version: 66.10
glider: 168
mission: 6
dive: 63
start: 11 24 111 0 30 26
data:
$ID,168
$MISSION,6
$DIVE,63
$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,300
$T_MISSION,320
$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,1
$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,-5653.3511
$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,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,54
$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
$GPS1,241111,002330,2025.931,12354.079,128,1.3,128,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.81
$_SM_ANGLEo,-68.8
$GPS2,241111,003001,2026.020,12353.940,8,1.8,19,-2.6
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,-0.089
$KALMAN_X,8389333.0,0.0,0.0,5378292.5,-3517.0
$KALMAN_Y,1553468.5,0.0,0.0,717100.4,2096.9
$MHEAD_RNG_PITCHd_Wd,127.0,49666,-27.4,-11.000
$D_GRID,5445
$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,16,-0.83,-72.6,0.0,0.0,0,27,0.00,0.00,-8.40,0.000,2,0.000,0.000,102,1967,1442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.96,-181.0,3.8,0.0,1,125,6.68,2.12,-77.93,0.000,4,0.206,0.057,1936,621,3694,0,0,0,0,0,0,25.62,26.01,26.34
$GC,192,-0.90,-181.0,47.5,-48.3,28,200,0.10,2.15,0.00,0.000,6,0.168,0.038,1956,2006,3694,0,0,0,0,0,0,25.85,26.07,28.83
$GC,527,-0.86,-181.0,177.1,-34.4,89,535,0.10,2.20,0.00,0.000,4,0.193,0.039,1970,3440,3695,0,0,0,0,0,0,26.14,26.22,28.83
$GC,581,-0.85,-181.0,193.3,-27.3,98,589,0.00,2.15,0.00,0.000,6,0.000,0.034,1970,2040,3696,0,0,0,0,0,0,28.83,26.26,28.83
$GC,898,-0.83,-181.0,281.3,-27.1,131,907,0.00,2.12,0.00,0.000,4,0.000,0.042,1959,3439,3696,0,0,0,0,0,0,28.83,26.32,28.83
$GC,931,-0.82,-181.0,290.4,-27.4,134,942,0.10,2.15,0.00,0.000,6,0.159,0.034,1985,2023,3696,0,0,0,0,0,0,26.20,26.34,28.83
$GC,1241,-0.82,-181.0,359.8,-21.3,165,1249,0.00,2.15,0.00,0.000,4,0.000,0.043,1985,609,3696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1302,-0.84,-181.0,371.6,-18.3,171,1311,0.00,2.12,0.00,0.000,6,0.000,0.034,1976,2033,3695,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1612,-0.85,-181.0,433.6,-19.2,202,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2034,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.86,-181.0,491.6,-18.8,232,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2033,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.88,-181.0,546.0,-17.8,262,2218,0.00,2.15,0.00,0.000,4,0.000,0.043,1965,3440,3690,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2236,-0.89,-181.0,550.3,-17.9,264,2245,0.00,2.15,0.00,0.000,6,0.000,0.034,1965,2022,3690,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2546,-0.90,-181.0,607.8,-17.7,293,2552,0.00,2.15,0.00,0.000,4,0.000,0.046,1965,618,3688,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2586,-0.92,-181.0,615.0,-17.7,295,2592,0.00,2.12,0.00,0.000,6,0.000,0.036,1955,2027,3687,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2907,-0.93,-181.0,671.8,-17.6,311,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2027,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-0.94,-181.0,723.8,-17.1,326,3212,0.00,2.15,0.00,0.000,4,0.000,0.046,1945,3432,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3294,-0.96,-181.0,737.5,-17.1,330,3298,0.00,2.15,0.00,0.000,6,0.000,0.037,1945,2027,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3602,-0.97,-181.0,795.4,-18.5,345,3607,0.00,2.12,0.00,0.000,4,0.000,0.050,1945,626,3677,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3629,-0.98,-181.0,799.3,-18.7,346,3633,0.00,2.12,0.00,0.000,6,0.000,0.037,1935,2032,3677,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3937,-0.98,-181.0,862.5,-20.2,361,3942,0.00,2.12,0.00,0.000,4,0.000,0.045,1924,3432,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3956,-0.99,-181.0,866.5,-20.1,362,3961,0.00,2.15,0.00,0.000,6,0.000,0.037,1924,2025,3674,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4277,-0.99,-181.0,931.3,-20.0,378,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2024,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.99,-181.0,989.5,-19.2,393,4582,0.00,2.20,0.00,0.000,4,0.000,0.050,1924,611,3668,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,4594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4594,begin apogee
$GC,4601,-0.22,0.0,993.5,-19.4,394,4769,0.77,0.00,155.32,1.280,6,0.122,0.000,2176,1976,2956,0,0,0,0,1,0,26.24,28.83,23.92
$STATE,4770,end apogee,CONTROL_FINISHED_OK
$STATE,4770,begin climb
$GC,4773,0.96,181.0,1001.6,0.0,402,4945,1.02,2.33,161.15,1.095,4,0.042,0.031,2576,3391,2205,0,0,0,0,0,0,24.90,24.62,23.89
$GC,5060,0.91,181.0,952.6,29.8,417,5066,0.20,2.25,0.00,0.000,6,0.187,0.034,2540,1958,2189,0,0,0,0,0,0,25.21,25.39,28.83
$GC,5375,0.86,181.0,868.5,26.1,433,5380,0.00,2.20,0.00,0.000,4,0.000,0.031,2540,3390,2184,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5482,0.82,181.0,841.9,26.6,438,5487,0.15,2.17,0.00,0.000,6,0.190,0.035,2515,1976,2183,0,0,0,0,0,0,25.73,25.95,28.83
$GC,5788,0.79,181.0,767.7,22.7,453,5794,0.00,2.15,0.00,0.000,4,0.000,0.031,2515,3396,2180,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5861,0.76,181.0,753.4,23.8,456,5869,0.12,2.20,0.00,0.000,6,0.185,0.035,2494,1966,2180,0,0,0,0,0,0,25.93,26.13,28.83
$GC,6169,0.75,181.0,686.1,20.5,472,6173,0.00,2.17,0.00,0.000,4,0.000,0.032,2494,3395,2178,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6291,0.73,181.0,660.1,21.4,478,6298,0.10,2.20,0.00,0.000,6,0.195,0.035,2480,1969,2177,0,0,0,0,0,0,26.05,26.22,28.83
$GC,6613,0.72,181.0,600.7,17.5,494,6618,0.00,2.12,0.00,0.000,4,0.000,0.032,2481,3396,2177,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6704,0.71,181.0,584.9,17.2,502,6710,0.00,2.17,0.00,0.000,6,0.000,0.034,2491,1969,2176,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7011,0.70,181.0,533.2,17.4,533,7020,0.08,2.17,0.00,0.000,4,0.239,0.030,2478,3406,2175,0,0,0,0,0,0,26.25,26.34,28.83
$GC,7125,0.69,181.0,512.2,18.2,544,7134,0.03,2.17,0.00,0.000,6,0.216,0.035,2481,1971,2175,0,0,0,0,0,0,26.19,26.34,28.83
$GC,7433,0.69,181.0,461.2,15.6,575,7441,0.00,2.15,0.00,0.000,4,0.000,0.032,2481,3396,2174,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7485,0.69,181.0,452.9,16.1,580,7494,0.05,2.15,0.00,0.000,6,0.173,0.034,2474,1967,2174,0,0,0,0,0,0,26.17,26.36,28.83
$GC,7794,0.69,181.0,409.0,15.1,611,7798,0.00,2.15,0.00,0.000,4,0.000,0.032,2474,3399,2174,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7835,0.69,181.0,402.6,15.7,615,7844,0.00,2.17,0.00,0.000,6,0.000,0.033,2485,1960,2174,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8145,0.69,181.0,354.4,14.8,646,8154,0.00,2.15,0.00,0.000,4,0.000,0.032,2485,3402,2174,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8271,0.68,181.0,334.5,17.2,658,8279,0.12,2.15,0.00,0.000,6,0.180,0.033,2464,1977,2174,0,0,0,0,0,0,26.19,26.41,28.83
$GC,8578,0.70,181.0,293.5,13.5,689,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1977,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,0.71,181.0,254.3,12.7,719,8890,0.00,2.12,0.00,0.000,4,0.000,0.032,2464,3392,2174,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8999,0.72,181.0,237.9,13.7,730,9006,0.00,2.15,0.00,0.000,6,0.000,0.032,2475,1979,2174,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9308,0.73,181.0,202.0,11.0,761,9317,0.00,2.08,0.00,0.000,4,0.000,0.032,2474,3388,2174,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9364,0.74,181.0,195.1,12.2,769,9371,0.00,2.12,0.00,0.000,6,0.000,0.032,2486,1971,2174,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9693,0.75,181.0,156.1,13.1,830,9701,0.00,2.17,0.00,0.000,4,0.000,0.031,2486,3404,2175,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9930,0.76,181.0,124.5,13.1,873,9937,0.00,2.15,0.00,0.000,6,0.000,0.031,2497,1969,2175,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10259,0.84,234.4,90.8,5.6,934,10318,0.08,2.22,52.47,0.306,4,0.124,0.031,2559,3406,2008,0,0,0,0,0,0,26.59,26.21,25.75
$GC,10350,0.85,256.8,84.6,8.7,948,10390,0.12,2.17,29.92,0.301,6,0.144,0.029,2528,1975,1918,0,0,0,0,0,0,26.03,26.24,25.63
$GC,10714,0.93,296.4,60.6,7.0,1014,10766,0.08,2.15,45.33,0.249,4,0.125,0.028,2603,3405,1753,0,0,0,0,0,0,26.32,26.05,25.65
$GC,11010,0.91,296.4,17.4,18.7,1067,11018,0.25,2.17,2.00,0.165,6,0.157,0.032,2543,1971,1744,0,0,0,0,0,0,25.96,26.20,25.94
$STATE,11115,end climb,SURFACE_DEPTH_REACHED
$STATE,11115,begin surface coast
$FINISH,3.2,1.022281
$STATE,11144,end surface coast,CONTROL_FINISHED_OK
$STATE,11144,begin surface
$SM_CCo,11160,52.47,0.123,0,0,1320,400.08
$SM_GC,3.80,5.95,0.08,52.47,0.025,0.116,0.123,100,2018,1320,-6.57,-1.10,400.08,0,0,0,0,0,0
$IRIDIUM_FIX,2017.96,12354.16,231111,202029
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.88
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,23.9,14.732
$10V_AH,10.2,12.862
$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,16.100,103.725,446.200,52.475,0.000,29.290,39.465,190.789,1.250,0.000,22.183,2571.642,5591.576,567.408,2595.581,267.533,0.385,1662.986,0.000,2255.796,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,115.515,1279.845,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.256,1670.352,692.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329788
$DATA_FILE_SIZE,77187,1091
$CAP_FILE_SIZE,128411,0
$CFSIZE,260165632,215572480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241111,033838,2026.380,12354.891,39,1.2,40,-2.6