version: 66.08
glider: 168
mission: 2
dive: 12
start: 9 23 110 6 1 4
data:
$ID,168
$MISSION,2
$DIVE,12
$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,-3176.6201
$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,47
$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
$GPS1,230910,055322,2427.226,12706.237,8,3.5,27,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.2
$GPS2,230910,060037,2427.131,12706.280,44,1.4,44,-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,343.1,5734,-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,-243.3,0.0,0.0,0,88,0.00,0.00,-71.15,0.000,2,0.000,0.000,106,1567,2991,0,0,0,0,0,0
$GC,90,-0.78,-243.3,3.1,-4.5,10,122,10.32,2.10,-13.32,0.000,4,0.202,0.057,3017,2952,3768,0,0,0,0,0,0
$GC,192,-0.51,-243.3,43.7,-31.5,27,200,0.28,2.22,0.00,0.000,6,0.129,0.053,3111,1549,3770,0,0,0,0,0,0
$GC,517,-0.55,-243.3,112.0,-14.0,88,526,0.00,2.17,0.00,0.000,4,0.000,0.055,3112,153,3772,0,0,0,0,0,0
$GC,613,-0.72,-243.3,124.0,-11.3,105,621,0.12,2.10,0.00,0.000,6,0.037,0.041,2999,1528,3772,0,0,0,0,0,0
$GC,937,-0.47,-243.3,205.4,-21.5,166,945,0.35,2.15,0.00,0.000,4,0.131,0.059,3122,165,3771,0,0,0,0,0,0
$GC,1001,-0.73,-243.3,213.4,-7.5,177,1009,0.17,2.08,0.00,0.000,6,0.035,0.041,2996,1531,3772,0,0,0,0,0,0
$GC,1325,-0.52,-243.3,277.1,-21.0,238,1333,0.32,2.17,0.00,0.000,4,0.129,0.043,3101,2960,3772,0,0,0,0,0,0
$GC,1373,-0.82,-243.3,283.2,-7.4,246,1382,0.20,2.20,0.00,0.000,6,0.037,0.047,2972,1538,3772,0,0,0,0,0,0
$GC,1712,-0.59,-243.3,357.2,-22.4,307,1720,0.32,2.15,0.00,0.000,4,0.132,0.047,3076,2959,3771,0,0,0,0,0,0
$GC,1749,-0.74,-243.3,362.8,-12.3,313,1756,0.10,2.17,0.00,0.000,6,0.099,0.050,2997,1546,3771,0,0,0,0,0,0
$GC,2093,-0.63,-243.3,423.6,-16.5,374,2099,0.25,0.00,0.00,0.000,6,0.128,0.000,3088,1546,3769,0,0,0,0,0,0
$GC,2435,-0.86,-243.3,454.4,-8.5,435,2442,0.22,0.00,0.00,0.000,6,0.056,0.000,2958,1546,3768,0,0,0,0,0,0
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2661,-0.12,0.0,501.0,21.7,475,2850,0.80,0.00,183.27,0.848,4,0.119,0.000,3237,1492,2776,0,0,0,0,0,0
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2851,begin climb
$GC,2852,0.78,243.3,509.5,0.0,492,3049,0.75,0.00,191.82,0.832,6,0.048,0.000,3542,1492,1784,0,0,0,0,0,0
$GC,3386,0.46,243.3,382.8,26.7,577,3393,0.35,2.15,0.00,0.000,4,0.142,0.037,3425,2917,1776,0,0,0,0,0,0
$GC,3540,0.64,309.0,360.1,12.4,604,3597,0.15,2.17,50.95,0.746,6,0.074,0.050,3520,1510,1515,0,0,0,0,0,0
$GC,3929,0.44,309.0,266.2,24.4,673,3938,0.30,2.15,0.00,0.000,4,0.135,0.038,3419,2905,1508,0,0,0,0,0,0
$GC,4037,0.83,416.7,251.2,10.6,692,4128,0.30,2.17,81.72,0.689,6,0.034,0.050,3578,1528,1077,0,0,0,0,0,0
$GC,4445,0.59,416.7,113.9,31.3,764,4455,0.32,2.17,0.00,0.000,4,0.139,0.058,3478,164,1069,0,0,0,0,0,0
$GC,4530,0.93,500.0,98.6,11.7,779,4597,0.22,2.05,61.45,0.585,6,0.036,0.031,3597,1537,737,0,0,0,0,0,0
$STATE,4913,end climb,SURFACE_DEPTH_REACHED
$STATE,4913,begin surface coast
$FINISH,0.5,1.019039
$STATE,4925,end surface coast,CONTROL_FINISHED_OK
$STATE,4925,begin surface
$SM_CCo,4999,0.00,0.000,0,0,727,502.37
$SM_GC,1.25,8.52,0.00,0.00,0.025,0.000,0.000,106,1538,727,-9.76,-0.34,502.37
$IRIDIUM_FIX,2415.74,12704.97,230910,050546
$TT8_MAMPS,0.026964
$HUMID,49.21
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,24.5,3.893
$10V_AH,10.5,4.075
$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,24.400,34.475,569.225,0.000,0.000,70.056,75.300,103.563,0.000,0.000,45.787,1931.958,738.588,539.093,2158.521,74.244,0.000,1290.537,0.000,1862.683,0.000,0.540,0.000
$DEVICE_MAMPS,201.960,126.225,847.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.362,0.000,1178.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,46908,850
$CAP_FILE_SIZE,78319,0
$CFSIZE,260165632,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,151.0,1
$GPS,230910,072507,2427.211,12706.012,6,2.0,11,-3.7