.1,337,1918,0.30,0.00,0.00,0.000,6,0.112,0.000,3103,1552,3827,0,0,0,0,0,0
$GC,2244,-0.51,-185.1,309.3,-6.6,384,2248,0.00,2.17,0.00,0.000,4,0.000,0.045,3101,2962,3827,0,0,0,0,0,0
$GC,2286,-0.58,-185.1,311.9,-5.8,387,2291,0.12,2.12,0.00,0.000,6,0.081,0.039,2996,1553,3827,0,0,0,0,0,0
$GC,2617,-0.53,-185.1,367.9,-17.2,418,2622,0.25,2.15,0.00,0.000,4,0.112,0.054,3083,165,3825,0,0,0,0,0,0
$GC,2649,-0.55,-185.1,372.0,-10.3,420,2658,0.00,2.12,0.00,0.000,6,0.000,0.037,3081,1558,3825,0,0,0,0,0,0
$GC,2975,-0.59,-185.1,395.0,-7.2,451,2980,0.08,2.15,0.00,0.000,4,0.123,0.043,2978,2966,3824,0,0,0,0,0,0
$GC,3053,-0.57,-185.1,404.5,-12.0,457,3060,0.28,2.15,0.00,0.000,6,0.097,0.041,3075,1562,3823,0,0,0,0,0,0
$GC,3379,-0.61,-185.1,431.8,-8.4,488,3380,0.08,0.00,0.00,0.000,6,0.120,0.000,2983,1562,3820,0,0,0,0,0,0
$GC,3697,-0.56,-185.1,479.8,-15.7,518,3699,0.28,0.00,0.00,0.000,6,0.108,0.000,3078,1561,3819,0,0,0,0,0,0
$GC,4016,-0.60,-185.1,504.3,-7.3,548,4020,0.08,2.17,0.00,0.000,4,0.122,0.047,2986,2955,3817,0,0,0,0,0,0
$GC,4050,-0.60,-185.1,507.9,-11.9,551,4054,0.22,2.15,0.00,0.000,6,0.098,0.044,3064,1557,3816,0,0,0,0,0,0
$GC,4380,-0.63,-185.1,536.4,-8.6,582,4384,0.00,2.17,0.00,0.000,4,0.000,0.059,3064,163,3814,0,0,0,0,0,0
$GC,4404,-0.66,-185.1,538.4,-8.9,584,4408,0.08,2.10,0.00,0.000,6,0.119,0.039,2985,1562,3814,0,0,0,0,0,0
$GC,4729,-0.63,-185.1,584.8,-14.2,614,4733,0.20,2.12,0.00,0.000,4,0.112,0.044,3045,2957,3812,0,0,0,0,0,0
$GC,4795,-0.68,-185.1,591.4,-8.4,619,4802,0.00,2.15,0.00,0.000,6,0.000,0.044,3044,1568,3811,0,0,0,0,0,0
$GC,5126,-0.70,-185.1,622.6,-9.1,640,5130,0.00,2.12,0.00,0.000,4,0.000,0.047,3038,2957,3808,0,0,0,0,0,0
$GC,5159,-0.73,-185.1,625.8,-8.5,641,5164,0.08,2.15,0.00,0.000,6,0.116,0.045,2943,1577,3808,0,0,0,0,0,0
$GC,5476,-0.67,-185.1,679.1,-17.0,656,5481,0.28,2.22,0.00,0.000,4,0.119,0.060,3039,166,3806,0,0,0,0,0,0
$GC,5543,-0.70,-185.1,686.4,-7.6,659,5547,0.00,2.17,0.00,0.000,6,0.000,0.041,3040,1583,3806,0,0,0,0,0,0
$GC,5865,-0.73,-185.1,709.8,-7.3,675,5870,0.08,2.15,0.00,0.000,4,0.120,0.047,2936,2964,3803,0,0,0,0,0,0
$GC,5936,-0.69,-185.1,718.9,-13.9,678,5941,0.30,2.17,0.00,0.000,6,0.106,0.047,3038,1576,3802,0,0,0,0,0,0
$GC,6260,-0.71,-185.1,744.5,-7.7,694,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1577,3801,0,0,0,0,0,0
$GC,6568,-0.74,-185.1,769.2,-8.0,709,6573,0.08,2.28,0.00,0.000,4,0.119,0.063,2947,169,3798,0,0,0,0,0,0
$GC,6601,-0.70,-185.1,773.6,-14.9,710,6608,0.28,2.17,0.00,0.000,6,0.111,0.047,3032,1577,3797,0,0,0,0,0,0
$GC,6918,-0.72,-185.1,803.1,-9.3,726,6922,0.00,2.12,0.00,0.000,4,0.000,0.049,3023,2961,3795,0,0,0,0,0,0
$GC,6968,-0.76,-185.1,807.7,-9.0,728,6972,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,1575,3795,0,0,0,0,0,0
$GC,7284,-0.77,-185.1,839.5,-10.6,743,7289,0.05,2.17,0.00,0.000,4,0.168,0.050,2926,2961,3793,0,0,0,0,0,0
$GC,7317,-0.73,-185.1,844.2,-15.9,744,7325,0.30,2.17,0.00,0.000,6,0.109,0.050,3026,1581,3792,0,0,0,0,0,0
$GC,7634,-0.75,-185.1,876.7,-9.5,760,7638,0.00,2.15,0.00,0.000,4,0.000,0.050,3018,2963,3790,0,0,0,0,0,0
$GC,7674,-0.79,-185.1,880.3,-8.5,762,7679,0.08,2.17,0.00,0.000,6,0.116,0.049,2932,1586,3790,0,0,0,0,0,0
$GC,8002,-0.73,-185.1,933.5,-16.3,778,8007,0.25,2.28,0.00,0.000,4,0.120,0.063,3022,167,3789,0,0,0,0,0,0
$GC,8068,-0.77,-185.1,941.0,-8.1,781,8072,0.00,2.17,0.00,0.000,6,0.000,0.043,3018,1586,3788,0,0,0,0,0,0
$GC,8396,-0.78,-185.1,967.2,-8.0,797,8400,0.00,2.12,0.00,0.000,4,0.000,0.050,3013,2958,3786,0,0,0,0,0,0
$GC,8447,-0.82,-185.1,971.2,-6.8,799,8451,0.10,2.17,0.00,0.000,6,0.089,0.050,2920,1586,3786,0,0,0,0,0,0
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8585,0.00,0.0,990.6,16.0,806,8739,0.93,0.00,148.75,1.232,4,0.099,0.000,3247,1707,3068,0,0,0,0,0,0
$STATE,8741,end apogee,CONTROL_FINISHED_OK
$STATE,8741,begin climb
$GC,8743,0.60,185.1,995.8,0.0,813,8912,0.55,2.33,161.15,1.176,4,0.032,0.046,3495,3110,2313,0,0,0,0,0,0
$GC,8976,0.51,185.1,965.7,20.5,824,8982,0.30,2.35,0.00,0.000,6,0.145,0.048,3420,1693,2306,0,0,0,0,0,0
$GC,9304,0.47,185.1,915.6,14.3,840,9309,0.08,2.28,0.00,0.000,4,0.207,0.063,3412,288,2299,0,0,0,0,0,0
$GC,9337,0.43,185.1,910.7,13.7,841,9344,0.08,2.17,0.00,0.000,6,0.161,0.034,3391,1707,2298,0,0,0,0,0,0
$GC,9654,0.41,185.1,872.8,11.9,857,9658,0.00,2.30,0.00,0.000,4,0.000,0.063,3400,285,2296,0,0,0,0,0,0
$GC,9680,0.39,185.1,869.2,12.0,858,9685,0.08,2.17,0.00,0.000,6,0.106,0.035,3370,1695,2296,0,0,0,0,0,0
$GC,10002,0.42,211.9,836.5,9.9,874,10032,0.05,2.28,22.10,1.141,4,0.170,0.044,3443,3105,2203,0,0,0,0,0,0
$GC,10092,0.38,211.9,823.3,15.9,878,10097,0.28,2.28,0.00,0.000,6,0.131,0.049,3369,1693,2200,0,0,0,0,0,0
$GC,10420,0.39,226.6,788.4,10.4,894,10442,0.00,2.35,13.32,1.073,4,0.000,0.067,3378,293,2144,0,0,0,0,0,0
$GC,10476,0.41,226.8,782.1,11.0,896,10480,0.00,2.17,0.00,0.000,6,0.000,0.037,3378,1696,2141,0,0,0,0,0,0
$GC,10797,0.41,226.8,746.3,11.3,912,10801,0.00,2.30,0.00,0.000,4,0.000,0.066,3385,292,2139,0,0,0,0,0,0
$GC,10841,0.42,228.6,741.3,10.9,914,10845,0.00,2.15,0.00,0.000,6,0.000,0.036,3385,1692,2137,0,0,0,0,0,0
$GC,11169,0.45,248.6,706.5,10.2,930,11194,0.00,2.25,19.92,1.067,4,0.000,0.046,3385,3106,2054,0,0,0,0,0,0
$GC,11212,0.48,274.5,702.0,10.0,932,11244,0.08,2.30,23.60,0.991,6,0.117,0.050,3456,1685,1949,0,0,0,0,0,0
$GC,11566,0.44,274.5,647.0,15.4,949,11571,0.22,2.28,0.00,0.000,4,0.135,0.063,3395,290,1941,0,0,0,0,0,0
$GC,11644,0.52,325.7,638.3,8.9,952,11696,0.08,2.12,43.80,0.998,6,0.117,0.036,3475,1678,1739,0,0,0,0,0,0
$GC,12007,0.47,325.7,573.9,19.0,976,12009,0.22,0.00,0.00,0.000,6,0.130,0.000,3404,1679,1731,0,0,0,0,0,0
$GC,12326,0.51,347.8,537.6,10.1,1006,12350,0.00,2.35,18.38,0.955,4,0.000,0.066,3413,292,1649,0,0,0,0,0,0
$GC,12412,0.61,400.5,528.9,8.9,1013,12464,0.10,2.12,45.35,0.916,6,0.090,0.035,3497,1669,1435,0,0,0,0,0,0
$GC,12781,0.57,400.5,454.9,20.5,1048,12786,0.22,2.28,0.00,0.000,4,0.126,0.064,3438,289,1427,0,0,0,0,0,0
$GC,12845,0.61,411.4,446.1,10.6,1053,12860,0.00,2.10,9.50,0.815,6,0.000,0.034,3438,1662,1389,0,0,0,0,0,0
$GC,13188,0.62,411.4,401.5,13.7,1085,13192,0.00,2.22,0.00,0.000,4,0.000,0.064,3444,290,1386,0,0,0,0,0,0
$GC,13244,0.66,411.4,393.9,12.3,1089,13252,0.08,2.05,0.00,0.000,6,0.116,0.034,3520,1638,1385,0,0,0,0,0,0
$GC,13569,0.60,411.4,321.6,23.1,1120,13574,0.25,2.17,0.00,0.000,4,0.132,0.061,3445,285,1385,0,0,0,0,0,0
$GC,13637,0.65,412.4,311.4,11.0,1125,13644,0.00,2.03,0.00,0.000,6,0.000,0.033,3445,1625,1384,0,0,0,0,0,0
$GC,13973,0.67,412.4,271.9,12.2,1177,13980,0.08,2.17,0.00,0.000,4,0.120,0.062,3538,282,1384,0,0,0,0,0,0
$GC,14010,0.64,412.4,265.4,18.2,1183,14017,0.25,2.00,0.00,0.000,6,0.115,0.032,3455,1618,1384,0,0,0,0,0,0
$GC,14351,0.65,412.4,219.2,11.9,1244,14359,0.00,2.15,0.00,0.000,4,0.000,0.060,3464,287,1384,0,0,0,0,0,0
$GC,14377,0.68,414.3,216.2,10.9,1248,14387,0.00,2.00,0.00,0.000,6,0.000,0.032,3463,1607,1384,0,0,0,0,0,0
$GC,14722,0.69,415.8,178.9,10.9,1309,14736,0.00,2.15,4.40,0.480,4,0.000,0.060,3469,285,1372,0,0,0,0,0,0
$GC,14751,0.71,415.8,175.6,11.6,1313,14757,0.00,1.98,0.00,0.000,6,0.000,0.031,3469,1608,1372,0,0,0,0,0,0
$GC,15089,0.77,439.2,136.3,10.1,1374,15114,0.10,0.00,20.80,0.639,6,0.096,0.000,3569,1610,1277,0,0,0,0,0,0
$GC,15436,0.73,439.2,68.3,17.1,1437,15444,0.25,2.33,0.00,0.000,4,0.122,0.036,3478,3102,1273,0,0,0,0,0,0
$GC,15452,0.71,439.2,65.2,17.3,1439,15460,0.00,2.38,0.00,0.000,6,0.000,0.046,3480,1608,1273,0,0,0,0,0,0
$GC,15780,0.95,577.5,45.2,5.5,1500,15899,0.22,2.20,105.43,0.573,4,0.056,0.056,3603,286,711,0,0,0,0,0,0
$GC,15957,0.97,577.5,19.2,12.6,1526,15965,0.10,2.03,0.00,0.000,6,0.084,0.028,3558,1607,709,0,0,0,0,0,0
$STATE,16115,end climb,SURFACE_DEPTH_REACHED
$STATE,16115,begin surface coast
$FINISH,1.3,1.021743
$STATE,16143,end surface coast,CONTROL_FINISHED_OK
$STATE,16143,begin surface
$SM_CCo,16220,0.00,0.000,0,0,705,579.64
$SM_GC,2.07,8.40,0.00,0.00,0.019,0.000,0.000,103,1535,705,-9.68,-0.40,579.64
$IRIDIUM_FIX,2408.65,12700.23,241010,000054
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.0,47.364
$10V_AH,10.2,37.343
$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,27.175,148.700,636.500,0.000,0.000,29.487,17.574,148.303,0.500,0.000,16.399,3912.878,7865.938,701.455,3755.565,298.836,0.000,2179.041,0.000,3550.221,0.000,0.539,0.000
$DEVICE_MAMPS,207.315,99.450,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1065.070,0.000,1812.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333848
$DATA_FILE_SIZE,93628,1560
$CAP_FILE_SIZE,195056,0
$CFSIZE,260165632,232931328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193, 74.4,1
$GPS,241010,094125,2418.228,12656.707,37,1.2,37,-3.7