version: 66.08
glider: 168
mission: 2
dive: 384
start: 10 27 110 22 55 3
data:
$ID,168
$MISSION,2
$DIVE,384
$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,-3655.2949
$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,53
$R_STBD_OVSHOOT,57
$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
$GPS1,271010,224533,2359.886,12701.020,51,2.0,51,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-65.6
$GPS2,271010,225436,2359.753,12701.065,65,1.9,77,-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,189.8,121158,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.63,-185.1,0.0,0.0,0,84,0.00,0.00,-66.60,0.000,2,0.000,0.000,106,1533,2699,0,0,0,0,0,0
$GC,86,-0.63,-185.1,3.8,-4.9,11,125,10.18,2.10,-20.67,0.000,4,0.185,0.064,3049,185,3823,0,0,0,0,0,0
$GC,177,-0.58,-185.1,27.6,-30.3,26,184,0.08,2.03,0.00,0.000,6,0.174,0.041,3066,1528,3825,0,0,0,0,0,0
$GC,519,-0.54,-185.1,109.2,-19.6,87,526,0.00,2.20,0.00,0.000,4,0.000,0.045,3058,2964,3825,0,0,0,0,0,0
$GC,618,-0.55,-185.1,123.4,-12.7,104,625,0.08,2.10,0.00,0.000,6,0.152,0.041,3085,1572,3825,0,0,0,0,0,0
$GC,963,-0.56,-185.1,166.9,-11.2,165,971,0.00,2.15,0.00,0.000,4,0.000,0.050,3085,168,3826,0,0,0,0,0,0
$GC,989,-0.57,-185.1,170.3,-12.1,169,997,0.00,2.10,0.00,0.000,6,0.000,0.038,3080,1563,3826,0,0,0,0,0,0
$GC,1334,-0.58,-185.1,213.8,-12.5,230,1340,0.00,2.12,0.00,0.000,4,0.000,0.045,3072,2959,3826,0,0,0,0,0,0
$GC,1413,-0.63,-185.1,222.5,-10.2,244,1421,0.08,2.12,0.00,0.000,6,0.118,0.041,2969,1562,3826,0,0,0,0,0,0
$GC,1758,-0.56,-185.1,293.3,-19.1,305,1766,0.28,2.12,0.00,0.000,4,0.122,0.050,3067,169,3826,0,0,0,0,0,0
$GC,1785,-0.53,-185.1,297.8,-16.0,309,1794,0.08,2.10,0.00,0.000,6,0.164,0.038,3090,1576,3826,0,0,0,0,0,0
$GC,2121,-0.57,-185.1,325.7,-8.4,342,2125,0.08,2.12,0.00,0.000,4,0.125,0.046,2985,2956,3825,0,0,0,0,0,0
$GC,2206,-0.55,-185.1,337.7,-14.9,349,2211,0.28,2.12,0.00,0.000,6,0.102,0.043,3082,1567,3824,0,0,0,0,0,0
$GC,2534,-0.58,-185.1,368.6,-8.2,379,2538,0.08,2.12,0.00,0.000,4,0.123,0.045,2983,2955,3823,0,0,0,0,0,0
$GC,2554,-0.58,-185.1,371.3,-10.7,380,2562,0.25,2.12,0.00,0.000,6,0.103,0.043,3071,1554,3823,0,0,0,0,0,0
$GC,2881,-0.61,-185.1,397.7,-7.5,411,2885,0.00,2.17,0.00,0.000,4,0.000,0.047,3065,2955,3822,0,0,0,0,0,0
$GC,2925,-0.67,-185.1,401.2,-7.1,414,2932,0.10,2.10,0.00,0.000,6,0.092,0.043,2961,1585,3821,0,0,0,0,0,0
$GC,3250,-0.61,-185.1,457.6,-18.1,445,3255,0.25,2.20,0.00,0.000,4,0.119,0.052,3053,163,3819,0,0,0,0,0,0
$GC,3290,-0.63,-185.1,463.2,-11.9,448,3294,0.00,2.15,0.00,0.000,6,0.000,0.038,3053,1586,3819,0,0,0,0,0,0
$GC,3616,-0.66,-185.1,494.2,-9.0,478,3620,0.00,2.10,0.00,0.000,4,0.000,0.047,3048,2962,3818,0,0,0,0,0,0
$GC,3671,-0.71,-185.1,498.8,-7.4,482,3678,0.10,2.08,0.00,0.000,6,0.091,0.042,2934,1593,3818,0,0,0,0,0,0
$STATE,3686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3686,begin apogee
$GC,3691,0.00,0.0,500.2,8.4,484,3840,0.88,0.00,142.98,0.883,4,0.106,0.000,3247,1719,3067,0,0,0,0,0,0
$STATE,3841,end apogee,CONTROL_FINISHED_OK
$STATE,3841,begin climb
$GC,3843,0.63,185.1,506.9,0.0,497,3999,0.55,2.22,147.35,0.868,4,0.039,0.045,3488,3096,2312,0,0,0,0,0,0
$GC,4132,0.57,185.1,479.7,14.2,523,4140,0.22,2.17,0.00,0.000,6,0.137,0.043,3429,1699,2306,0,0,0,0,0,0
$GC,4459,0.60,218.9,446.9,10.4,554,4493,0.00,2.25,27.10,0.824,4,0.000,0.051,3440,290,2173,0,0,0,0,0,0
$GC,4551,0.62,230.8,436.6,11.4,562,4567,0.00,2.10,10.55,0.740,6,0.000,0.031,3440,1696,2126,0,0,0,0,0,0
$GC,4887,0.61,237.1,396.8,11.6,593,4899,0.00,2.28,5.97,0.633,4,0.000,0.054,3449,293,2100,0,0,0,0,0,0
$GC,4916,0.61,241.6,393.3,11.7,595,4926,0.00,2.08,5.43,0.607,6,0.000,0.030,3449,1699,2083,0,0,0,0,0,0
$GC,5253,0.65,289.6,356.7,9.8,627,5298,0.00,2.25,39.62,0.793,4,0.000,0.041,3449,3103,1886,0,0,0,0,0,0
$GC,5336,0.70,311.9,348.2,10.9,634,5362,0.08,2.22,19.77,0.750,6,0.119,0.046,3541,1696,1795,0,0,0,0,0,0
$GC,5688,0.64,311.9,283.4,19.1,674,5695,0.25,2.20,0.00,0.000,4,0.126,0.051,3469,293,1787,0,0,0,0,0,0
$GC,5774,0.65,311.9,271.3,12.2,689,5781,0.00,2.05,0.00,0.000,6,0.000,0.030,3469,1686,1784,0,0,0,0,0,0
$GC,6119,0.65,311.9,227.6,12.0,750,6126,0.00,2.17,0.00,0.000,4,0.000,0.054,3473,290,1784,0,0,0,0,0,0
$GC,6139,0.65,311.9,225.1,12.0,753,6146,0.00,2.05,0.00,0.000,6,0.000,0.030,3472,1687,1784,0,0,0,0,0,0
$GC,6484,0.67,325.5,184.0,11.3,814,6497,0.00,0.00,10.43,0.610,6,0.000,0.000,3472,1689,1740,0,0,0,0,0,0
$GC,6836,0.74,373.4,145.4,9.8,876,6881,0.05,2.28,39.20,0.644,4,0.172,0.051,3577,292,1544,0,0,0,0,0,0
$GC,6967,0.71,373.4,123.7,15.8,898,6974,0.30,2.08,0.00,0.000,6,0.101,0.029,3470,1677,1539,0,0,0,0,0,0
$GC,7312,0.77,378.6,94.1,11.7,959,7326,0.10,2.20,4.55,0.425,4,0.100,0.052,3578,298,1524,0,0,0,0,0,0
$GC,7360,0.76,378.6,86.3,18.0,967,7367,0.25,2.03,0.00,0.000,6,0.095,0.031,3488,1665,1523,0,0,0,0,0,0
$GC,7703,0.95,503.0,60.9,6.5,1028,7807,0.20,0.00,95.20,0.575,6,0.059,0.000,3595,1668,1015,0,0,0,0,0,0
$STATE,8046,end climb,SURFACE_DEPTH_REACHED
$STATE,8046,begin surface coast
$FINISH,1.5,1.021965
$STATE,8064,end surface coast,CONTROL_FINISHED_OK
$STATE,8064,begin surface
$SM_CCo,8141,0.00,0.000,0,0,1006,505.56
$SM_GC,2.58,8.38,0.00,0.00,0.015,0.000,0.000,103,1506,1006,-9.70,-1.22,505.56
$IRIDIUM_FIX,2349.77,12703.05,271010,222210
$TT8_MAMPS,0.026964
$HUMID,48.38
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,24.2,51.283
$10V_AH,10.4,39.956
$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,23.125,77.400,548.150,0.000,0.000,62.004,33.377,196.232,1.250,0.000,80.000,2578.072,3237.490,608.203,2069.636,196.603,0.000,1538.629,0.000,1690.109,0.000,0.541,0.000
$DEVICE_MAMPS,185.130,71.910,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333832
$DATA_FILE_SIZE,60193,1091
$CAP_FILE_SIZE,117610,0
$CFSIZE,260165632,231194624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154, 51.0,1
$GPS,281010,011133,2359.227,12701.274,14,1.3,14,-3.6