version: 66.08
glider: 168
mission: 5
dive: 3
start: 6 29 111 18 58 47
data:
$ID,168
$MISSION,5
$DIVE,3
$N_DIVES,508
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,50
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-9
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4987.3193
$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,2310
$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,35
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2973
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-64.654274
$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,90
$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,0.0042821765
$SEABIRD_T_H,0.00061988086
$SEABIRD_T_I,2.2270933e-05
$SEABIRD_T_J,2.2936731e-06
$SEABIRD_C_G,-9.8276911
$SEABIRD_C_H,1.1035888
$SEABIRD_C_I,-0.0012978988
$SEABIRD_C_J,0.0001838774
$GPS1,290611,185056,4743.842,-12224.371,11,1.8,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.2
$GPS2,290611,185738,4743.864,-12224.331,14,1.7,14,18.2
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.224,-0.008
$KALMAN_X,200.3,247.9,228.8,-901.3,321.2
$KALMAN_Y,73.8,78.4,76.9,-45.2,98.4
$MHEAD_RNG_PITCHd_Wd,262.2,588,-20.5,-7.463
$D_GRID,173
$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,-0.54,-66.9,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,2,0.000,0.000,113,2348,3236,0,0,0,0,0,0
$GC,88,-0.60,-120.3,3.0,-3.5,9,104,7.12,2.00,-4.18,0.000,4,0.208,0.068,2112,1098,3466,0,0,0,0,0,0
$GC,218,-0.59,-120.3,34.3,-13.6,32,228,0.03,2.00,0.00,0.000,6,0.196,0.053,2112,2353,3466,0,0,0,0,0,0
$GC,276,-0.56,-120.3,43.1,-15.5,41,283,0.08,1.98,0.00,0.000,4,0.207,0.059,2122,3594,3466,0,0,0,0,0,0
$GC,306,-0.53,-120.3,48.4,-16.5,46,315,0.03,1.98,0.00,0.000,6,0.176,0.052,2133,2362,3466,0,0,0,0,0,0
$GC,483,-0.53,-120.3,71.3,-12.2,77,490,0.00,1.95,0.00,0.000,4,0.000,0.060,2124,3587,3466,0,0,0,0,0,0
$GC,547,-0.53,-120.3,79.2,-12.1,88,556,0.03,1.95,0.00,0.000,6,0.163,0.054,2135,2372,3466,0,0,0,0,0,0
$GC,724,-0.53,-120.3,100.8,-11.1,119,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2372,3466,0,0,0,0,0,0
$GC,901,-0.53,-120.3,120.6,-10.8,150,909,0.00,1.95,0.00,0.000,4,0.000,0.060,2126,3586,3466,0,0,0,0,0,0
$GC,923,-0.53,-120.3,123.4,-11.0,153,930,0.00,1.92,0.00,0.000,6,0.000,0.052,2126,2363,3466,0,0,0,0,0,0
$GC,1095,-0.53,-120.3,144.5,-12.5,184,1103,0.00,1.95,0.00,0.000,4,0.000,0.061,2118,3577,3466,0,0,0,0,0,0
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1144,-0.20,0.0,150.1,13.1,191,1241,0.38,0.00,92.72,1.203,4,0.124,0.000,2246,2344,2973,0,0,0,0,0,0
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1245,0.60,120.3,154.6,0.0,205,1348,0.70,0.00,97.88,1.167,6,0.083,0.000,2504,2344,2482,0,0,0,0,0,0
$GC,1513,0.54,120.3,121.7,14.8,250,1522,0.10,2.00,0.00,0.000,4,0.194,0.047,2479,3590,2474,0,0,0,0,0,0
$GC,1563,0.47,120.3,114.0,15.4,258,1571,0.08,1.98,0.00,0.000,6,0.161,0.045,2464,2361,2473,0,0,0,0,0,0
$GC,1737,0.44,120.3,93.1,11.5,289,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2360,2471,0,0,0,0,0,0
$GC,1910,0.42,120.3,74.0,10.4,320,1919,0.08,1.95,0.00,0.000,4,0.193,0.048,2444,3595,2470,0,0,0,0,0,0
$GC,1965,0.39,120.3,68.3,10.4,329,1972,0.08,1.95,0.00,0.000,6,0.197,0.047,2434,2354,2470,0,0,0,0,0,0
$GC,2136,0.39,120.3,53.7,8.4,360,2145,0.00,1.95,0.00,0.000,4,0.000,0.050,2434,3589,2469,0,0,0,0,0,0
$GC,2186,0.38,120.3,48.9,9.7,368,2194,0.00,1.95,0.00,0.000,6,0.000,0.047,2443,2358,2469,0,0,0,0,0,0
$GC,2362,0.38,120.3,31.5,9.2,399,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2358,2468,0,0,0,0,0,0
$GC,2416,0.38,120.3,27.4,7.5,408,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2358,2468,0,0,0,0,0,0
$GC,2470,0.38,120.3,22.9,8.0,417,2479,0.00,1.95,0.00,0.000,4,0.000,0.049,2443,3596,2469,0,0,0,0,0,0
$GC,2500,0.38,120.3,20.3,8.5,421,2508,0.05,1.95,0.00,0.000,6,0.154,0.047,2433,2363,2468,0,0,0,0,0,0
$GC,2557,0.40,126.9,15.9,7.0,430,2566,0.00,2.00,1.62,0.256,4,0.000,0.060,2443,1110,2452,0,0,0,0,0,0
$GC,2592,0.46,150.6,14.0,5.7,435,2610,0.00,1.95,10.20,0.174,6,0.000,0.045,2442,2368,2354,0,0,0,0,0,0
$GC,2658,0.52,183.7,10.6,5.0,445,2683,0.12,1.90,13.88,0.170,4,0.086,0.047,2538,3584,2218,0,0,0,0,0,0
$STATE,2792,end climb,SURFACE_DEPTH_REACHED
$STATE,2792,begin surface coast
$FINISH,0.4,1.020128
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2861,begin surface
$SM_CCo,2877,67.35,0.142,0,0,1544,350.04
$SM_GC,1.22,0.00,0.00,67.35,0.000,0.000,0.142,101,2347,1544,-6.90,-0.08,350.04
$IRIDIUM_FIX,4726.11,-12225.08,290611,181839
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,13.90
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,120.6,64.8
$24V_AH,23.9,0.718
$10V_AH,10.4,0.450
$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,14.925,43.150,216.300,67.350,0.000,0.000,0.000,0.000,9.250,0.000,15.434,1171.332,225.184,363.991,1070.005,203.926,31.403,841.312,0.000,1162.653,0.000,11.534,0.000
$DEVICE_MAMPS,208.080,68.085,1203.345,141.525,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.121,850.718,782.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,33700,480
$CAP_FILE_SIZE,73160,0
$CFSIZE,260165632,222023680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,188.7,1
$GPS,290611,194901,4743.763,-12224.840,14,1.5,31,18.2