version: 66.10
glider: 168
mission: 6
dive: 202
start: 12 24 111 1 55 38
data:
$ID,168
$MISSION,6
$DIVE,202
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$D_TGT,150
$D_ABORT,1020
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$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,-6108.1284
$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,2250
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,35
$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,9.5
$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,250
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,241211,015108,1828.470,12237.319,11,1.5,11,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.71
$_SM_ANGLEo,-63.0
$GPS2,241211,015516,1828.521,12237.279,12,2.6,31,-2.0
$SPEED_LIMITS,0.144,0.262
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,-0.310
$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,280.3,37141,-14.3,-8.333
$D_GRID,2055
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.59,-170.3,0.0,0.0,0,95,0.00,0.00,-75.25,0.000,2,0.000,0.000,119,2034,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-170.3,8.7,-6.2,12,127,7.00,2.22,-15.68,0.000,4,0.197,0.050,2043,3449,3652,0,0,0,0,0,0,25.44,26.19,26.62
$GC,192,-0.55,-170.3,44.5,-28.7,28,201,0.08,2.20,0.00,0.000,6,0.122,0.039,2072,2029,3652,0,0,0,0,0,0,25.98,26.20,28.83
$STATE,351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,351,begin apogee
$GC,356,-0.22,0.0,90.6,-23.5,56,508,0.32,0.00,141.73,0.572,6,0.128,0.000,2180,1958,2956,0,0,0,0,1,0,25.91,28.83,24.73
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,513,0.59,170.3,109.1,0.0,80,654,0.73,2.25,131.98,0.448,4,0.087,0.034,2443,3391,2252,0,0,0,0,0,0,25.39,25.46,24.91
$GC,676,0.69,253.8,106.7,5.6,105,746,0.05,2.20,62.90,0.442,6,0.159,0.032,2531,1969,1915,0,0,0,0,0,0,25.56,25.62,24.96
$GC,1071,0.66,253.8,61.0,8.5,176,1080,0.20,2.20,0.00,0.000,4,0.132,0.030,2462,3398,1904,0,0,0,0,0,0,25.93,26.16,28.83
$GC,1110,0.76,323.6,58.4,6.0,182,1206,0.05,2.17,89.40,0.226,6,0.066,0.034,2547,1979,1639,0,0,0,0,0,0,26.06,26.13,25.46
$GC,1531,0.80,364.3,25.2,7.0,257,1571,0.12,2.17,31.77,0.151,4,0.138,0.033,2502,3395,1477,0,0,0,0,0,0,26.16,26.14,25.74
$GC,1600,0.84,371.1,20.3,8.1,268,1615,0.03,2.17,5.85,0.142,6,0.105,0.034,2558,1980,1449,0,0,0,0,0,0,26.07,26.16,25.75
$STATE,1749,end climb,SURFACE_DEPTH_REACHED
$STATE,1750,begin surface coast
$FINISH,6.1,1.021425
$STATE,1848,end surface coast,CONTROL_FINISHED_OK
$STATE,1848,begin surface
$SM_CCo,1863,15.15,0.115,0,0,1322,400.08
$SM_GC,6.66,5.95,0.05,15.15,0.028,0.142,0.115,103,2034,1322,-6.55,-1.13,400.08,0,0,0,0,0,0
$IRIDIUM_FIX,1821.40,12235.24,241211,010147
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.06
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,27.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.6,6.6
$24V_AH,24.7,38.394
$10V_AH,10.2,32.494
$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,14.525,17.725,463.625,15.150,0.000,0.000,0.000,0.000,1.000,0.000,33.411,593.891,194.483,420.739,685.886,75.842,0.000,801.597,0.000,669.266,0.000,2.542,0.000
$DEVICE_MAMPS,197.370,141.525,572.220,114.750,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.583,434.841,398.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,20424,313
$CAP_FILE_SIZE,86437,0
$CFSIZE,260165632,201924608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241211,022807,1829.006,12236.977,14,1.8,31,-2.0