version: 66.08
glider: 168
mission: 2
dive: 47
start: 9 25 110 9 10 46
data:
$ID,168
$MISSION,2
$DIVE,47
$N_DIVES,55
$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,-3221.7703
$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,36
$R_STBD_OVSHOOT,42
$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,110
$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
$GPS1,250910,090626,2425.596,12705.667,11,1.3,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.0
$GPS2,250910,091019,2425.529,12705.680,11,1.3,28,-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,342.6,8359,-19.2,-15.152
$D_GRID,4643
$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,-243.3,0.0,0.0,0,76,0.00,0.00,-59.08,0.000,2,0.000,0.000,104,1528,2993,0,0,0,0,0,0
$GC,78,-0.94,-243.3,3.1,-4.6,9,107,9.95,2.22,-13.45,0.000,4,0.194,0.055,2963,2955,3769,0,0,0,0,0,0
$GC,132,-0.89,-243.3,26.5,-48.4,17,139,0.10,2.17,0.00,0.000,6,0.171,0.049,2988,1557,3771,0,0,0,0,0,0
$GC,469,-0.86,-243.3,148.4,-30.2,78,478,0.00,2.15,0.00,0.000,4,0.000,0.048,2979,2939,3774,0,0,0,0,0,0
$GC,499,-0.84,-243.3,157.9,-29.7,81,507,0.10,2.15,0.00,0.000,6,0.157,0.047,3006,1556,3775,0,0,0,0,0,0
$GC,824,-0.82,-243.3,236.1,-22.2,112,828,0.00,2.12,0.00,0.000,4,0.000,0.054,3007,158,3776,0,0,0,0,0,0
$GC,935,-0.81,-243.3,259.8,-19.2,121,943,0.05,2.10,0.00,0.000,6,0.139,0.040,3018,1541,3776,0,0,0,0,0,0
$GC,1260,-0.80,-243.3,323.9,-21.0,152,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1544,3776,0,0,0,0,0,0
$GC,1579,-0.79,-243.3,386.3,-17.5,182,1583,0.00,2.12,0.00,0.000,4,0.000,0.047,3008,2960,3776,0,0,0,0,0,0
$GC,1610,-0.79,-243.3,392.0,-16.7,184,1620,0.00,2.20,0.00,0.000,6,0.000,0.048,3008,1547,3777,0,0,0,0,0,0
$GC,1938,-0.78,-243.3,445.4,-15.6,215,1942,0.08,2.15,0.00,0.000,4,0.192,0.057,3029,163,3775,0,0,0,0,0,0
$GC,1977,-0.78,-243.3,451.8,-14.4,218,1981,0.00,2.08,0.00,0.000,6,0.000,0.041,3021,1554,3775,0,0,0,0,0,0
$GC,2301,-0.78,-243.3,498.2,-14.8,248,2305,0.00,2.15,0.00,0.000,4,0.000,0.056,3021,161,3773,0,0,0,0,0,0
$STATE,2319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2319,begin apogee
$GC,2325,-0.17,0.0,500.7,15.0,249,2516,0.55,0.00,185.68,0.842,4,0.101,0.000,3225,1700,2775,0,0,0,0,0,0
$STATE,2516,end apogee,CONTROL_FINISHED_OK
$STATE,2517,begin climb
$GC,2518,0.94,243.3,509.1,0.0,265,2722,0.90,0.00,192.62,0.822,6,0.046,0.000,3587,1701,1783,0,0,0,0,0,0
$GC,3040,0.91,243.3,353.6,33.0,313,3045,0.08,2.17,0.00,0.000,4,0.223,0.039,3570,3120,1776,0,0,0,0,0,0
$GC,3193,0.88,243.3,305.8,29.9,326,3203,0.05,2.22,0.00,0.000,6,0.173,0.048,3564,1713,1774,0,0,0,0,0,0
$GC,3521,0.86,243.3,209.5,28.2,357,3525,0.00,2.20,0.00,0.000,4,0.000,0.057,3574,285,1773,0,0,0,0,0,0
$GC,3550,0.83,243.3,200.8,28.7,359,3555,0.12,2.12,0.00,0.000,6,0.163,0.030,3539,1726,1772,0,0,0,0,0,0
$GC,3879,0.81,243.3,126.2,22.0,399,3886,0.00,2.05,0.00,0.000,4,0.000,0.041,3539,3098,1770,0,0,0,0,0,0
$GC,3938,0.80,243.3,113.9,21.3,409,3945,0.00,2.10,0.00,0.000,6,0.000,0.047,3549,1717,1770,0,0,0,0,0,0
$GC,4277,0.85,290.2,46.2,13.2,470,4317,0.00,0.00,34.78,0.535,6,0.000,0.000,3549,1716,1591,0,0,0,0,0,0
$STATE,4557,end climb,SURFACE_DEPTH_REACHED
$STATE,4558,begin surface coast
$FINISH,0.7,1.021857
$STATE,4577,end surface coast,CONTROL_FINISHED_OK
$STATE,4578,begin surface
$SM_CCo,4592,39.25,0.059,0,0,1288,365.01
$SM_GC,1.35,0.00,0.00,39.25,0.000,0.000,0.059,104,1538,1288,-9.92,-0.31,365.01
$IRIDIUM_FIX,2415.74,12704.97,250910,070728
$TT8_MAMPS,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.5,7.893
$10V_AH,10.5,6.725
$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,20.225,39.125,413.075,39.250,0.000,25.668,14.607,89.747,0.000,0.000,31.435,1256.876,1729.629,444.184,1390.039,62.441,0.000,993.898,0.000,1224.383,0.000,0.539,0.000
$DEVICE_MAMPS,222.615,65.025,841.500,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.735,0.000,664.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,33746,523
$CAP_FILE_SIZE,62690,0
$CFSIZE,260165632,250351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.320,155.8,1
$GPS,250910,102907,2425.517,12705.501,34,0.9,34,-3.7