version: 66.10
glider: 168
mission: 6
dive: 6
start: 11 12 111 13 16 21
data:
$ID,168
$MISSION,6
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1000
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$N_FILEKB,8
$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,-5526.4141
$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,2285
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0080000004
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,33
$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,8
$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
$GPS1,121111,131001,2116.238,12250.558,38,1.6,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.0
$GPS2,121111,131555,2116.253,12250.472,7,1.3,12,-2.7
$SPEED_LIMITS,0.173,0.310
$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,133.7,192528,-13.9,-10.000
$D_GRID,3487
$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,17,-0.67,-219.0,0.0,0.0,0,96,0.00,0.00,-76.72,0.000,2,0.000,0.000,100,1994,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.67,-219.0,3.5,-6.3,11,126,7.10,2.28,-11.35,0.000,4,0.207,0.066,2066,576,3850,0,0,0,0,0,0,25.86,26.13,26.46
$GC,174,-0.50,-219.0,41.3,-44.1,22,183,0.17,2.17,0.00,0.000,6,0.136,0.039,2116,1990,3850,0,0,0,0,0,0,26.03,26.20,28.83
$GC,513,-0.47,-219.0,103.4,-13.5,83,521,0.08,2.22,0.00,0.000,4,0.183,0.054,2137,581,3850,0,0,0,0,0,0,26.38,26.34,28.83
$GC,584,-0.52,-219.0,111.1,-7.7,95,593,0.03,2.15,0.00,0.000,6,0.106,0.037,2080,1998,3850,0,0,0,0,0,0,26.31,26.39,28.83
$GC,929,-0.49,-219.0,169.8,-16.5,156,938,0.12,2.17,0.00,0.000,4,0.143,0.045,2116,3402,3850,0,0,0,0,0,0,26.41,26.45,28.83
$GC,986,-0.55,-219.0,176.2,-7.8,165,994,0.00,2.17,0.00,0.000,6,0.000,0.041,2116,1989,3850,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1319,-0.57,-219.0,209.0,-9.4,226,1327,0.00,2.17,0.00,0.000,4,0.000,0.056,2117,596,3850,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1353,-0.60,-219.0,212.3,-9.4,231,1362,0.05,2.12,0.00,0.000,6,0.067,0.041,2045,1994,3850,0,0,0,0,0,0,26.47,26.53,28.83
$GC,1687,-0.55,-219.0,266.3,-15.5,282,1697,0.17,2.12,0.00,0.000,4,0.136,0.045,2097,3409,3849,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1732,-0.56,-219.0,271.0,-10.2,286,1743,0.00,2.12,0.00,0.000,6,0.000,0.043,2097,2003,3849,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2043,-0.57,-219.0,299.8,-9.9,317,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2002,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-0.59,-219.0,331.8,-10.0,348,2361,0.00,2.17,0.00,0.000,4,0.000,0.056,2097,584,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2387,-0.62,-219.0,335.1,-10.0,351,2391,0.00,2.12,0.00,0.000,6,0.000,0.040,2097,2006,3847,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2699,-0.64,-219.0,363.9,-8.5,382,2710,0.00,2.12,0.00,0.000,4,0.000,0.049,2088,3406,3845,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2746,-0.67,-219.0,367.3,-7.8,386,2755,0.08,2.15,0.00,0.000,6,0.129,0.041,2014,1986,3845,0,0,0,0,0,0,26.53,26.58,28.83
$GC,3053,-0.63,-219.0,416.1,-15.4,417,3055,0.22,0.00,0.00,0.000,6,0.125,0.000,2089,1986,3844,0,0,0,0,0,0,26.48,28.83,28.83
$GC,3354,-0.65,-219.0,443.4,-10.0,447,3364,0.00,2.22,0.00,0.000,4,0.000,0.051,2081,3411,3842,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3381,-0.67,-219.0,445.7,-9.9,449,3387,0.00,2.15,0.00,0.000,6,0.000,0.042,2080,2003,3841,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3688,-0.69,-219.0,477.0,-9.7,480,3690,0.08,0.00,0.00,0.000,6,0.124,0.000,1998,2001,3840,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3989,-0.65,-219.0,526.2,-15.6,510,4000,0.22,2.15,0.00,0.000,4,0.132,0.048,2067,3397,3837,0,0,0,0,0,0,26.46,26.58,28.83
$GC,4015,-0.61,-219.0,529.6,-14.6,512,4023,0.08,2.15,0.00,0.000,6,0.147,0.046,2094,1993,3838,0,0,0,0,0,0,26.51,26.57,28.83
$GC,4325,-0.65,-219.0,549.5,-6.2,543,4334,0.08,2.17,0.00,0.000,4,0.122,0.049,2015,3404,3835,0,0,0,0,0,0,26.70,26.57,28.83
$GC,4350,-0.67,-219.0,551.6,-7.0,545,4357,0.17,2.15,0.00,0.000,6,0.116,0.047,2075,2001,3835,0,0,0,0,0,0,26.49,26.56,28.83
$GC,4658,-0.69,-219.0,579.0,-8.9,576,4662,0.00,2.20,0.00,0.000,4,0.000,0.061,2075,582,3833,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4693,-0.72,-219.0,581.8,-8.9,579,4700,0.08,2.15,0.00,0.000,6,0.124,0.042,2002,2008,3832,0,0,0,0,0,0,26.54,26.59,28.83
$GC,5012,-0.68,-219.0,627.4,-14.4,602,5018,0.17,2.12,0.00,0.000,4,0.131,0.050,2056,3403,3830,0,0,0,0,0,0,26.48,26.56,28.83
$GC,5064,-0.67,-219.0,631.8,-12.8,604,5071,0.00,2.15,0.00,0.000,6,0.000,0.044,2056,1997,3829,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5372,-0.68,-219.0,658.9,-8.2,620,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1997,3827,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5389,begin apogee
$GC,5395,-0.14,0.0,660.5,-8.3,621,5573,0.50,0.00,169.25,0.904,6,0.090,0.000,2242,1921,2948,0,0,0,0,0,0,26.50,28.83,24.28
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5576,0.67,219.0,668.0,0.0,630,5766,0.65,2.35,180.57,0.861,4,0.031,0.059,2561,527,2052,0,0,0,0,0,0,25.18,24.89,24.24
$GC,5954,0.51,219.0,603.4,26.5,648,5959,0.38,2.15,0.00,0.000,6,0.139,0.033,2448,1942,2034,0,0,0,0,0,0,25.68,25.84,28.83
$GC,6267,0.43,219.0,543.2,17.9,679,6271,0.10,2.12,0.00,0.000,4,0.179,0.040,2422,3323,2029,0,0,0,0,0,0,26.06,26.13,28.83
$GC,6309,0.37,219.0,535.6,18.0,683,6321,0.08,2.20,0.00,0.000,6,0.139,0.047,2404,1914,2027,0,0,0,0,0,0,26.02,26.14,28.83
$GC,6619,0.33,219.0,498.2,10.2,714,6628,0.00,2.17,0.00,0.000,4,0.000,0.042,2405,3327,2026,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6686,0.29,219.0,491.3,11.2,720,6693,0.12,2.20,0.00,0.000,6,0.154,0.049,2376,1924,2025,0,0,0,0,0,0,26.18,26.28,28.83
$GC,6993,0.33,252.8,464.5,9.0,751,7033,0.00,2.17,33.83,0.687,4,0.000,0.043,2376,3319,1918,0,0,0,0,0,0,28.83,25.89,25.29
$GC,7059,0.36,270.8,458.4,9.4,757,7087,0.08,2.22,18.80,0.711,6,0.117,0.050,2439,1926,1843,0,0,0,0,0,0,25.94,25.96,25.10
$GC,7387,0.31,270.8,407.3,16.9,790,7397,0.15,2.15,0.00,0.000,4,0.145,0.040,2387,3321,1831,0,0,0,0,0,0,26.04,26.13,28.83
$GC,7440,0.31,270.8,399.6,13.4,795,7449,0.00,2.20,0.00,0.000,6,0.000,0.049,2395,1924,1830,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7752,0.31,270.8,363.3,11.2,826,7761,0.00,2.12,0.00,0.000,4,0.000,0.044,2396,3312,1828,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7784,0.31,270.8,359.5,11.5,829,7794,0.05,2.17,0.00,0.000,6,0.136,0.050,2381,1923,1827,0,0,0,0,0,0,26.18,26.29,28.83
$GC,8094,0.46,378.3,333.4,6.7,860,8229,0.12,2.40,123.30,0.607,4,0.081,0.061,2484,516,1402,0,0,0,0,0,0,26.47,25.25,24.74
$GC,8252,0.41,378.3,310.0,16.9,875,8262,0.22,2.15,0.00,0.000,6,0.115,0.032,2413,1918,1394,0,0,0,0,0,0,25.41,25.52,28.83
$GC,8561,0.41,378.3,280.3,10.5,906,8572,0.00,2.28,0.00,0.000,4,0.000,0.061,2423,510,1389,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8598,0.42,378.3,277.0,10.4,909,8606,0.00,2.10,0.00,0.000,6,0.000,0.034,2423,1916,1389,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8912,0.43,378.3,242.3,10.6,946,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1917,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,0.53,440.4,207.8,8.1,1007,9336,0.10,2.30,67.95,0.532,4,0.099,0.059,2520,524,1146,0,0,0,0,0,0,26.43,25.65,25.17
$GC,9388,0.48,440.4,183.9,18.6,1026,9397,0.22,2.15,0.00,0.000,6,0.097,0.031,2438,1932,1140,0,0,0,0,0,0,25.77,25.89,28.83
$GC,9734,0.52,450.1,149.0,9.7,1087,9742,0.00,0.00,3.85,0.458,6,0.000,0.000,2438,1933,1117,0,0,0,0,0,0,28.83,28.83,25.44
$GC,10067,0.55,450.1,115.2,10.6,1148,10078,0.08,2.25,0.00,0.000,4,0.122,0.055,2529,524,1123,0,0,0,0,0,0,26.39,26.27,28.83
$GC,10115,0.52,450.1,107.9,17.8,1155,10124,0.20,2.10,0.00,0.000,6,0.099,0.031,2454,1930,1124,0,0,0,0,0,0,26.23,26.34,28.83
$GC,10459,0.66,532.5,70.8,7.5,1216,10541,0.12,2.30,68.50,0.266,4,0.081,0.060,2567,524,806,0,0,0,0,0,0,26.49,26.01,25.73
$GC,10655,0.63,532.5,35.1,16.2,1246,10664,0.20,2.10,3.97,0.148,6,0.090,0.030,2490,1928,782,0,0,0,0,0,0,26.10,26.22,25.91
$GC,10998,0.83,639.3,7.0,6.7,1307,11030,0.15,0.00,29.92,0.130,2,0.072,0.000,2596,1929,571,0,0,0,0,0,0,26.42,28.83,28.83
$STATE,11031,end climb,SURFACE_DEPTH_REACHED
$STATE,11031,begin surface coast
$FINISH,0.5,1.021980
$STATE,11056,end surface coast,CONTROL_FINISHED_OK
$STATE,11056,begin surface
$SM_CCo,11132,0.00,0.000,0,0,589,580.38
$SM_GC,1.18,6.03,0.05,0.00,0.024,0.143,0.000,100,1986,589,-6.66,-1.78,580.38,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12250.09,121111,090907
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.98
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,24.2,3.469
$10V_AH,10.4,2.674
$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,18.450,100.450,699.950,0.000,0.000,25.258,17.572,178.589,0.250,0.000,15.009,3410.667,3685.485,728.559,3334.615,310.230,0.000,2006.912,0.000,3056.432,0.000,0.540,0.000
$DEVICE_MAMPS,207.315,143.055,904.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.205,2866.496,1774.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,86983,1315
$CAP_FILE_SIZE,142840,0
$CFSIZE,260165632,221151232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.533,321.6,1
$GPS,121111,162306,2116.390,12250.942,36,1.7,37,-2.7