version: 66.08
glider: 168
mission: 2
dive: 83
start: 9 27 110 22 54 12
data:
$ID,168
$MISSION,2
$DIVE,83
$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,-3272.2827
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,270910,224926,2424.049,12704.972,12,1.8,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.5
$GPS2,270910,225347,2423.996,12704.970,13,2.1,32,-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,4.0,11120,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.30,0.000,2,0.000,0.000,104,1534,3150,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.5,-5.3,13,131,10.12,2.17,-10.98,0.000,4,0.191,0.055,3010,2955,3825,0,0,0,0,0,0
$GC,193,-0.69,-185.1,43.2,-32.8,28,203,0.05,2.22,0.00,0.000,6,0.114,0.055,3031,1567,3827,0,0,0,0,0,0
$GC,534,-0.64,-185.1,138.7,-25.1,89,540,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1567,3829,0,0,0,0,0,0
$GC,866,-0.62,-185.1,217.8,-21.9,124,871,0.08,2.17,0.00,0.000,4,0.202,0.056,3052,158,3830,0,0,0,0,0,0
$GC,950,-0.65,-185.1,233.1,-15.3,131,956,0.00,2.10,0.00,0.000,6,0.000,0.041,3044,1554,3830,0,0,0,0,0,0
$GC,1274,-0.65,-185.1,288.9,-16.8,162,1278,0.00,2.15,0.00,0.000,4,0.000,0.054,3044,156,3830,0,0,0,0,0,0
$GC,1337,-0.67,-185.1,298.9,-15.6,167,1341,0.00,2.08,0.00,0.000,6,0.000,0.041,3036,1542,3830,0,0,0,0,0,0
$GC,1667,-0.69,-185.1,352.3,-15.6,198,1670,0.00,2.12,0.00,0.000,4,0.000,0.047,3026,2961,3829,0,0,0,0,0,0
$GC,1730,-0.73,-185.1,361.0,-12.4,203,1734,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,1541,3829,0,0,0,0,0,0
$GC,2057,-0.75,-185.1,410.2,-14.6,233,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1541,3827,0,0,0,0,0,0
$GC,2376,-0.76,-185.1,459.1,-14.8,263,2377,0.08,0.00,0.00,0.000,6,0.123,0.000,2946,1540,3827,0,0,0,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2569,-0.18,0.0,500.6,22.0,281,2719,0.70,0.00,139.90,0.853,4,0.119,0.000,3190,1716,3068,0,0,0,0,0,0
$STATE,2719,end apogee,CONTROL_FINISHED_OK
$STATE,2719,begin climb
$GC,2721,0.72,185.1,508.9,0.0,294,2877,0.80,2.22,146.27,0.841,4,0.055,0.050,3491,3096,2312,0,0,0,0,0,0
$GC,3125,0.67,185.1,453.3,17.3,329,3133,0.10,2.20,0.00,0.000,6,0.140,0.045,3467,1700,2304,0,0,0,0,0,0
$GC,3451,0.65,187.0,400.4,15.0,360,3455,0.00,2.17,0.00,0.000,4,0.000,0.054,3477,290,2300,0,0,0,0,0,0
$GC,3660,0.62,187.0,366.9,17.2,378,3671,0.08,2.12,0.00,0.000,6,0.120,0.034,3449,1697,2295,0,0,0,0,0,0
$GC,3987,0.65,221.9,322.6,13.2,409,4023,0.00,2.20,27.42,0.734,4,0.000,0.043,3449,3105,2163,0,0,0,0,0,0
$GC,4135,0.68,247.7,302.4,13.7,422,4163,0.00,2.15,21.95,0.710,6,0.000,0.047,3458,1712,2056,0,0,0,0,0,0
$GC,4490,0.68,247.7,248.9,15.2,455,4494,0.00,2.22,0.00,0.000,4,0.000,0.057,3470,292,2049,0,0,0,0,0,0
$GC,4590,0.69,251.0,232.9,15.0,463,4597,0.00,2.10,0.00,0.000,6,0.000,0.033,3469,1711,2046,0,0,0,0,0,0
$GC,4915,0.70,263.4,183.6,14.5,494,4932,0.00,2.28,11.88,0.606,4,0.000,0.056,3477,288,1992,0,0,0,0,0,0
$GC,4974,0.74,289.9,175.8,13.7,499,5001,0.00,2.10,22.02,0.627,6,0.000,0.034,3477,1705,1886,0,0,0,0,0,0
$GC,5327,0.75,291.2,121.5,15.1,548,5335,0.05,2.17,0.00,0.000,4,0.175,0.042,3529,3106,1879,0,0,0,0,0,0
$GC,5375,0.73,291.2,112.6,19.7,556,5384,0.15,2.20,0.00,0.000,6,0.123,0.047,3484,1705,1879,0,0,0,0,0,0
$GC,5718,0.87,388.8,68.0,9.8,617,5799,0.15,0.00,74.80,0.566,6,0.073,0.000,3589,1705,1481,0,0,0,0,0,0
$STATE,6046,end climb,SURFACE_DEPTH_REACHED
$STATE,6046,begin surface coast
$FINISH,0.7,1.010277
$STATE,6059,end surface coast,CONTROL_FINISHED_OK
$STATE,6059,begin surface
$SM_CCo,6074,112.53,0.478,1,0,621,600.00
$SM_GC,1.40,0.00,0.00,112.53,0.000,0.000,0.478,104,1532,621,-9.84,-0.51,600.00
$IRIDIUM_FIX,2413.38,12703.55,270910,202054
$TT8_MAMPS,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,12.000
$10V_AH,10.4,9.301
$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,20.800,43.825,444.250,112.525,0.000,29.130,18.665,101.192,0.250,0.000,36.004,1619.591,2394.356,567.054,1796.965,88.398,0.000,1262.797,0.000,1612.995,0.000,0.540,0.000
$DEVICE_MAMPS,201.960,65.790,852.975,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.516,0.000,857.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43683,676
$CAP_FILE_SIZE,77745,0
$CFSIZE,260165632,248733696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.221,174.4,1
$GPS,280910,003837,2424.146,12705.125,37,1.3,37,-3.7