version: 66.08
glider: 168
mission: 5
dive: 8
start: 6 30 111 0 53 1
data:
$ID,168
$MISSION,5
$DIVE,8
$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,-4993.7051
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,300611,004315,4743.848,-12223.812,9,1.3,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.5
$GPS2,300611,005152,4743.887,-12223.810,11,2.5,30,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,0.230
$KALMAN_X,-539.2,136.2,-458.3,1287.6,-279.9
$KALMAN_Y,-2366.7,-361.5,-455.5,3408.7,-637.1
$MHEAD_RNG_PITCHd_Wd,354.7,696,-14.9,-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,-136.9,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,101,2440,3341,0,0,0,0,0,0
$GC,102,-0.55,-175.4,3.8,-5.2,11,119,7.45,0.00,-5.60,0.000,6,0.219,0.000,2117,2439,3692,0,0,0,0,0,0
$GC,166,-0.41,-175.4,33.0,-36.2,21,175,0.17,2.00,0.00,0.000,4,0.161,0.064,2169,1225,3693,0,0,0,0,0,0
$GC,214,-0.42,-175.4,40.4,-11.1,29,221,0.00,1.95,0.00,0.000,6,0.000,0.057,2162,2457,3693,0,0,0,0,0,0
$GC,392,-0.42,-175.4,58.0,-9.1,60,400,0.00,2.00,0.00,0.000,4,0.000,0.063,2153,3689,3694,0,0,0,0,0,0
$GC,461,-0.45,-175.4,64.0,-7.9,71,468,0.00,1.95,0.00,0.000,6,0.000,0.049,2153,2451,3694,0,0,0,0,0,0
$GC,639,-0.44,-175.4,82.0,-10.6,102,647,0.00,2.00,0.00,0.000,4,0.000,0.063,2153,1213,3694,0,0,0,0,0,0
$GC,707,-0.46,-175.4,88.7,-9.3,113,714,0.00,1.95,0.00,0.000,6,0.000,0.057,2146,2453,3694,0,0,0,0,0,0
$GC,884,-0.44,-175.4,108.1,-10.7,144,892,0.00,2.00,0.00,0.000,4,0.000,0.063,2136,3691,3694,0,0,0,0,0,0
$GC,966,-0.46,-175.4,116.3,-9.4,157,974,0.08,1.92,0.00,0.000,6,0.168,0.050,2159,2462,3694,0,0,0,0,0,0
$GC,1145,-0.46,-175.4,133.0,-9.6,188,1153,0.00,1.98,0.00,0.000,4,0.000,0.060,2159,1221,3693,0,0,0,0,0,0
$GC,1201,-0.48,-175.4,137.9,-8.6,197,1207,0.00,1.95,0.00,0.000,6,0.000,0.058,2153,2462,3694,0,0,0,0,0,0
$GC,1376,-0.48,-175.4,154.8,-9.3,228,1384,0.00,1.98,0.00,0.000,4,0.000,0.062,2146,3692,3693,0,0,0,0,0,0
$GC,1421,-0.49,-175.4,158.5,-8.7,235,1427,0.00,1.95,0.00,0.000,6,0.000,0.050,2145,2451,3693,0,0,0,0,0,0
$STATE,1557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1559,begin apogee
$GC,1564,-0.20,0.0,171.7,10.1,259,1708,0.25,0.00,135.82,1.174,4,0.124,0.000,2233,2450,2973,0,0,0,0,0,0
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1711,0.55,175.4,173.8,0.0,280,1863,0.65,2.15,141.60,1.128,4,0.061,0.063,2478,3680,2256,0,0,0,0,0,0
$GC,2020,0.47,175.4,135.3,17.6,329,2028,0.15,1.98,0.00,0.000,6,0.164,0.044,2446,2444,2251,0,0,0,0,0,0
$GC,2197,0.43,175.4,112.3,10.7,360,2205,0.00,1.98,0.00,0.000,4,0.000,0.055,2456,1218,2247,0,0,0,0,0,0
$GC,2231,0.40,175.4,108.5,11.8,365,2238,0.10,1.92,0.00,0.000,6,0.145,0.044,2427,2461,2247,0,0,0,0,0,0
$GC,2407,0.38,175.4,90.0,9.2,396,2416,0.00,1.95,0.00,0.000,4,0.000,0.050,2427,3683,2246,0,0,0,0,0,0
$GC,2600,0.37,175.4,71.1,9.5,429,2608,0.08,1.92,0.00,0.000,6,0.192,0.044,2415,2444,2246,0,0,0,0,0,0
$GC,2776,0.48,267.9,60.6,4.4,460,2834,0.12,1.98,51.38,0.270,4,0.081,0.057,2510,1210,1879,0,0,0,0,0,0
$GC,2866,0.44,267.9,51.2,12.1,473,2874,0.20,1.95,0.00,0.000,6,0.103,0.044,2438,2441,1875,0,0,0,0,0,0
$GC,3046,0.46,267.9,34.0,9.4,504,3055,0.00,1.98,0.00,0.000,4,0.000,0.056,2445,1214,1870,0,0,0,0,0,0
$GC,3086,0.50,267.9,30.2,10.1,510,3096,0.03,1.90,0.00,0.000,6,0.104,0.047,2492,2412,1870,0,0,0,0,0,0
$GC,3143,0.48,267.9,23.0,13.7,519,3151,0.15,0.00,0.00,0.000,6,0.129,0.000,2443,2412,1869,0,0,0,0,0,0
$GC,3200,0.56,303.4,18.5,6.7,528,3225,0.12,2.03,17.00,0.179,4,0.081,0.050,2538,3701,1732,0,0,0,0,0,0
$GC,3252,0.55,303.4,14.0,10.3,535,3260,0.20,2.12,0.00,0.000,6,0.100,0.049,2472,2381,1730,0,0,0,0,0,0
$GC,3307,0.76,420.4,11.2,3.4,544,3369,0.20,1.85,54.65,0.151,4,0.063,0.057,2577,1218,1254,0,0,0,0,0,0
$STATE,3386,end climb,SURFACE_DEPTH_REACHED
$STATE,3386,begin surface coast
$FINISH,1.4,1.020209
$STATE,3417,end surface coast,CONTROL_FINISHED_OK
$STATE,3417,begin surface
$SM_CCo,3494,0.00,0.000,0,0,1248,423.14
$SM_GC,0.92,6.43,0.00,0.00,0.055,0.000,0.000,115,2458,1248,-6.70,0.20,423.14
$IRIDIUM_FIX,4722.92,-12220.67,290611,232320
$TT8_MAMPS,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,14.80
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,110.3,71.1
$24V_AH,23.7,1.328
$10V_AH,10.4,0.864
$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,16.375,51.325,400.450,0.000,0.000,29.185,36.106,299.407,8.500,0.000,32.371,1303.991,421.229,428.675,1579.642,294.535,33.323,1013.000,0.000,1303.509,0.000,7.477,0.000
$DEVICE_MAMPS,218.790,64.260,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.031,902.809,833.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,40464,560
$CAP_FILE_SIZE,72370,0
$CFSIZE,260165632,221786112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,140.2,1
$GPS,300611,015230,4744.045,-12223.589,39,1.2,39,18.2