version: 66.08
glider: 168
mission: 5
dive: 21
start: 6 30 111 15 11 38
data:
$ID,168
$MISSION,5
$DIVE,21
$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,44
$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,-5011.3423
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,300611,150238,4744.135,-12224.652,11,1.2,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-78.5
$GPS2,300611,151037,4744.303,-12224.617,11,1.8,16,18.2
$SPEED_LIMITS,0.262,0.321
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.160,-0.279
$KALMAN_X,-6848.5,-401.7,-225.4,6897.4,371.1
$KALMAN_Y,-4064.2,192.6,-657.6,5518.5,658.0
$MHEAD_RNG_PITCHd_Wd,174.7,2978,-22.7,-15.152
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-175.4,0.0,0.0,0,93,0.00,0.00,-74.18,0.000,2,0.000,0.000,114,2460,3553,0,0,0,0,0,0
$GC,96,-0.72,-175.4,4.6,-9.9,10,113,7.35,1.95,-2.20,0.000,4,0.226,0.065,2057,3693,3691,0,0,0,0,0,0
$GC,122,-0.38,-175.4,19.4,-44.0,13,132,0.38,2.03,0.00,0.000,6,0.172,0.048,2170,2445,3693,0,0,0,0,0,0
$GC,180,-0.41,-175.4,33.1,-12.9,22,188,0.00,1.98,0.00,0.000,4,0.000,0.057,2169,1220,3693,0,0,0,0,0,0
$GC,226,-0.49,-175.4,38.0,-11.3,29,234,0.05,1.95,0.00,0.000,6,0.063,0.054,2094,2421,3693,0,0,0,0,0,0
$GC,281,-0.47,-175.4,47.3,-18.6,38,290,0.20,2.05,0.00,0.000,4,0.158,0.056,2144,3685,3693,0,0,0,0,0,0
$GC,320,-0.51,-175.4,52.8,-12.6,44,329,0.00,1.98,0.00,0.000,6,0.000,0.046,2144,2452,3693,0,0,0,0,0,0
$GC,504,-0.55,-175.4,73.5,-12.1,75,512,0.08,1.98,0.00,0.000,4,0.122,0.058,2079,1207,3693,0,0,0,0,0,0
$GC,531,-0.57,-175.4,77.7,-14.0,79,539,0.17,1.95,0.00,0.000,6,0.160,0.055,2122,2444,3693,0,0,0,0,0,0
$GC,712,-0.58,-175.4,104.1,-14.5,110,719,0.00,1.98,0.00,0.000,4,0.000,0.056,2122,1212,3693,0,0,0,0,0,0
$GC,746,-0.61,-175.4,108.6,-14.2,115,752,0.00,1.92,0.00,0.000,6,0.000,0.055,2114,2438,3693,0,0,0,0,0,0
$GC,929,-0.62,-175.4,137.4,-15.5,146,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2438,3693,0,0,0,0,0,0
$GC,1109,-0.64,-175.4,164.0,-14.8,177,1116,0.08,1.98,0.00,0.000,4,0.125,0.060,2041,3689,3693,0,0,0,0,0,0
$STATE,1167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1175,-0.20,0.0,175.2,19.8,187,1314,0.57,0.00,134.30,0.981,4,0.140,0.000,2229,2447,2972,0,0,0,0,0,0
$STATE,1315,end apogee,CONTROL_FINISHED_OK
$STATE,1315,begin climb
$GC,1318,0.72,175.4,183.3,0.0,207,1469,0.85,0.00,139.60,0.903,6,0.092,0.000,2528,2446,2257,0,0,0,0,0,0
$GC,1644,0.67,175.4,130.9,21.3,259,1650,0.00,2.00,0.00,0.000,4,0.000,0.047,2528,3694,2251,0,0,0,0,0,0
$GC,1749,0.59,175.4,105.7,25.9,277,1757,0.17,1.95,0.00,0.000,6,0.172,0.041,2491,2452,2249,0,0,0,0,0,0
$GC,1925,0.57,177.4,76.1,15.0,308,1935,0.00,2.00,0.00,0.000,4,0.000,0.051,2499,1212,2248,0,0,0,0,0,0
$GC,1972,0.58,184.9,69.3,14.7,315,1994,0.00,1.95,12.07,0.306,6,0.000,0.043,2499,2472,2219,0,0,0,0,1,0
$GC,2163,0.59,203.3,39.7,14.1,348,2187,0.00,1.95,15.35,0.236,4,0.000,0.048,2499,3685,2144,0,0,0,0,0,0
$GC,2292,0.61,208.5,20.6,14.9,370,2301,0.00,1.92,3.17,0.197,6,0.000,0.044,2509,2480,2121,0,0,0,0,0,0
$GC,2349,0.69,269.7,13.5,11.6,379,2389,0.00,1.90,32.85,0.161,4,0.000,0.046,2509,3685,1871,0,0,0,0,0,0
$STATE,2437,end climb,SURFACE_DEPTH_REACHED
$STATE,2437,begin surface coast
$FINISH,0.2,1.020603
$STATE,2468,end surface coast,CONTROL_FINISHED_OK
$STATE,2468,begin surface
$SM_CCo,2485,36.33,0.135,0,0,1542,350.04
$SM_GC,1.34,0.00,0.00,36.33,0.000,0.000,0.135,112,2437,1542,-6.84,-0.37,350.04
$IRIDIUM_FIX,4729.30,-12222.38,300611,131329
$TT8_MAMPS,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.00
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,120.7,69.7
$24V_AH,23.9,2.604
$10V_AH,10.4,1.841
$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,15.900,39.375,337.350,36.325,0.000,27.772,28.828,278.844,6.000,0.000,17.500,922.286,241.782,396.944,1211.862,238.912,33.313,842.688,0.000,937.936,0.000,11.920,0.000
$DEVICE_MAMPS,225.675,65.025,981.495,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,268.224,656.904,609.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,27021,398
$CAP_FILE_SIZE,58729,0
$CFSIZE,260165632,221241344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.247, 11.9,1
$GPS,300611,155452,4744.275,-12224.526,14,2.5,33,18.2