version: 66.10
glider: 168
mission: 6
dive: 48
start: 11 21 111 3 1 0
data:
$ID,168
$MISSION,6
$DIVE,48
$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,320
$T_MISSION,340
$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,210
$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,400
$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,-5634.478
$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,24
$R_STBD_OVSHOOT,53
$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
$GPS1,211111,025425,2032.802,12333.077,64,1.2,64,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-65.9
$GPS2,211111,030032,2032.796,12332.987,10,1.1,10,-2.6
$SPEED_LIMITS,0.179,0.304
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.278,-0.123
$KALMAN_X,8417213.0,0.0,0.0,5311607.0,-2537.0
$KALMAN_Y,1536126.5,0.0,0.0,746923.2,6844.1
$MHEAD_RNG_PITCHd_Wd,69.9,88084,-14.9,-10.312
$D_GRID,5546
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-204.4,0.0,0.0,0,26,0.00,0.00,-8.02,0.000,2,0.000,0.000,103,2041,694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.65,-204.4,3.4,0.0,1,149,6.53,2.30,-107.05,0.000,4,0.176,0.059,2039,595,3789,0,0,0,0,0,0,25.74,26.03,26.35
$GC,180,-0.56,-204.4,19.3,-37.7,22,189,0.10,2.15,0.00,0.000,6,0.140,0.034,2064,1999,3790,0,0,0,0,0,0,25.93,26.08,28.83
$GC,519,-0.50,-204.4,125.0,-24.1,83,528,0.10,2.22,0.00,0.000,4,0.177,0.041,2081,3427,3790,0,0,0,0,0,0,26.17,26.24,28.83
$GC,564,-0.47,-204.4,135.0,-19.8,90,573,0.05,2.20,0.00,0.000,6,0.109,0.038,2106,2007,3790,0,0,0,0,0,0,26.17,26.26,28.83
$GC,909,-0.46,-204.4,186.2,-13.5,151,917,0.00,2.15,0.00,0.000,4,0.000,0.045,2106,617,3790,0,0,0,0,0,0,28.83,26.33,28.83
$GC,964,-0.47,-204.4,192.8,-11.4,160,974,0.00,2.15,0.00,0.000,6,0.000,0.036,2099,2032,3790,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1303,-0.46,-204.4,237.9,-13.2,221,1310,0.00,2.17,0.00,0.000,4,0.000,0.043,2089,3437,3790,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1331,-0.46,-204.4,241.4,-12.3,225,1339,0.00,2.15,0.00,0.000,6,0.000,0.034,2089,2024,3790,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1645,-0.46,-204.4,278.2,-11.6,262,1658,0.00,2.12,0.00,0.000,4,0.000,0.047,2089,622,3789,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1705,-0.47,-204.4,284.2,-11.0,267,1713,0.00,2.08,0.00,0.000,6,0.000,0.035,2087,2020,3789,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2011,-0.47,-204.4,317.4,-10.2,298,2022,0.00,2.15,0.00,0.000,4,0.000,0.044,2078,3437,3787,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2047,-0.47,-204.4,320.7,-9.9,301,2055,0.08,2.12,0.00,0.000,6,0.138,0.034,2107,2024,3787,0,0,0,0,0,0,26.41,26.48,28.83
$GC,2355,-0.49,-204.4,345.6,-8.5,332,2359,0.00,2.12,0.00,0.000,4,0.000,0.046,2107,619,3785,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2398,-0.52,-204.4,349.3,-8.7,336,2408,0.10,2.10,0.00,0.000,6,0.096,0.036,2003,2033,3785,0,0,0,0,0,0,26.48,26.50,28.83
$GC,2709,-0.47,-204.4,413.1,-20.5,367,2719,0.28,2.12,0.00,0.000,4,0.125,0.041,2091,3455,3783,0,0,0,0,0,0,26.39,26.50,28.83
$GC,2732,-0.44,-204.4,417.4,-19.3,369,2741,0.08,2.15,0.00,0.000,6,0.141,0.035,2118,2024,3783,0,0,0,0,0,0,26.44,26.51,28.83
$GC,3042,-0.47,-204.4,438.7,-6.3,400,3051,0.08,2.15,0.00,0.000,4,0.122,0.044,2041,613,3782,0,0,0,0,0,0,26.60,26.49,28.83
$GC,3068,-0.49,-204.4,440.6,-7.1,402,3077,0.17,2.10,0.00,0.000,6,0.114,0.037,2093,2020,3782,0,0,0,0,0,0,26.44,26.52,28.83
$GC,3376,-0.51,-204.4,462.3,-5.9,433,3380,0.00,2.15,0.00,0.000,4,0.000,0.045,2084,3435,3780,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3429,-0.54,-204.4,465.1,-5.3,438,3437,0.00,2.10,0.00,0.000,6,0.000,0.033,2083,2020,3779,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3740,-0.55,-204.4,485.6,-7.4,469,3749,0.00,2.12,0.00,0.000,4,0.000,0.047,2084,628,3777,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3792,-0.58,-204.4,489.7,-7.8,474,3802,0.05,2.08,0.00,0.000,6,0.070,0.036,1997,2022,3777,0,0,0,0,0,0,26.48,26.53,28.83
$GC,4104,-0.54,-204.4,543.3,-18.3,505,4113,0.22,2.10,0.00,0.000,4,0.129,0.043,2067,3418,3775,0,0,0,0,0,0,26.41,26.51,28.83
$GC,4147,-0.54,-204.4,549.2,-13.3,509,4151,0.00,2.10,0.00,0.000,6,0.000,0.034,2067,2021,3775,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4459,-0.55,-204.4,582.4,-10.7,540,4468,0.00,2.17,0.00,0.000,4,0.000,0.049,2066,611,3772,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4483,-0.56,-204.4,584.8,-10.9,542,4491,0.00,2.12,0.00,0.000,6,0.000,0.036,2059,2022,3772,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4801,-0.56,-204.4,620.3,-10.7,565,4807,0.00,2.15,0.00,0.000,4,0.000,0.046,2050,3433,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4824,-0.56,-204.4,622.4,-10.6,566,4829,0.08,2.15,0.00,0.000,6,0.148,0.036,2078,2019,3769,0,0,0,0,0,0,26.45,26.53,28.83
$GC,5140,-0.58,-204.4,645.5,-6.4,582,5145,0.00,2.12,0.00,0.000,4,0.000,0.050,2078,626,3766,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5172,-0.60,-204.4,646.9,-6.3,583,5179,0.08,2.10,0.00,0.000,6,0.122,0.037,1993,2028,3766,0,0,0,0,0,0,26.48,26.53,28.83
$GC,5481,-0.57,-204.4,687.9,-13.6,599,5487,0.20,2.17,0.00,0.000,4,0.127,0.045,2055,3436,3763,0,0,0,0,0,0,26.44,26.50,28.83
$GC,5543,-0.57,-204.4,693.3,-9.9,602,5547,0.00,2.15,0.00,0.000,6,0.000,0.035,2055,2018,3763,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5856,-0.58,-204.4,716.7,-7.4,618,5861,0.00,2.12,0.00,0.000,4,0.000,0.050,2055,618,3761,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5888,-0.58,-204.4,718.3,-7.5,619,5895,0.00,2.12,0.00,0.000,6,0.000,0.037,2048,2030,3761,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6196,-0.58,-204.4,744.9,-8.4,635,6202,0.05,2.15,0.00,0.000,4,0.213,0.045,2056,3431,3758,0,0,0,0,0,0,26.58,26.50,28.83
$GC,6225,-0.59,-204.4,746.6,-8.4,636,6229,0.00,2.15,0.00,0.000,6,0.000,0.036,2056,2015,3758,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6532,-0.60,-204.4,769.5,-7.2,651,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2015,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6832,-0.61,-204.4,792.4,-7.8,666,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2014,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7131,-0.62,-204.4,817.2,-8.5,681,7137,0.00,2.17,0.00,0.000,4,0.000,0.052,2056,616,3752,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7151,-0.63,-204.4,818.9,-8.5,682,7157,0.00,2.12,0.00,0.000,6,0.000,0.037,2051,2030,3752,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7472,-0.64,-204.4,846.9,-8.4,698,7477,0.00,2.12,0.00,0.000,4,0.000,0.047,2042,3425,3750,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7512,-0.65,-204.4,850.3,-8.3,700,7517,0.00,2.15,0.00,0.000,6,0.000,0.037,2042,2023,3750,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7831,-0.65,-204.4,877.7,-8.1,716,7837,0.00,2.15,0.00,0.000,4,0.000,0.051,2042,621,3748,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7875,-0.66,-204.4,881.1,-8.3,718,7879,0.00,2.10,0.00,0.000,6,0.000,0.038,2036,2024,3748,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8186,-0.66,-204.4,907.0,-8.1,734,8192,0.00,2.17,0.00,0.000,4,0.000,0.048,2026,3439,3747,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8230,-0.66,-204.4,910.1,-8.0,736,8234,0.00,2.15,0.00,0.000,6,0.000,0.037,2025,2026,3746,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8547,-0.66,-204.4,936.5,-8.0,752,8551,0.00,2.20,0.00,0.000,4,0.000,0.054,2026,611,3744,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8590,-0.66,-204.4,939.9,-8.2,754,8596,0.05,2.10,0.00,0.000,6,0.122,0.037,2041,2021,3744,0,0,0,0,0,0,26.36,26.51,28.83
$GC,8912,-0.66,-204.4,962.8,-7.1,770,8917,0.00,2.17,0.00,0.000,4,0.000,0.048,2031,3440,3743,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8950,-0.67,-204.4,965.6,-7.1,772,8956,0.00,2.17,0.00,0.000,6,0.000,0.037,2031,2024,3742,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,9268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9268,begin apogee
$GC,9274,-0.22,0.0,990.8,-8.2,788,9529,0.40,0.00,244.52,0.890,6,0.097,0.000,2179,1859,2947,0,0,0,0,0,0,26.38,28.83,24.18
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9533,0.65,204.4,1002.2,0.0,801,9724,0.75,2.38,180.98,1.076,4,0.042,0.031,2481,3296,2111,0,0,0,0,0,0,24.96,24.54,23.81
$GC,9914,0.58,204.4,942.1,22.4,820,9921,0.20,2.25,0.00,0.000,6,0.163,0.040,2440,1889,2087,0,0,0,0,0,0,25.34,25.48,28.83
$GC,10235,0.53,204.4,882.5,17.8,836,10241,0.10,2.12,0.00,0.000,4,0.187,0.031,2415,3296,2083,0,0,0,0,0,0,25.77,25.89,28.83
$GC,10303,0.49,204.4,872.1,17.4,839,10308,0.10,2.22,0.00,0.000,6,0.185,0.039,2400,1871,2082,0,0,0,0,0,0,25.77,25.91,28.83
$GC,10610,0.46,204.4,827.7,13.7,854,10616,0.00,2.20,0.00,0.000,4,0.000,0.034,2400,3306,2081,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10671,0.43,204.4,819.1,14.0,857,10678,0.05,2.22,0.00,0.000,6,0.155,0.039,2391,1877,2080,0,0,0,0,0,0,25.94,26.08,28.83
$GC,10992,0.41,204.4,779.9,12.0,873,10996,0.00,2.17,0.00,0.000,4,0.000,0.035,2391,3302,2079,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11068,0.39,204.4,772.0,12.5,876,11075,0.10,2.22,0.00,0.000,6,0.170,0.041,2374,1872,2080,0,0,0,0,0,0,26.06,26.18,28.83
$GC,11376,0.41,229.7,739.9,9.4,892,11402,0.00,2.22,21.25,0.893,4,0.000,0.037,2374,3300,2010,0,0,0,0,0,0,28.83,25.89,25.17
$GC,11473,0.42,248.4,730.5,9.7,897,11497,0.00,2.22,17.95,0.901,6,0.000,0.041,2382,1875,1936,0,0,0,0,0,0,28.83,25.94,24.94
$GC,11812,0.46,284.0,698.2,9.1,914,11853,0.00,2.30,35.15,0.893,4,0.000,0.039,2382,3290,1788,0,0,0,0,0,0,28.83,25.44,24.72
$GC,11875,0.49,311.6,692.5,9.4,917,11914,0.05,2.28,26.73,0.896,6,0.163,0.043,2440,1871,1668,0,0,0,0,0,0,25.47,25.51,24.49
$GC,12211,0.46,311.6,639.3,16.1,934,12217,0.12,2.22,0.00,0.000,4,0.161,0.034,2398,3295,1655,0,0,0,0,0,0,25.74,25.85,28.83
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$GC,13947,0.46,311.6,430.3,12.5,1088,13951,0.00,2.20,0.00,0.000,6,0.000,0.044,2403,1867,1648,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,17548,end climb,SURFACE_DEPTH_REACHED
$STATE,17548,begin surface coast
$FINISH,2.7,1.022477
$STATE,17560,end surface coast,CONTROL_FINISHED_OK
$STATE,17560,begin surface
$SM_CCo,17563,31.40,0.125,0,0,413,622.82
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$IRIDIUM_FIX,2022.56,12338.85,201111,222204
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.36
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.8,12.108
$10V_AH,10.3,10.299
$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,17.125,182.125,748.100,31.400,0.000,31.270,19.461,183.691,0.250,0.000,13.053,4255.700,8628.937,845.025,3909.526,413.918,0.377,2520.680,0.000,3565.452,0.000,0.539,0.000
$DEVICE_MAMPS,212.670,74.970,1075.590,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.264,3180.608,1578.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329828
$DATA_FILE_SIZE,103796,1589
$CAP_FILE_SIZE,199816,0
$CFSIZE,260165632,216903680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.320,240.7,1
$GPS,211111,075725,2033.535,12334.774,47,1.3,47,-2.6