version: 66.08
glider: 168
mission: 2
dive: 337
start: 10 19 110 10 7 17
data:
$ID,168
$MISSION,2
$DIVE,337
$N_DIVES,348
$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,-3593.9226
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,191010,100107,2429.452,12705.431,36,1.2,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-77.8
$GPS2,191010,100644,2429.381,12705.496,14,1.3,14,-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,288.5,1418,-18.8,-11.000
$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,-0.60,-150.1,0.0,0.0,0,67,0.00,0.00,-50.58,0.000,2,0.000,0.000,104,1534,2891,0,0,0,0,0,0
$GC,70,-0.65,-185.1,3.1,-3.0,7,109,10.10,2.17,-17.48,0.000,4,0.175,0.065,3036,180,3827,0,0,0,0,0,0
$GC,219,-0.59,-185.1,45.6,-26.9,32,228,0.10,2.12,0.00,0.000,6,0.113,0.042,3064,1536,3828,0,0,0,0,0,0
$GC,544,-0.56,-185.1,109.0,-20.0,93,552,0.00,2.22,0.00,0.000,4,0.000,0.044,3054,2958,3830,0,0,0,0,0,0
$GC,654,-0.58,-185.1,126.2,-13.0,113,662,0.00,2.17,0.00,0.000,6,0.000,0.043,3054,1567,3831,0,0,0,0,0,0
$GC,987,-0.57,-185.1,179.4,-14.3,174,996,0.05,2.20,0.00,0.000,4,0.230,0.052,3067,166,3831,0,0,0,0,0,0
$GC,1013,-0.57,-185.1,183.1,-13.7,178,1023,0.00,2.12,0.00,0.000,6,0.000,0.038,3064,1553,3832,0,0,0,0,0,0
$GC,1355,-0.57,-185.1,222.0,-11.4,239,1362,0.00,2.15,0.00,0.000,4,0.000,0.047,3054,2963,3832,0,0,0,0,0,0
$GC,1437,-0.61,-185.1,230.6,-9.9,253,1444,0.00,2.15,0.00,0.000,6,0.000,0.041,3054,1559,3831,0,0,0,0,0,0
$GC,1775,-0.61,-185.1,278.1,-14.2,314,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1558,3831,0,0,0,0,0,0
$GC,2108,-0.61,-185.1,325.3,-13.7,358,2112,0.00,2.17,0.00,0.000,4,0.000,0.047,3047,2956,3830,0,0,0,0,0,0
$GC,2137,-0.63,-185.1,329.0,-12.5,360,2141,0.00,2.12,0.00,0.000,6,0.000,0.044,3047,1565,3830,0,0,0,0,0,0
$GC,2462,-0.64,-185.1,370.5,-12.5,390,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1564,3830,0,0,0,0,0,0
$GC,2782,-0.65,-185.1,407.5,-10.9,420,2786,0.00,2.17,0.00,0.000,4,0.000,0.054,3047,161,3828,0,0,0,0,0,0
$GC,2820,-0.69,-185.1,411.9,-10.2,423,2827,0.00,2.12,0.00,0.000,6,0.000,0.040,3046,1560,3828,0,0,0,0,0,0
$GC,3146,-0.71,-185.1,446.2,-9.7,454,3150,0.08,2.17,0.00,0.000,4,0.122,0.047,2943,2965,3827,0,0,0,0,0,0
$GC,3219,-0.67,-185.1,457.1,-16.3,460,3224,0.30,2.15,0.00,0.000,6,0.111,0.046,3044,1565,3827,0,0,0,0,0,0
$GC,3551,-0.69,-185.1,491.6,-9.3,491,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1564,3824,0,0,0,0,0,0
$GC,3869,-0.72,-185.1,520.1,-8.4,521,3871,0.08,0.00,0.00,0.000,6,0.120,0.000,2950,1564,3823,0,0,0,0,0,0
$GC,4186,-0.67,-185.1,571.6,-16.7,551,4188,0.28,0.00,0.00,0.000,6,0.117,0.000,3041,1564,3821,0,0,0,0,0,0
$GC,4517,-0.69,-185.1,604.8,-10.2,580,4521,0.00,2.20,0.00,0.000,4,0.000,0.057,3042,167,3818,0,0,0,0,0,0
$GC,4538,-0.72,-185.1,607.6,-10.9,581,4543,0.08,2.15,0.00,0.000,6,0.116,0.041,2955,1570,3818,0,0,0,0,0,0
$GC,4860,-0.69,-185.1,662.9,-17.4,597,4865,0.25,2.15,0.00,0.000,4,0.118,0.047,3037,2961,3816,0,0,0,0,0,0
$GC,4923,-0.75,-185.1,669.8,-8.4,600,4928,0.10,2.15,0.00,0.000,6,0.090,0.048,2936,1571,3815,0,0,0,0,0,0
$GC,5251,-0.70,-185.1,730.3,-19.3,616,5256,0.25,2.22,0.00,0.000,4,0.127,0.058,3024,163,3813,0,0,0,0,0,0
$GC,5284,-0.71,-185.1,736.2,-14.9,617,5291,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,1564,3813,0,0,0,0,0,0
$GC,5601,-0.73,-185.1,773.7,-11.8,633,5605,0.00,2.17,0.00,0.000,4,0.000,0.050,3009,2959,3810,0,0,0,0,0,0
$GC,5667,-0.77,-185.1,780.7,-9.8,636,5671,0.00,2.17,0.00,0.000,6,0.000,0.050,3009,1579,3809,0,0,0,0,0,0
$GC,5996,-0.78,-185.1,815.0,-9.8,652,6000,0.00,2.28,0.00,0.000,4,0.000,0.063,3009,160,3807,0,0,0,0,0,0
$GC,6036,-0.80,-185.1,819.0,-10.3,654,6040,0.00,2.20,0.00,0.000,6,0.000,0.043,3008,1584,3807,0,0,0,0,0,0
$GC,6363,-0.81,-185.1,849.5,-9.3,670,6368,0.08,2.15,0.00,0.000,4,0.122,0.051,2899,2963,3804,0,0,0,0,0,0
$GC,6435,-0.77,-185.1,860.5,-16.4,673,6440,0.32,2.17,0.00,0.000,6,0.112,0.053,3005,1580,3803,0,0,0,0,0,0
$GC,6752,-0.79,-185.1,891.7,-9.9,688,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1580,3801,0,0,0,0,0,0
$GC,7061,-0.80,-185.1,922.6,-10.2,703,7065,0.00,2.15,0.00,0.000,4,0.000,0.052,3002,2960,3799,0,0,0,0,0,0
$GC,7094,-0.83,-185.1,926.2,-9.5,704,7102,0.08,2.17,0.00,0.000,6,0.116,0.053,2917,1593,3799,0,0,0,0,0,0
$GC,7411,-0.78,-185.1,980.5,-17.7,720,7416,0.25,2.30,0.00,0.000,4,0.127,0.063,3004,162,3796,0,0,0,0,0,0
$GC,7438,-0.77,-185.1,985.1,-14.8,721,7442,0.00,2.20,0.00,0.000,6,0.000,0.043,2998,1588,3796,0,0,0,0,0,0
$STATE,7489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7489,begin apogee
$GC,7494,0.00,0.0,990.8,11.2,724,7648,0.68,0.00,149.32,1.232,4,0.086,0.000,3249,1722,3068,0,0,0,0,0,0
$STATE,7649,end apogee,CONTROL_FINISHED_OK
$STATE,7649,begin climb
$GC,7651,0.65,185.1,997.2,0.0,731,7820,0.57,2.45,158.70,1.184,4,0.031,0.061,3509,289,2312,0,0,0,0,0,0
$GC,7853,0.56,185.1,974.3,21.1,740,7858,0.28,2.22,0.00,0.000,6,0.141,0.034,3430,1692,2306,0,0,0,0,0,0
$GC,8176,0.51,185.1,923.7,15.1,756,8180,0.00,2.20,0.00,0.000,4,0.000,0.044,3430,3106,2299,0,0,0,0,0,0
$GC,8240,0.48,185.1,913.5,15.3,759,8245,0.12,2.25,0.00,0.000,6,0.163,0.050,3406,1699,2298,0,0,0,0,0,0
$GC,8569,0.46,185.1,868.4,13.3,775,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1699,2296,0,0,0,0,0,0
$GC,8878,0.44,185.1,828.5,13.0,790,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1699,2294,0,0,0,0,0,0
$GC,9186,0.42,185.1,787.6,13.3,805,9191,0.08,2.20,0.00,0.000,4,0.197,0.046,3384,3106,2293,0,0,0,0,0,0
$GC,9204,0.40,185.1,785.3,13.4,806,9208,0.00,2.22,0.00,0.000,6,0.000,0.051,3390,1705,2293,0,0,0,0,0,0
$GC,9530,0.40,185.1,745.7,12.3,822,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1705,2292,0,0,0,0,0,0
$GC,9840,0.40,186.6,709.3,10.9,837,9844,0.00,2.17,0.00,0.000,4,0.000,0.047,3390,3105,2291,0,0,0,0,0,0
$GC,9867,0.41,191.8,706.2,10.7,838,9871,0.00,2.22,0.00,0.000,6,0.000,0.051,3397,1704,2291,0,0,0,0,0,0
$GC,10194,0.41,193.2,671.3,10.9,854,10204,0.00,2.30,4.35,0.740,4,0.000,0.063,3408,297,2280,0,0,0,0,0,0
$GC,10263,0.41,193.2,663.8,11.3,857,10267,0.10,2.15,0.00,0.000,6,0.149,0.037,3378,1707,2278,0,0,0,0,0,0
$GC,10590,0.46,223.2,632.7,9.5,873,10626,0.08,2.28,28.08,1.049,4,0.121,0.047,3461,3108,2156,0,0,0,0,0,0
$GC,10657,0.42,223.2,622.9,16.7,876,10662,0.28,2.28,0.00,0.000,6,0.136,0.051,3387,1701,2153,0,0,0,0,0,0
$GC,10979,0.45,236.2,587.7,10.4,897,10996,0.00,2.30,11.68,0.933,4,0.000,0.063,3397,285,2104,0,0,0,0,0,0
$GC,11081,0.48,249.9,576.6,10.3,905,11099,0.00,2.15,13.02,0.882,6,0.000,0.037,3397,1688,2049,0,0,0,0,0,0
$GC,11417,0.50,249.9,536.6,11.6,937,11421,0.00,2.22,0.00,0.000,4,0.000,0.047,3397,3106,2044,0,0,0,0,0,0
$GC,11471,0.52,249.9,529.8,12.0,941,11479,0.05,2.28,0.00,0.000,6,0.158,0.052,3462,1689,2043,0,0,0,0,0,0
$GC,11798,0.49,249.9,477.4,15.0,972,11802,0.17,2.25,0.00,0.000,4,0.142,0.063,3418,292,2042,0,0,0,0,0,0
$GC,11818,0.48,249.9,474.1,14.6,973,11825,0.00,2.15,0.00,0.000,6,0.000,0.036,3418,1682,2041,0,0,0,0,0,0
$GC,12144,0.48,249.9,436.5,12.0,1004,12148,0.00,2.22,0.00,0.000,4,0.000,0.047,3418,3114,2042,0,0,0,0,0,0
$GC,12175,0.49,249.9,432.3,12.3,1006,12184,0.03,2.28,0.00,0.000,6,0.177,0.051,3410,1701,2042,0,0,0,0,0,0
$GC,12503,0.51,256.4,394.6,10.7,1037,12516,0.00,2.28,6.38,0.724,4,0.000,0.060,3420,286,2020,0,0,0,0,0,0
$GC,12598,0.55,277.7,384.2,9.9,1045,12623,0.00,2.15,19.20,0.849,6,0.000,0.035,3420,1695,1935,0,0,0,0,0,0
$GC,12943,0.61,311.7,350.7,9.3,1077,12981,0.10,2.38,29.42,0.830,4,0.093,0.060,3517,282,1796,0,0,0,0,0,0
$GC,13043,0.57,311.7,333.9,17.7,1085,13051,0.28,2.17,0.00,0.000,6,0.122,0.032,3431,1693,1792,0,0,0,0,0,0
$GC,13370,0.58,311.7,295.6,11.8,1119,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1695,1789,0,0,0,0,0,0
$GC,13701,0.60,311.7,255.5,14.1,1180,13709,0.00,2.28,0.00,0.000,4,0.000,0.059,3441,290,1789,0,0,0,0,0,0
$GC,13749,0.64,311.7,249.1,13.1,1188,13757,0.00,2.12,0.00,0.000,6,0.000,0.034,3441,1675,1788,0,0,0,0,0,0
$GC,14085,0.65,311.7,206.8,11.4,1249,14092,0.08,2.22,0.00,0.000,4,0.122,0.043,3523,3113,1788,0,0,0,0,0,0
$GC,14100,0.66,314.3,204.8,10.9,1251,14109,0.22,2.25,0.00,0.000,6,0.133,0.046,3463,1676,1788,0,0,0,0,0,0
$GC,14432,0.66,314.3,165.5,12.7,1312,14440,0.00,2.20,0.00,0.000,4,0.000,0.057,3473,296,1787,0,0,0,0,0,0
$GC,14519,0.68,314.3,155.3,11.3,1327,14527,0.00,2.05,0.00,0.000,6,0.000,0.032,3473,1679,1787,0,0,0,0,0,0
$GC,14845,0.68,314.3,114.9,11.2,1388,14853,0.00,2.22,0.00,0.000,4,0.000,0.057,3480,289,1788,0,0,0,0,0,0
$GC,14884,0.69,314.3,110.5,11.7,1394,14891,0.00,2.08,0.00,0.000,6,0.000,0.032,3480,1660,1788,0,0,0,0,0,0
$GC,15209,0.74,340.3,77.4,9.7,1455,15240,0.00,2.15,23.75,0.591,4,0.000,0.054,3482,290,1678,0,0,0,0,0,0
$GC,15285,0.80,357.7,69.6,10.1,1467,15310,0.05,2.08,15.32,0.566,6,0.070,0.032,3565,1651,1608,0,0,0,0,0,0
$GC,15629,0.77,357.7,21.3,13.0,1530,15638,0.20,2.25,0.00,0.000,4,0.123,0.038,3498,3098,1604,0,0,0,0,0,0
$GC,15685,0.87,389.7,15.5,9.4,1539,15717,0.08,2.28,25.90,0.543,6,0.047,0.044,3577,1658,1478,0,0,0,0,0,0
$STATE,15781,end climb,SURFACE_DEPTH_REACHED
$STATE,15781,begin surface coast
$FINISH,1.2,1.022141
$STATE,15805,end surface coast,CONTROL_FINISHED_OK
$STATE,15805,begin surface
$SM_CCo,15822,9.15,0.067,1,0,1436,400.08
$SM_GC,1.59,0.00,0.00,9.15,0.000,0.000,0.067,101,1528,1436,-9.85,-0.65,400.08
$IRIDIUM_FIX,2420.48,12703.08,191010,060615
$TT8_MAMPS,0.026964
$HUMID,47.24
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.1,42.790
$10V_AH,10.2,33.397
$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,24.250,145.575,485.125,9.150,0.000,30.291,40.542,141.902,0.250,0.000,16.751,3923.019,7663.950,593.681,3719.819,277.472,0.000,1993.712,0.000,3497.448,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,80.325,1231.650,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.255,0.000,1856.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93621,1559
$CAP_FILE_SIZE,186420,0
$CFSIZE,260165632,235270144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153,127.4,1
$GPS,191010,143236,2429.375,12704.392,45,1.2,45,-3.7