version: 66.08
glider: 168
mission: 5
dive: 20
start: 6 30 111 13 53 38
data:
$ID,168
$MISSION,5
$DIVE,20
$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,-5010.082
$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
$GPS1,300611,134436,4744.060,-12224.682,33,1.1,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.1
$GPS2,300611,135237,4744.158,-12224.632,11,1.5,16,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,-0.242
$KALMAN_X,-6471.2,-845.3,-600.2,7318.0,392.8
$KALMAN_Y,-5173.3,118.2,-812.8,6588.7,708.6
$MHEAD_RNG_PITCHd_Wd,176.7,2707,-12.8,-8.130
$D_GRID,175
$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,18,-0.50,-175.4,0.0,0.0,0,94,0.00,0.00,-73.55,0.000,2,0.000,0.000,107,2438,3547,0,0,0,0,0,0
$GC,97,-0.50,-175.4,4.6,-6.5,10,114,7.68,1.98,-2.25,0.000,4,0.229,0.067,2120,3689,3690,0,0,0,0,0,0
$GC,123,-0.07,-175.4,18.8,-33.2,13,132,0.50,2.00,0.00,0.000,6,0.165,0.045,2271,2444,3691,0,0,0,0,0,0
$GC,181,-0.13,-175.4,27.7,-4.4,22,189,0.00,1.95,0.00,0.000,4,0.000,0.052,2272,1219,3692,0,0,0,0,0,0
$GC,198,-0.22,-175.4,27.9,-1.6,24,208,0.10,1.92,0.00,0.000,6,0.076,0.044,2228,2437,3692,0,0,0,0,0,0
$GC,257,-0.35,-175.4,31.2,-6.7,33,265,0.12,0.00,0.00,0.000,6,0.096,0.000,2168,2437,3692,0,0,0,0,0,0
$GC,311,-0.42,-175.4,35.4,-7.9,42,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2437,3692,0,0,0,0,0,0
$GC,366,-0.48,-175.4,39.5,-7.4,51,376,0.08,1.95,0.00,0.000,4,0.132,0.048,2116,1212,3692,0,0,0,0,0,0
$GC,408,-0.47,-175.4,43.5,-9.6,57,415,0.15,1.85,0.00,0.000,6,0.164,0.053,2152,2399,3692,0,0,0,0,0,0
$GC,586,-0.44,-175.4,63.7,-10.9,88,595,0.00,2.05,0.00,0.000,4,0.000,0.058,2143,3672,3692,0,0,0,0,0,0
$GC,621,-0.42,-175.4,67.2,-10.6,93,629,0.08,1.98,0.00,0.000,6,0.158,0.048,2167,2413,3692,0,0,0,0,0,0
$GC,799,-0.42,-175.4,83.1,-8.7,124,808,0.00,1.90,0.00,0.000,4,0.000,0.055,2167,1214,3692,0,0,0,0,0,0
$GC,833,-0.42,-175.4,85.6,-8.5,129,840,0.00,1.90,0.00,0.000,6,0.000,0.054,2164,2412,3692,0,0,0,0,0,0
$GC,1013,-0.41,-175.4,100.7,-9.2,160,1022,0.00,2.05,0.00,0.000,4,0.000,0.061,2156,3685,3692,0,0,0,0,0,0
$GC,1039,-0.41,-175.4,102.9,-8.2,164,1049,0.00,2.03,0.00,0.000,6,0.000,0.046,2156,2413,3692,0,0,0,0,0,0
$GC,1225,-0.40,-175.4,117.8,-8.5,195,1231,0.00,1.85,0.00,0.000,4,0.000,0.055,2156,1213,3692,0,0,0,0,0,0
$GC,1241,-0.39,-175.4,119.1,-8.1,197,1249,0.10,1.90,0.00,0.000,6,0.167,0.054,2178,2417,3692,0,0,0,0,0,0
$GC,1421,-0.40,-175.4,131.5,-6.6,228,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2416,3692,0,0,0,0,0,0
$GC,1602,-0.41,-175.4,144.8,-8.6,259,1608,0.00,2.03,0.00,0.000,4,0.000,0.063,2170,3692,3692,0,0,0,0,0,0
$GC,1640,-0.44,-175.4,148.3,-8.9,265,1647,0.00,1.98,0.00,0.000,6,0.000,0.044,2170,2414,3692,0,0,0,0,0,0
$GC,1818,-0.45,-175.4,162.9,-7.3,296,1828,0.00,1.88,0.00,0.000,4,0.000,0.054,2170,1219,3691,0,0,0,0,0,0
$GC,1835,-0.46,-175.4,164.0,-7.0,298,1844,0.00,1.90,0.00,0.000,6,0.000,0.055,2165,2412,3691,0,0,0,0,0,0
$STATE,1996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1996,begin apogee
$GC,2002,-0.20,0.0,175.0,6.7,326,2146,0.22,0.00,133.57,1.021,4,0.122,0.000,2240,2450,2975,0,0,0,0,0,0
$STATE,2147,end apogee,CONTROL_FINISHED_OK
$STATE,2147,begin climb
$GC,2149,0.50,175.4,178.9,0.0,347,2301,0.60,0.00,140.70,0.959,6,0.086,0.000,2459,2450,2258,0,0,0,0,0,0
$GC,2475,0.44,175.4,143.5,13.5,399,2483,0.08,2.00,0.00,0.000,4,0.192,0.049,2439,3692,2251,0,0,0,0,0,0
$GC,2551,0.40,175.4,133.1,12.6,412,2561,0.05,2.00,0.00,0.000,6,0.146,0.040,2430,2449,2249,0,0,0,0,0,0
$GC,2731,0.37,175.4,115.0,8.8,443,2738,0.00,1.95,0.00,0.000,4,0.000,0.051,2439,1208,2248,0,0,0,0,0,0
$GC,2803,0.37,175.4,108.2,9.5,455,2811,0.08,1.92,0.00,0.000,6,0.158,0.045,2418,2448,2248,0,0,0,0,0,0
$GC,2980,0.35,175.4,90.8,10.4,486,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2448,2247,0,0,0,0,0,0
$GC,3160,0.34,175.4,74.5,8.4,517,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2448,2247,0,0,0,0,0,0
$GC,3336,0.34,175.4,59.6,8.2,548,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2448,2246,0,0,0,0,0,0
$GC,3517,0.40,220.6,46.0,6.7,579,3560,0.00,1.98,34.20,0.248,4,0.000,0.050,2418,3679,2074,0,0,0,0,0,0
$GC,3578,0.45,262.9,41.7,6.8,588,3619,0.03,2.00,32.20,0.233,6,0.099,0.049,2463,2436,1900,0,0,0,0,0,0
$GC,3668,0.43,262.9,33.6,10.3,601,3676,0.10,1.98,0.00,0.000,4,0.142,0.054,2439,1214,1896,0,0,0,0,0,0
$GC,3724,0.50,290.8,28.8,7.3,610,3750,0.05,1.90,17.65,0.202,6,0.064,0.047,2497,2407,1786,0,0,0,0,0,0
$GC,3797,0.47,290.8,20.5,13.5,621,3805,0.15,2.05,0.00,0.000,4,0.129,0.051,2449,3681,1782,0,0,0,0,0,0
$GC,3835,0.48,290.8,16.2,10.5,627,3843,0.00,2.08,0.00,0.000,6,0.000,0.052,2449,2406,1780,0,0,0,0,0,0
$GC,3892,0.55,322.1,12.2,7.1,636,3918,0.10,1.92,16.00,0.167,4,0.104,0.054,2532,1209,1656,0,0,0,0,0,0
$GC,3944,0.55,322.1,7.3,10.2,643,3953,0.15,1.90,0.00,0.000,6,0.083,0.048,2473,2402,1654,0,0,0,0,0,0
$GC,4000,0.67,391.7,3.3,5.9,652,4011,0.12,0.00,8.62,0.151,2,0.081,0.000,2552,2403,1578,0,0,0,0,0,0
$STATE,4012,end climb,SURFACE_DEPTH_REACHED
$STATE,4012,begin surface coast
$FINISH,0.1,1.017227
$STATE,4072,end surface coast,CONTROL_FINISHED_OK
$STATE,4072,begin surface
$SM_CCo,4087,3.35,0.172,0,0,1542,350.04
$SM_GC,1.89,0.00,0.00,3.35,0.000,0.000,0.172,115,2460,1542,-6.83,0.28,350.04
$IRIDIUM_FIX,4713.38,-12243.92,300611,121248
$TT8_MAMPS,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.00
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,120.5,71.9
$24V_AH,23.9,2.506
$10V_AH,10.4,1.783
$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,16.625,58.875,382.950,3.350,0.000,28.432,28.753,294.659,7.000,0.000,17.002,1567.082,429.185,466.658,1771.412,351.607,33.309,1147.020,0.000,1554.086,0.000,9.055,0.000
$DEVICE_MAMPS,228.735,151.470,1021.275,172.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.970,1093.992,1006.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,47118,664
$CAP_FILE_SIZE,88981,0
$CFSIZE,260165632,221237248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268, 14.6,1
$GPS,300611,150238,4744.135,-12224.652,11,1.2,11,18.2