version: 66.10
glider: 168
mission: 6
dive: 428
start: 2 7 112 3 24 30
data:
$ID,168
$MISSION,6
$DIVE,428
$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,-6558.5259
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,070212,031701,1841.796,12218.683,37,1.0,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.51
$_SM_ANGLEo,-71.4
$GPS2,070212,032407,1842.029,12218.677,8,1.0,13,-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,88.4,272184,-15.3,-9.706
$D_GRID,861
$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,-0.65,-194.6,0.0,0.0,0,102,0.00,0.00,-82.93,0.000,2,0.000,0.000,100,2025,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.65,-194.6,8.6,-6.7,13,137,7.00,2.22,-13.18,0.000,4,0.190,0.053,2032,617,3750,0,0,0,0,0,0,24.88,25.91,26.48
$GC,282,-0.60,-194.6,85.2,-26.5,42,291,0.10,2.12,0.00,0.000,6,0.135,0.032,2056,2013,3751,0,0,0,0,0,0,25.75,26.08,28.83
$GC,616,-0.56,-194.6,160.6,-18.7,103,623,0.00,2.17,0.00,0.000,4,0.000,0.044,2056,619,3751,0,0,0,0,0,0,28.83,26.05,28.83
$GC,665,-0.54,-194.6,169.7,-18.1,111,673,0.10,2.12,0.00,0.000,6,0.148,0.032,2079,2032,3751,0,0,0,0,0,0,25.99,26.17,28.83
$GC,995,-0.54,-194.6,212.5,-13.2,164,999,0.00,2.17,0.00,0.000,4,0.000,0.040,2069,3439,3751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1038,-0.55,-194.6,217.5,-11.3,168,1042,0.00,2.15,0.00,0.000,6,0.000,0.031,2069,2023,3751,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1353,-0.55,-194.6,251.8,-11.6,199,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2021,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,-0.55,-194.6,283.7,-11.8,230,1671,0.00,2.15,0.00,0.000,4,0.000,0.044,2069,627,3749,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1708,-0.57,-194.6,289.0,-11.9,234,1716,0.00,2.12,0.00,0.000,6,0.000,0.033,2066,2023,3749,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2014,-0.57,-194.6,329.7,-13.1,265,2023,0.00,2.20,0.00,0.000,4,0.000,0.041,2056,3435,3747,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2068,-0.58,-194.6,335.5,-11.5,270,2075,0.00,2.17,0.00,0.000,6,0.000,0.033,2056,2016,3747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2376,-0.58,-194.6,367.8,-9.1,301,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2016,3744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.58,-194.6,394.6,-9.4,331,2681,0.00,2.20,0.00,0.000,4,0.000,0.047,2056,614,3742,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2713,-0.59,-194.6,398.0,-10.2,334,2720,0.00,2.15,0.00,0.000,6,0.000,0.034,2050,2036,3742,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3019,-0.59,-194.6,433.7,-11.4,365,3027,0.00,2.20,0.00,0.000,4,0.000,0.042,2041,3440,3739,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3094,-0.60,-194.6,441.3,-10.5,372,3102,0.05,2.17,0.00,0.000,6,0.174,0.034,2063,2021,3739,0,0,0,0,0,0,26.06,26.13,28.83
$GC,3401,-0.62,-194.6,470.9,-8.2,403,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2021,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,-0.63,-194.6,493.7,-7.3,433,3714,0.00,2.17,0.00,0.000,4,0.000,0.047,2063,625,3733,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3738,-0.65,-194.6,496.4,-7.7,436,3742,0.08,2.10,0.00,0.000,6,0.119,0.033,1991,2030,3733,0,0,0,0,0,0,26.07,26.13,28.83
$GC,4050,-0.62,-194.6,544.4,-17.9,467,4061,0.20,2.17,0.00,0.000,4,0.124,0.041,2043,3433,3731,0,0,0,0,0,0,26.04,26.03,28.83
$GC,4106,-0.63,-194.6,550.7,-10.7,472,4113,0.00,2.17,0.00,0.000,6,0.000,0.034,2043,2027,3730,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4414,-0.63,-194.6,584.8,-9.4,503,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2026,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.63,-194.6,613.3,-8.6,526,4721,0.00,2.20,0.00,0.000,4,0.000,0.043,2037,3431,3725,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4757,-0.64,-194.6,616.5,-7.9,528,4762,0.00,2.20,0.00,0.000,6,0.000,0.034,2037,2013,3725,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5070,-0.64,-194.6,648.5,-11.3,544,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2012,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.64,-194.6,680.9,-10.5,559,5375,0.00,2.17,0.00,0.000,4,0.000,0.050,2037,634,3721,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5413,-0.65,-194.6,685.0,-10.3,561,5417,0.00,2.12,0.00,0.000,6,0.000,0.035,2030,2022,3722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5724,-0.65,-194.6,717.8,-10.9,577,5730,0.00,2.22,0.00,0.000,4,0.000,0.044,2020,3437,3719,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5749,-0.65,-194.6,719.9,-10.9,578,5753,0.08,2.20,0.00,0.000,6,0.147,0.035,2045,2028,3719,0,0,0,0,0,0,25.93,26.01,28.83
$GC,6063,-0.66,-194.6,746.1,-7.5,594,6068,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,3438,3717,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6085,-0.68,-194.6,747.8,-7.7,595,6089,0.00,2.17,0.00,0.000,6,0.000,0.034,2040,2024,3717,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6398,-0.69,-194.6,774.8,-8.9,611,6403,0.00,2.22,0.00,0.000,4,0.000,0.050,2040,617,3716,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6418,-0.70,-194.6,776.7,-8.9,612,6422,0.00,2.15,0.00,0.000,6,0.000,0.035,2036,2025,3715,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6742,-0.71,-194.6,805.7,-9.6,628,6746,0.00,2.22,0.00,0.000,4,0.000,0.046,2027,3434,3714,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6772,-0.72,-194.6,808.0,-9.5,629,6776,0.00,2.20,0.00,0.000,6,0.000,0.036,2027,2026,3714,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7079,-0.72,-194.6,841.4,-10.7,644,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2025,3711,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7276,begin apogee
$GC,7283,-0.22,0.0,863.3,-11.4,654,7520,0.43,0.00,229.98,0.778,6,0.093,0.000,2181,1971,2951,0,0,0,0,0,0,25.79,28.83,23.93
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7524,0.65,194.6,876.5,0.0,666,7704,0.75,2.38,169.65,0.925,4,0.057,0.050,2478,577,2150,0,0,0,0,0,0,25.21,24.98,23.69
$GC,7930,1.00,484.6,876.4,-0.0,686,8189,0.25,2.12,249.68,0.914,6,0.047,0.023,2623,1997,972,0,0,0,0,0,0,25.95,25.94,23.83
$GC,8502,0.89,484.6,619.1,52.3,715,8509,0.28,2.28,0.00,0.000,4,0.165,0.053,2551,581,944,0,0,0,0,0,0,25.49,25.81,28.83
$GC,8625,0.84,484.6,569.1,32.8,725,8629,0.12,2.05,0.00,0.000,6,0.140,0.021,2515,1983,944,0,0,0,0,0,0,25.81,26.08,28.83
$GC,8939,0.80,484.6,474.8,27.0,756,8947,0.00,2.25,0.00,0.000,4,0.000,0.056,2525,576,942,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9062,0.77,484.6,443.1,22.2,768,9072,0.08,2.00,0.00,0.000,6,0.112,0.024,2496,1967,942,0,0,0,0,0,0,25.92,26.15,28.83
$GC,9370,0.74,484.6,374.1,22.4,799,9374,0.00,2.25,0.00,0.000,4,0.000,0.055,2506,571,941,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9525,0.73,484.6,342.1,18.4,814,9533,0.10,2.05,0.00,0.000,6,0.151,0.023,2478,1967,941,0,0,0,0,0,0,25.96,26.20,28.83
$GC,9834,0.71,484.6,279.9,19.8,845,9843,0.00,2.17,0.00,0.000,4,0.000,0.054,2487,578,940,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9919,0.71,484.6,263.9,17.1,853,9923,0.00,2.05,0.00,0.000,6,0.000,0.023,2487,1971,941,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10231,0.70,484.6,204.9,19.4,884,10242,0.00,2.22,0.00,0.000,4,0.000,0.051,2497,570,941,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10266,0.69,484.6,198.6,18.8,887,10275,0.10,2.05,0.00,0.000,6,0.138,0.022,2466,1984,941,0,0,0,0,0,0,26.02,26.22,28.83
$GC,10602,0.71,484.6,149.7,13.3,948,10610,0.00,2.28,0.00,0.000,4,0.000,0.049,2474,565,941,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10653,0.76,494.5,144.2,9.4,956,10662,0.05,2.10,0.00,0.000,6,0.063,0.025,2557,1965,942,0,0,0,0,0,0,26.09,26.21,28.83
$GC,10987,0.75,494.5,73.2,17.1,1017,10994,0.20,2.15,0.00,0.000,4,0.122,0.028,2486,3393,942,0,0,0,0,0,0,26.04,26.15,28.83
$GC,11013,0.76,494.5,68.9,15.4,1021,11020,0.00,2.20,0.00,0.000,6,0.000,0.036,2487,1976,941,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11343,0.85,494.5,46.5,11.2,1082,11352,0.12,2.22,0.00,0.000,4,0.099,0.047,2545,575,944,0,0,0,0,0,0,26.36,26.03,28.83
$GC,11456,0.96,494.5,34.7,10.3,1101,11463,0.00,2.05,0.00,0.000,6,0.000,0.025,2546,1972,944,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11733,end climb,SURFACE_DEPTH_REACHED
$STATE,11733,begin surface coast
$FINISH,5.7,1.008578
$STATE,11832,end surface coast,CONTROL_FINISHED_OK
$STATE,11832,begin surface
$SM_CCo,11908,0.00,0.000,0,0,945,492.56
$SM_GC,6.51,5.93,0.05,0.00,0.024,0.141,0.000,101,2029,945,-6.57,-1.30,492.56,0,0,0,0,0,0,26.40,26.53,28.83
$IRIDIUM_FIX,1835.04,12214.31,060212,232327
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.73
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.90
$XPDR_PINGS,12
$24V_AH,23.7,73.787
$10V_AH,9.9,65.352
$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,16.000,104.250,649.300,0.000,0.000,24.081,22.727,241.404,3.000,0.000,16.224,2915.363,5589.655,641.518,2816.650,355.474,0.000,1867.827,0.000,2435.639,0.000,0.540,0.000
$DEVICE_MAMPS,189.720,142.290,924.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.237,1829.592,734.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80418,1170
$CAP_FILE_SIZE,139861,0
$CFSIZE,260165632,179167232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,315.7,1
$GPS,070212,064407,1842.748,12219.986,33,1.0,34,-2.1