version: 66.08
glider: 168
mission: 2
dive: 8
start: 9 22 110 22 47 3
data:
$ID,168
$MISSION,2
$DIVE,8
$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,-3171.5071
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,220910,224143,2427.219,12706.921,12,1.2,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-80.3
$GPS2,220910,224636,2427.117,12706.922,14,1.2,24,-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,347.7,6244,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-243.3,0.0,0.0,0,81,0.00,0.00,-64.90,0.000,2,0.000,0.000,104,1553,3081,0,0,0,0,0,0
$GC,83,-0.78,-243.3,3.3,-4.2,9,115,10.38,2.20,-11.30,0.000,4,0.203,0.056,3010,2970,3770,0,0,0,0,0,0
$GC,127,0.13,-243.3,24.3,-48.6,15,136,0.90,2.28,0.00,0.000,6,0.132,0.058,3322,1554,3771,0,0,0,0,0,0
$GC,457,-0.55,-243.3,55.6,-6.8,76,466,0.57,2.20,0.00,0.000,4,0.064,0.057,3088,162,3773,0,0,0,0,0,0
$GC,574,-0.55,-243.3,70.9,-15.6,97,581,0.00,2.12,0.00,0.000,6,0.000,0.041,3087,1549,3772,0,0,0,0,0,0
$GC,895,-0.55,-243.3,131.1,-17.3,158,903,0.00,2.15,0.00,0.000,4,0.000,0.044,3078,2960,3774,0,0,0,0,0,0
$GC,921,-0.60,-243.3,135.7,-17.8,162,929,0.00,2.20,0.00,0.000,6,0.000,0.052,3078,1554,3774,0,0,0,0,0,0
$GC,1246,-0.63,-243.3,184.1,-12.1,223,1255,0.00,2.17,0.00,0.000,4,0.000,0.060,3077,164,3774,0,0,0,0,0,0
$GC,1305,-0.77,-243.3,191.1,-10.3,233,1313,0.10,2.10,0.00,0.000,6,0.044,0.041,2992,1546,3774,0,0,0,0,0,0
$GC,1631,-0.58,-243.3,261.8,-20.8,294,1639,0.28,2.17,0.00,0.000,4,0.133,0.060,3090,173,3775,0,0,0,0,0,0
$GC,1679,-0.74,-243.3,269.3,-11.3,302,1687,0.12,2.08,0.00,0.000,6,0.041,0.043,2994,1532,3774,0,0,0,0,0,0
$GC,2014,-0.60,-243.3,333.7,-19.2,363,2021,0.25,0.00,0.00,0.000,6,0.132,0.000,3083,1534,3774,0,0,0,0,0,0
$GC,2358,-0.80,-243.3,366.7,-8.3,424,2365,0.17,2.15,0.00,0.000,4,0.067,0.047,2976,2960,3774,0,0,0,0,0,0
$GC,2399,-0.75,-243.3,372.2,-15.3,431,2407,0.20,2.20,0.00,0.000,6,0.125,0.054,3040,1524,3774,0,0,0,0,0,0
$GC,2745,-0.81,-243.3,414.6,-11.7,492,2752,0.08,0.00,0.00,0.000,6,0.128,0.000,2977,1523,3772,0,0,0,0,0,0
$GC,3089,-0.68,-243.3,475.0,-17.8,553,3096,0.25,2.10,0.00,0.000,4,0.132,0.060,3064,161,3770,0,0,0,0,0,0
$GC,3135,-0.88,-243.3,481.0,-10.1,561,3143,0.20,2.05,0.00,0.000,6,0.062,0.042,2951,1538,3770,0,0,0,0,0,0
$STATE,3247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3247,begin apogee
$GC,3251,-0.12,0.0,500.8,19.1,581,3442,0.82,0.00,183.75,0.845,4,0.121,0.000,3238,1497,2776,0,0,0,0,0,0
$STATE,3443,end apogee,CONTROL_FINISHED_OK
$STATE,3443,begin climb
$GC,3444,0.78,243.3,508.3,0.0,598,3648,0.80,2.28,192.48,0.832,4,0.049,0.045,3549,2917,1782,0,0,0,0,0,0
$GC,3720,0.51,243.3,453.3,26.6,638,3728,0.40,2.25,0.00,0.000,6,0.148,0.053,3439,1501,1778,0,0,0,0,0,0
$GC,4064,0.51,244.1,398.0,15.1,699,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1501,1773,0,0,0,0,0,0
$GC,4408,0.56,284.2,347.7,13.5,760,4446,0.08,2.25,31.30,0.733,4,0.124,0.042,3492,2917,1616,0,0,0,0,0,0
$GC,4597,0.56,284.2,313.1,17.8,793,4604,0.15,2.22,0.00,0.000,6,0.148,0.054,3454,1495,1612,0,0,0,0,0,0
$GC,4926,0.64,316.1,264.2,13.8,854,4958,0.10,2.25,25.02,0.686,4,0.103,0.041,3524,2921,1486,0,0,0,0,0,0
$GC,4971,0.52,316.1,255.5,20.7,860,4980,0.25,2.25,0.00,0.000,6,0.119,0.053,3446,1516,1485,0,0,0,0,0,0
$GC,5298,0.69,376.2,208.3,12.6,921,5352,0.15,2.22,46.25,0.665,4,0.075,0.062,3548,166,1241,0,0,0,0,0,0
$GC,5369,0.55,376.2,193.5,22.7,931,5379,0.28,2.05,0.00,0.000,6,0.107,0.030,3450,1513,1238,0,0,0,0,0,0
$GC,5695,0.78,431.4,147.1,12.8,992,5747,0.22,2.17,41.75,0.616,4,0.060,0.039,3569,2902,1015,0,0,0,0,0,0
$GC,5760,0.62,431.4,132.6,25.8,1001,5769,0.28,2.25,0.00,0.000,6,0.122,0.052,3482,1507,1014,0,0,0,0,0,0
$GC,6083,0.83,478.0,82.1,13.2,1062,6129,0.17,2.17,34.90,0.561,4,0.069,0.061,3593,166,825,0,0,0,0,0,0
$GC,6174,0.71,478.0,60.0,29.1,1076,6183,0.25,2.00,0.00,0.000,6,0.103,0.030,3502,1494,824,0,0,0,0,0,0
$GC,6500,1.31,685.2,29.3,6.5,1137,6582,0.47,2.20,73.97,0.522,4,0.045,0.034,3709,2905,413,0,0,0,0,0,0
$STATE,6589,end climb,SURFACE_DEPTH_REACHED
$STATE,6589,begin surface coast
$FINISH,0.6,1.021704
$STATE,6595,end surface coast,CONTROL_FINISHED_OK
$STATE,6595,begin surface
$SM_CCo,6672,0.00,0.000,0,0,411,580.13
$SM_GC,1.47,9.00,0.00,0.00,0.028,0.000,0.000,106,1537,411,-9.77,-0.37,580.13
$IRIDIUM_FIX,2420.48,12706.40,220910,202025
$TT8_MAMPS,0.026964
$HUMID,45.94
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.5,3.372
$10V_AH,10.5,3.661
$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,26.925,60.975,629.425,0.000,0.000,31.485,34.861,120.847,0.000,0.000,26.933,2635.463,852.269,623.828,2762.554,96.294,0.000,1609.481,0.000,2555.643,0.000,0.541,0.000
$DEVICE_MAMPS,203.490,156.825,845.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.930,0.000,1711.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334180
$DATA_FILE_SIZE,66884,1150
$CAP_FILE_SIZE,105977,0
$CFSIZE,260165632,252047360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.264,167.0,1
$GPS,230910,003916,2427.147,12706.607,8,3.5,27,-3.7