version: 66.10
glider: 168
mission: 6
dive: 517
start: 2 26 112 6 48 55
data:
$ID,168
$MISSION,6
$DIVE,517
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$D_TGT,980
$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,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7663.6562
$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,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
$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
$GPS1,260212,063955,1938.264,12335.170,43,1.6,43,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.54
$_SM_ANGLEo,-72.1
$GPS2,260212,064831,1938.193,12335.096,13,1.6,30,-2.4
$SPEED_LIMITS,0.149,0.280
$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,210.6,185524,-13.6,-8.596
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-194.6,0.0,0.0,0,106,0.00,0.00,-87.62,0.000,6,0.000,0.000,102,1973,3750,0,0,0,0,0,0,28.83,28.83,26.54
$GC,110,-0.61,-194.6,7.4,0.0,1,122,7.18,2.08,0.00,0.000,4,0.192,0.031,2039,611,3750,0,0,0,0,0,0,24.58,25.88,28.83
$GC,229,-0.45,-194.6,54.8,-42.8,3,236,0.25,2.12,0.00,0.000,6,0.135,0.036,2104,2022,3751,0,0,0,0,0,0,25.37,25.58,28.83
$GC,850,-0.42,-194.6,171.2,-15.2,14,856,0.00,2.20,0.00,0.000,4,0.000,0.038,2093,3437,3752,0,0,0,0,0,0,28.83,26.03,28.83
$GC,898,-0.40,-194.6,171.2,-15.2,14,903,0.10,2.12,0.00,0.000,6,0.116,0.028,2132,2016,3751,0,0,0,0,0,0,26.00,26.11,28.83
$GC,1506,-0.42,-194.6,220.0,-5.9,21,1512,0.00,2.20,0.00,0.000,4,0.000,0.039,2124,3437,3751,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1534,-0.44,-194.6,220.0,-5.9,21,1537,0.00,2.10,0.00,0.000,6,0.000,0.028,2125,2024,3751,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2219,-0.52,-194.6,287.2,-10.2,27,2224,0.12,2.20,0.00,0.000,4,0.109,0.033,2069,3446,3749,0,0,0,0,0,0,26.34,26.09,28.83
$GC,2266,-0.60,-194.6,287.2,-10.2,27,2272,0.00,2.15,0.00,0.000,6,0.000,0.028,2069,2017,3749,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2936,-0.65,-194.6,340.0,-7.3,33,2941,0.10,2.25,0.00,0.000,4,0.109,0.035,2004,3440,3747,0,0,0,0,0,0,26.43,26.06,28.83
$GC,2993,-0.70,-194.6,340.0,-7.3,33,2998,0.10,2.15,0.00,0.000,6,0.135,0.033,2035,2033,3747,0,0,0,0,0,0,25.94,26.08,28.83
$GC,4016,-0.67,-194.6,485.7,-12.5,42,4022,0.00,2.22,0.00,0.000,4,0.000,0.047,2035,623,3741,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4157,-0.65,-194.6,498.1,-11.8,43,4162,0.00,2.10,0.00,0.000,6,0.000,0.034,2028,2019,3740,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5096,-0.64,-194.6,617.6,-11.8,51,5103,0.08,2.22,0.00,0.000,4,0.181,0.037,2039,3440,3734,0,0,0,0,0,0,26.32,25.97,28.83
$GC,5140,-0.62,-194.6,617.6,-11.8,51,5144,0.00,2.15,0.00,0.000,6,0.000,0.031,2039,2023,3734,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6056,-0.61,-194.6,703.4,-9.3,59,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2023,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.61,-194.6,794.0,-9.7,67,7019,0.00,2.25,0.00,0.000,4,0.000,0.042,2031,3433,3720,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7041,-0.61,-194.6,794.0,-9.7,67,7046,0.10,2.15,0.00,0.000,6,0.122,0.034,2066,2029,3719,0,0,0,0,0,0,25.82,25.92,28.83
$GC,7970,-0.63,-194.6,842.6,-4.3,75,7975,0.00,2.22,0.00,0.000,4,0.000,0.049,2066,623,3713,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7994,-0.64,-194.6,842.6,-4.3,75,8000,0.08,2.15,0.00,0.000,6,0.119,0.034,2000,2032,3714,0,0,0,0,0,0,25.86,25.93,28.83
$GC,8929,-0.62,-194.6,957.6,-12.3,83,8936,0.12,2.20,0.00,0.000,4,0.133,0.042,2037,3432,3709,0,0,0,0,0,0,26.15,25.74,28.83
$GC,8979,-0.60,-194.6,957.6,-12.3,83,8985,0.08,2.20,0.00,0.000,6,0.137,0.033,2063,2016,3709,0,0,0,0,0,0,25.77,25.86,28.83
$STATE,9287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9287,begin apogee
$GC,9292,-0.22,0.0,980.9,-7.6,86,9543,0.32,0.00,245.32,0.799,6,0.086,0.000,2187,2014,2953,0,0,0,0,0,0,25.86,28.83,23.65
$STATE,9544,end apogee,CONTROL_FINISHED_OK
$STATE,9544,begin climb
$GC,9546,0.61,194.6,993.3,0.0,88,9732,0.68,2.30,174.68,0.982,4,0.045,0.031,2463,3400,2148,0,0,0,0,0,0,25.20,24.99,23.44
$GC,9754,0.96,483.7,993.0,0.0,89,10023,0.25,2.30,260.10,0.929,6,0.047,0.035,2604,1975,981,0,0,0,0,0,0,25.37,25.29,23.65
$GC,10960,0.87,483.7,464.8,43.2,100,10967,0.22,2.15,0.00,0.000,4,0.155,0.022,2534,3412,945,0,0,0,0,0,0,25.64,26.09,28.83
$GC,10996,0.77,483.7,464.8,43.2,100,11003,0.17,2.28,0.00,0.000,6,0.132,0.042,2491,1977,944,0,0,0,0,0,0,25.63,25.87,28.83
$GC,11923,0.75,483.7,262.8,21.3,108,11928,0.00,2.22,0.00,0.000,4,0.000,0.052,2501,568,944,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12006,0.73,483.7,262.8,21.3,108,12012,0.08,2.10,0.00,0.000,6,0.154,0.022,2478,1996,944,0,0,0,0,0,0,25.97,26.14,28.83
$GC,12639,0.73,483.7,151.2,15.4,116,12644,0.00,2.22,0.00,0.000,4,0.000,0.047,2487,567,945,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12729,0.73,483.7,146.3,13.3,117,12733,0.00,2.05,0.00,0.000,6,0.000,0.024,2487,1979,946,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13351,0.75,483.7,76.8,10.5,128,13355,0.00,2.22,0.00,0.000,4,0.000,0.045,2489,558,947,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13426,0.77,483.7,72.3,9.2,129,13430,0.00,2.08,0.00,0.000,6,0.000,0.024,2490,1975,948,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,14065,end climb,SURFACE_DEPTH_REACHED
$STATE,14065,begin surface coast
$FINISH,5.8,NaN
$STATE,14127,end surface coast,CONTROL_FINISHED_OK
$STATE,14128,begin surface
$SM_CCo,14202,0.00,0.000,0,0,951,491.34
$SM_GC,6.59,5.80,0.00,0.00,0.022,0.000,0.000,100,1976,951,-6.56,-1.39,491.34,0,0,0,0,0,0,26.23,28.83,28.83
$IRIDIUM_FIX,1932.09,12335.69,260212,060626
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.54
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.00
$XPDR_PINGS,114
$24V_AH,23.4,88.428
$10V_AH,8.9,77.582
$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,15.825,65.375,680.100,0.000,0.000,75.831,105.551,77.940,28.500,0.000,31.064,423.416,12305.419,573.745,1258.331,166.072,0.000,1236.613,0.000,930.423,0.000,0.538,0.000
$DEVICE_MAMPS,192.015,52.020,982.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$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,329828
$DATA_FILE_SIZE,7032,141
$CAP_FILE_SIZE,75561,0
$CFSIZE,260165632,170516480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,182.5,1
$GPS,260212,104700,1936.691,12335.026,40,1.1,45,-2.3