version: 66.08
glider: 168
mission: 2
dive: 28
start: 9 24 110 6 19 16
data:
$ID,168
$MISSION,2
$DIVE,28
$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,-3197.9165
$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,29
$R_STBD_OVSHOOT,51
$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
$GPS1,240910,061420,2426.468,12705.145,10,1.4,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-79.2
$GPS2,240910,061850,2426.402,12705.152,14,1.4,14,-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,348.8,6669,-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,-243.3,0.0,0.0,0,75,0.00,0.00,-58.35,0.000,2,0.000,0.000,104,1545,2992,0,0,0,0,0,0
$GC,77,-0.94,-243.3,3.4,-5.9,8,109,10.10,2.15,-13.15,0.000,4,0.199,0.051,2959,2947,3769,0,0,0,0,0,0
$GC,121,-0.87,-243.3,22.9,-47.2,14,131,0.10,2.20,0.00,0.000,6,0.143,0.047,2992,1550,3771,0,0,0,0,0,0
$GC,448,-0.84,-243.3,142.9,-31.1,75,456,0.05,2.15,0.00,0.000,4,0.249,0.043,2994,2942,3773,0,0,0,0,0,0
$GC,469,-0.82,-243.3,150.0,-33.8,78,479,0.05,2.17,0.00,0.000,6,0.148,0.051,3012,1562,3774,0,0,0,0,0,0
$GC,811,-0.80,-243.3,231.2,-23.0,139,818,0.00,2.15,0.00,0.000,4,0.000,0.055,3012,158,3775,0,0,0,0,0,0
$GC,929,-0.79,-243.3,255.6,-19.1,160,937,0.05,2.10,0.00,0.000,6,0.136,0.041,3023,1535,3776,0,0,0,0,0,0
$GC,1270,-0.78,-243.3,318.8,-19.8,213,1274,0.00,2.12,0.00,0.000,4,0.000,0.056,3023,157,3777,0,0,0,0,0,0
$GC,1301,-0.77,-243.3,325.0,-20.0,215,1305,0.00,2.05,0.00,0.000,6,0.000,0.040,3015,1541,3776,0,0,0,0,0,0
$GC,1627,-0.76,-243.3,385.4,-17.2,245,1629,0.08,0.00,0.00,0.000,6,0.202,0.000,3035,1541,3775,0,0,0,0,0,0
$GC,1945,-0.76,-243.3,428.2,-12.5,275,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1542,3774,0,0,0,0,0,0
$GC,2264,-0.76,-243.3,467.4,-12.3,305,2268,0.00,2.12,0.00,0.000,4,0.000,0.050,3028,2959,3772,0,0,0,0,0,0
$GC,2285,-0.77,-243.3,470.3,-12.3,306,2295,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,1542,3772,0,0,0,0,0,0
$STATE,2525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2525,begin apogee
$GC,2529,-0.17,0.0,500.7,13.5,329,2721,0.52,0.00,184.50,0.848,4,0.103,0.000,3222,1710,2776,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2723,0.94,243.3,508.5,0.0,345,2924,0.98,2.28,192.95,0.840,4,0.050,0.054,3593,3109,1784,0,0,0,0,0,0
$GC,3101,0.91,243.3,408.3,31.8,378,3111,0.10,2.25,0.00,0.000,6,0.160,0.049,3572,1695,1778,0,0,0,0,0,0
$GC,3427,0.89,243.3,307.2,31.0,409,3431,0.00,2.15,0.00,0.000,4,0.000,0.039,3572,3116,1774,0,0,0,0,0,0
$GC,3679,0.86,243.3,232.5,29.0,452,3688,0.08,2.22,0.00,0.000,6,0.157,0.049,3556,1698,1772,0,0,0,0,0,0
$GC,4019,0.84,243.3,143.6,24.9,513,4027,0.00,2.20,0.00,0.000,4,0.000,0.057,3567,294,1771,0,0,0,0,0,0
$GC,4092,0.82,243.3,125.4,24.6,526,4101,0.08,2.10,0.00,0.000,6,0.132,0.034,3538,1692,1770,0,0,0,0,0,0
$GC,4418,0.81,243.3,59.7,18.5,587,4426,0.00,2.15,0.00,0.000,4,0.000,0.041,3538,3108,1768,0,0,0,0,0,0
$GC,4577,0.93,345.6,36.4,10.9,616,4660,0.08,2.20,75.50,0.549,6,0.053,0.047,3624,1690,1366,0,0,0,0,0,0
$STATE,4734,end climb,SURFACE_DEPTH_REACHED
$STATE,4734,begin surface coast
$FINISH,0.9,1.021740
$STATE,4748,end surface coast,CONTROL_FINISHED_OK
$STATE,4748,begin surface
$SM_CCo,4763,13.32,0.162,1,0,1286,365.01
$SM_GC,1.48,0.00,0.00,13.32,0.000,0.000,0.162,105,1534,1286,-9.92,-0.51,365.01
$IRIDIUM_FIX,2418.11,12639.41,240910,040412
$TT8_MAMPS,0.026964
$HUMID,48.14
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,24.5,5.805
$10V_AH,10.5,5.474
$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,20.925,39.450,452.950,13.325,0.000,25.492,38.386,120.198,0.000,0.000,17.235,1516.081,1246.477,448.396,1778.063,78.652,0.000,1089.305,0.000,1588.938,0.000,0.539,0.000
$DEVICE_MAMPS,249.390,68.850,847.620,162.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.731,0.000,1085.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334172
$DATA_FILE_SIZE,40341,643
$CAP_FILE_SIZE,68479,0
$CFSIZE,260165632,251142144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.238,152.6,1
$GPS,240910,074004,2426.396,12705.170,11,3.1,30,-3.7