version: 66.10
glider: 168
mission: 6
dive: 426
start: 2 6 112 20 44 41
data:
$ID,168
$MISSION,6
$DIVE,426
$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,-6556.0195
$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,42
$R_STBD_OVSHOOT,51
$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
$GPS1,060212,203714,1839.105,12216.585,12,1.6,12,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.54
$_SM_ANGLEo,-74.7
$GPS2,060212,204416,1839.425,12216.502,41,6.2,60,-2.1
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,87.6,278165,-15.3,-9.706
$D_GRID,558
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-71.12,0.000,2,0.000,0.000,112,1972,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.65,-194.6,8.3,-4.9,11,125,6.97,2.25,-13.80,0.000,4,0.197,0.041,2023,3440,3749,0,0,0,0,0,0,25.25,26.25,26.64
$GC,249,-0.61,-194.6,59.8,-24.7,36,258,0.08,2.20,0.00,0.000,6,0.117,0.037,2053,2032,3749,0,0,0,0,0,0,26.04,26.22,28.83
$GC,586,-0.54,-194.6,146.1,-27.7,97,594,0.10,0.00,0.00,0.000,6,0.181,0.000,2080,2031,3750,0,0,0,0,0,0,26.32,28.83,28.83
$GC,912,-0.52,-194.6,203.6,-14.3,156,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2031,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.52,-194.6,237.8,-12.8,186,1225,0.00,2.15,0.00,0.000,4,0.000,0.044,2081,613,3751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1303,-0.56,-194.6,247.7,-9.9,194,1311,0.00,2.10,0.00,0.000,6,0.000,0.031,2074,2013,3751,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1611,-0.56,-194.6,280.5,-10.4,225,1621,0.00,2.17,0.00,0.000,4,0.000,0.039,2065,3424,3751,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1668,-0.58,-194.6,285.8,-9.6,230,1676,0.00,2.17,0.00,0.000,6,0.000,0.033,2065,2008,3750,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1975,-0.58,-194.6,320.5,-10.4,261,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2008,3749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-0.58,-194.6,347.6,-9.1,291,2288,0.00,2.12,0.00,0.000,4,0.000,0.045,2065,626,3748,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2332,-0.61,-194.6,352.0,-7.5,296,2336,0.00,2.10,0.00,0.000,6,0.000,0.034,2064,2021,3748,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2644,-0.62,-194.6,376.8,-8.8,327,2653,0.00,2.20,0.00,0.000,4,0.000,0.041,2056,3440,3745,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2678,-0.64,-194.6,379.7,-8.9,330,2687,0.00,2.15,0.00,0.000,6,0.000,0.034,2055,2032,3745,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2987,-0.64,-194.6,416.4,-12.5,361,2997,0.00,2.17,0.00,0.000,4,0.000,0.044,2051,3435,3741,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3021,-0.65,-194.6,420.4,-12.2,364,3029,0.00,2.15,0.00,0.000,6,0.000,0.034,2051,2021,3741,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3332,-0.65,-194.6,452.0,-9.2,395,3340,0.00,2.15,0.00,0.000,4,0.000,0.041,2043,3423,3739,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3357,-0.66,-194.6,453.9,-8.1,397,3365,0.00,2.15,0.00,0.000,6,0.000,0.034,2043,2024,3739,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3663,-0.66,-194.6,484.4,-10.4,428,3672,0.00,2.20,0.00,0.000,4,0.000,0.047,2042,614,3736,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3705,-0.67,-194.6,488.9,-10.8,432,3714,0.00,2.12,0.00,0.000,6,0.000,0.034,2037,2022,3736,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4014,-0.67,-194.6,524.0,-10.9,463,4018,0.00,2.17,0.00,0.000,4,0.000,0.043,2028,3435,3733,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4066,-0.68,-194.6,529.0,-9.4,468,4076,0.00,2.17,0.00,0.000,6,0.000,0.034,2027,2024,3732,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4380,-0.22,0.0,559.1,-11.9,499,4608,0.43,0.00,222.57,0.649,6,0.097,0.000,2182,1971,2954,0,0,0,0,0,0,25.99,28.83,24.37
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4611,0.65,194.6,575.6,0.0,522,4779,0.70,2.33,158.18,0.751,4,0.046,0.048,2484,571,2152,0,0,0,0,0,0,25.53,25.39,24.28
$GC,4896,0.60,194.6,552.2,15.9,550,4904,0.15,2.10,0.00,0.000,6,0.141,0.022,2441,1995,2138,0,0,0,0,0,0,25.72,26.00,28.83
$GC,5202,0.57,194.6,505.1,14.2,581,5206,0.00,2.08,0.00,0.000,4,0.000,0.030,2441,3378,2132,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5356,0.54,194.6,483.9,13.5,596,5365,0.08,2.12,0.00,0.000,6,0.128,0.033,2422,1977,2130,0,0,0,0,0,0,25.94,26.16,28.83
$GC,5664,0.52,194.6,447.5,13.5,627,5668,0.00,2.20,0.00,0.000,4,0.000,0.047,2433,573,2128,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5695,0.50,194.6,443.2,13.8,630,5700,0.10,2.05,0.00,0.000,6,0.145,0.024,2404,1975,2128,0,0,0,0,0,0,26.07,26.28,28.83
$GC,6008,0.50,203.8,411.2,9.4,661,6017,0.00,2.10,0.00,0.000,4,0.000,0.031,2404,3381,2126,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6113,0.49,203.8,399.9,11.6,671,6120,0.00,2.17,0.00,0.000,6,0.000,0.034,2415,1960,2125,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6420,0.48,203.8,371.2,10.1,702,6429,0.00,2.15,0.00,0.000,4,0.000,0.048,2426,581,2125,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6462,0.47,203.8,367.0,10.1,706,6471,0.10,2.03,0.00,0.000,6,0.140,0.024,2395,1969,2125,0,0,0,0,0,0,26.10,26.29,28.83
$GC,6772,0.51,236.5,339.6,8.6,737,6813,0.08,2.28,33.90,0.627,4,0.116,0.047,2482,574,1978,0,0,0,0,0,0,26.49,25.90,24.61
$GC,6861,0.48,236.5,327.9,14.6,745,6868,0.25,2.10,0.00,0.000,6,0.119,0.024,2403,1972,1968,0,0,0,0,0,0,25.70,26.06,28.83
$GC,7167,0.48,236.5,292.5,10.9,776,7177,0.00,2.12,0.00,0.000,4,0.000,0.033,2403,3392,1963,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7248,0.49,236.5,284.7,10.0,783,7258,0.00,2.15,0.00,0.000,6,0.000,0.034,2413,1984,1961,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7555,0.59,315.3,255.5,7.1,814,7627,0.10,2.20,64.30,0.570,4,0.094,0.029,2510,3402,1657,0,0,0,0,0,0,26.46,25.77,24.60
$GC,7684,0.56,315.3,234.0,18.0,826,7695,0.30,2.25,0.00,0.000,6,0.129,0.035,2428,1967,1644,0,0,0,0,0,0,25.52,25.85,28.83
$GC,7996,0.57,315.3,204.0,9.7,857,8004,0.00,2.17,0.00,0.000,4,0.000,0.048,2438,577,1640,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8051,0.64,354.5,199.4,8.4,862,8100,0.03,2.12,37.38,0.503,6,0.102,0.025,2510,1977,1499,0,0,0,0,0,0,26.06,26.18,24.82
$GC,8429,0.62,354.5,128.2,15.9,929,8436,0.17,2.15,0.00,0.000,4,0.134,0.029,2449,3394,1490,0,0,0,0,0,0,26.01,26.13,28.83
$GC,8480,0.68,378.4,122.3,8.9,938,8509,0.03,2.22,20.38,0.474,6,0.103,0.034,2515,1974,1401,0,0,0,0,0,0,26.02,26.11,24.91
$GC,8832,0.71,407.6,76.8,8.7,1002,8861,0.12,0.00,25.45,0.271,6,0.135,0.000,2470,1974,1292,0,0,0,0,0,0,26.19,28.83,25.14
$GC,9185,0.92,526.4,59.0,5.7,1066,9313,0.17,2.22,119.22,0.232,4,0.071,0.034,2565,3396,822,0,0,0,0,0,0,26.37,25.89,25.19
$GC,9340,0.95,526.4,44.4,10.5,1089,9347,0.00,2.20,2.67,0.156,6,0.000,0.033,2570,1972,808,0,0,0,0,0,0,28.83,25.93,25.30
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,5.6,1.001677
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9751,0.00,0.000,0,0,828,521.51
$SM_GC,6.41,5.95,0.08,0.00,0.024,0.119,0.000,100,2034,828,-6.55,-1.05,521.51,0,0,0,0,0,0,26.41,26.41,28.83
$IRIDIUM_FIX,1830.49,12218.16,060212,181816
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.00
$XPDR_PINGS,11
$24V_AH,24.3,73.465
$10V_AH,10.0,65.098
$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,15.900,86.575,684.050,0.000,0.000,29.269,42.425,183.369,2.750,0.000,65.883,2709.221,3797.641,662.345,2672.794,333.984,0.000,1811.399,0.000,2295.742,0.000,0.541,0.000
$DEVICE_MAMPS,196.605,144.585,751.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.789,1830.519,795.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324184
$DATA_FILE_SIZE,80523,1151
$CAP_FILE_SIZE,123190,0
$CFSIZE,260165632,179347456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$CURRENT,0.156,325.6,1
$GPS,060212,232831,1840.244,12217.434,40,1.0,41,-2.1