version: 66.08
glider: 168
mission: 2
dive: 386
start: 10 28 110 3 40 11
data:
$ID,168
$MISSION,2
$DIVE,386
$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,-3657.8096
$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,49
$R_STBD_OVSHOOT,46
$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
$GPS1,281010,033431,2358.462,12701.820,90,1.3,90,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-64.9
$GPS2,281010,033944,2358.357,12701.838,14,1.4,14,-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,197.3,118262,-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,16,-0.63,-185.1,0.0,0.0,0,72,0.00,0.00,-54.10,0.000,2,0.000,0.000,106,1525,2463,0,0,0,0,0,0
$GC,75,-0.63,-185.1,3.6,-4.4,9,126,10.43,0.00,-38.20,0.000,6,0.192,0.000,3048,1527,3824,0,0,0,0,0,0
$GC,461,-0.56,-185.1,100.2,-22.0,77,469,0.10,2.20,0.00,0.000,4,0.178,0.044,3068,2946,3825,0,0,0,0,0,0
$GC,515,-0.58,-185.1,109.2,-12.2,86,522,0.00,2.12,0.00,0.000,6,0.000,0.043,3068,1557,3825,0,0,0,0,0,0
$GC,860,-0.57,-185.1,159.0,-13.6,147,868,0.00,2.15,0.00,0.000,4,0.000,0.052,3068,161,3826,0,0,0,0,0,0
$GC,908,-0.58,-185.1,165.2,-11.6,155,916,0.00,2.08,0.00,0.000,6,0.000,0.039,3064,1536,3827,0,0,0,0,0,0
$GC,1254,-0.58,-185.1,206.2,-11.0,216,1261,0.00,2.17,0.00,0.000,4,0.000,0.045,3054,2957,3827,0,0,0,0,0,0
$GC,1330,-0.62,-185.1,214.3,-9.5,229,1337,0.00,2.12,0.00,0.000,6,0.000,0.042,3054,1551,3827,0,0,0,0,0,0
$GC,1674,-0.62,-185.1,258.3,-13.0,290,1681,0.00,2.20,0.00,0.000,4,0.000,0.047,3047,2959,3826,0,0,0,0,0,0
$GC,1716,-0.65,-185.1,263.1,-11.1,297,1724,0.00,2.12,0.00,0.000,6,0.000,0.043,3047,1557,3826,0,0,0,0,0,0
$GC,2058,-0.65,-185.1,304.0,-12.2,355,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1556,3826,0,0,0,0,0,0
$GC,2380,-0.65,-185.1,342.1,-11.8,385,2384,0.00,2.15,0.00,0.000,4,0.000,0.047,3039,2956,3824,0,0,0,0,0,0
$GC,2436,-0.69,-185.1,348.3,-9.2,389,2443,0.00,2.12,0.00,0.000,6,0.000,0.044,3039,1559,3824,0,0,0,0,0,0
$GC,2762,-0.69,-185.1,383.0,-10.2,420,2766,0.00,2.17,0.00,0.000,4,0.000,0.048,3037,2955,3822,0,0,0,0,0,0
$GC,2794,-0.71,-185.1,386.3,-9.2,422,2801,0.00,2.10,0.00,0.000,6,0.000,0.044,3037,1572,3822,0,0,0,0,0,0
$GC,3120,-0.71,-185.1,420.8,-11.1,453,3124,0.00,2.15,0.00,0.000,4,0.000,0.052,3037,166,3820,0,0,0,0,0,0
$GC,3153,-0.74,-185.1,424.8,-11.3,455,3162,0.08,2.12,0.00,0.000,6,0.120,0.038,2949,1572,3820,0,0,0,0,0,0
$GC,3478,-0.68,-185.1,484.5,-18.1,486,3483,0.25,2.15,0.00,0.000,4,0.117,0.044,3032,2964,3818,0,0,0,0,0,0
$GC,3519,-0.71,-185.1,489.6,-9.8,489,3523,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,1556,3818,0,0,0,0,0,0
$STATE,3631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3631,begin apogee
$GC,3636,0.00,0.0,500.7,9.6,499,3786,0.57,0.00,143.55,0.884,4,0.084,0.000,3255,1717,3066,0,0,0,0,0,0
$STATE,3786,end apogee,CONTROL_FINISHED_OK
$STATE,3787,begin climb
$GC,3789,0.63,185.1,505.6,0.0,512,3944,0.52,2.22,147.35,0.865,4,0.033,0.045,3507,3096,2313,0,0,0,0,0,0
$GC,4041,0.56,185.1,478.6,17.1,534,4048,0.30,2.20,0.00,0.000,6,0.142,0.043,3426,1695,2308,0,0,0,0,0,0
$GC,4366,0.60,231.9,444.1,9.9,565,4412,0.08,2.25,37.58,0.828,4,0.113,0.052,3523,297,2121,0,0,0,0,0,0
$GC,4465,0.54,231.9,428.0,18.1,573,4473,0.32,2.10,0.00,0.000,6,0.127,0.031,3420,1698,2116,0,0,0,0,0,0
$GC,4791,0.54,235.2,388.4,11.8,604,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1701,2113,0,0,0,0,0,0
$GC,5110,0.61,293.4,354.9,9.4,634,5168,0.10,2.28,48.92,0.797,4,0.093,0.051,3525,292,1870,0,0,0,0,0,0
$GC,5193,0.57,293.4,342.1,17.3,641,5197,0.28,2.12,0.00,0.000,6,0.115,0.031,3436,1688,1867,0,0,0,0,0,0
$GC,5518,0.59,307.3,303.0,11.3,671,5535,0.00,2.17,11.80,0.701,4,0.000,0.040,3437,3109,1814,0,0,0,0,0,0
$GC,5559,0.63,321.6,298.5,11.3,675,5580,0.05,2.22,13.30,0.705,6,0.165,0.046,3486,1691,1755,0,0,0,0,0,0
$GC,5916,0.62,321.6,249.4,12.5,738,5924,0.12,2.20,0.00,0.000,4,0.134,0.054,3455,293,1748,0,0,0,0,0,0
$GC,5998,0.72,378.1,241.3,9.5,752,6053,0.10,2.08,45.22,0.721,6,0.092,0.030,3560,1689,1525,0,0,0,0,0,0
$GC,6389,0.68,378.1,163.1,18.7,821,6396,0.25,2.15,0.00,0.000,4,0.128,0.037,3470,3101,1518,0,0,0,0,0,0
$GC,6419,0.69,378.1,158.0,16.3,826,6426,0.00,2.22,0.00,0.000,6,0.000,0.045,3470,1676,1518,0,0,0,0,0,0
$GC,6762,0.78,433.2,121.5,9.5,887,6812,0.10,2.25,43.15,0.630,4,0.098,0.052,3583,293,1299,0,0,0,0,0,0
$GC,6914,0.78,433.2,94.7,16.8,913,6921,0.25,2.08,0.00,0.000,6,0.097,0.030,3495,1674,1294,0,0,0,0,0,0
$GC,7257,1.01,580.1,64.3,5.5,974,7376,0.22,2.30,109.45,0.578,4,0.055,0.053,3613,290,702,0,0,0,0,0,0
$GC,7417,1.01,580.1,40.2,18.2,1000,7424,0.12,2.03,0.00,0.000,6,0.119,0.028,3567,1650,700,0,0,0,0,0,0
$STATE,7745,end climb,SURFACE_DEPTH_REACHED
$STATE,7745,begin surface coast
$FINISH,1.5,1.022034
$STATE,7769,end surface coast,CONTROL_FINISHED_OK
$STATE,7769,begin surface
$SM_CCo,7845,0.00,0.000,0,0,694,582.10
$SM_GC,2.60,8.25,0.00,0.00,0.013,0.000,0.000,104,1505,694,-9.71,-1.27,582.10
$IRIDIUM_FIX,2349.77,12659.74,281010,010107
$TT8_MAMPS,0.026964
$HUMID,48.85
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.2,51.563
$10V_AH,10.4,40.079
$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,22.500,69.550,600.325,0.000,0.000,24.044,44.749,127.858,0.250,0.000,17.509,2471.085,3023.753,640.783,1846.766,178.327,0.000,1545.183,0.000,1628.679,0.000,0.541,0.000
$DEVICE_MAMPS,192.015,66.555,884.340,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333860
$DATA_FILE_SIZE,60183,1063
$CAP_FILE_SIZE,108360,0
$CFSIZE,260165632,231079936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222,114.4,1
$GPS,281010,055222,2357.023,12702.412,31,2.5,50,-3.6