version: 66.08
glider: 168
mission: 2
dive: 4
start: 9 22 110 14 2 3
data:
$ID,168
$MISSION,2
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,300
$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,90
$T_MISSION,110
$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,150
$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,350
$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,-3022.144
$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,3300
$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,1600
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,220910,135614,2428.782,12706.458,8,1.4,8,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-80.4
$GPS2,220910,140138,2428.684,12706.495,10,1.9,10,-3.7
$SPEED_LIMITS,0.173,0.260
$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,2.8,3506,-17.5,-10.000
$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,-0.62,-146.0,0.0,0.0,0,81,0.00,0.00,-65.03,0.000,2,0.000,0.000,126,1585,3322,0,0,0,0,0,0
$GC,83,-0.62,-146.0,4.2,-8.0,9,100,10.73,2.17,-0.82,0.000,4,0.210,0.052,3086,3016,3375,0,0,0,0,0,0
$GC,198,-0.46,-146.0,47.3,-22.5,29,206,0.17,2.20,0.00,0.000,6,0.117,0.053,3151,1615,3376,0,0,0,0,0,0
$GC,523,-0.52,-146.0,88.7,-9.0,90,531,0.08,2.25,0.00,0.000,4,0.125,0.058,3077,190,3376,0,0,0,0,0,0
$GC,633,-0.41,-146.0,104.9,-15.5,110,642,0.28,2.10,0.00,0.000,6,0.114,0.041,3169,1581,3377,0,0,0,0,0,0
$GC,959,-0.59,-146.0,131.0,-8.1,171,968,0.17,2.20,0.00,0.000,4,0.066,0.047,3051,3010,3377,0,0,0,0,0,0
$GC,992,-0.50,-146.0,134.8,-11.8,176,1000,0.22,2.20,0.00,0.000,6,0.109,0.051,3137,1596,3377,0,0,0,0,0,0
$GC,1316,-0.60,-146.0,170.3,-9.3,237,1325,0.10,2.22,0.00,0.000,4,0.102,0.062,3058,191,3376,0,0,0,0,0,0
$GC,1344,-0.53,-146.0,173.6,-11.8,241,1353,0.20,2.15,0.00,0.000,6,0.119,0.045,3124,1598,3376,0,0,0,0,0,0
$GC,1671,-0.61,-146.0,205.8,-9.3,302,1680,0.08,2.17,0.00,0.000,4,0.127,0.050,3049,3005,3375,0,0,0,0,0,0
$GC,1746,-0.55,-146.0,215.1,-12.8,315,1755,0.20,2.20,0.00,0.000,6,0.106,0.055,3125,1601,3375,0,0,0,0,0,0
$GC,2074,-0.65,-146.0,241.0,-6.9,376,2082,0.10,2.25,0.00,0.000,4,0.103,0.064,3045,190,3374,0,0,0,0,0,0
$GC,2102,-0.59,-146.0,243.6,-8.9,380,2111,0.20,2.15,0.00,0.000,6,0.117,0.047,3109,1588,3374,0,0,0,0,0,0
$STATE,2420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2420,begin apogee
$GC,2424,-0.12,0.0,270.1,8.3,440,2538,0.40,0.00,107.75,0.666,6,0.102,0.000,3258,1721,2776,0,0,0,0,0,0
$STATE,2539,end apogee,CONTROL_FINISHED_OK
$STATE,2539,begin climb
$GC,2540,0.62,146.0,273.0,0.0,456,2665,0.62,2.20,112.62,0.669,4,0.063,0.041,3501,3104,2179,0,0,0,0,0,0
$GC,2751,0.36,146.0,251.5,15.7,489,2760,0.28,2.22,0.00,0.000,6,0.132,0.050,3419,1701,2175,0,0,0,0,0,0
$GC,3078,0.41,185.0,222.8,8.2,550,3116,0.00,2.15,30.08,0.621,4,0.000,0.043,3419,3098,2019,0,0,0,0,0,0
$GC,3151,0.51,202.7,216.0,9.2,561,3175,0.10,2.22,14.55,0.587,6,0.047,0.052,3490,1698,1948,0,0,0,0,0,0
$GC,3492,0.37,202.7,163.8,17.1,624,3501,0.22,2.15,0.00,0.000,4,0.130,0.042,3417,3095,1943,0,0,0,0,0,0
$GC,3592,0.53,230.7,152.8,8.7,642,3624,0.12,2.17,22.17,0.577,6,0.045,0.049,3502,1699,1834,0,0,0,0,0,0
$GC,3941,0.44,230.7,101.1,14.0,706,3949,0.20,2.15,0.00,0.000,4,0.129,0.039,3437,3111,1828,0,0,0,0,0,0
$GC,4051,0.70,277.2,91.1,7.9,726,4097,0.20,2.20,35.50,0.556,6,0.041,0.051,3559,1701,1643,0,0,0,0,0,0
$GC,4415,0.62,277.2,39.6,11.6,792,4423,0.20,2.22,0.00,0.000,4,0.134,0.056,3502,291,1638,0,0,0,0,0,0
$GC,4504,0.85,334.5,32.5,7.4,808,4556,0.15,2.10,42.30,0.520,6,0.043,0.034,3593,1692,1412,0,0,0,0,0,0
$STATE,4698,end climb,SURFACE_DEPTH_REACHED
$STATE,4698,begin surface coast
$FINISH,0.3,0.997701
$STATE,4717,end surface coast,CONTROL_FINISHED_OK
$STATE,4717,begin surface
$SM_CCo,4732,11.68,0.105,1,0,1348,350.04
$SM_GC,0.91,0.00,0.00,11.68,0.000,0.000,0.105,105,1579,1348,-9.99,-0.59,350.04
$IRIDIUM_FIX,2420.48,12708.29,220910,131304
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,24.8,2.837
$10V_AH,10.6,3.044
$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,23.550,48.400,364.975,11.675,0.000,0.000,0.000,0.000,0.000,0.000,13.209,1979.796,90.136,388.603,2290.082,71.582,0.000,1132.814,0.000,2305.672,0.000,0.543,0.000
$DEVICE_MAMPS,210.375,82.620,668.610,104.805,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.658,0.000,2141.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334288
$DATA_FILE_SIZE,47053,845
$CAP_FILE_SIZE,87084,0
$CFSIZE,260165632,252317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.349,160.5,1
$GPS,220910,152155,2428.455,12706.765,10,1.7,10,-3.7