version: 66.10
glider: 168
mission: 6
dive: 24
start: 11 15 111 23 41 22
data:
$ID,168
$MISSION,6
$DIVE,24
$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,-5604.0879
$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,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
$GPS1,151111,233154,2057.257,12308.434,56,1.1,56,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.5
$GPS2,151111,234056,2057.289,12308.227,10,1.4,10,-2.6
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.261,0.043
$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,124.7,147262,-14.0,-8.684
$D_GRID,5602
$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,-0.59,-170.3,0.0,0.0,0,90,0.00,0.00,-71.00,0.000,2,0.000,0.000,108,2008,2815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.59,-170.3,3.4,-4.7,10,124,7.05,2.17,-14.90,0.000,4,0.206,0.053,2044,3395,3649,0,0,0,0,0,0,25.76,26.00,26.28
$GC,220,-0.50,-170.3,45.1,-26.7,32,229,0.12,2.20,0.00,0.000,6,0.126,0.042,2088,1993,3650,0,0,0,0,0,0,25.99,26.08,28.83
$GC,536,-0.42,-170.3,126.2,-23.1,93,544,0.10,2.20,0.00,0.000,4,0.174,0.049,2117,590,3650,0,0,0,0,0,0,26.18,26.22,28.83
$GC,563,-0.36,-170.3,132.1,-21.0,97,573,0.08,2.12,0.00,0.000,6,0.119,0.037,2137,1982,3650,0,0,0,0,0,0,26.17,26.26,28.83
$GC,889,-0.35,-170.3,174.2,-11.4,158,896,0.00,2.17,0.00,0.000,4,0.000,0.049,2137,589,3650,0,0,0,0,0,0,28.83,26.34,28.83
$GC,935,-0.37,-170.3,179.2,-9.7,166,943,0.00,2.15,0.00,0.000,6,0.000,0.037,2134,2005,3651,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1258,-0.37,-170.3,209.4,-8.7,227,1266,0.00,2.17,0.00,0.000,4,0.000,0.046,2125,3407,3650,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1321,-0.41,-170.3,214.2,-6.9,238,1329,0.00,2.15,0.00,0.000,6,0.000,0.036,2125,1994,3650,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1644,-0.41,-170.3,244.0,-9.9,299,1653,0.00,2.17,0.00,0.000,4,0.000,0.049,2125,588,3650,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1703,-0.44,-170.3,249.5,-9.3,309,1711,0.03,2.12,0.00,0.000,6,0.111,0.037,2050,1995,3649,0,0,0,0,0,0,26.40,26.48,28.83
$GC,2009,-0.37,-170.3,312.2,-22.8,340,2018,0.22,2.15,0.00,0.000,4,0.126,0.043,2119,3409,3649,0,0,0,0,0,0,26.42,26.49,28.83
$GC,2051,-0.35,-170.3,319.3,-16.4,344,2061,0.08,2.12,0.00,0.000,6,0.140,0.036,2148,2000,3648,0,0,0,0,0,0,26.45,26.51,28.83
$GC,2362,-0.40,-170.3,344.4,-6.5,375,2363,0.10,0.00,0.00,0.000,6,0.100,0.000,2053,1998,3648,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2661,-0.34,-170.3,388.4,-14.0,405,2671,0.25,2.15,0.00,0.000,4,0.119,0.044,2133,3410,3647,0,0,0,0,0,0,26.46,26.53,28.83
$GC,2704,-0.36,-170.3,391.9,-8.2,409,2713,0.00,2.12,0.00,0.000,6,0.000,0.035,2133,1995,3646,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3014,-0.41,-170.3,411.3,-7.7,440,3023,0.00,2.17,0.00,0.000,4,0.000,0.046,2133,3408,3644,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3039,-0.46,-170.3,413.1,-8.1,442,3047,0.10,2.12,0.00,0.000,6,0.106,0.036,2064,1990,3644,0,0,0,0,0,0,26.54,26.55,28.83
$GC,3346,-0.43,-170.3,460.3,-15.6,473,3348,0.15,0.00,0.00,0.000,6,0.121,0.000,2116,1990,3644,0,0,0,0,0,0,26.51,28.83,28.83
$GC,3648,-0.47,-170.3,488.7,-7.2,503,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1990,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,-0.50,-170.3,504.1,-3.6,534,3967,0.10,2.15,0.00,0.000,4,0.097,0.046,2007,3400,3639,0,0,0,0,0,0,26.65,26.56,28.83
$GC,4053,-0.46,-170.3,513.6,-11.7,543,4060,0.30,2.12,0.00,0.000,6,0.109,0.042,2109,2003,3638,0,0,0,0,0,0,26.50,26.56,28.83
$GC,4360,-0.49,-170.3,536.7,-9.5,574,4362,0.08,0.00,0.00,0.000,6,0.123,0.000,2033,2001,3637,0,0,0,0,0,0,26.65,28.83,28.83
$GC,4662,-0.45,-170.3,585.6,-16.4,604,4671,0.20,2.15,0.00,0.000,4,0.124,0.047,2095,3398,3635,0,0,0,0,0,0,26.50,26.56,28.83
$GC,4693,-0.45,-170.3,589.9,-13.9,607,4702,0.00,2.12,0.00,0.000,6,0.000,0.039,2095,1997,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5006,-0.48,-170.3,616.3,-7.4,628,5010,0.00,2.17,0.00,0.000,4,0.000,0.054,2095,586,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5031,-0.50,-170.3,618.1,-7.2,629,5035,0.00,2.12,0.00,0.000,6,0.000,0.039,2092,2002,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5343,-0.52,-170.3,635.8,-5.1,645,5349,0.00,2.12,0.00,0.000,4,0.000,0.049,2084,3407,3630,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5397,-0.55,-170.3,637.7,-5.0,647,5404,0.00,2.12,0.00,0.000,6,0.000,0.038,2084,2000,3629,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5705,-0.56,-170.3,657.9,-6.8,663,5710,0.00,2.12,0.00,0.000,4,0.000,0.053,2084,599,3628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5733,-0.58,-170.3,659.3,-6.9,664,5743,0.08,2.10,0.00,0.000,6,0.122,0.040,1998,1999,3627,0,0,0,0,0,0,26.54,26.58,28.83
$GC,6045,-0.51,-170.3,703.0,-14.2,680,6051,0.25,2.12,0.00,0.000,4,0.127,0.047,2076,3403,3624,0,0,0,0,0,0,26.47,26.56,28.83
$GC,6083,-0.48,-170.3,707.0,-12.3,682,6090,0.08,2.15,0.00,0.000,6,0.145,0.039,2104,1993,3625,0,0,0,0,0,0,26.51,26.57,28.83
$GC,6407,-0.52,-170.3,724.6,-5.8,698,6409,0.08,0.00,0.00,0.000,6,0.122,0.000,2035,1992,3622,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6704,-0.49,-170.3,757.4,-11.4,713,6706,0.20,0.00,0.00,0.000,6,0.118,0.000,2102,1992,3620,0,0,0,0,0,0,26.50,28.83,28.83
$GC,7005,-0.53,-170.3,777.1,-6.4,728,7006,0.08,0.00,0.00,0.000,6,0.121,0.000,2026,1992,3617,0,0,0,0,0,0,26.65,28.83,28.83
$GC,7305,-0.49,-170.3,812.4,-12.1,743,7311,0.20,2.15,0.00,0.000,4,0.122,0.054,2099,601,3616,0,0,0,0,0,0,26.49,26.54,28.83
$GC,7334,-0.47,-170.3,814.8,-12.0,744,7338,0.00,2.12,0.00,0.000,6,0.000,0.039,2097,2007,3616,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7640,-0.50,-170.3,835.0,-6.1,759,7646,0.00,2.17,0.00,0.000,4,0.000,0.049,2089,3427,3614,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7683,-0.55,-170.3,837.6,-6.2,761,7687,0.00,2.17,0.00,0.000,6,0.000,0.037,2089,1994,3615,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7996,-0.63,-170.3,859.7,-7.4,777,8002,0.12,2.12,0.00,0.000,4,0.088,0.051,2013,594,3612,0,0,0,0,0,0,26.62,26.53,28.83
$GC,8087,-0.63,-170.3,868.0,-10.5,781,8095,0.15,2.12,0.00,0.000,6,0.132,0.041,2053,2001,3612,0,0,0,0,0,0,26.48,26.55,28.83
$GC,8397,-0.63,-170.3,896.0,-7.7,797,8402,0.00,2.12,0.00,0.000,4,0.000,0.048,2043,3412,3610,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8424,-0.63,-170.3,897.6,-7.7,798,8433,0.00,2.15,0.00,0.000,6,0.000,0.040,2042,2003,3610,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8736,-0.62,-170.3,922.8,-7.9,814,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2002,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9037,-0.60,-170.3,947.9,-8.5,829,9042,0.00,2.12,0.00,0.000,4,0.000,0.049,2035,3400,3607,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9098,-0.60,-170.3,953.0,-8.5,832,9102,0.08,2.15,0.00,0.000,6,0.156,0.041,2058,2000,3607,0,0,0,0,0,0,26.48,26.55,28.83
$GC,9411,-0.60,-170.3,976.4,-7.2,848,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2000,3607,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9608,begin apogee
$GC,9613,-0.22,0.0,990.6,-6.9,858,9822,0.32,0.00,202.48,0.900,6,0.099,0.000,2180,1860,2950,0,0,0,0,0,0,26.48,28.83,24.19
$STATE,9823,end apogee,CONTROL_FINISHED_OK
$STATE,9823,begin climb
$GC,9825,0.59,170.3,998.3,0.0,868,9982,0.68,0.00,152.52,1.079,6,0.045,0.000,2450,1859,2258,0,0,0,0,0,0,24.92,28.83,23.84
$GC,10270,0.48,170.3,940.3,16.6,891,10277,0.15,2.22,0.00,0.000,4,0.173,0.033,2405,3301,2224,0,0,0,0,0,0,25.59,25.72,28.83
$GC,10363,0.40,170.3,928.7,14.5,895,10371,0.15,2.22,0.00,0.000,6,0.159,0.040,2374,1891,2220,0,0,0,0,0,0,25.70,25.81,28.83
$GC,10672,0.36,170.3,896.9,9.2,911,10678,0.00,2.12,0.00,0.000,4,0.000,0.037,2375,3294,2218,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10779,0.32,170.3,887.1,9.8,916,10784,0.12,2.22,0.00,0.000,6,0.156,0.042,2349,1876,2218,0,0,0,0,0,0,25.97,26.06,28.83
$GC,11088,0.35,203.7,863.8,7.5,931,11126,0.00,2.25,23.88,0.921,4,0.000,0.041,2349,3283,2122,0,0,0,0,1,0,28.83,25.73,24.84
$GC,11151,0.37,227.3,858.8,7.9,934,11189,0.00,2.25,25.25,0.917,6,0.000,0.043,2358,1877,2027,0,0,0,0,1,0,28.83,25.79,24.51
$GC,11492,0.36,227.3,828.4,9.0,951,11496,0.00,0.00,1.95,0.192,6,0.000,0.000,2358,1877,2025,0,0,0,0,0,0,28.83,28.83,25.75
$GC,11789,0.35,227.3,801.4,8.9,966,11795,0.00,2.22,1.52,0.204,4,0.000,0.041,2358,3281,2026,0,0,0,0,0,0,28.83,26.08,25.92
$GC,11831,0.35,227.3,797.5,9.3,968,11837,0.00,2.22,1.42,0.208,6,0.000,0.044,2365,1867,2026,0,0,0,0,0,0,28.83,26.09,25.93
$GC,12146,0.34,227.3,766.9,9.8,984,12149,0.00,0.00,1.40,0.211,6,0.000,0.000,2366,1866,2025,0,0,0,0,0,0,28.83,28.83,26.03
$GC,12447,0.33,227.3,735.4,10.6,999,12453,0.00,2.12,1.30,0.213,4,0.000,0.040,2365,3289,2025,0,0,0,0,0,0,28.83,26.25,26.09
$GC,12489,0.32,227.3,730.9,10.9,1001,12494,0.10,2.22,0.00,0.000,6,0.161,0.044,2344,1869,2034,0,0,0,0,0,0,26.16,26.25,28.83
$GC,12803,0.33,227.3,701.2,9.4,1017,12809,0.00,2.15,0.00,0.000,4,0.000,0.042,2344,3283,2035,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12845,0.34,227.3,697.3,9.4,1019,12849,0.00,2.20,0.00,0.000,6,0.000,0.044,2351,1874,2036,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13156,0.34,227.3,666.9,9.6,1035,13163,0.00,2.15,1.15,0.224,4,0.000,0.041,2351,3286,2025,0,0,0,0,0,0,28.83,26.34,26.16
$GC,13197,0.35,227.3,662.8,9.9,1037,13203,0.00,2.20,0.00,0.000,6,0.000,0.044,2356,1871,2033,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,19318,end climb,SURFACE_DEPTH_REACHED
$STATE,19318,begin surface coast
$FINISH,1.1,1.021891
$STATE,19342,end surface coast,CONTROL_FINISHED_OK
$STATE,19342,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,37.87
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.90
$XPDR_PINGS,9
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$10V_AH,10.3,5.761
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,330344
$DATA_FILE_SIZE,116971,1773
$CAP_FILE_SIZE,217197,0
$CFSIZE,260165632,219348992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,161111,050606,2056.233,12310.375,28,1.0,28,-2.6