version: 66.08
glider: 168
mission: 2
dive: 14
start: 9 23 110 9 19 52
data:
$ID,168
$MISSION,2
$DIVE,14
$N_DIVES,15
$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,-3179.1292
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,230910,091132,2427.242,12705.939,12,1.6,12,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.1
$GPS2,230910,091926,2427.133,12706.002,13,1.6,13,-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,341.1,5572,-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,-79.15,0.000,2,0.000,0.000,105,1551,3004,0,0,0,0,0,0
$GC,98,-0.78,-243.3,3.3,-5.5,11,130,10.32,2.15,-12.95,0.000,4,0.202,0.054,3013,2960,3771,0,0,0,0,0,0
$GC,212,-0.52,-243.3,48.7,-32.6,30,221,0.28,2.25,0.00,0.000,6,0.125,0.053,3108,1547,3772,0,0,0,0,0,0
$GC,536,-0.52,-243.3,118.3,-16.9,91,544,0.00,2.17,0.00,0.000,4,0.000,0.057,3108,159,3773,0,0,0,0,0,0
$GC,636,-0.69,-243.3,131.2,-10.5,109,645,0.10,2.08,0.00,0.000,6,0.041,0.041,3006,1516,3773,0,0,0,0,0,0
$GC,964,-0.47,-243.3,204.8,-21.4,170,974,0.32,2.15,0.00,0.000,4,0.132,0.058,3122,158,3774,0,0,0,0,0,0
$GC,1002,-0.58,-243.3,211.6,-13.9,176,1011,0.08,2.10,0.00,0.000,6,0.051,0.041,3033,1537,3774,0,0,0,0,0,0
$GC,1327,-0.52,-243.3,266.3,-17.2,237,1335,0.25,2.17,0.00,0.000,4,0.125,0.044,3115,2957,3774,0,0,0,0,0,0
$GC,1365,-0.82,-243.3,270.5,-7.9,243,1373,0.25,2.22,0.00,0.000,6,0.036,0.050,2973,1525,3774,0,0,0,0,0,0
$GC,1701,-0.58,-243.3,344.0,-22.0,304,1708,0.32,2.08,0.00,0.000,4,0.131,0.057,3087,166,3773,0,0,0,0,0,0
$GC,1744,-0.68,-243.3,351.1,-12.3,311,1751,0.10,2.05,0.00,0.000,6,0.098,0.041,3001,1531,3773,0,0,0,0,0,0
$GC,2088,-0.59,-243.3,408.7,-16.3,372,2095,0.25,0.00,0.00,0.000,6,0.124,0.000,3092,1533,3773,0,0,0,0,0,0
$GC,2430,-0.83,-243.3,439.0,-8.6,433,2438,0.22,2.15,0.00,0.000,4,0.055,0.049,2958,2957,3770,0,0,0,0,0,0
$GC,2482,-0.74,-243.3,446.8,-17.1,442,2490,0.25,2.20,0.00,0.000,6,0.123,0.053,3040,1532,3770,0,0,0,0,0,0
$GC,2829,-0.81,-243.3,491.1,-11.8,503,2836,0.08,2.15,0.00,0.000,4,0.125,0.063,2970,159,3767,0,0,0,0,0,0
$STATE,2885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2885,begin apogee
$GC,2891,-0.12,0.0,500.7,17.2,513,3080,0.77,0.00,183.65,0.848,4,0.114,0.000,3239,1502,2776,0,0,0,0,0,0
$STATE,3081,end apogee,CONTROL_FINISHED_OK
$STATE,3081,begin climb
$GC,3082,0.78,243.3,507.2,0.0,530,3286,0.80,2.25,192.68,0.832,4,0.044,0.044,3553,2913,1783,0,0,0,0,0,0
$GC,3303,0.51,243.3,467.4,25.4,560,3311,0.40,2.28,0.00,0.000,6,0.143,0.049,3444,1493,1781,0,0,0,0,0,0
$GC,3647,0.51,243.3,410.6,15.6,621,3654,0.00,2.17,0.00,0.000,4,0.000,0.044,3443,2910,1775,0,0,0,0,0,0
$GC,3737,0.58,265.8,397.6,14.2,637,3763,0.00,2.17,17.58,0.725,6,0.000,0.053,3453,1509,1691,0,0,0,0,0,0
$GC,4099,0.54,265.8,337.6,16.7,701,4106,0.00,2.15,0.00,0.000,4,0.000,0.042,3453,2923,1686,0,0,0,0,0,0
$GC,4134,0.54,265.8,331.5,16.3,707,4141,0.00,2.17,0.00,0.000,6,0.000,0.053,3457,1523,1685,0,0,0,0,0,0
$GC,4466,0.50,265.8,274.8,17.3,768,4475,0.08,2.12,0.00,0.000,4,0.196,0.044,3436,2908,1684,0,0,0,0,0,0
$GC,4530,0.70,321.1,265.5,12.8,779,4582,0.15,2.17,43.05,0.697,6,0.041,0.053,3543,1529,1466,0,0,0,0,0,0
$GC,4899,0.48,321.1,173.4,29.9,846,4908,0.32,2.12,0.00,0.000,4,0.137,0.038,3434,2911,1460,0,0,0,0,0,0
$GC,4989,0.92,458.9,159.2,9.4,862,5101,0.32,2.15,103.03,0.627,6,0.034,0.052,3597,1551,903,0,0,0,0,0,0
$GC,5420,0.75,458.9,37.0,25.9,937,5428,0.25,2.22,0.00,0.000,4,0.143,0.059,3523,163,896,0,0,0,0,0,0
$GC,5501,1.10,559.4,23.3,10.9,951,5582,0.25,2.08,72.88,0.526,6,0.036,0.030,3663,1551,494,0,0,0,0,0,0
$STATE,5589,end climb,SURFACE_DEPTH_REACHED
$STATE,5590,begin surface coast
$FINISH,0.5,1.008386
$STATE,5596,end surface coast,CONTROL_FINISHED_OK
$STATE,5596,begin surface
$SM_CCo,5671,0.00,0.000,0,0,490,560.76
$SM_GC,1.39,8.85,0.00,0.00,0.024,0.000,0.000,104,1550,490,-9.77,0.00,560.76
$IRIDIUM_FIX,2420.48,12701.19,230910,090924
$TT8_MAMPS,0.026964
$HUMID,47.63
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.4,4.169
$10V_AH,10.5,4.277
$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,25.025,56.050,612.850,0.000,0.000,84.610,81.219,97.132,0.000,0.000,14.191,2189.438,939.492,603.692,2336.868,83.256,0.000,1466.718,0.000,2058.812,0.000,0.539,0.000
$DEVICE_MAMPS,201.960,62.730,847.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.818,0.000,1252.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53545,964
$CAP_FILE_SIZE,92122,0
$CFSIZE,260165632,251748352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,150.7,1
$GPS,230910,105536,2427.364,12705.840,35,1.0,40,-3.7