version: 66.08
glider: 168
mission: 2
dive: 18
start: 9 23 110 15 53 4
data:
$ID,168
$MISSION,2
$DIVE,18
$N_DIVES,30
$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,-3185.269
$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,27
$R_STBD_OVSHOOT,45
$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
$GPS1,230910,154838,2427.031,12705.537,12,1.5,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.1
$GPS2,230910,155238,2426.960,12705.571,10,1.5,10,-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,347.5,5712,-19.2,-15.152
$D_GRID,4321
$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,-243.3,0.0,0.0,0,97,0.00,0.00,-79.72,0.000,2,0.000,0.000,104,1543,3092,0,0,0,0,0,0
$GC,99,-0.78,-243.3,3.6,-5.4,11,130,10.32,2.17,-10.98,0.000,4,0.203,0.054,3017,2954,3770,0,0,0,0,0,0
$GC,186,-0.44,-243.3,43.9,-40.9,25,194,0.35,2.22,0.00,0.000,6,0.126,0.055,3138,1559,3772,0,0,0,0,0,0
$GC,513,-0.59,-243.3,94.5,-11.1,86,522,0.15,2.20,0.00,0.000,4,0.073,0.057,3026,165,3774,0,0,0,0,0,0
$GC,602,-0.40,-243.3,113.3,-23.7,102,612,0.38,2.10,0.00,0.000,6,0.117,0.044,3149,1530,3774,0,0,0,0,0,0
$GC,931,-0.69,-243.3,145.4,-8.4,163,939,0.25,2.20,0.00,0.000,4,0.052,0.046,2995,2959,3776,0,0,0,0,0,0
$GC,979,-0.55,-243.3,153.0,-19.8,171,987,0.30,2.20,0.00,0.000,6,0.108,0.050,3104,1546,3776,0,0,0,0,0,0
$GC,1305,-0.67,-243.3,196.0,-11.0,232,1314,0.12,2.20,0.00,0.000,4,0.083,0.051,2996,2951,3776,0,0,0,0,0,0
$GC,1327,-0.67,-243.3,199.0,-13.0,235,1336,0.17,2.20,0.00,0.000,6,0.109,0.050,3060,1539,3776,0,0,0,0,0,0
$GC,1656,-0.67,-243.3,250.6,-15.4,296,1664,0.00,2.12,0.00,0.000,4,0.000,0.057,3061,170,3776,0,0,0,0,0,0
$GC,1772,-0.74,-243.3,267.2,-13.9,317,1780,0.00,2.08,0.00,0.000,6,0.000,0.039,3053,1542,3776,0,0,0,0,0,0
$GC,2099,-0.74,-243.3,313.5,-14.6,378,2106,0.00,2.12,0.00,0.000,4,0.000,0.047,3043,2962,3776,0,0,0,0,0,0
$GC,2130,-0.80,-243.3,317.7,-13.8,383,2138,0.08,2.20,0.00,0.000,6,0.122,0.050,2970,1531,3776,0,0,0,0,0,0
$GC,2474,-0.57,-243.3,395.5,-22.6,444,2481,0.35,2.10,0.00,0.000,4,0.130,0.057,3092,159,3775,0,0,0,0,0,0
$GC,2553,-0.83,-243.3,405.7,-9.0,458,2562,0.22,2.05,0.00,0.000,6,0.054,0.038,2967,1549,3774,0,0,0,0,0,0
$GC,2899,-0.65,-243.3,476.4,-20.0,519,2906,0.28,0.00,0.00,0.000,6,0.130,0.000,3064,1552,3774,0,0,0,0,0,0
$STATE,3133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3133,begin apogee
$GC,3137,-0.12,0.0,500.3,8.5,561,3327,0.45,0.00,184.52,0.835,4,0.093,0.000,3241,1492,2775,0,0,0,0,0,0
$STATE,3328,end apogee,CONTROL_FINISHED_OK
$STATE,3328,begin climb
$GC,3329,0.78,243.3,504.8,0.0,578,3530,0.77,2.28,191.73,0.813,4,0.043,0.045,3552,2903,1783,0,0,0,0,0,0
$GC,3783,0.50,243.3,396.9,28.1,652,3791,0.40,2.20,0.00,0.000,6,0.148,0.050,3439,1500,1777,0,0,0,0,0,0
$GC,4126,0.50,243.3,341.7,15.6,713,4133,0.00,2.08,0.00,0.000,4,0.000,0.058,3449,165,1772,0,0,0,0,0,0
$GC,4212,0.60,284.7,329.7,13.4,728,4250,0.08,2.00,31.62,0.715,6,0.123,0.031,3505,1524,1615,0,0,0,0,0,0
$GC,4574,0.44,284.7,249.3,23.0,794,4583,0.25,2.10,0.00,0.000,4,0.136,0.037,3418,2895,1608,0,0,0,0,0,0
$GC,4655,0.78,369.6,237.4,11.6,808,4731,0.28,2.15,65.22,0.672,6,0.034,0.052,3573,1532,1267,0,0,0,0,0,0
$GC,5049,0.50,369.6,114.3,29.8,878,5058,0.40,2.10,0.00,0.000,4,0.144,0.037,3440,2902,1259,0,0,0,0,0,0
$GC,5140,1.00,512.6,100.5,9.2,894,5253,0.38,2.15,104.47,0.573,6,0.035,0.047,3626,1531,685,0,0,0,0,0,0
$STATE,5442,end climb,SURFACE_DEPTH_REACHED
$STATE,5442,begin surface coast
$FINISH,0.6,1.021725
$STATE,5449,end surface coast,CONTROL_FINISHED_OK
$STATE,5449,begin surface
$SM_CCo,5524,0.00,0.000,0,0,676,515.13
$SM_GC,1.31,8.65,0.00,0.00,0.024,0.000,0.000,105,1529,676,-9.78,-0.57,515.13
$IRIDIUM_FIX,2418.11,12706.40,230910,141446
$TT8_MAMPS,0.026964
$HUMID,49.05
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,24.5,4.715
$10V_AH,10.5,4.676
$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,24.625,47.300,577.575,0.000,0.000,24.850,14.615,111.358,0.000,0.000,13.730,2145.380,701.438,569.517,2270.889,86.026,0.000,1403.393,0.000,2113.156,0.000,0.539,0.000
$DEVICE_MAMPS,202.725,124.695,835.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.238,0.000,1406.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334084
$DATA_FILE_SIZE,53467,946
$CAP_FILE_SIZE,86724,0
$CFSIZE,260165632,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,161.4,1
$GPS,230910,172607,2426.829,12705.541,28,1.6,28,-3.7