version: 66.08
glider: 168
mission: 2
dive: 331
start: 10 18 110 9 29 23
data:
$ID,168
$MISSION,2
$DIVE,331
$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,-3585.8076
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,181010,092336,2428.683,12706.883,55,1.8,55,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-77.2
$GPS2,181010,092856,2428.669,12706.931,11,1.7,11,-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,292.3,4081,-16.8,-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,-0.60,-185.1,0.0,0.0,0,69,0.00,0.00,-51.53,0.000,2,0.000,0.000,104,1547,2924,0,0,0,0,0,0
$GC,71,-0.60,-185.1,3.1,-4.4,7,104,10.38,2.25,-16.55,0.000,4,0.184,0.063,3054,154,3826,0,0,0,0,0,0
$GC,217,-0.54,-185.1,41.7,-22.2,32,225,0.08,2.15,0.00,0.000,6,0.127,0.041,3073,1535,3829,0,0,0,0,0,0
$GC,544,-0.51,-185.1,101.7,-17.9,93,553,0.05,2.22,0.00,0.000,4,0.240,0.045,3078,2952,3830,0,0,0,0,0,0
$GC,582,-0.52,-185.1,108.3,-14.5,99,590,0.00,2.17,0.00,0.000,6,0.000,0.044,3077,1556,3831,0,0,0,0,0,0
$GC,908,-0.50,-185.1,156.8,-14.1,160,916,0.00,2.20,0.00,0.000,4,0.000,0.047,3070,2953,3831,0,0,0,0,0,0
$GC,962,-0.52,-185.1,163.4,-11.0,169,970,0.00,2.10,0.00,0.000,6,0.000,0.043,3069,1567,3831,0,0,0,0,0,0
$GC,1295,-0.51,-185.1,204.9,-11.9,230,1304,0.08,2.20,0.00,0.000,4,0.173,0.051,3094,170,3831,0,0,0,0,0,0
$GC,1350,-0.55,-185.1,210.3,-9.5,239,1356,0.00,2.12,0.00,0.000,6,0.000,0.037,3093,1581,3832,0,0,0,0,0,0
$GC,1679,-0.57,-185.1,239.2,-9.7,300,1688,0.08,2.15,0.00,0.000,4,0.124,0.046,2984,2954,3831,0,0,0,0,0,0
$GC,1775,-0.53,-185.1,253.6,-16.4,317,1783,0.30,2.12,0.00,0.000,6,0.101,0.044,3090,1569,3831,0,0,0,0,0,0
$GC,2108,-0.55,-185.1,285.7,-8.3,378,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1569,3831,0,0,0,0,0,0
$GC,2438,-0.58,-185.1,314.5,-8.9,424,2443,0.08,2.15,0.00,0.000,4,0.125,0.047,2991,2955,3830,0,0,0,0,0,0
$GC,2472,-0.55,-185.1,318.5,-13.7,427,2477,0.25,2.10,0.00,0.000,6,0.103,0.045,3078,1571,3830,0,0,0,0,0,0
$GC,2799,-0.57,-185.1,350.4,-9.6,457,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1571,3829,0,0,0,0,0,0
$GC,3119,-0.59,-185.1,379.5,-8.6,487,3125,0.08,0.00,0.00,0.000,6,0.122,0.000,2984,1570,3827,0,0,0,0,0,0
$GC,3445,-0.54,-185.1,434.8,-18.2,518,3447,0.30,0.00,0.00,0.000,6,0.113,0.000,3086,1570,3826,0,0,0,0,0,0
$GC,3763,-0.58,-185.1,462.6,-7.7,548,3765,0.08,0.00,0.00,0.000,6,0.124,0.000,2995,1570,3825,0,0,0,0,0,0
$GC,4082,-0.55,-185.1,509.1,-13.9,578,4086,0.25,2.15,0.00,0.000,4,0.113,0.046,3078,2957,3823,0,0,0,0,0,0
$GC,4122,-0.61,-185.1,512.5,-6.0,581,4126,0.08,2.12,0.00,0.000,6,0.125,0.045,3010,1569,3823,0,0,0,0,0,0
$GC,4447,-0.59,-185.1,547.5,-11.6,611,4449,0.17,0.00,0.00,0.000,6,0.116,0.000,3070,1568,3821,0,0,0,0,0,0
$GC,4766,-0.62,-185.1,570.0,-7.1,641,4770,0.08,2.17,0.00,0.000,4,0.120,0.050,2971,2953,3819,0,0,0,0,0,0
$GC,4814,-0.61,-185.1,575.5,-12.0,645,4823,0.25,2.12,0.00,0.000,6,0.099,0.049,3057,1578,3819,0,0,0,0,0,0
$GC,5139,-0.64,-185.1,602.1,-8.3,675,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1577,3817,0,0,0,0,0,0
$GC,5450,-0.66,-185.1,630.2,-9.4,690,5454,0.08,2.17,0.00,0.000,4,0.119,0.050,2962,2954,3814,0,0,0,0,0,0
$GC,5482,-0.64,-185.1,634.7,-14.2,691,5490,0.25,2.17,0.00,0.000,6,0.103,0.050,3046,1574,3814,0,0,0,0,0,0
$GC,5800,-0.66,-185.1,664.8,-9.6,707,5804,0.00,2.15,0.00,0.000,4,0.000,0.050,3040,2960,3812,0,0,0,0,0,0
$GC,5832,-0.70,-185.1,668.0,-8.4,708,5839,0.00,2.17,0.00,0.000,6,0.000,0.048,3039,1574,3812,0,0,0,0,0,0
$GC,6149,-0.72,-185.1,697.1,-9.1,724,6151,0.08,0.00,0.00,0.000,6,0.118,0.000,2946,1573,3809,0,0,0,0,0,0
$GC,6458,-0.66,-185.1,749.4,-17.3,739,6463,0.25,2.17,0.00,0.000,4,0.119,0.050,3027,2958,3807,0,0,0,0,0,0
$GC,6498,-0.69,-185.1,754.3,-9.3,741,6502,0.00,2.17,0.00,0.000,6,0.000,0.051,3027,1583,3807,0,0,0,0,0,0
$GC,6826,-0.70,-185.1,784.4,-9.0,757,6830,0.00,2.15,0.00,0.000,4,0.000,0.054,3020,2952,3804,0,0,0,0,0,0
$GC,6853,-0.73,-185.1,787.0,-8.7,758,6857,0.00,2.17,0.00,0.000,6,0.000,0.053,3021,1578,3804,0,0,0,0,0,0
$GC,7181,-0.73,-185.1,817.6,-9.7,774,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1578,3802,0,0,0,0,0,0
$GC,7490,-0.73,-185.1,850.3,-10.9,789,7494,0.00,2.17,0.00,0.000,4,0.000,0.054,3016,2952,3800,0,0,0,0,0,0
$GC,7511,-0.75,-185.1,852.8,-11.1,790,7515,0.00,2.17,0.00,0.000,6,0.000,0.054,3016,1584,3799,0,0,0,0,0,0
$GC,7838,-0.75,-185.1,890.4,-11.8,806,7842,0.00,2.15,0.00,0.000,4,0.000,0.053,3008,2955,3798,0,0,0,0,0,0
$GC,7872,-0.77,-185.1,894.3,-11.7,807,7878,0.00,2.17,0.00,0.000,6,0.000,0.054,3009,1585,3797,0,0,0,0,0,0
$GC,8187,-0.77,-185.1,933.0,-12.6,823,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1585,3795,0,0,0,0,0,0
$GC,8497,-0.77,-185.1,970.6,-11.7,838,8501,0.00,2.15,0.00,0.000,4,0.000,0.053,3003,2956,3794,0,0,0,0,0,0
$GC,8564,-0.80,-185.1,978.1,-9.9,841,8568,0.00,2.17,0.00,0.000,6,0.000,0.054,3003,1590,3794,0,0,0,0,0,0
$STATE,8677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8678,begin apogee
$GC,8683,0.00,0.0,991.0,11.6,847,8838,0.68,0.00,149.15,1.232,4,0.083,0.000,3255,1714,3067,0,0,0,0,0,0
$STATE,8839,end apogee,CONTROL_FINISHED_OK
$STATE,8839,begin climb
$GC,8841,0.60,185.1,998.0,0.0,854,9008,0.52,2.42,159.00,1.190,4,0.032,0.061,3488,290,2313,0,0,0,0,0,0
$GC,9032,0.51,185.1,977.7,21.0,863,9037,0.25,2.25,0.00,0.000,6,0.130,0.033,3415,1696,2307,0,0,0,0,0,0
$GC,9360,0.46,185.1,924.3,16.3,879,9365,0.08,2.22,0.00,0.000,4,0.187,0.046,3395,3108,2298,0,0,0,0,0,0
$GC,9423,0.44,185.1,914.8,14.8,882,9427,0.00,2.25,0.00,0.000,6,0.000,0.050,3404,1700,2297,0,0,0,0,0,0
$GC,9756,0.40,185.1,868.4,13.3,898,9761,0.10,2.28,0.00,0.000,4,0.174,0.062,3385,293,2296,0,0,0,0,0,0
$GC,9779,0.37,185.1,865.3,13.1,899,9783,0.08,2.15,0.00,0.000,6,0.162,0.035,3363,1711,2294,0,0,0,0,0,0
$GC,10107,0.40,209.3,832.3,10.0,915,10128,0.05,0.00,19.25,1.131,6,0.172,0.000,3433,1713,2214,0,0,0,0,0,0
$GC,10435,0.35,209.3,779.5,16.0,931,10437,0.22,0.00,0.00,0.000,6,0.132,0.000,3363,1713,2208,0,0,0,0,0,0
$GC,10745,0.38,232.4,746.3,10.1,946,10771,0.00,2.33,20.88,1.086,4,0.000,0.063,3373,296,2119,0,0,0,0,0,0
$GC,10793,0.43,267.3,741.2,9.6,948,10830,0.05,2.20,31.20,1.026,6,0.163,0.037,3437,1711,1977,0,0,0,0,0,0
$GC,11158,0.40,267.3,686.1,15.2,966,11160,0.20,0.00,0.00,0.000,6,0.130,0.000,3374,1712,1967,0,0,0,0,0,0
$GC,11467,0.47,311.9,657.2,9.2,981,11512,0.10,2.35,37.80,1.015,4,0.095,0.063,3473,295,1794,0,0,0,0,0,0
$GC,11574,0.43,311.9,639.3,17.1,985,11582,0.28,2.22,0.00,0.000,6,0.108,0.035,3384,1716,1789,0,0,0,0,0,0
$GC,11891,0.47,326.8,606.2,10.4,1001,11915,0.05,2.38,12.85,0.949,4,0.170,0.063,3464,296,1734,0,0,0,0,0,0
$GC,11989,0.44,326.8,590.0,17.6,1007,11997,0.22,2.15,0.00,0.000,6,0.116,0.035,3390,1689,1731,0,0,0,0,0,0
$GC,12315,0.46,326.8,552.1,11.4,1038,12319,0.00,2.28,0.00,0.000,4,0.000,0.063,3398,287,1728,0,0,0,0,0,0
$GC,12355,0.49,326.8,547.6,11.1,1041,12359,0.00,2.10,0.00,0.000,6,0.000,0.037,3398,1676,1727,0,0,0,0,0,0
$GC,12681,0.51,326.8,511.0,11.0,1071,12685,0.00,2.22,0.00,0.000,4,0.000,0.063,3401,293,1727,0,0,0,0,0,0
$GC,12735,0.58,355.5,504.9,9.9,1075,12766,0.12,2.10,24.77,0.946,6,0.078,0.036,3496,1672,1617,0,0,0,0,0,0
$GC,13081,0.52,355.5,432.0,21.3,1108,13086,0.25,2.22,0.00,0.000,4,0.129,0.060,3420,295,1612,0,0,0,0,0,0
$GC,13102,0.49,355.5,427.6,18.3,1109,13110,0.00,2.10,0.00,0.000,6,0.000,0.034,3420,1658,1612,0,0,0,0,0,0
$GC,13428,0.50,355.5,388.3,11.5,1140,13432,0.00,2.17,0.00,0.000,4,0.000,0.062,3424,294,1611,0,0,0,0,0,0
$GC,13478,0.55,375.4,382.8,10.2,1144,13503,0.00,2.05,16.80,0.843,6,0.000,0.034,3424,1650,1536,0,0,0,0,0,0
$GC,13820,0.61,411.9,347.3,9.5,1176,13859,0.08,2.28,31.45,0.835,4,0.119,0.060,3501,294,1387,0,0,0,0,0,0
$GC,13920,0.59,411.9,330.7,16.3,1184,13929,0.17,2.08,0.00,0.000,6,0.094,0.032,3436,1632,1384,0,0,0,0,0,0
$GC,14245,0.60,411.9,292.9,13.0,1220,14253,0.00,2.17,0.00,0.000,4,0.000,0.060,3444,296,1382,0,0,0,0,0,0
$GC,14299,0.66,424.7,286.6,10.5,1229,14316,0.08,2.03,11.43,0.726,6,0.116,0.034,3509,1633,1336,0,0,0,0,0,0
$GC,14643,0.63,424.7,220.4,16.9,1291,14650,0.17,0.00,0.00,0.000,6,0.128,0.000,3452,1634,1333,0,0,0,0,0,0
$GC,14972,0.67,442.2,184.0,10.3,1352,14994,0.00,2.15,15.23,0.669,4,0.000,0.057,3460,287,1263,0,0,0,0,0,0
$GC,15063,0.76,477.7,175.2,9.6,1367,15098,0.12,2.03,29.50,0.682,6,0.080,0.032,3559,1629,1120,0,0,0,0,0,0
$GC,15418,0.72,477.7,95.3,21.2,1432,15426,0.25,2.15,0.00,0.000,4,0.125,0.056,3479,300,1115,0,0,0,0,0,0
$GC,15488,0.83,518.8,85.7,9.4,1444,15526,0.08,1.98,32.47,0.616,6,0.052,0.031,3573,1603,952,0,0,0,0,0,0
$GC,15847,0.82,518.8,23.7,17.5,1509,15856,0.20,2.10,0.00,0.000,4,0.115,0.054,3513,298,946,0,0,0,0,0,0
$GC,15897,0.99,597.7,18.3,7.8,1517,15967,0.12,1.98,59.70,0.560,6,0.037,0.030,3597,1607,629,0,0,0,0,0,0
$STATE,16000,end climb,SURFACE_DEPTH_REACHED
$STATE,16000,begin surface coast
$FINISH,0.9,1.014564
$STATE,16019,end surface coast,CONTROL_FINISHED_OK
$STATE,16019,begin surface
$SM_CCo,16097,0.00,0.000,0,0,623,599.51
$SM_GC,1.75,8.65,0.00,0.00,0.021,0.000,0.000,103,1520,623,-9.70,-0.79,599.51
$IRIDIUM_FIX,2422.84,12704.51,181010,050500
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.1,41.994
$10V_AH,10.2,32.503
$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,26.375,130.525,651.475,0.000,0.000,29.975,19.754,144.744,0.250,0.000,14.271,3813.914,8071.245,692.112,3551.032,282.036,0.000,2089.489,0.000,3353.582,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,97.920,1232.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.551,0.000,1683.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333988
$DATA_FILE_SIZE,90373,1535
$CAP_FILE_SIZE,184970,0
$CFSIZE,260165632,235786240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,134.4,1
$GPS,181010,135855,2429.039,12705.302,41,1.0,41,-3.7