version: 66.10
glider: 168
mission: 6
dive: 23
start: 11 15 111 18 20 15
data:
$ID,168
$MISSION,6
$DIVE,23
$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,380
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,0
$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,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,-5601.7065
$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,0.0080000004
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,42
$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
$GPS1,151111,181401,2058.218,12306.946,37,1.4,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-70.9
$GPS2,151111,181950,2058.215,12306.874,12,1.1,12,-2.6
$SPEED_LIMITS,0.150,0.264
$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,124.8,150164,-14.0,-8.684
$D_GRID,5603
$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,-0.59,-170.3,0.0,0.0,0,89,0.00,0.00,-69.45,0.000,2,0.000,0.000,103,2007,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.59,-170.3,3.0,-2.7,10,123,7.05,2.22,-16.75,0.000,4,0.204,0.061,2060,587,3650,0,0,0,0,0,0,25.78,25.99,26.30
$GC,142,-0.39,-170.3,20.8,-38.6,17,151,0.22,2.15,0.00,0.000,6,0.147,0.035,2123,1989,3650,0,0,0,0,0,0,25.88,26.05,28.83
$GC,466,-0.32,-170.3,105.8,-19.5,78,474,0.10,0.00,0.00,0.000,6,0.168,0.000,2151,1990,3651,0,0,0,0,0,0,26.16,28.83,28.83
$GC,781,-0.32,-170.3,150.0,-12.6,139,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,1990,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1105,-0.34,-170.3,182.3,-7.8,200,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,1989,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1427,-0.37,-170.3,204.1,-7.1,261,1436,0.08,2.20,0.00,0.000,4,0.122,0.043,2061,3409,3652,0,0,0,0,0,0,26.51,26.43,28.83
$GC,1465,-0.34,-170.3,208.2,-12.9,267,1474,0.20,2.15,0.00,0.000,6,0.096,0.038,2138,2003,3652,0,0,0,0,0,0,26.36,26.44,28.83
$GC,1791,-0.36,-170.3,235.5,-7.5,328,1798,0.00,2.17,0.00,0.000,4,0.000,0.049,2139,591,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1827,-0.40,-170.3,238.3,-7.2,334,1835,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,1999,3652,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2150,-0.42,-170.3,260.0,-7.7,382,2154,0.10,2.15,0.00,0.000,4,0.098,0.043,2034,3406,3651,0,0,0,0,0,0,26.57,26.49,28.83
$GC,2216,-0.38,-170.3,269.8,-17.4,388,2224,0.25,2.15,0.00,0.000,6,0.100,0.040,2128,2006,3651,0,0,0,0,0,0,26.41,26.51,28.83
$GC,2523,-0.40,-170.3,306.2,-11.8,419,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2006,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2825,-0.43,-170.3,335.4,-7.7,449,2834,0.00,2.15,0.00,0.000,4,0.000,0.047,2123,3404,3649,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2850,-0.46,-170.3,336.9,-6.9,451,2858,0.08,2.12,0.00,0.000,6,0.130,0.037,2053,1985,3648,0,0,0,0,0,0,26.50,26.54,28.83
$GC,3157,-0.41,-170.3,372.3,-11.2,482,3159,0.20,0.00,0.00,0.000,6,0.122,0.000,2119,1985,3648,0,0,0,0,0,0,26.47,28.83,28.83
$GC,3459,-0.43,-170.3,389.4,-6.0,512,3467,0.00,2.17,0.00,0.000,4,0.000,0.047,2110,3409,3646,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3484,-0.46,-170.3,390.8,-5.9,514,3491,0.00,2.12,0.00,0.000,6,0.000,0.037,2110,1992,3646,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3791,-0.48,-170.3,411.4,-6.7,545,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1992,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.50,-170.3,430.7,-6.3,575,4099,0.08,0.00,0.00,0.000,6,0.122,0.000,2027,1992,3643,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4402,-0.44,-170.3,474.4,-14.5,606,4412,0.22,2.17,0.00,0.000,4,0.126,0.046,2096,3404,3641,0,0,0,0,0,0,26.49,26.56,28.83
$GC,4457,-0.46,-170.3,479.6,-8.5,611,4464,0.00,2.12,0.00,0.000,6,0.000,0.038,2096,1997,3641,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4765,-0.47,-170.3,503.3,-8.0,642,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1996,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-0.49,-170.3,529.7,-9.2,672,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1996,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.51,-170.3,557.8,-9.5,702,5375,0.00,2.15,0.00,0.000,4,0.000,0.047,2091,3407,3636,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5401,-0.54,-170.3,561.0,-9.3,705,5408,0.00,2.12,0.00,0.000,6,0.000,0.038,2090,1998,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5708,-0.55,-170.3,590.2,-9.1,736,5710,0.08,0.00,0.00,0.000,6,0.120,0.000,2001,1998,3633,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6018,-0.48,-170.3,639.4,-16.1,755,6020,0.30,0.00,0.00,0.000,6,0.124,0.000,2101,1998,3631,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6319,-0.51,-170.3,657.6,-4.9,770,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1998,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-0.54,-170.3,672.2,-5.1,785,6627,0.10,2.12,0.00,0.000,4,0.096,0.047,1996,3392,3628,0,0,0,0,0,0,26.65,26.56,28.83
$GC,6643,-0.55,-170.3,673.8,-5.7,786,6648,0.25,2.10,0.00,0.000,6,0.121,0.042,2078,2004,3628,0,0,0,0,0,0,26.48,26.57,28.83
$GC,6956,-0.55,-170.3,700.4,-9.0,802,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2003,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.56,-170.3,729.6,-10.3,817,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2003,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,-0.57,-170.3,760.8,-10.2,832,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2002,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7856,-0.58,-170.3,790.0,-9.2,847,7861,0.00,2.15,0.00,0.000,4,0.000,0.049,2070,3403,3620,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7896,-0.59,-170.3,793.6,-9.1,849,7901,0.00,2.15,0.00,0.000,6,0.000,0.040,2070,1990,3619,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8216,-0.59,-170.3,821.0,-8.1,865,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1989,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,-0.59,-170.3,841.5,-6.4,880,8521,0.00,2.20,0.00,0.000,4,0.000,0.050,2064,3401,3616,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8539,-0.60,-170.3,842.6,-6.1,881,8543,0.00,2.15,0.00,0.000,6,0.000,0.041,2064,1996,3616,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8853,-0.60,-170.3,860.5,-5.2,897,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1995,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.60,-170.3,876.6,-5.5,912,9156,0.00,2.20,0.00,0.000,4,0.000,0.049,2057,3412,3613,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9195,-0.61,-170.3,878.7,-5.6,914,9199,0.00,2.15,0.00,0.000,6,0.000,0.040,2057,2001,3613,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9506,-0.61,-170.3,901.1,-7.7,930,9512,0.00,2.17,0.00,0.000,4,0.000,0.049,2050,3402,3612,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9530,-0.61,-170.3,902.6,-7.8,931,9534,0.00,2.15,0.00,0.000,6,0.000,0.041,2050,1999,3612,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9842,-0.61,-170.3,930.9,-9.7,947,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1998,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10143,-0.61,-170.3,962.2,-10.8,962,10148,0.00,2.17,0.00,0.000,4,0.000,0.050,2042,3401,3609,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10175,-0.61,-170.3,964.4,-10.8,963,10182,0.00,2.15,0.00,0.000,6,0.000,0.041,2042,1997,3609,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,10400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10400,begin apogee
$GC,10406,-0.22,0.0,991.6,-11.4,975,10554,0.38,0.00,136.43,1.284,6,0.105,0.000,2178,1857,2957,0,0,0,0,1,0,26.47,28.83,23.80
$STATE,10555,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10558,0.59,170.3,1000.3,0.0,982,10724,0.70,2.35,148.82,1.288,4,0.045,0.054,2466,485,2261,0,0,0,0,1,0,24.85,24.46,23.63
$GC,10816,0.47,170.3,981.1,17.5,995,10826,0.22,2.17,0.00,0.000,6,0.150,0.027,2405,1897,2267,0,0,0,0,0,0,25.16,25.31,28.83
$GC,11129,0.39,170.3,931.6,15.8,1011,11133,0.12,2.12,0.00,0.000,4,0.174,0.034,2366,3274,2262,0,0,0,0,0,0,25.72,25.83,28.83
$GC,11252,0.35,170.3,913.7,14.2,1017,11256,0.00,2.17,0.00,0.000,6,0.000,0.043,2377,1892,2260,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11574,0.31,170.3,870.3,13.2,1033,11580,0.12,2.12,0.00,0.000,4,0.158,0.037,2334,3277,2258,0,0,0,0,0,0,26.01,26.09,28.83
$GC,11657,0.29,170.3,860.9,11.6,1037,11661,0.00,2.20,0.00,0.000,6,0.000,0.043,2346,1874,2257,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11969,0.27,170.3,826.8,10.8,1053,11975,0.00,2.15,0.00,0.000,4,0.000,0.041,2346,3272,2256,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12037,0.26,170.3,820.0,11.3,1056,12041,0.10,2.17,0.00,0.000,6,0.164,0.043,2326,1875,2256,0,0,0,0,0,0,26.12,26.21,28.83
$GC,12344,0.29,200.3,793.2,7.6,1071,12385,0.08,2.28,33.97,0.987,4,0.124,0.041,2400,3277,2127,0,0,0,0,0,0,26.34,25.63,24.89
$GC,12411,0.26,200.3,786.0,10.3,1074,12416,0.25,2.25,0.00,0.000,6,0.135,0.044,2334,1872,2117,0,0,0,0,0,0,25.60,25.69,28.83
$GC,12726,0.36,271.2,763.0,6.2,1090,12797,0.10,2.25,65.28,0.954,4,0.096,0.038,2424,3271,1841,0,0,0,0,0,0,26.08,25.05,24.33
$GC,12843,0.30,271.2,748.2,13.7,1095,12848,0.30,2.28,0.00,0.000,6,0.129,0.046,2342,1878,1825,0,0,0,0,0,0,25.27,25.34,28.83
$GC,13158,0.41,343.3,726.6,6.2,1111,13228,0.12,0.00,66.55,0.918,6,0.082,0.000,2438,1877,1554,0,0,0,0,0,0,25.94,28.83,24.30
$GC,13519,0.35,343.3,664.9,18.4,1129,13525,0.22,2.28,0.00,0.000,4,0.142,0.058,2376,470,1524,0,0,0,0,0,0,25.67,25.74,28.83
$GC,13561,0.32,343.3,659.0,16.3,1131,13565,0.10,2.12,0.00,0.000,6,0.132,0.031,2342,1869,1524,0,0,0,0,0,0,25.77,25.84,28.83
$GC,13875,0.46,404.8,638.5,6.6,1147,13937,0.15,2.22,55.55,0.861,4,0.070,0.036,2449,3279,1295,0,0,0,0,0,0,26.10,25.20,24.52
$GC,13973,0.42,404.8,621.9,19.4,1152,13978,0.20,2.33,0.00,0.000,6,0.097,0.050,2379,1880,1279,0,0,0,0,0,0,25.31,25.37,28.83
$GC,14283,0.47,429.0,593.0,7.8,1171,14312,0.10,2.30,21.20,0.829,4,0.093,0.057,2470,464,1195,0,0,0,0,0,0,25.94,25.49,24.86
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$STATE,18521,end climb,SURFACE_DEPTH_REACHED
$STATE,18521,begin surface coast
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$STATE,18531,end surface coast,CONTROL_FINISHED_OK
$STATE,18531,begin surface
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$XPDR_PINGS,7
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$10V_AH,10.3,5.555
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$FG_AHR_10Vo,0.000
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$MEM,330392
$DATA_FILE_SIZE,113623,1730
$CAP_FILE_SIZE,203026,0
$CFSIZE,260165632,219480064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151111,233154,2057.257,12308.434,56,1.1,56,-2.6