version: 66.08
glider: 168
mission: 2
dive: 13
start: 9 23 110 7 29 54
data:
$ID,168
$MISSION,2
$DIVE,13
$N_DIVES,14
$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,-3177.8733
$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,51
$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
$GPS1,230910,072507,2427.211,12706.012,6,2.0,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.4
$GPS2,230910,072928,2427.150,12706.032,15,2.2,34,-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,339.8,5558,-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,14,-0.78,-243.3,0.0,0.0,0,96,0.00,0.00,-79.32,0.000,2,0.000,0.000,106,1537,3098,0,0,0,0,0,0
$GC,98,-0.78,-243.3,3.6,-5.6,11,130,10.32,2.17,-10.88,0.000,4,0.203,0.059,3014,2944,3771,0,0,0,0,0,0
$GC,221,-0.54,-243.3,54.5,-31.2,32,229,0.25,2.20,0.00,0.000,6,0.109,0.054,3106,1559,3774,0,0,0,0,0,0
$GC,546,-0.54,-243.3,116.1,-15.2,93,554,0.00,2.17,0.00,0.000,4,0.000,0.056,3106,166,3775,0,0,0,0,0,0
$GC,631,-0.78,-243.3,126.2,-10.4,108,640,0.17,2.08,0.00,0.000,6,0.031,0.043,2982,1518,3775,0,0,0,0,0,0
$GC,955,-0.48,-243.3,210.2,-25.6,169,963,0.40,0.00,0.00,0.000,6,0.130,0.000,3121,1520,3776,0,0,0,0,0,0
$GC,1280,-0.74,-243.3,241.7,-8.1,230,1290,0.22,2.20,0.00,0.000,4,0.055,0.044,2983,2957,3776,0,0,0,0,0,0
$GC,1323,-0.66,-243.3,248.5,-18.3,237,1332,0.22,2.17,0.00,0.000,6,0.108,0.048,3065,1553,3776,0,0,0,0,0,0
$GC,1650,-0.72,-243.3,292.3,-12.7,298,1659,0.08,2.17,0.00,0.000,4,0.124,0.059,2992,170,3776,0,0,0,0,0,0
$GC,1703,-0.58,-243.3,302.4,-20.9,307,1710,0.32,2.08,0.00,0.000,6,0.126,0.042,3091,1559,3776,0,0,0,0,0,0
$GC,2046,-0.76,-243.3,339.1,-9.5,368,2053,0.17,2.15,0.00,0.000,4,0.066,0.048,2977,2966,3775,0,0,0,0,0,0
$GC,2088,-0.68,-243.3,345.5,-17.4,375,2095,0.25,2.20,0.00,0.000,6,0.122,0.053,3059,1544,3774,0,0,0,0,0,0
$GC,2433,-0.77,-243.3,387.7,-9.7,436,2440,0.10,2.12,0.00,0.000,4,0.097,0.060,2978,165,3773,0,0,0,0,0,0
$GC,2520,-0.60,-243.3,403.0,-19.6,451,2527,0.35,2.08,0.00,0.000,6,0.126,0.044,3086,1550,3773,0,0,0,0,0,0
$GC,2864,-0.82,-243.3,432.2,-8.6,512,2872,0.20,2.15,0.00,0.000,4,0.060,0.055,2962,2957,3772,0,0,0,0,0,0
$GC,2911,-0.74,-243.3,439.2,-17.5,520,2918,0.25,2.20,0.00,0.000,6,0.125,0.054,3044,1538,3772,0,0,0,0,0,0
$GC,3256,-0.82,-243.3,484.9,-12.5,581,3264,0.10,2.15,0.00,0.000,4,0.099,0.062,2966,165,3769,0,0,0,0,0,0
$STATE,3341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3341,begin apogee
$GC,3347,-0.12,0.0,501.0,18.8,596,3539,0.77,0.00,184.25,0.852,4,0.116,0.000,3234,1505,2775,0,0,0,0,0,0
$STATE,3540,end apogee,CONTROL_FINISHED_OK
$STATE,3540,begin climb
$GC,3541,0.78,243.3,507.9,0.0,614,3746,0.80,2.25,192.20,0.837,4,0.045,0.045,3550,2912,1783,0,0,0,0,0,0
$GC,3953,0.52,243.3,414.4,25.7,678,3962,0.38,2.20,0.00,0.000,6,0.145,0.050,3445,1497,1777,0,0,0,0,0,0
$GC,4299,0.49,243.3,356.2,17.0,739,4305,0.00,2.08,0.00,0.000,4,0.000,0.061,3455,166,1773,0,0,0,0,0,0
$GC,4391,0.59,258.4,341.5,14.5,755,4409,0.00,2.03,11.43,0.666,6,0.000,0.034,3455,1525,1722,0,0,0,0,0,0
$GC,4740,0.56,265.9,283.8,14.8,818,4757,0.00,2.10,7.03,0.583,4,0.000,0.042,3455,2895,1691,0,0,0,0,0,0
$GC,4880,0.67,301.8,264.2,13.7,843,4918,0.08,2.15,29.42,0.689,6,0.054,0.051,3532,1532,1545,0,0,0,0,0,0
$GC,5235,0.48,301.8,180.0,24.9,908,5243,0.30,2.12,0.00,0.000,4,0.136,0.043,3430,2896,1540,0,0,0,0,0,0
$GC,5330,0.88,410.3,166.3,10.6,925,5421,0.30,2.15,81.88,0.639,6,0.035,0.054,3583,1541,1102,0,0,0,0,0,0
$GC,5738,0.77,410.3,58.7,18.3,997,5746,0.20,2.20,0.00,0.000,4,0.135,0.058,3529,163,1096,0,0,0,0,0,0
$GC,5828,1.16,523.7,46.4,10.4,1013,5917,0.28,2.08,82.78,0.547,6,0.034,0.030,3677,1551,640,0,0,0,0,0,0
$STATE,5971,end climb,SURFACE_DEPTH_REACHED
$STATE,5972,begin surface coast
$FINISH,0.5,1.009726
$STATE,5979,end surface coast,CONTROL_FINISHED_OK
$STATE,5979,begin surface
$SM_CCo,6053,0.00,0.000,0,0,633,525.43
$SM_GC,1.27,9.07,0.00,0.00,0.037,0.000,0.000,104,1551,633,-9.79,0.03,525.43
$IRIDIUM_FIX,2415.74,12704.97,230910,050557
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,24.4,4.027
$10V_AH,10.5,4.179
$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,25.600,55.700,588.975,0.000,0.000,23.348,35.225,90.854,0.250,0.000,38.136,2367.473,872.460,590.273,2412.423,82.565,0.000,1490.294,0.000,2224.016,0.000,0.539,0.000
$DEVICE_MAMPS,202.725,61.965,852.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.711,0.000,1373.823,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,60205,1036
$CAP_FILE_SIZE,95289,0
$CFSIZE,260165632,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,152.2,1
$GPS,230910,091132,2427.242,12705.939,12,1.6,12,-3.7