version: 66.08
glider: 168
mission: 2
dive: 388
start: 10 28 110 8 28 46
data:
$ID,168
$MISSION,2
$DIVE,388
$N_DIVES,400
$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,-3660.321
$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,60
$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
$GPS1,281010,082126,2355.323,12702.808,52,2.3,71,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-69.9
$GPS2,281010,082820,2355.140,12702.738,14,1.1,14,-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,167.2,112198,-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,13,begin dive
$GC,15,-0.63,-185.1,0.0,0.0,0,59,0.00,0.00,-42.08,0.000,2,0.000,0.000,106,1513,2202,0,0,0,0,0,0
$GC,62,-0.63,-185.1,3.1,-2.8,7,118,10.15,2.30,-40.38,0.000,4,0.183,0.057,3012,2951,3824,0,0,0,0,0,0
$GC,200,-0.58,-185.1,25.9,-20.4,30,207,0.17,2.12,0.00,0.000,6,0.115,0.044,3069,1581,3825,0,0,0,0,0,0
$GC,544,-0.55,-185.1,100.5,-15.1,91,551,0.00,2.20,0.00,0.000,4,0.000,0.050,3069,157,3825,0,0,0,0,0,0
$GC,624,-0.57,-185.1,110.6,-11.7,105,632,0.00,2.08,0.00,0.000,6,0.000,0.038,3064,1533,3826,0,0,0,0,0,0
$GC,966,-0.56,-185.1,163.4,-13.6,166,973,0.00,2.17,0.00,0.000,4,0.000,0.044,3054,2955,3827,0,0,0,0,0,0
$GC,1032,-0.59,-185.1,170.8,-9.9,177,1039,0.00,2.17,0.00,0.000,6,0.000,0.041,3054,1536,3827,0,0,0,0,0,0
$GC,1379,-0.58,-185.1,217.5,-14.7,238,1385,0.00,2.10,0.00,0.000,4,0.000,0.053,3053,166,3827,0,0,0,0,0,0
$GC,1404,-0.58,-185.1,221.1,-14.0,242,1410,0.00,2.08,0.00,0.000,6,0.000,0.040,3050,1543,3827,0,0,0,0,0,0
$GC,1748,-0.58,-185.1,266.3,-12.6,303,1754,0.00,2.17,0.00,0.000,4,0.000,0.045,3044,2964,3827,0,0,0,0,0,0
$GC,1800,-0.62,-185.1,272.1,-10.3,312,1807,0.00,2.17,0.00,0.000,6,0.000,0.042,3044,1544,3827,0,0,0,0,0,0
$GC,2141,-0.62,-185.1,314.6,-11.9,363,2145,0.00,2.12,0.00,0.000,4,0.000,0.052,3043,166,3826,0,0,0,0,0,0
$GC,2173,-0.63,-185.1,318.7,-12.2,365,2181,0.00,2.08,0.00,0.000,6,0.000,0.039,3036,1556,3826,0,0,0,0,0,0
$GC,2498,-0.63,-185.1,360.1,-13.0,396,2502,0.00,2.12,0.00,0.000,4,0.000,0.047,3029,2955,3825,0,0,0,0,0,0
$GC,2545,-0.65,-185.1,365.6,-12.1,400,2549,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,1547,3824,0,0,0,0,0,0
$GC,2870,-0.65,-185.1,409.3,-13.3,430,2874,0.00,2.12,0.00,0.000,4,0.000,0.053,3029,162,3823,0,0,0,0,0,0
$GC,2892,-0.65,-185.1,412.5,-13.8,432,2897,0.08,2.08,0.00,0.000,6,0.163,0.040,3048,1546,3823,0,0,0,0,0,0
$GC,3218,-0.67,-185.1,446.7,-10.1,462,3222,0.00,2.15,0.00,0.000,4,0.000,0.048,3040,2958,3821,0,0,0,0,0,0
$GC,3287,-0.71,-185.1,452.8,-8.4,467,3294,0.00,2.15,0.00,0.000,6,0.000,0.044,3039,1561,3821,0,0,0,0,0,0
$GC,3613,-0.73,-185.1,485.6,-9.8,498,3618,0.08,2.17,0.00,0.000,4,0.119,0.049,2935,2958,3818,0,0,0,0,0,0
$GC,3646,-0.69,-185.1,490.4,-15.6,500,3653,0.30,2.12,0.00,0.000,6,0.109,0.047,3037,1570,3818,0,0,0,0,0,0
$STATE,3735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3735,begin apogee
$GC,3741,0.00,0.0,500.1,9.9,509,3890,0.55,0.00,143.32,0.884,4,0.085,0.000,3253,1720,3069,0,0,0,0,0,0
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3893,0.63,185.1,507.2,0.0,522,4048,0.52,2.35,147.43,0.871,4,0.037,0.052,3485,286,2312,0,0,0,0,0,0
$GC,4126,0.58,185.1,490.8,13.9,543,4134,0.15,2.12,0.00,0.000,6,0.125,0.031,3438,1694,2306,0,0,0,0,0,0
$GC,4452,0.56,185.1,453.4,12.3,574,4456,0.00,2.17,0.00,0.000,4,0.000,0.043,3438,3105,2301,0,0,0,0,0,0
$GC,4617,0.53,185.1,431.6,13.8,588,4622,0.10,2.17,0.00,0.000,6,0.169,0.044,3418,1686,2300,0,0,0,0,0,0
$GC,4943,0.62,255.0,397.4,8.9,618,5010,0.10,2.30,55.83,0.823,4,0.095,0.052,3514,293,2026,0,0,0,0,0,0
$GC,5093,0.58,255.0,374.5,15.3,631,5101,0.25,2.12,0.00,0.000,6,0.117,0.031,3433,1712,2020,0,0,0,0,0,0
$GC,5419,0.61,280.4,339.4,10.8,662,5445,0.00,2.30,20.23,0.758,4,0.000,0.054,3443,294,1923,0,0,0,0,0,0
$GC,5475,0.65,306.9,333.4,10.8,667,5510,0.05,2.05,23.00,0.754,6,0.167,0.030,3509,1678,1815,0,0,0,0,0,0
$GC,5834,0.61,306.9,271.1,18.7,714,5841,0.20,0.00,0.00,0.000,6,0.124,0.000,3444,1678,1809,0,0,0,0,0,0
$GC,6176,0.69,354.5,234.6,9.8,775,6221,0.10,2.25,38.12,0.716,4,0.095,0.052,3544,297,1621,0,0,0,0,0,0
$GC,6274,0.66,354.5,218.9,16.8,791,6282,0.25,2.05,0.00,0.000,6,0.103,0.030,3457,1661,1617,0,0,0,0,0,0
$GC,6621,0.74,407.5,183.2,9.6,852,6671,0.10,2.17,42.22,0.676,4,0.096,0.051,3571,296,1405,0,0,0,0,0,0
$GC,6707,0.70,407.5,167.1,20.9,866,6714,0.30,2.05,0.00,0.000,6,0.097,0.029,3465,1655,1402,0,0,0,0,0,0
$GC,7054,0.81,469.3,133.1,9.2,927,7110,0.15,2.17,48.28,0.635,4,0.071,0.051,3594,297,1152,0,0,0,0,0,0
$GC,7141,0.77,469.3,114.1,25.5,941,7149,0.30,2.00,0.00,0.000,6,0.102,0.028,3491,1642,1149,0,0,0,0,0,0
$GC,7486,0.87,505.9,75.1,10.3,1002,7524,0.12,2.17,28.40,0.577,4,0.083,0.053,3590,295,1003,0,0,0,0,0,0
$GC,7604,0.87,505.9,56.7,15.1,1022,7611,0.20,2.00,0.00,0.000,6,0.099,0.029,3518,1635,1000,0,0,0,0,0,0
$GC,7946,1.00,555.5,31.0,9.8,1083,7991,0.15,2.17,38.05,0.544,4,0.070,0.054,3604,297,802,0,0,0,0,0,0
$GC,8032,1.03,580.6,21.2,10.8,1097,8058,0.10,1.98,19.98,0.518,6,0.140,0.027,3571,1635,698,0,0,0,0,0,0
$STATE,8190,end climb,SURFACE_DEPTH_REACHED
$STATE,8190,begin surface coast
$FINISH,1.6,0.997101
$STATE,8213,end surface coast,CONTROL_FINISHED_OK
$STATE,8213,begin surface
$SM_CCo,8290,0.00,0.000,0,0,694,582.59
$SM_GC,2.15,8.38,0.00,0.00,0.018,0.000,0.000,103,1524,694,-9.71,-0.68,582.59
$IRIDIUM_FIX,2347.41,12743.61,281010,050525
$TT8_MAMPS,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.20
$XPDR_PINGS,2
$24V_AH,24.2,51.840
$10V_AH,10.3,40.210
$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,22.850,81.825,604.850,0.000,0.000,59.237,59.291,116.125,0.500,0.000,16.727,2645.119,3209.481,651.300,2014.899,185.518,0.000,1620.385,0.000,1750.478,0.000,0.541,0.000
$DEVICE_MAMPS,182.835,83.385,883.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,63559,1129
$CAP_FILE_SIZE,118218,0
$CFSIZE,260165632,230948864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,158.7,1
$GPS,281010,104804,2353.931,12703.073,13,2.8,32,-3.6