version: 66.08
glider: 168
mission: 2
dive: 389
start: 10 28 110 10 53 23
data:
$ID,168
$MISSION,2
$DIVE,389
$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,-3661.5771
$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,50
$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
$GPS1,281010,104804,2353.931,12703.073,13,2.8,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.6
$GPS2,281010,105256,2353.865,12703.003,21,1.7,21,-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,158.3,109862,-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,-185.1,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,104,1525,2484,0,0,0,0,0,0
$GC,82,-0.63,-185.1,3.1,-1.1,10,132,9.93,2.12,-30.38,0.000,4,0.174,0.062,3046,187,3826,0,0,0,0,0,0
$GC,240,-0.58,-185.1,35.5,-27.5,37,247,0.10,2.03,0.00,0.000,6,0.163,0.037,3067,1539,3826,0,0,0,0,0,0
$GC,582,-0.55,-185.1,108.9,-15.8,98,589,0.00,2.10,0.00,0.000,4,0.000,0.049,3066,179,3827,0,0,0,0,0,0
$GC,612,-0.55,-185.1,113.6,-14.4,103,619,0.00,2.08,0.00,0.000,6,0.000,0.038,3063,1560,3828,0,0,0,0,0,0
$GC,956,-0.54,-185.1,161.8,-13.6,164,964,0.00,2.12,0.00,0.000,4,0.000,0.043,3054,2957,3828,0,0,0,0,0,0
$GC,1026,-0.56,-185.1,171.0,-12.4,176,1035,0.08,2.10,0.00,0.000,6,0.152,0.041,3081,1573,3828,0,0,0,0,0,0
$GC,1374,-0.58,-185.1,211.7,-9.9,237,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1573,3828,0,0,0,0,0,0
$GC,1718,-0.60,-185.1,246.2,-9.9,298,1726,0.08,2.12,0.00,0.000,4,0.122,0.047,2973,2953,3828,0,0,0,0,0,0
$GC,1760,-0.57,-185.1,252.4,-16.1,305,1767,0.30,2.12,0.00,0.000,6,0.103,0.042,3078,1557,3828,0,0,0,0,0,0
$GC,2105,-0.59,-185.1,287.9,-9.9,366,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1557,3827,0,0,0,0,0,0
$GC,2442,-0.62,-185.1,319.6,-8.6,408,2447,0.10,2.17,0.00,0.000,4,0.095,0.047,2967,2962,3826,0,0,0,0,0,0
$GC,2470,-0.60,-185.1,323.0,-13.2,410,2475,0.28,2.15,0.00,0.000,6,0.105,0.044,3061,1562,3826,0,0,0,0,0,0
$GC,2798,-0.62,-185.1,355.9,-9.9,440,2802,0.00,2.15,0.00,0.000,4,0.000,0.052,3061,166,3824,0,0,0,0,0,0
$GC,2816,-0.64,-185.1,358.1,-10.6,441,2820,0.00,2.08,0.00,0.000,6,0.000,0.038,3058,1557,3824,0,0,0,0,0,0
$GC,3143,-0.66,-185.1,393.9,-11.1,471,3146,0.00,2.12,0.00,0.000,4,0.000,0.045,3049,2955,3823,0,0,0,0,0,0
$GC,3194,-0.71,-185.1,399.3,-10.0,475,3199,0.10,2.12,0.00,0.000,6,0.091,0.041,2935,1557,3823,0,0,0,0,0,0
$GC,3520,-0.63,-185.1,466.0,-20.8,505,3525,0.32,2.15,0.00,0.000,4,0.126,0.042,3037,2955,3821,0,0,0,0,0,0
$GC,3564,-0.67,-185.1,472.8,-10.6,508,3572,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,1570,3822,0,0,0,0,0,0
$STATE,3825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3825,begin apogee
$GC,3831,0.00,0.0,500.5,10.5,533,3979,0.55,0.00,143.98,0.879,4,0.085,0.000,3252,1720,3068,0,0,0,0,0,0
$STATE,3980,end apogee,CONTROL_FINISHED_OK
$STATE,3980,begin climb
$GC,3982,0.63,185.1,506.9,0.0,546,4137,0.52,2.17,147.88,0.865,4,0.034,0.043,3507,3093,2313,0,0,0,0,0,0
$GC,4340,0.56,185.1,464.3,16.2,578,4345,0.28,2.15,0.00,0.000,6,0.139,0.043,3433,1697,2307,0,0,0,0,0,0
$GC,4667,0.59,224.9,431.1,10.2,608,4705,0.00,2.22,31.95,0.813,4,0.000,0.041,3432,3092,2150,0,0,0,0,0,0
$GC,4827,0.61,242.3,413.3,11.1,622,4848,0.00,2.17,15.27,0.764,6,0.000,0.044,3441,1713,2079,0,0,0,0,0,0
$GC,5174,0.65,268.1,371.6,10.8,655,5201,0.05,2.28,21.30,0.771,4,0.171,0.053,3519,300,1974,0,0,0,0,0,0
$GC,5254,0.61,268.1,359.9,15.1,662,5259,0.22,2.08,0.00,0.000,6,0.114,0.031,3445,1691,1970,0,0,0,0,0,0
$GC,5581,0.64,290.7,325.0,10.9,692,5605,0.00,2.28,18.85,0.740,4,0.000,0.054,3454,294,1883,0,0,0,0,0,0
$GC,5622,0.67,321.4,320.2,10.6,695,5654,0.00,2.10,26.48,0.747,6,0.000,0.028,3455,1687,1757,0,0,0,0,0,0
$GC,5985,0.68,327.1,280.2,11.7,744,5999,0.00,2.25,5.35,0.554,4,0.000,0.054,3462,292,1734,0,0,0,0,0,0
$GC,6052,0.73,347.2,272.4,11.0,755,6079,0.08,2.08,17.77,0.705,6,0.119,0.029,3553,1686,1651,0,0,0,0,0,0
$GC,6415,0.68,347.2,200.3,19.9,819,6423,0.25,2.17,0.00,0.000,4,0.125,0.037,3463,3102,1645,0,0,0,0,0,0
$GC,6456,0.71,347.2,193.8,13.6,826,6463,0.00,2.22,0.00,0.000,6,0.000,0.044,3466,1669,1645,0,0,0,0,0,0
$GC,6800,0.77,382.2,156.7,10.4,887,6839,0.10,2.20,28.20,0.650,4,0.097,0.052,3581,297,1508,0,0,0,0,0,0
$GC,6968,0.73,382.2,126.6,20.0,916,6976,0.28,2.03,0.00,0.000,6,0.104,0.029,3485,1658,1504,0,0,0,0,0,0
$GC,7315,0.78,399.0,85.9,11.2,977,7334,0.08,0.00,14.18,0.572,6,0.123,0.000,3577,1660,1441,0,0,0,0,0,0
$GC,7671,0.76,399.0,35.7,17.2,1040,7679,0.25,2.12,0.00,0.000,4,0.118,0.050,3493,289,1437,0,0,0,0,0,0
$GC,7747,0.84,399.0,26.6,11.9,1053,7755,0.10,2.00,0.00,0.000,6,0.096,0.027,3584,1669,1436,0,0,0,0,0,0
$STATE,7890,end climb,SURFACE_DEPTH_REACHED
$STATE,7890,begin surface coast
$FINISH,1.5,1.008198
$STATE,7907,end surface coast,CONTROL_FINISHED_OK
$STATE,7908,begin surface
$SM_CCo,7984,0.00,0.000,0,0,1431,401.56
$SM_GC,2.45,8.30,0.00,0.00,0.018,0.000,0.000,103,1543,1431,-9.68,-0.14,401.56
$IRIDIUM_FIX,2347.41,12703.51,281010,080857
$TT8_MAMPS,0.026215
$HUMID,49.88
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.2,51.957
$10V_AH,10.4,40.270
$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,22.325,68.775,471.200,0.000,0.000,31.083,14.965,125.180,0.250,0.000,22.857,2573.792,3104.887,540.303,1881.470,178.312,0.000,1455.347,0.000,1685.370,0.000,0.541,0.000
$DEVICE_MAMPS,174.420,82.620,878.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333872
$DATA_FILE_SIZE,60141,1081
$CAP_FILE_SIZE,110712,0
$CFSIZE,260165632,230895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 29.6,1
$GPS,281010,130755,2353.269,12703.436,52,1.9,52,-3.6