version: 66.10
glider: 168
mission: 6
dive: 211
start: 12 25 111 9 27 45
data:
$ID,168
$MISSION,6
$DIVE,211
$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,-6121.2808
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,251211,092038,1834.232,12219.071,13,2.0,20,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.70
$_SM_ANGLEo,-72.4
$GPS2,251211,092722,1834.448,12218.854,17,2.1,36,-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,220.1,7141,-14.1,-8.250
$D_GRID,212
$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,16,-0.59,-170.3,0.0,0.0,0,77,0.00,0.00,-58.17,0.000,2,0.000,0.000,102,2002,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.59,-170.3,8.1,-5.4,9,114,6.97,2.33,-19.92,0.000,4,0.190,0.052,2042,3449,3652,0,0,0,0,0,0,25.35,25.98,26.41
$GC,250,-0.59,-170.3,58.0,-13.1,39,258,0.08,2.22,0.00,0.000,6,0.155,0.042,2064,2037,3653,0,0,0,0,0,0,25.91,25.98,28.83
$GC,583,-0.54,-170.3,125.0,-18.4,100,591,0.00,2.28,0.00,0.000,4,0.000,0.054,2064,610,3653,0,0,0,0,0,0,28.83,26.03,28.83
$GC,640,-0.52,-170.3,134.0,-13.4,110,649,0.08,2.17,0.00,0.000,6,0.116,0.036,2087,2031,3654,0,0,0,0,0,0,25.98,26.18,28.83
$GC,975,-0.49,-170.3,179.4,-14.0,171,981,0.00,2.17,0.00,0.000,4,0.000,0.041,2077,3435,3654,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1086,-0.49,-170.3,191.5,-9.0,191,1093,0.08,2.17,0.00,0.000,6,0.144,0.035,2103,2010,3654,0,0,0,0,0,0,26.13,26.20,28.83
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1299,-0.22,0.0,212.4,-10.7,219,1458,0.22,0.00,153.77,0.502,6,0.109,0.000,2185,2009,2953,0,0,0,0,0,0,26.14,28.83,24.84
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1461,0.59,170.3,220.6,0.0,235,1601,0.68,2.25,129.98,0.523,4,0.065,0.034,2446,3395,2252,0,0,0,0,0,0,25.46,25.34,24.73
$GC,1692,0.56,170.3,213.5,10.5,258,1703,0.08,2.20,0.00,0.000,6,0.122,0.035,2429,1972,2241,0,0,0,0,0,0,25.51,25.69,28.83
$GC,2013,0.57,194.8,185.6,7.5,304,2039,0.00,2.25,18.88,0.518,4,0.000,0.054,2439,564,2153,0,0,0,0,0,0,28.83,25.93,25.27
$GC,2138,0.55,194.8,175.9,8.3,326,2148,0.00,2.15,0.00,0.000,6,0.000,0.026,2439,1991,2147,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2474,0.53,194.8,145.8,9.5,387,2481,0.08,2.10,0.00,0.000,4,0.177,0.032,2418,3384,2145,0,0,0,0,0,0,26.27,26.17,28.83
$GC,2516,0.52,194.8,141.7,10.0,394,2524,0.00,2.20,0.00,0.000,6,0.000,0.040,2427,1974,2143,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2849,0.54,217.5,114.0,7.5,455,2875,0.00,2.17,18.38,0.493,4,0.000,0.034,2426,3386,2058,0,0,0,0,0,0,28.83,26.17,25.46
$GC,2987,0.59,258.5,103.9,6.9,479,3026,0.00,2.20,32.25,0.479,6,0.000,0.040,2433,1964,1893,0,0,0,0,0,0,28.83,26.12,25.34
$GC,3352,0.60,258.5,76.2,8.8,545,3359,0.00,2.20,0.00,0.000,4,0.000,0.053,2441,572,1882,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3433,0.66,289.6,69.5,7.2,559,3473,0.08,2.10,31.12,0.252,6,0.119,0.029,2530,1967,1778,0,0,0,0,0,0,26.15,26.22,25.53
$GC,3799,0.79,409.6,42.9,4.3,625,3919,0.10,2.28,108.95,0.195,4,0.159,0.052,2502,562,1296,0,0,0,0,0,0,26.24,25.91,25.52
$GC,3964,1.05,578.3,35.3,2.7,652,4086,0.20,2.15,113.85,0.165,6,0.026,0.028,2649,1983,595,0,0,0,0,0,0,26.06,26.03,25.53
$STATE,4114,end climb,SURFACE_DEPTH_REACHED
$STATE,4114,begin surface coast
$FINISH,5.7,1.021546
$STATE,4158,end surface coast,CONTROL_FINISHED_OK
$STATE,4158,begin surface
$SM_CCo,4233,0.00,0.000,0,0,605,576.21
$SM_GC,6.51,6.32,0.00,0.00,0.030,0.000,0.000,101,1983,605,-6.57,-1.19,576.21,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12204.90,251211,060651
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.65
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,127.9,999.0
$24V_AH,24.7,39.449
$10V_AH,10.2,33.617
$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,14.950,39.600,607.175,0.000,0.000,30.068,26.664,203.274,1.000,0.000,38.627,1424.712,730.035,513.289,1784.007,176.604,0.000,1214.594,0.000,1493.136,0.000,2.668,0.000
$DEVICE_MAMPS,190.485,53.550,523.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.954,1000.135,867.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,47030,684
$CAP_FILE_SIZE,65199,0
$CFSIZE,260165632,201224192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251211,103922,1835.535,12216.962,8,3.3,27,-2.1