version: 66.08
glider: 168
mission: 2
dive: 6
start: 9 22 110 18 20 52
data:
$ID,168
$MISSION,2
$DIVE,6
$N_DIVES,8
$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,150
$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,200
$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,-3123.1296
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,38
$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
$GPS1,220910,181632,2427.417,12707.220,10,1.3,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.1
$GPS2,220910,182025,2427.365,12707.247,14,1.3,31,-3.7
$SPEED_LIMITS,0.192,0.306
$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,346.9,6177,-16.5,-11.111
$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,-0.65,-194.6,0.0,0.0,0,102,0.00,0.00,-85.40,0.000,2,0.000,0.000,126,1604,3006,0,0,0,0,0,0
$GC,104,-0.65,-194.6,3.2,-5.2,12,130,10.52,2.17,-9.75,0.000,4,0.205,0.052,3077,3022,3572,0,0,0,0,0,0
$GC,147,0.21,-194.6,20.8,-42.4,18,157,0.80,2.28,0.00,0.000,6,0.120,0.060,3364,1606,3573,0,0,0,0,0,0
$GC,483,-0.44,-194.6,54.6,-8.7,79,492,0.52,2.17,0.00,0.000,4,0.057,0.048,3138,3002,3574,0,0,0,0,0,0
$GC,543,-0.52,-194.6,59.3,-8.0,89,551,0.00,2.20,0.00,0.000,6,0.000,0.051,3138,1596,3574,0,0,0,0,0,0
$GC,868,-0.56,-194.6,98.4,-13.9,150,877,0.08,2.22,0.00,0.000,4,0.125,0.059,3068,188,3574,0,0,0,0,0,0
$GC,932,-0.45,-194.6,109.8,-19.1,161,940,0.25,2.12,0.00,0.000,6,0.107,0.041,3155,1584,3574,0,0,0,0,0,0
$GC,1257,-0.61,-194.6,136.4,-6.7,222,1265,0.15,2.20,0.00,0.000,4,0.073,0.050,3050,3005,3574,0,0,0,0,0,0
$GC,1341,-0.61,-194.6,146.2,-12.4,237,1349,0.12,2.20,0.00,0.000,6,0.100,0.054,3101,1602,3574,0,0,0,0,0,0
$GC,1665,-0.61,-194.6,185.0,-12.7,298,1673,0.00,2.22,0.00,0.000,4,0.000,0.063,3101,191,3573,0,0,0,0,0,0
$GC,1812,-0.67,-194.6,202.2,-10.9,325,1820,0.00,2.15,0.00,0.000,6,0.000,0.044,3100,1593,3572,0,0,0,0,0,0
$GC,2136,-0.73,-194.6,236.9,-10.3,386,2144,0.10,2.25,0.00,0.000,4,0.104,0.063,3018,185,3571,0,0,0,0,0,0
$GC,2164,-0.62,-194.6,240.8,-14.3,390,2173,0.25,2.15,0.00,0.000,6,0.112,0.043,3102,1596,3570,0,0,0,0,0,0
$GC,2489,-0.70,-194.6,275.8,-10.3,451,2498,0.10,2.25,0.00,0.000,4,0.102,0.062,3022,183,3570,0,0,0,0,0,0
$GC,2521,-0.57,-194.6,280.5,-15.5,456,2531,0.28,2.15,0.00,0.000,6,0.109,0.044,3115,1593,3570,0,0,0,0,0,0
$GC,2851,-0.70,-194.6,309.1,-7.6,517,2859,0.12,0.00,0.00,0.000,6,0.084,0.000,3027,1595,3568,0,0,0,0,0,0
$GC,3172,-0.56,-194.6,354.7,-13.7,578,3181,0.25,2.22,0.00,0.000,4,0.123,0.062,3119,193,3567,0,0,0,0,0,0
$GC,3221,-0.77,-194.6,359.4,-7.3,586,3229,0.15,2.15,0.00,0.000,6,0.041,0.044,3011,1595,3566,0,0,0,0,0,0
$GC,3546,-0.61,-194.6,406.6,-15.1,647,3554,0.25,0.00,0.00,0.000,6,0.127,0.000,3101,1597,3564,0,0,0,0,0,0
$GC,3871,-0.77,-194.6,429.3,-5.8,708,3880,0.15,2.25,0.00,0.000,4,0.076,0.063,3003,188,3563,0,0,0,0,0,0
$GC,3956,-0.62,-194.6,440.5,-14.5,723,3964,0.28,2.15,0.00,0.000,6,0.110,0.043,3094,1595,3563,0,0,0,0,0,0
$GC,4283,-0.77,-194.6,463.6,-6.3,784,4292,0.12,0.00,0.00,0.000,6,0.086,0.000,3009,1597,3561,0,0,0,0,0,0
$STATE,4571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4571,begin apogee
$GC,4575,-0.12,0.0,500.5,12.8,838,4729,0.70,0.00,145.98,0.840,6,0.107,0.000,3260,1820,2775,0,0,0,0,0,0
$STATE,4730,end apogee,CONTROL_FINISHED_OK
$STATE,4730,begin climb
$GC,4731,0.65,194.6,506.2,0.0,850,4899,0.65,2.22,154.38,0.842,4,0.043,0.040,3537,3203,1978,0,0,0,0,0,0
$GC,5012,0.27,194.6,456.9,23.2,888,5020,0.47,2.28,0.00,0.000,6,0.135,0.053,3392,1795,1973,0,0,0,0,0,0
$GC,5338,0.35,230.2,423.5,9.7,949,5377,0.08,2.28,27.77,0.777,4,0.127,0.060,3460,398,1837,0,0,0,0,0,0
$GC,5443,0.28,230.2,408.6,15.1,966,5452,0.20,2.15,0.00,0.000,6,0.106,0.035,3387,1805,1832,0,0,0,0,0,0
$GC,5768,0.44,277.7,375.1,9.3,1027,5813,0.15,2.30,37.42,0.769,4,0.078,0.060,3475,387,1643,0,0,0,0,0,0
$GC,5911,0.37,277.7,352.8,16.0,1051,5920,0.15,2.15,0.00,0.000,6,0.099,0.034,3418,1796,1638,0,0,0,0,0,0
$GC,6236,0.44,292.2,317.9,10.6,1112,6260,0.08,2.28,11.98,0.675,4,0.123,0.062,3479,396,1583,0,0,0,0,0,0
$GC,6316,0.38,292.2,306.5,15.2,1125,6325,0.15,2.12,0.00,0.000,6,0.100,0.035,3422,1799,1581,0,0,0,0,0,0
$GC,6640,0.45,292.2,266.1,13.7,1186,6650,0.08,2.28,0.00,0.000,4,0.124,0.063,3480,390,1579,0,0,0,0,0,0
$GC,6730,0.40,292.2,252.0,16.3,1202,6740,0.12,2.12,0.00,0.000,6,0.103,0.034,3430,1805,1578,0,0,0,0,0,0
$GC,7055,0.45,292.2,210.7,11.7,1263,7063,0.00,2.25,0.00,0.000,4,0.000,0.063,3432,394,1578,0,0,0,0,0,0
$GC,7134,0.62,319.3,202.0,10.1,1277,7166,0.15,2.10,21.62,0.636,6,0.041,0.032,3531,1807,1473,0,0,0,0,0,0
$GC,7483,0.44,319.3,131.1,22.1,1341,7491,0.25,2.25,0.00,0.000,4,0.135,0.057,3454,393,1470,0,0,0,0,0,0
$GC,7557,0.65,364.4,120.7,9.4,1354,7603,0.12,2.10,34.90,0.602,6,0.046,0.034,3539,1790,1290,0,0,0,0,0,0
$GC,7919,0.61,364.4,52.8,18.3,1420,7927,0.15,2.25,0.00,0.000,4,0.138,0.062,3498,395,1285,0,0,0,0,0,0
$GC,7988,0.90,420.2,44.4,9.0,1432,8042,0.20,2.10,41.62,0.545,6,0.036,0.034,3608,1792,1061,0,0,0,0,0,0
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FINISH,0.8,1.021725
$STATE,8212,end surface coast,CONTROL_FINISHED_OK
$STATE,8212,begin surface
$SM_CCo,8288,0.00,0.000,0,0,1055,422.16
$SM_GC,1.49,8.55,0.00,0.00,0.024,0.000,0.000,104,1587,1055,-9.83,-0.37,422.16
$IRIDIUM_FIX,2418.11,12708.29,220910,151547
$TT8_MAMPS,0.026964
$HUMID,48.66
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,3.111
$10V_AH,10.5,3.374
$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,26.750,75.400,475.675,0.000,0.000,0.000,0.000,0.000,0.250,0.000,33.374,3478.591,216.078,534.923,4031.957,117.473,0.000,1757.376,0.000,4032.677,0.000,0.539,0.000
$DEVICE_MAMPS,205.020,67.320,842.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,998.510,0.000,3728.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334264
$DATA_FILE_SIZE,83737,1471
$CAP_FILE_SIZE,134504,0
$CFSIZE,260165632,252137472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235,175.6,1
$GPS,220910,204006,2427.496,12707.230,29,0.8,33,-3.7