version: 66.10
glider: 168
mission: 6
dive: 30
start: 11 17 111 8 29 53
data:
$ID,168
$MISSION,6
$DIVE,30
$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,-5611.7314
$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,27
$R_STBD_OVSHOOT,52
$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
$GPS1,171111,082207,2048.126,12316.666,27,1.2,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-72.0
$GPS2,171111,082925,2048.112,12316.626,46,1.3,46,-2.6
$SPEED_LIMITS,0.150,0.294
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.022,-0.293
$KALMAN_X,8483791.0,0.0,0.0,5222703.0,103476.0
$KALMAN_Y,1430556.8,0.0,0.0,882241.7,15760.5
$MHEAD_RNG_PITCHd_Wd,118.1,126038,-11.9,-8.684
$D_GRID,5574
$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,17,-0.59,-219.0,0.0,0.0,0,76,0.00,0.00,-56.72,0.000,2,0.000,0.000,101,2024,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.59,-219.0,3.3,-2.5,8,120,7.00,2.15,-24.83,0.000,4,0.203,0.057,2046,3389,3847,0,0,0,0,0,0,25.82,26.08,26.38
$GC,137,-0.40,-219.0,19.2,-33.1,15,145,0.20,2.17,0.00,0.000,6,0.137,0.039,2113,1992,3847,0,0,0,0,0,0,25.96,26.10,28.83
$GC,472,-0.33,-219.0,97.4,-14.8,76,481,0.12,2.17,0.00,0.000,4,0.156,0.045,2156,590,3848,0,0,0,0,0,0,26.20,26.26,28.83
$GC,523,-0.35,-219.0,102.7,-6.4,84,532,0.03,2.10,0.00,0.000,6,0.106,0.031,2095,1990,3847,0,0,0,0,0,0,26.23,26.32,28.83
$GC,863,-0.28,-219.0,156.2,-16.8,145,874,0.17,2.17,0.00,0.000,4,0.130,0.038,2148,3403,3848,0,0,0,0,0,0,26.31,26.38,28.83
$GC,912,-0.33,-219.0,161.0,-6.6,152,919,0.00,2.12,0.00,0.000,6,0.000,0.033,2148,1995,3848,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1241,-0.44,-219.0,194.6,-12.5,213,1250,0.12,2.15,0.00,0.000,4,0.109,0.042,2092,588,3848,0,0,0,0,0,0,26.45,26.44,28.83
$GC,1304,-0.53,-219.0,202.0,-11.5,224,1313,0.00,2.10,0.00,0.000,6,0.000,0.030,2091,2006,3848,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1635,-0.63,-219.0,231.4,-9.0,285,1643,0.12,2.17,0.00,0.000,4,0.109,0.043,2036,587,3847,0,0,0,0,0,0,26.48,26.48,28.83
$GC,1672,-0.72,-219.0,235.0,-9.0,291,1681,0.00,2.08,0.00,0.000,6,0.000,0.029,2035,1997,3847,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1997,-0.62,-219.0,296.8,-22.2,332,2009,0.00,2.10,0.00,0.000,4,0.000,0.041,2025,3397,3846,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2104,-0.58,-219.0,316.2,-16.1,342,2114,0.10,2.10,0.00,0.000,6,0.142,0.037,2062,2000,3846,0,0,0,0,0,0,26.45,26.53,28.83
$GC,2415,-0.54,-219.0,363.0,-13.2,373,2419,0.00,2.12,0.00,0.000,4,0.000,0.048,2063,591,3845,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2460,-0.50,-219.0,368.4,-12.7,377,2468,0.12,2.08,0.00,0.000,6,0.128,0.036,2099,1991,3845,0,0,0,0,0,0,26.48,26.55,28.83
$GC,2768,-0.50,-219.0,392.6,-7.8,408,2771,0.00,2.15,0.00,0.000,4,0.000,0.044,2089,3412,3843,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2811,-0.52,-219.0,395.7,-7.4,412,2821,0.00,2.10,0.00,0.000,6,0.000,0.034,2089,1994,3843,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3121,-0.52,-219.0,422.5,-8.9,443,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1994,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.52,-219.0,449.5,-9.0,473,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1994,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-0.52,-219.0,476.6,-8.8,503,3731,0.00,2.15,0.00,0.000,4,0.000,0.045,2084,3403,3839,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3766,-0.54,-219.0,480.1,-8.2,507,3770,0.00,2.10,0.00,0.000,6,0.000,0.035,2084,1993,3838,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4077,-0.54,-219.0,503.0,-6.3,538,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,1992,3837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4379,-0.54,-219.0,520.4,-5.7,568,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,1992,3835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-0.55,-219.0,540.1,-7.3,599,4699,0.00,2.12,0.00,0.000,4,0.000,0.046,2080,3403,3834,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4724,-0.58,-219.0,542.5,-7.1,602,4733,0.00,2.08,0.00,0.000,6,0.000,0.034,2080,2007,3833,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5033,-0.58,-219.0,570.2,-9.5,633,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2006,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,-0.59,-219.0,594.7,-7.1,663,5341,0.08,0.00,0.00,0.000,6,0.123,0.000,1996,2006,3829,0,0,0,0,0,0,26.65,28.83,28.83
$GC,5643,-0.51,-219.0,638.9,-13.9,681,5649,0.25,2.12,0.00,0.000,4,0.124,0.050,2084,594,3827,0,0,0,0,0,0,26.49,26.55,28.83
$GC,5685,-0.48,-219.0,642.5,-11.6,683,5689,0.00,2.10,0.00,0.000,6,0.000,0.037,2084,2000,3827,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5998,-0.50,-219.0,656.1,-4.4,699,6003,0.00,2.12,0.00,0.000,4,0.000,0.047,2081,3406,3826,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6041,-0.53,-219.0,657.8,-4.5,701,6045,0.00,2.12,0.00,0.000,6,0.000,0.035,2080,1988,3825,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6353,-0.64,-219.0,683.6,-9.9,717,6360,0.12,2.15,0.00,0.000,4,0.109,0.042,2020,3408,3822,0,0,0,0,0,0,26.59,26.57,28.83
$GC,6443,-0.75,-219.0,691.7,-9.8,721,6447,0.00,2.10,0.00,0.000,6,0.000,0.035,2020,1995,3822,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6749,-0.78,-219.0,724.5,-10.9,736,6755,0.08,2.15,0.00,0.000,4,0.121,0.044,1955,3406,3819,0,0,0,0,0,0,26.65,26.56,28.83
$GC,6769,-0.81,-219.0,726.9,-11.1,737,6776,0.12,2.12,0.00,0.000,6,0.141,0.040,1991,2005,3819,0,0,0,0,0,0,26.46,26.56,28.83
$GC,7091,-0.74,-219.0,779.6,-16.0,753,7097,0.08,2.15,0.00,0.000,4,0.189,0.053,2012,601,3817,0,0,0,0,0,0,26.56,26.53,28.83
$GC,7132,-0.69,-219.0,785.6,-15.3,755,7138,0.05,2.10,0.00,0.000,6,0.120,0.041,2028,1990,3817,0,0,0,0,0,0,26.46,26.56,28.83
$GC,7454,-0.66,-219.0,822.6,-11.3,771,7460,0.00,2.15,0.00,0.000,4,0.000,0.047,2018,3412,3814,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7493,-0.64,-219.0,827.2,-11.1,773,7499,0.10,2.12,0.00,0.000,6,0.134,0.038,2052,1996,3814,0,0,0,0,0,0,26.49,26.56,28.83
$GC,7813,-0.64,-219.0,853.4,-7.9,789,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1996,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8114,-0.64,-219.0,876.6,-8.0,804,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1996,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,-0.64,-219.0,900.9,-8.5,819,8419,0.00,2.17,0.00,0.000,4,0.000,0.047,2045,3409,3808,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8456,-0.64,-219.0,904.1,-8.4,821,8460,0.00,2.12,0.00,0.000,6,0.000,0.037,2045,1995,3808,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8773,-0.64,-219.0,931.6,-8.4,837,8777,0.00,2.17,0.00,0.000,4,0.000,0.054,2044,590,3807,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8798,-0.64,-219.0,933.5,-8.5,838,8802,0.00,2.15,0.00,0.000,6,0.000,0.038,2041,2013,3806,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9111,-0.63,-219.0,961.6,-9.0,854,9116,0.00,2.12,0.00,0.000,4,0.000,0.048,2033,3411,3805,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9165,-0.63,-219.0,965.1,-8.9,856,9172,0.00,2.15,0.00,0.000,6,0.000,0.037,2033,1991,3805,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,9428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9428,begin apogee
$GC,9434,-0.22,0.0,991.5,-9.7,870,9698,0.40,0.00,255.88,0.901,6,0.095,0.000,2181,1864,2950,0,0,0,0,0,0,26.47,28.83,24.18
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9701,0.59,219.0,1007.2,0.0,883,9904,0.68,2.40,191.23,1.086,4,0.046,0.034,2452,3297,2048,0,0,0,0,0,0,24.91,24.58,23.84
$GC,10067,0.49,219.0,960.5,20.3,901,10075,0.20,2.25,0.00,0.000,6,0.157,0.041,2406,1894,2026,0,0,0,0,0,0,25.37,25.49,28.83
$GC,10374,0.42,219.0,906.3,16.1,917,10381,0.10,2.17,0.00,0.000,4,0.175,0.034,2379,3296,2022,0,0,0,0,0,0,25.82,25.90,28.83
$GC,10403,0.35,219.0,903.1,16.0,918,10408,0.10,2.25,0.00,0.000,6,0.163,0.041,2361,1871,2022,0,0,0,0,0,0,25.82,25.90,28.83
$GC,10709,0.32,219.0,865.8,11.6,933,10713,0.00,2.20,0.00,0.000,4,0.000,0.040,2361,3295,2021,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10772,0.29,219.0,858.2,12.1,936,10778,0.10,2.22,0.00,0.000,6,0.155,0.044,2340,1876,2020,0,0,0,0,0,0,26.01,26.09,28.83
$GC,11092,0.29,219.0,827.8,9.3,952,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1875,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11393,0.29,219.0,800.3,9.3,967,11397,0.00,2.17,0.00,0.000,4,0.000,0.041,2339,3289,2018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11417,0.29,219.0,798.1,9.4,968,11421,0.00,2.22,0.00,0.000,6,0.000,0.044,2346,1871,2018,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11730,0.29,219.0,767.8,9.7,984,11735,0.00,2.17,0.00,0.000,4,0.000,0.041,2347,3296,2017,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11771,0.29,219.0,763.6,10.1,986,11776,0.00,2.22,0.00,0.000,6,0.000,0.044,2352,1884,2017,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12090,0.27,219.0,731.9,9.4,1002,12095,0.00,2.15,0.00,0.000,4,0.000,0.040,2352,3294,2017,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12117,0.26,219.0,729.9,9.5,1003,12122,0.10,2.22,0.00,0.000,6,0.157,0.043,2328,1865,2017,0,0,0,0,0,0,26.26,26.34,28.83
$GC,12427,0.39,312.7,708.1,6.2,1018,12511,0.12,2.28,71.15,1.118,4,0.083,0.037,2437,3289,1684,0,0,0,0,1,0,26.46,25.06,24.18
$GC,12547,0.32,312.7,690.8,16.0,1024,12557,0.32,2.30,2.10,0.271,6,0.122,0.047,2345,1866,1678,0,0,1,0,0,0,25.26,25.33,24.34
$GC,12867,0.44,399.7,668.2,6.3,1040,12966,0.15,2.33,91.03,0.865,4,0.070,0.036,2452,3296,1313,0,0,0,0,0,0,25.97,24.92,24.27
$GC,12977,0.37,399.7,652.3,17.9,1045,12982,0.30,2.35,0.00,0.000,6,0.122,0.047,2370,1869,1304,0,0,0,0,0,0,25.01,25.07,28.83
$GC,13285,0.40,399.7,621.1,9.3,1060,13288,0.00,2.25,0.00,0.000,4,0.000,0.054,2376,465,1295,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,17823,end climb,SURFACE_DEPTH_REACHED
$STATE,17823,begin surface coast
$FINISH,1.7,1.018864
$STATE,17847,end surface coast,CONTROL_FINISHED_OK
$STATE,17847,begin surface
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$IRIDIUM_FIX,2043.29,12311.97,171111,020239
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.03
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,4
$24V_AH,23.8,8.309
$10V_AH,10.3,6.982
$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
$DEVICE_SECS,19.100,169.075,738.300,0.000,0.000,25.216,46.641,197.399,1.000,0.000,46.948,4354.744,8722.522,803.325,4052.525,407.756,0.376,2459.680,0.000,3643.417,0.000,0.539,0.000
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$SENSOR_SECS,1122.938,3277.489,1626.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,107128,1637
$CAP_FILE_SIZE,201495,0
$CFSIZE,260165632,218722304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,14
$CURRENT,0.454,273.1,1
$GPS,171111,132937,2046.296,12317.654,24,1.6,24,-2.6