version: 66.08
glider: 168
mission: 2
dive: 324
start: 10 17 110 3 15 5
data:
$ID,168
$MISSION,2
$DIVE,324
$N_DIVES,331
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,-3576.4404
$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,45
$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
$GPS1,171010,030831,2430.021,12704.636,99,1.2,99,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-72.5
$GPS2,171010,031437,2430.034,12704.696,10,1.6,28,-3.7
$SPEED_LIMITS,0.192,0.299
$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,95.7,516,-27.4,-11.111
$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,14,begin dive
$GC,16,-0.70,-73.7,0.0,0.0,0,68,0.00,0.00,-50.25,0.000,2,0.000,0.000,104,1531,2916,0,0,0,0,0,0
$GC,71,-0.77,-132.5,3.4,-5.2,7,102,10.05,2.15,-12.77,0.000,4,0.178,0.060,2997,183,3610,0,0,0,0,0,0
$GC,126,-0.69,-132.5,22.7,-39.2,15,135,0.12,2.10,0.00,0.000,6,0.129,0.038,3030,1533,3611,0,0,0,0,0,0
$GC,453,-0.68,-132.5,112.3,-20.1,76,460,0.00,2.22,0.00,0.000,4,0.000,0.044,3020,2958,3613,0,0,0,0,0,0
$GC,558,-0.71,-132.5,130.5,-14.4,95,566,0.00,2.17,0.00,0.000,6,0.000,0.043,3020,1568,3614,0,0,0,0,0,0
$GC,887,-0.72,-132.5,193.3,-17.7,156,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1567,3616,0,0,0,0,0,0
$GC,1222,-0.74,-132.5,253.0,-18.0,217,1229,0.00,2.15,0.00,0.000,4,0.000,0.051,3019,163,3616,0,0,0,0,0,0
$GC,1273,-0.77,-132.5,262.1,-16.9,226,1281,0.00,2.15,0.00,0.000,6,0.000,0.039,3010,1562,3616,0,0,0,0,0,0
$GC,1608,-0.79,-132.5,316.4,-17.1,279,1612,0.00,2.12,0.00,0.000,4,0.000,0.045,3001,2960,3616,0,0,0,0,0,0
$GC,1705,-0.84,-132.5,330.6,-13.9,287,1710,0.08,2.12,0.00,0.000,6,0.116,0.043,2897,1560,3616,0,0,0,0,0,0
$GC,2031,-0.79,-132.5,409.7,-24.8,317,2036,0.30,2.15,0.00,0.000,4,0.137,0.042,2988,2961,3614,0,0,0,0,0,0
$GC,2050,-0.76,-132.5,414.2,-24.4,318,2054,0.08,2.12,0.00,0.000,6,0.160,0.044,3010,1570,3614,0,0,0,0,0,0
$GC,2375,-0.79,-132.5,461.6,-13.5,348,2379,0.00,2.15,0.00,0.000,4,0.000,0.053,3011,167,3613,0,0,0,0,0,0
$GC,2451,-0.84,-132.5,472.3,-13.2,354,2460,0.05,2.15,0.00,0.000,6,0.061,0.039,2915,1569,3612,0,0,0,0,0,0
$GC,2778,-0.81,-132.5,531.6,-18.9,385,2782,0.25,2.12,0.00,0.000,4,0.140,0.045,2991,2959,3610,0,0,0,0,0,0
$GC,2917,-0.87,-132.5,550.0,-12.6,397,2921,0.00,2.12,0.00,0.000,6,0.000,0.046,2991,1571,3610,0,0,0,0,0,0
$GC,3244,-0.90,-132.5,597.7,-15.1,427,3248,0.10,2.15,0.00,0.000,4,0.095,0.047,2859,2958,3608,0,0,0,0,0,0
$GC,3264,-0.90,-132.5,602.0,-17.2,428,3269,0.25,2.17,0.00,0.000,6,0.112,0.046,2964,1575,3608,0,0,0,0,0,0
$GC,3592,-0.91,-132.5,653.5,-15.3,444,3596,0.00,2.20,0.00,0.000,4,0.000,0.057,2965,160,3605,0,0,0,0,0,0
$GC,3611,-0.93,-132.5,656.4,-15.6,445,3615,0.00,2.17,0.00,0.000,6,0.000,0.041,2955,1577,3605,0,0,0,0,0,0
$GC,3939,-0.94,-132.5,705.9,-15.3,461,3943,0.00,2.12,0.00,0.000,4,0.000,0.049,2944,2963,3602,0,0,0,0,0,0
$GC,3994,-0.97,-132.5,714.3,-14.0,463,4000,0.00,2.17,0.00,0.000,6,0.000,0.048,2944,1573,3602,0,0,0,0,0,0
$GC,4311,-0.98,-132.5,765.1,-15.9,479,4315,0.00,2.20,0.00,0.000,4,0.000,0.058,2944,165,3598,0,0,0,0,0,0
$GC,4332,-0.98,-132.5,769.2,-16.8,480,4336,0.00,2.17,0.00,0.000,6,0.000,0.042,2934,1566,3598,0,0,0,0,0,0
$GC,4660,-0.98,-132.5,823.6,-16.2,496,4664,0.00,2.17,0.00,0.000,4,0.000,0.051,2923,2961,3596,0,0,0,0,0,0
$GC,4703,-0.99,-132.5,830.8,-15.6,498,4707,0.00,2.17,0.00,0.000,6,0.000,0.050,2923,1576,3595,0,0,0,0,0,0
$GC,5031,-0.99,-132.5,884.0,-16.1,514,5035,0.00,2.25,0.00,0.000,4,0.000,0.060,2923,162,3592,0,0,0,0,0,0
$GC,5063,-0.99,-132.5,889.6,-16.2,515,5070,0.08,2.17,0.00,0.000,6,0.197,0.043,2932,1582,3592,0,0,0,0,0,0
$GC,5380,-1.00,-132.5,936.9,-15.1,531,5384,0.00,2.12,0.00,0.000,4,0.000,0.051,2921,2959,3590,0,0,0,0,0,0
$GC,5444,-1.02,-132.5,946.0,-14.3,534,5448,0.00,2.15,0.00,0.000,6,0.000,0.052,2921,1583,3589,0,0,0,0,0,0
$GC,5771,-1.02,-132.5,996.0,-15.0,550,5775,0.00,2.15,0.00,0.000,4,0.000,0.052,2911,2960,3586,0,0,0,0,0,0
$STATE,5796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5796,begin apogee
$GC,5803,0.00,0.0,1000.3,15.6,551,5916,0.98,0.00,106.78,1.244,4,0.102,0.000,3254,1699,3067,0,0,0,0,0,0
$STATE,5917,end apogee,CONTROL_FINISHED_OK
$STATE,5917,begin climb
$GC,5919,0.77,132.5,1003.1,0.0,556,6042,0.60,2.35,113.95,1.185,4,0.022,0.047,3550,3104,2527,0,0,0,0,0,0
$GC,6291,0.70,132.5,934.5,22.7,573,6296,0.30,2.25,0.00,0.000,6,0.166,0.047,3475,1698,2516,0,0,0,0,0,0
$GC,6615,0.68,132.5,877.8,17.5,589,6619,0.00,2.22,0.00,0.000,4,0.000,0.057,3486,293,2511,0,0,0,0,0,0
$GC,6748,0.64,132.5,854.2,17.9,595,6753,0.10,2.17,0.00,0.000,6,0.165,0.034,3458,1716,2507,0,0,0,0,0,0
$GC,7077,0.63,132.5,800.1,16.0,611,7081,0.00,2.12,0.00,0.000,4,0.000,0.045,3458,3106,2507,0,0,0,0,0,0
$GC,7183,0.62,132.5,782.4,16.7,616,7188,0.08,2.20,0.00,0.000,6,0.210,0.050,3451,1704,2507,0,0,0,0,0,0
$GC,7510,0.62,132.5,732.1,14.8,632,7514,0.00,2.22,0.00,0.000,4,0.000,0.060,3462,293,2505,0,0,0,0,0,0
$GC,7530,0.61,132.5,728.5,16.2,633,7535,0.03,2.17,0.00,0.000,6,0.180,0.034,3452,1707,2504,0,0,0,0,0,0
$GC,7859,0.61,132.5,679.3,14.8,649,7863,0.00,2.17,0.00,0.000,4,0.000,0.046,3452,3113,2503,0,0,0,0,0,0
$GC,7935,0.61,132.5,667.3,14.5,652,7945,0.03,2.22,0.00,0.000,6,0.195,0.050,3453,1726,2504,0,0,0,0,0,0
$GC,8252,0.61,132.5,626.6,12.3,668,8255,0.00,2.15,0.00,0.000,4,0.000,0.046,3453,3112,2502,0,0,0,0,0,0
$GC,8278,0.61,132.5,623.1,13.3,669,8283,0.08,2.20,0.00,0.000,6,0.202,0.050,3445,1705,2503,0,0,0,0,0,0
$GC,8605,0.61,132.5,583.0,12.4,691,8609,0.00,2.17,0.00,0.000,4,0.000,0.046,3445,3105,2501,0,0,0,0,0,0
$GC,8646,0.61,132.5,577.6,13.8,694,8650,0.00,2.20,0.00,0.000,6,0.000,0.050,3455,1715,2501,0,0,0,0,0,0
$GC,8970,0.61,132.5,536.7,11.3,724,8974,0.00,2.15,0.00,0.000,4,0.000,0.046,3455,3105,2500,0,0,0,0,0,0
$GC,9020,0.61,132.5,530.9,11.9,728,9025,0.08,2.17,0.00,0.000,6,0.203,0.050,3448,1719,2500,0,0,0,0,0,0
$GC,9346,0.63,147.6,497.8,9.6,758,9360,0.00,2.22,9.10,0.860,4,0.000,0.045,3448,3111,2466,0,0,0,0,0,0
$GC,9475,0.64,147.6,483.8,12.9,769,9479,0.00,2.20,0.00,0.000,6,0.000,0.051,3458,1728,2466,0,0,0,0,0,0
$GC,9802,0.64,147.6,439.3,14.4,799,9806,0.00,2.28,0.00,0.000,4,0.000,0.060,3469,290,2464,0,0,0,0,0,0
$GC,9843,0.64,147.6,433.0,15.5,802,9847,0.00,2.15,0.00,0.000,6,0.000,0.034,3469,1724,2462,0,0,0,0,0,0
$GC,10168,0.65,156.0,393.9,10.3,832,10180,0.00,0.00,8.55,0.778,6,0.000,0.000,3469,1726,2432,0,0,0,0,0,0
$GC,10497,0.65,156.0,358.8,11.3,863,10501,0.00,2.10,0.00,0.000,4,0.000,0.044,3469,3106,2431,0,0,0,0,0,0
$GC,10628,0.65,156.0,342.6,11.7,874,10638,0.05,2.20,0.00,0.000,6,0.160,0.047,3462,1724,2430,0,0,0,0,0,0
$GC,10956,0.68,166.9,308.2,10.0,905,10972,0.00,2.17,10.95,0.739,4,0.000,0.044,3462,3107,2387,0,0,0,0,0,0
$GC,11034,0.71,174.7,299.9,10.3,912,11050,0.00,2.20,8.45,0.695,6,0.000,0.046,3472,1721,2355,0,0,0,0,0,0
$GC,11375,0.72,174.7,257.7,13.2,974,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1721,2352,0,0,0,0,0,0
$GC,11706,0.77,196.3,219.4,8.9,1035,11734,0.10,2.30,19.20,0.703,4,0.098,0.055,3579,298,2266,0,0,0,0,0,0
$GC,11785,0.72,196.3,208.3,14.2,1048,11794,0.28,2.17,0.00,0.000,6,0.114,0.032,3484,1713,2262,0,0,0,0,0,0
$GC,12119,0.75,196.3,171.0,13.2,1109,12126,0.00,2.12,0.00,0.000,4,0.000,0.043,3484,3111,2262,0,0,0,0,0,0
$GC,12146,0.77,196.3,167.2,13.0,1113,12154,0.00,2.15,0.00,0.000,6,0.000,0.044,3493,1715,2261,0,0,0,0,0,0
$GC,12479,0.80,201.3,127.5,10.6,1174,12495,0.00,2.22,4.80,0.474,4,0.000,0.041,3493,3115,2247,0,0,0,0,0,0
$GC,12555,0.83,207.6,119.0,10.5,1187,12571,0.00,2.20,7.18,0.539,6,0.000,0.044,3502,1720,2222,0,0,0,0,0,0
$GC,12891,0.86,210.1,85.1,10.9,1249,12902,0.08,2.30,3.72,0.385,4,0.122,0.052,3591,286,2211,0,0,0,0,0,0
$GC,12963,0.83,210.1,75.8,12.7,1261,12972,0.20,2.15,0.00,0.000,6,0.116,0.030,3519,1712,2209,0,0,0,0,0,0
$GC,13292,0.89,241.2,49.3,8.0,1322,13325,0.08,2.20,26.75,0.571,4,0.118,0.039,3595,3110,2084,0,0,0,0,0,0
$GC,13491,0.88,241.2,29.3,11.2,1357,13500,0.20,2.17,0.00,0.000,6,0.127,0.041,3536,1725,2081,0,0,0,0,0,0
$STATE,13765,end climb,SURFACE_DEPTH_REACHED
$STATE,13765,begin surface coast
$FINISH,1.0,1.022278
$STATE,13789,end surface coast,CONTROL_FINISHED_OK
$STATE,13790,begin surface
$SM_CCo,13806,89.15,0.448,1,0,1436,400.08
$SM_GC,1.76,0.00,0.00,89.15,0.000,0.000,0.448,104,1547,1436,-9.84,-0.06,400.08
$IRIDIUM_FIX,2422.84,12731.52,161010,232316
$TT8_MAMPS,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.4,40.919
$10V_AH,10.2,31.372
$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,22.900,139.600,319.425,89.150,0.000,27.544,44.065,154.708,0.250,0.000,31.095,3567.582,6089.987,521.372,3811.926,271.814,0.000,1815.917,0.000,3582.636,0.000,0.539,0.000
$DEVICE_MAMPS,209.610,74.970,1243.890,448.290,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.842,0.000,2284.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,86816,1412
$CAP_FILE_SIZE,166243,0
$CFSIZE,260165632,236433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155, 96.9,1
$GPS,171010,070824,2429.767,12707.761,60,1.0,60,-3.7