version: 66.08
glider: 168
mission: 2
dive: 26
start: 9 24 110 3 32 4
data:
$ID,168
$MISSION,2
$DIVE,26
$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,-3195.405
$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,44
$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
$GPS1,240910,032702,2426.540,12705.116,11,1.5,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.1
$GPS2,240910,033138,2426.458,12705.112,12,1.5,12,-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,352.0,6562,-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,-243.3,0.0,0.0,0,80,0.00,0.00,-63.28,0.000,2,0.000,0.000,104,1547,3160,0,0,0,0,0,0
$GC,82,-0.94,-243.3,3.9,-6.7,8,114,10.05,2.15,-9.70,0.000,4,0.197,0.052,2956,2947,3773,0,0,0,0,0,0
$GC,121,-0.85,-243.3,24.5,-52.9,13,130,0.12,2.17,0.00,0.000,6,0.151,0.044,2996,1555,3773,0,0,0,0,0,0
$GC,447,-0.83,-243.3,138.7,-27.0,74,455,0.08,0.00,0.00,0.000,6,0.209,0.000,3015,1554,3776,0,0,0,0,0,0
$GC,778,-0.81,-243.3,221.8,-23.5,135,786,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,157,3777,0,0,0,0,0,0
$GC,894,-0.80,-243.3,248.1,-20.7,156,902,0.00,2.10,0.00,0.000,6,0.000,0.041,3007,1538,3777,0,0,0,0,0,0
$GC,1230,-0.79,-243.3,314.6,-18.5,211,1234,0.08,2.12,0.00,0.000,4,0.205,0.057,3026,161,3778,0,0,0,0,0,0
$GC,1259,-0.78,-243.3,320.2,-19.4,213,1263,0.00,2.05,0.00,0.000,6,0.000,0.037,3018,1538,3778,0,0,0,0,0,0
$GC,1586,-0.77,-243.3,374.3,-16.6,243,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1541,3777,0,0,0,0,0,0
$GC,1903,-0.77,-243.3,427.5,-16.3,273,1907,0.00,2.12,0.00,0.000,4,0.000,0.057,3017,161,3776,0,0,0,0,0,0
$GC,1943,-0.77,-243.3,434.7,-18.1,276,1948,0.08,2.08,0.00,0.000,6,0.181,0.040,3033,1534,3776,0,0,0,0,0,0
$GC,2274,-0.77,-243.3,483.0,-13.8,307,2278,0.00,2.12,0.00,0.000,4,0.000,0.047,3023,2955,3774,0,0,0,0,0,0
$GC,2326,-0.77,-243.3,489.4,-11.3,311,2330,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,1533,3774,0,0,0,0,0,0
$STATE,2411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2411,begin apogee
$GC,2415,-0.17,0.0,500.2,12.6,319,2604,0.55,0.00,184.90,0.838,4,0.103,0.000,3226,1708,2776,0,0,0,0,0,0
$STATE,2605,end apogee,CONTROL_FINISHED_OK
$STATE,2605,begin climb
$GC,2607,0.94,243.3,504.8,0.0,335,2807,0.98,2.22,192.10,0.811,4,0.048,0.048,3601,3097,1783,0,0,0,0,0,0
$GC,3018,0.91,243.3,388.5,33.4,371,3023,0.15,2.17,0.00,0.000,6,0.180,0.046,3572,1691,1778,0,0,0,0,0,0
$GC,3343,0.89,243.3,289.1,26.9,404,3351,0.00,2.20,0.00,0.000,4,0.000,0.056,3582,294,1774,0,0,0,0,0,0
$GC,3487,0.86,243.3,247.6,27.4,430,3496,0.08,2.15,0.00,0.000,6,0.145,0.037,3555,1700,1771,0,0,0,0,0,0
$GC,3823,0.84,243.3,157.1,22.6,491,3831,0.00,2.17,0.00,0.000,4,0.000,0.059,3567,293,1770,0,0,0,0,0,0
$GC,3853,0.82,243.3,149.8,23.6,496,3861,0.08,2.12,0.00,0.000,6,0.135,0.033,3538,1717,1770,0,0,0,0,0,0
$GC,4178,0.81,243.3,81.9,17.2,557,4186,0.00,2.08,0.00,0.000,4,0.000,0.038,3538,3097,1769,0,0,0,0,0,0
$GC,4327,0.85,283.5,56.4,13.5,584,4365,0.00,2.12,29.80,0.545,6,0.000,0.044,3547,1720,1618,0,0,0,0,0,0
$GC,4684,0.85,283.5,4.9,16.4,649,4692,0.00,2.22,0.00,0.000,4,0.000,0.056,3558,301,1613,0,0,0,0,0,0
$STATE,4698,end climb,SURFACE_DEPTH_REACHED
$STATE,4698,begin surface coast
$FINISH,0.6,0.999095
$STATE,4715,end surface coast,CONTROL_FINISHED_OK
$STATE,4715,begin surface
$SM_CCo,4732,41.95,0.404,1,0,1286,365.01
$SM_GC,1.51,0.00,0.00,41.95,0.000,0.000,0.404,105,1552,1286,-9.92,0.06,365.01
$IRIDIUM_FIX,2418.11,12703.08,240910,020201
$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.5,5.584
$10V_AH,10.6,5.318
$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,20.650,42.850,406.800,41.950,0.000,31.670,45.509,119.836,0.750,0.000,15.096,1568.189,1140.038,447.277,1836.121,80.006,0.000,1087.232,0.000,1634.931,0.000,0.539,0.000
$DEVICE_MAMPS,208.845,58.905,838.440,403.920,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.698,0.000,1131.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334196
$DATA_FILE_SIZE,40419,654
$CAP_FILE_SIZE,70044,0
$CFSIZE,260165632,251219968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.221,155.8,1
$GPS,240910,045306,2426.514,12705.186,48,1.0,48,-3.7