version: 66.10
glider: 168
mission: 6
dive: 29
start: 11 17 111 2 58 53
data:
$ID,168
$MISSION,6
$DIVE,29
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,2
$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,-5610.3779
$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,33
$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,9.5
$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
$GPS1,171111,025139,2049.857,12314.465,39,0.9,42,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-69.6
$GPS2,171111,025826,2049.853,12314.472,11,1.1,11,-2.6
$SPEED_LIMITS,0.150,0.294
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.240,-0.170
$KALMAN_X,8509902.0,0.0,0.0,5204924.0,255036.0
$KALMAN_Y,1435794.0,0.0,0.0,882312.1,40633.0
$MHEAD_RNG_PITCHd_Wd,122.6,130881,-11.9,-8.684
$D_GRID,5592
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.59,-219.0,0.0,0.0,0,99,0.00,0.00,-78.55,0.000,2,0.000,0.000,103,2001,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.59,-219.0,3.3,-2.4,10,136,7.07,2.20,-20.05,0.000,4,0.207,0.061,2055,587,3846,0,0,0,0,0,0,25.79,26.03,26.33
$GC,163,-0.39,-219.0,24.6,-40.9,18,172,0.22,2.15,0.00,0.000,6,0.142,0.032,2119,2001,3846,0,0,0,0,0,0,25.92,26.09,28.83
$GC,499,-0.32,-219.0,108.9,-18.3,79,507,0.10,0.00,0.00,0.000,6,0.163,0.000,2148,2003,3847,0,0,0,0,0,0,26.20,28.83,28.83
$GC,844,-0.34,-219.0,148.7,-8.7,140,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2003,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-0.36,-219.0,174.6,-5.7,201,1191,0.00,2.17,0.00,0.000,4,0.000,0.045,2147,3407,3847,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1229,-0.43,-219.0,176.7,-3.7,208,1237,0.08,2.12,0.00,0.000,6,0.057,0.033,2056,1993,3847,0,0,0,0,0,0,26.42,26.45,28.83
$GC,1572,-0.34,-219.0,241.9,-20.6,269,1581,0.22,2.15,0.00,0.000,4,0.127,0.047,2136,596,3846,0,0,0,0,0,0,26.39,26.46,28.83
$GC,1638,-0.39,-219.0,250.2,-7.1,280,1647,0.00,2.10,0.00,0.000,6,0.000,0.034,2136,1992,3846,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1947,-0.42,-219.0,276.5,-9.6,311,1956,0.08,2.12,0.00,0.000,4,0.122,0.041,2058,3406,3845,0,0,0,0,0,0,26.58,26.50,28.83
$GC,2025,-0.40,-219.0,286.4,-13.8,318,2036,0.15,2.12,0.00,0.000,6,0.086,0.036,2121,2003,3844,0,0,0,0,0,0,26.45,26.52,28.83
$GC,2334,-0.41,-219.0,314.2,-7.9,349,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2002,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.43,-219.0,337.7,-7.7,379,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2001,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2945,-0.44,-219.0,364.4,-8.8,410,2956,0.00,2.12,0.00,0.000,4,0.000,0.044,2116,3410,3841,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2972,-0.47,-219.0,366.5,-8.6,412,2979,0.00,2.10,0.00,0.000,6,0.000,0.034,2116,1994,3840,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3280,-0.49,-219.0,392.6,-7.7,443,3287,0.10,0.00,0.00,0.000,6,0.099,0.000,2016,1994,3839,0,0,0,0,0,0,26.63,28.83,28.83
$GC,3589,-0.40,-219.0,451.7,-19.1,474,3601,0.30,2.15,0.00,0.000,4,0.122,0.043,2113,3412,3837,0,0,0,0,0,0,26.47,26.56,28.83
$GC,3623,-0.37,-219.0,455.6,-13.3,477,3633,0.08,2.10,0.00,0.000,6,0.123,0.034,2150,2003,3838,0,0,0,0,0,0,26.53,26.58,28.83
$GC,3934,-0.47,-219.0,479.6,-10.0,508,3936,0.17,0.00,0.00,0.000,6,0.083,0.000,2074,2001,3836,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4236,-0.59,-219.0,508.7,-9.5,538,4244,0.00,2.12,0.00,0.000,4,0.000,0.042,2074,3412,3834,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4307,-0.69,-219.0,515.7,-9.3,545,4318,0.15,2.12,0.00,0.000,6,0.080,0.034,1986,1994,3834,0,0,0,0,0,0,26.60,26.60,28.83
$GC,4619,-0.61,-219.0,548.4,-16.1,576,4626,0.22,0.00,0.00,0.000,6,0.125,0.000,2060,1994,3832,0,0,0,0,0,0,26.49,28.83,28.83
$GC,4928,-0.59,-219.0,574.6,-8.3,607,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1994,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5229,-0.58,-219.0,599.6,-8.4,637,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1994,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5538,-0.57,-219.0,624.8,-8.3,653,5543,0.00,2.15,0.00,0.000,4,0.000,0.047,2051,3414,3825,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5560,-0.57,-219.0,626.5,-8.4,654,5565,0.05,2.12,0.00,0.000,6,0.181,0.037,2073,2005,3826,0,0,0,0,0,0,26.52,26.58,28.83
$GC,5873,-0.57,-219.0,647.5,-6.3,670,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2004,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6174,-0.57,-219.0,668.6,-7.3,685,6178,0.00,2.17,0.00,0.000,4,0.000,0.052,2073,587,3819,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6198,-0.58,-219.0,670.5,-7.6,686,6203,0.00,2.10,0.00,0.000,6,0.000,0.037,2073,2000,3820,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6517,-0.59,-219.0,697.5,-8.9,702,6522,0.00,2.12,0.00,0.000,4,0.000,0.047,2068,3409,3817,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6577,-0.61,-219.0,702.6,-8.6,705,6582,0.00,2.10,0.00,0.000,6,0.000,0.034,2068,1999,3817,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6896,-0.72,-219.0,730.6,-8.7,721,6902,0.12,2.12,0.00,0.000,4,0.109,0.048,2009,600,3815,0,0,0,0,0,0,26.58,26.55,28.83
$GC,6936,-0.83,-219.0,734.1,-8.8,723,6942,0.10,2.10,0.00,0.000,6,0.099,0.034,1957,2017,3815,0,0,0,0,0,0,26.56,26.58,28.83
$GC,7258,-0.74,-219.0,786.8,-17.4,739,7264,0.15,2.08,0.00,0.000,4,0.142,0.044,1999,3394,3812,0,0,0,0,0,0,26.48,26.56,28.83
$GC,7325,-0.68,-219.0,794.9,-14.2,742,7330,0.12,2.10,0.00,0.000,6,0.130,0.038,2040,2002,3812,0,0,0,0,0,0,26.48,26.57,28.83
$GC,7635,-0.66,-219.0,822.7,-8.5,757,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2001,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7934,-0.64,-219.0,848.3,-8.6,772,7939,0.00,2.15,0.00,0.000,4,0.000,0.053,2040,594,3809,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7961,-0.62,-219.0,850.1,-8.6,773,7966,0.08,2.10,0.00,0.000,6,0.164,0.038,2056,1992,3808,0,0,0,0,0,0,26.48,26.57,28.83
$GC,8270,-0.62,-219.0,872.5,-7.2,788,8275,0.00,2.12,0.00,0.000,4,0.000,0.047,2048,3405,3807,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8316,-0.62,-219.0,875.3,-7.1,790,8320,0.00,2.12,0.00,0.000,6,0.000,0.037,2048,1998,3807,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8625,-0.62,-219.0,899.9,-7.5,805,8631,0.00,2.15,0.00,0.000,4,0.000,0.053,2048,590,3804,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8653,-0.62,-219.0,901.4,-7.5,806,8662,0.00,2.12,0.00,0.000,6,0.000,0.038,2042,2000,3804,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8966,-0.61,-219.0,925.1,-7.2,822,8971,0.00,2.12,0.00,0.000,4,0.000,0.048,2034,3404,3802,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9017,-0.61,-219.0,927.8,-6.9,824,9027,0.08,2.12,0.00,0.000,6,0.148,0.037,2059,1997,3802,0,0,0,0,0,0,26.48,26.55,28.83
$GC,9324,-0.61,-219.0,945.2,-5.2,840,9330,0.00,2.15,0.00,0.000,4,0.000,0.048,2055,3406,3801,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9354,-0.62,-219.0,946.2,-5.1,841,9358,0.00,2.12,0.00,0.000,6,0.000,0.037,2055,1999,3800,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9659,-0.62,-219.0,962.6,-5.3,856,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1998,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9960,-0.62,-219.0,980.6,-6.3,871,9964,0.00,2.17,0.00,0.000,4,0.000,0.049,2051,3409,3798,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9995,-0.63,-219.0,982.0,-6.3,872,10004,0.00,2.12,0.00,0.000,6,0.000,0.037,2051,2000,3798,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,10099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10099,begin apogee
$GC,10105,-0.22,0.0,990.4,-7.2,878,10368,0.35,0.00,257.67,0.897,6,0.089,0.000,2184,1857,2953,0,0,0,0,0,0,26.48,28.83,24.17
$STATE,10369,end apogee,CONTROL_FINISHED_OK
$STATE,10369,begin climb
$GC,10371,0.59,219.0,1006.2,0.0,891,10576,0.68,2.40,192.52,1.084,4,0.047,0.034,2452,3295,2046,0,0,0,0,0,0,24.87,24.57,23.82
$GC,10698,0.49,219.0,971.3,19.1,907,10705,0.20,2.25,0.00,0.000,6,0.160,0.041,2408,1896,2026,0,0,0,0,0,0,25.25,25.37,28.83
$GC,11006,0.41,219.0,922.3,14.9,923,11012,0.10,2.15,0.00,0.000,4,0.174,0.035,2380,3291,2023,0,0,0,0,0,0,25.78,25.85,28.83
$GC,11074,0.36,219.0,914.1,14.0,926,11078,0.10,2.25,0.00,0.000,6,0.160,0.043,2363,1870,2022,0,0,0,0,0,0,25.81,25.89,28.83
$GC,11381,0.33,219.0,879.4,11.1,941,11387,0.00,2.15,0.00,0.000,4,0.000,0.040,2363,3282,2021,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11414,0.30,219.0,877.3,11.1,942,11422,0.10,2.22,0.00,0.000,6,0.161,0.044,2342,1867,2020,0,0,0,0,0,0,25.98,26.08,28.83
$GC,11722,0.30,219.0,847.1,9.2,958,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1867,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12022,0.30,219.0,818.6,9.7,973,12027,0.00,2.17,0.00,0.000,4,0.000,0.041,2341,3287,2019,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12070,0.30,219.0,814.4,10.0,975,12074,0.00,2.20,0.00,0.000,6,0.000,0.044,2349,1873,2019,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12383,0.29,219.0,781.7,10.0,991,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1873,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12684,0.28,219.0,752.3,9.5,1006,12689,0.00,2.17,0.00,0.000,4,0.000,0.043,2349,3286,2018,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12730,0.28,219.0,748.1,10.0,1008,12734,0.00,2.20,0.00,0.000,6,0.000,0.044,2355,1875,2018,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13037,0.27,219.0,717.7,9.4,1023,13043,0.08,2.15,0.00,0.000,4,0.180,0.039,2332,3285,2017,0,0,0,0,0,0,26.36,26.36,28.83
$GC,13070,0.26,219.0,715.8,9.4,1024,13077,0.00,2.20,0.00,0.000,6,0.000,0.044,2339,1867,2017,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13379,0.31,258.7,690.7,7.6,1040,13418,0.00,2.30,27.42,0.880,4,0.000,0.044,2339,3293,1899,0,0,0,0,1,0,28.83,25.91,25.04
$GC,13454,0.35,280.7,685.5,8.1,1043,13489,0.00,2.25,24.62,0.858,6,0.000,0.044,2345,1866,1808,0,0,0,0,1,0,28.83,25.95,24.71
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$STATE,19240,end climb,SURFACE_DEPTH_REACHED
$STATE,19240,begin surface coast
$FINISH,1.6,1.022127
$STATE,19254,end surface coast,CONTROL_FINISHED_OK
$STATE,19254,begin surface
$SM_CCo,19329,0.00,0.000,0,0,971,486.43
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$IRIDIUM_FIX,2040.99,12313.90,161111,212159
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.99
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,23.8,8.106
$10V_AH,10.2,6.787
$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,19.450,160.425,708.200,0.000,0.000,27.292,42.434,203.538,2.000,0.000,14.244,4584.589,9707.557,817.779,4178.646,424.991,0.377,2519.459,0.000,3812.264,0.000,0.540,0.000
$DEVICE_MAMPS,207.315,68.850,1084.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1186.806,3472.608,1665.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329800
$DATA_FILE_SIZE,113529,1730
$CAP_FILE_SIZE,211150,0
$CFSIZE,260165632,218812416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.366,296.2,1
$GPS,171111,082207,2048.126,12316.666,27,1.2,27,-2.6