version: 66.08
glider: 168
mission: 2
dive: 7
start: 9 22 110 20 56 41
data:
$ID,168
$MISSION,2
$DIVE,7
$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,130
$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,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,-3170.2485
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,220910,205246,2427.268,12707.325,8,2.3,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.9
$GPS2,220910,205614,2427.208,12707.352,12,1.6,12,-3.7
$SPEED_LIMITS,0.222,0.321
$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,349.8,6515,-18.7,-12.821
$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,-0.71,-194.6,0.0,0.0,0,89,0.00,0.00,-72.07,0.000,2,0.000,0.000,125,1586,3226,0,0,0,0,0,0
$GC,91,-0.71,-194.6,3.9,-6.6,10,116,10.35,2.05,-5.50,0.000,4,0.204,0.048,3037,2970,3571,0,0,0,0,0,0
$GC,187,-0.55,-194.6,43.6,-25.4,26,195,0.17,2.25,0.00,0.000,6,0.120,0.056,3100,1556,3573,0,0,0,0,0,0
$GC,512,-0.52,-194.6,103.1,-14.1,87,520,0.00,2.20,0.00,0.000,4,0.000,0.061,3100,164,3574,0,0,0,0,0,0
$GC,548,-0.52,-194.6,108.5,-14.8,93,557,0.03,2.10,0.00,0.000,6,0.177,0.042,3106,1533,3574,0,0,0,0,0,0
$GC,874,-0.56,-194.6,150.9,-13.5,154,882,0.00,2.17,0.00,0.000,4,0.000,0.046,3098,2960,3574,0,0,0,0,0,0
$GC,916,-0.73,-194.6,155.6,-11.3,161,925,0.12,2.22,0.00,0.000,6,0.038,0.051,2995,1538,3574,0,0,0,0,0,0
$GC,1242,-0.48,-194.6,227.1,-21.9,222,1251,0.35,2.17,0.00,0.000,4,0.133,0.062,3119,164,3574,0,0,0,0,0,0
$GC,1338,-0.67,-194.6,238.7,-9.7,239,1346,0.12,2.10,0.00,0.000,6,0.039,0.044,3014,1538,3574,0,0,0,0,0,0
$GC,1662,-0.52,-194.6,294.9,-18.5,300,1670,0.25,0.00,0.00,0.000,6,0.131,0.000,3105,1539,3573,0,0,0,0,0,0
$GC,1985,-0.70,-194.6,324.5,-7.7,361,1993,0.15,0.00,0.00,0.000,6,0.073,0.000,3000,1539,3572,0,0,0,0,0,0
$GC,2311,-0.54,-194.6,377.8,-16.6,422,2320,0.28,2.17,0.00,0.000,4,0.130,0.047,3090,2950,3570,0,0,0,0,0,0
$GC,2343,-0.69,-194.6,382.2,-11.8,427,2352,0.08,2.22,0.00,0.000,6,0.053,0.056,3011,1540,3570,0,0,0,0,0,0
$GC,2670,-0.60,-194.6,431.9,-15.1,488,2679,0.22,2.20,0.00,0.000,4,0.132,0.066,3086,160,3568,0,0,0,0,0,0
$GC,2734,-0.78,-194.6,439.3,-9.8,499,2743,0.12,2.10,0.00,0.000,6,0.039,0.044,2990,1528,3568,0,0,0,0,0,0
$GC,3058,-0.66,-194.6,489.6,-16.3,560,3068,0.25,2.22,0.00,0.000,4,0.130,0.050,3069,2964,3566,0,0,0,0,0,0
$GC,3098,-0.87,-194.6,494.1,-9.6,566,3106,0.15,2.25,0.00,0.000,6,0.037,0.056,2966,1536,3565,0,0,0,0,0,0
$STATE,3144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3144,begin apogee
$GC,3148,-0.12,0.0,500.8,16.5,574,3300,0.75,0.00,146.55,0.845,4,0.119,0.000,3232,1496,2776,0,0,0,0,0,0
$STATE,3300,end apogee,CONTROL_FINISHED_OK
$STATE,3301,begin climb
$GC,3302,0.71,194.6,507.1,0.0,586,3461,0.73,0.00,154.48,0.837,6,0.061,0.000,3512,1496,1982,0,0,0,0,0,0
$GC,3777,0.45,194.6,423.4,21.5,662,3786,0.28,2.20,0.00,0.000,4,0.143,0.042,3421,2909,1971,0,0,0,0,0,0
$GC,4018,0.50,202.4,390.4,12.5,707,4035,0.03,2.22,5.60,0.576,6,0.103,0.057,3464,1519,1949,0,0,0,0,0,0
$GC,4353,0.42,202.4,339.9,14.3,769,4362,0.17,2.17,0.00,0.000,4,0.136,0.046,3408,2913,1946,0,0,0,0,0,0
$GC,4506,0.61,260.5,322.6,10.2,797,4559,0.15,2.20,46.30,0.735,6,0.040,0.059,3504,1539,1714,0,0,0,0,0,0
$GC,4877,0.48,260.5,250.4,20.8,864,4886,0.25,2.15,0.00,0.000,4,0.131,0.044,3418,2920,1706,0,0,0,0,0,0
$GC,4958,0.74,308.8,239.7,10.7,878,5003,0.22,2.22,37.53,0.679,6,0.039,0.058,3547,1534,1517,0,0,0,0,0,0
$GC,5324,0.55,308.8,156.4,24.4,944,5334,0.28,2.15,0.00,0.000,4,0.137,0.043,3452,2914,1509,0,0,0,0,0,0
$GC,5380,0.70,314.3,146.9,12.6,953,5397,0.12,2.17,4.95,0.457,6,0.047,0.057,3542,1555,1493,0,0,0,0,0,0
$GC,5715,0.60,314.3,81.4,20.6,1015,5724,0.22,2.10,0.00,0.000,4,0.133,0.043,3469,2914,1491,0,0,0,0,0,0
$GC,5822,0.91,386.3,68.0,9.6,1034,5884,0.22,2.15,54.85,0.565,6,0.037,0.054,3592,1556,1199,0,0,0,0,0,0
$STATE,6153,end climb,SURFACE_DEPTH_REACHED
$STATE,6153,begin surface coast
$FINISH,0.6,1.007632
$STATE,6165,end surface coast,CONTROL_FINISHED_OK
$STATE,6165,begin surface
$SM_CCo,6240,0.00,0.000,0,0,1188,389.54
$SM_GC,1.36,8.55,0.00,0.00,0.028,0.000,0.000,105,1551,1188,-9.77,0.08,389.54
$IRIDIUM_FIX,2418.11,12706.40,220910,202051
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.5,3.230
$10V_AH,10.5,3.538
$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,24.625,52.250,450.250,0.000,0.000,0.000,0.000,0.000,0.250,0.000,13.413,2584.954,182.796,451.066,3002.131,90.401,0.000,1396.610,0.000,3018.167,0.000,0.541,0.000
$DEVICE_MAMPS,204.255,158.355,845.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.612,0.000,2775.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334272
$DATA_FILE_SIZE,63610,1095
$CAP_FILE_SIZE,107596,0
$CFSIZE,260165632,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,172.2,1
$GPS,220910,224143,2427.219,12706.921,12,1.2,29,-3.7