version: 66.08
glider: 168
mission: 2
dive: 390
start: 10 28 110 13 13 40
data:
$ID,168
$MISSION,2
$DIVE,390
$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,-3662.8335
$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,34
$R_STBD_OVSHOOT,52
$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
$GPS1,281010,130755,2353.269,12703.436,52,1.9,52,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-71.6
$GPS2,281010,131314,2353.243,12703.354,18,1.3,18,-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,170.1,108566,-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,-185.1,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,105,1543,2591,0,0,0,0,0,0
$GC,62,-0.63,-185.1,3.0,-1.5,7,107,10.02,2.15,-26.83,0.000,4,0.177,0.054,3025,2941,3824,0,0,0,0,0,0
$GC,240,-0.62,-185.1,40.1,-18.1,38,248,0.10,2.15,0.00,0.000,6,0.131,0.044,3058,1552,3825,0,0,0,0,0,0
$GC,586,-0.59,-185.1,113.6,-15.8,99,592,0.00,2.15,0.00,0.000,4,0.000,0.050,3059,164,3827,0,0,0,0,0,0
$GC,632,-0.58,-185.1,120.7,-14.9,107,639,0.00,2.05,0.00,0.000,6,0.000,0.037,3050,1542,3827,0,0,0,0,0,0
$GC,977,-0.56,-185.1,175.2,-14.8,168,986,0.08,2.17,0.00,0.000,4,0.194,0.044,3065,2960,3829,0,0,0,0,0,0
$GC,1026,-0.59,-185.1,181.1,-10.3,176,1035,0.00,2.12,0.00,0.000,6,0.000,0.040,3065,1560,3828,0,0,0,0,0,0
$GC,1371,-0.59,-185.1,224.2,-12.3,237,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1560,3828,0,0,0,0,0,0
$GC,1714,-0.61,-185.1,263.3,-11.1,298,1721,0.00,2.15,0.00,0.000,4,0.000,0.046,3059,2957,3828,0,0,0,0,0,0
$GC,1745,-0.63,-185.1,266.6,-10.8,303,1752,0.00,2.10,0.00,0.000,6,0.000,0.043,3059,1572,3828,0,0,0,0,0,0
$GC,2087,-0.64,-185.1,303.7,-10.9,361,2091,0.00,2.17,0.00,0.000,4,0.000,0.058,3058,166,3828,0,0,0,0,0,0
$GC,2116,-0.65,-185.1,307.1,-11.5,363,2120,0.00,2.15,0.00,0.000,6,0.000,0.039,3058,1586,3828,0,0,0,0,0,0
$GC,2442,-0.67,-185.1,339.2,-9.0,393,2447,0.08,2.10,0.00,0.000,4,0.121,0.046,2946,2958,3827,0,0,0,0,0,0
$GC,2471,-0.64,-185.1,343.1,-14.1,395,2475,0.30,2.10,0.00,0.000,6,0.108,0.043,3048,1573,3827,0,0,0,0,0,0
$GC,2802,-0.65,-185.1,380.8,-11.4,426,2806,0.00,2.17,0.00,0.000,4,0.000,0.052,3048,159,3826,0,0,0,0,0,0
$GC,2817,-0.66,-185.1,383.0,-11.9,427,2824,0.00,2.12,0.00,0.000,6,0.000,0.039,3045,1578,3825,0,0,0,0,0,0
$GC,3144,-0.67,-185.1,422.2,-11.7,458,3148,0.00,2.10,0.00,0.000,4,0.000,0.047,3037,2956,3824,0,0,0,0,0,0
$GC,3210,-0.71,-185.1,429.4,-9.5,463,3216,0.00,2.10,0.00,0.000,6,0.000,0.043,3037,1570,3824,0,0,0,0,0,0
$GC,3535,-0.72,-185.1,464.0,-10.4,494,3540,0.08,2.17,0.00,0.000,4,0.120,0.047,2927,2965,3822,0,0,0,0,0,0
$GC,3580,-0.68,-185.1,470.8,-17.2,498,3585,0.32,2.12,0.00,0.000,6,0.109,0.047,3037,1578,3822,0,0,0,0,0,0
$STATE,3850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3850,begin apogee
$GC,3855,0.00,0.0,500.5,10.7,523,4004,0.55,0.00,144.40,0.881,4,0.086,0.000,3250,1710,3068,0,0,0,0,0,0
$STATE,4005,end apogee,CONTROL_FINISHED_OK
$STATE,4005,begin climb
$GC,4007,0.63,185.1,506.9,0.0,536,4165,0.55,2.22,148.12,0.867,4,0.039,0.046,3488,3098,2313,0,0,0,0,0,0
$GC,4349,0.57,185.1,468.1,17.4,566,4358,0.20,2.15,0.00,0.000,6,0.139,0.043,3437,1698,2306,0,0,0,0,0,0
$GC,4675,0.60,223.0,427.9,10.3,597,4713,0.00,2.25,30.55,0.815,4,0.000,0.040,3437,3101,2158,0,0,0,0,0,0
$GC,4836,0.63,253.5,410.3,10.6,611,4868,0.00,2.22,25.70,0.801,6,0.000,0.044,3445,1691,2033,0,0,0,0,0,0
$GC,5195,0.63,259.8,370.3,11.6,645,5205,0.00,2.25,5.30,0.591,4,0.000,0.054,3456,296,2008,0,0,0,0,0,0
$GC,5222,0.62,259.8,366.7,12.4,647,5229,0.00,2.10,0.00,0.000,6,0.000,0.030,3456,1686,2006,0,0,0,0,0,0
$GC,5547,0.61,259.8,326.7,12.2,678,5551,0.00,2.12,0.00,0.000,4,0.000,0.041,3456,3102,2004,0,0,0,0,0,0
$GC,5566,0.61,259.8,324.5,12.0,679,5570,0.00,2.17,0.00,0.000,6,0.000,0.044,3456,1685,2004,0,0,0,0,0,0
$GC,5896,0.60,261.8,285.6,11.8,719,5903,0.00,2.17,0.00,0.000,4,0.000,0.053,3466,287,2002,0,0,0,0,0,0
$GC,5977,0.61,273.3,275.9,11.4,733,5998,0.08,2.05,11.73,0.685,6,0.153,0.031,3440,1686,1953,0,0,0,0,0,0
$GC,6335,0.71,343.5,240.2,8.9,796,6396,0.12,0.00,57.55,0.717,6,0.076,0.000,3554,1686,1667,0,0,0,0,0,0
$GC,6733,0.67,343.5,168.0,19.3,866,6741,0.25,2.17,0.00,0.000,4,0.125,0.037,3464,3098,1659,0,0,0,0,0,0
$GC,6759,0.66,343.5,163.7,16.4,870,6767,0.00,2.20,0.00,0.000,6,0.000,0.044,3466,1674,1658,0,0,0,0,0,0
$GC,7104,0.77,414.0,129.8,8.9,931,7166,0.10,2.20,55.05,0.636,4,0.098,0.050,3577,294,1377,0,0,0,0,0,0
$GC,7263,0.75,414.0,104.1,16.0,958,7272,0.25,2.05,0.00,0.000,6,0.096,0.029,3489,1662,1373,0,0,0,0,0,0
$GC,7612,1.00,576.9,77.6,4.9,1019,7746,0.22,2.25,121.70,0.588,4,0.050,0.052,3621,294,714,0,0,0,0,0,0
$GC,7827,0.98,576.9,44.7,17.0,1055,7834,0.17,2.03,0.00,0.000,6,0.117,0.027,3562,1657,711,0,0,0,0,0,0
$GC,8171,1.12,674.3,8.2,7.7,1116,8204,0.15,0.00,29.45,0.525,2,0.069,0.000,3675,1661,557,0,0,0,0,0,0
$STATE,8204,end climb,SURFACE_DEPTH_REACHED
$STATE,8205,begin surface coast
$FINISH,1.6,1.012068
$STATE,8221,end surface coast,CONTROL_FINISHED_OK
$STATE,8221,begin surface
$SM_CCo,8298,0.00,0.000,0,0,553,616.93
$SM_GC,2.40,8.62,0.00,0.00,0.016,0.000,0.000,104,1525,553,-9.70,-0.74,616.93
$IRIDIUM_FIX,2345.05,12705.39,281010,101044
$TT8_MAMPS,0.026215
$HUMID,48.54
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.2,52.102
$10V_AH,10.4,40.334
$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,22.250,73.350,629.550,0.000,0.000,30.776,44.240,122.651,0.500,0.000,20.871,2612.558,3215.334,648.805,1954.038,188.733,0.000,1607.175,0.000,1734.932,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,69.615,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333820
$DATA_FILE_SIZE,63690,1124
$CAP_FILE_SIZE,114438,0
$CFSIZE,260165632,230830080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161, 53.3,1
$GPS,281010,153304,2352.793,12704.062,11,2.6,30,-3.6