version: 66.08
glider: 168
mission: 5
dive: 10
start: 6 30 111 3 0 47
data:
$ID,168
$MISSION,5
$DIVE,10
$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,-4997.5127
$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,41
$R_STBD_OVSHOOT,32
$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
$GPS1,300611,025231,4744.288,-12223.646,8,1.8,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-78.8
$GPS2,300611,025944,4744.322,-12223.716,13,1.9,13,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,0.102
$KALMAN_X,-1418.9,116.0,-367.5,2218.2,-358.4
$KALMAN_Y,-3827.1,-218.6,-442.5,5516.8,-726.5
$MHEAD_RNG_PITCHd_Wd,113.7,350,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.66,-46.3,0.0,0.0,0,84,0.00,0.00,-63.40,0.000,6,0.000,0.000,110,2493,3164,0,0,0,0,0,0
$GC,87,-0.70,-82.5,3.1,-3.9,9,104,7.25,2.03,-2.78,0.000,4,0.219,0.070,2068,1221,3311,0,0,0,0,0,0
$GC,130,-0.48,-82.5,19.7,-37.9,15,139,0.25,1.98,0.00,0.000,6,0.165,0.055,2137,2435,3311,0,0,0,0,0,0
$GC,186,-0.50,-82.5,30.1,-15.1,24,194,0.00,2.05,0.00,0.000,4,0.000,0.060,2128,3692,3312,0,0,0,0,0,0
$GC,276,-0.51,-82.5,44.7,-16.0,40,284,0.00,1.95,0.00,0.000,6,0.000,0.047,2128,2477,3312,0,0,0,0,0,0
$GC,453,-0.52,-82.5,71.1,-13.1,71,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2477,3312,0,0,0,0,0,0
$GC,625,-0.54,-82.5,96.2,-16.4,102,633,0.00,2.03,0.00,0.000,4,0.000,0.058,2127,1211,3312,0,0,0,0,0,0
$GC,647,-0.56,-82.5,99.7,-16.2,105,657,0.00,1.98,0.00,0.000,6,0.000,0.057,2120,2449,3312,0,0,0,0,0,0
$GC,825,-0.58,-82.5,122.8,-11.5,136,833,0.00,1.98,0.00,0.000,4,0.000,0.060,2110,3678,3312,0,0,0,0,0,0
$GC,891,-0.59,-82.5,131.0,-12.9,147,898,0.00,1.95,0.00,0.000,6,0.000,0.049,2110,2440,3312,0,0,0,0,0,0
$GC,1064,-0.61,-82.5,155.4,-14.5,178,1072,0.00,1.95,0.00,0.000,4,0.000,0.058,2110,1212,3312,0,0,0,0,0,0
$GC,1134,-0.64,-82.5,162.7,-9.5,190,1142,0.00,1.98,0.00,0.000,6,0.000,0.055,2100,2443,3312,0,0,0,0,0,0
$GC,1309,-0.80,-150.1,167.4,-0.2,221,1318,0.17,1.98,-1.40,0.000,4,0.069,0.076,1977,3689,3594,0,0,0,0,0,0
$GC,1567,-0.92,-175.4,167.3,-0.1,267,1576,0.10,1.95,-0.50,0.000,6,0.142,0.045,2008,2432,3699,0,0,0,0,0,0
$STATE,1593,end dive,NO_VERTICAL_VELOCITY
$STATE,1593,begin apogee
$GC,1598,-0.20,0.0,167.4,0.0,271,1741,0.62,0.00,137.30,1.157,4,0.096,0.000,2235,2432,2973,0,0,0,0,0,0
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1744,0.81,175.4,167.2,0.0,292,1897,0.88,2.05,144.00,1.117,4,0.070,0.054,2564,1228,2256,0,0,0,0,0,0
$GC,2058,0.80,175.4,114.5,20.7,343,2065,0.00,1.92,0.00,0.000,6,0.000,0.042,2564,2460,2248,0,0,0,0,0,0
$GC,2230,0.76,175.4,73.7,22.4,374,2238,0.10,2.00,0.00,0.000,4,0.200,0.053,2551,1219,2245,0,0,0,0,0,0
$GC,2486,0.76,175.4,36.4,14.0,420,2494,0.00,1.95,0.00,0.000,6,0.000,0.044,2551,2452,2244,0,0,0,0,0,0
$GC,2541,0.73,175.4,28.1,16.7,429,2549,0.08,1.95,0.00,0.000,4,0.209,0.050,2534,3687,2244,0,0,0,0,0,0
$GC,2712,0.75,190.9,10.5,6.3,460,2729,0.00,1.90,6.10,0.164,6,0.000,0.044,2543,2488,2192,0,0,0,0,0,0
$GC,2776,0.78,200.2,5.9,7.0,470,2786,0.00,2.05,4.43,0.172,4,0.000,0.052,2553,1213,2153,0,0,0,0,0,0
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,0.1,1.019950
$STATE,2872,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2889,66.60,0.136,0,0,1542,350.04
$SM_GC,0.72,0.00,0.00,66.60,0.000,0.000,0.136,96,2456,1542,-6.89,0.17,350.04
$IRIDIUM_FIX,4726.11,-12154.90,300611,010123
$TT8_MAMPS,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.00
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,110.4,68.4
$24V_AH,23.7,1.502
$10V_AH,10.4,1.004
$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,15.600,39.575,291.825,66.600,0.000,22.609,28.476,254.516,8.750,0.000,14.732,1145.385,253.079,394.280,1351.578,261.236,33.295,876.786,0.000,1145.728,0.000,7.463,0.000
$DEVICE_MAMPS,218.790,76.500,1157.445,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.300,794.445,752.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,33694,486
$CAP_FILE_SIZE,60934,0
$CFSIZE,260165632,221716480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,  4.8,1
$GPS,300611,035110,4744.350,-12223.559,9,4.8,28,18.2