version: 66.10
glider: 168
mission: 6
dive: 27
start: 11 16 111 16 20 29
data:
$ID,168
$MISSION,6
$DIVE,27
$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,-6
$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,-5607.8584
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,161111,161216,2052.306,12312.025,38,2.8,57,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-65.0
$GPS2,161111,161946,2052.282,12311.907,12,2.4,31,-2.6
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.258,-0.059
$KALMAN_X,8673794.0,0.0,0.0,5140425.5,1520742.0
$KALMAN_Y,1467640.8,0.0,0.0,872815.4,254713.8
$MHEAD_RNG_PITCHd_Wd,122.9,136987,-14.0,-8.684
$D_GRID,5590
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-77.47,0.000,2,0.000,0.000,101,1996,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.59,-170.3,3.6,-3.5,11,130,7.05,2.15,-15.57,0.000,4,0.205,0.054,2054,580,3651,0,0,0,0,0,0,25.78,26.03,26.32
$GC,149,-0.36,-170.3,22.8,-43.4,18,158,0.25,2.15,0.00,0.000,6,0.146,0.034,2126,1986,3651,0,0,0,0,0,0,25.89,26.06,28.83
$GC,474,-0.30,-170.3,103.1,-16.4,79,482,0.10,0.00,0.00,0.000,6,0.168,0.000,2154,1987,3651,0,0,0,0,0,0,26.17,28.83,28.83
$GC,790,-0.31,-170.3,134.5,-7.1,140,797,0.00,2.17,0.00,0.000,4,0.000,0.045,2154,579,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,823,-0.35,-170.3,136.9,-7.5,145,831,0.03,2.15,0.00,0.000,6,0.105,0.033,2088,2009,3651,0,0,0,0,0,0,26.27,26.36,28.83
$GC,1149,-0.29,-170.3,191.1,-17.8,206,1157,0.20,2.12,0.00,0.000,4,0.127,0.039,2149,3397,3651,0,0,0,0,0,0,26.32,26.41,28.83
$GC,1222,-0.36,-170.3,198.7,-7.2,219,1230,0.00,2.12,0.00,0.000,6,0.000,0.032,2148,1980,3651,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1546,-0.50,-170.3,230.6,-10.4,280,1554,0.15,2.17,0.00,0.000,4,0.097,0.040,2079,3398,3650,0,0,0,0,0,0,26.47,26.46,28.83
$GC,1623,-0.61,-170.3,237.9,-9.5,294,1632,0.05,2.10,0.00,0.000,6,0.078,0.034,2017,2001,3650,0,0,0,0,0,0,26.41,26.50,28.83
$GC,1942,-0.52,-170.3,301.8,-19.5,332,1952,0.20,2.10,0.00,0.000,4,0.144,0.045,2083,599,3649,0,0,0,0,0,0,26.39,26.48,28.83
$GC,1987,-0.47,-170.3,308.6,-16.4,336,1995,0.10,2.08,0.00,0.000,6,0.147,0.037,2110,1996,3649,0,0,0,0,0,0,26.42,26.51,28.83
$GC,2295,-0.48,-170.3,337.3,-9.0,367,2298,0.00,2.15,0.00,0.000,4,0.000,0.045,2100,3415,3647,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2346,-0.51,-170.3,342.0,-9.0,372,2355,0.00,2.10,0.00,0.000,6,0.000,0.034,2100,2003,3647,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2658,-0.52,-170.3,373.8,-10.4,403,2667,0.08,2.12,0.00,0.000,4,0.122,0.046,2004,595,3645,0,0,0,0,0,0,26.60,26.51,28.83
$GC,2700,-0.48,-170.3,380.5,-15.5,407,2710,0.32,2.12,0.00,0.000,6,0.120,0.039,2102,2005,3645,0,0,0,0,0,0,26.43,26.53,28.83
$GC,3010,-0.49,-170.3,411.9,-9.1,438,3014,0.00,2.12,0.00,0.000,4,0.000,0.045,2093,3408,3643,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3044,-0.51,-170.3,414.8,-9.6,441,3051,0.00,2.10,0.00,0.000,6,0.000,0.035,2093,2001,3643,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3352,-0.52,-170.3,442.4,-8.6,472,3361,0.00,2.10,0.00,0.000,4,0.000,0.048,2093,592,3641,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3396,-0.54,-170.3,446.1,-9.0,476,3403,0.00,2.10,0.00,0.000,6,0.000,0.037,2087,2003,3641,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3703,-0.54,-170.3,475.2,-9.3,507,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2003,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-0.54,-170.3,503.1,-9.4,537,4013,0.00,2.10,0.00,0.000,4,0.000,0.047,2078,3407,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4039,-0.56,-170.3,505.8,-8.8,540,4046,0.00,2.10,0.00,0.000,6,0.000,0.037,2078,2002,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4347,-0.56,-170.3,534.5,-9.3,571,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2000,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4647,-0.56,-170.3,563.4,-9.5,601,4655,0.00,2.12,0.00,0.000,4,0.000,0.050,2078,593,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4678,-0.56,-170.3,566.6,-9.7,604,4687,0.00,2.10,0.00,0.000,6,0.000,0.037,2073,1998,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4990,-0.56,-170.3,596.1,-9.7,635,4999,0.00,2.12,0.00,0.000,4,0.000,0.047,2065,3402,3630,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5059,-0.58,-170.3,602.1,-9.4,640,5063,0.00,2.12,0.00,0.000,6,0.000,0.037,2065,1991,3630,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5366,-0.58,-170.3,631.4,-8.9,655,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1990,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5667,-0.58,-170.3,655.7,-7.7,670,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1990,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5968,-0.58,-170.3,677.7,-7.0,685,5973,0.00,2.17,0.00,0.000,4,0.000,0.047,2059,3407,3623,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6009,-0.58,-170.3,680.5,-7.0,687,6013,0.00,2.12,0.00,0.000,6,0.000,0.038,2059,2001,3623,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6329,-0.58,-170.3,705.5,-8.3,703,6334,0.00,2.15,0.00,0.000,4,0.000,0.052,2059,592,3621,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6367,-0.58,-170.3,709.0,-8.6,705,6372,0.00,2.12,0.00,0.000,6,0.000,0.040,2051,1999,3621,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6687,-0.56,-170.3,739.0,-9.5,721,6693,0.08,2.10,0.00,0.000,4,0.182,0.046,2064,3395,3618,0,0,0,0,0,0,26.56,26.55,28.83
$GC,6739,-0.56,-170.3,742.4,-8.9,723,6746,0.00,2.10,0.00,0.000,6,0.000,0.036,2064,1997,3618,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7048,-0.56,-170.3,769.8,-8.8,739,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1996,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.56,-170.3,794.5,-8.1,754,7353,0.00,2.15,0.00,0.000,4,0.000,0.047,2057,3398,3614,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7380,-0.56,-170.3,796.0,-8.0,755,7386,0.00,2.12,0.00,0.000,6,0.000,0.038,2057,1992,3614,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7687,-0.56,-170.3,822.1,-8.1,771,7693,0.00,2.15,0.00,0.000,4,0.000,0.047,2050,3409,3612,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7719,-0.56,-170.3,823.6,-8.0,772,7727,0.08,2.12,0.00,0.000,6,0.148,0.039,2076,2003,3612,0,0,0,0,0,0,26.48,26.55,28.83
$GC,8030,-0.58,-170.3,844.3,-6.4,788,8035,0.00,2.15,0.00,0.000,4,0.000,0.048,2069,3405,3611,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8062,-0.60,-170.3,845.5,-6.3,789,8069,0.00,2.12,0.00,0.000,6,0.000,0.037,2069,2000,3610,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8368,-0.61,-170.3,868.0,-7.3,805,8374,0.00,2.17,0.00,0.000,4,0.000,0.053,2069,591,3609,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8391,-0.63,-170.3,869.5,-7.4,806,8395,0.00,2.12,0.00,0.000,6,0.000,0.039,2064,1998,3609,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8704,-0.63,-170.3,894.6,-7.7,822,8709,0.00,2.15,0.00,0.000,4,0.000,0.050,2056,3402,3607,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8746,-0.64,-170.3,897.8,-7.8,824,8750,0.00,2.12,0.00,0.000,6,0.000,0.037,2056,1995,3607,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9059,-0.64,-170.3,921.5,-7.4,840,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,1995,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9358,-0.64,-170.3,942.9,-6.9,855,9364,0.00,2.17,0.00,0.000,4,0.000,0.048,2050,3412,3604,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9386,-0.64,-170.3,944.3,-6.9,856,9390,0.00,2.15,0.00,0.000,6,0.000,0.039,2050,2001,3604,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9694,-0.64,-170.3,965.9,-6.7,871,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2001,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9993,-0.64,-170.3,986.2,-6.9,886,9999,0.00,2.17,0.00,0.000,4,0.000,0.048,2043,3413,3603,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10034,-0.64,-170.3,988.9,-6.9,888,10039,0.00,2.17,0.00,0.000,6,0.000,0.039,2042,1991,3602,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10051,begin apogee
$GC,10057,-0.22,0.0,990.3,-6.8,889,10265,0.38,0.00,201.43,0.906,6,0.100,0.000,2179,1851,2949,0,0,0,0,0,0,26.45,28.83,24.18
$STATE,10266,end apogee,CONTROL_FINISHED_OK
$STATE,10266,begin climb
$GC,10269,0.59,170.3,997.3,0.0,899,10435,0.70,2.35,152.65,1.084,4,0.047,0.051,2466,486,2243,0,0,0,0,0,0,24.92,24.56,23.84
$GC,10441,0.46,170.3,987.4,12.8,908,10446,0.25,2.20,0.00,0.000,6,0.145,0.024,2397,1901,2239,0,0,0,0,0,0,24.70,24.85,28.83
$GC,10756,0.39,170.3,940.1,14.0,924,10761,0.10,2.10,0.00,0.000,4,0.178,0.034,2371,3276,2224,0,0,0,0,0,0,25.66,25.75,28.83
$GC,10895,0.35,170.3,922.3,12.3,931,10901,0.05,2.15,0.00,0.000,6,0.150,0.041,2363,1894,2220,0,0,0,0,0,0,25.75,25.87,28.83
$GC,11217,0.32,170.3,890.6,9.5,947,11222,0.00,2.08,0.00,0.000,4,0.000,0.040,2362,3266,2218,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11249,0.29,170.3,888.6,9.3,948,11256,0.10,2.17,0.00,0.000,6,0.164,0.042,2343,1868,2218,0,0,0,0,0,0,25.97,26.06,28.83
$GC,11557,0.38,249.7,867.3,5.9,964,11636,0.10,2.33,72.15,0.995,4,0.096,0.039,2436,3276,1927,0,0,0,0,0,0,26.24,25.03,24.29
$GC,11728,0.31,249.7,844.4,15.9,972,11733,0.32,2.25,0.00,0.000,6,0.132,0.045,2346,1879,1908,0,0,0,0,0,0,25.40,25.49,28.83
$GC,12036,0.35,271.1,818.8,7.9,987,12061,0.00,2.22,19.75,0.920,4,0.000,0.041,2346,3263,1840,0,0,0,0,0,0,28.83,25.57,24.84
$GC,12098,0.37,276.8,813.7,8.5,990,12103,0.05,2.22,0.00,0.000,6,0.161,0.044,2417,1871,1828,0,0,0,0,0,0,25.60,25.64,28.83
$GC,12412,0.32,276.8,763.6,16.8,1006,12414,0.22,0.00,0.00,0.000,6,0.136,0.000,2347,1870,1824,0,0,0,0,0,0,25.86,28.83,28.83
$GC,12711,0.34,276.8,732.5,9.9,1021,12716,0.00,2.12,0.00,0.000,4,0.000,0.041,2347,3267,1823,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,18509,end climb,SURFACE_DEPTH_REACHED
$STATE,18509,begin surface coast
$FINISH,1.3,1.022056
$STATE,18526,end surface coast,CONTROL_FINISHED_OK
$STATE,18526,begin surface
$SM_CCo,18602,0.00,0.000,0,0,903,503.36
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$IRIDIUM_FIX,2045.60,12311.97,161111,101033
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.56
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.8,7.687
$10V_AH,10.3,6.378
$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
$DEVICE_SECS,18.900,181.025,650.725,0.000,0.000,30.410,20.567,239.093,0.000,0.000,35.594,4079.265,9563.636,744.637,4212.952,444.141,0.403,2445.191,0.000,3822.017,0.000,0.540,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.824,3454.878,1756.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329968
$DATA_FILE_SIZE,110229,1702
$CAP_FILE_SIZE,211068,0
$CFSIZE,260165632,219033600
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161111,213157,2050.886,12313.133,28,2.9,47,-2.6