version: 66.08
glider: 168
mission: 5
dive: 7
start: 6 29 111 23 36 20
data:
$ID,168
$MISSION,5
$DIVE,7
$N_DIVES,508
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,82
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-9
$MAX_BUOY,180
$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,-4992.4497
$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,2300
$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,2450
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$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
$GPS1,290611,232714,4743.750,-12224.034,14,1.3,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-70.3
$GPS2,290611,233520,4743.783,-12224.000,14,1.4,14,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,0.217
$KALMAN_X,-553.1,288.9,-117.6,569.9,-624.4
$KALMAN_Y,-1896.4,-283.7,-127.6,2337.3,-958.5
$MHEAD_RNG_PITCHd_Wd,2.5,993,-12.8,-8.130
$D_GRID,200
$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,16,-0.50,-175.4,0.0,0.0,0,102,0.00,0.00,-83.78,0.000,2,0.000,0.000,110,2458,3289,0,0,0,0,0,0
$GC,105,-0.50,-175.4,3.4,-4.4,11,129,7.53,2.00,-6.70,0.000,4,0.219,0.067,2135,1210,3693,0,0,0,0,0,0
$GC,320,-0.48,-175.4,45.4,-10.5,49,328,0.08,1.95,0.00,0.000,6,0.196,0.055,2145,2446,3694,0,0,0,0,0,0
$GC,498,-0.45,-175.4,65.5,-10.9,80,506,0.00,1.98,0.00,0.000,4,0.000,0.060,2145,1219,3694,0,0,0,0,0,0
$GC,713,-0.45,-175.4,86.0,-9.2,117,721,0.08,1.92,0.00,0.000,6,0.189,0.056,2158,2446,3694,0,0,0,0,0,0
$GC,893,-0.42,-175.4,100.6,-7.9,148,902,0.00,2.00,0.00,0.000,4,0.000,0.060,2150,3689,3694,0,0,0,0,0,0
$GC,955,-0.43,-175.4,105.7,-7.3,158,964,0.00,1.98,0.00,0.000,6,0.000,0.049,2150,2449,3694,0,0,0,0,0,0
$GC,1141,-0.41,-175.4,121.8,-9.1,189,1148,0.08,1.95,0.00,0.000,4,0.185,0.064,2171,1215,3694,0,0,0,0,0,0
$GC,1192,-0.43,-175.4,125.7,-6.8,197,1199,0.00,1.98,0.00,0.000,6,0.000,0.057,2167,2462,3694,0,0,0,0,0,0
$GC,1371,-0.43,-175.4,137.7,-7.8,228,1378,0.00,1.95,0.00,0.000,4,0.000,0.063,2159,3676,3693,0,0,0,0,0,0
$GC,1428,-0.46,-175.4,142.3,-7.9,237,1435,0.00,1.90,0.00,0.000,6,0.000,0.048,2159,2446,3694,0,0,0,0,0,0
$GC,1606,-0.45,-175.4,158.4,-8.6,268,1615,0.00,1.95,0.00,0.000,4,0.000,0.061,2159,1221,3693,0,0,0,0,0,0
$GC,1654,-0.46,-175.4,162.1,-8.5,275,1660,0.00,1.95,0.00,0.000,6,0.000,0.057,2153,2457,3693,0,0,0,0,0,0
$STATE,1783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1783,begin apogee
$GC,1789,-0.20,0.0,174.2,9.8,298,1934,0.25,0.00,135.95,1.182,4,0.122,0.000,2240,2456,2973,0,0,0,0,0,0
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1937,0.50,175.4,179.3,0.0,319,2090,0.62,2.08,142.68,1.140,4,0.073,0.056,2463,1215,2256,0,0,0,0,0,0
$GC,2187,0.46,175.4,161.6,11.2,358,2196,0.03,2.00,0.00,0.000,6,0.138,0.044,2450,2447,2249,0,0,0,0,0,0
$GC,2368,0.41,175.4,140.9,11.0,389,2376,0.08,1.95,0.00,0.000,4,0.187,0.055,2438,1217,2245,0,0,0,0,0,0
$GC,2485,0.41,175.4,130.9,8.7,409,2492,0.00,1.95,0.00,0.000,6,0.000,0.046,2439,2455,2245,0,0,0,0,0,0
$GC,2662,0.38,175.4,111.8,11.1,440,2670,0.08,0.00,0.00,0.000,6,0.177,0.000,2417,2455,2244,0,0,0,0,0,0
$GC,2842,0.36,175.4,92.3,10.9,471,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2454,2243,0,0,0,0,0,0
$GC,3017,0.35,175.4,73.9,9.8,502,3026,0.00,1.98,0.00,0.000,4,0.000,0.057,2426,1220,2243,0,0,0,0,0,0
$GC,3033,0.33,175.4,72.1,10.1,504,3041,0.05,1.92,0.00,0.000,6,0.122,0.045,2405,2443,2242,0,0,0,0,0,0
$GC,3215,0.33,179.0,57.1,8.0,535,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2443,2242,0,0,0,0,0,0
$GC,3391,0.38,217.4,43.9,6.9,566,3420,0.08,1.92,21.85,0.239,4,0.119,0.049,2467,3686,2086,0,0,0,0,0,0
$GC,3468,0.34,217.4,35.1,13.2,578,3479,0.20,1.98,0.00,0.000,6,0.114,0.047,2404,2448,2082,0,0,0,0,0,0
$GC,3525,0.43,269.3,30.6,6.5,587,3559,0.10,2.03,27.50,0.205,4,0.094,0.059,2484,1209,1872,0,0,0,0,0,0
$GC,3588,0.40,269.3,23.8,12.0,596,3596,0.15,1.92,0.00,0.000,6,0.089,0.046,2426,2430,1869,0,0,0,0,0,0
$GC,3644,0.46,300.7,19.4,7.1,605,3669,0.08,1.98,15.23,0.183,4,0.120,0.059,2502,1216,1744,0,0,0,0,0,0
$GC,3688,0.45,300.7,15.0,9.6,611,3698,0.15,1.88,0.00,0.000,6,0.092,0.047,2444,2400,1742,0,0,0,0,0,0
$GC,3746,0.67,432.9,11.7,4.0,620,3815,0.20,2.12,62.03,0.154,4,0.073,0.063,2530,3692,1203,0,0,0,0,0,0
$STATE,3863,end climb,SURFACE_DEPTH_REACHED
$STATE,3864,begin surface coast
$FINISH,0.7,1.020150
$STATE,3893,end surface coast,CONTROL_FINISHED_OK
$STATE,3893,begin surface
$SM_CCo,3970,0.00,0.000,0,0,1196,435.90
$SM_GC,0.90,6.00,0.00,0.00,0.028,0.000,0.000,101,2441,1196,-6.72,-0.25,435.90
$IRIDIUM_FIX,4726.11,-12222.38,290611,222230
$TT8_MAMPS,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,15.00
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,120.2,63.6
$24V_AH,23.7,1.209
$10V_AH,10.4,0.787
$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,15.800,51.200,405.225,0.000,0.000,30.907,32.506,288.351,10.500,0.000,15.350,1487.177,486.283,441.744,1723.891,324.893,33.336,1086.409,0.000,1496.986,0.000,11.937,0.000
$DEVICE_MAMPS,218.790,67.320,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.690,1040.589,960.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322808
$DATA_FILE_SIZE,43755,643
$CAP_FILE_SIZE,78556,0
$CFSIZE,260165632,221822976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,166.4,1
$GPS,300611,004315,4743.848,-12223.812,9,1.3,9,18.2