version: 66.08
glider: 168
mission: 2
dive: 17
start: 9 23 110 14 14 33
data:
$ID,168
$MISSION,2
$DIVE,17
$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,-3183.6614
$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,49
$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
$GPS1,230910,140934,2427.291,12705.727,9,2.5,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.8
$GPS2,230910,141406,2427.199,12705.763,14,1.5,30,-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,346.3,5345,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-243.3,0.0,0.0,0,105,0.00,0.00,-88.30,0.000,2,0.000,0.000,105,1536,3077,0,0,0,0,0,0
$GC,107,-0.78,-243.3,3.6,-5.9,12,139,10.30,2.17,-11.40,0.000,4,0.202,0.057,3012,2944,3772,0,0,0,0,0,0
$GC,195,-0.40,-243.3,43.3,-40.9,26,204,0.40,2.20,0.00,0.000,6,0.127,0.051,3150,1557,3773,0,0,0,0,0,0
$GC,521,-0.54,-243.3,98.5,-12.4,87,530,0.12,2.20,0.00,0.000,4,0.082,0.057,3050,165,3774,0,0,0,0,0,0
$GC,632,-0.45,-243.3,121.8,-20.4,107,640,0.22,2.08,0.00,0.000,6,0.112,0.044,3127,1513,3775,0,0,0,0,0,0
$GC,957,-0.61,-243.3,157.7,-9.7,168,966,0.15,2.25,0.00,0.000,4,0.072,0.047,3015,2966,3776,0,0,0,0,0,0
$GC,1000,-0.53,-243.3,163.8,-16.4,175,1009,0.25,2.22,0.00,0.000,6,0.106,0.050,3108,1541,3776,0,0,0,0,0,0
$GC,1326,-0.67,-243.3,200.6,-10.6,236,1334,0.15,2.22,0.00,0.000,4,0.073,0.054,2996,2953,3776,0,0,0,0,0,0
$GC,1354,-0.67,-243.3,204.4,-13.8,240,1362,0.17,2.20,0.00,0.000,6,0.108,0.054,3060,1551,3776,0,0,0,0,0,0
$GC,1678,-0.67,-243.3,256.0,-14.9,301,1685,0.00,2.17,0.00,0.000,4,0.000,0.060,3061,160,3776,0,0,0,0,0,0
$GC,1771,-0.73,-243.3,269.4,-14.1,318,1780,0.00,2.12,0.00,0.000,6,0.000,0.044,3053,1554,3775,0,0,0,0,0,0
$GC,2102,-0.73,-243.3,319.1,-14.5,379,2109,0.00,2.10,0.00,0.000,4,0.000,0.050,3043,2957,3775,0,0,0,0,0,0
$GC,2127,-0.77,-243.3,322.7,-14.4,383,2134,0.00,2.15,0.00,0.000,6,0.000,0.050,3043,1542,3774,0,0,0,0,0,0
$GC,2470,-0.77,-243.3,375.0,-13.9,444,2477,0.00,2.12,0.00,0.000,4,0.000,0.059,3043,161,3773,0,0,0,0,0,0
$GC,2561,-0.83,-243.3,387.6,-13.1,460,2569,0.08,2.05,0.00,0.000,6,0.123,0.041,2965,1544,3773,0,0,0,0,0,0
$GC,2906,-0.62,-243.3,460.8,-19.6,521,2913,0.32,2.12,0.00,0.000,4,0.125,0.058,3079,163,3772,0,0,0,0,0,0
$GC,2937,-0.67,-243.3,465.6,-14.4,526,2944,0.00,2.10,0.00,0.000,6,0.000,0.041,3077,1560,3772,0,0,0,0,0,0
$GC,3281,-0.88,-243.3,497.1,-9.4,587,3289,0.22,2.10,0.00,0.000,4,0.056,0.048,2943,2957,3770,0,0,0,0,0,0
$STATE,3305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3305,begin apogee
$GC,3311,-0.12,0.0,500.6,13.1,591,3502,0.82,0.00,183.60,0.838,4,0.117,0.000,3236,1490,2776,0,0,0,0,0,0
$STATE,3502,end apogee,CONTROL_FINISHED_OK
$STATE,3503,begin climb
$GC,3504,0.78,243.3,509.0,0.0,608,3701,0.75,0.00,191.20,0.816,6,0.047,0.000,3542,1490,1783,0,0,0,0,0,0
$GC,4037,0.48,243.3,380.3,24.3,694,4044,0.32,2.10,0.00,0.000,4,0.146,0.057,3445,158,1775,0,0,0,0,0,0
$GC,4173,0.58,268.1,359.0,14.1,718,4200,0.08,2.05,19.25,0.711,6,0.123,0.034,3503,1531,1682,0,0,0,0,0,0
$GC,4532,0.41,268.1,283.2,21.1,782,4540,0.28,2.10,0.00,0.000,4,0.132,0.039,3409,2899,1677,0,0,0,0,0,0
$GC,4632,0.79,379.0,270.1,10.5,800,4730,0.28,2.15,85.75,0.692,6,0.034,0.052,3565,1539,1228,0,0,0,0,0,0
$GC,5050,0.52,379.0,145.5,27.6,873,5058,0.35,2.10,0.00,0.000,4,0.144,0.041,3448,2890,1221,0,0,0,0,0,0
$GC,5157,1.00,506.3,127.5,9.8,892,5262,0.38,2.12,93.25,0.589,6,0.034,0.052,3636,1547,709,0,0,0,0,0,0
$STATE,5519,end climb,SURFACE_DEPTH_REACHED
$STATE,5519,begin surface coast
$FINISH,0.6,1.021709
$STATE,5527,end surface coast,CONTROL_FINISHED_OK
$STATE,5527,begin surface
$SM_CCo,5602,0.00,0.000,0,0,700,509.24
$SM_GC,1.26,8.68,0.00,0.00,0.026,0.000,0.000,105,1543,700,-9.77,-0.11,509.24
$IRIDIUM_FIX,2415.74,12704.97,230910,121218
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,24.5,4.584
$10V_AH,10.5,4.575
$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,24.325,51.525,573.050,0.000,0.000,30.343,34.792,104.230,0.000,0.000,33.871,2178.695,732.193,579.058,2309.438,85.256,0.000,1424.330,0.000,2116.486,0.000,0.539,0.000
$DEVICE_MAMPS,201.960,59.670,838.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.922,0.000,1381.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,53500,956
$CAP_FILE_SIZE,88740,0
$CFSIZE,260165632,251592704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282,161.6,1
$GPS,230910,154838,2427.031,12705.537,12,1.5,12,-3.7