version: 66.10
glider: 168
mission: 6
dive: 5
start: 11 12 111 9 27 3
data:
$ID,168
$MISSION,6
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1000
$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,250
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,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,-5525.1562
$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,2285
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0080000004
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1925
$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,8
$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
$GPS1,121111,092222,2115.577,12250.158,13,3.2,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.0
$GPS2,121111,092638,2115.581,12250.105,15,1.1,15,-2.7
$SPEED_LIMITS,0.152,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,120.8,192314,-14.2,-8.800
$D_GRID,3504
$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,-0.61,-170.3,0.0,0.0,0,97,0.00,0.00,-78.75,0.000,2,0.000,0.000,122,2017,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.61,-170.3,4.1,-8.0,11,117,7.12,0.00,-6.78,0.000,6,0.213,0.000,2087,2017,3652,0,0,0,0,0,0,26.08,28.83,26.71
$GC,444,-0.54,-170.3,107.0,-20.5,73,455,0.10,2.25,0.00,0.000,4,0.174,0.053,2116,579,3654,0,0,0,0,0,0,26.48,26.51,28.83
$GC,495,-0.54,-170.3,116.7,-14.8,81,505,0.00,2.12,0.00,0.000,6,0.000,0.039,2109,1980,3654,0,0,0,0,0,0,28.83,26.55,28.83
$GC,842,-0.52,-170.3,165.9,-12.5,142,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1980,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.50,-170.3,204.5,-11.2,203,1183,0.00,2.17,0.00,0.000,4,0.000,0.054,2109,584,3653,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1191,-0.49,-170.3,206.7,-11.4,205,1203,0.05,2.12,0.00,0.000,6,0.124,0.037,2128,2000,3654,0,0,0,0,0,0,26.50,26.62,28.83
$GC,1538,-0.50,-170.3,238.8,-8.6,266,1546,0.00,2.15,0.00,0.000,4,0.000,0.047,2118,3399,3652,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1567,-0.52,-170.3,241.4,-8.1,270,1575,0.00,2.15,0.00,0.000,6,0.000,0.041,2118,1991,3652,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1887,-0.54,-170.3,270.4,-10.4,310,1900,0.00,2.15,0.00,0.000,4,0.000,0.047,2111,3402,3650,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1924,-0.56,-170.3,273.9,-9.6,313,1933,0.00,2.10,0.00,0.000,6,0.000,0.041,2111,2000,3650,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2233,-0.57,-170.3,302.6,-8.5,344,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1998,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2534,-0.59,-170.3,324.5,-6.4,374,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1998,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.61,-170.3,344.0,-6.1,405,2852,0.08,0.00,0.00,0.000,6,0.126,0.000,2035,1998,3645,0,0,0,0,0,0,26.75,28.83,28.83
$GC,3152,-0.56,-170.3,385.0,-14.9,436,3154,0.22,0.00,0.00,0.000,6,0.122,0.000,2110,1999,3643,0,0,0,0,0,0,26.52,28.83,28.83
$GC,3455,-0.58,-170.3,411.7,-8.2,466,3463,0.00,2.15,0.00,0.000,4,0.000,0.049,2103,3402,3641,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3479,-0.61,-170.3,413.6,-8.0,468,3488,0.00,2.12,0.00,0.000,6,0.000,0.042,2103,1998,3641,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3788,-0.63,-170.3,434.8,-6.2,499,3799,0.08,2.17,0.00,0.000,4,0.123,0.057,2022,585,3639,0,0,0,0,0,0,26.75,26.58,28.83
$GC,3815,-0.63,-170.3,437.1,-7.6,501,3822,0.22,2.12,0.00,0.000,6,0.125,0.042,2087,2001,3639,0,0,0,0,0,0,26.47,26.63,28.83
$GC,4123,-0.64,-170.3,459.1,-6.9,532,4134,0.00,2.12,0.00,0.000,4,0.000,0.049,2078,3412,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4160,-0.65,-170.3,461.6,-7.1,535,4167,0.00,2.15,0.00,0.000,6,0.000,0.043,2078,1997,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4468,-0.65,-170.3,488.7,-9.4,566,4477,0.00,2.17,0.00,0.000,4,0.000,0.060,2078,589,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4501,-0.66,-170.3,491.8,-9.3,569,4511,0.00,2.10,0.00,0.000,6,0.000,0.041,2073,2002,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4810,-0.66,-170.3,522.7,-10.2,600,4821,0.00,2.12,0.00,0.000,4,0.000,0.049,2065,3408,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4878,-0.68,-170.3,529.1,-9.6,606,4884,0.00,2.15,0.00,0.000,6,0.000,0.044,2064,1998,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5186,-0.68,-170.3,560.9,-9.6,637,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1998,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-0.68,-170.3,588.5,-9.0,667,5496,0.00,2.17,0.00,0.000,4,0.000,0.062,2064,599,3627,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5510,-0.68,-170.3,590.9,-9.5,669,5514,0.00,2.10,0.00,0.000,6,0.000,0.043,2057,2003,3627,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5823,-0.68,-170.3,621.8,-9.9,689,5828,0.00,2.12,0.00,0.000,4,0.000,0.052,2049,3395,3625,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5864,-0.68,-170.3,625.9,-10.1,691,5869,0.08,2.15,0.00,0.000,6,0.155,0.047,2073,2004,3625,0,0,0,0,0,0,26.48,26.54,28.83
$GC,6178,-0.69,-170.3,655.6,-9.8,707,6183,0.00,2.15,0.00,0.000,4,0.000,0.052,2065,3409,3622,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6200,-0.70,-170.3,657.6,-9.9,708,6204,0.00,2.17,0.00,0.000,6,0.000,0.046,2066,1999,3622,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,6231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6231,begin apogee
$GC,6236,-0.14,0.0,660.9,-9.7,710,6434,0.47,0.00,190.62,0.745,6,0.096,0.000,2239,1919,2952,0,0,0,0,0,0,26.44,28.83,24.56
$STATE,6435,end apogee,CONTROL_FINISHED_OK
$STATE,6435,begin climb
$GC,6437,0.61,170.3,673.8,0.0,720,6586,0.62,2.35,140.35,0.867,4,0.031,0.057,2548,519,2253,0,0,0,0,0,0,25.33,25.02,24.34
$GC,6771,0.45,170.3,635.2,21.3,736,6777,0.40,2.15,0.00,0.000,6,0.147,0.033,2429,1941,2239,0,0,0,0,0,0,25.77,25.94,28.83
$GC,7083,0.38,170.3,592.9,13.1,754,7092,0.10,2.10,0.00,0.000,4,0.189,0.039,2403,3326,2233,0,0,0,0,0,0,26.12,26.22,28.83
$GC,7137,0.31,170.3,585.7,12.7,759,7146,0.08,2.17,0.00,0.000,6,0.142,0.047,2386,1926,2232,0,0,0,0,0,0,26.08,26.23,28.83
$GC,7447,0.28,170.3,556.4,9.0,790,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1926,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,0.24,170.3,528.3,9.0,820,7758,0.10,2.10,0.00,0.000,4,0.163,0.040,2355,3322,2228,0,0,0,0,0,0,26.37,26.41,28.83
$GC,7833,0.28,209.3,521.5,7.4,828,7883,0.00,2.17,41.50,0.724,6,0.000,0.050,2364,1921,2095,0,0,0,0,0,0,28.83,26.40,25.20
$GC,8183,0.30,226.0,495.4,8.2,863,8204,0.08,2.25,15.20,0.803,4,0.126,0.041,2441,3329,2025,0,0,0,0,0,0,26.29,25.96,25.24
$GC,8241,0.25,226.0,488.2,14.1,868,8249,0.28,2.22,0.00,0.000,6,0.135,0.049,2364,1927,2019,0,0,0,0,0,0,25.93,26.03,28.83
$GC,8547,0.25,226.0,458.9,9.1,899,8556,0.00,2.12,0.00,0.000,4,0.000,0.043,2364,3323,2016,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8600,0.26,226.0,454.0,9.3,904,8609,0.00,2.17,0.00,0.000,6,0.000,0.050,2371,1926,2015,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8909,0.28,242.1,428.5,8.2,935,8930,0.00,2.25,14.73,0.757,4,0.000,0.044,2371,3328,1962,0,0,0,0,0,0,28.83,26.13,25.47
$GC,8957,0.29,242.1,424.6,8.8,939,8964,0.00,2.22,0.00,0.000,6,0.000,0.050,2379,1922,1955,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9265,0.29,242.1,397.2,8.9,970,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1922,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9575,0.30,242.1,369.9,9.0,1001,9586,0.00,2.12,0.00,0.000,4,0.000,0.044,2379,3313,1952,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9650,0.32,242.1,362.0,10.6,1008,9659,0.00,2.17,0.00,0.000,6,0.000,0.051,2386,1923,1951,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9960,0.34,263.8,334.0,8.0,1039,9983,0.00,2.25,18.62,0.729,4,0.000,0.060,2394,518,1871,0,0,0,0,0,0,28.83,26.13,25.51
$GC,10007,0.38,279.8,330.0,8.2,1043,10027,0.00,2.10,14.32,0.718,6,0.000,0.034,2394,1919,1809,0,0,0,0,0,0,28.83,26.23,25.35
$GC,10327,0.39,284.5,302.9,8.6,1075,10337,0.05,2.17,0.00,0.000,4,0.165,0.041,2463,3337,1797,0,0,0,0,0,0,26.36,26.26,28.83
$GC,10427,0.35,284.5,289.0,15.6,1084,10436,0.20,2.22,0.00,0.000,6,0.110,0.049,2400,1932,1797,0,0,0,0,0,0,26.18,26.30,28.83
$GC,10735,0.36,284.5,258.5,9.2,1115,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1931,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11054,0.37,285.3,230.7,8.8,1165,11064,0.00,2.25,0.00,0.000,4,0.000,0.060,2409,517,1796,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11099,0.44,312.5,227.0,7.8,1172,11132,0.00,2.10,26.35,0.636,6,0.000,0.034,2409,1917,1674,0,0,0,0,0,0,28.83,26.47,25.50
$GC,11461,0.51,353.9,196.8,7.4,1236,11501,0.12,2.22,33.47,0.600,4,0.081,0.037,2518,3332,1502,0,0,0,0,0,0,26.42,25.93,25.34
$GC,11571,0.45,353.9,177.0,20.0,1253,11582,0.30,2.25,0.00,0.000,6,0.115,0.046,2424,1921,1495,0,0,0,0,0,0,25.94,26.06,28.83
$GC,11911,0.49,366.4,141.1,8.4,1314,11928,0.05,2.22,9.32,0.543,4,0.169,0.056,2502,508,1456,0,0,0,0,0,0,26.39,26.13,25.59
$GC,11966,0.45,366.4,134.1,14.9,1322,11975,0.20,2.12,0.00,0.000,6,0.100,0.031,2427,1930,1453,0,0,0,0,0,0,26.12,26.22,28.83
$GC,12309,0.52,389.6,106.8,8.0,1383,12335,0.08,0.00,20.20,0.536,6,0.123,0.000,2508,1932,1357,0,0,0,0,0,0,26.45,28.83,25.57
$GC,12663,0.50,389.6,51.9,13.2,1446,12672,0.17,2.25,0.00,0.000,4,0.127,0.055,2454,519,1348,0,0,0,0,0,0,26.26,26.29,28.83
$GC,12739,0.71,475.3,46.5,5.8,1459,12816,0.12,2.10,65.22,0.220,6,0.052,0.033,2529,1919,1025,0,0,0,0,0,0,26.36,26.39,25.82
$GC,13132,0.85,534.1,15.0,6.7,1529,13174,0.10,2.20,35.10,0.151,4,0.100,0.053,2621,513,780,0,0,0,0,0,0,26.39,26.18,26.03
$STATE,13213,end climb,SURFACE_DEPTH_REACHED
$STATE,13213,begin surface coast
$FINISH,0.3,1.021928
$STATE,13226,end surface coast,CONTROL_FINISHED_OK
$STATE,13226,begin surface
$SM_CCo,13303,0.00,0.000,0,0,786,531.81
$SM_GC,1.22,6.10,2.25,0.00,0.025,0.032,0.000,100,1988,786,-6.65,-1.53,531.81,0,0,0,0,0,0
$IRIDIUM_FIX,2106.38,12252.03,121111,090925
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,24.3,3.321
$10V_AH,10.4,2.503
$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,17.575,112.925,625.025,0.000,0.000,0.000,0.000,0.000,0.500,0.000,16.444,4022.920,4836.746,687.746,3513.343,317.113,0.000,2117.783,0.000,3455.639,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,100.215,866.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.741,3266.053,1918.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,100497,1543
$CAP_FILE_SIZE,171495,0
$CFSIZE,260165632,221200384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.471,309.3,1
$GPS,121111,131001,2116.238,12250.558,38,1.6,39,-2.7