version: 66.08
glider: 168
mission: 2
dive: 80
start: 9 27 110 17 14 52
data:
$ID,168
$MISSION,2
$DIVE,80
$N_DIVES,90
$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,-8
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$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,600
$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,-3268.3276
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$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,40
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$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
$GPS1,270910,171031,2424.030,12705.323,40,1.6,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.7
$GPS2,270910,171425,2423.985,12705.323,10,1.5,15,-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,354.4,11152,-22.1,-15.152
$D_GRID,4924
$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,-0.72,-185.1,0.0,0.0,0,101,0.00,0.00,-83.57,0.000,2,0.000,0.000,103,1528,3165,0,0,0,0,0,0
$GC,103,-0.72,-185.1,3.6,-6.6,13,132,10.12,2.17,-10.60,0.000,4,0.191,0.054,3011,2950,3825,0,0,0,0,0,0
$GC,216,-0.68,-185.1,50.9,-34.7,32,225,0.05,2.20,0.00,0.000,6,0.129,0.050,3031,1564,3827,0,0,0,0,0,0
$GC,557,-0.64,-185.1,149.0,-23.4,93,564,0.08,2.17,0.00,0.000,4,0.208,0.053,3051,162,3828,0,0,0,0,0,0
$GC,605,-0.61,-185.1,160.8,-22.6,98,609,0.00,2.05,0.00,0.000,6,0.000,0.039,3043,1538,3829,0,0,0,0,0,0
$GC,930,-0.60,-185.1,224.0,-20.2,128,934,0.05,2.15,0.00,0.000,4,0.246,0.045,3046,2961,3829,0,0,0,0,0,0
$GC,995,-0.65,-185.1,234.6,-12.4,133,1002,0.00,2.17,0.00,0.000,6,0.000,0.045,3046,1553,3829,0,0,0,0,0,0
$GC,1320,-0.66,-185.1,289.7,-16.2,164,1324,0.00,2.12,0.00,0.000,4,0.000,0.055,3046,168,3829,0,0,0,0,0,0
$GC,1400,-0.69,-185.1,302.8,-15.6,171,1404,0.00,2.08,0.00,0.000,6,0.000,0.041,3037,1554,3829,0,0,0,0,0,0
$GC,1730,-0.70,-185.1,353.8,-14.7,202,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1556,3828,0,0,0,0,0,0
$GC,2049,-0.72,-185.1,401.0,-14.3,232,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1556,3827,0,0,0,0,0,0
$GC,2368,-0.75,-185.1,444.2,-13.3,262,2373,0.10,2.15,0.00,0.000,4,0.101,0.050,2929,2963,3826,0,0,0,0,0,0
$GC,2418,-0.72,-185.1,453.2,-19.6,266,2423,0.28,2.17,0.00,0.000,6,0.119,0.049,3020,1536,3826,0,0,0,0,0,0
$STATE,2732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2732,begin apogee
$GC,2736,-0.18,0.0,500.9,14.5,295,2881,0.47,0.00,140.07,0.852,4,0.099,0.000,3198,1708,3067,0,0,0,0,0,0
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin climb
$GC,2884,0.72,185.1,509.3,0.0,307,3037,0.77,2.25,145.73,0.842,4,0.047,0.049,3499,3108,2313,0,0,0,0,0,0
$GC,3276,0.67,185.1,453.0,19.3,341,3284,0.15,2.17,0.00,0.000,6,0.164,0.044,3468,1697,2305,0,0,0,0,0,0
$GC,3601,0.64,187.8,400.7,15.0,372,3605,0.00,2.15,0.00,0.000,4,0.000,0.041,3467,3111,2300,0,0,0,0,0,0
$GC,3855,0.64,210.2,363.6,13.9,394,3880,0.05,2.20,18.65,0.747,6,0.157,0.046,3459,1701,2211,0,0,0,0,0,0
$GC,4199,0.63,214.7,312.4,14.9,426,4212,0.00,2.22,4.57,0.523,4,0.000,0.056,3470,298,2191,0,0,0,0,0,0
$GC,4237,0.61,214.7,306.4,16.3,429,4242,0.08,2.08,0.00,0.000,6,0.168,0.034,3448,1700,2189,0,0,0,0,0,0
$GC,4563,0.67,263.4,263.8,12.5,459,4611,0.08,2.28,39.28,0.710,4,0.122,0.054,3520,293,1990,0,0,0,0,0,0
$GC,4637,0.63,263.4,251.8,18.9,465,4642,0.22,2.10,0.00,0.000,6,0.132,0.032,3449,1694,1987,0,0,0,0,0,0
$GC,4962,0.63,263.4,202.7,15.6,495,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1696,1983,0,0,0,0,0,0
$GC,5283,0.69,299.4,157.0,13.2,525,5316,0.08,2.17,27.98,0.625,4,0.125,0.040,3522,3110,1846,0,0,0,0,0,0
$GC,5363,0.67,299.4,142.0,20.3,535,5371,0.22,2.20,0.00,0.000,6,0.135,0.047,3461,1690,1844,0,0,0,0,0,0
$GC,5704,0.75,347.4,92.5,12.5,596,5753,0.10,2.28,37.28,0.578,4,0.098,0.055,3553,290,1649,0,0,0,0,0,0
$GC,5782,0.73,347.4,77.5,22.3,608,5791,0.20,2.12,0.00,0.000,6,0.106,0.033,3480,1678,1646,0,0,0,0,0,0
$GC,6127,0.97,494.9,37.4,7.1,669,6240,0.22,0.00,108.55,0.533,6,0.055,0.000,3604,1681,1049,0,0,0,0,0,0
$STATE,6294,end climb,SURFACE_DEPTH_REACHED
$STATE,6294,begin surface coast
$FINISH,0.5,1.001860
$STATE,6307,end surface coast,CONTROL_FINISHED_OK
$STATE,6307,begin surface
$SM_CCo,6322,60.58,0.441,1,0,621,600.00
$SM_GC,1.42,0.00,0.00,60.58,0.000,0.000,0.441,104,1536,621,-9.84,-0.42,600.00
$IRIDIUM_FIX,2418.11,12706.40,270910,151538
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,11.643
$10V_AH,10.4,9.069
$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,21.950,48.125,522.100,60.575,0.000,27.123,13.704,100.975,0.250,0.000,16.865,1658.289,2520.505,568.778,1798.936,91.194,0.000,1286.323,0.000,1639.509,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,73.440,852.210,441.405,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.373,0.000,885.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43542,698
$CAP_FILE_SIZE,82625,0
$CFSIZE,260165632,248864768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.261,177.2,1
$GPS,270910,190222,2423.960,12705.176,6,2.7,25,-3.7