version: 66.10
glider: 168
mission: 6
dive: 8
start: 11 12 111 21 8 29
data:
$ID,168
$MISSION,6
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$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,-8
$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,-5528.9302
$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,2275
$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,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,37
$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
$GPS1,121111,210137,2115.218,12251.274,28,1.1,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.9
$GPS2,121111,210801,2115.305,12251.224,8,1.1,13,-2.7
$SPEED_LIMITS,0.191,0.321
$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,166.5,190440,-15.3,-11.000
$D_GRID,3055
$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,-0.71,-219.0,0.0,0.0,0,103,0.00,0.00,-83.50,0.000,2,0.000,0.000,101,2003,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.71,-219.0,3.7,-6.2,12,133,7.03,2.30,-11.68,0.000,4,0.204,0.065,2047,576,3849,0,0,0,0,0,0,25.79,26.02,26.34
$GC,197,-0.58,-219.0,47.8,-38.6,26,206,0.15,2.20,0.00,0.000,6,0.142,0.040,2086,1994,3850,0,0,0,0,0,0,25.95,26.10,28.83
$GC,540,-0.53,-219.0,129.2,-20.1,87,550,0.08,2.22,0.00,0.000,4,0.192,0.050,2107,584,3850,0,0,0,0,0,0,26.27,26.26,28.83
$GC,580,-0.51,-219.0,136.2,-14.9,93,588,0.00,2.15,0.00,0.000,6,0.000,0.037,2098,1995,3850,0,0,0,0,0,0,28.83,26.30,28.83
$GC,926,-0.50,-219.0,187.2,-14.7,154,934,0.08,2.20,0.00,0.000,4,0.190,0.044,2110,3409,3850,0,0,0,0,0,0,26.38,26.37,28.83
$GC,973,-0.54,-219.0,192.4,-9.3,161,981,0.00,2.17,0.00,0.000,6,0.000,0.038,2110,1991,3850,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1317,-0.55,-219.0,228.1,-9.5,222,1325,0.00,2.17,0.00,0.000,4,0.000,0.053,2110,595,3850,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1361,-0.60,-219.0,232.4,-9.7,229,1370,0.05,2.12,0.00,0.000,6,0.067,0.038,2028,1990,3849,0,0,0,0,0,0,26.41,26.46,28.83
$GC,1681,-0.53,-219.0,298.7,-21.7,268,1693,0.22,2.15,0.00,0.000,4,0.138,0.043,2096,3406,3849,0,0,0,0,0,0,26.39,26.48,28.83
$GC,1750,-0.58,-219.0,307.9,-10.4,274,1757,0.00,2.12,0.00,0.000,6,0.000,0.039,2097,2000,3848,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2059,-0.59,-219.0,346.7,-12.1,305,2068,0.00,2.15,0.00,0.000,4,0.000,0.053,2096,595,3848,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2091,-0.62,-219.0,350.6,-11.8,308,2101,0.08,2.10,0.00,0.000,6,0.125,0.040,2006,2006,3848,0,0,0,0,0,0,26.48,26.51,28.83
$GC,2403,-0.56,-219.0,411.9,-19.2,339,2413,0.25,2.15,0.00,0.000,4,0.134,0.046,2085,3414,3847,0,0,0,0,0,0,26.43,26.53,28.83
$GC,2448,-0.56,-219.0,417.5,-12.6,343,2456,0.00,2.17,0.00,0.000,6,0.000,0.040,2085,2001,3846,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2759,-0.58,-219.0,444.8,-9.2,374,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2000,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.61,-219.0,472.8,-8.6,405,3078,0.00,2.15,0.00,0.000,4,0.000,0.048,2079,3406,3843,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3132,-0.66,-219.0,477.6,-6.9,411,3141,0.00,2.12,0.00,0.000,6,0.000,0.041,2079,1995,3843,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3443,-0.69,-219.0,502.2,-7.8,442,3452,0.10,2.15,0.00,0.000,4,0.097,0.054,1984,594,3841,0,0,0,0,0,0,26.65,26.56,28.83
$GC,3489,-0.67,-219.0,508.0,-13.2,446,3497,0.28,2.12,0.00,0.000,6,0.119,0.043,2067,1999,3840,0,0,0,0,0,0,26.46,26.56,28.83
$GC,3798,-0.68,-219.0,537.2,-8.6,477,3801,0.00,2.15,0.00,0.000,4,0.000,0.050,2058,3409,3839,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3842,-0.71,-219.0,540.6,-8.0,481,3850,0.00,2.12,0.00,0.000,6,0.000,0.041,2058,2001,3839,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4151,-0.73,-219.0,565.0,-7.8,512,4163,0.08,2.17,0.00,0.000,4,0.123,0.056,1970,592,3837,0,0,0,0,0,0,26.66,26.54,28.83
$GC,4189,-0.72,-219.0,569.6,-11.6,515,4197,0.28,2.15,0.00,0.000,6,0.122,0.044,2053,2006,3837,0,0,0,0,0,0,26.46,26.57,28.83
$GC,4498,-0.73,-219.0,602.7,-11.4,545,4503,0.00,2.12,0.00,0.000,4,0.000,0.050,2042,3410,3834,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4530,-0.74,-219.0,605.0,-11.4,546,4537,0.00,2.15,0.00,0.000,6,0.000,0.044,2042,2001,3834,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4837,-0.74,-219.0,642.7,-11.3,562,4842,0.00,2.17,0.00,0.000,4,0.000,0.058,2042,590,3831,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4858,-0.74,-219.0,644.9,-11.3,563,4862,0.00,2.15,0.00,0.000,6,0.000,0.042,2036,1993,3831,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5177,-0.74,-219.0,679.6,-10.7,579,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1994,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-0.74,-219.0,711.6,-10.9,594,5482,0.00,2.15,0.00,0.000,4,0.000,0.050,2026,3407,3827,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5516,-0.74,-219.0,716.0,-11.0,596,5521,0.00,2.15,0.00,0.000,6,0.000,0.044,2025,1997,3827,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5836,-0.74,-219.0,754.4,-12.1,612,5842,0.00,2.17,0.00,0.000,4,0.000,0.060,2025,588,3823,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5856,-0.74,-219.0,756.9,-12.1,613,5862,0.10,2.15,0.00,0.000,6,0.148,0.043,2049,2007,3824,0,0,0,0,0,0,26.49,26.57,28.83
$GC,6178,-0.75,-219.0,789.8,-10.2,629,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2007,3821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6477,-0.77,-219.0,818.3,-9.0,644,6481,0.08,2.15,0.00,0.000,4,0.125,0.050,1959,3409,3819,0,0,0,0,0,0,26.67,26.55,28.83
$GC,6502,-0.77,-219.0,820.9,-9.6,645,6507,0.22,2.15,0.00,0.000,6,0.122,0.047,2031,2001,3818,0,0,0,0,0,0,26.46,26.55,28.83
$GC,6815,-0.77,-219.0,851.1,-8.5,661,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2001,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,-0.77,-219.0,875.3,-8.1,676,7120,0.00,2.17,0.00,0.000,4,0.000,0.050,2022,3409,3814,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7137,-0.77,-219.0,877.1,-8.3,677,7141,0.00,2.20,0.00,0.000,6,0.000,0.046,2022,2003,3814,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7455,-0.77,-219.0,908.9,-10.1,693,7459,0.00,2.22,0.00,0.000,4,0.000,0.063,2022,587,3812,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7479,-0.77,-219.0,911.3,-10.3,694,7484,0.00,2.15,0.00,0.000,6,0.000,0.044,2014,1998,3812,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7799,-0.77,-219.0,947.6,-11.9,710,7804,0.00,2.15,0.00,0.000,4,0.000,0.054,2004,3400,3811,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7845,-0.77,-219.0,952.3,-11.7,712,7850,0.10,2.17,0.00,0.000,6,0.140,0.046,2037,1988,3810,0,0,0,0,0,0,26.48,26.54,28.83
$GC,8159,-0.78,-219.0,983.8,-9.4,728,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1987,3809,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8235,begin apogee
$GC,8240,-0.23,0.0,991.4,-9.4,732,8399,0.45,0.00,153.02,1.130,2,0.098,0.000,2202,1987,3076,0,0,0,0,0,0,26.48,28.83,28.83
$STATE,8400,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,8412,564.30,1.137,1,0,414,622.82
$SM_GC,1.28,5.03,0.00,0.00,0.026,0.000,0.000,102,1986,441,-6.63,0.28,616.44,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,12246.89,121111,161609
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.4,3.913
$10V_AH,10.4,2.953
$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,14.625,82.150,153.025,564.300,0.000,22.707,46.488,182.143,0.250,0.000,16.565,2315.505,12689.635,859.346,1891.692,216.543,0.000,1752.618,0.000,1590.098,0.000,0.538,0.000
$DEVICE_MAMPS,204.255,65.025,1129.905,1136.790,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.192,1461.841,653.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,47010,740
$CAP_FILE_SIZE,122003,0
$CFSIZE,260165632,221032448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,131111,020307,2115.368,12251.820,39,0.9,39,-2.7