version: 66.08
glider: 168
mission: 2
dive: 380
start: 10 27 110 13 38 51
data:
$ID,168
$MISSION,2
$DIVE,380
$N_DIVES,391
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,140
$T_MISSION,200
$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,-3650.1826
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,271010,133130,2403.608,12659.039,56,1.2,61,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-65.9
$GPS2,271010,133825,2403.621,12658.988,14,1.2,32,-3.6
$SPEED_LIMITS,0.206,0.306
$TGT_NAME,DOGLEG
$TGT_LATLONG,2300.000,12730.000
$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,187.4,129143,-18.0,-11.905
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.63,-185.1,0.0,0.0,0,77,0.00,0.00,-59.70,0.000,2,0.000,0.000,105,1546,2619,0,0,0,0,0,0
$GC,80,-0.63,-185.1,3.3,-2.7,9,124,10.20,2.15,-25.15,0.000,4,0.184,0.051,3038,2954,3824,0,0,0,0,0,0
$GC,137,-0.56,-185.1,16.9,-29.2,18,144,0.12,2.17,0.00,0.000,6,0.125,0.047,3080,1548,3825,0,0,0,0,0,0
$GC,481,-0.52,-185.1,93.5,-17.3,79,489,0.00,2.12,0.00,0.000,4,0.000,0.050,3080,165,3825,0,0,0,0,0,0
$GC,536,-0.54,-185.1,101.7,-12.2,88,543,0.00,2.05,0.00,0.000,6,0.000,0.037,3078,1531,3826,0,0,0,0,0,0
$GC,877,-0.54,-185.1,149.2,-14.8,149,884,0.00,2.17,0.00,0.000,4,0.000,0.044,3068,2959,3827,0,0,0,0,0,0
$GC,986,-0.58,-185.1,162.1,-10.7,168,993,0.00,2.12,0.00,0.000,6,0.000,0.041,3067,1548,3827,0,0,0,0,0,0
$GC,1330,-0.58,-185.1,204.3,-11.9,229,1337,0.00,2.15,0.00,0.000,4,0.000,0.044,3061,2955,3827,0,0,0,0,0,0
$GC,1373,-0.61,-185.1,208.7,-10.0,236,1380,0.00,2.15,0.00,0.000,6,0.000,0.043,3061,1549,3827,0,0,0,0,0,0
$GC,1716,-0.61,-185.1,247.7,-11.1,297,1723,0.00,2.10,0.00,0.000,4,0.000,0.051,3060,166,3826,0,0,0,0,0,0
$GC,1730,-0.61,-185.1,249.3,-11.1,299,1738,0.00,2.05,0.00,0.000,6,0.000,0.038,3054,1547,3827,0,0,0,0,0,0
$GC,2074,-0.61,-185.1,289.6,-12.5,360,2081,0.00,2.17,0.00,0.000,4,0.000,0.046,3044,2967,3825,0,0,0,0,0,0
$GC,2123,-0.64,-185.1,295.2,-10.7,368,2129,0.00,2.15,0.00,0.000,6,0.000,0.042,3044,1546,3826,0,0,0,0,0,0
$GC,2450,-0.64,-185.1,336.9,-12.0,402,2454,0.00,2.15,0.00,0.000,4,0.000,0.046,3037,2957,3823,0,0,0,0,0,0
$GC,2467,-0.64,-185.1,339.0,-11.9,403,2471,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,1557,3823,0,0,0,0,0,0
$GC,2793,-0.64,-185.1,377.2,-11.6,433,2797,0.00,2.17,0.00,0.000,4,0.000,0.047,3034,2961,3822,0,0,0,0,0,0
$GC,2822,-0.66,-185.1,380.3,-11.3,435,2826,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,1552,3822,0,0,0,0,0,0
$GC,3147,-0.66,-185.1,420.0,-11.9,465,3151,0.00,2.17,0.00,0.000,4,0.000,0.047,3030,2956,3820,0,0,0,0,0,0
$GC,3182,-0.68,-185.1,423.7,-10.1,468,3186,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,1556,3820,0,0,0,0,0,0
$GC,3507,-0.68,-185.1,460.7,-10.8,498,3511,0.00,2.15,0.00,0.000,4,0.000,0.047,3024,2959,3818,0,0,0,0,0,0
$GC,3529,-0.69,-185.1,463.2,-10.5,499,3537,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,1561,3818,0,0,0,0,0,0
$STATE,3852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3852,begin apogee
$GC,3857,0.00,0.0,500.3,12.2,530,4006,0.60,0.00,143.27,0.881,4,0.086,0.000,3250,1713,3068,0,0,0,0,0,0
$STATE,4007,end apogee,CONTROL_FINISHED_OK
$STATE,4007,begin climb
$GC,4009,0.63,185.1,507.1,0.0,543,4169,0.55,2.20,147.77,0.871,4,0.038,0.045,3489,3093,2312,0,0,0,0,0,0
$GC,4196,0.56,185.1,494.5,16.2,559,4204,0.22,2.22,0.00,0.000,6,0.138,0.043,3432,1694,2309,0,0,0,0,0,0
$GC,4522,0.58,216.7,457.2,10.5,590,4557,0.00,2.25,25.55,0.817,4,0.000,0.054,3443,293,2182,0,0,0,0,0,0
$GC,4610,0.58,222.7,447.2,11.6,597,4621,0.00,2.08,6.03,0.641,6,0.000,0.030,3443,1692,2159,0,0,0,0,0,0
$GC,4941,0.56,222.7,407.0,12.4,628,4945,0.00,2.15,0.00,0.000,4,0.000,0.041,3443,3102,2154,0,0,0,0,0,0
$GC,4993,0.56,222.7,400.3,13.1,632,4997,0.08,2.17,0.00,0.000,6,0.181,0.045,3431,1701,2154,0,0,0,0,0,0
$GC,5318,0.59,253.3,363.7,10.6,662,5353,0.00,2.28,25.42,0.786,4,0.000,0.055,3441,285,2034,0,0,0,0,0,0
$GC,5381,0.60,267.0,356.4,11.3,667,5400,0.00,2.12,12.32,0.728,6,0.000,0.030,3441,1701,1978,0,0,0,0,0,0
$GC,5716,0.63,289.0,318.5,11.0,699,5741,0.00,2.22,18.73,0.745,4,0.000,0.041,3441,3103,1889,0,0,0,0,0,0
$GC,5757,0.66,309.8,313.6,11.0,702,5787,0.00,2.20,18.58,0.734,6,0.000,0.045,3447,1701,1804,0,0,0,0,0,0
$GC,6116,0.69,326.9,273.1,11.2,756,6137,0.08,2.28,14.50,0.698,4,0.121,0.054,3549,296,1735,0,0,0,0,0,0
$GC,6255,0.64,326.9,247.1,19.3,780,6263,0.30,2.08,0.00,0.000,6,0.112,0.029,3450,1688,1731,0,0,0,0,0,0
$GC,6602,0.69,356.4,206.7,10.6,841,6634,0.08,2.22,24.60,0.685,4,0.125,0.051,3554,292,1614,0,0,0,0,0,0
$GC,6669,0.64,356.4,194.6,20.8,852,6677,0.30,2.10,0.00,0.000,6,0.103,0.029,3453,1691,1611,0,0,0,0,0,0
$GC,7016,0.78,443.8,158.4,8.1,913,7090,0.15,2.33,68.60,0.659,4,0.070,0.054,3593,291,1257,0,0,0,0,0,0
$GC,7131,0.72,443.8,134.7,22.1,932,7140,0.35,2.12,0.00,0.000,6,0.108,0.028,3476,1696,1254,0,0,0,0,0,0
$GC,7477,0.90,542.5,100.3,7.6,993,7562,0.17,2.30,74.70,0.608,4,0.061,0.054,3602,299,854,0,0,0,0,0,0
$GC,7615,0.87,542.5,75.5,20.3,1016,7623,0.22,2.10,0.00,0.000,6,0.110,0.028,3526,1696,851,0,0,0,0,0,0
$GC,7962,1.06,646.6,41.7,7.4,1077,8047,0.20,2.25,77.32,0.560,4,0.056,0.038,3658,3103,431,0,0,0,0,0,0
$GC,8121,1.26,749.1,8.7,7.5,1104,8135,0.00,2.28,4.50,0.374,6,0.000,0.049,3658,1672,414,0,0,0,0,0,0
$STATE,8152,end climb,SURFACE_DEPTH_REACHED
$STATE,8152,begin surface coast
$FINISH,1.5,0.998690
$STATE,8169,end surface coast,CONTROL_FINISHED_OK
$STATE,8169,begin surface
$SM_CCo,8247,0.00,0.000,0,0,410,652.01
$SM_GC,2.16,8.77,0.00,0.00,0.026,0.000,0.000,102,1528,410,-9.71,-0.59,652.01
$IRIDIUM_FIX,2356.84,12655.97,271010,111139
$TT8_MAMPS,0.026215
$HUMID,47.48
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.2,50.716
$10V_AH,10.3,39.712
$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,22.400,87.125,661.900,0.000,0.000,62.679,36.908,118.754,0.250,0.000,35.086,2567.518,3244.643,715.710,1951.862,184.320,0.000,1668.494,0.000,1693.654,0.000,0.542,0.000
$DEVICE_MAMPS,184.365,69.615,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333856
$DATA_FILE_SIZE,63526,1112
$CAP_FILE_SIZE,116889,0
$CFSIZE,260165632,231424000
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201, 72.7,1
$GPS,271010,155722,2402.913,12659.655,9,2.8,28,-3.6