version: 66.08
glider: 168
mission: 2
dive: 328
start: 10 17 110 20 29 6
data:
$ID,168
$MISSION,2
$DIVE,328
$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,-3581.8467
$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,29
$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
$GPS1,171010,202234,2429.321,12706.498,89,1.0,92,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-77.0
$GPS2,171010,202826,2429.378,12706.610,15,1.4,15,-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,280.0,2948,-18.4,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-156.3,0.0,0.0,0,70,0.00,0.00,-51.00,0.000,2,0.000,0.000,105,1546,2958,0,0,0,0,0,0
$GC,72,-0.64,-185.1,3.6,-5.4,7,104,10.38,2.25,-15.57,0.000,4,0.186,0.054,3033,2958,3827,0,0,0,0,0,0
$GC,188,-0.62,-185.1,35.0,-21.2,26,196,0.05,2.22,0.00,0.000,6,0.122,0.044,3055,1551,3829,0,0,0,0,0,0
$GC,514,-0.58,-185.1,111.9,-20.9,87,521,0.00,2.17,0.00,0.000,4,0.000,0.050,3055,165,3830,0,0,0,0,0,0
$GC,541,-0.55,-185.1,117.4,-20.4,91,549,0.08,2.12,0.00,0.000,6,0.116,0.038,3077,1542,3830,0,0,0,0,0,0
$GC,867,-0.55,-185.1,169.5,-13.8,152,875,0.00,2.20,0.00,0.000,4,0.000,0.044,3067,2959,3831,0,0,0,0,0,0
$GC,920,-0.58,-185.1,176.2,-11.3,161,929,0.00,2.15,0.00,0.000,6,0.000,0.041,3067,1553,3831,0,0,0,0,0,0
$GC,1251,-0.58,-185.1,221.4,-13.2,222,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1553,3831,0,0,0,0,0,0
$GC,1583,-0.58,-185.1,266.2,-12.0,283,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1553,3832,0,0,0,0,0,0
$GC,1916,-0.60,-185.1,305.3,-11.8,341,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1553,3831,0,0,0,0,0,0
$GC,2236,-0.61,-185.1,342.4,-11.2,371,2240,0.00,2.20,0.00,0.000,4,0.000,0.047,3060,2965,3830,0,0,0,0,0,0
$GC,2269,-0.65,-185.1,345.9,-9.6,373,2277,0.08,2.17,0.00,0.000,6,0.117,0.044,2967,1552,3830,0,0,0,0,0,0
$GC,2594,-0.59,-185.1,407.5,-19.2,404,2599,0.28,2.20,0.00,0.000,4,0.124,0.045,3054,2965,3829,0,0,0,0,0,0
$GC,2637,-0.63,-185.1,413.2,-9.6,407,2644,0.00,2.17,0.00,0.000,6,0.000,0.044,3053,1539,3829,0,0,0,0,0,0
$GC,2962,-0.65,-185.1,451.4,-12.5,438,2966,0.00,2.12,0.00,0.000,4,0.000,0.054,3053,158,3827,0,0,0,0,0,0
$GC,2985,-0.68,-185.1,454.4,-13.1,440,2989,0.00,2.12,0.00,0.000,6,0.000,0.039,3050,1566,3827,0,0,0,0,0,0
$GC,3317,-0.70,-185.1,489.3,-8.7,471,3322,0.08,2.15,0.00,0.000,4,0.124,0.048,2945,2963,3825,0,0,0,0,0,0
$GC,3416,-0.67,-185.1,503.2,-14.1,479,3423,0.30,2.15,0.00,0.000,6,0.112,0.045,3045,1560,3825,0,0,0,0,0,0
$GC,3741,-0.69,-185.1,533.0,-10.0,510,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1560,3823,0,0,0,0,0,0
$GC,4060,-0.71,-185.1,564.4,-9.9,540,4062,0.08,0.00,0.00,0.000,6,0.119,0.000,2948,1560,3821,0,0,0,0,0,0
$GC,4375,-0.66,-185.1,619.5,-17.2,565,4380,0.25,2.17,0.00,0.000,4,0.122,0.048,3028,2956,3818,0,0,0,0,0,0
$GC,4430,-0.71,-185.1,625.7,-7.7,567,4437,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,1566,3818,0,0,0,0,0,0
$GC,4747,-0.72,-185.1,654.1,-9.3,583,4751,0.00,2.20,0.00,0.000,4,0.000,0.058,3028,165,3816,0,0,0,0,0,0
$GC,4791,-0.75,-185.1,658.6,-9.8,585,4795,0.00,2.12,0.00,0.000,6,0.000,0.041,3020,1563,3815,0,0,0,0,0,0
$GC,5119,-0.76,-185.1,692.9,-10.6,601,5123,0.00,2.15,0.00,0.000,4,0.000,0.050,3014,2959,3812,0,0,0,0,0,0
$GC,5196,-0.80,-185.1,700.3,-8.7,604,5204,0.08,2.17,0.00,0.000,6,0.116,0.049,2924,1568,3811,0,0,0,0,0,0
$GC,5513,-0.74,-185.1,759.8,-19.5,620,5515,0.28,0.00,0.00,0.000,6,0.128,0.000,3014,1568,3809,0,0,0,0,0,0
$GC,5822,-0.75,-185.1,795.1,-10.8,635,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1568,3807,0,0,0,0,0,0
$GC,6132,-0.76,-185.1,828.0,-10.6,650,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1568,3805,0,0,0,0,0,0
$GC,6441,-0.77,-185.1,859.6,-10.5,665,6445,0.00,2.17,0.00,0.000,4,0.000,0.052,3006,2961,3803,0,0,0,0,0,0
$GC,6504,-0.81,-185.1,865.6,-8.7,668,6508,0.00,2.20,0.00,0.000,6,0.000,0.052,3005,1574,3802,0,0,0,0,0,0
$GC,6832,-0.82,-185.1,899.2,-10.1,684,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1574,3799,0,0,0,0,0,0
$GC,7140,-0.83,-185.1,929.1,-9.4,699,7145,0.08,2.20,0.00,0.000,4,0.119,0.054,2901,2962,3797,0,0,0,0,0,0
$GC,7190,-0.79,-185.1,936.1,-14.8,701,7195,0.30,2.20,0.00,0.000,6,0.112,0.054,2999,1573,3796,0,0,0,0,0,0
$GC,7506,-0.79,-185.1,968.7,-10.5,716,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1573,3796,0,0,0,0,0,0
$STATE,7710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7710,begin apogee
$GC,7715,0.00,0.0,990.6,10.6,726,7869,0.68,0.00,149.05,1.233,4,0.087,0.000,3250,1715,3068,0,0,0,0,0,0
$STATE,7870,end apogee,CONTROL_FINISHED_OK
$STATE,7870,begin climb
$GC,7872,0.64,185.1,996.2,0.0,733,8041,0.55,2.42,159.55,1.184,4,0.031,0.060,3497,292,2312,0,0,0,0,0,0
$GC,8085,0.55,185.1,970.7,22.2,743,8090,0.25,2.22,0.00,0.000,6,0.136,0.033,3424,1693,2305,0,0,0,0,0,0
$GC,8408,0.51,185.1,919.0,15.4,759,8412,0.00,2.22,0.00,0.000,4,0.000,0.046,3424,3109,2298,0,0,0,0,0,0
$GC,8448,0.47,185.1,912.6,14.8,761,8453,0.12,2.25,0.00,0.000,6,0.164,0.050,3400,1693,2297,0,0,0,0,0,0
$GC,8776,0.45,185.1,870.9,12.6,777,8780,0.00,2.20,0.00,0.000,4,0.000,0.047,3400,3106,2295,0,0,0,0,0,0
$GC,8826,0.43,185.1,864.4,12.3,779,8831,0.08,2.22,0.00,0.000,6,0.188,0.051,3391,1698,2295,0,0,0,0,0,0
$GC,9153,0.42,185.1,827.3,11.5,795,9157,0.00,2.25,0.00,0.000,4,0.000,0.062,3400,294,2293,0,0,0,0,0,0
$GC,9171,0.40,185.1,824.9,11.9,796,9176,0.08,2.15,0.00,0.000,6,0.172,0.035,3379,1711,2292,0,0,0,0,0,0
$GC,9497,0.40,185.1,784.9,12.9,812,9501,0.00,2.17,0.00,0.000,4,0.000,0.049,3379,3106,2292,0,0,0,0,0,0
$GC,9552,0.40,185.1,777.4,13.6,814,9559,0.00,2.22,0.00,0.000,6,0.000,0.051,3385,1722,2291,0,0,0,0,0,0
$GC,9868,0.40,185.1,736.9,12.4,830,9872,0.00,2.28,0.00,0.000,4,0.000,0.063,3395,292,2290,0,0,0,0,0,0
$GC,9907,0.40,185.1,732.0,13.1,832,9911,0.00,2.15,0.00,0.000,6,0.000,0.036,3395,1714,2290,0,0,0,0,0,0
$GC,10233,0.39,185.1,693.0,11.3,848,10235,0.08,0.00,0.00,0.000,6,0.176,0.000,3375,1717,2289,0,0,0,0,0,0
$GC,10543,0.44,221.4,663.2,9.3,863,10574,0.08,0.00,28.95,1.065,6,0.122,0.000,3457,1717,2165,0,0,0,0,0,0
$GC,10873,0.39,221.4,610.7,15.9,879,10877,0.25,2.20,0.00,0.000,4,0.138,0.046,3379,3109,2159,0,0,0,0,0,0
$GC,10905,0.40,221.4,606.1,11.8,880,10912,0.00,2.22,0.00,0.000,6,0.000,0.051,3385,1708,2158,0,0,0,0,0,0
$GC,11229,0.41,221.4,570.9,11.1,908,11232,0.00,2.28,0.00,0.000,4,0.000,0.063,3395,290,2157,0,0,0,0,0,0
$GC,11285,0.43,221.4,564.2,12.2,913,11289,0.00,2.17,0.00,0.000,6,0.000,0.037,3395,1712,2155,0,0,0,0,0,0
$GC,11610,0.43,221.4,524.5,12.2,943,11614,0.00,2.28,0.00,0.000,4,0.000,0.062,3402,293,2155,0,0,0,0,0,0
$GC,11653,0.44,221.4,519.1,12.1,946,11660,0.00,2.17,0.00,0.000,6,0.000,0.035,3402,1704,2154,0,0,0,0,0,0
$GC,11982,0.45,230.0,483.0,10.6,977,11991,0.00,0.00,7.38,0.809,6,0.000,0.000,3403,1706,2130,0,0,0,0,0,0
$GC,12307,0.47,245.5,448.9,10.3,1008,12332,0.00,2.33,14.93,0.877,4,0.000,0.061,3410,294,2066,0,0,0,0,0,0
$GC,12371,0.52,272.3,442.4,9.7,1013,12403,0.00,2.17,24.02,0.890,6,0.000,0.035,3410,1707,1956,0,0,0,0,0,0
$GC,12721,0.53,272.3,400.4,12.6,1046,12725,0.00,2.20,0.00,0.000,4,0.000,0.047,3410,3109,1950,0,0,0,0,0,0
$GC,12742,0.54,272.3,397.4,12.6,1047,12749,0.00,2.25,0.00,0.000,6,0.000,0.050,3413,1701,1950,0,0,0,0,0,0
$GC,13069,0.56,272.3,357.3,12.7,1078,13073,0.05,2.28,0.00,0.000,4,0.171,0.060,3483,284,1949,0,0,0,0,0,0
$GC,13140,0.53,272.3,345.7,16.9,1084,13145,0.20,2.15,0.00,0.000,6,0.118,0.034,3418,1699,1948,0,0,0,0,0,0
$GC,13466,0.54,272.3,304.3,12.1,1114,13470,0.00,2.15,0.00,0.000,4,0.000,0.045,3418,3105,1948,0,0,0,0,0,0
$GC,13494,0.56,272.3,300.8,12.6,1116,13498,0.00,2.22,0.00,0.000,6,0.000,0.049,3421,1683,1948,0,0,0,0,0,0
$GC,13824,0.63,322.0,268.4,8.6,1175,13872,0.10,2.30,41.10,0.761,4,0.094,0.057,3516,291,1754,0,0,0,0,0,0
$GC,13966,0.60,322.0,246.1,17.0,1199,13973,0.25,2.12,0.00,0.000,6,0.119,0.031,3437,1685,1749,0,0,0,0,0,0
$GC,14295,0.61,322.0,208.7,12.3,1260,14303,0.00,2.25,0.00,0.000,4,0.000,0.057,3441,294,1747,0,0,0,0,0,0
$GC,14348,0.65,324.3,202.6,10.9,1269,14357,0.08,2.08,0.00,0.000,6,0.118,0.031,3518,1667,1746,0,0,0,0,0,0
$GC,14683,0.61,324.3,145.0,16.1,1330,14692,0.22,2.22,0.00,0.000,4,0.129,0.039,3447,3099,1746,0,0,0,0,0,0
$GC,14758,0.70,359.6,135.6,9.3,1343,14797,0.05,2.28,30.58,0.650,6,0.063,0.047,3510,1668,1601,0,0,0,0,0,0
$GC,15118,0.69,359.6,81.4,15.8,1408,15126,0.12,2.22,0.00,0.000,4,0.139,0.055,3479,292,1597,0,0,0,0,0,0
$GC,15193,0.74,366.8,71.9,10.7,1421,15210,0.00,2.10,6.60,0.502,6,0.000,0.031,3479,1670,1571,0,0,0,0,0,0
$GC,15532,0.96,495.4,42.7,4.9,1483,15638,0.22,2.33,99.38,0.581,4,0.054,0.039,3599,3103,1047,0,0,0,0,0,0
$GC,15658,0.95,495.4,22.2,19.0,1500,15667,0.15,2.33,0.00,0.000,6,0.107,0.046,3551,1677,1044,0,0,0,0,0,0
$STATE,15807,end climb,SURFACE_DEPTH_REACHED
$STATE,15807,begin surface coast
$FINISH,1.1,1.022123
$STATE,15825,end surface coast,CONTROL_FINISHED_OK
$STATE,15825,begin surface
$SM_CCo,15901,0.00,0.000,0,0,1038,497.71
$SM_GC,1.72,8.45,0.00,0.00,0.020,0.000,0.000,104,1535,1038,-9.69,-0.42,497.71
$IRIDIUM_FIX,2422.84,12704.51,171010,161609
$TT8_MAMPS,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.1,41.533
$10V_AH,10.2,32.049
$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,24.325,132.675,561.525,0.000,0.000,30.679,41.418,153.571,0.250,0.000,18.026,3815.589,7957.583,614.685,3613.492,258.215,0.000,1991.682,0.000,3372.294,0.000,0.540,0.000
$DEVICE_MAMPS,188.190,68.085,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.156,0.000,1744.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334028
$DATA_FILE_SIZE,90313,1530
$CAP_FILE_SIZE,179172,0
$CFSIZE,260165632,236060672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,100.3,1
$GPS,181010,005524,2429.577,12705.564,26,1.5,43,-3.7