version: 66.08
glider: 168
mission: 2
dive: 330
start: 10 18 110 5 20 41
data:
$ID,168
$MISSION,2
$DIVE,330
$N_DIVES,340
$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,-3584.4519
$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,37
$R_STBD_OVSHOOT,40
$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
$GPS1,181010,050725,2430.130,12704.686,69,0.9,69,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.8
$GPS2,181010,052013,2430.117,12704.862,8,1.0,8,-3.7
$SPEED_LIMITS,0.191,0.298
$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,161.7,318,-27.4,-11.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-72.6,0.0,0.0,0,74,0.00,0.00,-57.40,0.000,2,0.000,0.000,104,1533,3132,0,0,0,0,0,0
$GC,77,-0.76,-123.2,3.7,-5.9,8,102,10.15,2.17,-7.70,0.000,4,0.182,0.059,3000,170,3575,0,0,0,0,0,0
$GC,226,-0.70,-123.2,55.3,-32.0,34,235,0.10,2.12,0.00,0.000,6,0.137,0.040,3024,1538,3577,0,0,0,0,0,0
$GC,551,-0.70,-123.2,128.3,-23.3,95,559,0.00,2.20,0.00,0.000,4,0.000,0.042,3014,2960,3579,0,0,0,0,0,0
$GC,646,-0.74,-123.2,148.2,-17.8,112,655,0.00,2.17,0.00,0.000,6,0.000,0.042,3014,1563,3579,0,0,0,0,0,0
$GC,986,-0.74,-123.2,208.3,-16.6,173,993,0.00,2.17,0.00,0.000,4,0.000,0.051,3013,156,3580,0,0,0,0,0,0
$GC,1027,-0.75,-123.2,215.6,-17.6,180,1035,0.00,2.15,0.00,0.000,6,0.000,0.038,3004,1558,3580,0,0,0,0,0,0
$GC,1370,-0.75,-123.2,277.5,-18.9,241,1376,0.00,2.15,0.00,0.000,4,0.000,0.044,2994,2966,3579,0,0,0,0,0,0
$GC,1485,-0.78,-123.2,295.9,-15.1,261,1492,0.00,2.12,0.00,0.000,6,0.000,0.041,2994,1570,3579,0,0,0,0,0,0
$GC,1812,-0.78,-123.2,350.4,-15.9,294,1816,0.00,2.10,0.00,0.000,4,0.000,0.044,2985,2961,3578,0,0,0,0,0,0
$GC,1831,-0.80,-123.2,352.8,-14.6,295,1835,0.00,2.12,0.00,0.000,6,0.000,0.043,2985,1561,3578,0,0,0,0,0,0
$GC,2157,-0.80,-123.2,400.6,-16.2,325,2161,0.00,2.15,0.00,0.000,4,0.000,0.053,2984,169,3577,0,0,0,0,0,0
$GC,2201,-0.82,-123.2,408.9,-18.3,328,2210,0.03,2.12,0.00,0.000,6,0.181,0.039,2985,1561,3576,0,0,0,0,0,0
$GC,2528,-0.83,-123.2,461.2,-15.1,359,2532,0.00,2.15,0.00,0.000,4,0.000,0.046,2975,2960,3575,0,0,0,0,0,0
$GC,2635,-0.86,-123.2,475.9,-13.6,368,2638,0.00,2.12,0.00,0.000,6,0.000,0.044,2975,1568,3575,0,0,0,0,0,0
$GC,2960,-0.88,-123.2,521.6,-15.2,398,2964,0.00,2.12,0.00,0.000,4,0.000,0.045,2965,2957,3572,0,0,0,0,0,0
$GC,3011,-0.90,-123.2,529.0,-14.2,402,3015,0.00,2.12,0.00,0.000,6,0.000,0.044,2965,1578,3572,0,0,0,0,0,0
$GC,3336,-0.92,-123.2,579.1,-14.6,432,3340,0.00,2.12,0.00,0.000,4,0.000,0.046,2955,2959,3569,0,0,0,0,0,0
$GC,3398,-0.94,-123.2,587.6,-13.0,437,3402,0.00,2.12,0.00,0.000,6,0.000,0.046,2955,1582,3569,0,0,0,0,0,0
$GC,3717,-0.95,-123.2,634.8,-16.4,456,3721,0.00,2.22,0.00,0.000,4,0.000,0.056,2955,163,3566,0,0,0,0,0,0
$GC,3782,-0.96,-123.2,646.7,-17.0,459,3787,0.00,2.17,0.00,0.000,6,0.000,0.040,2945,1571,3565,0,0,0,0,0,0
$GC,4111,-0.96,-123.2,702.5,-16.4,475,4115,0.00,2.12,0.00,0.000,4,0.000,0.049,2935,2957,3562,0,0,0,0,0,0
$GC,4155,-0.98,-123.2,709.8,-15.0,477,4159,0.00,2.15,0.00,0.000,6,0.000,0.048,2934,1564,3562,0,0,0,0,0,0
$GC,4482,-0.98,-123.2,763.6,-15.8,493,4486,0.00,2.17,0.00,0.000,4,0.000,0.048,2924,2956,3559,0,0,0,0,0,0
$GC,4531,-0.99,-123.2,771.4,-15.4,495,4535,0.00,2.15,0.00,0.000,6,0.000,0.050,2924,1573,3558,0,0,0,0,0,0
$GC,4853,-0.99,-123.2,818.8,-14.6,511,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1572,3556,0,0,0,0,0,0
$GC,5162,-0.99,-123.2,863.3,-14.6,526,5166,0.00,2.15,0.00,0.000,4,0.000,0.050,2913,2957,3553,0,0,0,0,0,0
$GC,5189,-0.99,-123.2,867.7,-15.4,527,5194,0.05,2.17,0.00,0.000,6,0.134,0.051,2944,1593,3553,0,0,0,0,0,0
$GC,5512,-1.00,-123.2,910.3,-13.5,543,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1592,3550,0,0,0,0,0,0
$GC,5820,-1.02,-123.2,953.1,-14.1,558,5825,0.08,2.15,0.00,0.000,4,0.120,0.051,2848,2961,3548,0,0,0,0,0,0
$GC,5891,-0.99,-123.2,966.1,-18.6,561,5896,0.28,2.20,0.00,0.000,6,0.125,0.053,2937,1570,3546,0,0,0,0,0,0
$STATE,6066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6066,begin apogee
$GC,6072,0.00,0.0,991.1,13.7,570,6182,0.90,0.00,98.20,1.238,4,0.106,0.000,3252,1714,3067,0,0,0,0,0,0
$STATE,6183,end apogee,CONTROL_FINISHED_OK
$STATE,6183,begin climb
$GC,6184,0.76,123.2,992.9,0.0,575,6300,0.65,2.40,105.40,1.183,4,0.028,0.060,3546,290,2565,0,0,0,0,0,0
$GC,6485,0.68,123.2,942.4,22.8,588,6493,0.25,2.17,0.00,0.000,6,0.149,0.033,3473,1700,2553,0,0,0,0,0,0
$GC,6802,0.66,123.2,887.7,16.5,604,6806,0.00,2.28,0.00,0.000,4,0.000,0.057,3483,282,2549,0,0,0,0,0,0
$GC,6991,0.63,123.2,855.3,17.1,612,6999,0.08,2.17,0.00,0.000,6,0.135,0.034,3448,1701,2547,0,0,0,0,0,0
$GC,7308,0.62,123.2,809.2,13.7,628,7312,0.00,2.15,0.00,0.000,4,0.000,0.046,3448,3106,2545,0,0,0,0,0,0
$GC,7402,0.62,123.2,795.5,14.7,632,7406,0.00,2.22,0.00,0.000,6,0.000,0.049,3459,1712,2544,0,0,0,0,0,0
$GC,7724,0.60,123.2,749.7,15.0,648,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1712,2542,0,0,0,0,0,0
$GC,8034,0.59,123.2,704.6,14.5,663,8037,0.00,2.15,0.00,0.000,4,0.000,0.044,3459,3104,2541,0,0,0,0,0,0
$GC,8074,0.58,123.2,698.2,16.3,665,8079,0.12,2.20,0.00,0.000,6,0.182,0.049,3435,1705,2541,0,0,0,0,0,0
$GC,8401,0.58,123.2,655.7,11.7,681,8405,0.00,2.17,0.00,0.000,4,0.000,0.047,3435,3104,2540,0,0,0,0,0,0
$GC,8523,0.58,123.2,640.8,11.5,686,8530,0.00,2.17,0.00,0.000,6,0.000,0.050,3446,1713,2540,0,0,0,0,0,0
$GC,8839,0.58,123.2,605.8,11.4,702,8843,0.00,2.25,0.00,0.000,4,0.000,0.059,3457,294,2538,0,0,0,0,0,0
$GC,8918,0.58,123.2,596.1,12.5,706,8922,0.08,2.10,0.00,0.000,6,0.194,0.034,3438,1703,2537,0,0,0,0,0,0
$GC,9243,0.59,123.2,559.3,11.3,736,9247,0.00,2.17,0.00,0.000,4,0.000,0.047,3438,3110,2537,0,0,0,0,0,0
$GC,9320,0.59,123.2,550.0,11.9,742,9328,0.00,2.22,0.00,0.000,6,0.000,0.050,3450,1717,2536,0,0,0,0,0,0
$GC,9645,0.59,123.2,513.0,11.5,773,9649,0.00,2.12,0.00,0.000,4,0.000,0.046,3449,3105,2536,0,0,0,0,0,0
$GC,9833,0.59,123.2,490.2,12.4,789,9837,0.08,2.17,0.00,0.000,6,0.205,0.050,3441,1714,2537,0,0,0,0,0,0
$GC,10160,0.61,128.7,456.8,10.4,819,10164,0.00,2.25,0.00,0.000,4,0.000,0.058,3452,293,2536,0,0,0,0,0,0
$GC,10222,0.62,128.7,450.2,11.4,824,10226,0.00,2.15,0.00,0.000,6,0.000,0.034,3452,1713,2535,0,0,0,0,0,0
$GC,10547,0.63,141.5,418.2,9.7,854,10564,0.00,2.17,11.43,0.835,4,0.000,0.045,3452,3095,2491,0,0,0,0,0,0
$GC,10749,0.64,141.5,394.7,12.3,872,10753,0.00,2.17,0.00,0.000,6,0.000,0.049,3463,1704,2490,0,0,0,0,0,0
$GC,11074,0.66,150.8,357.4,10.1,902,11089,0.00,2.30,9.60,0.767,4,0.000,0.057,3474,289,2452,0,0,0,0,0,0
$GC,11247,0.66,152.0,338.2,10.9,917,11251,0.00,2.12,0.00,0.000,6,0.000,0.033,3474,1708,2450,0,0,0,0,0,0
$GC,11574,0.67,154.3,303.4,10.8,947,11586,0.00,2.28,4.50,0.565,4,0.000,0.057,3484,285,2438,0,0,0,0,0,0
$GC,11627,0.67,154.3,296.9,12.2,953,11635,0.08,2.15,0.00,0.000,6,0.180,0.032,3464,1713,2437,0,0,0,0,0,0
$GC,11966,0.70,171.3,263.1,9.3,1014,11988,0.00,2.15,15.85,0.734,4,0.000,0.043,3464,3106,2369,0,0,0,0,0,0
$GC,12112,0.74,184.8,248.2,9.6,1039,12133,0.00,2.20,13.07,0.705,6,0.000,0.046,3473,1705,2313,0,0,0,0,0,0
$GC,12464,0.76,184.8,212.1,11.0,1102,12473,0.08,0.00,0.00,0.000,6,0.124,0.000,3566,1704,2311,0,0,0,0,0,0
$GC,12808,0.73,184.8,160.1,12.8,1163,12815,0.25,2.15,0.00,0.000,4,0.148,0.038,3483,3109,2310,0,0,0,0,0,0
$GC,12949,0.76,190.0,144.6,10.5,1188,12964,0.00,2.20,5.72,0.526,6,0.000,0.045,3494,1710,2292,0,0,0,0,0,0
$GC,13284,0.78,190.5,108.5,11.0,1250,13293,0.00,2.25,0.00,0.000,4,0.000,0.054,3503,290,2291,0,0,0,0,0,0
$GC,13333,0.82,205.5,103.4,9.5,1258,13356,0.00,2.15,14.02,0.599,6,0.000,0.031,3504,1716,2230,0,0,0,0,0,0
$GC,13677,0.88,228.4,77.4,8.7,1321,13709,0.10,2.30,20.17,0.594,4,0.096,0.050,3601,289,2134,0,0,0,0,0,0
$GC,13717,0.86,228.4,71.9,14.3,1326,13726,0.20,2.15,0.00,0.000,6,0.117,0.030,3530,1707,2132,0,0,0,0,0,0
$GC,14048,0.98,295.0,45.8,4.2,1387,14109,0.12,2.25,52.83,0.581,4,0.076,0.048,3644,286,1863,0,0,0,0,0,0
$GC,14167,0.96,295.0,30.1,17.2,1405,14175,0.25,2.17,0.00,0.000,6,0.123,0.029,3560,1706,1858,0,0,0,0,0,0
$STATE,14382,end climb,SURFACE_DEPTH_REACHED
$STATE,14383,begin surface coast
$FINISH,0.9,1.022232
$STATE,14411,end surface coast,CONTROL_FINISHED_OK
$STATE,14411,begin surface
$SM_CCo,14428,52.80,0.060,0,0,1437,400.08
$SM_GC,2.02,0.00,0.00,52.80,0.000,0.000,0.060,102,1547,1437,-9.85,-0.06,400.08
$IRIDIUM_FIX,2420.48,12706.40,181010,050539
$TT8_MAMPS,0.026964
$HUMID,44.76
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,23.5,41.799
$10V_AH,10.2,32.352
$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,22.425,135.400,350.800,52.800,0.000,115.836,153.909,176.224,0.250,0.000,11.057,3647.715,6939.485,512.812,3891.810,254.814,0.000,1848.732,0.000,3422.780,0.000,0.540,0.000
$DEVICE_MAMPS,205.020,71.145,1237.770,60.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,991.812,0.000,1823.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,86796,1450
$CAP_FILE_SIZE,170857,0
$CFSIZE,260165632,235896832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 93.3,1
$GPS,181010,092336,2428.683,12706.883,55,1.8,55,-3.7