version: 66.08
glider: 168
mission: 2
dive: 374
start: 10 26 110 13 54 50
data:
$ID,168
$MISSION,2
$DIVE,374
$N_DIVES,382
$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,-3642.5378
$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,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
$GPS1,261010,134506,2410.997,12657.337,39,1.2,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-65.4
$GPS2,261010,135425,2411.052,12657.268,10,1.5,15,-3.7
$SPEED_LIMITS,0.191,0.298
$TGT_NAME,DOGLEG
$TGT_LATLONG,2300.000,12730.000
$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,188.0,142931,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.60,-185.1,0.0,0.0,0,93,0.00,0.00,-75.15,0.000,2,0.000,0.000,105,1526,2661,0,0,0,0,0,0
$GC,96,-0.60,-185.1,3.2,-2.0,10,141,10.15,2.17,-26.65,0.000,4,0.177,0.064,3049,173,3824,0,0,0,0,0,0
$GC,256,-0.56,-185.1,35.2,-19.5,37,264,0.10,2.12,0.00,0.000,6,0.114,0.041,3077,1536,3825,0,0,0,0,0,0
$GC,583,-0.52,-185.1,103.9,-17.0,98,591,0.00,2.15,0.00,0.000,4,0.000,0.050,3077,169,3825,0,0,0,0,0,0
$GC,612,-0.49,-185.1,108.1,-15.5,102,620,0.05,2.12,0.00,0.000,6,0.129,0.038,3093,1553,3825,0,0,0,0,0,0
$GC,937,-0.49,-185.1,150.9,-12.5,163,944,0.00,2.17,0.00,0.000,4,0.000,0.046,3086,2962,3826,0,0,0,0,0,0
$GC,985,-0.52,-185.1,156.2,-10.4,171,992,0.00,2.12,0.00,0.000,6,0.000,0.041,3085,1557,3826,0,0,0,0,0,0
$GC,1328,-0.52,-185.1,196.3,-12.3,232,1337,0.00,2.20,0.00,0.000,4,0.000,0.047,3080,2959,3826,0,0,0,0,0,0
$GC,1355,-0.54,-185.1,199.3,-11.3,236,1364,0.00,2.17,0.00,0.000,6,0.000,0.043,3080,1560,3826,0,0,0,0,0,0
$GC,1705,-0.55,-185.1,237.3,-10.2,297,1712,0.00,2.15,0.00,0.000,4,0.000,0.047,3078,2958,3826,0,0,0,0,0,0
$GC,1755,-0.59,-185.1,242.1,-8.4,305,1762,0.00,2.15,0.00,0.000,6,0.000,0.044,3077,1561,3826,0,0,0,0,0,0
$GC,2100,-0.60,-185.1,278.3,-10.8,366,2107,0.08,0.00,0.00,0.000,6,0.125,0.000,2969,1560,3825,0,0,0,0,0,0
$GC,2434,-0.53,-185.1,346.8,-20.6,406,2439,0.30,2.15,0.00,0.000,4,0.112,0.044,3069,2959,3823,0,0,0,0,0,0
$GC,2478,-0.58,-185.1,353.0,-9.4,409,2484,0.00,2.15,0.00,0.000,6,0.000,0.044,3069,1568,3823,0,0,0,0,0,0
$GC,2803,-0.60,-185.1,384.1,-9.1,440,2807,0.00,2.12,0.00,0.000,4,0.000,0.047,3065,2957,3822,0,0,0,0,0,0
$GC,2844,-0.64,-185.1,387.5,-8.2,443,2849,0.08,2.10,0.00,0.000,6,0.118,0.044,2973,1576,3822,0,0,0,0,0,0
$GC,3175,-0.59,-185.1,446.8,-18.0,474,3180,0.28,2.17,0.00,0.000,4,0.118,0.053,3065,170,3820,0,0,0,0,0,0
$GC,3206,-0.59,-185.1,451.7,-12.1,476,3215,0.00,2.17,0.00,0.000,6,0.000,0.039,3064,1586,3820,0,0,0,0,0,0
$GC,3533,-0.61,-185.1,480.4,-8.1,507,3537,0.00,2.12,0.00,0.000,4,0.000,0.047,3063,2965,3817,0,0,0,0,0,0
$GC,3577,-0.67,-185.1,483.7,-7.0,510,3585,0.05,2.12,0.00,0.000,6,0.059,0.043,2967,1596,3817,0,0,0,0,0,0
$GC,3903,-0.62,-185.1,532.5,-14.4,541,3908,0.25,2.10,0.00,0.000,4,0.117,0.045,3050,2959,3815,0,0,0,0,0,0
$GC,3938,-0.65,-185.1,536.3,-8.4,544,3942,0.00,2.10,0.00,0.000,6,0.000,0.045,3050,1595,3815,0,0,0,0,0,0
$GC,4264,-0.67,-185.1,561.1,-7.5,574,4268,0.00,2.22,0.00,0.000,4,0.000,0.054,3050,161,3812,0,0,0,0,0,0
$GC,4297,-0.70,-185.1,563.9,-7.8,576,4306,0.08,2.17,0.00,0.000,6,0.120,0.039,2970,1593,3812,0,0,0,0,0,0
$GC,4621,-0.66,-185.1,610.1,-15.2,604,4626,0.22,2.10,0.00,0.000,4,0.110,0.046,3040,2961,3810,0,0,0,0,0,0
$GC,4689,-0.71,-185.1,616.8,-8.1,607,4693,0.00,2.10,0.00,0.000,6,0.000,0.045,3039,1593,3809,0,0,0,0,0,0
$GC,5017,-0.72,-185.1,648.7,-10.3,623,5019,0.08,0.00,0.00,0.000,6,0.119,0.000,2941,1593,3807,0,0,0,0,0,0
$GC,5326,-0.66,-185.1,701.5,-17.6,638,5331,0.28,2.12,0.00,0.000,4,0.114,0.046,3031,2958,3803,0,0,0,0,0,0
$GC,5366,-0.70,-185.1,706.1,-8.6,640,5370,0.00,2.12,0.00,0.000,6,0.000,0.048,3031,1602,3803,0,0,0,0,0,0
$GC,5694,-0.72,-185.1,735.2,-8.7,656,5698,0.00,2.28,0.00,0.000,4,0.000,0.060,3031,166,3801,0,0,0,0,0,0
$GC,5743,-0.75,-185.1,739.8,-8.6,658,5747,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,1600,3800,0,0,0,0,0,0
$GC,6061,-0.76,-185.1,764.9,-7.9,673,6065,0.08,2.12,0.00,0.000,4,0.121,0.051,2920,2959,3797,0,0,0,0,0,0
$GC,6127,-0.72,-185.1,773.6,-13.8,676,6131,0.25,2.15,0.00,0.000,6,0.094,0.051,3024,1606,3797,0,0,0,0,0,0
$GC,6456,-0.73,-185.1,800.4,-8.2,692,6459,0.00,2.28,0.00,0.000,4,0.000,0.062,3025,170,3794,0,0,0,0,0,0
$GC,6502,-0.76,-185.1,804.6,-8.7,694,6506,0.00,2.20,0.00,0.000,6,0.000,0.041,3020,1600,3794,0,0,0,0,0,0
$GC,6835,-0.77,-185.1,833.3,-8.7,710,6839,0.00,2.12,0.00,0.000,4,0.000,0.052,3014,2964,3792,0,0,0,0,0,0
$GC,6885,-0.81,-185.1,837.6,-8.3,712,6890,0.08,2.15,0.00,0.000,6,0.116,0.051,2924,1603,3791,0,0,0,0,0,0
$GC,7207,-0.75,-185.1,888.3,-16.0,728,7212,0.25,2.30,0.00,0.000,4,0.122,0.061,3013,163,3788,0,0,0,0,0,0
$GC,7234,-0.74,-185.1,892.1,-12.9,729,7238,0.00,2.20,0.00,0.000,6,0.000,0.041,3006,1600,3788,0,0,0,0,0,0
$GC,7550,-0.74,-185.1,920.7,-9.5,744,7554,0.00,2.10,0.00,0.000,4,0.000,0.052,2996,2957,3786,0,0,0,0,0,0
$GC,7600,-0.76,-185.1,925.2,-8.8,746,7604,0.00,2.15,0.00,0.000,6,0.000,0.052,2996,1603,3786,0,0,0,0,0,0
$GC,7921,-0.76,-185.1,959.5,-11.1,762,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1602,3784,0,0,0,0,0,0
$STATE,8208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8208,begin apogee
$GC,8213,0.00,0.0,991.4,10.8,776,8367,0.68,0.00,148.35,1.232,4,0.083,0.000,3250,1711,3068,0,0,0,0,0,0
$STATE,8368,end apogee,CONTROL_FINISHED_OK
$STATE,8368,begin climb
$GC,8370,0.60,185.1,997.9,0.0,783,8539,0.52,2.30,160.27,1.177,4,0.033,0.049,3488,3098,2313,0,0,0,0,0,0
$GC,8583,0.52,185.1,974.2,19.7,793,8589,0.28,2.30,0.00,0.000,6,0.146,0.050,3419,1705,2308,0,0,0,0,0,0
$GC,8900,0.47,185.1,928.5,14.3,808,8902,0.08,0.00,0.00,0.000,6,0.207,0.000,3402,1705,2300,0,0,0,0,0,0
$GC,9209,0.44,185.1,889.0,12.5,823,9213,0.00,2.17,0.00,0.000,4,0.000,0.046,3401,3102,2298,0,0,0,0,0,0
$GC,9244,0.41,185.1,884.4,14.3,824,9252,0.10,2.22,0.00,0.000,6,0.168,0.053,3381,1694,2297,0,0,0,0,0,0
$GC,9560,0.40,185.1,848.9,11.1,840,9564,0.00,2.25,0.00,0.000,4,0.000,0.063,3391,293,2296,0,0,0,0,0,0
$GC,9586,0.38,185.1,845.6,12.3,841,9591,0.05,2.17,0.00,0.000,6,0.114,0.036,3369,1698,2295,0,0,0,0,0,0
$GC,9909,0.41,210.1,812.9,10.0,857,9934,0.00,2.22,20.10,1.129,4,0.000,0.049,3369,3112,2211,0,0,0,0,0,0
$GC,9962,0.43,217.7,806.9,10.7,859,9979,0.08,2.25,8.48,0.992,6,0.120,0.053,3445,1705,2179,0,0,0,0,0,0
$GC,10306,0.38,217.7,753.2,15.4,876,10311,0.22,2.28,0.00,0.000,4,0.135,0.061,3386,292,2174,0,0,0,0,0,0
$GC,10372,0.40,224.9,745.2,10.7,879,10389,0.00,2.12,7.03,0.933,6,0.000,0.036,3386,1700,2150,0,0,0,0,0,0
$GC,10699,0.43,249.6,711.5,10.0,895,10724,0.00,0.00,23.12,1.065,6,0.000,0.000,3386,1700,2050,0,0,0,0,0,0
$GC,11026,0.47,285.9,679.9,9.5,911,11070,0.08,2.40,31.90,1.017,4,0.119,0.063,3475,293,1900,0,0,0,0,0,0
$GC,11117,0.44,285.9,665.5,16.6,915,11122,0.28,2.17,0.00,0.000,6,0.106,0.036,3385,1699,1895,0,0,0,0,0,0
$GC,11447,0.47,301.2,630.7,10.4,931,11465,0.08,0.00,13.40,0.970,6,0.123,0.000,3459,1701,1840,0,0,0,0,0,0
$GC,11779,0.44,301.2,574.0,17.3,954,11784,0.22,2.30,0.00,0.000,4,0.129,0.060,3396,290,1834,0,0,0,0,0,0
$GC,11798,0.41,301.2,570.9,16.2,955,11802,0.00,2.12,0.00,0.000,6,0.000,0.036,3396,1692,1833,0,0,0,0,0,0
$GC,12124,0.44,314.3,535.3,10.5,985,12141,0.00,2.30,11.93,0.920,4,0.000,0.061,3401,285,1785,0,0,0,0,0,0
$GC,12203,0.53,358.1,527.4,9.2,991,12247,0.08,2.12,38.20,0.927,6,0.118,0.036,3478,1681,1608,0,0,0,0,0,0
$GC,12574,0.49,358.1,459.4,18.6,1026,12579,0.22,2.22,0.00,0.000,4,0.124,0.043,3406,3110,1599,0,0,0,0,0,0
$GC,12595,0.48,358.1,455.6,15.5,1027,12602,0.00,2.33,0.00,0.000,6,0.000,0.053,3408,1669,1599,0,0,0,0,0,0
$GC,12921,0.60,426.4,428.2,8.3,1058,12983,0.10,2.30,56.33,0.868,4,0.094,0.061,3494,293,1327,0,0,0,0,0,0
$GC,13077,0.60,426.4,402.6,14.3,1071,13085,0.12,2.15,0.00,0.000,6,0.090,0.033,3445,1663,1321,0,0,0,0,0,0
$GC,13403,0.61,426.4,361.8,12.0,1102,13407,0.00,2.22,0.00,0.000,4,0.000,0.061,3453,289,1318,0,0,0,0,0,0
$GC,13456,0.65,428.7,355.8,10.9,1106,13460,0.00,2.08,0.00,0.000,6,0.000,0.033,3454,1658,1317,0,0,0,0,0,0
$GC,13787,0.67,428.7,312.5,12.4,1137,13791,0.00,2.17,0.00,0.000,4,0.000,0.060,3459,288,1317,0,0,0,0,0,0
$GC,13840,0.70,431.5,306.4,10.9,1141,13845,0.08,2.05,0.00,0.000,6,0.118,0.033,3534,1634,1317,0,0,0,0,0,0
$GC,14182,0.65,431.5,232.4,21.1,1198,14189,0.25,2.15,0.00,0.000,4,0.137,0.057,3465,290,1316,0,0,0,0,0,0
$GC,14219,0.65,431.5,225.7,14.7,1204,14228,0.00,2.03,0.00,0.000,6,0.000,0.031,3465,1625,1316,0,0,0,0,0,0
$GC,14569,0.68,438.8,187.0,10.7,1265,14587,0.00,2.17,9.35,0.623,4,0.000,0.057,3469,290,1278,0,0,0,0,0,0
$GC,14611,0.72,438.8,181.6,11.2,1272,14620,0.00,2.00,0.00,0.000,6,0.000,0.031,3469,1611,1278,0,0,0,0,0,0
$GC,14959,0.82,493.8,145.4,8.8,1333,15011,0.12,0.00,45.33,0.659,6,0.086,0.000,3579,1613,1052,0,0,0,0,0,0
$GC,15334,0.78,493.8,68.8,19.2,1400,15343,0.25,2.15,0.00,0.000,4,0.117,0.054,3496,286,1047,0,0,0,0,0,0
$GC,15384,0.98,594.8,62.8,7.0,1408,15467,0.15,2.00,76.72,0.592,6,0.041,0.029,3588,1618,642,0,0,0,0,0,0
$GC,15790,0.99,594.8,14.8,14.8,1479,15798,0.08,2.15,0.00,0.000,4,0.160,0.054,3573,285,638,0,0,0,0,0,0
$GC,15872,1.06,594.8,5.1,12.2,1493,15880,0.00,1.98,0.00,0.000,6,0.000,0.028,3573,1625,637,0,0,0,0,0,0
$STATE,15891,end climb,SURFACE_DEPTH_REACHED
$STATE,15891,begin surface coast
$FINISH,1.5,1.002698
$STATE,15919,end surface coast,CONTROL_FINISHED_OK
$STATE,15919,begin surface
$SM_CCo,15996,0.00,0.000,0,0,636,596.57
$SM_GC,2.29,8.35,0.00,0.00,0.017,0.000,0.000,103,1533,636,-9.69,-0.48,596.57
$IRIDIUM_FIX,2403.92,12631.87,261010,131300
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.1,49.712
$10V_AH,10.2,39.183
$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,25.075,152.125,650.500,0.000,0.000,55.979,61.896,215.452,0.500,0.000,18.486,3757.632,8263.683,720.309,3493.167,307.500,0.000,2152.092,0.000,3127.022,0.000,0.542,0.000
$DEVICE_MAMPS,207.315,92.565,1232.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1023.012,0.000,1252.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86823,1501
$CAP_FILE_SIZE,191577,0
$CFSIZE,260165632,231809024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 65.8,1
$GPS,261010,182331,2409.271,12658.027,89,1.1,89,-3.6