version: 66.08
glider: 168
mission: 2
dive: 22
start: 9 23 110 21 52 10
data:
$ID,168
$MISSION,2
$DIVE,22
$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,-3190.3848
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,230910,214722,2426.865,12705.322,14,2.8,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.1
$GPS2,230910,215144,2426.763,12705.347,13,2.0,13,-3.7
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,NORTH_EDGE
$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,352.4,6023,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-243.3,0.0,0.0,0,83,0.00,0.00,-65.50,0.000,2,0.000,0.000,104,1533,3243,0,0,0,0,0,0
$GC,85,-0.94,-243.3,4.1,-6.8,9,109,10.07,2.20,-7.97,0.000,4,0.198,0.054,2958,2953,3772,0,0,0,0,0,0
$GC,139,-0.89,-243.3,34.7,-56.8,17,148,0.10,2.22,0.00,0.000,6,0.132,0.059,2991,1572,3773,0,0,0,0,0,0
$GC,464,-0.87,-243.3,147.8,-31.3,78,472,0.00,2.20,0.00,0.000,4,0.000,0.055,2991,161,3776,0,0,0,0,0,0
$GC,496,-0.84,-243.3,158.1,-32.4,83,503,0.10,2.08,0.00,0.000,6,0.182,0.038,3009,1541,3776,0,0,0,0,0,0
$GC,834,-0.83,-243.3,239.2,-22.5,144,842,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1544,3777,0,0,0,0,0,0
$GC,1172,-0.82,-243.3,309.4,-20.4,201,1176,0.00,2.12,0.00,0.000,4,0.000,0.058,3009,155,3777,0,0,0,0,0,0
$GC,1269,-0.81,-243.3,328.5,-17.9,209,1273,0.08,2.08,0.00,0.000,6,0.193,0.039,3020,1544,3777,0,0,0,0,0,0
$GC,1598,-0.81,-243.3,384.8,-16.2,240,1602,0.00,2.12,0.00,0.000,4,0.000,0.057,3020,153,3776,0,0,0,0,0,0
$GC,1630,-0.80,-243.3,390.6,-17.3,242,1639,0.00,2.10,0.00,0.000,6,0.000,0.041,3012,1536,3777,0,0,0,0,0,0
$GC,1958,-0.79,-243.3,442.0,-15.5,273,1961,0.00,2.12,0.00,0.000,4,0.000,0.057,3012,157,3776,0,0,0,0,0,0
$GC,2012,-0.79,-243.3,450.9,-15.0,277,2020,0.05,2.10,0.00,0.000,6,0.136,0.041,3025,1535,3775,0,0,0,0,0,0
$GC,2337,-0.79,-243.3,490.7,-11.5,308,2341,0.00,2.15,0.00,0.000,4,0.000,0.059,3026,148,3773,0,0,0,0,0,0
$GC,2369,-0.79,-243.3,494.9,-12.3,310,2378,0.00,2.10,0.00,0.000,6,0.000,0.042,3020,1521,3772,0,0,0,0,0,0
$STATE,2419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2419,begin apogee
$GC,2423,-0.17,0.0,500.4,11.7,315,2615,0.55,0.00,184.68,0.836,4,0.103,0.000,3223,1716,2775,0,0,0,0,0,0
$STATE,2616,end apogee,CONTROL_FINISHED_OK
$STATE,2616,begin climb
$GC,2617,0.94,243.3,506.0,0.0,331,2818,0.98,2.22,191.95,0.816,4,0.049,0.048,3597,3098,1782,0,0,0,0,0,0
$GC,2850,0.91,243.3,453.6,30.5,351,2858,0.10,2.28,0.00,0.000,6,0.160,0.047,3576,1692,1779,0,0,0,0,0,0
$GC,3176,0.89,243.3,353.8,31.2,382,3180,0.00,2.15,0.00,0.000,4,0.000,0.041,3576,3105,1774,0,0,0,0,0,0
$GC,3239,0.87,243.3,335.3,28.2,387,3243,0.12,2.17,0.00,0.000,6,0.175,0.049,3552,1710,1773,0,0,0,0,0,0
$GC,3567,0.85,243.3,248.0,26.5,435,3574,0.00,2.20,0.00,0.000,4,0.000,0.054,3562,286,1771,0,0,0,0,0,0
$GC,3607,0.83,243.3,237.2,26.1,442,3616,0.05,2.12,0.00,0.000,6,0.149,0.031,3543,1705,1769,0,0,0,0,0,0
$GC,3940,0.81,243.3,158.6,20.7,503,3946,0.00,2.10,0.00,0.000,4,0.000,0.041,3543,3104,1768,0,0,0,0,0,0
$GC,4012,0.80,243.3,144.1,20.1,516,4021,0.05,2.17,0.00,0.000,6,0.154,0.047,3533,1706,1768,0,0,0,0,0,0
$GC,4339,0.79,243.3,83.4,16.4,577,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1706,1768,0,0,0,0,0,0
$GC,4662,0.95,373.2,42.4,9.7,638,4765,0.15,2.17,94.97,0.526,4,0.072,0.037,3632,3112,1253,0,0,0,0,0,0
$STATE,4839,end climb,SURFACE_DEPTH_REACHED
$STATE,4840,begin surface coast
$FINISH,0.7,1.021774
$STATE,4851,end surface coast,CONTROL_FINISHED_OK
$STATE,4851,begin surface
$SM_CCo,4929,0.00,0.000,0,0,1244,375.55
$SM_GC,1.39,8.55,0.00,0.00,0.018,0.000,0.000,104,1545,1244,-9.77,-0.14,375.55
$IRIDIUM_FIX,2418.11,12703.08,230910,202027
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.5,5.152
$10V_AH,10.5,5.002
$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,20.950,47.950,471.600,0.000,0.000,29.629,13.743,133.335,0.250,0.000,16.370,1577.946,1247.543,453.403,1846.283,79.889,0.000,1125.710,0.000,1661.388,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,59.670,836.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.005,0.000,1148.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334192
$DATA_FILE_SIZE,40342,668
$CAP_FILE_SIZE,72472,0
$CFSIZE,260165632,251392000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.269,168.5,1
$GPS,230910,231526,2426.836,12705.127,34,1.9,34,-3.7