version: 66.08
glider: 168
mission: 2
dive: 21
start: 9 23 110 20 28 34
data:
$ID,168
$MISSION,2
$DIVE,21
$N_DIVES,30
$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,-3189.1299
$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,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,57
$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
$GPS1,230910,201837,2426.821,12705.312,38,1.0,38,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.7
$GPS2,230910,202808,2426.638,12705.379,12,1.4,12,-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,353.1,6259,-19.2,-15.152
$D_GRID,4321
$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,-0.94,-243.3,0.0,0.0,0,74,0.00,0.00,-57.72,0.000,2,0.000,0.000,104,1576,2976,0,0,0,0,0,0
$GC,76,-0.94,-243.3,3.2,-5.0,8,107,10.12,0.00,-13.75,0.000,6,0.200,0.000,2970,1578,3772,0,0,0,0,0,0
$GC,424,-0.91,-243.3,138.6,-32.5,72,433,0.05,2.20,0.00,0.000,4,0.253,0.053,2982,176,3775,0,0,0,0,0,0
$GC,452,-0.88,-243.3,147.9,-32.5,76,461,0.05,2.03,0.00,0.000,6,0.161,0.034,2990,1526,3775,0,0,0,0,0,0
$GC,795,-0.86,-243.3,240.0,-24.9,137,802,0.00,2.12,0.00,0.000,4,0.000,0.041,2980,2960,3776,0,0,0,0,0,0
$GC,831,-0.85,-243.3,248.5,-22.8,143,839,0.10,2.20,0.00,0.000,6,0.158,0.054,3009,1532,3776,0,0,0,0,0,0
$GC,1173,-0.84,-243.3,319.6,-20.3,196,1177,0.00,2.10,0.00,0.000,4,0.000,0.057,3010,164,3776,0,0,0,0,0,0
$GC,1303,-0.83,-243.3,344.9,-20.4,207,1307,0.00,2.03,0.00,0.000,6,0.000,0.040,3001,1523,3776,0,0,0,0,0,0
$GC,1633,-0.82,-243.3,407.8,-18.2,238,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1527,3774,0,0,0,0,0,0
$GC,1952,-0.82,-243.3,461.4,-14.7,268,1956,0.00,2.10,0.00,0.000,4,0.000,0.058,3001,165,3772,0,0,0,0,0,0
$GC,1993,-0.81,-243.3,467.3,-14.8,271,1997,0.10,2.05,0.00,0.000,6,0.164,0.041,3022,1516,3772,0,0,0,0,0,0
$STATE,2258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2258,begin apogee
$GC,2261,-0.17,0.0,500.0,11.9,296,2451,0.55,0.00,183.68,0.835,4,0.103,0.000,3225,1712,2776,0,0,0,0,0,0
$STATE,2452,end apogee,CONTROL_FINISHED_OK
$STATE,2452,begin climb
$GC,2453,0.94,243.3,507.0,0.0,312,2650,0.93,0.00,191.38,0.814,6,0.046,0.000,3592,1712,1783,0,0,0,0,0,0
$GC,2976,0.91,243.3,366.1,32.1,360,2980,0.10,2.10,0.00,0.000,4,0.194,0.040,3565,3106,1774,0,0,0,0,0,0
$GC,3055,0.89,243.3,341.9,28.6,367,3059,0.00,2.17,0.00,0.000,6,0.000,0.047,3575,1699,1773,0,0,0,0,0,0
$GC,3385,0.87,243.3,245.2,30.5,414,3394,0.08,2.20,0.00,0.000,4,0.217,0.054,3568,295,1771,0,0,0,0,0,0
$GC,3419,0.84,243.3,236.0,28.4,419,3426,0.08,2.08,0.00,0.000,6,0.185,0.032,3550,1708,1770,0,0,0,0,0,0
$GC,3755,0.83,243.3,152.7,22.4,480,3763,0.00,2.12,0.00,0.000,4,0.000,0.042,3549,3105,1769,0,0,0,0,0,0
$GC,3854,0.81,243.3,132.1,19.6,498,3864,0.05,2.17,0.00,0.000,6,0.151,0.047,3540,1710,1769,0,0,0,0,0,0
$GC,4179,0.80,243.3,71.7,16.0,559,4186,0.00,2.20,0.00,0.000,4,0.000,0.056,3550,296,1768,0,0,0,0,0,0
$GC,4425,0.92,339.5,40.0,11.1,605,4501,0.05,2.08,70.60,0.533,6,0.071,0.031,3606,1693,1391,0,0,0,0,0,0
$STATE,4611,end climb,SURFACE_DEPTH_REACHED
$STATE,4611,begin surface coast
$FINISH,0.6,1.021758
$STATE,4623,end surface coast,CONTROL_FINISHED_OK
$STATE,4623,begin surface
$SM_CCo,4638,15.38,0.210,1,0,1285,365.01
$SM_GC,1.72,0.00,0.00,15.38,0.000,0.000,0.210,104,1534,1285,-9.92,-0.42,365.01
$IRIDIUM_FIX,2420.48,12704.51,230910,202021
$TT8_MAMPS,0.026964
$HUMID,47.40
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,5.040
$10V_AH,10.6,4.919
$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,20.825,34.450,445.650,15.375,0.000,100.259,81.377,166.197,0.000,0.000,13.465,1510.946,1275.433,428.406,1961.900,68.944,0.000,1058.419,0.000,1581.978,0.000,0.540,0.000
$DEVICE_MAMPS,253.215,65.790,834.615,210.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.475,0.000,1102.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,36933,638
$CAP_FILE_SIZE,69703,0
$CFSIZE,260165632,251437056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.253,165.9,1
$GPS,230910,214722,2426.865,12705.322,14,2.8,33,-3.7