version: 66.08
glider: 168
mission: 2
dive: 9
start: 9 23 110 0 44 25
data:
$ID,168
$MISSION,2
$DIVE,9
$N_DIVES,12
$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,8
$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,-3172.7588
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,230910,003916,2427.147,12706.607,8,3.5,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.5
$GPS2,230910,004358,2427.051,12706.611,12,3.0,31,-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,346.7,6100,-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,15,-0.78,-243.3,0.0,0.0,0,110,0.00,0.00,-93.00,0.000,2,0.000,0.000,105,1535,3212,0,0,0,0,0,0
$GC,112,-0.78,-243.3,3.5,-5.1,13,137,10.40,2.20,-8.82,0.000,4,0.204,0.055,3011,2950,3771,0,0,0,0,0,0
$GC,213,-0.58,-243.3,44.5,-26.9,30,221,0.22,2.22,0.00,0.000,6,0.126,0.054,3089,1556,3773,0,0,0,0,0,0
$GC,538,-0.53,-243.3,113.9,-17.0,91,547,0.08,2.20,0.00,0.000,4,0.200,0.060,3111,170,3774,0,0,0,0,0,0
$GC,576,-0.58,-243.3,120.6,-16.2,97,584,0.00,2.08,0.00,0.000,6,0.000,0.041,3106,1528,3774,0,0,0,0,0,0
$GC,900,-0.69,-243.3,166.5,-11.5,158,908,0.15,0.00,0.00,0.000,6,0.074,0.000,3003,1532,3775,0,0,0,0,0,0
$GC,1225,-0.46,-243.3,241.1,-22.6,219,1234,0.35,2.17,0.00,0.000,4,0.130,0.062,3127,159,3775,0,0,0,0,0,0
$GC,1289,-0.78,-243.3,249.6,-7.8,230,1298,0.22,2.12,0.00,0.000,6,0.035,0.041,2997,1557,3775,0,0,0,0,0,0
$GC,1617,-0.60,-243.3,316.3,-20.5,291,1625,0.25,2.17,0.00,0.000,4,0.135,0.060,3085,153,3774,0,0,0,0,0,0
$GC,1659,-0.71,-243.3,323.3,-13.7,298,1666,0.12,2.08,0.00,0.000,6,0.082,0.041,2997,1549,3774,0,0,0,0,0,0
$GC,2002,-0.58,-243.3,390.0,-20.2,359,2011,0.28,2.12,0.00,0.000,4,0.128,0.046,3085,2963,3773,0,0,0,0,0,0
$GC,2039,-0.81,-243.3,395.0,-10.7,365,2046,0.20,2.17,0.00,0.000,6,0.064,0.053,2971,1544,3773,0,0,0,0,0,0
$GC,2383,-0.63,-243.3,462.7,-19.2,426,2390,0.30,2.12,0.00,0.000,4,0.132,0.060,3074,163,3772,0,0,0,0,0,0
$GC,2446,-0.85,-243.3,470.2,-8.5,437,2454,0.20,2.08,0.00,0.000,6,0.063,0.045,2964,1547,3771,0,0,0,0,0,0
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2624,-0.12,0.0,500.7,18.7,468,2814,0.77,0.00,183.73,0.840,4,0.122,0.000,3233,1491,2776,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2816,0.78,243.3,506.7,0.0,485,3020,0.80,2.20,191.12,0.825,4,0.047,0.062,3546,162,1782,0,0,0,0,0,0
$GC,3138,0.53,243.3,441.0,24.9,534,3145,0.32,2.05,0.00,0.000,6,0.129,0.033,3442,1516,1776,0,0,0,0,0,0
$GC,3481,0.53,243.3,385.2,15.5,595,3488,0.00,2.12,0.00,0.000,4,0.000,0.062,3452,169,1773,0,0,0,0,0,0
$GC,3562,0.61,254.6,373.1,14.7,609,3576,0.08,2.00,8.65,0.640,6,0.125,0.034,3507,1510,1737,0,0,0,0,0,0
$GC,3912,0.45,254.6,300.3,21.0,671,3919,0.25,2.10,0.00,0.000,4,0.136,0.059,3431,162,1735,0,0,0,0,0,0
$GC,4033,0.74,353.5,285.3,11.0,693,4121,0.20,2.05,77.45,0.715,6,0.039,0.033,3546,1529,1332,0,0,0,0,0,0
$GC,4442,0.55,353.5,176.1,26.0,765,4450,0.28,2.10,0.00,0.000,4,0.138,0.037,3453,2899,1326,0,0,0,0,0,0
$GC,4542,0.92,459.6,160.8,10.7,783,4631,0.28,2.15,78.90,0.629,6,0.035,0.054,3598,1547,900,0,0,0,0,0,0
$GC,4949,0.80,459.6,38.8,23.7,855,4957,0.20,2.20,0.00,0.000,4,0.137,0.060,3544,173,894,0,0,0,0,0,0
$GC,4981,0.84,459.6,31.8,20.1,860,4990,0.00,2.05,0.00,0.000,6,0.000,0.030,3544,1542,894,0,0,0,0,0,0
$STATE,5175,end climb,SURFACE_DEPTH_REACHED
$STATE,5175,begin surface coast
$FINISH,0.8,1.019099
$STATE,5197,end surface coast,CONTROL_FINISHED_OK
$STATE,5197,begin surface
$SM_CCo,5271,0.00,0.000,0,0,890,462.64
$SM_GC,1.53,8.43,0.00,0.00,0.029,0.000,0.000,105,1544,890,-9.78,-0.14,462.64
$IRIDIUM_FIX,2418.11,12706.40,220910,222202
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.5,3.501
$10V_AH,10.5,3.756
$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,24.375,46.850,539.850,0.000,0.000,28.610,35.134,111.802,0.000,0.000,33.217,2051.812,695.880,552.978,2186.113,72.466,0.000,1347.174,0.000,1981.098,0.000,0.540,0.000
$DEVICE_MAMPS,204.255,120.870,839.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.606,0.000,1282.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,50275,900
$CAP_FILE_SIZE,84587,0
$CFSIZE,260165632,252026880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246,170.8,1
$GPS,230910,021330,2426.970,12706.497,36,1.3,41,-3.7