version: 66.08
glider: 168
mission: 2
dive: 24
start: 9 24 110 0 46 22
data:
$ID,168
$MISSION,2
$DIVE,24
$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,-3192.897
$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,32
$R_STBD_OVSHOOT,37
$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
$GPS1,240910,004124,2426.535,12705.135,23,1.5,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.3
$GPS2,240910,004556,2426.417,12705.137,13,1.3,13,-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,351.7,6639,-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,-243.3,0.0,0.0,0,77,0.00,0.00,-59.95,0.000,2,0.000,0.000,105,1539,3024,0,0,0,0,0,0
$GC,79,-0.94,-243.3,3.1,-4.0,8,111,10.05,2.17,-12.80,0.000,4,0.197,0.050,2959,2958,3771,0,0,0,0,0,0
$GC,141,-0.90,-243.3,31.0,-49.7,17,149,0.08,2.22,0.00,0.000,6,0.143,0.051,2984,1558,3772,0,0,0,0,0,0
$GC,467,-0.87,-243.3,148.4,-28.9,78,476,0.05,0.00,0.00,0.000,6,0.254,0.000,2995,1557,3775,0,0,0,0,0,0
$GC,808,-0.85,-243.3,240.9,-23.6,139,814,0.00,2.15,0.00,0.000,4,0.000,0.056,2996,161,3777,0,0,0,0,0,0
$GC,836,-0.84,-243.3,248.6,-25.2,144,845,0.05,2.10,0.00,0.000,6,0.155,0.039,3005,1544,3777,0,0,0,0,0,0
$GC,1172,-0.82,-243.3,320.7,-20.9,196,1176,0.00,2.15,0.00,0.000,4,0.000,0.059,3006,154,3777,0,0,0,0,0,0
$GC,1242,-0.82,-243.3,335.2,-18.8,202,1253,0.05,2.10,0.00,0.000,6,0.145,0.041,3017,1536,3777,0,0,0,0,0,0
$GC,1570,-0.81,-243.3,389.4,-16.1,233,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1538,3776,0,0,0,0,0,0
$GC,1887,-0.81,-243.3,438.8,-15.4,263,1891,0.00,2.15,0.00,0.000,4,0.000,0.060,3017,152,3775,0,0,0,0,0,0
$GC,1930,-0.81,-243.3,446.7,-16.3,266,1940,0.00,2.10,0.00,0.000,6,0.000,0.041,3010,1535,3775,0,0,0,0,0,0
$GC,2256,-0.80,-243.3,497.7,-16.4,297,2260,0.00,2.15,0.00,0.000,4,0.000,0.048,3000,2965,3772,0,0,0,0,0,0
$STATE,2272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2272,begin apogee
$GC,2278,-0.17,0.0,500.7,16.5,298,2467,0.60,0.00,184.48,0.834,4,0.097,0.000,3223,1686,2776,0,0,0,0,0,0
$STATE,2468,end apogee,CONTROL_FINISHED_OK
$STATE,2468,begin climb
$GC,2469,0.94,243.3,510.4,0.0,314,2670,0.93,0.00,191.85,0.818,6,0.051,0.000,3586,1686,1783,0,0,0,0,0,0
$GC,2986,0.91,243.3,363.5,33.1,361,2990,0.00,2.17,0.00,0.000,4,0.000,0.044,3586,3114,1776,0,0,0,0,0,0
$GC,3074,0.89,243.3,335.7,30.1,368,3083,0.10,2.22,0.00,0.000,6,0.156,0.049,3563,1709,1775,0,0,0,0,0,0
$GC,3407,0.86,243.3,242.2,27.4,417,3414,0.00,2.20,0.00,0.000,4,0.000,0.055,3574,289,1773,0,0,0,0,0,0
$GC,3432,0.84,243.3,234.8,28.2,421,3440,0.10,2.15,0.00,0.000,6,0.171,0.033,3547,1730,1772,0,0,0,0,0,0
$GC,3770,0.82,243.3,149.6,21.5,482,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1733,1771,0,0,0,0,0,0
$GC,4094,0.81,243.3,82.8,19.1,543,4102,0.00,2.08,0.00,0.000,4,0.000,0.042,3547,3102,1770,0,0,0,0,0,0
$GC,4283,0.89,317.0,51.6,12.1,578,4344,0.00,2.17,54.75,0.537,6,0.000,0.050,3555,1710,1482,0,0,0,0,0,0
$STATE,4608,end climb,SURFACE_DEPTH_REACHED
$STATE,4608,begin surface coast
$FINISH,0.7,1.018918
$STATE,4626,end surface coast,CONTROL_FINISHED_OK
$STATE,4626,begin surface
$SM_CCo,4641,25.00,0.325,1,0,1287,365.01
$SM_GC,1.62,0.00,0.00,25.00,0.000,0.000,0.325,105,1537,1287,-9.92,-0.37,365.01
$IRIDIUM_FIX,2418.11,12708.29,230910,232331
$TT8_MAMPS,0.026964
$HUMID,47.44
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.5,5.368
$10V_AH,10.6,5.161
$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,20.300,34.550,431.075,25.000,0.000,25.634,38.646,122.987,0.500,0.000,15.704,1507.893,1147.539,447.334,1777.336,78.436,0.000,1071.580,0.000,1586.204,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,64.260,833.850,325.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.895,0.000,1108.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334152
$DATA_FILE_SIZE,36979,639
$CAP_FILE_SIZE,65807,0
$CFSIZE,260165632,251305984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.286,166.9,1
$GPS,240910,020501,2426.522,12705.062,8,1.8,13,-3.7