version: 66.10
glider: 168
mission: 6
dive: 26
start: 11 16 111 10 45 27
data:
$ID,168
$MISSION,6
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$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,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,13
$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,-5606.5996
$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,0.0080000004
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,44
$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
$GPS1,161111,103631,2054.548,12311.410,37,1.6,37,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.7
$GPS2,161111,104501,2054.551,12311.247,10,1.3,13,-2.6
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.259,-0.051
$KALMAN_X,8544817.0,0.0,0.0,5370655.0,3494143.0
$KALMAN_Y,1449855.6,0.0,0.0,912251.6,592024.1
$MHEAD_RNG_PITCHd_Wd,124.1,140129,-14.0,-8.684
$D_GRID,5601
$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,16,-0.59,-170.3,0.0,0.0,0,83,0.00,0.00,-64.00,0.000,2,0.000,0.000,101,1993,2839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.59,-170.3,3.5,-3.7,9,117,6.97,2.20,-14.43,0.000,4,0.201,0.060,2056,594,3650,0,0,0,0,0,0,25.79,26.02,26.33
$GC,125,-0.27,-170.3,18.3,-37.1,14,134,0.35,2.12,0.00,0.000,6,0.151,0.032,2157,1993,3650,0,0,0,0,0,0,25.89,26.08,28.83
$GC,451,-0.24,-170.3,88.3,-10.8,75,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,1995,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,765,-0.23,-170.3,123.1,-11.8,136,773,0.08,2.17,0.00,0.000,4,0.172,0.044,2180,586,3651,0,0,0,0,0,0,26.36,26.34,28.83
$GC,812,-0.29,-170.3,127.5,-7.3,144,821,0.05,2.12,0.00,0.000,6,0.068,0.032,2123,2006,3651,0,0,0,0,0,0,26.33,26.39,28.83
$GC,1138,-0.28,-170.3,171.7,-13.3,205,1146,0.12,2.15,0.00,0.000,4,0.139,0.041,2160,3405,3651,0,0,0,0,0,0,26.38,26.42,28.83
$GC,1193,-0.35,-170.3,176.9,-7.3,214,1201,0.05,2.12,0.00,0.000,6,0.073,0.034,2091,1995,3651,0,0,0,0,0,0,26.39,26.45,28.83
$GC,1520,-0.31,-170.3,220.5,-13.1,275,1528,0.17,2.15,0.00,0.000,4,0.130,0.046,2154,595,3651,0,0,0,0,0,0,26.39,26.46,28.83
$GC,1572,-0.37,-170.3,224.7,-4.2,284,1581,0.05,2.10,0.00,0.000,6,0.068,0.034,2090,1994,3651,0,0,0,0,0,0,26.45,26.50,28.83
$GC,1892,-0.33,-170.3,263.0,-13.3,336,1903,0.12,2.12,0.00,0.000,4,0.134,0.041,2128,3414,3651,0,0,0,0,0,0,26.46,26.51,28.83
$GC,1960,-0.38,-170.3,268.9,-7.5,342,1967,0.00,2.12,0.00,0.000,6,0.000,0.034,2128,2001,3650,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2270,-0.40,-170.3,292.8,-7.5,373,2278,0.00,2.10,0.00,0.000,4,0.000,0.047,2128,594,3649,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2295,-0.43,-170.3,294.6,-7.4,375,2302,0.00,2.10,0.00,0.000,6,0.000,0.036,2127,2010,3649,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2603,-0.45,-170.3,313.5,-5.6,406,2607,0.08,2.10,0.00,0.000,4,0.123,0.041,2031,3413,3647,0,0,0,0,0,0,26.63,26.55,28.83
$GC,2655,-0.42,-170.3,319.0,-11.9,411,2665,0.25,2.12,0.00,0.000,6,0.108,0.037,2117,1998,3647,0,0,0,0,0,0,26.48,26.55,28.83
$GC,2965,-0.43,-170.3,343.9,-8.7,442,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,1998,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-0.46,-170.3,372.2,-9.6,472,3277,0.00,2.12,0.00,0.000,4,0.000,0.048,2117,589,3644,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3300,-0.48,-170.3,375.6,-9.7,475,3309,0.00,2.10,0.00,0.000,6,0.000,0.035,2111,2007,3644,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3611,-0.50,-170.3,402.8,-8.0,506,3615,0.10,2.12,0.00,0.000,4,0.097,0.043,1998,3411,3643,0,0,0,0,0,0,26.65,26.57,28.83
$GC,3653,-0.46,-170.3,408.3,-13.1,510,3663,0.32,2.15,0.00,0.000,6,0.112,0.039,2108,1991,3642,0,0,0,0,0,0,26.48,26.58,28.83
$GC,3964,-0.48,-170.3,430.4,-6.0,541,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1991,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4268,-0.50,-170.3,448.3,-6.2,571,4277,0.08,2.12,0.00,0.000,4,0.125,0.048,2020,588,3638,0,0,0,0,0,0,26.66,26.57,28.83
$GC,4293,-0.50,-170.3,450.6,-7.5,573,4301,0.25,2.10,0.00,0.000,6,0.122,0.039,2093,1995,3638,0,0,0,0,0,0,26.48,26.59,28.83
$GC,4599,-0.50,-170.3,475.5,-7.1,604,4608,0.00,2.15,0.00,0.000,4,0.000,0.045,2084,3409,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4632,-0.51,-170.3,477.8,-7.1,607,4641,0.00,2.10,0.00,0.000,6,0.000,0.036,2083,1997,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4943,-0.51,-170.3,501.2,-7.8,638,4951,0.00,2.12,0.00,0.000,4,0.000,0.050,2083,593,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4986,-0.51,-170.3,504.6,-8.1,642,4994,0.00,2.10,0.00,0.000,6,0.000,0.038,2078,2002,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5295,-0.51,-170.3,531.5,-8.9,673,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2002,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.51,-170.3,559.1,-9.4,703,5604,0.00,2.12,0.00,0.000,4,0.000,0.047,2069,3400,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5629,-0.51,-170.3,561.9,-8.7,706,5637,0.08,2.10,0.00,0.000,6,0.145,0.037,2095,2001,3631,0,0,0,0,0,0,26.52,26.59,28.83
$GC,5938,-0.53,-170.3,581.4,-5.4,737,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2000,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6240,-0.55,-170.3,598.3,-5.6,767,6247,0.10,0.00,0.00,0.000,6,0.099,0.000,1997,2000,3628,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6547,-0.48,-170.3,644.6,-15.7,784,6550,0.30,0.00,0.00,0.000,6,0.123,0.000,2097,2000,3625,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6849,-0.50,-170.3,668.1,-7.6,799,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2000,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7147,-0.53,-170.3,690.5,-7.2,814,7153,0.08,2.12,0.00,0.000,4,0.122,0.044,2007,3410,3621,0,0,0,0,0,0,26.66,26.58,28.83
$GC,7176,-0.55,-170.3,692.3,-7.6,815,7181,0.22,2.12,0.00,0.000,6,0.120,0.039,2082,2003,3621,0,0,0,0,0,0,26.48,26.58,28.83
$GC,7484,-0.56,-170.3,717.3,-7.1,830,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2001,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7785,-0.57,-170.3,736.9,-6.2,845,7790,0.00,2.12,0.00,0.000,4,0.000,0.047,2074,3400,3616,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7817,-0.59,-170.3,738.2,-6.2,846,7824,0.00,2.12,0.00,0.000,6,0.000,0.037,2074,1985,3616,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8124,-0.60,-170.3,759.4,-7.0,862,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1985,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,-0.61,-170.3,781.4,-7.5,877,8430,0.08,2.17,0.00,0.000,4,0.124,0.047,1983,3400,3613,0,0,0,0,0,0,26.65,26.55,28.83
$GC,8463,-0.59,-170.3,786.0,-9.3,879,8469,0.25,2.12,0.00,0.000,6,0.120,0.043,2065,2003,3613,0,0,0,0,0,0,26.46,26.55,28.83
$GC,8785,-0.59,-170.3,813.1,-8.1,895,8789,0.00,2.17,0.00,0.000,4,0.000,0.054,2065,590,3611,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8806,-0.59,-170.3,815.1,-8.4,896,8812,0.00,2.12,0.00,0.000,6,0.000,0.038,2057,2006,3611,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9127,-0.59,-170.3,842.0,-8.5,912,9133,0.00,2.10,0.00,0.000,4,0.000,0.048,2048,3395,3609,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9179,-0.59,-170.3,845.4,-8.3,914,9186,0.00,2.12,0.00,0.000,6,0.000,0.038,2048,1992,3609,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9487,-0.58,-170.3,875.0,-9.7,930,9492,0.00,2.17,0.00,0.000,4,0.000,0.047,2040,3406,3608,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9520,-0.58,-170.3,876.9,-9.7,931,9528,0.10,2.12,0.00,0.000,6,0.132,0.040,2074,2003,3608,0,0,0,0,0,0,26.48,26.55,28.83
$GC,9830,-0.59,-170.3,901.3,-7.1,947,9836,0.00,2.15,0.00,0.000,4,0.000,0.053,2074,598,3607,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9862,-0.61,-170.3,902.8,-7.1,948,9869,0.00,2.10,0.00,0.000,6,0.000,0.040,2070,1999,3606,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10170,-0.62,-170.3,924.3,-6.2,964,10174,0.08,2.15,0.00,0.000,4,0.122,0.047,1982,3409,3605,0,0,0,0,0,0,26.64,26.53,28.83
$GC,10215,-0.61,-170.3,928.7,-8.0,966,10220,0.22,2.15,0.00,0.000,6,0.122,0.041,2056,2000,3605,0,0,0,0,0,0,26.43,26.54,28.83
$GC,10528,-0.61,-170.3,951.6,-6.5,982,10532,0.00,2.15,0.00,0.000,4,0.000,0.054,2056,591,3604,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10551,-0.61,-170.3,953.2,-6.6,983,10556,0.00,2.10,0.00,0.000,6,0.000,0.040,2049,1998,3604,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10870,-0.61,-170.3,975.4,-7.0,999,10876,0.00,2.12,0.00,0.000,4,0.000,0.049,2041,3399,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10918,-0.61,-170.3,978.3,-7.1,1001,10923,0.05,2.10,0.00,0.000,6,0.188,0.039,2058,1998,3603,0,0,0,0,0,0,26.47,26.53,28.83
$STATE,11102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11103,begin apogee
$GC,11109,-0.22,0.0,990.8,-6.5,1010,11266,0.32,0.00,145.18,1.293,6,0.099,0.000,2179,1857,2956,0,0,0,0,1,0,26.46,28.83,23.77
$STATE,11267,end apogee,CONTROL_FINISHED_OK
$STATE,11267,begin climb
$GC,11269,0.59,170.3,996.5,0.0,1018,11434,0.73,2.40,149.57,1.298,4,0.047,0.034,2457,3297,2262,0,0,0,0,1,0,24.81,24.50,23.63
$GC,11550,0.47,170.3,969.2,19.1,1032,11555,0.25,2.28,0.00,0.000,6,0.161,0.041,2399,1888,2263,0,0,0,0,0,0,25.23,25.34,28.83
$GC,11864,0.39,170.3,926.2,12.6,1048,11870,0.10,2.15,0.00,0.000,4,0.182,0.034,2374,3290,2259,0,0,0,0,0,0,25.76,25.85,28.83
$GC,11951,0.34,170.3,916.7,11.8,1052,11956,0.10,2.22,0.00,0.000,6,0.174,0.041,2358,1875,2257,0,0,0,0,0,0,25.80,25.90,28.83
$GC,12262,0.33,184.5,889.2,8.2,1067,12285,0.00,2.25,18.10,1.037,4,0.000,0.041,2358,3283,2193,0,0,0,0,0,0,28.83,25.71,24.97
$GC,12311,0.32,198.3,885.9,8.2,1069,12331,0.08,2.22,13.48,1.025,6,0.181,0.041,2348,1875,2144,0,0,0,0,0,0,25.67,25.75,24.77
$GC,12640,0.37,252.0,862.3,6.8,1086,12699,0.08,2.28,50.62,1.017,4,0.122,0.037,2428,3290,1915,0,0,0,0,0,0,26.01,25.11,24.39
$GC,12726,0.32,252.0,851.5,13.0,1090,12731,0.30,2.30,0.00,0.000,6,0.135,0.044,2347,1875,1906,0,0,0,0,0,0,25.22,25.31,28.83
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$STATE,19425,end climb,SURFACE_DEPTH_REACHED
$STATE,19425,begin surface coast
$FINISH,1.1,1.021624
$STATE,19438,end surface coast,CONTROL_FINISHED_OK
$STATE,19439,begin surface
$SM_CCo,19514,0.00,0.000,0,0,449,614.48
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$IRIDIUM_FIX,2050.21,12311.97,161111,050509
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.95
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.80
$XPDR_PINGS,9
$24V_AH,23.6,7.510
$10V_AH,10.3,6.176
$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
$DEVICE_SECS,21.250,177.775,705.575,0.000,0.000,62.183,43.381,206.336,2.250,0.000,16.235,4249.138,10199.703,784.251,4321.410,446.366,0.377,2540.209,0.000,3922.049,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1228.123,3606.340,1776.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330356
$DATA_FILE_SIZE,117003,1791
$CAP_FILE_SIZE,220669,0
$CFSIZE,260165632,219127808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,161111,161216,2052.306,12312.025,38,2.8,57,-2.6