version: 66.10
glider: 168
mission: 6
dive: 80
start: 11 27 111 7 33 44
data:
$ID,168
$MISSION,6
$DIVE,80
$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,-5674.7344
$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,40
$R_STBD_OVSHOOT,44
$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
$GPS1,271111,072655,2019.040,12415.323,40,1.3,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.94
$_SM_ANGLEo,-65.8
$GPS2,271111,073319,2019.131,12415.267,12,1.3,29,-2.6
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.061,-0.182
$KALMAN_X,8380220.0,0.0,0.0,5426880.0,-1983.0
$KALMAN_Y,1610344.2,0.0,0.0,647479.9,4041.1
$MHEAD_RNG_PITCHd_Wd,164.1,11233,-27.2,-11.000
$D_GRID,5508
$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,-0.83,-73.4,0.0,0.0,0,27,0.00,0.00,-8.30,0.000,2,0.000,0.000,101,1977,690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.96,-182.8,4.0,0.0,1,144,6.25,2.10,-99.22,0.000,4,0.181,0.054,1934,609,3701,0,0,0,0,0,0,25.73,26.06,26.41
$GC,235,-0.88,-182.8,54.4,-50.1,35,242,0.17,2.12,0.00,0.000,6,0.182,0.034,1968,2020,3701,0,0,0,0,0,0,25.89,26.16,28.83
$GC,567,-0.85,-182.8,177.1,-31.5,96,575,0.00,2.17,0.00,0.000,4,0.000,0.040,1959,3426,3701,0,0,0,0,0,0,28.83,26.27,28.83
$GC,610,-0.83,-182.8,190.6,-29.3,103,617,0.10,2.15,0.00,0.000,6,0.163,0.038,1984,2023,3701,0,0,0,0,0,0,26.15,26.29,28.83
$GC,927,-0.82,-182.8,270.2,-23.7,137,936,0.00,2.12,0.00,0.000,4,0.000,0.044,1984,616,3701,0,0,0,0,0,0,28.83,26.34,28.83
$GC,991,-0.82,-182.8,285.0,-22.8,143,999,0.00,2.08,0.00,0.000,6,0.000,0.034,1974,2028,3701,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1299,-0.82,-182.8,356.7,-23.8,174,1308,0.00,2.15,0.00,0.000,4,0.000,0.042,1964,3438,3700,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1344,-0.83,-182.8,365.6,-21.2,178,1352,0.10,2.15,0.00,0.000,6,0.154,0.036,1991,2014,3699,0,0,0,0,0,0,26.28,26.41,28.83
$GC,1651,-0.84,-182.8,428.2,-19.4,209,1655,0.00,2.12,0.00,0.000,4,0.000,0.047,1991,620,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1676,-0.85,-182.8,432.7,-20.3,211,1682,0.00,2.10,0.00,0.000,6,0.000,0.036,1981,2025,3697,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1985,-0.87,-182.8,492.3,-17.6,242,1993,0.00,2.12,0.00,0.000,4,0.000,0.044,1971,3436,3694,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2048,-0.89,-182.8,502.4,-15.3,248,2055,0.00,2.15,0.00,0.000,6,0.000,0.035,1971,2018,3694,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2356,-0.90,-182.8,554.0,-16.7,279,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2016,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-0.92,-182.8,604.5,-16.8,309,2673,0.00,2.15,0.00,0.000,4,0.000,0.047,1971,613,3689,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2694,-0.93,-182.8,608.0,-17.1,310,2698,0.00,2.10,0.00,0.000,6,0.000,0.035,1961,2023,3688,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3003,-0.94,-182.8,663.2,-17.6,325,3009,0.00,2.12,0.00,0.000,4,0.000,0.044,1950,3435,3685,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3041,-0.95,-182.8,670.2,-17.5,327,3047,0.00,2.15,0.00,0.000,6,0.000,0.037,1950,2023,3685,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3362,-0.96,-182.8,727.6,-18.2,343,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2022,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.97,-182.8,782.8,-18.5,358,3667,0.00,2.17,0.00,0.000,4,0.000,0.043,1940,3441,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3689,-0.98,-182.8,786.5,-18.4,359,3693,0.00,2.15,0.00,0.000,6,0.000,0.036,1940,2020,3678,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3997,-0.99,-182.8,848.3,-19.6,374,4001,0.00,2.17,0.00,0.000,4,0.000,0.044,1929,3434,3674,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4019,-1.00,-182.8,852.8,-19.6,375,4025,0.00,2.15,0.00,0.000,6,0.000,0.037,1929,2023,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4339,-1.00,-182.8,917.7,-19.8,391,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2023,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4639,-1.00,-182.8,976.0,-19.3,406,4644,0.00,2.17,0.00,0.000,4,0.000,0.044,1919,3438,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4661,-1.00,-182.8,979.9,-19.3,407,4665,0.00,2.15,0.00,0.000,6,0.000,0.037,1918,2022,3668,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4718,-0.22,0.0,990.5,-19.2,410,4887,0.77,0.00,157.30,1.275,6,0.123,0.000,2179,1967,2955,0,0,0,0,1,0,26.19,28.83,23.91
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4890,0.96,182.8,999.5,0.0,418,5063,1.02,2.38,161.32,1.102,4,0.043,0.044,2589,572,2199,0,0,0,0,0,0,24.89,24.63,23.91
$GC,5079,0.89,182.8,980.4,22.6,428,5084,0.20,2.20,0.00,0.000,6,0.179,0.022,2540,2008,2191,0,0,0,0,0,0,24.79,24.96,28.83
$GC,5395,0.85,182.8,898.6,25.3,444,5401,0.08,2.08,0.00,0.000,4,0.223,0.030,2524,3369,2180,0,0,0,0,0,0,25.73,25.82,28.83
$GC,5582,0.81,182.8,854.6,24.0,453,5587,0.10,2.15,0.00,0.000,6,0.203,0.036,2513,1975,2177,0,0,0,0,0,0,25.77,25.96,28.83
$GC,5891,0.77,182.8,786.3,21.4,468,5896,0.00,2.10,0.00,0.000,4,0.000,0.030,2512,3373,2174,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6030,0.74,182.8,755.7,22.0,475,6036,0.10,2.15,0.00,0.000,6,0.166,0.035,2491,1978,2173,0,0,0,0,0,0,25.92,26.15,28.83
$GC,6350,0.72,182.8,697.9,17.2,491,6355,0.00,2.10,0.00,0.000,4,0.000,0.031,2491,3377,2171,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6412,0.70,182.8,686.6,18.7,494,6417,0.10,2.15,0.00,0.000,6,0.194,0.034,2478,1962,2171,0,0,0,0,0,0,26.03,26.24,28.83
$GC,6727,0.69,182.8,629.0,18.9,510,6731,0.00,2.12,0.00,0.000,4,0.000,0.031,2478,3372,2170,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6863,0.68,182.8,604.7,20.0,516,6871,0.10,2.12,0.00,0.000,6,0.189,0.035,2464,1977,2169,0,0,0,0,0,0,26.10,26.29,28.83
$GC,7168,0.68,182.8,550.0,16.5,546,7177,0.00,2.10,0.00,0.000,4,0.000,0.031,2464,3372,2168,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7272,0.68,182.8,533.2,16.0,556,7279,0.00,2.12,0.00,0.000,6,0.000,0.034,2475,1975,2168,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7581,0.67,182.8,487.5,14.4,587,7590,0.00,2.08,0.00,0.000,4,0.000,0.031,2474,3364,2168,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7685,0.66,182.8,472.2,14.4,597,7693,0.10,2.12,0.00,0.000,6,0.196,0.034,2462,1967,2168,0,0,0,0,0,0,26.15,26.36,28.83
$GC,7993,0.67,182.8,435.9,11.2,628,8001,0.00,2.12,0.00,0.000,4,0.000,0.031,2463,3372,2167,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8065,0.67,182.8,426.7,13.2,635,8074,0.00,2.08,0.00,0.000,6,0.000,0.034,2473,1981,2167,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8375,0.67,182.8,385.5,12.8,666,8383,0.00,2.10,0.00,0.000,4,0.000,0.032,2473,3372,2167,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8499,0.67,182.8,366.5,15.4,678,8506,0.10,2.12,0.00,0.000,6,0.197,0.033,2461,1969,2167,0,0,0,0,0,0,26.17,26.41,28.83
$GC,8806,0.68,182.8,328.8,11.9,709,8815,0.00,2.10,0.00,0.000,4,0.000,0.031,2461,3372,2167,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9000,0.69,182.8,304.9,13.4,728,9009,0.00,2.10,0.00,0.000,6,0.000,0.034,2471,1973,2167,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9311,0.70,182.8,267.9,12.7,759,9319,0.00,2.10,0.00,0.000,4,0.000,0.044,2482,569,2167,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9356,0.71,182.8,262.0,13.7,763,9363,0.00,2.03,0.00,0.000,6,0.000,0.024,2482,1977,2167,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9664,0.72,187.6,227.8,10.5,794,9674,0.00,2.08,0.00,0.000,4,0.000,0.031,2482,3380,2167,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9823,0.72,187.6,208.9,12.3,809,9831,0.00,2.08,0.00,0.000,6,0.000,0.032,2492,1973,2167,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10143,0.73,187.6,172.9,11.2,862,10151,0.00,2.12,0.00,0.000,4,0.000,0.033,2493,3371,2168,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10356,0.73,189.9,147.4,10.8,901,10364,0.10,2.08,0.00,0.000,6,0.190,0.031,2480,1960,2169,0,0,0,0,0,0,26.25,26.48,28.83
$GC,10690,0.82,239.6,121.8,6.0,962,10743,0.10,2.17,42.12,0.517,4,0.096,0.029,2552,3366,1961,0,0,0,0,0,0,26.60,26.13,25.58
$GC,10825,0.82,239.6,103.7,16.1,985,10833,0.17,2.08,0.00,0.000,6,0.155,0.032,2514,1982,1953,0,0,0,0,0,0,25.97,26.17,28.83
$GC,11158,0.87,259.9,67.6,9.0,1046,11180,0.00,2.10,14.85,0.227,4,0.000,0.030,2514,3370,1907,0,0,0,0,0,0,28.83,26.24,25.77
$GC,11423,0.93,285.6,49.3,8.4,1094,11462,0.05,2.12,30.55,0.218,6,0.064,0.028,2605,1953,1793,0,0,0,0,0,0,26.25,26.33,25.82
$GC,11786,1.21,397.3,3.3,-0.2,1160,11846,0.10,2.22,54.10,0.117,4,0.099,0.037,2668,3373,1332,0,0,0,0,0,0,26.39,26.23,26.00
$FREEZE,3.15,27.435,-0.879,0,1,0
$STATE,12020,end climb,NO_VERTICAL_VELOCITY
$STATE,12020,begin surface
$SM_CCo,12023,105.43,0.118,0,0,414,622.82
$SM_GC,3.88,6.20,2.10,0.00,0.021,0.041,0.000,102,2049,423,-6.55,1.70,620.61,0,0,0,0,0,0
$IRIDIUM_FIX,2013.37,12419.03,271111,030336
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.99
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.30
$XPDR_PINGS,9
$24V_AH,23.9,17.684
$10V_AH,10.3,15.210
$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,16.025,114.975,460.250,105.425,0.000,24.261,41.331,178.826,2.250,0.000,32.385,2827.283,6081.859,655.812,2866.489,301.633,0.385,1870.518,0.000,2528.436,0.000,0.539,0.000
$DEVICE_MAMPS,223.380,143.055,1275.255,117.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.361,1841.638,786.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329852
$DATA_FILE_SIZE,83712,1201
$CAP_FILE_SIZE,140995,0
$CFSIZE,260165632,213966848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271111,110101,2018.509,12416.686,37,1.0,38,-2.6