version: 66.08
glider: 168
mission: 2
dive: 20
start: 9 23 110 18 55 16
data:
$ID,168
$MISSION,2
$DIVE,20
$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,-3187.876
$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,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,230910,185032,2426.711,12705.533,13,1.7,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.6
$GPS2,230910,185450,2426.646,12705.562,10,1.8,10,-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,349.1,6283,-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,-0.94,-243.3,0.0,0.0,0,75,0.00,0.00,-58.22,0.000,2,0.000,0.000,105,1534,2975,0,0,0,0,0,0
$GC,77,-0.94,-243.3,3.2,-5.2,8,109,10.10,2.15,-13.77,0.000,4,0.200,0.054,2955,2951,3770,0,0,0,0,0,0
$GC,132,-0.89,-243.3,27.9,-50.3,16,141,0.10,2.20,0.00,0.000,6,0.143,0.055,2988,1577,3771,0,0,0,0,0,0
$GC,461,-0.87,-243.3,142.5,-30.9,77,468,0.00,2.20,0.00,0.000,4,0.000,0.054,2988,162,3774,0,0,0,0,0,0
$GC,490,-0.84,-243.3,153.3,-32.3,82,499,0.08,2.10,0.00,0.000,6,0.150,0.038,3004,1541,3774,0,0,0,0,0,0
$GC,823,-0.82,-243.3,236.7,-23.3,143,830,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1544,3776,0,0,0,0,0,0
$GC,1157,-0.81,-243.3,309.2,-20.2,201,1161,0.00,2.12,0.00,0.000,4,0.000,0.058,3004,155,3776,0,0,0,0,0,0
$GC,1197,-0.80,-243.3,317.2,-20.4,204,1202,0.10,2.08,0.00,0.000,6,0.170,0.040,3024,1553,3776,0,0,0,0,0,0
$GC,1522,-0.80,-243.3,370.7,-14.7,234,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1555,3776,0,0,0,0,0,0
$GC,1841,-0.79,-243.3,416.9,-13.5,264,1845,0.00,2.15,0.00,0.000,4,0.000,0.058,3024,148,3774,0,0,0,0,0,0
$GC,1913,-0.79,-243.3,427.5,-15.0,270,1917,0.00,2.10,0.00,0.000,6,0.000,0.042,3015,1548,3774,0,0,0,0,0,0
$GC,2245,-0.79,-243.3,475.2,-15.0,301,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,1551,3772,0,0,0,0,0,0
$STATE,2412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2412,begin apogee
$GC,2416,-0.17,0.0,500.2,14.3,317,2606,0.57,0.00,184.20,0.843,4,0.105,0.000,3225,1709,2775,0,0,0,0,0,0
$STATE,2607,end apogee,CONTROL_FINISHED_OK
$STATE,2607,begin climb
$GC,2609,0.94,243.3,508.3,0.0,333,2814,0.98,2.28,191.52,0.814,4,0.047,0.050,3602,3102,1782,0,0,0,0,0,0
$GC,2818,0.91,243.3,461.6,33.0,351,2827,0.10,2.30,0.00,0.000,6,0.156,0.048,3573,1699,1781,0,0,0,0,0,0
$GC,3144,0.88,243.3,361.9,30.7,382,3148,0.00,2.17,0.00,0.000,4,0.000,0.044,3573,3116,1774,0,0,0,0,0,0
$GC,3193,0.86,243.3,345.7,32.3,386,3198,0.12,2.20,0.00,0.000,6,0.175,0.048,3549,1693,1774,0,0,0,0,0,0
$GC,3520,0.84,243.3,258.8,26.3,430,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1692,1772,0,0,0,0,0,0
$GC,3852,0.82,243.3,175.5,24.7,491,3860,0.00,2.15,0.00,0.000,4,0.000,0.042,3549,3113,1770,0,0,0,0,0,0
$GC,3871,0.80,243.3,170.7,24.6,494,3880,0.05,2.17,0.00,0.000,6,0.153,0.046,3539,1712,1770,0,0,0,0,0,0
$GC,4199,0.79,243.3,102.1,20.2,555,4208,0.00,2.12,0.00,0.000,4,0.000,0.041,3539,3109,1769,0,0,0,0,0,0
$GC,4446,0.83,275.2,56.8,13.8,601,4476,0.00,2.15,23.23,0.545,6,0.000,0.047,3547,1717,1653,0,0,0,0,0,0
$GC,4792,0.83,281.1,11.0,14.9,665,4808,0.00,2.22,5.47,0.412,4,0.000,0.051,3558,294,1629,0,0,0,0,0,0
$STATE,4845,end climb,SURFACE_DEPTH_REACHED
$STATE,4845,begin surface coast
$FINISH,0.8,1.021739
$STATE,4868,end surface coast,CONTROL_FINISHED_OK
$STATE,4868,begin surface
$SM_CCo,4884,43.97,0.059,0,0,1287,365.01
$SM_GC,1.35,0.00,0.00,43.97,0.000,0.000,0.059,104,1577,1287,-9.92,0.76,365.01
$IRIDIUM_FIX,2418.11,12703.08,230910,171714
$TT8_MAMPS,0.026964
$HUMID,47.00
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,4.925
$10V_AH,10.6,4.839
$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,20.625,39.000,404.425,43.975,0.000,35.128,43.173,97.656,0.000,0.000,13.132,1612.844,1219.257,444.839,1855.674,69.359,0.000,1088.207,0.000,1667.126,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,65.025,843.030,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.243,0.000,1173.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334116
$DATA_FILE_SIZE,40352,678
$CAP_FILE_SIZE,70196,0
$CFSIZE,260165632,251478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225,166.3,1
$GPS,230910,201837,2426.821,12705.312,38,1.0,38,-3.7