version: 66.08
glider: 168
mission: 2
dive: 336
start: 10 19 110 6 20 6
data:
$ID,168
$MISSION,2
$DIVE,336
$N_DIVES,348
$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,-3592.5681
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,191010,061425,2430.525,12704.988,36,1.2,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-74.3
$GPS2,191010,061938,2430.514,12705.076,12,1.3,12,-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,236.4,961,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-72.6,0.0,0.0,0,68,0.00,0.00,-50.78,0.000,2,0.000,0.000,104,1537,2895,0,0,0,0,0,0
$GC,71,-0.79,-147.1,3.2,-3.4,7,103,10.00,2.15,-14.70,0.000,4,0.178,0.063,2990,169,3670,0,0,0,0,0,0
$GC,186,-0.74,-147.1,39.9,-32.8,26,195,0.10,2.12,0.00,0.000,6,0.142,0.036,3013,1542,3672,0,0,0,0,0,0
$GC,512,-0.73,-147.1,121.8,-20.1,87,519,0.00,2.20,0.00,0.000,4,0.000,0.039,3003,2966,3674,0,0,0,0,0,0
$GC,592,-0.76,-147.1,136.7,-17.1,101,601,0.00,2.20,0.00,0.000,6,0.000,0.042,3004,1557,3675,0,0,0,0,0,0
$GC,925,-0.76,-147.1,205.7,-17.5,162,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1556,3676,0,0,0,0,0,0
$GC,1253,-0.76,-147.1,267.9,-18.2,223,1260,0.00,2.17,0.00,0.000,4,0.000,0.044,2993,2968,3676,0,0,0,0,0,0
$GC,1269,-0.77,-147.1,270.6,-17.3,225,1277,0.00,2.17,0.00,0.000,6,0.000,0.041,2993,1549,3676,0,0,0,0,0,0
$GC,1605,-0.78,-147.1,336.1,-19.7,270,1609,0.00,2.20,0.00,0.000,4,0.000,0.043,2983,2964,3676,0,0,0,0,0,0
$GC,1656,-0.81,-147.1,345.7,-18.4,274,1660,0.00,2.15,0.00,0.000,6,0.000,0.044,2983,1565,3676,0,0,0,0,0,0
$GC,1981,-0.82,-147.1,404.6,-16.9,304,1985,0.00,2.15,0.00,0.000,4,0.000,0.051,2983,159,3675,0,0,0,0,0,0
$GC,2031,-0.84,-147.1,413.3,-17.0,308,2035,0.00,2.12,0.00,0.000,6,0.000,0.038,2973,1563,3675,0,0,0,0,0,0
$GC,2356,-0.85,-147.1,470.3,-17.2,338,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1565,3673,0,0,0,0,0,0
$GC,2677,-0.86,-147.1,521.8,-15.6,368,2681,0.00,2.12,0.00,0.000,4,0.000,0.045,2963,2961,3672,0,0,0,0,0,0
$GC,2732,-0.90,-147.1,530.7,-14.7,372,2739,0.00,2.20,0.00,0.000,6,0.000,0.045,2963,1540,3672,0,0,0,0,0,0
$GC,3058,-0.91,-147.1,580.6,-14.9,403,3062,0.00,2.20,0.00,0.000,4,0.000,0.047,2954,2957,3670,0,0,0,0,0,0
$GC,3102,-0.95,-147.1,587.6,-14.9,406,3109,0.00,2.20,0.00,0.000,6,0.000,0.046,2954,1560,3669,0,0,0,0,0,0
$GC,3431,-0.96,-147.1,644.0,-18.1,426,3435,0.00,2.17,0.00,0.000,4,0.000,0.056,2954,166,3667,0,0,0,0,0,0
$GC,3499,-0.98,-147.1,656.0,-16.5,429,3503,0.00,2.12,0.00,0.000,6,0.000,0.041,2943,1556,3666,0,0,0,0,0,0
$GC,3826,-0.99,-147.1,711.1,-16.9,445,3830,0.00,2.17,0.00,0.000,4,0.000,0.047,2932,2958,3664,0,0,0,0,0,0
$GC,3847,-1.00,-147.1,714.0,-16.2,446,3851,0.00,2.20,0.00,0.000,6,0.000,0.048,2932,1552,3664,0,0,0,0,0,0
$GC,4173,-1.00,-147.1,767.9,-16.3,462,4177,0.00,2.17,0.00,0.000,4,0.000,0.048,2922,2961,3661,0,0,0,0,0,0
$GC,4207,-1.01,-147.1,773.5,-16.3,463,4214,0.00,2.20,0.00,0.000,6,0.000,0.048,2922,1559,3661,0,0,0,0,0,0
$GC,4523,-1.01,-147.1,830.3,-18.0,479,4527,0.00,2.20,0.00,0.000,4,0.000,0.060,2922,161,3657,0,0,0,0,0,0
$GC,4550,-1.01,-147.1,835.8,-19.4,480,4555,0.03,2.17,0.00,0.000,6,0.192,0.043,2922,1554,3657,0,0,0,0,0,0
$GC,4877,-1.01,-147.1,892.2,-16.7,496,4881,0.00,2.20,0.00,0.000,4,0.000,0.050,2911,2966,3654,0,0,0,0,0,0
$GC,4932,-1.03,-147.1,901.1,-14.9,498,4940,0.00,2.22,0.00,0.000,6,0.000,0.050,2911,1556,3653,0,0,0,0,0,0
$GC,5248,-1.03,-147.1,952.7,-16.4,514,5252,0.00,2.20,0.00,0.000,4,0.000,0.050,2900,2963,3651,0,0,0,0,0,0
$GC,5275,-1.03,-147.1,957.5,-16.0,515,5279,0.08,2.22,0.00,0.000,6,0.174,0.051,2922,1555,3651,0,0,0,0,0,0
$STATE,5497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5497,begin apogee
$GC,5502,0.00,0.0,993.4,16.6,526,5632,0.93,0.00,119.32,1.231,4,0.102,0.000,3248,1713,3068,0,0,0,0,0,0
$STATE,5632,end apogee,CONTROL_FINISHED_OK
$STATE,5632,begin climb
$GC,5634,0.79,147.1,998.9,0.0,532,5768,0.70,2.28,125.72,1.180,4,0.029,0.047,3559,3108,2467,0,0,0,0,0,0
$GC,5787,0.72,147.1,984.3,20.3,539,5792,0.30,2.35,0.00,0.000,6,0.165,0.047,3488,1698,2463,0,0,0,0,0,0
$GC,6115,0.69,147.1,922.9,18.6,555,6119,0.00,2.17,0.00,0.000,4,0.000,0.041,3487,3109,2455,0,0,0,0,0,0
$GC,6256,0.67,147.1,894.9,19.1,561,6261,0.12,2.22,0.00,0.000,6,0.184,0.047,3466,1706,2455,0,0,0,0,0,0
$GC,6572,0.66,147.1,839.9,16.7,576,6576,0.00,2.17,0.00,0.000,4,0.000,0.043,3466,3109,2451,0,0,0,0,0,0
$GC,6604,0.64,147.1,834.0,17.1,577,6613,0.08,2.22,0.00,0.000,6,0.205,0.049,3458,1705,2451,0,0,0,0,0,0
$GC,6920,0.64,147.1,782.6,16.4,593,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1705,2449,0,0,0,0,0,0
$GC,7229,0.64,147.1,729.8,17.1,608,7233,0.00,2.17,0.00,0.000,4,0.000,0.044,3458,3104,2447,0,0,0,0,0,0
$GC,7413,0.64,147.1,696.8,16.1,616,7417,0.00,2.20,0.00,0.000,6,0.000,0.050,3468,1725,2447,0,0,0,0,0,0
$GC,7735,0.64,147.1,644.7,16.1,632,7739,0.00,2.30,0.00,0.000,4,0.000,0.060,3480,286,2444,0,0,0,0,0,0
$GC,7746,0.62,147.1,642.8,15.9,632,7753,0.10,2.17,0.00,0.000,6,0.168,0.035,3452,1719,2443,0,0,0,0,0,0
$GC,8061,0.62,147.1,600.9,13.2,648,8065,0.00,2.15,0.00,0.000,4,0.000,0.045,3452,3113,2444,0,0,0,0,0,0
$GC,8093,0.62,147.1,595.8,14.9,650,8101,0.00,2.22,0.00,0.000,6,0.000,0.050,3462,1724,2444,0,0,0,0,0,0
$GC,8419,0.62,147.1,548.6,14.8,681,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1724,2443,0,0,0,0,0,0
$GC,8739,0.62,147.1,505.7,13.4,711,8743,0.00,2.12,0.00,0.000,4,0.000,0.044,3463,3113,2441,0,0,0,0,0,0
$GC,8923,0.62,147.1,480.4,13.0,727,8928,0.08,2.20,0.00,0.000,6,0.202,0.048,3454,1717,2441,0,0,0,0,0,0
$GC,9250,0.64,147.9,442.7,10.9,757,9254,0.00,2.12,0.00,0.000,4,0.000,0.044,3454,3108,2441,0,0,0,0,0,0
$GC,9401,0.65,147.9,424.0,13.8,770,9405,0.00,2.15,0.00,0.000,6,0.000,0.050,3464,1740,2441,0,0,0,0,0,0
$GC,9726,0.66,147.9,382.3,12.1,800,9730,0.00,2.30,0.00,0.000,4,0.000,0.059,3475,286,2441,0,0,0,0,0,0
$GC,9775,0.66,147.9,376.1,11.7,804,9779,0.00,2.20,0.00,0.000,6,0.000,0.035,3475,1736,2439,0,0,0,0,0,0
$GC,10100,0.66,147.9,336.5,11.8,834,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1738,2439,0,0,0,0,0,0
$GC,10420,0.67,152.0,301.0,10.6,864,10424,0.00,2.10,0.00,0.000,4,0.000,0.044,3475,3110,2439,0,0,0,0,0,0
$GC,10631,0.67,152.0,277.3,12.9,902,10640,0.05,2.17,0.00,0.000,6,0.154,0.047,3467,1739,2439,0,0,0,0,0,0
$GC,10965,0.72,170.4,240.8,9.1,963,10986,0.00,2.17,16.15,0.707,4,0.000,0.041,3467,3112,2373,0,0,0,0,0,0
$GC,11054,0.76,185.8,232.3,9.4,978,11076,0.03,2.17,14.48,0.692,6,0.097,0.045,3547,1743,2309,0,0,0,0,0,0
$GC,11404,0.74,185.8,179.1,15.9,1041,11412,0.20,2.33,0.00,0.000,4,0.155,0.053,3499,282,2305,0,0,0,0,0,0
$GC,11453,0.75,185.8,172.2,12.9,1049,11461,0.00,2.20,0.00,0.000,6,0.000,0.032,3499,1739,2304,0,0,0,0,0,0
$GC,11785,0.77,194.4,135.9,10.1,1110,11801,0.00,2.12,7.82,0.564,4,0.000,0.041,3499,3107,2276,0,0,0,0,0,0
$GC,11893,0.79,194.4,123.8,11.2,1129,11902,0.00,2.17,0.00,0.000,6,0.000,0.044,3508,1730,2276,0,0,0,0,0,0
$GC,12222,0.84,219.8,90.8,8.4,1190,12252,0.00,2.28,22.38,0.601,4,0.000,0.051,3519,286,2171,0,0,0,0,0,0
$GC,12309,0.86,223.0,82.3,10.7,1204,12318,0.00,2.22,4.07,0.402,6,0.000,0.031,3520,1739,2158,0,0,0,0,0,0
$GC,12639,0.98,283.0,52.0,4.9,1265,12693,0.12,2.17,48.28,0.584,4,0.078,0.039,3624,3107,1913,0,0,0,0,0,0
$GC,12759,0.97,283.0,39.1,16.1,1284,12768,0.22,2.17,0.00,0.000,6,0.130,0.043,3560,1743,1910,0,0,0,0,0,0
$STATE,13068,end climb,SURFACE_DEPTH_REACHED
$STATE,13068,begin surface coast
$FINISH,0.9,1.015675
$STATE,13098,end surface coast,CONTROL_FINISHED_OK
$STATE,13098,begin surface
$SM_CCo,13115,67.10,0.483,1,0,1437,400.08
$SM_GC,1.67,0.00,0.00,67.10,0.000,0.000,0.483,104,1533,1437,-9.84,-0.51,400.08
$IRIDIUM_FIX,2422.84,12709.72,191010,020243
$TT8_MAMPS,0.026215
$HUMID,44.48
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.4,42.634
$10V_AH,10.3,33.240
$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,21.500,123.225,358.225,67.100,0.000,30.688,16.068,143.217,0.250,0.000,15.656,3374.078,6047.461,518.095,3309.790,248.621,0.000,1724.889,0.000,3116.918,0.000,0.539,0.000
$DEVICE_MAMPS,205.020,62.730,1230.885,483.480,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.740,0.000,1729.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80272,1347
$CAP_FILE_SIZE,152892,0
$CFSIZE,260165632,235397120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.216, 91.4,1
$GPS,191010,100107,2429.452,12705.431,36,1.2,36,-3.7