version: 66.08
glider: 168
mission: 2
dive: 15
start: 9 23 110 11 1 59
data:
$ID,168
$MISSION,2
$DIVE,15
$N_DIVES,20
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,110
$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,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,365
$N_FILEKB,4
$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,-3180.3831
$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,3278
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2776
$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,100
$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
$GPS1,230910,105536,2427.364,12705.840,35,1.0,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.7
$GPS2,230910,110132,2427.261,12705.897,12,1.1,12,-3.7
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,STATIONKEEP
$TGT_LATLONG,2430.000,12705.000
$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,340.3,5294,-19.2,-15.152
$D_GRID,1000
$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,-0.78,-243.3,0.0,0.0,0,102,0.00,0.00,-85.65,0.000,2,0.000,0.000,104,1550,3051,0,0,0,0,0,0
$GC,104,-0.78,-243.3,3.3,-4.8,12,136,10.32,2.20,-12.15,0.000,4,0.201,0.060,3020,2960,3772,0,0,0,0,0,0
$GC,212,-0.49,-243.3,47.9,-33.0,30,221,0.28,2.25,0.00,0.000,6,0.125,0.055,3115,1556,3772,0,0,0,0,0,0
$GC,538,-0.49,-243.3,115.9,-16.2,91,546,0.00,2.20,0.00,0.000,4,0.000,0.057,3116,154,3773,0,0,0,0,0,0
$GC,633,-0.70,-243.3,128.9,-11.3,108,641,0.15,2.12,0.00,0.000,6,0.034,0.044,2997,1534,3774,0,0,0,0,0,0
$GC,957,-0.45,-243.3,204.7,-22.4,169,966,0.38,2.17,0.00,0.000,4,0.131,0.057,3130,153,3775,0,0,0,0,0,0
$GC,985,-0.41,-243.3,209.8,-18.9,173,993,0.05,2.10,0.00,0.000,6,0.122,0.041,3153,1536,3775,0,0,0,0,0,0
$GC,1311,-0.78,-243.3,230.3,-5.8,234,1321,0.30,2.17,0.00,0.000,4,0.049,0.044,2987,2956,3775,0,0,0,0,0,0
$GC,1428,-0.71,-243.3,249.3,-17.6,255,1437,0.17,2.20,0.00,0.000,6,0.106,0.050,3051,1543,3775,0,0,0,0,0,0
$GC,1753,-0.71,-243.3,299.4,-14.5,316,1761,0.00,2.12,0.00,0.000,4,0.000,0.057,3052,172,3774,0,0,0,0,0,0
$GC,1812,-0.76,-243.3,308.2,-14.3,326,1819,0.00,2.05,0.00,0.000,6,0.000,0.041,3044,1554,3774,0,0,0,0,0,0
$GC,2154,-0.76,-243.3,358.3,-15.2,387,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1556,3773,0,0,0,0,0,0
$GC,2496,-0.76,-243.3,407.5,-14.1,448,2503,0.00,2.15,0.00,0.000,4,0.000,0.059,3044,164,3772,0,0,0,0,0,0
$GC,2561,-0.84,-243.3,416.5,-13.1,459,2568,0.10,2.05,0.00,0.000,6,0.098,0.042,2956,1541,3771,0,0,0,0,0,0
$GC,2905,-0.62,-243.3,489.3,-21.7,520,2912,0.35,2.12,0.00,0.000,4,0.129,0.045,3068,2962,3770,0,0,0,0,0,0
$GC,2929,-0.62,-243.3,493.5,-16.3,524,2936,0.00,2.20,0.00,0.000,6,0.000,0.051,3068,1536,3769,0,0,0,0,0,0
$STATE,3002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3002,begin apogee
$GC,3005,-0.12,0.0,500.3,9.5,537,3195,0.45,0.00,184.07,0.842,4,0.093,0.000,3244,1534,2775,0,0,0,0,0,0
$STATE,3196,end apogee,CONTROL_FINISHED_OK
$STATE,3196,begin climb
$GC,3197,0.78,243.3,506.9,0.0,554,3396,0.77,2.25,191.38,0.830,4,0.044,0.059,3553,165,1784,0,0,0,0,0,0
$GC,3409,0.49,243.3,469.9,24.7,583,3417,0.38,2.10,0.00,0.000,6,0.128,0.033,3436,1517,1781,0,0,0,0,0,0
$GC,3753,0.49,243.3,414.2,15.2,644,3759,0.00,2.10,0.00,0.000,4,0.000,0.041,3437,2907,1774,0,0,0,0,0,0
$GC,3866,0.58,259.5,397.7,14.5,664,3887,0.08,2.17,12.80,0.699,6,0.123,0.052,3502,1502,1718,0,0,0,0,0,0
$GC,4223,0.41,259.5,321.8,21.8,727,4230,0.25,2.12,0.00,0.000,4,0.131,0.043,3414,2899,1715,0,0,0,0,0,0
$GC,4271,0.67,337.5,314.8,11.9,735,4344,0.22,2.17,61.70,0.732,6,0.060,0.053,3535,1505,1399,0,0,0,0,0,0
$GC,4661,0.47,337.5,216.3,25.3,807,4669,0.32,2.15,0.00,0.000,4,0.135,0.037,3425,2902,1392,0,0,0,0,0,0
$GC,4725,0.88,456.0,205.6,10.2,818,4824,0.32,2.20,88.78,0.657,6,0.034,0.052,3586,1517,916,0,0,0,0,0,0
$GC,5142,0.70,456.0,71.4,23.5,891,5150,0.25,2.15,0.00,0.000,4,0.139,0.058,3510,168,909,0,0,0,0,0,0
$GC,5205,1.30,648.2,63.5,7.1,902,5304,0.45,2.03,89.93,0.554,6,0.033,0.030,3723,1525,414,0,0,0,0,0,0
$STATE,5369,end climb,SURFACE_DEPTH_REACHED
$STATE,5369,begin surface coast
$FINISH,0.5,1.014391
$STATE,5376,end surface coast,CONTROL_FINISHED_OK
$STATE,5376,begin surface
$SM_CCo,5451,0.00,0.000,0,0,409,580.63
$SM_GC,1.39,8.88,0.00,0.00,0.020,0.000,0.000,105,1523,409,-9.76,-0.74,580.63
$IRIDIUM_FIX,2420.48,12706.40,230910,090951
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.5,4.313
$10V_AH,10.5,4.374
$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,24.475,51.575,628.650,0.000,0.000,60.335,40.520,107.880,0.250,0.000,14.814,2084.364,798.840,621.211,2231.894,80.378,0.000,1456.844,0.000,2012.854,0.000,0.540,0.000
$DEVICE_MAMPS,201.195,59.670,841.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.145,0.000,1259.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,53674,928
$CAP_FILE_SIZE,88345,0
$CFSIZE,260165632,251699200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,150.8,1
$GPS,230910,123352,2427.442,12705.728,9,2.8,28,-3.7