version: 66.08
glider: 168
mission: 2
dive: 358
start: 10 23 110 10 33 21
data:
$ID,168
$MISSION,2
$DIVE,358
$N_DIVES,370
$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,-3621.4702
$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,26
$R_STBD_OVSHOOT,58
$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
$GPS1,231010,102537,2419.522,12657.039,36,1.1,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.0
$GPS2,231010,103255,2419.529,12657.247,9,1.2,14,-3.7
$SPEED_LIMITS,0.191,0.298
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,249.0,176686,-16.8,-11.000
$D_GRID,5000
$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,16,-0.60,-185.1,0.0,0.0,0,91,0.00,0.00,-73.50,0.000,2,0.000,0.000,104,1562,2738,0,0,0,0,0,0
$GC,94,-0.60,-185.1,3.1,-3.4,10,133,10.23,2.22,-22.33,0.000,4,0.179,0.063,3052,159,3824,0,0,0,0,0,0
$GC,173,-0.54,-185.1,20.8,-23.0,22,182,0.10,2.12,0.00,0.000,6,0.109,0.039,3081,1522,3826,0,0,0,0,0,0
$GC,499,-0.51,-185.1,90.4,-17.1,83,507,0.00,2.22,0.00,0.000,4,0.000,0.042,3071,2959,3826,0,0,0,0,0,0
$GC,554,-0.53,-185.1,98.6,-12.2,92,563,0.00,2.17,0.00,0.000,6,0.000,0.040,3071,1558,3826,0,0,0,0,0,0
$GC,882,-0.51,-185.1,152.7,-15.5,153,889,0.08,2.15,0.00,0.000,4,0.179,0.054,3094,167,3827,0,0,0,0,0,0
$GC,923,-0.54,-185.1,158.4,-11.3,160,933,0.00,2.12,0.00,0.000,6,0.000,0.037,3091,1557,3827,0,0,0,0,0,0
$GC,1269,-0.55,-185.1,195.9,-10.9,221,1276,0.00,2.12,0.00,0.000,4,0.000,0.043,3082,2967,3827,0,0,0,0,0,0
$GC,1351,-0.59,-185.1,204.4,-9.7,235,1359,0.08,2.12,0.00,0.000,6,0.118,0.038,2983,1566,3826,0,0,0,0,0,0
$GC,1692,-0.52,-185.1,273.2,-19.8,296,1701,0.28,2.20,0.00,0.000,4,0.125,0.052,3081,172,3826,0,0,0,0,0,0
$GC,1749,-0.56,-185.1,280.4,-9.1,305,1756,0.00,2.10,0.00,0.000,6,0.000,0.037,3080,1565,3826,0,0,0,0,0,0
$GC,2088,-0.58,-185.1,311.7,-9.5,356,2092,0.00,2.10,0.00,0.000,4,0.000,0.043,3077,2958,3825,0,0,0,0,0,0
$GC,2154,-0.64,-185.1,317.4,-7.8,361,2162,0.10,2.12,0.00,0.000,6,0.093,0.039,2976,1566,3825,0,0,0,0,0,0
$GC,2480,-0.58,-185.1,374.2,-16.8,392,2482,0.28,0.00,0.00,0.000,6,0.116,0.000,3068,1565,3824,0,0,0,0,0,0
$GC,2798,-0.60,-185.1,404.3,-8.9,422,2802,0.00,2.12,0.00,0.000,4,0.000,0.045,3061,2957,3822,0,0,0,0,0,0
$GC,2819,-0.63,-185.1,406.4,-9.0,423,2826,0.00,2.12,0.00,0.000,6,0.000,0.042,3061,1572,3822,0,0,0,0,0,0
$GC,3145,-0.64,-185.1,435.6,-8.8,454,3149,0.00,2.20,0.00,0.000,4,0.000,0.056,3061,165,3819,0,0,0,0,0,0
$GC,3165,-0.66,-185.1,437.9,-10.2,455,3173,0.08,2.15,0.00,0.000,6,0.117,0.039,2973,1583,3820,0,0,0,0,0,0
$GC,3491,-0.61,-185.1,492.2,-17.6,486,3495,0.25,2.10,0.00,0.000,4,0.112,0.041,3055,2965,3817,0,0,0,0,0,0
$GC,3532,-0.65,-185.1,496.9,-9.4,489,3536,0.00,2.15,0.00,0.000,6,0.000,0.043,3055,1566,3817,0,0,0,0,0,0
$GC,3858,-0.67,-185.1,526.3,-8.1,519,3862,0.08,2.17,0.00,0.000,4,0.271,0.045,2960,2957,3815,0,0,0,0,0,0
$GC,3920,-0.64,-185.1,533.8,-13.2,524,3925,0.28,2.12,0.00,0.000,6,0.104,0.045,3054,1580,3815,0,0,0,0,0,0
$GC,4247,-0.67,-185.1,559.0,-7.7,554,4251,0.00,2.22,0.00,0.000,4,0.000,0.058,3055,168,3812,0,0,0,0,0,0
$GC,4268,-0.70,-185.1,561.1,-8.3,555,4276,0.10,2.15,0.00,0.000,6,0.092,0.039,2961,1580,3812,0,0,0,0,0,0
$GC,4592,-0.65,-185.1,611.1,-15.6,583,4596,0.25,2.10,0.00,0.000,4,0.114,0.042,3044,2958,3809,0,0,0,0,0,0
$GC,4641,-0.70,-185.1,615.9,-7.1,585,4645,0.00,2.12,0.00,0.000,6,0.000,0.044,3044,1581,3809,0,0,0,0,0,0
$GC,4957,-0.72,-185.1,643.1,-9.2,600,4959,0.08,0.00,0.00,0.000,6,0.117,0.000,2950,1581,3807,0,0,0,0,0,0
$GC,5266,-0.67,-185.1,694.9,-16.9,615,5268,0.28,0.00,0.00,0.000,6,0.112,0.000,3042,1581,3804,0,0,0,0,0,0
$GC,5576,-0.69,-185.1,723.5,-8.8,630,5580,0.00,2.12,0.00,0.000,4,0.000,0.047,3034,2957,3801,0,0,0,0,0,0
$GC,5617,-0.73,-185.1,726.9,-7.9,632,5622,0.08,2.15,0.00,0.000,6,0.115,0.047,2944,1580,3801,0,0,0,0,0,0
$GC,5945,-0.68,-185.1,779.5,-16.8,648,5950,0.25,2.28,0.00,0.000,4,0.119,0.062,3033,166,3799,0,0,0,0,0,0
$GC,5966,-0.65,-185.1,783.1,-15.2,649,5971,0.05,2.17,0.00,0.000,6,0.200,0.041,3045,1583,3799,0,0,0,0,0,0
$GC,6296,-0.69,-185.1,807.3,-7.0,665,6300,0.00,2.12,0.00,0.000,4,0.000,0.048,3037,2958,3796,0,0,0,0,0,0
$GC,6358,-0.74,-185.1,811.5,-6.2,668,6363,0.08,2.12,0.00,0.000,6,0.118,0.046,2954,1590,3796,0,0,0,0,0,0
$GC,6691,-0.69,-185.1,860.3,-15.2,684,6696,0.25,2.28,0.00,0.000,4,0.119,0.063,3037,169,3792,0,0,0,0,0,0
$GC,6734,-0.72,-185.1,865.2,-8.3,686,6739,0.08,2.17,0.00,0.000,6,0.117,0.041,2954,1598,3792,0,0,0,0,0,0
$GC,7056,-0.69,-185.1,910.8,-14.7,702,7058,0.25,0.00,0.00,0.000,6,0.113,0.000,3038,1601,3790,0,0,0,0,0,0
$GC,7366,-0.72,-185.1,937.7,-8.7,717,7370,0.00,2.12,0.00,0.000,4,0.000,0.050,3037,2963,3789,0,0,0,0,0,0
$GC,7404,-0.78,-185.1,941.1,-8.3,718,7412,0.10,2.15,0.00,0.000,6,0.093,0.049,2942,1590,3788,0,0,0,0,0,0
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7723,0.00,0.0,991.1,16.3,734,7877,0.88,0.00,148.23,1.229,4,0.099,0.000,3253,1714,3068,0,0,0,0,0,0
$STATE,7878,end apogee,CONTROL_FINISHED_OK
$STATE,7878,begin climb
$GC,7881,0.60,185.1,998.4,0.0,741,8048,0.52,2.30,160.12,1.177,4,0.032,0.045,3494,3105,2313,0,0,0,0,0,0
$GC,8154,0.51,185.1,961.9,20.6,753,8163,0.30,2.30,0.00,0.000,6,0.145,0.047,3417,1695,2304,0,0,0,0,0,0
$GC,8470,0.47,185.1,916.1,14.5,769,8474,0.00,2.28,0.00,0.000,4,0.000,0.064,3427,285,2299,0,0,0,0,0,0
$GC,8495,0.43,185.1,912.5,15.5,770,8499,0.12,2.17,0.00,0.000,6,0.142,0.034,3389,1708,2298,0,0,0,0,0,0
$GC,8823,0.41,185.1,869.2,12.9,786,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1710,2296,0,0,0,0,0,0
$GC,9131,0.39,185.1,830.8,12.0,801,9135,0.00,2.28,0.00,0.000,4,0.000,0.064,3399,292,2295,0,0,0,0,0,0
$GC,9164,0.37,185.1,826.5,12.5,802,9171,0.10,2.12,0.00,0.000,6,0.141,0.036,3367,1692,2294,0,0,0,0,0,0
$GC,9480,0.41,216.1,795.5,9.8,818,9508,0.05,0.00,25.27,1.131,6,0.168,0.000,3441,1693,2185,0,0,0,0,0,0
$GC,9811,0.37,216.1,745.7,15.5,834,9816,0.22,2.20,0.00,0.000,4,0.132,0.042,3370,3103,2179,0,0,0,0,0,0
$GC,9854,0.38,216.1,739.4,12.2,836,9858,0.00,2.25,0.00,0.000,6,0.000,0.050,3372,1695,2179,0,0,0,0,0,0
$GC,10182,0.44,260.3,707.3,9.2,852,10228,0.08,2.40,38.38,1.048,4,0.121,0.066,3464,294,2004,0,0,0,0,0,0
$GC,10288,0.40,260.3,690.9,15.8,856,10296,0.28,2.20,0.00,0.000,6,0.112,0.035,3376,1704,1997,0,0,0,0,0,0
$GC,10607,0.47,304.7,661.3,9.2,872,10652,0.10,2.42,37.67,1.007,4,0.097,0.064,3475,294,1823,0,0,0,0,0,0
$GC,10680,0.43,304.7,649.1,18.9,875,10685,0.28,2.20,0.00,0.000,6,0.107,0.034,3386,1697,1820,0,0,0,0,0,0
$GC,11003,0.46,316.9,613.2,10.5,891,11018,0.00,2.30,10.05,0.933,4,0.000,0.065,3389,294,1776,0,0,0,0,0,0
$GC,11052,0.52,339.2,607.9,10.1,892,11078,0.10,2.15,20.48,0.944,6,0.094,0.035,3475,1685,1685,0,0,0,0,0,0
$GC,11397,0.48,339.2,547.1,17.9,921,11402,0.22,2.28,0.00,0.000,4,0.130,0.062,3415,293,1678,0,0,0,0,0,0
$GC,11448,0.51,339.2,540.3,11.0,925,11452,0.00,2.12,0.00,0.000,6,0.000,0.035,3415,1681,1677,0,0,0,0,0,0
$GC,11773,0.52,339.2,501.6,12.5,955,11777,0.00,2.25,0.00,0.000,4,0.000,0.066,3422,290,1676,0,0,0,0,0,0
$GC,11804,0.53,339.2,497.5,12.2,957,11813,0.00,2.12,0.00,0.000,6,0.000,0.035,3422,1671,1675,0,0,0,0,0,0
$GC,12130,0.53,339.2,456.8,12.7,988,12134,0.00,2.22,0.00,0.000,4,0.000,0.065,3429,286,1675,0,0,0,0,0,0
$GC,12179,0.57,347.0,450.8,10.7,992,12193,0.00,2.08,6.50,0.756,6,0.000,0.034,3429,1665,1653,0,0,0,0,0,0
$GC,12510,0.57,347.0,412.1,11.4,1023,12514,0.00,2.20,0.00,0.000,4,0.000,0.063,3435,289,1651,0,0,0,0,0,0
$GC,12575,0.65,382.2,404.6,9.6,1028,12611,0.05,2.08,31.02,0.875,6,0.059,0.034,3509,1646,1509,0,0,0,0,0,0
$GC,12938,0.60,382.2,333.3,20.1,1062,12940,0.20,0.00,0.00,0.000,6,0.128,0.000,3446,1647,1504,0,0,0,0,0,0
$GC,13257,0.60,382.2,290.5,13.4,1098,13266,0.00,2.20,0.00,0.000,4,0.000,0.062,3455,294,1503,0,0,0,0,0,0
$GC,13323,0.65,392.8,282.9,10.6,1109,13338,0.00,2.03,9.30,0.698,6,0.000,0.032,3455,1640,1466,0,0,0,0,0,0
$GC,13661,0.67,399.0,242.4,10.8,1171,13675,0.00,2.17,7.05,0.625,4,0.000,0.059,3458,283,1440,0,0,0,0,0,0
$GC,13700,0.71,419.2,238.0,10.2,1177,13729,0.08,2.03,18.25,0.711,6,0.117,0.031,3537,1632,1357,0,0,0,0,0,0
$GC,14054,0.67,419.2,168.6,19.9,1241,14062,0.22,2.15,0.00,0.000,4,0.135,0.057,3475,291,1354,0,0,0,0,0,0
$GC,14086,0.67,419.2,163.6,14.3,1246,14094,0.00,2.00,0.00,0.000,6,0.000,0.031,3475,1610,1353,0,0,0,0,0,0
$GC,14416,0.69,419.2,124.6,11.3,1307,14424,0.00,2.12,0.00,0.000,4,0.000,0.058,3480,289,1353,0,0,0,0,0,0
$GC,14438,0.72,419.2,122.0,11.8,1310,14446,0.00,1.98,0.00,0.000,6,0.000,0.030,3480,1603,1352,0,0,0,0,0,0
$GC,14765,0.82,475.2,90.1,8.8,1371,14820,0.12,2.33,44.58,0.611,4,0.080,0.034,3589,3106,1128,0,0,0,0,0,0
$GC,14839,0.79,475.2,77.8,18.3,1381,14848,0.22,2.40,0.00,0.000,6,0.098,0.044,3508,1610,1127,0,0,0,0,0,0
$GC,15171,0.93,547.4,46.7,8.1,1442,15233,0.12,2.20,55.22,0.570,4,0.078,0.055,3602,285,835,0,0,0,0,0,0
$GC,15336,0.93,547.4,16.2,17.8,1469,15345,0.15,2.00,0.00,0.000,6,0.085,0.028,3542,1604,831,0,0,0,0,0,0
$STATE,15462,end climb,SURFACE_DEPTH_REACHED
$STATE,15463,begin surface coast
$FINISH,1.2,1.008305
$STATE,15495,end surface coast,CONTROL_FINISHED_OK
$STATE,15495,begin surface
$SM_CCo,15572,0.00,0.000,0,0,828,549.47
$SM_GC,2.12,8.35,0.00,0.00,0.019,0.000,0.000,103,1540,828,-9.70,-0.28,549.47
$IRIDIUM_FIX,2408.65,12656.92,231010,050524
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,23.2,46.579
$10V_AH,10.2,36.709
$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,26.400,148.050,612.125,0.000,0.000,24.808,15.345,267.140,0.750,0.000,16.778,3745.482,7578.354,691.194,3689.773,293.756,0.000,2087.061,0.000,3383.140,0.000,0.539,0.000
$DEVICE_MAMPS,270.810,104.805,1229.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.007,0.000,1792.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,90370,1498
$CAP_FILE_SIZE,187084,0
$CFSIZE,260165632,233320448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244, 76.9,1
$GPS,231010,145407,2419.268,12657.146,38,0.9,38,-3.7