version: 66.10
glider: 168
mission: 6
dive: 3
start: 11 12 111 5 42 17
data:
$ID,168
$MISSION,6
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5387.1455
$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,2275
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1944
$C_ROLL_CLIMB,1944
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,2954
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-64.650215
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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
$GPS1,121111,053808,2116.053,12250.699,12,1.5,12,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.7
$GPS2,121111,054150,2116.021,12250.721,10,1.5,10,-2.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,139.1,191926,-14.9,-10.000
$D_GRID,3487
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-194.6,0.0,0.0,0,89,0.00,0.00,-70.78,0.000,2,0.000,0.000,122,1939,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.61,-194.6,3.1,-5.8,10,119,7.20,2.10,-13.02,0.000,4,0.221,0.055,2057,3328,3749,0,0,0,0,0,0,26.14,26.47,26.79
$GC,204,-0.51,-194.6,42.4,-25.5,28,213,0.15,2.15,0.00,0.000,6,0.120,0.049,2112,1947,3749,0,0,0,0,0,0,26.36,26.49,28.83
$GC,539,-0.44,-194.6,108.9,-14.6,89,548,0.08,2.20,0.00,0.000,4,0.200,0.054,2133,535,3749,0,0,0,0,0,0,26.60,26.55,28.83
$GC,613,-0.51,-194.6,117.7,-8.2,101,623,0.00,2.08,0.00,0.000,6,0.000,0.039,2127,1920,3749,0,0,0,0,0,0,28.83,26.61,28.83
$GC,947,-0.51,-194.6,161.0,-13.6,162,955,0.00,2.17,0.00,0.000,4,0.000,0.042,2117,3351,3749,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1020,-0.58,-194.6,169.4,-9.9,174,1029,0.05,2.15,0.00,0.000,6,0.067,0.044,2043,1943,3749,0,0,0,0,0,0,26.58,26.63,28.83
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1084,-0.12,0.0,180.9,-24.8,184,1234,0.55,0.00,142.43,0.530,6,0.121,0.000,2231,1942,2950,0,0,0,0,0,0,26.47,28.83,25.14
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1235,begin climb
$GC,1237,0.61,194.6,192.1,0.0,204,1396,0.60,2.22,150.00,0.523,4,0.047,0.047,2499,529,2155,0,0,0,0,0,0,25.79,25.56,25.02
$GC,1531,0.49,194.6,177.3,12.5,249,1539,0.17,2.12,0.00,0.000,6,0.116,0.027,2437,1970,2149,0,0,0,0,0,0,26.02,26.22,28.83
$GC,1874,0.58,284.6,154.4,6.9,310,1951,0.10,2.08,68.70,0.503,4,0.099,0.032,2524,3348,1786,0,0,0,0,0,0,26.55,25.92,25.36
$GC,2075,0.46,284.6,124.6,16.9,342,2084,0.32,2.17,0.00,0.000,6,0.121,0.041,2422,1936,1781,0,0,0,0,0,0,26.12,26.26,28.83
$GC,2412,0.69,415.1,101.2,5.5,403,2567,0.17,2.25,142.45,0.448,4,0.070,0.054,2551,545,1255,0,0,0,0,0,0,26.57,25.73,25.24
$GC,2583,0.62,415.1,75.3,16.7,425,2591,0.22,2.08,0.00,0.000,6,0.098,0.028,2469,1946,1253,0,0,0,0,0,0,25.80,25.94,28.83
$GC,2921,0.88,519.3,53.2,6.4,486,3014,0.22,0.00,85.45,0.575,6,0.059,0.000,2585,1946,835,0,0,0,0,1,0,26.48,28.83,25.05
$STATE,3168,end climb,SURFACE_DEPTH_REACHED
$STATE,3168,begin surface coast
$FINISH,0.4,1.021670
$STATE,3182,end surface coast,CONTROL_FINISHED_OK
$STATE,3182,begin surface
$SM_CCo,3257,0.00,0.000,0,0,840,518.56
$SM_GC,1.18,6.03,0.00,0.00,0.027,0.000,0.000,102,1947,840,-6.63,0.08,518.56,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12253.29,121111,050517
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.07
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,27.10
$XPDR_PINGS,3
$24V_AH,25.0,3.048
$10V_AH,10.6,2.123
$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,15.875,25.775,589.025,0.000,0.000,0.000,0.000,0.000,0.750,0.000,13.189,1228.014,76.909,475.536,1430.828,119.666,0.000,1080.600,0.000,1458.835,0.000,0.544,0.000
$DEVICE_MAMPS,221.085,55.080,575.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.940,1449.100,1338.288,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,33648,528
$CAP_FILE_SIZE,59359,0
$CFSIZE,260165632,221495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.360,305.8,1
$GPS,121111,063726,2115.653,12250.771,18,1.9,18,-2.7