version: 66.10
glider: 168
mission: 6
dive: 210
start: 12 25 111 6 48 7
data:
$ID,168
$MISSION,6
$DIVE,210
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$D_TGT,990
$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,400
$T_MISSION,450
$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,-6120.0269
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,251211,064037,1833.284,12221.478,48,1.5,48,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.63
$_SM_ANGLEo,-65.5
$GPS2,251211,064744,1833.500,12221.327,22,1.6,22,-2.1
$SPEED_LIMITS,0.143,0.261
$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,248.2,9560,-14.1,-8.250
$D_GRID,463
$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,14,begin dive
$GC,17,-0.59,-170.3,0.0,0.0,0,77,0.00,0.00,-57.45,0.000,2,0.000,0.000,101,1996,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.59,-170.3,8.1,-4.8,9,113,7.12,2.28,-19.88,0.000,4,0.197,0.047,2041,3437,3652,0,0,0,0,0,0,25.33,25.96,26.36
$GC,293,-0.54,-170.3,68.3,-22.7,47,301,0.12,2.20,0.00,0.000,6,0.132,0.042,2079,2025,3653,0,0,0,0,0,0,25.80,25.94,28.83
$GC,623,-0.52,-170.3,125.9,-12.6,108,631,0.00,2.25,0.00,0.000,4,0.000,0.053,2079,610,3654,0,0,0,0,0,0,28.83,25.98,28.83
$GC,682,-0.52,-170.3,132.6,-10.7,118,690,0.00,2.15,0.00,0.000,6,0.000,0.034,2072,2018,3654,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1016,-0.49,-170.3,184.2,-15.0,179,1023,0.10,2.20,0.00,0.000,4,0.155,0.041,2092,3435,3654,0,0,0,0,0,0,26.30,26.14,28.83
$GC,1140,-0.50,-170.3,196.5,-9.0,201,1147,0.00,2.15,0.00,0.000,6,0.000,0.034,2093,2020,3654,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1458,-0.50,-170.3,229.0,-8.9,235,1466,0.00,2.17,0.00,0.000,4,0.000,0.043,2084,3435,3652,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1501,-0.51,-170.3,232.7,-8.5,239,1510,0.00,2.15,0.00,0.000,6,0.000,0.036,2084,2022,3652,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1809,-0.51,-170.3,260.1,-9.0,270,1813,0.00,2.22,0.00,0.000,4,0.000,0.054,2083,609,3650,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1833,-0.51,-170.3,262.1,-9.2,272,1843,0.00,2.12,0.00,0.000,6,0.000,0.036,2080,2023,3651,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2143,-0.50,-170.3,293.7,-11.1,303,2151,0.00,2.15,0.00,0.000,4,0.000,0.041,2071,3428,3648,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2187,-0.50,-170.3,298.0,-9.8,307,2196,0.03,2.15,0.00,0.000,6,0.125,0.037,2092,2027,3648,0,0,0,0,0,0,26.07,26.16,28.83
$GC,2495,-0.51,-170.3,325.3,-8.9,338,2499,0.00,2.22,0.00,0.000,4,0.000,0.055,2093,614,3646,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2558,-0.53,-170.3,330.5,-8.1,344,2562,0.00,2.15,0.00,0.000,6,0.000,0.037,2087,2033,3646,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2870,-0.54,-170.3,355.2,-7.5,375,2879,0.00,2.17,0.00,0.000,4,0.000,0.042,2079,3435,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2903,-0.55,-170.3,357.7,-7.6,378,2913,0.00,2.15,0.00,0.000,6,0.000,0.036,2078,2024,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3213,-0.55,-170.3,383.5,-8.6,409,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2024,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,-0.55,-170.3,409.2,-8.3,439,3523,0.00,2.17,0.00,0.000,4,0.000,0.043,2072,3432,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3586,-0.57,-170.3,415.2,-8.1,446,3595,0.00,2.17,0.00,0.000,6,0.000,0.037,2072,2022,3638,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3897,-0.57,-170.3,444.2,-9.7,477,3905,0.00,2.22,0.00,0.000,4,0.000,0.057,2072,614,3637,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3950,-0.58,-170.3,449.4,-10.2,482,3959,0.00,2.15,0.00,0.000,6,0.000,0.037,2069,2024,3636,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,4086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4086,begin apogee
$GC,4092,-0.22,0.0,463.1,-9.8,496,4228,0.30,0.00,130.98,0.725,6,0.093,0.000,2180,1966,2949,0,0,0,0,0,0,26.09,28.83,24.50
$STATE,4231,end apogee,CONTROL_FINISHED_OK
$STATE,4231,begin climb
$GC,4233,0.59,170.3,470.3,0.0,510,4381,0.68,2.35,135.52,0.711,4,0.052,0.055,2463,576,2250,0,0,0,0,0,0,25.32,25.06,24.37
$GC,4444,0.54,170.3,461.2,12.3,531,4454,0.15,2.15,0.00,0.000,6,0.135,0.025,2421,1985,2241,0,0,0,0,0,0,25.29,25.53,28.83
$GC,4754,0.51,170.3,429.3,10.6,562,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1985,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,0.48,170.3,399.9,9.9,592,5066,0.08,2.12,0.00,0.000,4,0.196,0.032,2403,3384,2233,0,0,0,0,0,0,26.13,26.04,28.83
$GC,5171,0.46,170.3,389.0,9.2,603,5180,0.03,2.17,0.00,0.000,6,0.183,0.040,2401,1983,2231,0,0,0,0,0,0,25.86,25.97,28.83
$GC,5482,0.45,178.8,365.0,8.0,634,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1983,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,0.44,178.8,337.8,9.2,665,5799,0.00,2.20,0.00,0.000,4,0.000,0.053,2412,580,2228,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5843,0.42,178.8,332.1,11.3,670,5852,0.08,2.05,0.00,0.000,6,0.113,0.026,2381,1963,2227,0,0,0,0,0,0,25.99,26.25,28.83
$GC,6152,0.52,260.0,312.6,5.6,701,6232,0.12,2.33,69.28,0.652,4,0.078,0.057,2483,573,1881,0,0,0,0,0,0,26.44,25.56,24.88
$GC,6249,0.48,260.0,302.0,13.7,710,6256,0.28,2.15,0.00,0.000,6,0.122,0.026,2398,1985,1876,0,0,0,0,0,0,25.44,25.70,28.83
$GC,6556,0.48,260.0,274.1,8.7,741,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1986,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,0.51,275.6,248.9,7.7,772,6887,0.00,2.28,10.65,0.605,4,0.000,0.056,2407,571,1823,0,0,0,0,0,0,28.83,26.03,25.23
$GC,6925,0.54,291.9,244.4,7.7,777,6946,0.05,2.12,14.95,0.608,6,0.162,0.029,2478,1971,1760,0,0,0,0,0,0,26.00,26.08,25.14
$GC,7253,0.51,291.9,192.8,16.4,813,7261,0.20,2.17,0.00,0.000,4,0.135,0.032,2410,3391,1746,0,0,0,0,0,0,25.85,26.06,28.83
$GC,7271,0.48,291.9,190.3,15.9,815,7278,0.08,2.22,0.00,0.000,6,0.173,0.042,2398,1976,1745,0,0,0,0,0,0,25.89,25.98,28.83
$GC,7605,0.52,309.5,164.3,7.7,876,7627,0.08,2.22,14.52,0.556,4,0.120,0.054,2481,570,1684,0,0,0,0,0,0,26.38,26.08,25.35
$GC,7684,0.50,309.5,154.3,14.0,889,7692,0.22,2.12,0.00,0.000,6,0.112,0.028,2408,1991,1678,0,0,0,0,0,0,25.85,26.12,28.83
$GC,8017,0.53,316.7,126.5,8.0,950,8025,0.00,2.28,1.50,0.184,4,0.000,0.054,2417,567,1664,0,0,0,0,0,0,28.83,26.01,25.61
$GC,8061,0.71,432.4,124.3,4.5,957,8165,0.17,2.12,93.82,0.500,6,0.060,0.031,2544,1982,1183,0,0,0,0,0,0,26.20,26.18,24.98
$GC,8496,0.77,469.3,43.8,7.0,1033,8529,0.15,2.28,25.08,0.203,4,0.124,0.054,2489,567,1051,0,0,0,0,0,0,25.94,25.87,25.41
$GC,8586,0.91,522.2,38.0,6.5,1048,8638,0.12,2.15,45.00,0.192,6,0.056,0.029,2553,1967,829,0,0,0,0,0,0,25.94,26.03,25.41
$GC,8964,1.00,522.2,12.2,9.8,1116,8973,0.00,2.20,2.28,0.155,4,0.000,0.038,2553,3389,830,0,0,0,0,0,0,28.83,26.03,25.56
$STATE,9006,end climb,SURFACE_DEPTH_REACHED
$STATE,9006,begin surface coast
$FINISH,6.2,1.021483
$STATE,9018,end surface coast,CONTROL_FINISHED_OK
$STATE,9018,begin surface
$SM_CCo,9096,0.00,0.000,0,0,839,519.05
$SM_GC,6.62,6.03,2.15,0.00,0.027,0.032,0.000,102,2005,839,-6.56,0.82,519.05,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12220.08,251211,020207
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.58
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,23.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,278.7,999.0
$24V_AH,24.4,39.371
$10V_AH,10.1,33.535
$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,16.175,87.550,543.575,0.000,0.000,40.747,22.549,219.540,1.750,0.000,26.424,2520.347,3524.475,578.836,2585.307,294.253,0.000,1618.682,0.000,2247.739,0.000,2.839,0.000
$DEVICE_MAMPS,197.370,113.220,725.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.503,1771.242,918.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,76760,1125
$CAP_FILE_SIZE,117329,0
$CFSIZE,260165632,201207808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,251211,092038,1834.232,12219.071,13,2.0,20,-2.1