version: 66.08
glider: 168
mission: 5
dive: 9
start: 6 30 111 2 0 46
data:
$ID,168
$MISSION,5
$DIVE,9
$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,-4996.2554
$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
$GPS1,300611,015230,4744.045,-12223.589,39,1.2,39,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-76.9
$GPS2,300611,015944,4744.025,-12223.603,11,1.3,11,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.200
$KALMAN_X,-796.8,128.2,-541.1,1896.6,-188.3
$KALMAN_Y,-3345.1,-208.1,-500.2,4538.1,-663.0
$MHEAD_RNG_PITCHd_Wd,342.1,348,-26.9,-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,-0.66,-46.3,0.0,0.0,0,98,0.00,0.00,-74.68,0.000,6,0.000,0.000,112,2458,3163,0,0,0,0,0,0
$GC,101,-0.69,-71.7,3.9,-5.1,11,118,7.25,1.95,-1.83,0.000,4,0.218,0.065,2067,3695,3267,0,0,0,0,0,0
$GC,207,-0.64,-71.7,38.0,-22.8,29,217,0.08,2.03,0.00,0.000,6,0.165,0.053,2091,2454,3267,0,0,0,0,0,0
$GC,263,-0.61,-71.7,49.8,-18.4,38,271,0.00,2.00,0.00,0.000,4,0.000,0.060,2091,1212,3268,0,0,0,0,0,0
$GC,350,-0.61,-71.7,64.5,-15.9,53,358,0.10,1.92,0.00,0.000,6,0.202,0.054,2107,2422,3268,0,0,0,0,0,0
$GC,521,-0.61,-71.7,91.6,-14.4,84,530,0.00,2.05,0.00,0.000,4,0.000,0.060,2097,3690,3268,0,0,0,0,0,0
$GC,591,-0.60,-71.7,101.8,-14.4,95,598,0.00,2.00,0.00,0.000,6,0.000,0.047,2097,2424,3268,0,0,0,0,0,0
$GC,764,-0.59,-71.7,126.2,-12.7,126,772,0.00,2.05,0.00,0.000,4,0.000,0.061,2087,3684,3268,0,0,0,0,0,0
$GC,862,-0.58,-71.7,140.0,-14.0,143,869,0.10,1.95,0.00,0.000,6,0.181,0.050,2113,2454,3268,0,0,0,0,0,0
$STATE,1020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1021,begin apogee
$GC,1025,-0.20,0.0,161.2,14.5,172,1089,0.38,0.00,56.65,1.161,4,0.146,0.000,2234,2453,2972,0,0,0,0,0,0
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1092,0.69,71.7,165.1,0.0,181,1162,0.88,2.08,58.47,1.132,4,0.103,0.061,2521,3691,2680,0,0,0,0,0,0
$GC,1255,0.60,71.7,148.1,17.0,208,1264,0.12,2.03,0.00,0.000,6,0.169,0.040,2494,2444,2676,0,0,0,0,0,0
$GC,1431,0.56,71.7,125.0,12.0,239,1438,0.00,1.98,0.00,0.000,4,0.000,0.046,2494,3700,2674,0,0,0,0,0,0
$GC,1524,0.50,71.7,113.4,12.4,255,1532,0.15,1.95,0.00,0.000,6,0.181,0.041,2463,2446,2673,0,0,0,0,0,0
$GC,1694,0.50,71.7,97.2,9.3,286,1703,0.00,2.00,0.00,0.000,4,0.000,0.049,2463,3694,2673,0,0,0,0,0,0
$GC,1761,0.47,71.7,90.6,9.9,297,1770,0.10,1.92,0.00,0.000,6,0.202,0.040,2448,2459,2672,0,0,0,0,0,0
$GC,1935,0.50,92.9,78.8,5.6,328,1952,0.00,2.00,11.18,0.326,4,0.000,0.051,2458,1217,2594,0,0,0,0,0,0
$GC,1960,0.54,111.7,77.4,5.9,331,1982,0.00,1.95,11.62,0.326,6,0.000,0.044,2457,2471,2516,0,0,0,0,0,0
$GC,2148,0.55,111.7,60.4,10.1,364,2157,0.08,2.00,0.00,0.000,4,0.125,0.053,2542,1224,2513,0,0,0,0,0,0
$GC,2205,0.52,111.7,53.2,13.6,373,2214,0.25,1.88,0.00,0.000,6,0.154,0.043,2469,2452,2513,0,0,0,0,0,0
$GC,2380,0.56,134.3,38.0,5.5,404,2398,0.00,2.00,12.12,0.230,4,0.000,0.050,2478,1212,2424,0,0,0,0,0,0
$GC,2435,0.61,147.2,34.8,6.6,412,2452,0.00,1.92,7.25,0.220,6,0.000,0.044,2479,2438,2370,0,0,0,0,0,0
$GC,2499,0.63,147.2,28.1,11.6,422,2508,0.08,1.95,0.00,0.000,4,0.120,0.053,2558,1221,2368,0,0,0,0,0,0
$GC,2516,0.64,147.2,25.8,11.5,424,2526,0.15,1.95,0.00,0.000,6,0.129,0.044,2506,2465,2368,0,0,0,0,0,0
$GC,2574,0.66,158.9,21.3,6.8,433,2584,0.00,1.95,5.80,0.202,4,0.000,0.050,2506,3685,2323,0,0,0,0,0,0
$GC,2823,0.73,209.7,5.0,2.1,479,2857,0.05,1.85,23.30,0.143,6,0.068,0.040,2571,2493,2113,0,0,0,0,0,0
$STATE,2890,end climb,SURFACE_DEPTH_REACHED
$STATE,2890,begin surface coast
$FINISH,0.1,1.010560
$STATE,2982,end surface coast,CONTROL_FINISHED_OK
$STATE,2983,begin surface
$SM_CCo,2997,60.50,0.135,0,0,1543,350.04
$SM_GC,1.01,0.00,0.00,60.50,0.000,0.000,0.135,110,2493,1543,-6.85,1.22,350.04
$IRIDIUM_FIX,4726.11,-12220.67,300611,000023
$TT8_MAMPS,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,14.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,100.7,69.9
$24V_AH,23.8,1.390
$10V_AH,10.4,0.936
$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,15.950,47.350,186.400,60.500,0.000,28.416,28.647,250.529,4.750,0.000,13.717,1233.324,250.825,339.430,1415.364,268.601,33.295,829.431,0.000,1204.010,0.000,5.908,0.000
$DEVICE_MAMPS,218.025,65.025,1161.270,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.763,862.592,818.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,33636,505
$CAP_FILE_SIZE,66793,0
$CFSIZE,260165632,221753344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,347.3,1
$GPS,300611,025231,4744.288,-12223.646,8,1.8,8,18.2