version: 66.10
glider: 168
mission: 6
dive: 4
start: 11 12 111 6 58 24
data:
$ID,168
$MISSION,6
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,150
$T_MISSION,175
$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,175
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-5472.4067
$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,2285
$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,2000
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,66
$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
$GPS1,121111,065321,2115.509,12250.764,11,6.0,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.0
$GPS2,121111,065758,2115.477,12250.763,13,5.2,32,-2.7
$SPEED_LIMITS,0.139,0.256
$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,128.4,191275,-12.8,-8.000
$D_GRID,3284
$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,-0.53,-170.3,0.0,0.0,0,96,0.00,0.00,-77.38,0.000,2,0.000,0.000,121,1947,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.53,-170.3,4.0,-7.8,11,125,7.25,2.17,-7.10,0.000,4,0.217,0.052,2093,3375,3650,0,0,0,0,0,0,26.14,26.50,26.79
$GC,155,-0.23,-170.3,32.9,-42.7,19,164,0.32,2.15,0.00,0.000,6,0.116,0.053,2207,2007,3651,0,0,0,0,0,0,26.35,26.47,28.83
$GC,499,-0.25,-170.3,74.3,-9.2,80,507,0.00,2.20,0.00,0.000,4,0.000,0.054,2208,585,3650,0,0,0,0,0,0,28.83,26.56,28.83
$GC,568,-0.38,-170.3,78.5,-5.2,92,577,0.10,2.08,0.00,0.000,6,0.051,0.036,2126,1981,3650,0,0,0,0,0,0,26.60,26.63,28.83
$GC,911,-0.32,-170.3,115.6,-12.7,153,920,0.15,2.17,0.00,0.000,4,0.135,0.051,2180,576,3650,0,0,0,0,0,0,26.55,26.61,28.83
$GC,1024,-0.42,-170.3,123.4,-5.9,173,1033,0.08,2.12,0.00,0.000,6,0.057,0.037,2108,1996,3650,0,0,0,0,0,0,26.61,26.66,28.83
$GC,1360,-0.36,-170.3,165.4,-11.4,234,1371,0.17,2.15,0.00,0.000,4,0.125,0.043,2162,3404,3649,0,0,0,0,0,0,26.56,26.65,28.83
$GC,1443,-0.48,-170.3,170.8,-5.3,248,1452,0.08,2.15,0.00,0.000,6,0.062,0.041,2089,1985,3649,0,0,0,0,0,0,26.61,26.65,28.83
$GC,1788,-0.49,-170.3,199.9,-9.2,309,1797,0.12,2.15,0.00,0.000,4,0.121,0.052,2142,590,3648,0,0,0,0,0,0,26.65,26.63,28.83
$GC,1849,-0.69,-170.3,204.8,-8.2,319,1858,0.20,2.10,0.00,0.000,6,0.068,0.032,2053,2024,3648,0,0,0,0,0,0,26.64,26.69,28.83
$GC,2194,-0.58,-170.3,241.8,-13.6,380,2202,0.12,0.00,0.00,0.000,6,0.149,0.000,2097,2024,3646,0,0,0,0,0,0,26.56,28.83,28.83
$GC,2511,-0.55,-170.3,274.4,-9.4,417,2520,0.00,2.17,0.00,0.000,4,0.000,0.054,2097,593,3645,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2535,-0.53,-170.3,276.6,-9.6,419,2547,0.05,2.05,0.00,0.000,6,0.129,0.039,2116,1984,3645,0,0,0,0,0,0,26.53,26.67,28.83
$GC,2844,-0.53,-170.3,303.6,-9.5,450,2853,0.00,2.17,0.00,0.000,4,0.000,0.047,2105,3418,3643,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2877,-0.55,-170.3,306.6,-9.8,453,2881,0.00,2.12,0.00,0.000,6,0.000,0.044,2105,2007,3643,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3188,-0.55,-170.3,340.5,-10.7,484,3197,0.00,2.17,0.00,0.000,4,0.000,0.056,2105,589,3641,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3222,-0.55,-170.3,343.9,-10.8,487,3230,0.00,2.12,0.00,0.000,6,0.000,0.041,2104,1998,3641,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3378,begin apogee
$GC,3384,-0.12,0.0,360.9,-10.5,503,3575,0.38,0.00,184.60,0.596,6,0.097,0.000,2244,1917,2953,0,0,0,0,0,0,26.55,28.83,24.95
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3579,0.53,170.3,373.0,0.0,522,3722,0.55,2.25,134.70,0.654,4,0.052,0.034,2474,3336,2255,0,0,0,0,0,0,25.59,25.44,24.80
$GC,3915,0.32,170.3,347.1,14.7,555,3927,0.28,2.15,0.00,0.000,6,0.130,0.043,2391,1931,2243,0,0,0,0,0,0,26.01,26.17,28.83
$GC,4224,0.27,170.3,318.6,9.4,586,4234,0.08,2.17,0.00,0.000,4,0.189,0.052,2379,524,2240,0,0,0,0,0,0,26.40,26.36,28.83
$GC,4239,0.23,170.3,317.9,9.5,587,4248,0.10,2.08,0.00,0.000,6,0.145,0.031,2347,1949,2239,0,0,0,0,0,0,26.31,26.44,28.83
$GC,4547,0.36,246.7,299.1,5.6,618,4639,0.12,2.12,82.88,0.565,4,0.084,0.035,2446,3330,1941,0,0,0,0,0,0,26.59,25.79,25.22
$GC,4800,0.26,246.7,267.8,12.5,642,4812,0.28,2.17,0.00,0.000,6,0.128,0.044,2369,1928,1933,0,0,0,0,0,0,26.08,26.21,28.83
$GC,5114,0.41,318.4,248.2,5.7,676,5203,0.12,2.15,79.05,0.541,4,0.085,0.035,2459,3325,1650,0,0,0,0,0,0,26.51,25.77,25.22
$GC,5241,0.37,318.4,232.4,14.1,693,5250,0.17,2.22,0.00,0.000,6,0.103,0.048,2403,1934,1646,0,0,0,0,0,0,25.87,25.96,28.83
$GC,5577,0.41,318.4,203.4,8.1,754,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1933,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5914,0.47,318.4,174.5,8.2,815,5923,0.10,2.22,0.00,0.000,4,0.098,0.054,2487,522,1641,0,0,0,0,0,0,26.58,26.45,28.83
$GC,5998,0.41,318.4,163.7,14.3,829,6006,0.20,2.08,0.00,0.000,6,0.103,0.030,2413,1933,1640,0,0,0,0,0,0,26.39,26.54,28.83
$GC,6344,0.49,349.9,137.9,7.0,890,6385,0.10,2.15,32.53,0.503,4,0.103,0.037,2488,3318,1523,0,0,0,0,0,0,26.65,26.24,25.70
$GC,6415,0.44,349.9,129.3,14.3,900,6423,0.20,2.20,0.00,0.000,6,0.098,0.047,2422,1923,1519,0,0,0,0,0,0,26.22,26.29,28.83
$GC,6763,0.56,392.8,102.6,6.6,961,6819,0.12,2.28,46.15,0.479,4,0.086,0.057,2527,510,1346,0,0,0,0,0,0,26.56,26.03,25.56
$GC,6850,0.46,392.8,90.4,16.0,973,6861,0.25,2.10,0.00,0.000,6,0.099,0.030,2436,1924,1345,0,0,0,0,0,0,26.08,26.20,28.83
$GC,7192,0.73,524.6,71.8,3.8,1034,7316,0.20,2.30,108.10,0.640,4,0.063,0.056,2565,512,821,0,0,0,0,1,0,26.51,25.46,24.84
$GC,7358,0.69,524.6,46.4,14.8,1057,7369,0.15,2.12,0.00,0.000,6,0.090,0.030,2507,1920,823,0,0,0,0,0,0,25.77,25.87,28.83
$GC,7703,0.73,524.6,12.1,9.2,1118,7711,0.00,2.22,0.00,0.000,4,0.000,0.056,2507,517,821,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7743,0.83,529.1,8.7,7.9,1124,7754,0.10,2.08,3.10,0.149,6,0.049,0.032,2583,1908,798,0,0,0,0,0,0,26.36,26.39,26.17
$STATE,7788,end climb,SURFACE_DEPTH_REACHED
$STATE,7788,begin surface coast
$FINISH,0.4,1.021486
$STATE,7808,end surface coast,CONTROL_FINISHED_OK
$STATE,7809,begin surface
$SM_CCo,7885,0.00,0.000,0,0,803,527.64
$SM_GC,1.15,6.05,0.12,0.00,0.034,0.086,0.000,101,2016,803,-6.67,-1.10,527.64,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12252.03,121111,060616
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,26.70
$XPDR_PINGS,2
$24V_AH,24.8,3.183
$10V_AH,10.5,2.307
$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,18.200,73.575,671.100,0.000,0.000,0.000,0.000,0.000,0.500,0.000,36.055,2815.704,1265.653,648.798,3004.688,244.978,0.000,1744.339,0.000,3001.191,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,100.980,654.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.641,2888.836,2306.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,73734,1134
$CAP_FILE_SIZE,123846,0
$CFSIZE,260165632,221347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.561,302.1,1
$GPS,121111,091101,2115.572,12250.325,38,1.6,38,-2.7