version: 66.08
glider: 168
mission: 2
dive: 326
start: 10 17 110 11 59 59
data:
$ID,168
$MISSION,2
$DIVE,326
$N_DIVES,338
$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,-3579.1448
$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,50
$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
$GPS1,171010,115337,2429.733,12706.412,37,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.7
$GPS2,171010,115920,2429.776,12706.426,14,1.3,14,-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,290.6,2438,-19.6,-11.000
$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,-0.61,-138.2,0.0,0.0,0,96,0.00,0.00,-78.25,0.000,2,0.000,0.000,104,1520,3125,0,0,0,0,0,0
$GC,98,-0.66,-185.1,3.9,-6.5,11,130,10.15,2.15,-11.27,0.000,4,0.181,0.066,3036,188,3825,0,0,0,0,0,0
$GC,254,-0.58,-185.1,60.4,-32.6,38,263,0.10,2.10,0.00,0.000,6,0.113,0.037,3063,1541,3827,0,0,0,0,0,0
$GC,580,-0.56,-185.1,129.5,-21.9,99,588,0.00,2.20,0.00,0.000,4,0.000,0.041,3053,2962,3829,0,0,0,0,0,0
$GC,654,-0.59,-185.1,140.7,-12.3,112,663,0.00,2.15,0.00,0.000,6,0.000,0.041,3053,1581,3829,0,0,0,0,0,0
$GC,985,-0.58,-185.1,190.0,-14.2,173,993,0.00,2.20,0.00,0.000,4,0.000,0.051,3053,163,3829,0,0,0,0,0,0
$GC,1012,-0.57,-185.1,194.0,-14.9,177,1020,0.10,2.12,0.00,0.000,6,0.155,0.039,3077,1561,3830,0,0,0,0,0,0
$GC,1346,-0.59,-185.1,234.7,-12.7,238,1354,0.00,2.17,0.00,0.000,4,0.000,0.045,3068,2959,3830,0,0,0,0,0,0
$GC,1400,-0.65,-185.1,241.1,-10.7,247,1407,0.08,2.12,0.00,0.000,6,0.116,0.042,2967,1562,3830,0,0,0,0,0,0
$GC,1737,-0.58,-185.1,317.3,-21.5,302,1742,0.28,2.15,0.00,0.000,4,0.127,0.043,3052,2964,3829,0,0,0,0,0,0
$GC,1769,-0.60,-185.1,323.5,-15.4,304,1778,0.00,2.17,0.00,0.000,6,0.000,0.044,3052,1572,3829,0,0,0,0,0,0
$GC,2098,-0.61,-185.1,360.3,-9.3,335,2102,0.00,2.20,0.00,0.000,4,0.000,0.053,3052,157,3828,0,0,0,0,0,0
$GC,2160,-0.65,-185.1,366.8,-9.2,340,2164,0.00,2.12,0.00,0.000,6,0.000,0.038,3050,1561,3828,0,0,0,0,0,0
$GC,2486,-0.67,-185.1,397.6,-10.1,370,2490,0.00,2.15,0.00,0.000,4,0.000,0.047,3043,2959,3827,0,0,0,0,0,0
$GC,2538,-0.72,-185.1,402.6,-9.0,374,2542,0.08,2.15,0.00,0.000,6,0.116,0.044,2946,1551,3827,0,0,0,0,0,0
$GC,2863,-0.66,-185.1,471.3,-22.3,404,2865,0.30,0.00,0.00,0.000,6,0.126,0.000,3041,1551,3825,0,0,0,0,0,0
$GC,3182,-0.68,-185.1,511.3,-11.8,434,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1551,3822,0,0,0,0,0,0
$GC,3501,-0.70,-185.1,547.4,-10.7,464,3505,0.00,2.20,0.00,0.000,4,0.000,0.047,3036,2966,3821,0,0,0,0,0,0
$GC,3547,-0.75,-185.1,552.0,-9.4,468,3551,0.10,2.17,0.00,0.000,6,0.092,0.046,2933,1564,3820,0,0,0,0,0,0
$GC,3872,-0.70,-185.1,613.4,-18.5,495,3877,0.28,2.20,0.00,0.000,4,0.128,0.055,3029,159,3817,0,0,0,0,0,0
$GC,3893,-0.67,-185.1,617.6,-17.0,496,3898,0.08,2.15,0.00,0.000,6,0.168,0.040,3045,1569,3817,0,0,0,0,0,0
$GC,4216,-0.71,-185.1,642.6,-7.7,512,4220,0.08,2.15,0.00,0.000,4,0.119,0.049,2943,2960,3815,0,0,0,0,0,0
$GC,4315,-0.69,-185.1,656.2,-15.0,516,4324,0.22,2.17,0.00,0.000,6,0.098,0.049,3026,1582,3814,0,0,0,0,0,0
$GC,4632,-0.71,-185.1,689.8,-10.7,532,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1582,3811,0,0,0,0,0,0
$GC,4942,-0.74,-185.1,723.2,-11.0,547,4946,0.00,2.25,0.00,0.000,4,0.000,0.061,3027,158,3809,0,0,0,0,0,0
$GC,4963,-0.77,-185.1,726.1,-11.8,548,4967,0.00,2.20,0.00,0.000,6,0.000,0.041,3020,1587,3809,0,0,0,0,0,0
$GC,5290,-0.79,-185.1,764.2,-11.7,564,5295,0.08,2.12,0.00,0.000,4,0.120,0.050,2914,2959,3806,0,0,0,0,0,0
$GC,5378,-0.76,-185.1,779.5,-18.3,568,5383,0.30,2.17,0.00,0.000,6,0.112,0.050,3012,1566,3805,0,0,0,0,0,0
$GC,5700,-0.78,-185.1,819.1,-11.6,584,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1566,3802,0,0,0,0,0,0
$GC,6010,-0.80,-185.1,854.4,-11.4,599,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1566,3800,0,0,0,0,0,0
$GC,6318,-0.82,-185.1,888.9,-11.1,614,6323,0.10,2.22,0.00,0.000,4,0.096,0.051,2902,2966,3797,0,0,0,0,0,0
$GC,6344,-0.80,-185.1,892.7,-14.4,615,6349,0.30,2.22,0.00,0.000,6,0.114,0.052,3000,1583,3797,0,0,0,0,0,0
$GC,6668,-0.81,-185.1,930.2,-11.3,631,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1583,3796,0,0,0,0,0,0
$GC,6976,-0.82,-185.1,964.6,-11.0,646,6980,0.00,2.15,0.00,0.000,4,0.000,0.052,2992,2959,3793,0,0,0,0,0,0
$GC,7008,-0.85,-185.1,968.1,-10.1,647,7015,0.00,2.20,0.00,0.000,6,0.000,0.054,2992,1579,3793,0,0,0,0,0,0
$STATE,7219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7219,begin apogee
$GC,7224,0.00,0.0,991.9,11.5,658,7381,0.70,0.00,148.12,1.222,4,0.086,0.000,3250,1718,3068,0,0,0,0,0,0
$STATE,7381,end apogee,CONTROL_FINISHED_OK
$STATE,7382,begin climb
$GC,7383,0.66,185.1,998.7,0.0,665,7551,0.57,2.45,159.82,1.184,4,0.030,0.062,3511,288,2313,0,0,0,0,0,0
$GC,7607,0.58,185.1,970.3,21.9,675,7612,0.25,2.25,0.00,0.000,6,0.145,0.034,3440,1699,2305,0,0,0,0,0,0
$GC,7931,0.53,185.1,913.3,18.2,691,7936,0.08,2.22,0.00,0.000,4,0.204,0.044,3421,3115,2298,0,0,0,0,0,0
$GC,7993,0.51,185.1,902.0,17.9,694,7997,0.00,2.28,0.00,0.000,6,0.000,0.051,3432,1700,2297,0,0,0,0,0,0
$GC,8320,0.48,185.1,844.7,17.2,710,8321,0.10,0.00,0.00,0.000,6,0.181,0.000,3404,1700,2295,0,0,0,0,0,0
$GC,8630,0.47,185.1,795.4,16.2,725,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1700,2294,0,0,0,0,0,0
$GC,8938,0.45,185.1,748.5,14.4,740,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1700,2292,0,0,0,0,0,0
$GC,9249,0.44,185.1,707.6,12.7,755,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1700,2291,0,0,0,0,0,0
$GC,9557,0.43,185.1,670.1,11.5,770,9561,0.00,2.17,0.00,0.000,4,0.000,0.047,3404,3109,2291,0,0,0,0,0,0
$GC,9589,0.43,185.1,665.8,12.8,771,9594,0.05,2.25,0.00,0.000,6,0.148,0.050,3393,1707,2291,0,0,0,0,0,0
$GC,9913,0.43,185.1,628.5,12.1,787,9917,0.00,2.20,0.00,0.000,4,0.000,0.048,3392,3112,2290,0,0,0,0,0,0
$GC,9946,0.43,185.1,623.9,12.5,788,9954,0.00,2.25,0.00,0.000,6,0.000,0.051,3399,1711,2290,0,0,0,0,0,0
$GC,10265,0.43,185.1,584.1,12.1,810,10269,0.00,2.28,0.00,0.000,4,0.000,0.063,3410,292,2289,0,0,0,0,0,0
$GC,10298,0.43,185.1,579.8,13.0,812,10307,0.05,2.20,0.00,0.000,6,0.120,0.037,3390,1710,2288,0,0,0,0,0,0
$GC,10627,0.48,213.6,546.7,9.5,843,10654,0.00,2.22,21.30,0.979,4,0.000,0.048,3390,3098,2197,0,0,0,0,0,0
$GC,10707,0.51,226.2,538.5,10.3,850,10725,0.08,2.20,12.80,0.922,6,0.117,0.051,3461,1712,2146,0,0,0,0,0,0
$GC,11047,0.48,226.2,485.6,16.6,881,11052,0.17,2.20,0.00,0.000,4,0.145,0.046,3408,3115,2139,0,0,0,0,0,0
$GC,11077,0.48,226.2,481.1,14.0,883,11081,0.00,2.22,0.00,0.000,6,0.000,0.050,3415,1718,2139,0,0,0,0,0,0
$GC,11403,0.48,226.2,440.5,11.9,913,11407,0.00,2.30,0.00,0.000,4,0.000,0.062,3426,293,2138,0,0,0,0,0,0
$GC,11455,0.48,226.2,434.1,12.2,917,11460,0.08,2.15,0.00,0.000,6,0.166,0.035,3405,1711,2136,0,0,0,0,0,0
$GC,11783,0.50,229.2,399.5,10.8,947,11787,0.00,2.17,0.00,0.000,4,0.000,0.047,3405,3113,2136,0,0,0,0,0,0
$GC,11835,0.54,247.2,393.8,10.0,951,11860,0.00,2.22,17.92,0.854,6,0.000,0.050,3412,1707,2059,0,0,0,0,0,0
$GC,12178,0.58,261.7,358.0,10.2,983,12203,0.10,2.33,13.70,0.802,4,0.095,0.060,3496,293,1997,0,0,0,0,0,0
$GC,12295,0.55,261.7,340.0,16.4,993,12300,0.22,2.15,0.00,0.000,6,0.121,0.034,3424,1703,1994,0,0,0,0,0,0
$GC,12622,0.56,261.7,301.7,11.9,1023,12626,0.00,2.28,0.00,0.000,4,0.000,0.058,3433,290,1993,0,0,0,0,0,0
$GC,12668,0.59,261.7,296.1,12.0,1029,12675,0.00,2.15,0.00,0.000,6,0.000,0.034,3433,1699,1992,0,0,0,0,0,0
$GC,13006,0.59,261.7,255.2,11.9,1090,13015,0.00,2.20,0.00,0.000,4,0.000,0.045,3433,3104,1991,0,0,0,0,0,0
$GC,13044,0.62,261.7,250.8,11.4,1096,13052,0.00,2.25,0.00,0.000,6,0.000,0.048,3439,1693,1992,0,0,0,0,0,0
$GC,13387,0.63,261.7,211.9,11.2,1157,13393,0.00,2.20,0.00,0.000,4,0.000,0.057,3450,290,1991,0,0,0,0,0,0
$GC,13438,0.65,261.7,205.6,11.2,1166,13447,0.00,2.15,0.00,0.000,6,0.000,0.033,3450,1696,1991,0,0,0,0,0,0
$GC,13779,0.66,261.7,165.4,11.3,1227,13786,0.00,2.22,0.00,0.000,4,0.000,0.056,3458,285,1991,0,0,0,0,0,0
$GC,13833,0.67,261.8,159.1,11.0,1236,13840,0.00,2.12,0.00,0.000,6,0.000,0.033,3458,1681,1992,0,0,0,0,0,0
$GC,14162,0.68,268.9,121.1,10.6,1297,14179,0.00,2.22,6.55,0.533,4,0.000,0.043,3458,3109,1971,0,0,0,0,0,0
$GC,14192,0.71,277.8,117.8,10.5,1301,14209,0.00,2.22,9.48,0.575,6,0.000,0.045,3466,1696,1935,0,0,0,0,0,0
$GC,14530,0.83,363.0,90.3,6.4,1363,14606,0.15,2.33,68.55,0.620,4,0.069,0.054,3592,293,1586,0,0,0,0,0,0
$GC,14691,0.80,363.0,63.0,18.5,1388,14700,0.22,2.17,0.00,0.000,6,0.097,0.031,3508,1697,1580,0,0,0,0,0,0
$GC,15022,0.87,390.3,34.6,9.5,1449,15054,0.08,2.28,21.27,0.548,4,0.117,0.053,3599,296,1477,0,0,0,0,0,0
$GC,15099,0.84,390.3,23.3,14.8,1461,15108,0.22,2.15,0.00,0.000,6,0.096,0.031,3515,1697,1473,0,0,0,0,0,0
$STATE,15337,end climb,SURFACE_DEPTH_REACHED
$STATE,15337,begin surface coast
$FINISH,0.9,1.022130
$STATE,15377,end surface coast,CONTROL_FINISHED_OK
$STATE,15377,begin surface
$SM_CCo,15394,8.85,0.067,1,0,1437,400.08
$SM_GC,1.48,0.00,0.00,8.85,0.000,0.000,0.067,102,1533,1437,-9.85,-0.45,400.08
$IRIDIUM_FIX,2420.48,12403.76,171010,070724
$TT8_MAMPS,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.1,41.252
$10V_AH,10.2,31.728
$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,24.025,136.875,479.525,8.850,0.000,30.813,20.656,159.028,0.250,0.000,16.917,3792.644,7227.670,575.022,3892.519,267.512,0.000,1945.301,0.000,3677.937,0.000,0.540,0.000
$DEVICE_MAMPS,204.255,68.850,1222.470,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.790,0.000,2406.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93679,1512
$CAP_FILE_SIZE,177665,0
$CFSIZE,260165632,236236800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,131.1,1
$GPS,171010,161821,2430.354,12704.649,36,3.0,55,-3.7