version: 66.08
glider: 168
mission: 5
dive: 16
start: 6 30 111 9 35 39
data:
$ID,168
$MISSION,5
$DIVE,16
$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,-6
$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,-5005.0562
$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,40
$R_STBD_OVSHOOT,33
$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,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
$GPS1,300611,092621,4742.590,-12224.798,10,2.5,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.4
$GPS2,300611,093428,4742.571,-12224.861,16,3.0,35,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.223,0.136
$KALMAN_X,-5876.9,-613.7,154.9,5457.5,-1060.7
$KALMAN_Y,-7050.1,478.3,599.6,3762.6,-843.4
$MHEAD_RNG_PITCHd_Wd,12.2,251,-20.4,-8.130
$D_GRID,180
$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,17,-0.55,-77.9,0.0,0.0,0,92,0.00,0.00,-69.18,0.000,6,0.000,0.000,111,2446,3292,0,0,0,0,0,0
$GC,95,-0.61,-127.9,3.7,-4.6,10,113,7.45,2.05,-3.67,0.000,4,0.224,0.071,2092,3690,3499,0,0,0,0,0,0
$GC,339,-0.58,-127.9,60.4,-17.5,53,347,0.08,1.95,0.00,0.000,6,0.183,0.048,2111,2458,3499,0,0,0,0,0,0
$GC,515,-0.56,-127.9,88.2,-15.6,84,524,0.00,1.98,0.00,0.000,4,0.000,0.057,2111,1221,3500,0,0,0,0,0,0
$GC,599,-0.56,-127.9,101.7,-14.8,98,608,0.03,1.98,0.00,0.000,6,0.192,0.057,2113,2441,3499,0,0,0,0,0,0
$GC,783,-0.54,-127.9,128.8,-14.9,129,789,0.00,1.98,0.00,0.000,4,0.000,0.060,2103,3689,3500,0,0,0,0,0,0
$GC,866,-0.53,-127.9,140.3,-14.1,143,874,0.10,1.92,0.00,0.000,6,0.168,0.047,2131,2451,3500,0,0,0,0,0,0
$GC,1042,-0.53,-127.9,162.8,-10.7,174,1051,0.00,1.98,0.00,0.000,4,0.000,0.058,2132,1222,3500,0,0,0,0,0,0
$GC,1103,-0.55,-127.9,170.4,-11.8,184,1113,0.00,1.98,0.00,0.000,6,0.000,0.057,2124,2450,3499,0,0,0,0,0,0
$STATE,1181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1181,begin apogee
$GC,1186,-0.20,0.0,180.7,15.4,197,1296,0.32,0.00,99.05,1.154,4,0.142,0.000,2231,2450,2976,0,0,0,0,0,0
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1300,0.61,127.9,183.7,0.0,213,1417,0.77,2.08,105.55,1.125,4,0.090,0.056,2496,1207,2450,0,0,0,0,0,0
$GC,1618,0.58,127.9,147.5,14.3,265,1625,0.00,2.00,0.00,0.000,6,0.000,0.044,2497,2465,2442,0,0,0,0,0,0
$GC,1795,0.52,127.9,119.5,15.2,296,1806,0.12,1.92,0.00,0.000,4,0.183,0.048,2464,3678,2440,0,0,0,0,0,0
$GC,2060,0.47,127.9,81.5,14.2,342,2068,0.05,1.98,0.00,0.000,6,0.179,0.042,2457,2441,2437,0,0,0,0,0,0
$GC,2241,0.45,127.9,60.0,12.9,373,2248,0.00,1.90,0.00,0.000,4,0.000,0.051,2466,1213,2436,0,0,0,0,0,0
$GC,2256,0.43,127.9,57.8,13.8,375,2264,0.10,1.88,0.00,0.000,6,0.156,0.043,2437,2437,2436,0,0,0,0,0,0
$GC,2435,0.45,136.7,41.1,7.5,406,2444,0.00,2.00,3.35,0.262,4,0.000,0.050,2437,3681,2414,0,0,0,0,0,0
$GC,2475,0.46,140.7,38.1,7.8,412,2485,0.00,1.92,2.33,0.241,6,0.000,0.041,2446,2454,2397,0,0,0,0,0,0
$GC,2532,0.47,140.7,33.5,8.2,421,2540,0.00,1.95,0.00,0.000,4,0.000,0.050,2446,3682,2396,0,0,0,0,0,0
$GC,2549,0.47,140.7,31.9,8.5,423,2557,0.00,1.88,0.00,0.000,6,0.000,0.041,2456,2490,2396,0,0,0,0,0,0
$GC,2603,0.47,140.7,26.9,9.1,432,2612,0.00,1.88,0.00,0.000,4,0.000,0.050,2455,3672,2396,0,0,0,0,0,0
$GC,2620,0.47,140.7,25.1,9.0,434,2628,0.05,1.85,0.00,0.000,6,0.155,0.041,2447,2495,2396,0,0,0,0,0,0
$GC,2675,0.50,157.5,21.0,7.0,443,2693,0.00,2.00,8.95,0.194,4,0.000,0.049,2456,1205,2328,0,0,0,0,0,0
$GC,2743,0.57,190.5,16.9,5.8,454,2769,0.05,1.95,16.52,0.172,6,0.070,0.045,2520,2447,2193,0,0,0,0,0,0
$GC,2816,0.53,190.5,8.6,14.1,465,2825,0.17,1.98,0.00,0.000,4,0.149,0.051,2475,1213,2190,0,0,0,0,0,0
$GC,2851,0.54,190.5,5.1,10.6,470,2858,0.00,1.88,0.00,0.000,6,0.000,0.047,2476,2397,2189,0,0,0,0,0,0
$STATE,2882,end climb,SURFACE_DEPTH_REACHED
$STATE,2882,begin surface coast
$FINISH,0.4,1.020334
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2929,begin surface
$SM_CCo,2943,69.80,0.136,0,0,1544,350.04
$SM_GC,1.25,0.00,0.00,69.80,0.000,0.000,0.136,108,2451,1544,-6.85,0.03,350.04
$IRIDIUM_FIX,4726.11,-12223.37,300611,080813
$TT8_MAMPS,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.00
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,120.7,63.7
$24V_AH,23.7,2.093
$10V_AH,10.4,1.464
$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,15.200,46.900,235.750,69.800,0.000,30.902,33.350,272.709,7.500,0.000,37.125,1170.716,305.135,380.486,1395.897,273.024,33.298,867.592,0.000,1138.867,0.000,10.236,0.000
$DEVICE_MAMPS,224.145,124.695,1154.385,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.725,800.175,752.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,33752,483
$CAP_FILE_SIZE,65132,0
$CFSIZE,260165632,221450240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,223.3,1
$GPS,300611,102706,4742.619,-12224.898,36,1.0,36,18.2