version: 66.08
glider: 168
mission: 5
dive: 17
start: 6 30 111 10 35 43
data:
$ID,168
$MISSION,5
$DIVE,17
$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,-5006.3145
$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,28
$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
$GPS1,300611,102706,4742.619,-12224.898,36,1.0,36,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.2
$GPS2,300611,103432,4742.607,-12224.907,11,1.3,11,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.224,0.134
$KALMAN_X,-6755.9,-595.3,-31.3,6443.2,-1235.9
$KALMAN_Y,-7232.8,459.9,285.8,4339.5,-908.9
$MHEAD_RNG_PITCHd_Wd,23.4,218,-24.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.62,-53.7,0.0,0.0,0,86,0.00,0.00,-66.15,0.000,6,0.000,0.000,108,2451,3193,0,0,0,0,0,0
$GC,88,-0.69,-112.1,2.3,-2.2,9,113,7.30,2.03,-4.97,0.000,4,0.220,0.068,2066,3696,3434,0,0,0,0,0,0
$GC,362,-0.66,-112.1,69.4,-18.1,57,369,0.08,1.95,0.00,0.000,6,0.195,0.044,2084,2446,3434,0,0,0,0,0,0
$GC,540,-0.64,-112.1,104.3,-19.9,88,549,0.00,1.95,0.00,0.000,4,0.000,0.054,2084,1216,3434,0,0,0,0,0,0
$GC,577,-0.64,-112.1,110.1,-17.9,93,584,0.08,1.95,0.00,0.000,6,0.211,0.054,2092,2446,3434,0,0,0,0,0,0
$GC,760,-0.63,-112.1,137.1,-14.7,124,769,0.00,1.98,0.00,0.000,4,0.000,0.058,2083,3677,3434,0,0,0,0,0,0
$GC,828,-0.61,-112.1,147.2,-16.0,135,835,0.08,1.92,0.00,0.000,6,0.185,0.047,2102,2452,3434,0,0,0,0,0,0
$GC,1003,-0.61,-112.1,172.4,-13.9,166,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2451,3434,0,0,0,0,0,0
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1061,-0.20,0.0,180.1,14.2,175,1159,0.40,0.00,87.47,1.157,4,0.144,0.000,2232,2450,2972,0,0,0,0,0,0
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1162,0.69,112.1,185.5,0.0,189,1263,0.82,0.00,92.07,1.140,6,0.090,0.000,2524,2450,2515,0,0,0,0,0,0
$GC,1434,0.63,112.1,150.5,17.3,234,1444,0.10,2.05,0.00,0.000,4,0.200,0.047,2501,3697,2509,0,0,0,0,0,0
$GC,1594,0.57,112.1,120.0,19.0,261,1602,0.10,1.92,0.00,0.000,6,0.202,0.040,2485,2458,2507,0,0,0,0,0,0
$GC,1772,0.54,112.1,95.7,11.9,292,1781,0.00,1.98,0.00,0.000,4,0.000,0.047,2485,3693,2505,0,0,0,0,0,0
$GC,1795,0.51,112.1,92.8,12.6,295,1802,0.12,1.92,0.00,0.000,6,0.181,0.038,2462,2461,2505,0,0,0,0,0,0
$GC,1970,0.51,112.1,73.8,10.5,326,1979,0.00,1.95,0.00,0.000,4,0.000,0.050,2470,1222,2505,0,0,0,0,0,0
$GC,2017,0.52,112.1,69.0,10.8,333,2023,0.00,1.95,0.00,0.000,6,0.000,0.044,2470,2476,2504,0,0,0,0,0,0
$GC,2192,0.52,112.1,49.7,9.9,364,2201,0.00,1.90,0.00,0.000,4,0.000,0.048,2470,3684,2504,0,0,0,0,0,0
$GC,2287,0.50,112.1,39.1,10.9,380,2298,0.05,1.90,0.00,0.000,6,0.182,0.039,2464,2471,2504,0,0,0,0,0,0
$GC,2343,0.52,123.2,34.8,7.0,389,2353,0.00,1.98,5.03,0.238,4,0.000,0.049,2464,3696,2468,0,0,0,0,0,0
$GC,2372,0.52,123.2,32.2,8.4,393,2381,0.00,1.90,0.00,0.000,6,0.000,0.037,2473,2479,2468,0,0,0,0,0,0
$GC,2429,0.53,127.2,27.6,7.7,402,2437,0.00,1.90,2.25,0.253,4,0.000,0.047,2473,3693,2452,0,0,0,0,0,0
$GC,2456,0.53,131.2,25.3,7.7,406,2465,0.00,1.90,1.95,0.219,6,0.000,0.041,2482,2486,2437,0,0,0,0,0,0
$GC,2512,0.53,131.2,20.5,8.8,415,2520,0.00,2.00,0.00,0.000,4,0.000,0.049,2492,1213,2436,0,0,0,0,0,0
$GC,2607,0.56,141.1,13.1,7.1,431,2625,0.03,1.92,4.95,0.175,6,0.161,0.044,2482,2446,2395,0,0,0,0,0,0
$GC,2672,0.57,143.2,8.6,7.9,441,2680,0.00,1.92,0.00,0.000,4,0.000,0.050,2491,1221,2393,0,0,0,0,0,0
$GC,2728,0.66,184.9,5.6,3.9,450,2754,0.03,1.88,20.20,0.146,6,0.100,0.044,2550,2416,2217,0,0,0,0,0,0
$STATE,2778,end climb,SURFACE_DEPTH_REACHED
$STATE,2778,begin surface coast
$FINISH,0.1,1.006679
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2846,72.18,0.135,0,0,1545,350.04
$SM_GC,1.28,0.00,0.00,72.18,0.000,0.000,0.135,101,2418,1545,-6.87,-0.90,350.04
$IRIDIUM_FIX,4726.11,-12220.67,300611,090920
$TT8_MAMPS,0.027713
$HUMID,42.79
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.00
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,130.5,59.0
$24V_AH,23.7,2.175
$10V_AH,10.4,1.532
$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,15.275,42.750,213.925,72.175,0.000,30.256,27.861,264.419,7.750,0.000,12.259,1135.310,285.672,366.497,1333.151,268.837,33.294,837.525,0.000,1114.377,0.000,10.577,0.000
$DEVICE_MAMPS,219.555,68.085,1156.680,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.418,801.383,744.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33720,466
$CAP_FILE_SIZE,63457,0
$CFSIZE,260165632,221409280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,245.5,1
$GPS,300611,112508,4742.765,-12224.764,9,1.6,9,18.2