version: 66.08
glider: 168
mission: 2
dive: 391
start: 10 28 110 15 38 57
data:
$ID,168
$MISSION,2
$DIVE,391
$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,-3664.0889
$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,45
$R_STBD_OVSHOOT,54
$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
$GPS1,281010,153304,2352.793,12704.062,11,2.6,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-64.2
$GPS2,281010,153830,2352.808,12704.010,35,1.5,39,-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,190.2,107369,-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,12,begin dive
$GC,14,-0.63,-185.1,0.0,0.0,0,84,0.00,0.00,-67.05,0.000,2,0.000,0.000,105,1526,2543,0,0,0,0,0,0
$GC,87,-0.63,-185.1,3.1,-1.4,11,137,10.25,2.12,-31.55,0.000,4,0.185,0.067,3048,172,3824,0,0,0,0,0,0
$GC,217,-0.59,-185.1,27.0,-18.9,33,226,0.10,2.08,0.00,0.000,6,0.157,0.040,3067,1533,3826,0,0,0,0,0,0
$GC,562,-0.56,-185.1,105.4,-20.3,94,569,0.00,2.10,0.00,0.000,4,0.000,0.050,3067,181,3826,0,0,0,0,0,0
$GC,610,-0.56,-185.1,112.9,-13.2,102,617,0.00,2.05,0.00,0.000,6,0.000,0.038,3060,1550,3826,0,0,0,0,0,0
$GC,954,-0.55,-185.1,165.5,-14.9,163,961,0.08,2.20,0.00,0.000,4,0.182,0.046,3075,2966,3827,0,0,0,0,0,0
$GC,978,-0.55,-185.1,168.9,-13.6,167,985,0.00,2.12,0.00,0.000,6,0.000,0.041,3075,1560,3827,0,0,0,0,0,0
$GC,1322,-0.56,-185.1,206.2,-11.1,228,1329,0.00,2.17,0.00,0.000,4,0.000,0.047,3067,2963,3827,0,0,0,0,0,0
$GC,1342,-0.57,-185.1,208.6,-11.0,231,1349,0.00,2.17,0.00,0.000,6,0.000,0.044,3067,1548,3827,0,0,0,0,0,0
$GC,1687,-0.58,-185.1,247.7,-11.9,292,1694,0.00,2.17,0.00,0.000,4,0.000,0.047,3060,2967,3827,0,0,0,0,0,0
$GC,1707,-0.60,-185.1,250.0,-11.3,295,1713,0.00,2.17,0.00,0.000,6,0.000,0.043,3060,1547,3827,0,0,0,0,0,0
$GC,2052,-0.61,-185.1,289.4,-10.2,356,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1546,3826,0,0,0,0,0,0
$GC,2390,-0.62,-185.1,326.4,-10.8,396,2394,0.00,2.17,0.00,0.000,4,0.000,0.047,3053,2956,3825,0,0,0,0,0,0
$GC,2412,-0.64,-185.1,329.2,-10.5,397,2420,0.00,2.15,0.00,0.000,6,0.000,0.044,3054,1549,3825,0,0,0,0,0,0
$GC,2738,-0.66,-185.1,363.5,-10.4,428,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1550,3824,0,0,0,0,0,0
$GC,3058,-0.67,-185.1,395.6,-10.2,458,3063,0.08,2.20,0.00,0.000,4,0.119,0.048,2947,2957,3822,0,0,0,0,0,0
$GC,3150,-0.64,-185.1,409.1,-16.1,466,3155,0.30,2.17,0.00,0.000,6,0.108,0.046,3050,1539,3822,0,0,0,0,0,0
$GC,3477,-0.66,-185.1,444.1,-10.3,496,3481,0.00,2.20,0.00,0.000,4,0.000,0.047,3042,2962,3819,0,0,0,0,0,0
$GC,3540,-0.71,-185.1,450.0,-8.3,501,3545,0.08,2.15,0.00,0.000,6,0.116,0.043,2942,1553,3819,0,0,0,0,0,0
$STATE,3831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3831,begin apogee
$GC,3837,0.00,0.0,501.2,17.0,528,3986,0.88,0.00,143.45,0.883,4,0.103,0.000,3250,1715,3067,0,0,0,0,0,0
$STATE,3987,end apogee,CONTROL_FINISHED_OK
$STATE,3987,begin climb
$GC,3989,0.63,185.1,507.0,0.0,541,4144,0.55,2.22,147.75,0.868,4,0.037,0.044,3495,3094,2313,0,0,0,0,0,0
$GC,4284,0.57,185.1,477.2,15.3,567,4292,0.25,2.17,0.00,0.000,6,0.138,0.043,3428,1691,2306,0,0,0,0,0,0
$GC,4611,0.58,209.0,442.9,10.9,598,4636,0.00,2.28,19.08,0.803,4,0.000,0.053,3439,289,2215,0,0,0,0,0,0
$GC,4648,0.59,228.2,438.3,11.1,601,4671,0.00,2.08,17.33,0.789,6,0.000,0.030,3439,1688,2137,0,0,0,0,0,0
$GC,4997,0.59,242.8,395.8,11.3,634,5019,0.00,2.25,12.40,0.754,4,0.000,0.041,3439,3106,2077,0,0,0,0,0,0
$GC,5081,0.62,267.6,385.8,10.8,641,5111,0.00,2.20,21.33,0.786,6,0.000,0.044,3447,1700,1976,0,0,0,0,0,0
$GC,5429,0.62,267.6,343.4,12.7,674,5433,0.00,2.20,0.00,0.000,4,0.000,0.054,3458,296,1969,0,0,0,0,0,0
$GC,5506,0.62,267.6,333.3,12.3,680,5513,0.00,2.10,0.00,0.000,6,0.000,0.031,3458,1704,1967,0,0,0,0,0,0
$GC,5834,0.61,267.6,292.1,12.7,716,5841,0.00,2.17,0.00,0.000,4,0.000,0.054,3466,296,1966,0,0,0,0,0,0
$GC,5881,0.61,267.6,285.8,12.8,724,5889,0.08,2.05,0.00,0.000,6,0.158,0.031,3440,1692,1964,0,0,0,0,0,0
$GC,6227,0.66,296.0,247.7,10.7,785,6260,0.08,2.22,23.05,0.711,4,0.118,0.053,3545,295,1860,0,0,0,0,0,0
$GC,6278,0.60,296.0,238.9,18.9,793,6286,0.30,2.05,0.00,0.000,6,0.112,0.029,3444,1681,1859,0,0,0,0,0,0
$GC,6626,0.68,343.0,201.8,9.9,854,6668,0.08,0.00,38.20,0.689,6,0.119,0.000,3536,1683,1669,0,0,0,0,0,0
$GC,7005,0.64,343.0,138.7,15.6,921,7014,0.25,2.17,0.00,0.000,4,0.116,0.050,3455,295,1662,0,0,0,0,0,0
$GC,7031,0.64,343.0,135.3,12.5,925,7039,0.00,2.03,0.00,0.000,6,0.000,0.028,3456,1678,1660,0,0,0,0,0,0
$GC,7376,0.75,400.3,102.8,9.4,986,7427,0.12,2.25,45.03,0.610,4,0.083,0.051,3578,296,1435,0,0,0,0,0,0
$GC,7480,0.74,400.3,85.8,15.5,1003,7487,0.28,2.05,0.00,0.000,6,0.103,0.028,3482,1667,1430,0,0,0,0,0,0
$GC,7825,0.93,506.3,62.0,7.3,1064,7911,0.20,2.28,80.43,0.578,4,0.061,0.053,3592,295,1002,0,0,0,0,0,0
$GC,7992,0.93,506.3,36.0,19.3,1092,7999,0.15,2.03,0.00,0.000,6,0.113,0.029,3540,1642,998,0,0,0,0,0,0
$STATE,8258,end climb,SURFACE_DEPTH_REACHED
$STATE,8258,begin surface coast
$FINISH,1.7,1.022163
$STATE,8287,end surface coast,CONTROL_FINISHED_OK
$STATE,8287,begin surface
$SM_CCo,8364,0.00,0.000,0,0,992,509.24
$SM_GC,2.19,8.30,0.00,0.00,0.020,0.000,0.000,104,1509,992,-9.68,-1.10,509.24
$IRIDIUM_FIX,2347.41,12703.51,281010,131336
$TT8_MAMPS,0.026964
$HUMID,49.05
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.2,52.231
$10V_AH,10.4,40.398
$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,22.375,73.575,548.025,0.000,0.000,27.988,36.674,115.461,0.250,0.000,42.622,2675.756,3223.978,617.883,1986.228,188.252,0.000,1577.620,0.000,1756.618,0.000,0.541,0.000
$DEVICE_MAMPS,185.130,79.560,882.810,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333816
$DATA_FILE_SIZE,63601,1145
$CAP_FILE_SIZE,114562,0
$CFSIZE,260165632,230768640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 74.7,1
$GPS,281010,180025,2351.903,12704.654,88,1.2,89,-3.6