version: 66.08
glider: 168
mission: 2
dive: 376
start: 10 26 110 23 15 33
data:
$ID,168
$MISSION,2
$DIVE,376
$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,-3645.1514
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,261010,230821,2407.744,12658.840,92,2.1,111,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.2
$GPS2,261010,231508,2407.795,12658.833,10,1.9,10,-3.6
$SPEED_LIMITS,0.191,0.298
$TGT_NAME,DOGLEG
$TGT_LATLONG,2300.000,12700.000
$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,214.3,125572,-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,17,-0.60,-185.1,0.0,0.0,0,78,0.00,0.00,-59.20,0.000,2,0.000,0.000,105,1532,2481,0,0,0,0,0,0
$GC,81,-0.60,-185.1,3.0,-0.7,10,125,10.20,2.20,-28.62,0.000,4,0.177,0.061,3046,163,3826,0,0,0,0,0,0
$GC,215,-0.56,-185.1,31.6,-18.3,33,224,0.12,2.10,0.00,0.000,6,0.146,0.037,3074,1540,3828,0,0,0,0,0,0
$GC,559,-0.52,-185.1,101.0,-17.4,94,566,0.00,2.20,0.00,0.000,4,0.000,0.045,3064,2965,3828,0,0,0,0,0,0
$GC,585,-0.49,-185.1,105.5,-17.6,98,592,0.10,2.15,0.00,0.000,6,0.129,0.041,3099,1562,3828,0,0,0,0,0,0
$GC,931,-0.50,-185.1,150.4,-12.8,159,937,0.00,2.15,0.00,0.000,4,0.000,0.046,3092,2957,3828,0,0,0,0,0,0
$GC,961,-0.52,-185.1,154.0,-11.7,164,967,0.00,2.15,0.00,0.000,6,0.000,0.042,3092,1557,3829,0,0,0,0,0,0
$GC,1304,-0.53,-185.1,189.9,-9.3,225,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1556,3828,0,0,0,0,0,0
$GC,1650,-0.54,-185.1,226.1,-11.5,286,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1556,3829,0,0,0,0,0,0
$GC,1992,-0.57,-185.1,259.0,-8.8,347,1999,0.08,2.20,0.00,0.000,4,0.125,0.048,2983,2957,3827,0,0,0,0,0,0
$GC,2040,-0.53,-185.1,265.4,-15.2,355,2047,0.30,2.15,0.00,0.000,6,0.109,0.044,3088,1560,3828,0,0,0,0,0,0
$GC,2385,-0.56,-185.1,298.5,-9.8,416,2392,0.00,2.17,0.00,0.000,4,0.000,0.054,3088,161,3826,0,0,0,0,0,0
$GC,2413,-0.60,-185.1,301.4,-9.8,420,2420,0.10,2.12,0.00,0.000,6,0.096,0.037,2990,1565,3826,0,0,0,0,0,0
$GC,2739,-0.54,-185.1,357.5,-17.6,451,2743,0.25,2.15,0.00,0.000,4,0.108,0.044,3075,2966,3825,0,0,0,0,0,0
$GC,2793,-0.60,-185.1,363.2,-7.2,455,2800,0.00,2.12,0.00,0.000,6,0.000,0.041,3075,1559,3825,0,0,0,0,0,0
$GC,3119,-0.63,-185.1,389.2,-8.7,486,3121,0.10,0.00,0.00,0.000,6,0.093,0.000,2962,1558,3823,0,0,0,0,0,0
$GC,3436,-0.56,-185.1,448.4,-19.1,516,3441,0.30,2.17,0.00,0.000,4,0.113,0.044,3060,2957,3822,0,0,0,0,0,0
$GC,3481,-0.60,-185.1,453.8,-8.6,519,3488,0.00,2.12,0.00,0.000,6,0.000,0.044,3060,1563,3822,0,0,0,0,0,0
$GC,3809,-0.62,-185.1,481.8,-8.1,550,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1563,3820,0,0,0,0,0,0
$GC,4136,-0.65,-185.1,506.5,-7.7,581,4140,0.00,2.15,0.00,0.000,4,0.000,0.047,3053,2956,3818,0,0,0,0,0,0
$GC,4181,-0.70,-185.1,509.8,-6.6,584,4188,0.10,2.15,0.00,0.000,6,0.090,0.044,2950,1566,3817,0,0,0,0,0,0
$GC,4506,-0.64,-185.1,561.9,-15.9,615,4511,0.28,2.17,0.00,0.000,4,0.120,0.045,3038,2957,3815,0,0,0,0,0,0
$GC,4539,-0.65,-185.1,565.7,-9.1,617,4546,0.00,2.12,0.00,0.000,6,0.000,0.047,3038,1572,3815,0,0,0,0,0,0
$GC,4864,-0.67,-185.1,592.7,-8.6,648,4868,0.00,2.17,0.00,0.000,4,0.000,0.056,3038,167,3813,0,0,0,0,0,0
$GC,4882,-0.68,-185.1,594.4,-8.9,649,4886,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,1576,3813,0,0,0,0,0,0
$GC,5218,-0.69,-185.1,626.9,-10.2,668,5222,0.00,2.12,0.00,0.000,4,0.000,0.050,3036,2960,3811,0,0,0,0,0,0
$GC,5292,-0.74,-185.1,633.7,-8.4,671,5296,0.08,2.12,0.00,0.000,6,0.117,0.046,2938,1578,3810,0,0,0,0,0,0
$GC,5609,-0.67,-185.1,690.6,-18.5,686,5611,0.30,0.00,0.00,0.000,6,0.121,0.000,3037,1578,3808,0,0,0,0,0,0
$GC,5917,-0.69,-185.1,719.4,-8.4,701,5921,0.00,2.15,0.00,0.000,4,0.000,0.051,3036,2957,3805,0,0,0,0,0,0
$GC,5940,-0.72,-185.1,721.2,-7.9,702,5944,0.00,2.15,0.00,0.000,6,0.000,0.049,3036,1589,3805,0,0,0,0,0,0
$GC,6262,-0.74,-185.1,746.2,-8.1,718,6264,0.08,0.00,0.00,0.000,6,0.119,0.000,2942,1588,3802,0,0,0,0,0,0
$GC,6571,-0.69,-185.1,792.6,-15.0,733,6576,0.25,2.25,0.00,0.000,4,0.119,0.058,3032,165,3799,0,0,0,0,0,0
$GC,6620,-0.71,-185.1,798.4,-8.9,735,6624,0.00,2.20,0.00,0.000,6,0.000,0.041,3027,1595,3799,0,0,0,0,0,0
$GC,6937,-0.73,-185.1,826.7,-9.2,750,6941,0.00,2.12,0.00,0.000,4,0.000,0.051,3020,2958,3796,0,0,0,0,0,0
$GC,6965,-0.75,-185.1,829.3,-9.0,751,6969,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,1591,3796,0,0,0,0,0,0
$GC,7282,-0.77,-185.1,859.7,-9.8,766,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1590,3795,0,0,0,0,0,0
$GC,7591,-0.78,-185.1,890.2,-9.6,781,7593,0.08,0.00,0.00,0.000,6,0.118,0.000,2925,1590,3793,0,0,0,0,0,0
$GC,7900,-0.72,-185.1,941.3,-17.0,796,7902,0.30,0.00,0.00,0.000,6,0.116,0.000,3025,1590,3791,0,0,0,0,0,0
$GC,8210,-0.74,-185.1,967.4,-7.4,811,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1590,3789,0,0,0,0,0,0
$GC,8519,-0.76,-185.1,988.6,-6.5,826,8523,0.00,2.15,0.00,0.000,4,0.000,0.053,3023,2956,3787,0,0,0,0,0,0
$STATE,8538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8545,0.00,0.0,990.1,6.3,827,8700,0.60,0.00,149.57,1.230,4,0.073,0.000,3256,1698,3068,0,0,0,0,0,0
$STATE,8701,end apogee,CONTROL_FINISHED_OK
$STATE,8701,begin climb
$GC,8703,0.60,185.1,993.5,0.0,834,8872,0.50,2.40,160.10,1.170,4,0.031,0.060,3492,293,2312,0,0,0,0,0,0
$GC,9064,0.51,185.1,935.9,21.1,851,9069,0.25,2.17,0.00,0.000,6,0.128,0.034,3413,1710,2301,0,0,0,0,0,0
$GC,9393,0.47,185.1,890.0,13.2,867,9397,0.00,2.28,0.00,0.000,4,0.000,0.060,3424,292,2296,0,0,0,0,0,0
$GC,9533,0.44,185.1,871.4,12.8,873,9538,0.12,2.15,0.00,0.000,6,0.137,0.034,3385,1699,2295,0,0,0,0,0,0
$GC,9850,0.42,185.1,837.6,11.0,888,9854,0.00,2.17,0.00,0.000,4,0.000,0.047,3385,3107,2293,0,0,0,0,0,0
$GC,9905,0.41,185.1,830.9,11.6,890,9912,0.00,2.22,0.00,0.000,6,0.000,0.050,3392,1702,2293,0,0,0,0,0,0
$GC,10222,0.40,185.1,793.7,11.9,906,10226,0.00,2.25,0.00,0.000,4,0.000,0.062,3402,285,2292,0,0,0,0,0,0
$GC,10271,0.38,185.1,787.4,12.3,908,10276,0.10,2.15,0.00,0.000,6,0.142,0.036,3371,1697,2291,0,0,0,0,0,0
$GC,10593,0.41,204.3,754.3,10.2,924,10615,0.00,2.25,14.20,1.066,4,0.000,0.050,3371,3127,2234,0,0,0,0,0,0
$GC,10654,0.42,204.3,747.5,11.4,926,10661,0.00,2.30,0.00,0.000,6,0.000,0.052,3376,1691,2233,0,0,0,0,0,0
$GC,10970,0.47,243.4,716.3,9.4,942,11014,0.10,2.30,35.88,1.069,4,0.097,0.060,3477,293,2073,0,0,0,0,0,0
$GC,11064,0.42,243.4,701.3,16.4,946,11069,0.25,2.20,0.00,0.000,6,0.098,0.035,3389,1688,2068,0,0,0,0,0,0
$GC,11393,0.45,262.1,667.2,10.3,962,11412,0.00,0.00,16.17,0.994,6,0.000,0.000,3389,1691,1998,0,0,0,0,0,0
$GC,11721,0.45,262.1,631.4,11.2,978,11725,0.00,2.28,0.00,0.000,4,0.000,0.063,3397,288,1992,0,0,0,0,0,0
$GC,11753,0.46,262.1,627.5,11.6,979,11760,0.00,2.15,0.00,0.000,6,0.000,0.036,3397,1692,1991,0,0,0,0,0,0
$GC,12072,0.48,278.4,593.1,10.3,998,12092,0.00,0.00,14.20,0.973,6,0.000,0.000,3397,1693,1932,0,0,0,0,0,0
$GC,12411,0.50,291.1,557.2,10.5,1030,12428,0.00,2.30,11.77,0.925,4,0.000,0.062,3404,288,1883,0,0,0,0,0,0
$GC,12467,0.56,313.8,550.9,10.1,1034,12497,0.10,2.15,21.65,0.934,6,0.092,0.036,3494,1694,1787,0,0,0,0,0,0
$GC,12814,0.51,313.8,487.0,18.6,1067,12819,0.25,2.20,0.00,0.000,4,0.127,0.043,3408,3110,1781,0,0,0,0,0,0
$GC,12842,0.51,313.8,482.2,15.3,1069,12846,0.00,2.30,0.00,0.000,6,0.000,0.053,3411,1683,1779,0,0,0,0,0,0
$GC,13168,0.57,355.0,449.6,9.3,1099,13213,0.08,2.35,34.92,0.903,4,0.121,0.061,3492,288,1618,0,0,0,0,0,0
$GC,13282,0.56,355.0,433.0,13.4,1109,13287,0.20,2.12,0.00,0.000,6,0.108,0.034,3425,1678,1614,0,0,0,0,0,0
$GC,13607,0.58,355.0,398.1,11.1,1139,13611,0.00,2.22,0.00,0.000,4,0.000,0.060,3433,291,1612,0,0,0,0,0,0
$GC,13658,0.64,373.0,392.4,10.3,1143,13682,0.08,2.08,15.23,0.818,6,0.113,0.033,3510,1671,1547,0,0,0,0,0,0
$GC,13999,0.59,373.0,325.5,19.2,1175,14004,0.22,2.22,0.00,0.000,4,0.125,0.057,3449,290,1543,0,0,0,0,0,0
$GC,14028,0.58,373.0,320.8,15.0,1177,14032,0.00,2.08,0.00,0.000,6,0.000,0.032,3449,1662,1542,0,0,0,0,0,0
$GC,14361,0.59,373.0,282.1,11.7,1220,14367,0.00,2.17,0.00,0.000,4,0.000,0.058,3457,286,1541,0,0,0,0,0,0
$GC,14420,0.64,390.5,275.4,10.3,1230,14446,0.00,2.03,15.48,0.729,6,0.000,0.032,3457,1647,1474,0,0,0,0,0,0
$GC,14784,0.66,390.5,234.1,11.7,1294,14790,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1647,1472,0,0,0,0,0,0
$GC,15126,0.72,422.8,197.0,9.7,1355,15164,0.10,2.22,27.60,0.684,4,0.098,0.057,3570,289,1343,0,0,0,0,0,0
$GC,15245,0.68,422.8,173.9,19.6,1375,15252,0.30,2.03,0.00,0.000,6,0.099,0.031,3466,1643,1340,0,0,0,0,0,0
$GC,15590,0.82,505.7,140.4,7.7,1436,15666,0.15,2.25,65.43,0.646,4,0.070,0.057,3597,292,1004,0,0,0,0,0,0
$GC,15679,0.76,505.7,122.9,22.0,1450,15686,0.32,2.03,0.00,0.000,6,0.106,0.028,3489,1636,1003,0,0,0,0,0,0
$GC,16025,0.93,575.3,89.5,8.2,1511,16086,0.17,2.20,53.35,0.604,4,0.064,0.055,3592,290,721,0,0,0,0,0,0
$GC,16121,0.95,575.3,75.5,13.5,1527,16128,0.12,2.00,0.00,0.000,6,0.109,0.028,3544,1627,719,0,0,0,0,0,0
$GC,16465,1.00,575.3,44.3,12.3,1588,16472,0.10,2.12,0.00,0.000,4,0.096,0.054,3625,282,718,0,0,0,0,0,0
$GC,16496,1.03,575.3,39.6,15.9,1593,16505,0.15,2.00,0.00,0.000,6,0.116,0.028,3573,1629,717,0,0,0,0,0,0
$GC,16841,1.06,575.3,8.5,14.5,1654,16848,0.08,2.10,0.00,0.000,4,0.123,0.054,3665,289,717,0,0,0,0,0,0
$STATE,16887,end climb,SURFACE_DEPTH_REACHED
$STATE,16887,begin surface coast
$FINISH,1.5,1.008510
$STATE,16910,end surface coast,CONTROL_FINISHED_OK
$STATE,16910,begin surface
$SM_CCo,16989,0.00,0.000,0,0,714,577.44
$SM_GC,2.37,8.73,0.00,0.00,0.028,0.000,0.000,105,1585,714,-9.70,0.99,577.44
$IRIDIUM_FIX,2359.20,12659.28,261010,181829
$TT8_MAMPS,0.026215
$HUMID,45.23
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.2,50.099
$10V_AH,10.2,39.427
$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,26.075,142.875,635.550,0.000,0.000,23.385,47.179,206.179,0.500,0.000,13.204,4098.882,9241.828,753.995,2991.254,297.696,0.000,2212.075,0.000,2695.687,0.000,0.540,0.000
$DEVICE_MAMPS,177.480,62.730,1230.120,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333864
$DATA_FILE_SIZE,93588,1666
$CAP_FILE_SIZE,196379,0
$CFSIZE,260165632,231608320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 62.2,1
$GPS,271010,040037,2406.607,12658.529,79,0.8,79,-3.6