version: 66.10
glider: 168
mission: 6
dive: 425
start: 2 6 112 19 0 2
data:
$ID,168
$MISSION,6
$DIVE,425
$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,340
$T_MISSION,380
$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,200
$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,0.0038360001
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-6554.7637
$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,49
$R_STBD_OVSHOOT,65
$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,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
$GPS1,060212,185436,1839.022,12216.560,34,1.2,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.59
$_SM_ANGLEo,-75.5
$GPS2,060212,185938,1839.235,12216.487,12,1.7,12,-2.1
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,161.7,14494,-15.3,-9.706
$D_GRID,347
$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,-0.65,-194.6,0.0,0.0,0,82,0.00,0.00,-63.55,0.000,2,0.000,0.000,104,1985,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.65,-194.6,9.5,-9.1,10,109,6.97,2.25,-10.82,0.000,4,0.195,0.047,2028,3413,3751,0,0,0,0,0,0,25.30,26.22,26.63
$GC,179,-0.64,-194.6,45.3,-18.8,25,187,0.08,2.12,0.00,0.000,6,0.164,0.035,2048,2030,3752,0,0,0,0,0,0,26.13,26.24,28.83
$GC,518,-0.59,-194.6,135.3,-17.2,86,526,0.00,2.20,0.00,0.000,4,0.000,0.047,2048,621,3752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,553,-0.54,-194.6,143.4,-25.3,91,561,0.15,2.03,0.00,0.000,6,0.148,0.033,2082,1997,3752,0,0,0,0,0,0,26.08,26.36,28.83
$GC,894,-0.53,-194.6,196.7,-15.2,152,903,0.00,2.15,0.00,0.000,4,0.000,0.044,2082,618,3752,0,0,0,0,0,0,28.83,26.29,28.83
$GC,956,-0.55,-194.6,203.3,-10.3,159,963,0.00,2.10,0.00,0.000,6,0.000,0.030,2082,2036,3752,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1266,-0.55,-194.6,233.6,-8.6,190,1276,0.00,2.12,0.00,0.000,4,0.000,0.038,2074,3434,3752,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1321,-0.58,-194.6,238.2,-8.3,195,1330,0.00,2.12,0.00,0.000,6,0.000,0.034,2073,2022,3752,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1630,-0.58,-194.6,268.9,-9.7,226,1640,0.00,2.17,0.00,0.000,4,0.000,0.044,2073,609,3752,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1669,-0.59,-194.6,272.1,-10.0,229,1676,0.00,2.12,0.00,0.000,6,0.000,0.034,2073,2029,3751,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1977,-0.60,-194.6,298.8,-9.1,260,1981,0.00,2.17,0.00,0.000,4,0.000,0.041,2063,3441,3749,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2032,-0.62,-194.6,303.6,-8.8,265,2039,0.00,2.15,0.00,0.000,6,0.000,0.033,2063,2021,3749,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2339,-0.63,-194.6,333.2,-12.0,296,2349,0.00,2.17,0.00,0.000,4,0.000,0.045,2063,615,3746,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2393,-0.66,-194.6,339.7,-12.5,301,2402,0.03,2.10,0.00,0.000,6,0.106,0.033,1992,2031,3746,0,0,0,0,0,0,26.21,26.32,28.83
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2446,-0.22,0.0,348.1,-17.7,306,2672,0.52,0.00,218.35,0.527,6,0.107,0.000,2177,1976,2950,0,0,0,0,0,0,25.97,28.83,24.65
$STATE,2673,end apogee,CONTROL_FINISHED_OK
$STATE,2673,begin climb
$GC,2676,0.65,194.6,360.4,0.0,329,2834,0.73,0.00,153.10,0.589,6,0.047,0.000,2478,1976,2159,0,0,0,0,0,0,25.70,28.83,24.60
$GC,3137,0.61,194.6,300.2,13.4,375,3146,0.12,2.15,0.00,0.000,4,0.156,0.043,2446,575,2139,0,0,0,0,0,0,26.08,26.13,28.83
$GC,3215,0.60,194.6,291.2,10.7,382,3224,0.00,2.10,0.00,0.000,6,0.000,0.024,2447,1983,2137,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3526,0.58,194.6,255.8,11.5,413,3535,0.00,2.08,0.00,0.000,4,0.000,0.029,2446,3380,2134,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3719,0.56,194.6,234.8,10.1,431,3728,0.08,2.10,0.00,0.000,6,0.120,0.032,2427,1972,2131,0,0,0,0,0,0,26.08,26.28,28.83
$GC,4027,0.62,254.4,209.6,7.7,462,4081,0.08,2.25,45.88,0.533,4,0.122,0.028,2514,3393,1909,0,0,0,0,0,0,26.51,25.99,24.83
$GC,4121,0.58,254.4,196.3,15.0,472,4130,0.25,2.20,0.00,0.000,6,0.112,0.034,2437,1980,1899,0,0,0,0,0,0,25.72,26.03,28.83
$GC,4467,0.73,360.7,170.1,6.1,533,4561,0.12,2.28,83.90,0.495,4,0.081,0.044,2560,573,1471,0,0,0,0,0,0,26.45,25.76,24.80
$GC,4706,0.69,360.7,125.0,20.0,573,4713,0.28,2.08,0.00,0.000,6,0.109,0.021,2471,1991,1463,0,0,0,0,0,0,25.85,26.17,28.83
$GC,5047,0.77,401.4,88.3,8.3,634,5095,0.10,0.00,41.45,0.295,6,0.094,0.000,2558,1993,1332,0,0,0,0,0,0,26.46,28.83,25.18
$GC,5432,0.76,405.1,29.8,9.6,701,5448,0.17,2.20,6.70,0.163,4,0.118,0.041,2501,569,1314,0,0,0,0,0,0,26.20,26.18,25.46
$GC,5564,0.96,521.4,22.1,5.8,723,5645,0.17,2.05,69.30,0.145,6,0.063,0.024,2616,1971,830,0,0,0,0,0,0,26.34,26.36,25.58
$STATE,5658,end climb,SURFACE_DEPTH_REACHED
$STATE,5658,begin surface coast
$FINISH,5.6,1.019062
$STATE,5707,end surface coast,CONTROL_FINISHED_OK
$STATE,5707,begin surface
$SM_CCo,5782,0.00,0.000,0,0,839,518.56
$SM_GC,6.47,6.15,0.00,0.00,0.030,0.000,0.000,111,1972,839,-6.55,-1.50,518.56,0,0,0,0,0,0,26.29,28.83,28.83
$IRIDIUM_FIX,1830.49,12218.16,060212,171741
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.80
$XPDR_PINGS,10
$24V_AH,24.6,73.343
$10V_AH,10.0,64.981
$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,16.000,51.525,618.675,0.000,0.000,30.841,20.207,135.151,2.500,0.000,13.552,1711.644,1740.712,586.633,1829.297,218.273,0.000,1355.147,0.000,1617.180,0.000,0.541,0.000
$DEVICE_MAMPS,195.075,144.585,589.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.487,1208.657,802.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,53816,745
$CAP_FILE_SIZE,79836,0
$CFSIZE,260165632,179466240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,353.8,1
$GPS,060212,203714,1839.105,12216.585,12,1.6,12,-2.1