version: 66.10
glider: 168
mission: 6
dive: 38
start: 11 19 111 2 25 5
data:
$ID,168
$MISSION,6
$DIVE,38
$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,250
$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,170
$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,-5621.8975
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,51
$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
$GPS1,191111,021801,2043.826,12323.651,38,1.3,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-72.2
$GPS2,191111,022443,2043.797,12323.606,14,1.0,14,-2.6
$SPEED_LIMITS,0.150,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,2033.162,12325.609
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.379,-0.914
$KALMAN_X,8436831.0,0.0,0.0,5274749.5,-7374.0
$KALMAN_Y,1477388.5,0.0,0.0,825916.3,14034.2
$MHEAD_RNG_PITCHd_Wd,172.6,20000,-11.1,-8.684
$D_GRID,5228
$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,-0.60,-243.3,0.0,0.0,0,27,0.00,0.00,-7.45,0.000,2,0.000,0.000,100,2034,839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.60,-243.3,3.3,0.0,1,158,6.85,0.00,-112.55,0.000,6,0.193,0.000,2056,2035,3946,0,0,0,0,0,0,25.79,28.83,26.37
$GC,473,-0.51,-243.3,123.4,-30.2,79,481,0.10,2.22,0.00,0.000,4,0.180,0.045,2083,613,3945,0,0,0,0,0,0,26.17,26.21,28.83
$GC,541,-0.48,-243.3,139.8,-18.3,91,550,0.05,2.12,0.00,0.000,6,0.121,0.034,2097,2010,3946,0,0,0,0,0,0,26.17,26.28,28.83
$GC,866,-0.45,-243.3,193.3,-12.4,152,874,0.00,2.20,0.00,0.000,4,0.000,0.043,2087,3424,3946,0,0,0,0,0,0,28.83,26.35,28.83
$GC,893,-0.43,-243.3,196.5,-11.8,156,902,0.05,2.15,0.00,0.000,6,0.092,0.034,2115,2017,3946,0,0,0,0,0,0,26.29,26.36,28.83
$GC,1217,-0.43,-243.3,224.2,-8.2,217,1225,0.00,2.15,0.00,0.000,4,0.000,0.044,2115,620,3946,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1250,-0.45,-243.3,226.6,-8.3,222,1258,0.00,2.12,0.00,0.000,6,0.000,0.034,2114,2028,3946,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1577,-0.45,-243.3,254.2,-8.2,279,1586,0.00,2.12,0.00,0.000,4,0.000,0.045,2106,3429,3945,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1643,-0.47,-243.3,259.0,-7.4,285,1647,0.00,2.10,0.00,0.000,6,0.000,0.033,2106,2017,3944,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1954,-0.54,-243.3,291.2,-10.9,316,1965,0.10,2.15,0.00,0.000,4,0.139,0.037,2071,3435,3944,0,0,0,0,0,0,26.47,26.48,28.83
$GC,2021,-0.59,-243.3,298.3,-10.5,322,2031,0.00,2.08,0.00,0.000,6,0.000,0.032,2071,2022,3943,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2330,-0.65,-243.3,323.4,-7.5,353,2340,0.10,2.12,0.00,0.000,4,0.100,0.041,1995,616,3942,0,0,0,0,0,0,26.57,26.50,28.83
$GC,2387,-0.64,-243.3,328.9,-10.6,358,2395,0.20,2.10,0.00,0.000,6,0.121,0.037,2053,2020,3941,0,0,0,0,0,0,26.42,26.51,28.83
$GC,2693,-0.61,-243.3,373.0,-14.0,389,2702,0.00,2.15,0.00,0.000,4,0.000,0.044,2042,3441,3940,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2725,-0.58,-243.3,377.2,-13.3,392,2735,0.08,2.10,0.00,0.000,6,0.149,0.035,2068,2030,3940,0,0,0,0,0,0,26.45,26.53,28.83
$GC,3035,-0.57,-243.3,409.5,-10.3,423,3039,0.00,2.15,0.00,0.000,4,0.000,0.047,2069,620,3938,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3086,-0.57,-243.3,414.7,-9.7,428,3095,0.00,2.10,0.00,0.000,6,0.000,0.037,2064,2028,3938,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3399,-0.56,-243.3,446.7,-10.7,459,3408,0.00,2.10,0.00,0.000,4,0.000,0.046,2055,3423,3936,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3421,-0.55,-243.3,449.2,-10.2,461,3426,0.08,2.10,0.00,0.000,6,0.146,0.035,2082,2022,3936,0,0,0,0,0,0,26.47,26.55,28.83
$GC,3733,-0.55,-243.3,474.0,-7.5,492,3742,0.00,2.12,0.00,0.000,4,0.000,0.047,2083,611,3934,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3756,-0.55,-243.3,475.7,-7.8,494,3765,0.00,2.10,0.00,0.000,6,0.000,0.034,2083,2030,3934,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4065,-0.56,-243.3,498.9,-7.5,525,4074,0.00,2.15,0.00,0.000,4,0.000,0.045,2078,3436,3931,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4121,-0.58,-243.3,502.6,-7.1,530,4128,0.00,2.12,0.00,0.000,6,0.000,0.033,2078,2009,3932,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4429,-0.65,-243.3,531.9,-10.3,561,4438,0.12,2.10,0.00,0.000,4,0.113,0.046,2022,628,3929,0,0,0,0,0,0,26.55,26.53,28.83
$GC,4494,-0.71,-243.3,538.0,-8.7,567,4501,0.00,2.08,0.00,0.000,6,0.000,0.033,2022,2033,3929,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4801,-0.72,-243.3,567.3,-9.0,598,4810,0.00,2.15,0.00,0.000,4,0.000,0.045,2021,623,3926,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4843,-0.71,-243.3,571.4,-9.9,602,4852,0.00,2.05,0.00,0.000,6,0.000,0.037,2014,2016,3925,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5164,-0.68,-243.3,610.4,-11.9,630,5170,0.08,2.15,0.00,0.000,4,0.187,0.042,2024,3429,3923,0,0,0,0,0,0,26.55,26.54,28.83
$GC,5228,-0.66,-243.3,616.2,-10.2,633,5234,0.00,2.12,0.00,0.000,6,0.000,0.035,2024,2023,3923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5543,-0.64,-243.3,652.0,-11.7,649,5550,0.08,2.15,0.00,0.000,4,0.172,0.047,2047,619,3921,0,0,0,0,0,0,26.56,26.52,28.83
$GC,5571,-0.62,-243.3,654.2,-11.7,650,5575,0.00,2.10,0.00,0.000,6,0.000,0.037,2041,2028,3921,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5878,-0.60,-243.3,685.3,-9.9,665,5884,0.05,2.15,0.00,0.000,4,0.215,0.046,2051,3439,3919,0,0,0,0,0,0,26.60,26.53,28.83
$GC,5911,-0.59,-243.3,687.1,-9.8,666,5918,0.00,2.12,0.00,0.000,6,0.000,0.034,2051,2021,3918,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6218,-0.59,-243.3,714.7,-8.6,682,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2020,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.59,-243.3,740.7,-8.5,697,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2020,3913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.59,-243.3,765.9,-8.6,712,6825,0.00,2.15,0.00,0.000,4,0.000,0.048,2046,3432,3912,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6848,-0.59,-243.3,767.7,-8.5,713,6857,0.00,2.12,0.00,0.000,6,0.000,0.036,2046,2026,3912,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7158,-0.59,-243.3,796.5,-9.1,729,7164,0.00,2.15,0.00,0.000,4,0.000,0.051,2046,622,3910,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7178,-0.59,-243.3,798.4,-9.1,730,7184,0.08,2.12,0.00,0.000,6,0.162,0.039,2070,2034,3910,0,0,0,0,0,0,26.46,26.54,28.83
$GC,7500,-0.60,-243.3,822.4,-7.4,746,7506,0.00,2.12,0.00,0.000,4,0.000,0.048,2065,3422,3907,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7539,-0.62,-243.3,825.3,-7.3,748,7545,0.00,2.12,0.00,0.000,6,0.000,0.034,2063,2011,3907,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7859,-0.69,-243.3,853.9,-9.0,764,7865,0.12,2.10,0.00,0.000,4,0.109,0.050,2007,628,3905,0,0,0,0,0,0,26.55,26.50,28.83
$GC,7879,-0.75,-243.3,856.0,-9.0,765,7884,0.00,2.08,0.00,0.000,6,0.000,0.037,2005,2029,3905,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8201,-0.75,-243.3,880.0,-7.1,781,8206,0.00,2.15,0.00,0.000,4,0.000,0.049,2005,631,3903,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8233,-0.75,-243.3,881.5,-7.2,782,8240,0.00,2.10,0.00,0.000,6,0.000,0.039,1996,2021,3903,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8539,-0.72,-243.3,919.3,-12.5,798,8545,0.10,2.17,0.00,0.000,4,0.171,0.046,2014,3432,3902,0,0,0,0,0,0,26.47,26.51,28.83
$GC,8573,-0.69,-243.3,921.5,-12.3,799,8579,0.00,2.12,0.00,0.000,6,0.000,0.037,2013,2031,3901,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8879,-0.67,-243.3,955.2,-10.8,815,8881,0.10,0.00,0.00,0.000,6,0.149,0.000,2046,2031,3900,0,0,0,0,0,0,26.51,28.83,28.83
$GC,9180,-0.67,-243.3,978.9,-7.5,830,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2030,3899,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9342,-0.22,0.0,991.2,-7.6,838,9639,0.35,0.00,288.52,0.890,6,0.091,0.000,2179,1863,2949,0,0,0,0,0,0,26.46,28.83,24.12
$STATE,9640,end apogee,CONTROL_FINISHED_OK
$STATE,9640,begin climb
$GC,9643,0.60,243.3,1009.3,0.0,853,9866,0.70,2.38,213.75,1.069,4,0.044,0.050,2472,488,1949,0,0,0,0,0,0,24.89,24.49,23.80
$GC,9981,0.53,243.3,968.5,18.8,870,9987,0.17,2.15,0.00,0.000,6,0.141,0.023,2424,1904,1931,0,0,0,0,0,0,25.19,25.33,28.83
$GC,10303,0.48,243.3,916.7,16.4,886,10309,0.10,2.08,0.00,0.000,4,0.184,0.032,2397,3259,1924,0,0,0,0,0,0,25.73,25.83,28.83
$GC,10365,0.43,243.3,907.5,15.5,889,10370,0.08,2.15,0.00,0.000,6,0.189,0.041,2388,1887,1923,0,0,0,0,0,0,25.76,25.86,28.83
$GC,10679,0.40,243.3,866.3,13.3,905,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1886,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10977,0.36,243.3,826.5,13.3,920,10984,0.10,2.12,0.00,0.000,4,0.175,0.035,2359,3268,1921,0,0,0,0,0,0,26.08,26.16,28.83
$GC,11006,0.33,243.3,824.0,13.1,921,11010,0.00,2.17,0.00,0.000,6,0.000,0.042,2369,1868,1921,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11313,0.31,243.3,792.0,9.6,936,11319,0.08,2.12,0.00,0.000,4,0.180,0.037,2347,3254,1920,0,0,0,0,0,0,26.22,26.23,28.83
$GC,11340,0.30,243.3,790.2,9.5,937,11344,0.00,2.15,0.00,0.000,6,0.000,0.044,2356,1868,1920,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11648,0.34,288.5,765.6,7.6,952,11687,0.00,0.00,31.98,0.928,6,0.000,0.000,2356,1868,1776,0,0,0,0,1,0,28.83,28.83,24.84
$GC,11989,0.33,288.5,735.7,9.7,969,11996,0.00,2.15,2.25,0.345,4,0.000,0.038,2356,3263,1777,0,0,0,0,0,0,28.83,26.01,24.90
$GC,12044,0.33,288.5,729.9,10.3,972,12050,0.00,2.17,1.85,0.192,6,0.000,0.044,2361,1870,1775,0,0,0,0,0,0,28.83,26.02,25.86
$GC,12366,0.33,288.5,697.6,10.1,988,12369,0.00,0.00,1.83,0.192,6,0.000,0.000,2361,1870,1774,0,0,0,0,0,0,28.83,28.83,25.98
$GC,12664,0.32,288.5,667.0,10.4,1003,12671,0.00,2.20,1.70,0.196,4,0.000,0.040,2361,3262,1777,0,0,0,0,0,0,28.83,26.22,26.03
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$GC,13699,0.43,409.3,560.7,6.6,1076,13831,0.10,2.38,119.43,0.704,4,0.096,0.056,2461,477,1275,0,0,0,0,0,0,26.20,25.00,24.47
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$GC,14544,0.46,486.5,433.4,20.5,1160,14554,0.17,2.28,0.00,0.000,4,0.139,0.054,2405,465,941,0,0,0,0,0,0,25.70,25.75,28.83
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$STATE,17694,end climb,SURFACE_DEPTH_REACHED
$STATE,17694,begin surface coast
$FINISH,2.3,1.009086
$STATE,17717,end surface coast,CONTROL_FINISHED_OK
$STATE,17717,begin surface
$SM_CCo,17792,0.00,0.000,0,0,436,617.42
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$IRIDIUM_FIX,2038.68,12326.07,181111,202025
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.95
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.10
$XPDR_PINGS,6
$24V_AH,23.8,10.067
$10V_AH,10.3,8.520
$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
$DEVICE_SECS,17.625,163.450,900.875,0.000,0.000,27.316,40.367,199.608,1.500,0.000,14.993,3777.845,9068.327,945.618,3972.305,404.012,0.377,2625.100,0.000,3608.547,0.000,0.540,0.000
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$SENSOR_SECS,1104.785,3251.555,1576.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329848
$DATA_FILE_SIZE,106904,1615
$CAP_FILE_SIZE,199238,0
$CFSIZE,260165632,217886720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,191111,072255,2041.231,12323.880,41,1.1,41,-2.6