version: 66.08
glider: 168
mission: 2
dive: 318
start: 10 16 110 1 37 41
data:
$ID,168
$MISSION,2
$DIVE,318
$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,-3568.3252
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,161010,013125,2429.135,12709.841,41,1.4,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.4
$GPS2,161010,013714,2429.113,12709.865,12,1.4,12,-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,286.3,8362,-16.9,-11.111
$D_GRID,1000
$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,-185.1,0.0,0.0,0,83,0.00,0.00,-66.28,0.000,2,0.000,0.000,104,1524,2859,0,0,0,0,0,0
$GC,86,-0.60,-185.1,3.3,-5.3,9,125,10.48,2.25,-17.65,0.000,4,0.188,0.053,3042,2957,3826,0,0,0,0,0,0
$GC,223,-0.55,-185.1,38.8,-24.0,32,233,0.08,2.20,0.00,0.000,6,0.111,0.045,3071,1569,3827,0,0,0,0,0,0
$GC,550,-0.51,-185.1,110.5,-16.2,93,559,0.05,2.22,0.00,0.000,4,0.233,0.051,3087,166,3829,0,0,0,0,0,0
$GC,614,-0.52,-185.1,120.0,-13.1,104,623,0.00,2.10,0.00,0.000,6,0.000,0.038,3080,1531,3829,0,0,0,0,0,0
$GC,948,-0.51,-185.1,171.4,-13.5,165,954,0.00,2.20,0.00,0.000,4,0.000,0.045,3070,2966,3830,0,0,0,0,0,0
$GC,977,-0.51,-185.1,175.7,-13.1,170,986,0.03,2.22,0.00,0.000,6,0.125,0.043,3088,1540,3830,0,0,0,0,0,0
$GC,1322,-0.52,-185.1,211.8,-9.2,231,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1540,3830,0,0,0,0,0,0
$GC,1659,-0.53,-185.1,249.4,-12.9,292,1667,0.00,2.22,0.00,0.000,4,0.000,0.048,3081,2953,3830,0,0,0,0,0,0
$GC,1693,-0.56,-185.1,253.1,-11.6,297,1700,0.00,2.17,0.00,0.000,6,0.000,0.044,3081,1538,3830,0,0,0,0,0,0
$GC,2033,-0.58,-185.1,292.9,-9.9,358,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1538,3830,0,0,0,0,0,0
$GC,2367,-0.60,-185.1,326.2,-10.9,395,2371,0.08,2.22,0.00,0.000,4,0.125,0.047,2975,2968,3828,0,0,0,0,0,0
$GC,2411,-0.56,-185.1,333.7,-17.7,398,2419,0.25,2.22,0.00,0.000,6,0.093,0.046,3068,1546,3828,0,0,0,0,0,0
$GC,2739,-0.57,-185.1,373.3,-11.3,429,2743,0.00,2.12,0.00,0.000,4,0.000,0.052,3068,155,3827,0,0,0,0,0,0
$GC,2761,-0.58,-185.1,376.4,-11.7,430,2769,0.00,2.15,0.00,0.000,6,0.000,0.039,3064,1557,3827,0,0,0,0,0,0
$GC,3088,-0.59,-185.1,412.2,-10.5,461,3092,0.00,2.12,0.00,0.000,4,0.000,0.047,3054,2959,3826,0,0,0,0,0,0
$GC,3152,-0.64,-185.1,418.1,-8.0,466,3156,0.00,2.17,0.00,0.000,6,0.000,0.044,3054,1544,3825,0,0,0,0,0,0
$GC,3477,-0.64,-185.1,447.3,-9.0,496,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1543,3823,0,0,0,0,0,0
$GC,3799,-0.65,-185.1,476.4,-9.6,526,3803,0.00,2.17,0.00,0.000,4,0.000,0.047,3048,2959,3822,0,0,0,0,0,0
$GC,3842,-0.70,-185.1,480.5,-7.5,529,3850,0.05,2.20,0.00,0.000,6,0.058,0.046,2952,1555,3822,0,0,0,0,0,0
$GC,4168,-0.63,-185.1,540.9,-19.6,560,4172,0.28,2.20,0.00,0.000,4,0.123,0.055,3050,158,3820,0,0,0,0,0,0
$GC,4223,-0.67,-185.1,548.4,-9.8,564,4232,0.00,2.12,0.00,0.000,6,0.000,0.040,3050,1538,3820,0,0,0,0,0,0
$GC,4549,-0.68,-185.1,579.1,-9.6,595,4553,0.00,2.17,0.00,0.000,4,0.000,0.048,3044,2962,3818,0,0,0,0,0,0
$GC,4615,-0.73,-185.1,584.9,-7.6,600,4625,0.05,2.22,0.00,0.000,6,0.057,0.047,2950,1547,3817,0,0,0,0,0,0
$GC,4947,-0.67,-185.1,639.6,-17.6,621,4949,0.28,0.00,0.00,0.000,6,0.123,0.000,3040,1547,3815,0,0,0,0,0,0
$GC,5254,-0.68,-185.1,670.3,-9.6,636,5258,0.00,2.20,0.00,0.000,4,0.000,0.050,3034,2959,3813,0,0,0,0,0,0
$GC,5299,-0.72,-185.1,674.4,-8.3,638,5303,0.00,2.20,0.00,0.000,6,0.000,0.049,3035,1555,3813,0,0,0,0,0,0
$GC,5627,-0.74,-185.1,706.4,-9.9,654,5631,0.08,2.20,0.00,0.000,4,0.119,0.061,2937,165,3810,0,0,0,0,0,0
$GC,5681,-0.68,-185.1,715.7,-18.5,656,5691,0.30,2.15,0.00,0.000,6,0.104,0.043,3035,1546,3809,0,0,0,0,0,0
$GC,5998,-0.70,-185.1,748.2,-9.7,672,6002,0.00,2.20,0.00,0.000,4,0.000,0.052,3025,2969,3807,0,0,0,0,0,0
$GC,6071,-0.73,-185.1,754.7,-8.4,675,6075,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,1557,3806,0,0,0,0,0,0
$GC,6387,-0.74,-185.1,784.5,-9.3,690,6391,0.00,2.20,0.00,0.000,4,0.000,0.053,3018,2963,3804,0,0,0,0,0,0
$GC,6420,-0.77,-185.1,787.6,-8.6,691,6424,0.00,2.20,0.00,0.000,6,0.000,0.052,3018,1560,3803,0,0,0,0,0,0
$GC,6735,-0.77,-185.1,816.0,-8.7,706,6739,0.00,2.20,0.00,0.000,4,0.000,0.053,3017,2968,3802,0,0,0,0,0,0
$GC,6768,-0.79,-185.1,818.7,-7.8,707,6775,0.08,2.22,0.00,0.000,6,0.116,0.053,2933,1566,3801,0,0,0,0,0,0
$GC,7086,-0.73,-185.1,867.4,-15.5,723,7090,0.25,2.25,0.00,0.000,4,0.124,0.062,3022,157,3798,0,0,0,0,0,0
$GC,7118,-0.73,-185.1,871.8,-10.2,724,7128,0.00,2.20,0.00,0.000,6,0.000,0.043,3017,1562,3798,0,0,0,0,0,0
$GC,7435,-0.74,-185.1,897.0,-8.1,740,7439,0.00,2.20,0.00,0.000,4,0.000,0.053,3008,2963,3797,0,0,0,0,0,0
$GC,7480,-0.77,-185.1,900.5,-7.2,742,7484,0.00,2.20,0.00,0.000,6,0.000,0.053,3009,1566,3796,0,0,0,0,0,0
$GC,7807,-0.77,-185.1,929.7,-9.9,758,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1566,3794,0,0,0,0,0,0
$GC,8118,-0.77,-185.1,962.6,-10.9,773,8122,0.00,2.22,0.00,0.000,4,0.000,0.053,3003,2970,3792,0,0,0,0,0,0
$GC,8159,-0.80,-185.1,966.8,-9.5,775,8163,0.00,2.25,0.00,0.000,6,0.000,0.055,3003,1565,3792,0,0,0,0,0,0
$STATE,8468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8468,begin apogee
$GC,8474,0.00,0.0,1001.5,11.2,790,8630,0.68,0.00,147.88,1.237,4,0.084,0.000,3253,1717,3067,0,0,0,0,0,0
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8632,begin climb
$GC,8634,0.60,185.1,1008.0,0.0,797,8800,0.52,2.30,159.10,1.192,4,0.034,0.048,3487,3103,2313,0,0,0,0,0,0
$GC,8811,0.51,185.1,990.3,20.4,804,8816,0.30,2.38,0.00,0.000,6,0.146,0.049,3415,1699,2309,0,0,1,0,0,0
$GC,9129,0.47,185.1,940.2,15.5,819,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1698,2301,0,0,0,0,0,0
$GC,9437,0.42,185.1,894.7,14.4,834,9438,0.10,0.00,0.00,0.000,6,0.187,0.000,3388,1698,2299,0,0,0,0,0,0
$GC,9748,0.40,185.1,858.6,11.3,849,9752,0.00,2.28,0.00,0.000,4,0.000,0.063,3398,288,2297,0,0,0,0,0,0
$GC,9789,0.37,185.1,853.7,12.1,851,9793,0.10,2.15,0.00,0.000,6,0.150,0.037,3369,1701,2295,0,0,0,0,0,0
$GC,10124,0.43,239.1,821.9,8.9,867,10175,0.08,2.25,44.85,1.138,4,0.122,0.046,3452,3106,2091,0,0,0,0,0,0
$GC,10257,0.39,239.1,801.9,16.9,873,10262,0.28,2.28,0.00,0.000,6,0.132,0.052,3379,1706,2087,0,0,0,0,0,0
$GC,10586,0.42,265.1,769.1,10.1,889,10613,0.00,2.35,22.02,1.074,4,0.000,0.062,3388,286,1986,0,0,0,0,0,0
$GC,10640,0.45,281.9,762.9,10.4,891,10661,0.00,2.25,15.68,0.988,6,0.000,0.038,3388,1712,1918,0,0,0,0,0,0
$GC,10974,0.45,281.9,722.5,12.7,907,10978,0.00,2.20,0.00,0.000,4,0.000,0.049,3388,3109,1911,0,0,0,0,0,0
$GC,11001,0.46,281.9,718.6,13.4,908,11005,0.00,2.25,0.00,0.000,6,0.000,0.052,3392,1707,1910,0,0,0,0,0,0
$GC,11323,0.46,281.9,679.4,11.8,924,11327,0.00,2.28,0.00,0.000,4,0.000,0.063,3401,292,1908,0,0,0,0,0,0
$GC,11409,0.51,301.4,670.2,10.3,928,11435,0.00,2.17,16.83,1.039,6,0.000,0.038,3401,1705,1839,0,0,0,0,0,0
$GC,11741,0.51,301.4,627.4,13.7,944,11745,0.00,2.20,0.00,0.000,4,0.000,0.049,3401,3106,1835,0,0,0,0,0,0
$GC,11773,0.52,301.4,622.6,13.7,945,11780,0.00,2.28,0.00,0.000,6,0.000,0.052,3407,1690,1835,0,0,0,0,0,0
$GC,12094,0.52,301.4,579.9,12.5,968,12098,0.00,2.25,0.00,0.000,4,0.000,0.063,3416,285,1834,0,0,0,0,0,0
$GC,12177,0.57,328.8,570.4,10.0,975,12209,0.08,2.17,23.98,0.973,6,0.119,0.038,3485,1697,1726,0,0,0,0,0,0
$GC,12526,0.52,328.8,503.0,20.7,1008,12531,0.22,2.22,0.00,0.000,4,0.132,0.045,3414,3110,1721,0,0,0,0,0,0
$GC,12580,0.55,328.8,494.1,12.6,1012,12590,0.00,2.30,0.00,0.000,6,0.000,0.053,3417,1696,1720,0,0,0,0,0,0
$GC,12908,0.55,328.8,451.1,13.3,1043,12912,0.00,2.25,0.00,0.000,4,0.000,0.063,3427,290,1719,0,0,0,0,0,0
$GC,12992,0.57,328.8,440.5,11.1,1050,12996,0.00,2.12,0.00,0.000,6,0.000,0.037,3427,1686,1718,0,0,0,0,0,0
$GC,13324,0.57,328.8,399.6,12.0,1081,13328,0.00,2.22,0.00,0.000,4,0.000,0.061,3434,290,1718,0,0,0,0,0,0
$GC,13353,0.57,328.8,396.0,12.7,1083,13357,0.00,2.10,0.00,0.000,6,0.000,0.035,3434,1682,1717,0,0,0,0,0,0
$GC,13681,0.57,328.8,350.0,16.0,1113,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1684,1717,0,0,0,0,0,0
$GC,14007,0.57,328.8,303.1,11.9,1144,14011,0.00,2.20,0.00,0.000,4,0.000,0.060,3441,289,1717,0,0,0,0,0,0
$GC,14047,0.61,347.5,298.8,10.4,1148,14070,0.00,2.12,15.65,0.769,6,0.000,0.035,3441,1674,1651,0,0,0,0,0,0
$GC,14402,0.61,347.5,258.5,13.3,1211,14409,0.00,2.20,0.00,0.000,4,0.000,0.059,3450,284,1648,0,0,0,0,0,0
$GC,14432,0.61,347.5,254.1,13.4,1216,14441,0.00,2.12,0.00,0.000,6,0.000,0.034,3450,1667,1647,0,0,0,0,0,0
$GC,14774,0.61,352.2,206.4,10.9,1277,14788,0.00,2.25,5.35,0.555,4,0.000,0.044,3450,3104,1632,0,0,0,0,0,0
$GC,14825,0.75,430.6,201.3,7.9,1285,14898,0.12,2.28,64.25,0.716,6,0.083,0.047,3556,1656,1311,0,0,0,0,0,0
$GC,15223,0.69,430.6,112.9,22.8,1356,15232,0.28,2.20,0.00,0.000,4,0.133,0.054,3475,296,1305,0,0,0,0,0,0
$GC,15305,0.74,430.6,100.1,11.4,1370,15313,0.00,2.10,0.00,0.000,6,0.000,0.032,3475,1667,1304,0,0,0,0,0,0
$GC,15633,0.96,568.9,71.1,5.5,1431,15745,0.22,2.30,104.43,0.604,4,0.054,0.054,3603,293,747,0,0,0,0,0,0
$GC,15765,0.94,568.9,49.7,18.2,1449,15774,0.15,2.12,0.00,0.000,6,0.098,0.029,3547,1660,744,0,0,0,0,0,0
$GC,16094,0.97,568.9,9.4,12.3,1510,16102,0.00,2.20,0.00,0.000,4,0.000,0.054,3549,290,741,0,0,0,0,0,0
$STATE,16146,end climb,SURFACE_DEPTH_REACHED
$STATE,16146,begin surface coast
$FINISH,1.5,1.022010
$STATE,16158,end surface coast,CONTROL_FINISHED_OK
$STATE,16159,begin surface
$SM_CCo,16237,0.00,0.000,0,0,737,571.79
$SM_GC,1.52,8.40,0.00,0.00,0.021,0.000,0.000,104,1560,737,-9.70,0.34,571.79
$IRIDIUM_FIX,2422.84,12709.72,151010,202059
$TT8_MAMPS,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.2,40.030
$10V_AH,10.2,30.368
$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,23.825,154.550,620.000,0.000,0.000,28.458,42.978,152.715,0.500,0.000,14.900,3790.194,7860.806,685.409,3958.821,281.383,0.000,2137.067,0.000,3736.724,0.000,0.539,0.000
$DEVICE_MAMPS,233.325,63.495,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.564,0.000,2350.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,93454,1521
$CAP_FILE_SIZE,185772,0
$CFSIZE,260165632,236949504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.113,100.0,1
$GPS,161010,060930,2429.638,12708.536,38,1.0,38,-3.7