version: 66.10
glider: 168
mission: 6
dive: 515
start: 2 25 112 20 47 49
data:
$ID,168
$MISSION,6
$DIVE,515
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,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,-7661.1411
$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,55
$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
$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
$GPS1,250212,204006,1940.919,12338.156,37,1.0,37,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.56
$_SM_ANGLEo,-72.6
$GPS2,250212,204726,1940.797,12338.188,13,1.2,13,-2.4
$SPEED_LIMITS,0.150,0.281
$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,232.0,192787,-13.8,-8.684
$D_GRID,5116
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,79,0.00,0.00,-58.90,0.000,2,0.000,0.000,101,1960,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.61,-194.6,8.4,0.0,1,114,7.12,2.38,-17.00,0.000,4,0.190,0.050,2032,3416,3751,0,0,0,0,0,0,24.72,25.84,26.46
$GC,210,-0.56,-194.6,37.4,-20.2,3,215,0.12,2.15,0.00,0.000,6,0.133,0.034,2070,2029,3752,0,0,0,0,0,0,25.68,25.87,28.83
$GC,861,-0.52,-194.6,183.7,-19.4,14,867,0.00,2.17,0.00,0.000,4,0.000,0.044,2070,622,3753,0,0,0,0,0,0,28.83,25.89,28.83
$GC,933,-0.49,-194.6,193.1,-18.2,15,938,0.10,2.08,0.00,0.000,6,0.140,0.031,2099,2008,3753,0,0,0,0,0,0,25.91,26.08,28.83
$GC,1634,-0.49,-194.6,266.0,-10.7,22,1638,0.00,2.20,0.00,0.000,4,0.000,0.039,2089,3434,3753,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1727,-0.49,-194.6,266.0,-10.7,22,1732,0.00,2.12,0.00,0.000,6,0.000,0.028,2089,2012,3753,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2350,-0.49,-194.6,329.7,-8.7,28,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2011,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.50,-194.6,405.0,-6.7,36,3316,0.00,2.28,0.00,0.000,4,0.000,0.041,2082,3434,3747,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3376,-0.51,-194.6,405.0,-6.7,36,3382,0.00,2.12,0.00,0.000,6,0.000,0.030,2082,2026,3747,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4390,-0.57,-194.6,486.2,-6.2,45,4394,0.00,2.17,0.00,0.000,4,0.000,0.043,2082,622,3741,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4622,-0.65,-194.6,495.7,-6.5,46,4628,0.12,2.10,0.00,0.000,6,0.089,0.030,2020,2030,3740,0,0,0,0,0,0,26.02,26.10,28.83
$GC,5588,-0.67,-194.6,578.3,-7.4,55,5594,0.05,2.20,0.00,0.000,4,0.188,0.044,2044,625,3735,0,0,0,0,0,0,26.44,25.83,28.83
$GC,5606,-0.69,-194.6,578.3,-7.4,55,5610,0.00,2.12,0.00,0.000,6,0.000,0.034,2042,2024,3735,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6543,-0.72,-194.6,640.6,-5.3,63,6550,0.08,2.17,0.00,0.000,4,0.123,0.044,1967,625,3729,0,0,0,0,0,0,26.44,25.79,28.83
$GC,6582,-0.74,-194.6,640.6,-5.3,63,6589,0.17,2.15,0.00,0.000,6,0.121,0.034,2013,2035,3728,0,0,0,0,0,0,25.70,25.96,28.83
$GC,7503,-0.72,-194.6,758.0,-12.0,71,7509,0.00,2.20,0.00,0.000,4,0.000,0.041,2004,3434,3723,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7617,-0.71,-194.6,758.0,-12.0,71,7623,0.08,2.17,0.00,0.000,6,0.148,0.034,2026,2032,3723,0,0,0,0,0,0,25.81,25.91,28.83
$GC,8581,-0.71,-194.6,862.3,-9.8,80,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2030,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9542,-0.71,-194.6,953.0,-9.8,88,9548,0.00,2.28,0.00,0.000,4,0.000,0.042,2017,3437,3713,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9580,-0.71,-194.6,953.0,-9.8,88,9584,0.00,2.20,0.00,0.000,6,0.000,0.033,2017,2026,3713,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,10014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10014,begin apogee
$GC,10020,-0.22,0.0,998.1,-9.5,92,10265,0.45,0.00,239.15,0.822,6,0.091,0.000,2180,1971,2954,0,0,0,0,0,0,25.63,28.83,23.64
$STATE,10265,end apogee,CONTROL_FINISHED_OK
$STATE,10266,begin climb
$GC,10268,0.61,194.6,1011.2,0.0,94,10452,0.70,0.00,175.20,0.995,6,0.040,0.000,2472,1971,2152,0,0,0,0,0,0,25.20,28.83,23.43
$GC,11454,0.55,194.6,815.5,17.6,104,11459,0.15,2.20,0.00,0.000,4,0.155,0.029,2422,3393,2122,0,0,0,0,0,0,25.88,25.98,28.83
$GC,11620,0.50,194.6,798.7,17.2,105,11624,0.10,2.20,0.00,0.000,6,0.164,0.034,2406,1975,2120,0,0,0,0,0,0,25.69,25.90,28.83
$GC,12527,0.47,194.6,688.7,11.4,113,12533,0.00,2.20,0.00,0.000,4,0.000,0.031,2406,3398,2118,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12572,0.45,194.6,688.7,11.4,113,12578,0.10,2.22,0.00,0.000,6,0.159,0.034,2388,1973,2118,0,0,0,0,0,0,25.68,25.87,28.83
$GC,13487,0.44,194.6,599.3,8.8,121,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1972,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14448,0.47,217.5,518.1,8.0,129,14474,0.00,2.30,19.05,0.687,4,0.000,0.032,2388,3395,2060,0,0,0,0,0,0,28.83,25.87,24.15
$GC,14501,0.49,240.3,518.1,8.0,129,14529,0.00,2.22,23.75,0.701,6,0.000,0.034,2396,1969,1973,0,0,0,0,0,0,28.83,25.86,24.06
$GC,15524,0.49,240.3,421.4,9.8,138,15529,0.00,2.20,0.00,0.000,4,0.000,0.048,2406,570,1950,0,0,0,0,0,0,28.83,25.67,28.83
$GC,15555,0.49,240.3,421.4,9.8,138,15559,0.00,2.12,0.00,0.000,6,0.000,0.024,2406,1986,1949,0,0,0,0,0,0,28.83,26.01,28.83
$GC,16478,0.53,274.0,346.9,7.7,146,16514,0.00,2.22,30.40,0.607,4,0.000,0.034,2406,3383,1828,0,0,0,0,0,0,28.83,25.84,24.26
$GC,16583,0.57,307.6,346.9,7.7,146,16620,0.05,2.20,30.90,0.603,6,0.063,0.034,2488,1969,1696,0,0,0,0,0,0,25.70,25.79,24.20
$GC,17558,0.54,307.6,185.1,15.8,155,17564,0.17,2.20,0.00,0.000,4,0.129,0.046,2435,570,1673,0,0,0,0,0,0,25.93,25.71,28.83
$GC,17626,0.52,307.6,180.2,14.9,156,17631,0.08,2.10,0.00,0.000,6,0.144,0.024,2408,1974,1673,0,0,0,0,0,0,25.91,26.06,28.83
$GC,18276,0.66,395.3,146.8,6.1,167,18354,0.12,2.17,71.03,0.457,4,0.082,0.028,2520,3392,1332,0,0,0,0,0,0,26.39,25.72,24.44
$GC,18414,0.66,395.3,128.4,10.5,169,18419,0.22,2.22,0.00,0.000,6,0.118,0.034,2460,1972,1319,0,0,0,0,0,0,25.41,25.70,28.83
$GC,19049,0.73,434.0,70.4,7.5,180,19094,0.10,2.28,37.45,0.249,4,0.097,0.044,2561,563,1192,0,0,0,0,0,0,26.36,25.86,24.89
$GC,19137,0.74,437.1,61.9,8.6,181,19150,0.22,2.10,6.68,0.201,6,0.099,0.022,2485,1988,1171,0,0,0,0,0,0,25.71,26.02,24.72
$STATE,19766,end climb,SURFACE_DEPTH_REACHED
$STATE,19767,begin surface coast
$FINISH,5.8,NaN
$STATE,19824,end surface coast,CONTROL_FINISHED_OK
$STATE,19824,begin surface
$SM_CCo,19899,0.00,0.000,0,0,1192,431.97
$SM_GC,6.54,5.80,0.00,0.00,0.025,0.000,0.000,101,1988,1192,-6.56,-1.05,431.97,0,0,0,0,0,0,26.36,28.83,28.83
$IRIDIUM_FIX,1932.09,12340.77,250212,202000
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.66
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.40
$XPDR_PINGS,34
$24V_AH,23.4,88.070
$10V_AH,9.3,77.509
$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,16.125,74.500,633.600,0.000,0.000,65.946,72.649,114.594,8.500,0.000,14.202,518.782,17671.309,540.576,1390.688,208.709,0.000,1278.906,0.000,1093.657,0.000,0.537,0.000
$DEVICE_MAMPS,190.485,140.760,994.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,10358,193
$CAP_FILE_SIZE,89166,0
$CFSIZE,260165632,170565632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,210.5,1
$GPS,260212,022037,1938.583,12336.801,33,1.0,33,-2.4