version: 66.08
glider: 168
mission: 2
dive: 60
start: 9 26 110 5 20 30
data:
$ID,168
$MISSION,2
$DIVE,60
$N_DIVES,70
$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,190
$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,400
$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,-3240.1443
$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,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$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,37
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3180
$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
$GPS1,260910,051540,2424.549,12705.136,7,2.8,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-80.2
$GPS2,260910,052004,2424.489,12705.122,11,3.0,30,-3.7
$SPEED_LIMITS,0.262,0.330
$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,349.9,10208,-22.1,-15.152
$D_GRID,5000
$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,-0.78,-184.9,0.0,0.0,0,76,0.00,0.00,-59.22,0.000,2,0.000,0.000,104,1535,3087,0,0,0,0,0,0
$GC,78,-0.78,-184.9,3.5,-5.8,9,108,10.02,2.22,-13.77,0.000,4,0.191,0.054,2989,2965,3937,0,0,0,0,0,0
$GC,157,-0.77,-184.9,38.3,-35.9,22,166,0.05,2.22,0.00,0.000,6,0.132,0.050,3008,1562,3940,0,0,0,0,0,0
$GC,490,-0.75,-184.9,144.2,-28.0,83,497,0.00,2.15,0.00,0.000,4,0.000,0.053,3008,151,3943,0,0,0,0,0,0
$GC,526,-0.74,-184.9,153.7,-24.4,88,530,0.05,2.10,0.00,0.000,6,0.227,0.039,3012,1556,3942,0,0,0,0,0,0
$GC,850,-0.73,-184.9,228.1,-23.2,118,854,0.00,2.12,0.00,0.000,4,0.000,0.046,3002,2964,3943,0,0,0,0,0,0
$GC,909,-0.74,-184.9,240.6,-17.6,123,918,0.00,2.20,0.00,0.000,6,0.000,0.049,3002,1555,3944,0,0,0,0,0,0
$GC,1235,-0.73,-184.9,310.8,-21.2,154,1239,0.05,2.17,0.00,0.000,4,0.240,0.057,3017,163,3943,0,0,0,0,0,0
$GC,1307,-0.73,-184.9,326.0,-19.0,160,1311,0.00,2.08,0.00,0.000,6,0.000,0.041,3009,1553,3943,0,0,0,0,0,0
$GC,1638,-0.73,-184.9,390.2,-19.2,191,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1556,3942,0,0,0,0,0,0
$GC,1957,-0.73,-184.9,445.1,-16.0,221,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1556,3942,0,0,0,0,0,0
$GC,2276,-0.74,-184.9,496.1,-16.1,251,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1556,3940,0,0,0,0,0,0
$STATE,2306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2306,begin apogee
$GC,2310,-0.12,0.0,501.0,15.5,254,2455,0.55,0.00,139.55,0.846,4,0.101,0.000,3212,1715,3180,0,0,0,0,0,0
$STATE,2456,end apogee,CONTROL_FINISHED_OK
$STATE,2456,begin climb
$GC,2457,0.78,184.9,509.4,0.0,266,2611,0.73,2.25,144.43,0.846,4,0.037,0.046,3525,3097,2426,0,0,0,0,0,0
$GC,2820,0.76,184.9,466.3,21.1,298,2829,0.12,2.20,0.00,0.000,6,0.158,0.046,3497,1700,2420,0,0,0,0,0,0
$GC,3146,0.74,184.9,412.2,16.4,329,3150,0.00,2.20,0.00,0.000,4,0.000,0.054,3507,288,2415,0,0,0,0,0,0
$GC,3343,0.72,184.9,378.2,16.4,346,3353,0.08,2.12,0.00,0.000,6,0.135,0.033,3480,1700,2411,0,0,0,0,0,0
$GC,3670,0.76,226.6,332.4,12.9,377,3707,0.05,2.22,31.75,0.739,4,0.176,0.041,3537,3118,2256,0,0,0,0,0,0
$GC,3730,0.74,226.6,322.3,18.0,382,3735,0.20,2.17,0.00,0.000,6,0.157,0.044,3489,1701,2253,0,0,0,0,0,0
$GC,4055,0.73,226.6,268.8,15.5,412,4059,0.00,2.12,0.00,0.000,4,0.000,0.041,3489,3111,2248,0,0,0,0,0,0
$GC,4068,0.72,226.6,266.9,15.6,413,4072,0.08,2.17,0.00,0.000,6,0.200,0.044,3481,1700,2249,0,0,0,0,0,0
$GC,4394,0.71,227.5,215.3,15.1,443,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1699,2247,0,0,0,0,0,0
$GC,4713,0.75,266.2,170.4,13.0,473,4749,0.00,2.22,30.65,0.634,4,0.000,0.044,3481,3109,2094,0,0,0,0,0,0
$GC,4914,0.75,266.9,141.3,15.1,496,4922,0.00,2.17,0.00,0.000,6,0.000,0.046,3490,1721,2091,0,0,0,0,0,0
$GC,5245,0.82,325.0,94.0,12.0,557,5300,0.08,2.17,45.85,0.588,4,0.123,0.040,3562,3109,1852,0,0,0,0,0,0
$GC,5318,0.81,325.0,82.3,17.3,568,5327,0.17,2.20,0.00,0.000,6,0.125,0.044,3511,1720,1850,0,0,0,0,0,0
$GC,5650,0.91,406.9,40.9,10.7,629,5718,0.10,2.35,61.50,0.545,4,0.096,0.054,3603,287,1520,0,0,0,0,0,0
$GC,5778,0.91,406.9,19.1,18.7,650,5787,0.17,2.20,0.00,0.000,6,0.116,0.034,3540,1711,1515,0,0,0,0,0,0
$STATE,5883,end climb,SURFACE_DEPTH_REACHED
$STATE,5883,begin surface coast
$FINISH,0.5,0.996167
$STATE,5900,end surface coast,CONTROL_FINISHED_OK
$STATE,5900,begin surface
$SM_CCo,5975,0.00,0.000,0,0,1508,409.90
$SM_GC,1.49,8.38,0.00,0.00,0.022,0.000,0.000,104,1537,1508,-9.69,-0.37,409.90
$IRIDIUM_FIX,2413.38,12706.86,260910,030311
$TT8_MAMPS,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,9.308
$10V_AH,10.5,7.586
$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,20.875,48.550,453.725,0.000,0.000,22.946,38.666,95.513,0.000,0.000,34.503,1616.191,2355.666,438.899,1763.086,80.071,0.000,1118.294,0.000,1568.692,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,65.790,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.011,0.000,852.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,40282,672
$CAP_FILE_SIZE,78135,0
$CFSIZE,260165632,249774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,141.8,1
$GPS,260910,070043,2424.792,12705.239,5,1.5,5,-3.7