version: 66.10
glider: 168
mission: 6
dive: 215
start: 12 25 111 12 50 51
data:
$ID,168
$MISSION,6
$DIVE,215
$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,-6126.4976
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,251211,124600,1839.791,12212.104,78,1.6,88,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.94
$_SM_ANGLEo,-67.1
$GPS2,251211,125027,1839.985,12211.834,13,1.8,14,-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,155.6,17751,-14.1,-8.250
$D_GRID,314
$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,-170.3,0.0,0.0,0,64,0.00,0.00,-45.10,0.000,2,0.000,0.000,115,2033,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.59,-170.3,8.2,-4.4,7,100,7.00,2.20,-18.40,0.000,4,0.200,0.063,2050,614,3649,0,0,0,0,0,0,25.56,26.10,26.59
$GC,175,-0.55,-170.3,42.8,-17.6,25,182,0.12,2.12,0.00,0.000,6,0.144,0.035,2078,2030,3650,0,0,0,0,0,0,26.06,26.25,28.83
$GC,526,-0.51,-170.3,102.2,-18.6,86,533,0.00,2.17,0.00,0.000,4,0.000,0.040,2068,3435,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,595,-0.51,-170.3,113.4,-12.5,98,604,0.05,2.17,0.00,0.000,6,0.100,0.037,2094,2024,3652,0,0,0,0,0,0,26.20,26.32,28.83
$GC,929,-0.49,-170.3,150.1,-11.5,159,936,0.00,2.20,0.00,0.000,4,0.000,0.052,2095,605,3651,0,0,0,0,0,0,28.83,26.27,28.83
$GC,955,-0.48,-170.3,153.0,-11.7,163,962,0.00,2.10,0.00,0.000,6,0.000,0.036,2087,2022,3651,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1287,-0.47,-170.3,193.7,-11.7,224,1295,0.00,2.20,0.00,0.000,4,0.000,0.042,2077,3437,3650,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1303,-0.46,-170.3,195.6,-11.1,226,1312,0.05,2.17,0.00,0.000,6,0.097,0.037,2105,2028,3650,0,0,0,0,0,0,26.23,26.34,28.83
$GC,1625,-0.47,-170.3,221.8,-8.0,261,1633,0.00,2.15,0.00,0.000,4,0.000,0.043,2096,3435,3649,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1658,-0.48,-170.3,224.6,-8.5,264,1668,0.00,2.12,0.00,0.000,6,0.000,0.037,2096,2027,3649,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1968,-0.49,-170.3,252.1,-9.5,295,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2027,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,-0.50,-170.3,280.3,-9.6,325,2281,0.00,2.20,0.00,0.000,4,0.000,0.055,2096,617,3645,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2307,-0.52,-170.3,284.2,-10.0,328,2315,0.00,2.15,0.00,0.000,6,0.000,0.037,2096,2028,3644,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2614,-0.53,-170.3,311.7,-8.9,359,2618,0.00,2.17,0.00,0.000,4,0.000,0.044,2087,3435,3642,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2652,-0.22,0.0,314.8,-9.6,362,2786,0.25,0.00,126.82,0.627,6,0.088,0.000,2184,1969,2948,0,0,0,0,0,0,26.29,28.83,24.84
$STATE,2789,end apogee,CONTROL_FINISHED_OK
$STATE,2789,begin climb
$GC,2791,0.59,170.3,323.3,0.0,376,2931,0.65,2.20,131.07,0.610,4,0.052,0.028,2451,3391,2255,0,0,0,0,0,0,25.58,25.42,24.76
$GC,3089,0.54,170.3,296.0,18.6,405,3097,0.15,2.20,0.00,0.000,6,0.147,0.037,2419,1971,2243,0,0,0,0,0,0,25.72,25.92,28.83
$GC,3395,0.52,170.3,248.5,15.4,436,3405,0.00,2.20,0.00,0.000,4,0.000,0.055,2430,574,2240,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3460,0.49,170.3,239.0,14.5,442,3471,0.05,2.05,0.00,0.000,6,0.127,0.026,2409,1981,2239,0,0,0,0,0,0,26.07,26.27,28.83
$GC,3771,0.48,178.7,206.9,8.0,473,3781,0.00,2.15,1.90,0.202,4,0.000,0.035,2409,3386,2233,0,0,0,0,0,0,28.83,26.27,25.32
$GC,3848,0.50,206.4,201.0,7.3,480,3880,0.00,2.15,27.23,0.581,6,0.000,0.042,2419,1980,2110,0,0,0,0,0,0,28.83,26.22,25.41
$GC,4204,0.55,258.1,182.1,6.6,544,4250,0.00,2.30,40.45,0.562,4,0.000,0.055,2430,574,1896,0,0,0,0,0,0,28.83,25.90,25.31
$GC,4432,0.55,258.1,153.5,15.0,584,4439,0.00,2.10,0.00,0.000,6,0.000,0.028,2429,1963,1888,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4766,0.58,283.8,108.6,7.4,645,4792,0.00,0.00,20.23,0.528,6,0.000,0.000,2429,1963,1789,0,0,0,0,0,0,28.83,28.83,25.49
$GC,5116,0.58,283.8,75.8,11.4,709,5123,0.00,2.15,0.00,0.000,4,0.000,0.035,2429,3388,1783,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5167,0.60,283.8,69.8,11.3,718,5175,0.00,2.20,0.00,0.000,6,0.000,0.041,2436,1984,1781,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5503,0.86,464.3,46.8,2.4,779,5655,0.22,2.28,141.48,0.203,4,0.054,0.054,2579,571,1066,0,0,0,0,0,0,26.49,25.92,25.58
$GC,5810,0.86,464.3,14.2,10.3,831,5817,0.17,2.10,0.00,0.000,6,0.101,0.028,2517,1984,1067,0,0,0,0,0,0,26.00,26.17,28.83
$STATE,5878,end climb,SURFACE_DEPTH_REACHED
$STATE,5878,begin surface coast
$FINISH,5.9,1.021784
$STATE,5971,end surface coast,CONTROL_FINISHED_OK
$STATE,5971,begin surface
$SM_CCo,6046,0.00,0.000,0,0,1062,464.11
$SM_GC,6.76,5.97,0.00,0.00,0.035,0.000,0.000,101,1986,1062,-6.57,-1.10,464.11,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12211.17,251211,111131
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.45
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,188.7,999.0
$24V_AH,24.8,39.734
$10V_AH,10.3,33.847
$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,14.700,56.500,489.175,0.000,0.000,25.037,18.766,120.657,1.500,0.000,15.858,1891.336,1669.119,470.402,2072.515,220.165,0.000,1280.449,0.000,1874.916,0.000,2.744,0.000
$DEVICE_MAMPS,199.665,62.730,626.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.081,1370.083,1018.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60519,860
$CAP_FILE_SIZE,84066,0
$CFSIZE,260165632,201056256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251211,143236,1841.371,12209.627,13,1.9,22,-2.1