version: 66.08
glider: 168
mission: 2
dive: 320
start: 10 16 110 10 51 57
data:
$ID,168
$MISSION,2
$DIVE,320
$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,-3571.0276
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,161010,104606,2429.528,12707.223,42,1.8,48,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.0
$GPS2,161010,105131,2429.531,12707.246,10,1.9,15,-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,289.4,3883,-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,-185.1,0.0,0.0,0,91,0.00,0.00,-73.93,0.000,2,0.000,0.000,104,1512,2961,0,0,0,0,0,0
$GC,94,-0.60,-185.1,3.2,-5.2,10,126,10.25,2.33,-15.57,0.000,4,0.179,0.057,3043,2959,3826,0,0,0,0,0,0
$GC,236,-0.56,-185.1,39.3,-21.1,34,244,0.08,2.17,0.00,0.000,6,0.106,0.044,3073,1587,3827,0,0,0,0,0,0
$GC,562,-0.53,-185.1,101.9,-18.3,95,570,0.00,2.22,0.00,0.000,4,0.000,0.050,3073,170,3829,0,0,0,0,0,0
$GC,643,-0.56,-185.1,114.4,-14.3,109,651,0.00,2.10,0.00,0.000,6,0.000,0.037,3067,1535,3830,0,0,0,0,0,0
$GC,970,-0.53,-185.1,161.6,-13.4,170,979,0.00,2.22,0.00,0.000,4,0.000,0.045,3056,2961,3830,0,0,0,0,0,0
$GC,1038,-0.56,-185.1,168.3,-8.4,181,1045,0.08,2.20,0.00,0.000,6,0.142,0.041,3084,1529,3830,0,0,0,0,0,0
$GC,1378,-0.56,-185.1,208.0,-13.3,242,1386,0.00,2.12,0.00,0.000,4,0.000,0.051,3085,169,3830,0,0,0,0,0,0
$GC,1411,-0.58,-185.1,211.9,-11.8,247,1418,0.00,2.08,0.00,0.000,6,0.000,0.037,3080,1545,3831,0,0,0,0,0,0
$GC,1750,-0.59,-185.1,246.8,-9.5,308,1760,0.08,2.22,0.00,0.000,4,0.122,0.046,2970,2959,3830,0,0,0,0,0,0
$GC,1884,-0.55,-185.1,267.8,-16.6,331,1892,0.32,2.17,0.00,0.000,6,0.104,0.044,3083,1547,3830,0,0,0,0,0,0
$GC,2226,-0.57,-185.1,303.6,-9.8,389,2230,0.00,2.17,0.00,0.000,4,0.000,0.047,3077,2961,3829,0,0,0,0,0,0
$GC,2258,-0.61,-185.1,307.0,-8.9,391,2266,0.08,2.15,0.00,0.000,6,0.120,0.043,2991,1554,3829,0,0,0,0,0,0
$GC,2583,-0.56,-185.1,367.2,-19.8,422,2588,0.25,2.15,0.00,0.000,4,0.117,0.052,3083,163,3828,0,0,0,0,0,0
$GC,2638,-0.60,-185.1,374.8,-10.6,426,2647,0.03,2.12,0.00,0.000,6,0.098,0.037,3015,1556,3828,0,0,0,0,0,0
$GC,2967,-0.57,-185.1,421.2,-13.5,457,2972,0.17,2.15,0.00,0.000,4,0.116,0.045,3068,2961,3827,0,0,0,0,0,0
$GC,3042,-0.63,-185.1,427.0,-5.6,463,3046,0.08,2.15,0.00,0.000,6,0.116,0.042,2978,1559,3827,0,0,0,0,0,0
$GC,3369,-0.58,-185.1,477.7,-17.0,493,3373,0.25,2.15,0.00,0.000,4,0.120,0.053,3068,170,3824,0,0,0,0,0,0
$GC,3408,-0.62,-185.1,483.2,-10.6,496,3412,0.00,2.12,0.00,0.000,6,0.000,0.038,3067,1569,3824,0,0,0,0,0,0
$GC,3734,-0.65,-185.1,512.1,-8.7,526,3738,0.08,2.15,0.00,0.000,4,0.120,0.047,2971,2966,3822,0,0,0,0,0,0
$GC,3834,-0.63,-185.1,525.2,-13.7,534,3842,0.20,2.17,0.00,0.000,6,0.087,0.047,3047,1583,3822,0,0,0,0,0,0
$GC,4163,-0.65,-185.1,557.0,-9.3,565,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1582,3820,0,0,0,0,0,0
$GC,4489,-0.66,-185.1,584.9,-8.4,596,4493,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,2955,3817,0,0,0,0,0,0
$GC,4519,-0.69,-185.1,587.4,-8.0,598,4523,0.00,2.12,0.00,0.000,6,0.000,0.047,3040,1578,3817,0,0,0,0,0,0
$GC,4850,-0.71,-185.1,621.0,-10.9,620,4854,0.00,2.15,0.00,0.000,4,0.000,0.050,3037,2955,3814,0,0,0,0,0,0
$GC,4871,-0.73,-185.1,623.8,-11.7,621,4876,0.08,2.15,0.00,0.000,6,0.119,0.049,2945,1579,3814,0,0,0,0,0,0
$GC,5196,-0.67,-185.1,685.7,-19.7,637,5198,0.30,0.00,0.00,0.000,6,0.117,0.000,3045,1579,3811,0,0,0,0,0,0
$GC,5503,-0.69,-185.1,716.3,-8.9,652,5507,0.00,2.15,0.00,0.000,4,0.000,0.051,3038,2959,3810,0,0,0,0,0,0
$GC,5524,-0.72,-185.1,718.3,-8.7,653,5529,0.08,2.12,0.00,0.000,6,0.116,0.050,2978,1588,3810,0,0,0,0,0,0
$GC,5854,-0.68,-185.1,765.3,-14.1,669,5859,0.25,2.25,0.00,0.000,4,0.115,0.060,3048,164,3807,0,0,0,0,0,0
$GC,5908,-0.72,-185.1,770.4,-5.8,671,5916,0.10,2.17,0.00,0.000,6,0.090,0.041,2953,1581,3806,0,0,0,0,0,0
$GC,6227,-0.67,-185.1,811.7,-14.0,687,6231,0.25,2.12,0.00,0.000,4,0.116,0.048,3036,2959,3804,0,0,0,0,0,0
$GC,6282,-0.73,-185.1,816.4,-5.7,689,6289,0.08,2.17,0.00,0.000,6,0.116,0.050,2952,1575,3803,0,0,0,0,0,0
$GC,6599,-0.68,-185.1,861.5,-15.2,705,6601,0.25,0.00,0.00,0.000,6,0.116,0.000,3036,1575,3801,0,0,0,0,0,0
$GC,6908,-0.71,-185.1,889.2,-8.5,720,6912,0.00,2.17,0.00,0.000,4,0.000,0.054,3028,2960,3799,0,0,0,0,0,0
$GC,6948,-0.75,-185.1,892.4,-7.9,722,6952,0.08,2.17,0.00,0.000,6,0.116,0.052,2943,1585,3799,0,0,0,0,0,0
$GC,7275,-0.70,-185.1,942.8,-15.8,738,7277,0.25,0.00,0.00,0.000,6,0.118,0.000,3025,1585,3795,0,0,0,0,0,0
$GC,7585,-0.72,-185.1,970.7,-8.4,753,7589,0.00,2.15,0.00,0.000,4,0.000,0.053,3018,2957,3794,0,0,0,0,0,0
$GC,7619,-0.76,-185.1,973.8,-8.3,754,7627,0.00,2.20,0.00,0.000,6,0.000,0.054,3018,1592,3794,0,0,0,0,0,0
$STATE,7914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7914,begin apogee
$GC,7919,0.00,0.0,1000.1,9.1,769,8073,0.62,0.00,148.15,1.232,4,0.082,0.000,3253,1717,3068,0,0,0,0,0,0
$STATE,8074,end apogee,CONTROL_FINISHED_OK
$STATE,8074,begin climb
$GC,8076,0.60,185.1,1006.1,0.0,776,8245,0.52,2.30,159.48,1.185,4,0.033,0.050,3489,3097,2312,0,0,0,0,0,0
$GC,8417,0.52,185.1,952.1,22.5,791,8422,0.28,2.28,0.00,0.000,6,0.148,0.050,3420,1697,2304,0,0,0,0,0,0
$GC,8740,0.47,185.1,899.6,15.9,807,8745,0.08,2.28,0.00,0.000,4,0.212,0.061,3413,292,2300,0,0,0,0,0,0
$GC,8916,0.44,185.1,874.1,14.9,815,8921,0.08,2.15,0.00,0.000,6,0.168,0.036,3392,1692,2296,0,0,0,0,0,0
$GC,9245,0.41,185.1,831.6,12.8,831,9249,0.00,2.20,0.00,0.000,4,0.000,0.048,3392,3106,2295,0,0,0,0,0,0
$GC,9331,0.40,185.1,820.3,12.9,835,9335,0.08,2.22,0.00,0.000,6,0.190,0.052,3380,1705,2295,0,0,0,0,0,0
$GC,9666,0.41,207.5,783.6,10.2,851,9685,0.00,0.00,17.48,1.112,6,0.000,0.000,3380,1705,2222,0,0,0,0,0,0
$GC,9994,0.45,247.6,751.0,9.5,867,10040,0.05,2.38,35.47,1.094,4,0.172,0.061,3459,296,2057,0,0,0,0,0,0
$GC,10065,0.40,247.6,740.8,16.4,870,10070,0.25,2.20,0.00,0.000,6,0.119,0.035,3380,1707,2054,0,0,0,0,0,0
$GC,10391,0.40,247.6,704.2,11.5,886,10395,0.00,2.28,0.00,0.000,4,0.000,0.063,3388,294,2049,0,0,0,0,0,0
$GC,10409,0.40,247.6,702.2,11.4,887,10413,0.00,2.15,0.00,0.000,6,0.000,0.036,3388,1702,2048,0,0,0,0,0,0
$GC,10737,0.40,247.6,659.7,13.0,903,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1704,2046,0,0,0,0,0,0
$GC,11045,0.40,247.6,620.4,12.4,918,11049,0.00,2.17,0.00,0.000,4,0.000,0.049,3388,3106,2046,0,0,0,0,0,0
$GC,11071,0.40,247.6,616.8,12.9,919,11075,0.00,2.28,0.00,0.000,6,0.000,0.053,3391,1698,2045,0,0,0,0,0,0
$GC,11400,0.40,247.6,576.0,13.1,943,11404,0.00,2.25,0.00,0.000,4,0.000,0.063,3400,293,2044,0,0,0,0,0,0
$GC,11462,0.42,247.6,568.1,11.7,948,11466,0.00,2.12,0.00,0.000,6,0.000,0.037,3400,1696,2043,0,0,0,0,0,0
$GC,11787,0.45,277.7,531.7,9.9,978,11819,0.00,0.00,24.88,0.982,6,0.000,0.000,3400,1697,1932,0,0,0,0,0,0
$GC,12137,0.51,324.2,499.7,9.2,1011,12185,0.00,2.38,39.53,0.930,4,0.000,0.063,3407,294,1744,0,0,0,0,0,0
$GC,12211,0.56,353.9,492.3,9.9,1017,12247,0.10,2.17,26.08,0.850,6,0.090,0.036,3488,1694,1623,0,0,0,0,0,0
$GC,12564,0.52,353.9,419.8,20.9,1050,12569,0.22,2.22,0.00,0.000,4,0.129,0.043,3417,3108,1615,0,0,0,0,0,0
$GC,12596,0.53,353.9,413.9,15.9,1052,12606,0.00,2.30,0.00,0.000,6,0.000,0.053,3417,1693,1614,0,0,0,0,0,0
$GC,12923,0.54,353.9,375.5,11.2,1083,12927,0.00,2.25,0.00,0.000,4,0.000,0.062,3427,290,1614,0,0,0,0,0,0
$GC,13009,0.68,439.6,367.4,7.6,1090,13083,0.12,2.12,68.50,0.842,6,0.078,0.035,3523,1692,1276,0,0,0,0,0,0
$GC,13406,0.63,439.6,279.0,24.2,1134,13415,0.22,2.30,0.00,0.000,4,0.135,0.059,3463,294,1268,0,0,0,0,0,0
$GC,13484,0.65,439.6,266.1,11.3,1147,13491,0.00,2.10,0.00,0.000,6,0.000,0.034,3463,1667,1266,0,0,0,0,0,0
$GC,13822,0.65,439.6,216.2,15.6,1208,13831,0.00,2.25,0.00,0.000,4,0.000,0.060,3471,289,1265,0,0,0,0,0,0
$GC,13872,0.67,439.6,208.6,14.8,1216,13881,0.00,2.10,0.00,0.000,6,0.000,0.034,3470,1658,1265,0,0,0,0,0,0
$GC,14213,0.67,439.6,159.9,12.6,1277,14220,0.00,2.15,0.00,0.000,4,0.000,0.058,3476,288,1265,0,0,0,0,0,0
$GC,14295,0.78,494.0,151.4,8.9,1291,14346,0.10,2.05,42.12,0.675,6,0.093,0.032,3576,1652,1054,0,0,0,0,0,0
$GC,14667,0.75,494.0,56.5,23.9,1358,14674,0.25,0.00,0.00,0.000,6,0.120,0.000,3485,1653,1049,0,0,0,0,0,0
$GC,14994,1.08,633.4,29.8,5.5,1419,15105,0.28,2.30,104.32,0.572,4,0.060,0.054,3621,279,485,0,0,0,0,0,0
$GC,15141,1.06,633.4,5.2,23.7,1440,15150,0.08,2.10,0.00,0.000,6,0.099,0.029,3590,1632,482,0,0,0,0,0,0
$STATE,15155,end climb,SURFACE_DEPTH_REACHED
$STATE,15155,begin surface coast
$FINISH,1.0,1.022047
$STATE,15168,end surface coast,CONTROL_FINISHED_OK
$STATE,15168,begin surface
$SM_CCo,15246,0.00,0.000,0,0,480,635.08
$SM_GC,1.54,8.65,0.00,0.00,0.020,0.000,0.000,103,1520,480,-9.69,-0.76,635.08
$IRIDIUM_FIX,2420.48,12709.72,161010,060615
$TT8_MAMPS,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,23.1,40.413
$10V_AH,10.2,30.712
$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,25.600,135.975,666.000,0.000,0.000,22.950,16.170,152.415,0.250,0.000,17.700,3592.994,7246.450,701.916,3762.238,256.522,0.000,2095.453,0.000,3560.337,0.000,0.538,0.000
$DEVICE_MAMPS,211.905,81.090,1231.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.393,0.000,2215.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86853,1444
$CAP_FILE_SIZE,176901,0
$CFSIZE,260165632,236773376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,136.1,1
$GPS,161010,150724,2429.769,12705.879,30,1.1,47,-3.7