version: 66.10
glider: 168
mission: 6
dive: 295
start: 1 11 112 5 42 47
data:
$ID,168
$MISSION,6
$DIVE,295
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$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,340
$T_MISSION,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-6227.2261
$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,35
$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
$GPS1,110112,053600,2016.536,12418.710,75,1.1,75,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.77
$_SM_ANGLEo,-70.5
$GPS2,110112,054226,2016.601,12418.618,14,1.3,14,-2.6
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.030,-0.310
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,143.6,3815,-25.1,-9.706
$D_GRID,5643
$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,-0.77,-74.2,0.0,0.0,0,70,0.00,0.00,-50.60,0.000,2,0.000,0.000,100,2039,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.85,-138.2,8.1,-4.1,8,101,6.72,2.22,-14.45,0.000,4,0.190,0.054,1971,614,3519,0,0,0,0,0,0,25.15,25.87,26.41
$GC,230,-0.80,-138.2,76.5,-36.5,36,239,0.08,2.12,0.00,0.000,6,0.164,0.032,1986,2004,3520,0,0,0,0,0,0,25.71,26.06,28.83
$GC,568,-0.76,-138.2,187.0,-27.1,97,574,0.10,0.00,0.00,0.000,6,0.187,0.000,2011,2005,3521,0,0,0,0,0,0,26.17,28.83,28.83
$GC,879,-0.74,-138.2,261.8,-22.9,132,889,0.00,2.20,0.00,0.000,4,0.000,0.040,2001,3432,3522,0,0,0,0,0,0,28.83,26.15,28.83
$GC,906,-0.72,-138.2,266.9,-22.0,134,915,0.05,2.17,0.00,0.000,6,0.129,0.034,2021,2027,3522,0,0,0,0,0,0,26.00,26.16,28.83
$GC,1212,-0.72,-138.2,325.0,-16.4,165,1221,0.00,2.20,0.00,0.000,4,0.000,0.046,2022,608,3522,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1237,-0.72,-138.2,328.8,-17.3,167,1244,0.00,2.12,0.00,0.000,6,0.000,0.036,2011,2020,3522,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1545,-0.72,-138.2,383.1,-16.9,198,1554,0.00,2.17,0.00,0.000,4,0.000,0.045,2011,615,3521,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1577,-0.72,-138.2,388.8,-17.3,201,1586,0.05,2.15,0.00,0.000,6,0.133,0.037,2022,2034,3521,0,0,0,0,0,0,26.03,26.20,28.83
$GC,1886,-0.73,-138.2,432.2,-13.5,232,1890,0.00,2.15,0.00,0.000,4,0.000,0.041,2012,3436,3519,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1943,-0.76,-138.2,438.8,-12.3,237,1950,0.00,2.15,0.00,0.000,6,0.000,0.034,2012,2022,3519,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2251,-0.77,-138.2,482.2,-14.4,268,2259,0.00,2.17,0.00,0.000,4,0.000,0.041,2002,3437,3517,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2303,-0.79,-138.2,489.5,-13.8,273,2307,0.00,2.17,0.00,0.000,6,0.000,0.036,2002,2020,3517,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2615,-0.80,-138.2,533.8,-13.9,304,2624,0.00,2.20,0.00,0.000,4,0.000,0.049,2002,614,3515,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2650,-0.81,-138.2,538.6,-14.7,307,2656,0.00,2.15,0.00,0.000,6,0.000,0.037,1991,2032,3514,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2957,-0.82,-138.2,583.0,-14.2,338,2966,0.00,2.15,0.00,0.000,4,0.000,0.041,1981,3439,3513,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3019,-0.84,-138.2,592.1,-14.6,344,3028,0.00,2.17,0.00,0.000,6,0.000,0.035,1981,2019,3512,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3340,-0.85,-138.2,641.2,-15.4,363,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2019,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3639,-0.86,-138.2,684.5,-13.5,378,3644,0.00,2.22,0.00,0.000,4,0.000,0.042,1971,3439,3506,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3660,-0.87,-138.2,687.2,-13.4,379,3665,0.00,2.17,0.00,0.000,6,0.000,0.036,1971,2028,3506,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3979,-0.88,-138.2,732.6,-13.9,395,3984,0.00,2.22,0.00,0.000,4,0.000,0.044,1961,3434,3503,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3999,-0.88,-138.2,735.6,-14.0,396,4003,0.00,2.20,0.00,0.000,6,0.000,0.037,1961,2020,3503,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4321,-0.88,-138.2,784.6,-15.0,412,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2018,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.88,-138.2,830.5,-15.1,427,4626,0.00,2.22,0.00,0.000,4,0.000,0.044,1951,3437,3497,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4694,-0.89,-138.2,839.2,-14.8,430,4703,0.00,2.20,0.00,0.000,6,0.000,0.038,1950,2022,3497,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5002,-0.89,-138.2,887.8,-15.1,446,5007,0.00,2.20,0.00,0.000,4,0.000,0.050,1950,622,3495,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5048,-0.89,-138.2,894.2,-15.4,448,5053,0.10,2.17,0.00,0.000,6,0.164,0.038,1965,2033,3494,0,0,0,0,0,0,25.88,26.08,28.83
$GC,5357,-0.90,-138.2,936.5,-13.2,463,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2033,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5657,-0.91,-138.2,975.0,-12.8,478,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2033,3490,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5779,-0.22,0.0,990.5,-12.9,484,5950,0.62,0.00,164.20,0.855,6,0.108,0.000,2180,1966,2954,0,0,0,0,0,0,25.57,28.83,24.12
$STATE,5951,end apogee,CONTROL_FINISHED_OK
$STATE,5951,begin climb
$GC,5953,0.85,138.2,995.8,0.0,492,6085,0.90,2.38,120.60,1.042,4,0.038,0.047,2560,573,2382,0,0,0,0,0,0,25.20,24.69,23.62
$GC,6126,0.79,138.2,984.3,15.0,500,6134,0.22,2.20,0.00,0.000,6,0.148,0.023,2498,2002,2372,0,0,0,0,0,0,24.91,25.22,28.83
$GC,6433,0.76,138.2,926.1,18.0,516,6439,0.00,2.10,0.00,0.000,4,0.000,0.031,2498,3379,2363,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6558,0.72,138.2,903.9,18.5,522,6564,0.12,2.20,0.00,0.000,6,0.181,0.034,2478,1969,2361,0,0,0,0,0,0,25.60,25.91,28.83
$GC,6873,0.70,138.2,854.8,15.1,538,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1969,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,0.68,138.2,809.8,14.9,553,7180,0.00,2.12,0.00,0.000,4,0.000,0.031,2478,3380,2357,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7326,0.66,138.2,787.2,16.1,560,7334,0.12,2.17,0.00,0.000,6,0.170,0.034,2457,1972,2356,0,0,0,0,0,0,25.75,26.04,28.83
$GC,7635,0.65,138.2,742.0,14.1,576,7639,0.00,2.15,0.00,0.000,4,0.000,0.031,2456,3382,2356,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7749,0.64,138.2,726.2,15.4,581,7756,0.00,2.17,0.00,0.000,6,0.000,0.035,2467,1976,2355,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8059,0.63,138.2,682.5,13.4,597,8064,0.00,2.12,0.00,0.000,4,0.000,0.031,2467,3372,2354,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8145,0.62,138.2,670.5,14.8,601,8150,0.12,2.17,0.00,0.000,6,0.177,0.034,2447,1968,2353,0,0,0,0,0,0,25.72,26.06,28.83
$GC,8453,0.62,138.2,631.5,11.6,616,8457,0.00,2.15,0.00,0.000,4,0.000,0.033,2447,3376,2352,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8534,0.62,138.2,621.0,12.8,620,8538,0.00,2.17,0.00,0.000,6,0.000,0.034,2458,1973,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8846,0.62,138.2,585.4,10.9,642,8854,0.00,2.12,0.00,0.000,4,0.000,0.032,2458,3375,2351,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8898,0.61,138.2,579.6,11.1,647,8908,0.05,2.15,0.00,0.000,6,0.158,0.034,2450,1974,2351,0,0,0,0,0,0,25.81,26.06,28.83
$GC,9209,0.61,138.2,548.5,10.2,678,9217,0.00,2.10,0.00,0.000,4,0.000,0.032,2451,3369,2351,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9352,0.61,138.2,532.0,11.8,692,9361,0.03,2.12,0.00,0.000,6,0.187,0.034,2451,1980,2351,0,0,0,0,0,0,25.89,26.08,28.83
$GC,9661,0.61,138.2,499.5,10.6,723,9665,0.00,2.12,0.00,0.000,4,0.000,0.033,2451,3375,2351,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9706,0.61,138.2,494.6,11.4,727,9713,0.00,2.17,0.00,0.000,6,0.000,0.034,2461,1965,2351,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10014,0.61,138.2,460.9,10.6,758,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1965,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10316,0.61,138.2,430.2,9.9,788,10324,0.00,2.12,0.00,0.000,4,0.000,0.034,2461,3372,2350,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10461,0.60,138.2,414.5,10.5,802,10469,0.12,2.15,0.00,0.000,6,0.163,0.034,2438,1975,2350,0,0,0,0,0,0,25.72,26.03,28.83
$GC,10769,0.64,151.6,388.4,8.5,833,10779,0.00,2.20,2.55,0.379,4,0.000,0.047,2449,576,2340,0,0,0,0,0,0,28.83,25.91,23.74
$GC,10816,0.66,159.7,384.5,9.0,837,10835,0.00,2.08,13.82,0.698,6,0.000,0.027,2449,1976,2301,0,0,0,0,0,0,28.83,26.17,24.75
$GC,11138,0.68,162.4,353.1,9.5,869,11143,0.08,2.15,0.00,0.000,4,0.120,0.032,2535,3384,2287,0,0,0,0,0,0,26.36,26.04,28.83
$GC,11191,0.65,162.4,345.3,15.5,874,11201,0.30,2.17,0.00,0.000,6,0.151,0.032,2460,1966,2286,0,0,0,0,0,0,25.41,26.03,28.83
$GC,11503,0.66,163.1,314.6,9.6,905,11507,0.00,2.15,0.00,0.000,4,0.000,0.032,2459,3380,2285,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11576,0.67,163.1,307.1,10.3,912,11585,0.00,2.12,0.00,0.000,6,0.000,0.033,2470,1983,2286,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11887,0.69,176.7,279.8,8.5,943,11906,0.00,0.00,15.18,0.616,6,0.000,0.000,2470,1983,2227,0,0,0,0,0,0,28.83,28.83,24.96
$GC,12207,0.72,188.3,250.9,8.7,975,12226,0.00,2.17,10.30,0.595,4,0.000,0.033,2470,3374,2178,0,0,0,0,0,0,28.83,26.12,24.93
$GC,12344,0.73,188.3,236.4,11.5,988,12348,0.00,2.15,0.00,0.000,6,0.000,0.032,2482,1973,2174,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12658,0.74,188.3,202.0,11.5,1019,12662,0.00,2.20,0.00,0.000,4,0.000,0.047,2492,571,2173,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12713,0.75,188.3,195.4,11.5,1027,12720,0.00,2.08,0.00,0.000,6,0.000,0.025,2492,1968,2173,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13045,0.78,202.2,159.4,8.5,1088,13066,0.00,0.00,13.25,0.523,6,0.000,0.000,2491,1968,2120,0,0,0,0,0,0,28.83,28.83,25.13
$GC,13397,0.81,215.7,129.7,8.5,1151,13416,0.08,0.00,12.23,0.498,6,0.118,0.000,2578,1968,2067,0,0,0,0,0,0,26.41,28.83,25.12
$GC,13744,0.80,215.7,80.0,13.3,1214,13753,0.22,2.20,0.00,0.000,4,0.145,0.028,2506,3387,2061,0,0,0,0,0,0,25.79,26.15,28.83
$GC,13996,0.95,324.1,66.8,0.2,1260,14117,0.10,2.17,112.10,0.255,6,0.039,0.028,2624,1958,1635,0,0,0,0,0,0,26.13,26.18,25.22
$STATE,14371,end climb,SURFACE_DEPTH_REACHED
$STATE,14371,begin surface coast
$FINISH,6.1,1.022324
$STATE,14404,end surface coast,CONTROL_FINISHED_OK
$STATE,14405,begin surface
$SM_CCo,14421,38.83,0.120,0,0,1323,400.08
$SM_GC,6.94,6.20,0.08,38.83,0.024,0.113,0.120,102,2040,1323,-6.57,-1.44,400.08,0,0,0,0,0,0
$IRIDIUM_FIX,2008.77,12419.63,110112,010146
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.90
$XPDR_PINGS,5
$24V_AH,23.6,52.928
$10V_AH,9.9,45.718
$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,16.400,121.525,464.225,38.825,0.000,28.834,41.357,180.987,1.250,0.000,17.506,3159.286,7694.863,567.781,3033.754,374.760,0.000,1888.174,0.000,2699.316,0.000,0.539,0.000
$DEVICE_MAMPS,189.720,113.220,1041.930,120.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.828,2062.062,715.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329844
$DATA_FILE_SIZE,90356,1332
$CAP_FILE_SIZE,156938,0
$CFSIZE,260165632,193048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110112,094607,2016.467,12419.587,99,0.9,99,-2.6