version: 66.08
glider: 168
mission: 2
dive: 323
start: 10 16 110 23 7 2
data:
$ID,168
$MISSION,2
$DIVE,323
$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,-3575.0879
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,161010,230031,2429.281,12705.302,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.9
$GPS2,161010,230619,2429.285,12705.384,10,1.6,14,-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,300.3,1473,-22.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.63,-109.7,0.0,0.0,0,73,0.00,0.00,-56.78,0.000,2,0.000,0.000,104,1532,3134,0,0,0,0,0,0
$GC,76,-0.72,-178.3,4.0,-6.4,8,107,10.27,2.22,-10.73,0.000,4,0.186,0.053,3011,2942,3800,0,0,0,0,0,0
$GC,185,-0.69,-178.3,42.9,-25.8,26,193,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,1572,3802,0,0,0,0,0,0
$GC,509,-0.64,-178.3,128.0,-23.7,87,519,0.12,2.22,0.00,0.000,4,0.164,0.050,3049,166,3804,0,0,0,0,0,0
$GC,549,-0.64,-178.3,135.3,-17.7,93,557,0.00,2.12,0.00,0.000,6,0.000,0.039,3040,1541,3804,0,0,0,0,0,0
$GC,877,-0.64,-178.3,191.8,-15.8,154,885,0.00,2.20,0.00,0.000,4,0.000,0.045,3030,2954,3805,0,0,0,0,0,0
$GC,957,-0.67,-178.3,203.4,-13.3,168,965,0.00,2.17,0.00,0.000,6,0.000,0.042,3030,1553,3805,0,0,0,0,0,0
$GC,1289,-0.67,-178.3,258.6,-15.3,229,1295,0.00,2.15,0.00,0.000,4,0.000,0.051,3030,162,3805,0,0,0,0,0,0
$GC,1347,-0.69,-178.3,267.3,-14.2,239,1355,0.00,2.12,0.00,0.000,6,0.000,0.038,3021,1563,3805,0,0,0,0,0,0
$GC,1677,-0.69,-178.3,320.7,-15.2,288,1681,0.00,2.12,0.00,0.000,4,0.000,0.045,3011,2959,3805,0,0,0,0,0,0
$GC,1712,-0.70,-178.3,325.6,-14.2,291,1716,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,1551,3805,0,0,0,0,0,0
$GC,2039,-0.70,-178.3,378.6,-16.7,321,2043,0.00,2.17,0.00,0.000,4,0.000,0.046,3004,2957,3804,0,0,0,0,0,0
$GC,2072,-0.72,-178.3,384.1,-14.6,323,2081,0.05,2.15,0.00,0.000,6,0.197,0.044,3022,1556,3803,0,0,0,0,0,0
$GC,2397,-0.74,-178.3,430.8,-13.2,354,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1556,3802,0,0,0,0,0,0
$GC,2718,-0.76,-178.3,473.2,-13.7,384,2722,0.00,2.15,0.00,0.000,4,0.000,0.055,3023,165,3800,0,0,0,0,0,0
$GC,2737,-0.78,-178.3,475.9,-13.8,385,2741,0.00,2.10,0.00,0.000,6,0.000,0.039,3014,1563,3800,0,0,0,0,0,0
$GC,3063,-0.79,-178.3,521.6,-14.3,415,3068,0.08,2.15,0.00,0.000,4,0.125,0.047,2892,2957,3799,0,0,0,0,0,0
$GC,3193,-0.76,-178.3,549.0,-20.8,426,3202,0.32,2.17,0.00,0.000,6,0.106,0.047,3006,1572,3798,0,0,0,0,0,0
$GC,3520,-0.78,-178.3,593.3,-12.8,457,3524,0.00,2.17,0.00,0.000,4,0.000,0.057,3006,167,3796,0,0,0,0,0,0
$GC,3560,-0.80,-178.3,598.5,-12.9,460,3564,0.00,2.15,0.00,0.000,6,0.000,0.040,2998,1579,3795,0,0,0,0,0,0
$GC,3887,-0.82,-178.3,639.5,-12.6,476,3891,0.00,2.12,0.00,0.000,4,0.000,0.047,2991,2958,3793,0,0,0,0,0,0
$GC,3919,-0.85,-178.3,643.9,-12.0,477,3926,0.00,2.17,0.00,0.000,6,0.000,0.048,2991,1578,3792,0,0,0,0,0,0
$GC,4237,-0.86,-178.3,688.2,-15.0,493,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1578,3790,0,0,0,0,0,0
$GC,4545,-0.88,-178.3,734.1,-14.5,508,4550,0.08,2.28,0.00,0.000,4,0.123,0.060,2884,158,3787,0,0,0,0,0,0
$GC,4565,-0.87,-178.3,737.1,-15.3,509,4570,0.32,2.17,0.00,0.000,6,0.132,0.042,2977,1570,3787,0,0,0,0,0,0
$GC,4893,-0.87,-178.3,787.4,-14.1,525,4897,0.00,2.17,0.00,0.000,4,0.000,0.052,2968,2958,3784,0,0,0,0,0,0
$GC,4915,-0.88,-178.3,790.8,-13.6,526,4919,0.00,2.20,0.00,0.000,6,0.000,0.052,2968,1566,3784,0,0,0,0,0,0
$GC,5242,-0.88,-178.3,837.0,-14.2,542,5246,0.00,2.22,0.00,0.000,4,0.000,0.061,2968,165,3781,0,0,0,0,0,0
$GC,5261,-0.88,-178.3,839.5,-14.2,543,5265,0.00,2.17,0.00,0.000,6,0.000,0.043,2958,1573,3781,0,0,0,0,0,0
$GC,5588,-0.88,-178.3,888.1,-14.6,559,5592,0.00,2.15,0.00,0.000,4,0.000,0.052,2947,2959,3779,0,0,0,0,0,0
$GC,5655,-0.90,-178.3,897.5,-12.5,562,5659,0.05,2.20,0.00,0.000,6,0.200,0.054,2964,1574,3778,0,0,0,0,0,0
$GC,5975,-0.90,-178.3,940.8,-13.6,578,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1574,3775,0,0,0,0,0,0
$GC,6288,-0.90,-178.3,981.3,-12.9,593,6292,0.00,2.28,0.00,0.000,4,0.000,0.064,2964,161,3773,0,0,0,0,0,0
$GC,6314,-0.90,-178.3,985.5,-13.9,594,6319,0.00,2.22,0.00,0.000,6,0.000,0.044,2956,1575,3772,0,0,0,0,0,0
$STATE,6428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6428,begin apogee
$GC,6433,0.00,0.0,1000.5,13.4,600,6587,0.85,0.00,143.70,1.238,4,0.099,0.000,3257,1719,3067,0,0,0,0,0,0
$STATE,6588,end apogee,CONTROL_FINISHED_OK
$STATE,6588,begin climb
$GC,6590,0.72,178.3,1004.6,0.0,607,6752,0.60,2.42,152.50,1.185,4,0.029,0.060,3539,292,2341,0,0,0,0,0,0
$GC,6919,0.63,178.3,944.3,24.5,622,6924,0.28,2.20,0.00,0.000,6,0.144,0.034,3458,1703,2329,0,0,0,0,0,0
$GC,7247,0.59,178.3,884.4,17.9,638,7252,0.08,2.28,0.00,0.000,4,0.207,0.059,3450,284,2324,0,0,0,0,0,0
$GC,7380,0.56,178.3,862.5,15.7,644,7384,0.08,2.15,0.00,0.000,6,0.181,0.036,3430,1700,2323,0,0,0,0,0,0
$GC,7702,0.55,178.3,817.6,13.8,660,7706,0.00,2.20,0.00,0.000,4,0.000,0.047,3430,3116,2321,0,0,0,0,0,0
$GC,7747,0.54,178.3,810.9,14.2,662,7752,0.08,2.25,0.00,0.000,6,0.204,0.050,3422,1702,2320,0,0,0,0,0,0
$GC,8069,0.53,178.3,769.8,12.7,678,8073,0.00,2.17,0.00,0.000,4,0.000,0.046,3423,3110,2319,0,0,0,0,0,0
$GC,8095,0.52,178.3,765.6,14.2,679,8099,0.00,2.25,0.00,0.000,6,0.000,0.050,3432,1691,2319,0,0,0,0,0,0
$GC,8418,0.50,178.3,716.6,16.1,695,8423,0.08,2.22,0.00,0.000,4,0.201,0.047,3413,3110,2317,0,0,0,0,0,0
$GC,8444,0.50,178.3,712.0,15.6,696,8448,0.00,2.25,0.00,0.000,6,0.000,0.050,3421,1709,2317,0,0,0,0,0,0
$GC,8766,0.50,178.3,663.4,14.6,712,8770,0.00,2.17,0.00,0.000,4,0.000,0.047,3421,3108,2317,0,0,0,0,0,0
$GC,8815,0.50,178.3,655.9,14.4,714,8820,0.08,2.22,0.00,0.000,6,0.200,0.051,3413,1719,2316,0,0,0,0,0,0
$GC,9136,0.50,178.3,617.1,11.5,730,9140,0.00,2.28,0.00,0.000,4,0.000,0.062,3423,283,2315,0,0,0,0,0,0
$GC,9199,0.51,178.3,609.9,11.3,733,9203,0.00,2.20,0.00,0.000,6,0.000,0.036,3423,1725,2314,0,0,0,0,0,0
$GC,9525,0.51,178.3,572.2,12.1,759,9529,0.00,2.12,0.00,0.000,4,0.000,0.047,3422,3112,2314,0,0,0,0,0,0
$GC,9563,0.51,178.3,566.8,12.8,762,9568,0.08,2.20,0.00,0.000,6,0.197,0.051,3414,1713,2314,0,0,0,0,0,0
$GC,9895,0.54,191.6,530.4,10.2,793,9908,0.00,2.33,8.25,0.860,4,0.000,0.061,3424,291,2286,0,0,0,0,0,0
$GC,9953,0.56,202.6,524.3,10.4,798,9969,0.00,2.15,11.05,0.897,6,0.000,0.036,3424,1717,2242,0,0,0,0,0,0
$GC,10295,0.58,205.5,487.0,10.9,830,10299,0.00,2.17,0.00,0.000,4,0.000,0.047,3424,3111,2238,0,0,0,0,0,0
$GC,10358,0.59,205.5,479.4,12.7,835,10362,0.00,2.22,0.00,0.000,6,0.000,0.051,3434,1714,2238,0,0,0,0,0,0
$GC,10685,0.59,205.5,436.3,13.4,865,10690,0.00,2.25,0.00,0.000,4,0.000,0.060,3445,292,2238,0,0,0,0,0,0
$GC,10725,0.59,205.5,430.4,14.4,868,10729,0.00,2.17,0.00,0.000,6,0.000,0.035,3445,1722,2236,0,0,0,0,0,0
$GC,11050,0.59,205.5,387.0,12.5,898,11054,0.00,2.15,0.00,0.000,4,0.000,0.046,3445,3117,2236,0,0,0,0,0,0
$GC,11090,0.59,205.5,381.8,13.9,901,11094,0.00,2.20,0.00,0.000,6,0.000,0.050,3455,1718,2236,0,0,0,0,0,0
$GC,11416,0.59,205.5,340.6,11.7,931,11420,0.00,2.15,0.00,0.000,4,0.000,0.045,3454,3109,2236,0,0,0,0,0,0
$GC,11445,0.59,205.5,337.0,13.2,933,11450,0.10,2.17,0.00,0.000,6,0.174,0.048,3435,1723,2236,0,0,0,0,0,0
$GC,11772,0.60,205.5,299.1,11.7,963,11779,0.00,2.15,0.00,0.000,4,0.000,0.045,3435,3109,2236,0,0,0,0,0,0
$GC,11845,0.62,205.5,290.0,12.2,976,11853,0.00,2.17,0.00,0.000,6,0.000,0.048,3443,1737,2236,0,0,0,0,0,0
$GC,12181,0.66,231.0,253.7,9.4,1037,12216,0.08,2.33,25.12,0.737,4,0.124,0.056,3523,297,2124,0,0,0,0,0,0
$GC,12342,0.63,231.0,227.7,16.9,1065,12349,0.22,2.17,0.00,0.000,6,0.130,0.032,3452,1741,2121,0,0,0,0,0,0
$GC,12674,0.68,259.9,190.8,9.1,1126,12710,0.05,2.15,24.77,0.686,4,0.171,0.041,3514,3105,2006,0,0,0,0,0,0
$GC,12724,0.66,259.9,184.7,13.1,1133,12732,0.20,2.17,0.00,0.000,6,0.144,0.046,3464,1726,2003,0,0,0,0,0,0
$GC,13054,0.68,261.9,151.5,11.0,1194,13062,0.00,2.30,0.00,0.000,4,0.000,0.055,3475,293,2000,0,0,0,0,0,0
$GC,13128,0.72,272.8,143.6,10.4,1207,13145,0.00,2.20,10.98,0.606,6,0.000,0.033,3475,1729,1954,0,0,0,0,0,0
$GC,13465,0.77,296.4,109.2,9.5,1269,13497,0.10,2.33,20.98,0.614,4,0.095,0.054,3589,293,1858,0,0,0,0,0,0
$GC,13516,0.73,296.4,101.6,17.7,1276,13525,0.30,2.20,0.00,0.000,6,0.103,0.032,3483,1722,1855,0,0,0,0,0,0
$GC,13846,0.80,326.4,65.8,9.1,1337,13876,0.08,0.00,24.50,0.583,6,0.125,0.000,3568,1725,1737,0,0,0,0,0,0
$GC,14195,0.80,326.4,18.4,12.9,1401,14203,0.20,2.30,0.00,0.000,4,0.127,0.051,3511,289,1733,0,0,0,0,0,0
$GC,14228,0.92,395.4,15.7,6.4,1406,14288,0.08,2.17,54.00,0.555,6,0.042,0.028,3599,1733,1455,0,0,0,0,0,0
$STATE,14310,end climb,SURFACE_DEPTH_REACHED
$STATE,14311,begin surface coast
$FINISH,1.2,1.022022
$STATE,14329,end surface coast,CONTROL_FINISHED_OK
$STATE,14329,begin surface
$SM_CCo,14346,5.82,0.068,0,0,1437,400.08
$SM_GC,2.78,0.00,0.00,5.82,0.000,0.000,0.068,102,1532,1437,-9.85,-0.51,400.08
$IRIDIUM_FIX,2422.84,12704.51,161010,191940
$TT8_MAMPS,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.3,40.801
$10V_AH,10.3,31.203
$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,23.525,150.025,475.850,5.825,0.000,25.098,39.171,157.051,0.250,0.000,17.210,3579.783,6602.427,545.398,3729.538,255.497,0.000,1871.821,0.000,3499.351,0.000,0.539,0.000
$DEVICE_MAMPS,207.315,69.615,1237.770,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.867,0.000,2223.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334120
$DATA_FILE_SIZE,87186,1421
$CAP_FILE_SIZE,171430,0
$CFSIZE,260165632,236519424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,104.4,1
$GPS,171010,030831,2430.021,12704.636,99,1.2,99,-3.7