version: 66.10
glider: 168
mission: 6
dive: 516
start: 2 26 112 2 24 40
data:
$ID,168
$MISSION,6
$DIVE,516
$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,-7662.3975
$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,36
$R_STBD_OVSHOOT,49
$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
$GPS1,260212,022037,1938.583,12336.801,33,1.0,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.56
$_SM_ANGLEo,-72.8
$GPS2,260212,022415,1938.534,12336.751,12,1.1,12,-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,246.5,188118,-13.8,-8.684
$D_GRID,5119
$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,-0.61,-194.6,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,2,0.000,0.000,100,1988,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.61,-194.6,8.2,0.0,1,113,7.10,2.33,-17.35,0.000,4,0.186,0.049,2045,3427,3750,0,0,0,0,0,0,24.66,25.91,26.53
$GC,235,-0.57,-194.6,36.0,-19.1,3,242,0.10,2.17,0.00,0.000,6,0.144,0.034,2074,2018,3750,0,0,0,0,0,0,25.77,25.94,28.83
$GC,860,-0.52,-194.6,173.9,-20.0,14,864,0.00,2.15,0.00,0.000,4,0.000,0.044,2075,614,3752,0,0,0,0,0,0,28.83,25.91,28.83
$GC,982,-0.49,-194.6,191.0,-17.4,16,988,0.10,2.10,0.00,0.000,6,0.139,0.031,2101,2021,3752,0,0,0,0,0,0,25.94,26.10,28.83
$GC,1695,-0.49,-194.6,265.6,-9.9,23,1700,0.00,2.20,0.00,0.000,4,0.000,0.038,2090,3438,3752,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1755,-0.49,-194.6,265.6,-9.9,23,1759,0.00,2.15,0.00,0.000,6,0.000,0.029,2091,2018,3752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2407,-0.49,-194.6,330.8,-9.1,29,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2017,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3367,-0.50,-194.6,398.4,-6.1,37,3373,0.00,2.20,0.00,0.000,4,0.000,0.041,2084,3429,3746,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3447,-0.52,-194.6,398.4,-6.1,37,3451,0.00,2.12,0.00,0.000,6,0.000,0.030,2084,2021,3746,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4448,-0.59,-194.6,477.8,-6.8,46,4453,0.10,2.17,0.00,0.000,4,0.125,0.041,2041,618,3741,0,0,0,0,0,0,26.36,25.91,28.83
$GC,4494,-0.65,-194.6,477.8,-6.8,46,4498,0.00,2.10,0.00,0.000,6,0.000,0.028,2040,2031,3740,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5403,-0.68,-194.6,554.5,-7.1,54,5409,0.00,2.20,0.00,0.000,4,0.000,0.045,2040,626,3735,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5465,-0.71,-194.6,554.5,-7.1,54,5469,0.00,2.12,0.00,0.000,6,0.000,0.034,2033,2025,3734,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6477,-0.70,-194.6,657.4,-8.8,63,6482,0.00,2.20,0.00,0.000,4,0.000,0.042,2024,3435,3728,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6575,-0.69,-194.6,657.4,-8.8,63,6579,0.00,2.17,0.00,0.000,6,0.000,0.034,2024,2028,3728,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7552,-0.68,-194.6,764.0,-9.9,72,7558,0.00,2.25,0.00,0.000,4,0.000,0.049,2023,620,3721,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7570,-0.67,-194.6,764.0,-9.9,72,7574,0.00,2.15,0.00,0.000,6,0.000,0.036,2023,2022,3721,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8507,-0.66,-194.6,864.7,-10.2,80,8513,0.05,2.22,0.00,0.000,4,0.229,0.042,2029,3435,3716,0,0,0,0,0,0,26.37,25.77,28.83
$GC,8577,-0.65,-194.6,864.7,-10.2,80,8582,0.00,2.17,0.00,0.000,6,0.000,0.034,2029,2027,3715,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9585,-0.65,-194.6,941.9,-7.0,89,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2026,3712,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10303,begin apogee
$GC,10310,-0.22,0.0,999.0,-8.0,95,10485,0.43,0.00,168.70,1.030,6,0.090,0.000,2184,1971,2952,0,0,0,0,0,0,25.66,28.83,23.30
$STATE,10486,end apogee,CONTROL_FINISHED_OK
$STATE,10486,begin climb
$GC,10488,0.61,194.6,1004.1,0.0,96,10676,0.70,2.33,175.32,0.988,4,0.043,0.047,2479,572,2149,0,0,0,0,0,0,25.09,24.88,23.39
$GC,10707,0.90,483.7,993.8,0.0,98,10982,0.17,2.17,267.17,0.920,6,0.055,0.023,2594,1990,980,0,0,0,0,0,0,25.42,25.41,23.67
$GC,11985,0.82,483.7,465.5,40.0,109,11992,0.25,2.28,0.00,0.000,4,0.158,0.053,2528,572,943,0,0,0,0,0,0,25.54,25.77,28.83
$GC,12085,0.73,483.7,465.5,40.0,109,12091,0.15,2.10,0.00,0.000,6,0.136,0.022,2484,1994,943,0,0,0,0,0,0,25.78,26.13,28.83
$GC,13064,0.71,483.7,244.4,18.1,118,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1996,943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13665,0.71,483.7,144.0,16.6,125,13670,0.00,2.12,0.00,0.000,4,0.000,0.030,2484,3379,944,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13730,0.72,483.7,136.8,15.3,126,13736,0.00,2.15,0.00,0.000,6,0.000,0.031,2485,1970,944,0,0,0,0,0,0,28.83,26.02,28.83
$GC,14385,0.80,483.7,77.5,9.2,137,14392,0.08,2.20,0.00,0.000,4,0.134,0.042,2521,570,947,0,0,0,0,0,0,26.39,25.89,28.83
$GC,14478,0.89,483.7,71.0,9.8,138,14482,0.00,2.08,0.00,0.000,6,0.000,0.026,2521,1972,948,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,15097,end climb,SURFACE_DEPTH_REACHED
$STATE,15097,begin surface coast
$FINISH,5.8,NaN
$STATE,15157,end surface coast,CONTROL_FINISHED_OK
$STATE,15157,begin surface
$SM_CCo,15234,0.00,0.000,0,0,951,491.34
$SM_GC,6.55,5.95,0.00,0.00,0.029,0.000,0.000,102,1972,951,-6.55,-1.50,491.34,0,0,0,0,0,0,26.34,28.83,28.83
$IRIDIUM_FIX,1934.38,12340.77,250212,202006
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.22
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,23.60
$XPDR_PINGS,62
$24V_AH,23.3,88.243
$10V_AH,9.1,77.543
$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,15.175,56.675,611.200,0.000,0.000,29.600,27.955,59.303,15.500,0.000,13.419,401.697,13389.292,518.019,1001.113,150.399,0.000,1117.881,0.000,844.489,0.000,0.538,0.000
$DEVICE_MAMPS,228.735,141.525,1030.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,329820
$DATA_FILE_SIZE,7028,150
$CAP_FILE_SIZE,66996,0
$CFSIZE,260165632,170553344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,259.7,1
$GPS,260212,063955,1938.264,12335.170,43,1.6,43,-2.4