version: 66.08
glider: 168
mission: 2
dive: 122
start: 9 30 110 22 17 24
data:
$ID,168
$MISSION,2
$DIVE,122
$N_DIVES,130
$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,0
$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,8
$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,-3321.8843
$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,46
$R_STBD_OVSHOOT,38
$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
$GPS1,300910,221237,2429.747,12705.087,33,1.0,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.9
$GPS2,300910,221644,2429.727,12705.120,14,1.0,14,-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,342.4,544,-26.0,-15.152
$D_GRID,4367
$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,-0.74,-134.1,0.0,0.0,0,97,0.00,0.00,-80.20,0.000,2,0.000,0.000,104,1528,3071,0,0,0,0,0,0
$GC,99,-0.80,-185.1,3.5,-5.9,12,129,10.07,2.25,-12.62,0.000,4,0.192,0.054,2982,2967,3826,0,0,0,0,0,0
$GC,247,-0.80,-185.1,58.5,-28.7,37,253,0.00,2.17,0.00,0.000,6,0.000,0.044,2982,1563,3828,0,0,0,0,0,0
$GC,583,-0.75,-185.1,166.6,-29.7,93,588,0.10,2.15,0.00,0.000,4,0.190,0.052,3008,160,3830,0,0,0,0,0,0
$GC,648,-0.75,-185.1,185.4,-24.4,98,658,0.00,2.10,0.00,0.000,6,0.000,0.039,2999,1536,3830,0,0,0,0,0,0
$GC,975,-0.73,-185.1,263.6,-23.5,129,980,0.08,2.15,0.00,0.000,4,0.209,0.044,3008,2965,3831,0,0,0,0,0,0
$GC,1049,-0.78,-185.1,277.9,-15.9,135,1053,0.00,2.17,0.00,0.000,6,0.000,0.046,3008,1546,3831,0,0,0,0,0,0
$GC,1375,-0.78,-185.1,345.3,-21.4,165,1379,0.00,2.10,0.00,0.000,4,0.000,0.055,3008,165,3830,0,0,0,0,0,0
$GC,1449,-0.80,-185.1,360.9,-19.7,171,1453,0.00,2.08,0.00,0.000,6,0.000,0.040,2998,1553,3830,0,0,0,0,0,0
$GC,1779,-0.82,-185.1,426.5,-19.5,202,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1555,3829,0,0,0,0,0,0
$GC,2098,-0.84,-185.1,483.2,-16.8,232,2102,0.00,2.12,0.00,0.000,4,0.000,0.048,2989,2959,3827,0,0,0,0,0,0
$GC,2126,-0.88,-185.1,487.6,-16.0,234,2130,0.08,2.17,0.00,0.000,6,0.119,0.047,2903,1538,3827,0,0,0,0,0,0
$STATE,2185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2185,begin apogee
$GC,2189,0.00,0.0,500.6,24.6,239,2336,1.00,0.00,140.35,0.859,4,0.119,0.000,3248,1715,3067,0,0,0,0,0,0
$STATE,2337,end apogee,CONTROL_FINISHED_OK
$STATE,2337,begin climb
$GC,2338,0.80,185.1,509.2,0.0,251,2491,0.70,2.22,145.12,0.851,4,0.034,0.046,3550,3099,2313,0,0,0,0,0,0
$GC,2740,0.75,185.1,437.7,24.3,287,2745,0.25,2.17,0.00,0.000,6,0.165,0.043,3489,1697,2305,0,0,0,0,0,0
$GC,3066,0.73,185.1,381.5,17.9,317,3070,0.00,2.15,0.00,0.000,4,0.000,0.053,3500,292,2300,0,0,0,0,0,0
$GC,3251,0.71,185.1,350.0,16.4,333,3259,0.05,2.12,0.00,0.000,6,0.140,0.032,3480,1701,2296,0,0,0,0,0,0
$GC,3577,0.70,185.1,295.2,17.1,364,3581,0.00,2.10,0.00,0.000,4,0.000,0.041,3481,3112,2294,0,0,0,0,0,0
$GC,3612,0.70,185.1,289.0,18.4,367,3616,0.00,2.17,0.00,0.000,6,0.000,0.043,3490,1692,2294,0,0,0,0,0,0
$GC,3938,0.71,194.9,234.2,14.4,397,3951,0.00,2.12,5.95,0.561,4,0.000,0.040,3490,3108,2272,0,0,0,0,0,0
$GC,3999,0.71,199.2,224.7,14.8,402,4010,0.05,2.17,5.30,0.530,6,0.157,0.043,3482,1702,2254,0,0,0,0,0,0
$GC,4326,0.76,234.8,182.3,12.5,433,4362,0.00,2.15,29.15,0.660,4,0.000,0.037,3482,3108,2109,0,0,0,0,0,0
$GC,4484,0.78,234.8,157.9,16.0,447,4488,0.00,2.17,0.00,0.000,6,0.000,0.043,3492,1702,2106,0,0,0,0,0,0
$GC,4813,0.82,253.3,110.6,13.8,503,4834,0.08,2.25,15.00,0.583,4,0.124,0.052,3578,293,2034,0,0,0,0,0,0
$GC,4960,0.79,253.3,82.3,20.8,529,4968,0.22,2.12,0.00,0.000,6,0.129,0.033,3505,1712,2029,0,0,0,0,0,0
$GC,5290,0.93,337.3,52.6,8.8,590,5366,0.12,2.33,63.78,0.558,4,0.080,0.053,3610,290,1691,0,0,0,0,0,0
$GC,5390,0.92,337.3,36.0,21.2,605,5398,0.20,2.15,0.00,0.000,6,0.131,0.031,3548,1707,1688,0,0,0,0,0,0
$STATE,5618,end climb,SURFACE_DEPTH_REACHED
$STATE,5618,begin surface coast
$FINISH,0.6,1.008693
$STATE,5641,end surface coast,CONTROL_FINISHED_OK
$STATE,5641,begin surface
$SM_CCo,5657,134.60,0.485,1,0,621,600.00
$SM_GC,1.45,0.00,0.00,134.60,0.000,0.000,0.485,104,1530,621,-9.84,-0.59,600.00
$IRIDIUM_FIX,2420.48,12709.72,300910,202000
$TT8_MAMPS,0.026964
$HUMID,44.76
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,16.703
$10V_AH,10.5,12.223
$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,21.375,52.400,404.650,134.600,0.000,29.606,38.714,93.429,0.000,0.000,14.988,1592.270,2108.912,560.914,1722.761,87.176,0.000,1222.368,0.000,1551.129,0.000,0.540,0.000
$DEVICE_MAMPS,208.845,60.435,859.095,485.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.632,0.000,826.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40281,651
$CAP_FILE_SIZE,77721,0
$CFSIZE,260165632,246964224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209,150.4,1
$GPS,300910,235444,2429.810,12705.255,8,1.4,8,-3.7