version: 66.08
glider: 168
mission: 2
dive: 385
start: 10 28 110 1 17 44
data:
$ID,168
$MISSION,2
$DIVE,385
$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,-3656.5518
$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,64
$R_STBD_OVSHOOT,44
$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
$GPS1,281010,011133,2359.227,12701.274,14,1.3,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-68.1
$GPS2,281010,011717,2359.126,12701.290,13,1.2,16,-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,188.5,119942,-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,-185.1,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,2,0.000,0.000,105,1509,2756,0,0,0,0,0,0
$GC,81,-0.63,-185.1,3.2,-1.3,10,119,10.20,2.05,-19.45,0.000,4,0.184,0.066,3050,193,3825,0,0,0,0,0,0
$GC,131,-0.50,-185.1,19.1,-29.9,18,139,0.17,2.03,0.00,0.000,6,0.139,0.031,3095,1554,3826,0,0,0,0,0,0
$GC,473,-0.48,-185.1,95.7,-16.1,79,479,0.00,2.12,0.00,0.000,4,0.000,0.041,3085,2957,3827,0,0,0,0,0,0
$GC,532,-0.52,-185.1,102.7,-9.8,89,539,0.00,2.08,0.00,0.000,6,0.000,0.039,3085,1589,3827,0,0,0,0,0,0
$GC,876,-0.52,-185.1,146.3,-11.0,150,883,0.00,2.17,0.00,0.000,4,0.000,0.050,3084,170,3828,0,0,0,0,0,0
$GC,950,-0.56,-185.1,154.4,-9.7,163,957,0.00,2.08,0.00,0.000,6,0.000,0.037,3080,1557,3829,0,0,0,0,0,0
$GC,1296,-0.57,-185.1,195.2,-11.8,224,1303,0.00,2.10,0.00,0.000,4,0.000,0.044,3073,2955,3829,0,0,0,0,0,0
$GC,1378,-0.62,-185.1,203.5,-9.1,238,1385,0.08,2.10,0.00,0.000,6,0.119,0.041,2965,1567,3829,0,0,0,0,0,0
$GC,1722,-0.54,-185.1,276.5,-20.5,299,1728,0.30,0.00,0.00,0.000,6,0.124,0.000,3071,1567,3829,0,0,0,0,0,0
$GC,2064,-0.56,-185.1,310.4,-8.9,350,2068,0.00,2.12,0.00,0.000,4,0.000,0.046,3066,2956,3828,0,0,0,0,0,0
$GC,2100,-0.60,-185.1,313.3,-8.3,353,2104,0.00,2.10,0.00,0.000,6,0.000,0.042,3065,1570,3828,0,0,0,0,0,0
$GC,2426,-0.62,-185.1,346.3,-11.0,383,2430,0.00,2.17,0.00,0.000,4,0.000,0.051,3066,161,3826,0,0,0,0,0,0
$GC,2445,-0.64,-185.1,348.4,-11.3,384,2450,0.08,2.12,0.00,0.000,6,0.119,0.037,2980,1573,3827,0,0,0,0,0,0
$GC,2771,-0.60,-185.1,405.4,-17.2,414,2775,0.25,2.10,0.00,0.000,4,0.115,0.042,3063,2958,3825,0,0,0,0,0,0
$GC,2856,-0.65,-185.1,413.2,-6.8,421,2861,0.08,2.10,0.00,0.000,6,0.119,0.041,2969,1570,3825,0,0,0,0,0,0
$GC,3187,-0.60,-185.1,465.4,-17.0,452,3191,0.25,2.17,0.00,0.000,4,0.123,0.050,3056,163,3823,0,0,0,0,0,0
$GC,3215,-0.60,-185.1,469.6,-13.4,454,3219,0.00,2.12,0.00,0.000,6,0.000,0.037,3051,1586,3823,0,0,0,0,0,0
$STATE,3516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3516,begin apogee
$GC,3521,0.00,0.0,500.1,10.0,482,3670,0.52,0.00,144.00,0.882,4,0.086,0.000,3255,1717,3068,0,0,0,0,0,0
$STATE,3671,end apogee,CONTROL_FINISHED_OK
$STATE,3671,begin climb
$GC,3673,0.63,185.1,508.5,0.0,495,3833,0.52,2.20,147.75,0.865,4,0.034,0.044,3501,3091,2311,0,0,0,0,0,0
$GC,3872,0.57,185.1,494.0,17.4,512,3881,0.28,2.20,0.00,0.000,6,0.138,0.042,3428,1696,2307,0,0,0,0,0,0
$GC,4197,0.55,185.1,455.4,12.0,543,4201,0.00,2.20,0.00,0.000,4,0.000,0.053,3439,294,2302,0,0,0,0,0,0
$GC,4252,0.54,185.1,448.2,12.6,547,4259,0.00,2.05,0.00,0.000,6,0.000,0.031,3439,1683,2299,0,0,0,0,0,0
$GC,4578,0.54,206.0,409.5,11.0,578,4601,0.00,2.17,16.00,0.778,4,0.000,0.041,3439,3108,2227,0,0,0,0,0,0
$GC,4615,0.56,233.1,405.7,10.7,581,4650,0.08,2.20,23.55,0.796,6,0.193,0.044,3427,1681,2117,0,0,0,0,0,0
$GC,4966,0.61,276.6,371.1,10.0,614,5012,0.08,2.28,35.47,0.799,4,0.119,0.053,3516,292,1938,0,0,0,0,0,0
$GC,5030,0.57,276.6,361.8,16.2,619,5037,0.25,2.10,0.00,0.000,6,0.112,0.031,3434,1691,1935,0,0,0,0,0,0
$GC,5355,0.61,311.3,326.7,10.4,650,5390,0.00,2.25,28.30,0.763,4,0.000,0.041,3434,3105,1798,0,0,0,0,0,0
$GC,5403,0.65,334.8,321.2,10.9,654,5430,0.10,2.25,20.38,0.735,6,0.093,0.045,3499,1681,1702,0,0,0,0,0,0
$GC,5762,0.63,334.8,266.0,15.4,706,5770,0.15,2.20,0.00,0.000,4,0.131,0.054,3461,289,1695,0,0,0,0,0,0
$GC,5873,0.70,365.3,253.2,10.6,725,5905,0.00,2.03,24.52,0.707,6,0.000,0.029,3461,1675,1577,0,0,0,0,0,0
$GC,6243,0.72,367.2,208.7,11.8,790,6250,0.08,2.17,0.00,0.000,4,0.122,0.054,3569,287,1572,0,0,0,0,0,0
$GC,6274,0.69,367.2,203.5,17.9,795,6281,0.30,2.03,0.00,0.000,6,0.103,0.030,3463,1664,1571,0,0,0,0,0,0
$GC,6618,0.77,415.0,168.4,9.8,856,6668,0.10,2.22,39.67,0.661,4,0.096,0.052,3586,289,1374,0,0,0,0,0,0
$GC,6743,0.74,415.0,146.5,17.3,877,6750,0.30,2.03,0.00,0.000,6,0.104,0.028,3482,1658,1371,0,0,0,0,0,0
$GC,7087,0.80,435.3,107.7,11.0,938,7114,0.10,2.17,16.48,0.587,4,0.098,0.050,3592,298,1291,0,0,0,0,0,0
$GC,7172,0.79,435.3,93.1,16.5,952,7180,0.28,1.98,0.00,0.000,6,0.096,0.030,3496,1640,1289,0,0,0,0,0,0
$GC,7519,0.98,541.2,69.5,7.3,1013,7609,0.20,2.20,80.60,0.582,4,0.058,0.054,3608,300,859,0,0,0,0,0,0
$GC,7657,1.00,541.2,49.5,12.4,1036,7665,0.12,1.95,0.00,0.000,6,0.124,0.028,3565,1616,856,0,0,0,0,0,0
$STATE,7976,end climb,SURFACE_DEPTH_REACHED
$STATE,7976,begin surface coast
$FINISH,1.6,1.021962
$STATE,8006,end surface coast,CONTROL_FINISHED_OK
$STATE,8006,begin surface
$SM_CCo,8083,0.00,0.000,0,0,847,544.81
$SM_GC,2.23,8.85,0.00,0.00,0.052,0.000,0.000,104,1528,847,-9.68,-0.62,544.81
$IRIDIUM_FIX,2352.12,12703.05,271010,222235
$TT8_MAMPS,0.026964
$HUMID,48.18
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.2,51.422
$10V_AH,10.4,40.018
$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,23.700,76.875,576.725,0.000,0.000,24.552,45.215,151.449,0.250,0.000,17.276,2578.954,3104.727,632.088,1930.889,182.578,0.000,1562.382,0.000,1680.117,0.000,0.542,0.000
$DEVICE_MAMPS,192.780,81.090,882.045,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333852
$DATA_FILE_SIZE,60331,1098
$CAP_FILE_SIZE,114467,0
$CFSIZE,260165632,231137280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188, 72.0,1
$GPS,281010,033431,2358.462,12701.820,90,1.3,90,-3.6