version: 66.10
glider: 168
mission: 6
dive: 39
start: 11 19 111 7 30 6
data:
$ID,168
$MISSION,6
$DIVE,39
$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,-5623.1543
$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,28
$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
$GPS1,191111,072255,2041.231,12323.880,41,1.1,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-70.5
$GPS2,191111,072944,2041.275,12323.905,13,1.1,13,-2.6
$SPEED_LIMITS,0.150,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,2030.640,12325.907
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.446,-0.930
$KALMAN_X,8428586.0,0.0,0.0,5283471.0,-9805.0
$KALMAN_Y,1493947.0,0.0,0.0,804825.5,19280.4
$MHEAD_RNG_PITCHd_Wd,172.6,20000,-11.1,-8.684
$D_GRID,5132
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.60,-243.3,0.0,0.0,0,28,0.00,0.00,-7.20,0.000,2,0.000,0.000,100,2030,669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.60,-243.3,3.3,0.0,1,159,6.70,0.00,-117.82,0.000,6,0.183,0.000,2058,2031,3947,0,0,0,0,0,0,25.74,28.83,26.35
$GC,474,-0.51,-243.3,120.9,-31.8,79,482,0.10,2.22,0.00,0.000,4,0.181,0.046,2086,611,3947,0,0,0,0,0,0,26.15,26.21,28.83
$GC,521,-0.46,-243.3,133.2,-22.6,87,530,0.05,2.15,0.00,0.000,6,0.132,0.035,2099,2012,3947,0,0,0,0,0,0,26.14,26.26,28.83
$GC,847,-0.42,-243.3,190.4,-15.4,148,855,0.00,2.20,0.00,0.000,4,0.000,0.044,2089,3436,3947,0,0,0,0,0,0,28.83,26.34,28.83
$GC,903,-0.42,-243.3,197.5,-9.5,158,912,0.05,2.17,0.00,0.000,6,0.090,0.034,2118,2008,3948,0,0,0,0,0,0,26.29,26.37,28.83
$GC,1229,-0.42,-243.3,224.7,-7.9,219,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2007,3948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-0.42,-243.3,251.0,-7.8,280,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2007,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.43,-243.3,274.7,-8.2,310,1860,0.00,2.20,0.00,0.000,4,0.000,0.046,2111,3437,3946,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1893,-0.45,-243.3,278.4,-8.0,314,1903,0.00,2.12,0.00,0.000,6,0.000,0.033,2111,2015,3946,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2204,-0.52,-243.3,310.6,-10.8,345,2213,0.10,2.10,0.00,0.000,4,0.119,0.042,2064,621,3946,0,0,0,0,0,0,26.54,26.49,28.83
$GC,2266,-0.57,-243.3,317.1,-10.7,351,2275,0.00,2.10,0.00,0.000,6,0.000,0.034,2064,2042,3945,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2577,-0.64,-243.3,341.8,-7.5,382,2586,0.08,2.08,0.00,0.000,4,0.140,0.040,2015,3418,3943,0,0,0,0,0,0,26.58,26.52,28.83
$GC,2680,-0.68,-243.3,349.2,-8.1,392,2689,0.03,2.08,0.00,0.000,6,0.140,0.034,2032,2025,3943,0,0,0,0,0,0,26.44,26.53,28.83
$GC,2989,-0.63,-243.3,391.0,-15.6,423,2993,0.05,2.15,0.00,0.000,4,0.226,0.047,2048,618,3941,0,0,0,0,0,0,26.58,26.51,28.83
$GC,3024,-0.60,-243.3,395.6,-14.9,426,3032,0.08,2.10,0.00,0.000,6,0.167,0.037,2065,2022,3941,0,0,0,0,0,0,26.45,26.54,28.83
$GC,3331,-0.58,-243.3,433.1,-12.8,457,3340,0.00,2.15,0.00,0.000,4,0.000,0.047,2065,615,3940,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3356,-0.57,-243.3,435.9,-12.6,459,3364,0.00,2.12,0.00,0.000,6,0.000,0.037,2059,2039,3940,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3663,-0.56,-243.3,472.2,-9.5,490,3667,0.00,2.12,0.00,0.000,4,0.000,0.045,2051,3432,3938,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3697,-0.55,-243.3,475.0,-8.7,493,3705,0.08,2.10,0.00,0.000,6,0.142,0.034,2082,2028,3938,0,0,0,0,0,0,26.48,26.55,28.83
$GC,4004,-0.55,-243.3,492.3,-5.0,524,4013,0.00,2.15,0.00,0.000,4,0.000,0.047,2082,620,3936,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4029,-0.56,-243.3,493.4,-5.1,526,4036,0.00,2.10,0.00,0.000,6,0.000,0.036,2082,2026,3936,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4336,-0.56,-243.3,515.2,-8.9,557,4345,0.00,2.15,0.00,0.000,4,0.000,0.047,2075,3431,3933,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4388,-0.58,-243.3,519.6,-8.3,562,4397,0.00,2.10,0.00,0.000,6,0.000,0.034,2074,2022,3933,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4699,-0.65,-243.3,549.6,-9.8,593,4708,0.12,2.10,0.00,0.000,4,0.106,0.044,2009,619,3931,0,0,0,0,0,0,26.58,26.54,28.83
$GC,4724,-0.71,-243.3,552.1,-9.9,595,4731,0.00,2.10,0.00,0.000,6,0.000,0.037,2008,2025,3931,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5032,-0.72,-243.3,578.1,-8.2,626,5040,0.00,2.15,0.00,0.000,4,0.000,0.047,2002,3434,3928,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5096,-0.70,-243.3,583.9,-10.3,632,5103,0.10,2.12,0.00,0.000,6,0.138,0.037,2034,2027,3927,0,0,0,0,0,0,26.47,26.55,28.83
$GC,5405,-0.68,-243.3,618.3,-11.4,655,5410,0.00,2.15,0.00,0.000,4,0.000,0.050,2035,622,3925,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5446,-0.66,-243.3,623.0,-11.5,657,5450,0.00,2.10,0.00,0.000,6,0.000,0.038,2027,2029,3924,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5758,-0.64,-243.3,662.2,-13.2,673,5765,0.08,2.15,0.00,0.000,4,0.180,0.045,2040,3441,3923,0,0,0,0,0,0,26.55,26.53,28.83
$GC,5792,-0.62,-243.3,664.7,-13.2,674,5799,0.00,2.15,0.00,0.000,6,0.000,0.035,2039,2012,3923,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6098,-0.60,-243.3,698.1,-9.7,690,6100,0.05,0.00,0.00,0.000,6,0.203,0.000,2058,2010,3921,0,0,0,0,0,0,26.62,28.83,28.83
$GC,6401,-0.60,-243.3,718.4,-6.3,705,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2011,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.60,-243.3,737.1,-6.4,720,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2011,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6998,-0.60,-243.3,756.1,-6.3,735,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2011,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7299,-0.60,-243.3,775.5,-6.9,750,7303,0.00,2.20,0.00,0.000,4,0.000,0.048,2050,3437,3912,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7334,-0.60,-243.3,776.9,-6.8,751,7341,0.00,2.12,0.00,0.000,6,0.000,0.035,2050,2019,3912,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7641,-0.60,-243.3,801.2,-7.8,767,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2018,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,-0.60,-243.3,824.8,-7.7,782,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2018,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8242,-0.60,-243.3,848.2,-7.6,797,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.60,-243.3,870.9,-7.4,812,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2018,3905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8841,-0.60,-243.3,893.1,-7.5,827,8847,0.00,2.20,0.00,0.000,4,0.000,0.048,2045,3434,3903,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8881,-0.61,-243.3,896.1,-7.4,829,8885,0.00,2.15,0.00,0.000,6,0.000,0.035,2045,2016,3903,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9203,-0.61,-243.3,921.7,-8.1,845,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2015,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9503,-0.61,-243.3,945.9,-7.9,860,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2015,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9804,-0.61,-243.3,968.7,-7.3,875,9810,0.00,2.15,0.00,0.000,4,0.000,0.048,2040,3422,3900,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9837,-0.61,-243.3,970.1,-7.2,876,9844,0.00,2.12,0.00,0.000,6,0.000,0.036,2040,2019,3900,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,10120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10121,begin apogee
$GC,10126,-0.22,0.0,991.5,-7.2,891,10330,0.38,0.00,198.60,1.103,6,0.088,0.000,2182,1859,2953,0,0,0,0,0,0,26.46,28.83,23.99
$STATE,10330,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10333,0.60,243.3,999.9,0.0,901,10555,0.70,2.40,211.88,1.074,4,0.050,0.032,2453,3294,1949,0,0,0,0,0,0,24.80,24.53,23.82
$GC,10783,0.54,243.3,928.1,21.1,924,10790,0.15,2.22,0.00,0.000,6,0.164,0.041,2424,1892,1926,0,0,0,0,0,0,25.44,25.56,28.83
$GC,11106,0.48,243.3,870.6,17.1,940,11112,0.10,2.15,0.00,0.000,4,0.177,0.032,2397,3294,1923,0,0,0,0,0,0,25.84,25.93,28.83
$GC,11168,0.44,243.3,860.9,15.9,943,11172,0.08,2.25,0.00,0.000,6,0.190,0.042,2389,1870,1923,0,0,0,0,0,0,25.84,25.94,28.83
$GC,11486,0.40,243.3,818.9,13.2,959,11491,0.00,2.17,0.00,0.000,4,0.000,0.054,2399,475,1922,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11518,0.37,243.3,816.3,13.1,960,11526,0.12,2.10,0.00,0.000,6,0.150,0.026,2363,1895,1921,0,0,0,0,0,0,26.00,26.15,28.83
$GC,11827,0.35,243.3,782.2,10.4,976,11833,0.00,2.08,0.00,0.000,4,0.000,0.039,2363,3264,1921,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11859,0.33,243.3,779.9,10.5,977,11866,0.00,2.17,0.00,0.000,6,0.000,0.043,2372,1871,1921,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12166,0.31,243.3,741.9,12.3,993,12172,0.10,2.12,0.00,0.000,4,0.154,0.038,2341,3269,1921,0,0,0,0,0,0,26.22,26.25,28.83
$GC,12199,0.29,243.3,739.5,12.3,994,12205,0.00,2.17,0.00,0.000,6,0.000,0.044,2349,1876,1921,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12507,0.29,243.3,707.6,9.0,1010,12512,0.00,2.17,0.00,0.000,4,0.000,0.053,2357,467,1920,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12539,0.29,243.3,705.8,8.8,1011,12546,0.00,2.08,0.00,0.000,6,0.000,0.028,2357,1868,1920,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12846,0.38,317.9,682.0,6.9,1027,12926,0.00,2.25,71.65,0.849,4,0.000,0.039,2358,3272,1645,0,0,0,0,0,0,28.83,25.28,24.61
$GC,12977,0.50,416.7,674.0,6.3,1033,13076,0.15,2.25,90.90,0.862,6,0.068,0.042,2451,1875,1247,0,0,0,0,0,0,25.56,25.51,24.20
$GC,13379,0.46,416.7,596.0,20.7,1054,13389,0.17,2.28,0.00,0.000,4,0.145,0.055,2403,471,1223,0,0,0,0,0,0,25.67,25.73,28.83
$GC,13435,0.44,416.7,588.0,14.0,1059,13441,0.00,2.12,0.00,0.000,6,0.000,0.028,2403,1877,1222,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,17460,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
$FINISH,2.6,1.022039
$STATE,17474,end surface coast,CONTROL_FINISHED_OK
$STATE,17474,begin surface
$SM_CCo,17549,0.00,0.000,0,0,432,618.65
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$IRIDIUM_FIX,2038.68,12324.14,191111,020258
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.25
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,23.8,10.280
$10V_AH,10.3,8.700
$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,17.500,147.325,754.525,0.000,0.000,31.165,38.746,207.809,1.000,0.000,15.755,3692.070,9194.420,812.502,3834.384,400.728,0.377,2426.377,0.000,3460.647,0.000,0.538,0.000
$DEVICE_MAMPS,226.440,65.025,1103.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1075.502,3093.314,1436.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329816
$DATA_FILE_SIZE,103897,1570
$CAP_FILE_SIZE,191160,0
$CFSIZE,260165632,217792512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191111,122337,2037.804,12323.391,26,1.0,26,-2.6