version: 66.08
glider: 168
mission: 2
dive: 16
start: 9 23 110 12 38 37
data:
$ID,168
$MISSION,2
$DIVE,16
$N_DIVES,20
$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,-3182.0188
$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,50
$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
$GPS1,230910,123352,2427.442,12705.728,9,2.8,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.6
$GPS2,230910,123810,2427.360,12705.757,8,3.0,27,-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,341.1,5054,-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,-243.3,0.0,0.0,0,103,0.00,0.00,-86.03,0.000,2,0.000,0.000,105,1524,3006,0,0,0,0,0,0
$GC,105,-0.78,-243.3,3.4,-5.9,12,137,10.35,2.17,-12.70,0.000,4,0.203,0.057,3014,2947,3770,0,0,0,0,0,0
$GC,176,-0.34,-243.3,34.9,-42.8,23,185,0.45,2.22,0.00,0.000,6,0.128,0.057,3168,1563,3771,0,0,0,0,0,0
$GC,503,-0.51,-243.3,90.6,-9.5,84,511,0.15,2.22,0.00,0.000,4,0.071,0.057,3061,158,3772,0,0,0,0,0,0
$GC,620,-0.26,-243.3,114.8,-26.3,105,629,0.40,2.08,0.00,0.000,6,0.125,0.042,3191,1511,3772,0,0,0,0,0,0
$GC,946,-0.96,-243.3,145.1,-8.7,166,955,0.55,2.22,0.00,0.000,4,0.070,0.045,2968,2959,3774,0,0,0,0,0,0
$GC,979,-0.96,-243.3,148.8,-11.1,171,986,0.00,2.22,0.00,0.000,6,0.000,0.048,2968,1531,3774,0,0,0,0,0,0
$GC,1303,-0.59,-243.3,239.0,-29.1,232,1311,0.35,0.00,0.00,0.000,6,0.142,0.000,3085,1530,3774,0,0,0,0,0,0
$GC,1626,-0.71,-243.3,280.8,-10.5,293,1635,0.12,0.00,0.00,0.000,6,0.083,0.000,2989,1530,3775,0,0,0,0,0,0
$GC,1966,-0.50,-243.3,352.3,-21.7,354,1973,0.35,2.10,0.00,0.000,4,0.128,0.058,3114,161,3774,0,0,0,0,0,0
$GC,2008,-0.73,-243.3,358.2,-10.2,361,2016,0.20,2.08,0.00,0.000,6,0.060,0.041,2992,1546,3774,0,0,0,0,0,0
$GC,2354,-0.60,-243.3,425.7,-19.6,422,2362,0.25,2.12,0.00,0.000,4,0.128,0.058,3084,164,3773,0,0,0,0,0,0
$GC,2425,-0.87,-243.3,435.1,-10.3,434,2432,0.22,2.08,0.00,0.000,6,0.055,0.041,2952,1544,3773,0,0,0,0,0,0
$STATE,2740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2740,begin apogee
$GC,2744,-0.12,0.0,500.4,21.3,490,2934,0.80,0.00,183.90,0.842,4,0.119,0.000,3232,1494,2776,0,0,0,0,0,0
$STATE,2935,end apogee,CONTROL_FINISHED_OK
$STATE,2935,begin climb
$GC,2936,0.78,243.3,506.8,0.0,507,3140,0.80,2.17,191.30,0.829,4,0.047,0.060,3545,167,1782,0,0,0,0,0,0
$GC,3165,0.55,243.3,463.8,24.8,539,3172,0.30,2.08,0.00,0.000,6,0.125,0.032,3451,1519,1779,0,0,0,0,0,0
$GC,3508,0.50,243.3,404.3,16.4,600,3515,0.00,2.10,0.00,0.000,4,0.000,0.060,3461,167,1774,0,0,0,0,0,0
$GC,3583,0.51,249.8,392.6,14.9,613,3597,0.08,2.03,5.00,0.537,6,0.163,0.032,3437,1533,1757,0,0,0,0,0,0
$GC,3933,0.53,269.6,342.6,14.3,675,3958,0.00,2.05,16.98,0.692,4,0.000,0.037,3437,2901,1677,0,0,0,0,0,0
$GC,4010,0.69,303.0,331.4,13.8,688,4047,0.17,2.10,27.88,0.708,6,0.065,0.047,3547,1529,1539,0,0,0,0,0,0
$GC,4372,0.42,303.0,233.5,29.5,754,4381,0.38,2.08,0.00,0.000,4,0.137,0.034,3419,2892,1533,0,0,0,0,0,0
$GC,4441,0.81,415.0,222.4,10.5,766,4532,0.28,2.12,84.43,0.661,6,0.034,0.047,3573,1538,1083,0,0,0,0,0,0
$GC,4850,0.58,415.0,89.8,30.4,838,4858,0.32,0.00,0.00,0.000,6,0.139,0.000,3463,1538,1076,0,0,0,0,0,0
$GC,5177,1.53,606.0,55.2,7.2,899,5300,0.82,0.00,118.62,0.524,6,0.088,0.000,3771,1537,414,0,0,0,0,0,0
$STATE,5312,end climb,SURFACE_DEPTH_REACHED
$STATE,5312,begin surface coast
$FINISH,0.6,1.021673
$STATE,5320,end surface coast,CONTROL_FINISHED_OK
$STATE,5320,begin surface
$SM_CCo,5395,0.00,0.000,0,0,410,580.38
$SM_GC,1.27,9.18,0.00,0.00,0.026,0.000,0.000,105,1535,410,-9.76,-0.40,580.38
$IRIDIUM_FIX,2415.74,12704.97,230910,101026
$TT8_MAMPS,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.5,4.452
$10V_AH,10.5,4.472
$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,26.525,38.325,628.100,0.000,0.000,29.579,19.111,103.822,0.000,0.000,31.755,2066.007,700.326,609.408,2207.969,79.827,0.000,1433.650,0.000,2028.176,0.000,0.539,0.000
$DEVICE_MAMPS,203.490,121.635,842.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.880,0.000,1318.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,53595,919
$CAP_FILE_SIZE,84557,0
$CFSIZE,260165632,251650048
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.334,162.2,1
$GPS,230910,140934,2427.291,12705.727,9,2.5,28,-3.7