version: 66.10
glider: 168
mission: 6
dive: 28
start: 11 16 111 21 39 9
data:
$ID,168
$MISSION,6
$DIVE,28
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,2
$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,-5609.1182
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,161111,213157,2050.886,12313.133,28,2.9,47,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.4
$GPS2,161111,213844,2050.919,12312.949,10,1.6,16,-2.6
$SPEED_LIMITS,0.150,0.294
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.280,-0.090
$KALMAN_X,8577255.0,0.0,0.0,5165842.0,630936.0
$KALMAN_Y,1448616.9,0.0,0.0,876777.2,103605.9
$MHEAD_RNG_PITCHd_Wd,122.3,134157,-11.9,-8.684
$D_GRID,5589
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.59,-219.0,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,101,2007,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.59,-219.0,3.2,-4.1,8,123,6.97,2.22,-24.15,0.000,4,0.201,0.062,2055,594,3850,0,0,0,0,0,0,25.77,26.03,26.34
$GC,165,-0.44,-219.0,30.9,-39.5,20,174,0.17,2.12,0.00,0.000,6,0.129,0.035,2105,1978,3851,0,0,0,0,0,0,25.96,26.10,28.83
$GC,510,-0.38,-219.0,118.6,-19.6,81,518,0.08,2.17,0.00,0.000,4,0.181,0.046,2127,586,3851,0,0,0,0,0,0,26.26,26.25,28.83
$GC,528,-0.33,-219.0,122.0,-19.0,83,537,0.05,2.15,0.00,0.000,6,0.119,0.034,2145,2003,3851,0,0,0,0,0,0,26.17,26.26,28.83
$GC,876,-0.35,-219.0,159.5,-8.5,144,886,0.00,2.17,0.00,0.000,4,0.000,0.044,2138,3407,3851,0,0,0,0,0,0,28.83,26.35,28.83
$GC,926,-0.40,-219.0,163.4,-7.1,152,935,0.03,2.15,0.00,0.000,6,0.112,0.033,2079,1981,3851,0,0,0,0,0,0,26.29,26.39,28.83
$GC,1270,-0.34,-219.0,217.9,-16.1,213,1281,0.17,2.12,0.00,0.000,4,0.127,0.047,2142,605,3851,0,0,0,0,0,0,26.36,26.41,28.83
$GC,1328,-0.39,-219.0,223.8,-6.5,222,1336,0.00,2.10,0.00,0.000,6,0.000,0.033,2142,2008,3851,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1666,-0.42,-219.0,248.7,-6.4,283,1674,0.10,2.15,0.00,0.000,4,0.100,0.041,2052,3408,3851,0,0,0,0,0,0,26.54,26.47,28.83
$GC,1746,-0.41,-219.0,257.1,-10.7,291,1756,0.17,2.05,0.00,0.000,6,0.086,0.036,2123,2007,3850,0,0,0,0,0,0,26.42,26.49,28.83
$GC,2056,-0.42,-219.0,275.9,-5.6,322,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2006,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2359,-0.44,-219.0,295.2,-7.5,352,2368,0.00,2.12,0.00,0.000,4,0.000,0.045,2118,3401,3849,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2393,-0.47,-219.0,298.0,-7.7,355,2397,0.08,2.10,0.00,0.000,6,0.128,0.034,2050,1986,3849,0,0,0,0,0,0,26.48,26.54,28.83
$GC,2706,-0.40,-219.0,350.8,-18.7,386,2715,0.20,2.08,0.00,0.000,4,0.122,0.048,2121,598,3847,0,0,0,0,0,0,26.46,26.52,28.83
$GC,2752,-0.40,-219.0,356.7,-13.4,390,2758,0.00,2.08,0.00,0.000,6,0.000,0.034,2121,2002,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3059,-0.43,-219.0,381.1,-6.6,421,3063,0.00,2.12,0.00,0.000,4,0.000,0.046,2120,3403,3846,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3111,-0.48,-219.0,384.2,-5.8,426,3121,0.10,2.05,0.00,0.000,6,0.105,0.033,2056,1997,3846,0,0,0,0,0,0,26.53,26.57,28.83
$GC,3421,-0.50,-219.0,406.5,-7.3,457,3430,0.12,2.10,0.00,0.000,4,0.120,0.043,2099,3398,3845,0,0,0,0,0,0,26.53,26.55,28.83
$GC,3598,-0.59,-219.0,422.2,-11.0,474,3606,0.12,2.08,0.00,0.000,6,0.099,0.035,2032,2004,3844,0,0,0,0,0,0,26.56,26.58,28.83
$GC,3906,-0.63,-219.0,453.2,-8.6,505,3910,0.08,2.15,0.00,0.000,4,0.152,0.045,2053,3409,3842,0,0,0,0,0,0,26.60,26.55,28.83
$GC,3962,-0.64,-219.0,457.6,-8.5,510,3969,0.00,2.10,0.00,0.000,6,0.000,0.035,2053,2000,3841,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4270,-0.62,-219.0,486.6,-9.3,541,4281,0.00,2.10,0.00,0.000,4,0.000,0.049,2053,601,3840,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4314,-0.60,-219.0,490.9,-9.6,545,4325,0.00,2.08,0.00,0.000,6,0.000,0.037,2045,1991,3840,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4624,-0.57,-219.0,520.7,-9.5,576,4634,0.10,2.12,0.00,0.000,4,0.149,0.043,2069,3410,3838,0,0,0,0,0,0,26.55,26.56,28.83
$GC,4670,-0.57,-219.0,523.7,-7.1,580,4677,0.00,2.10,0.00,0.000,6,0.000,0.034,2068,2001,3838,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4979,-0.57,-219.0,544.9,-6.4,611,4988,0.00,2.12,0.00,0.000,4,0.000,0.049,2068,592,3836,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5004,-0.57,-219.0,546.5,-6.4,613,5011,0.00,2.12,0.00,0.000,6,0.000,0.037,2064,2014,3836,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5311,-0.56,-219.0,569.8,-8.1,644,5320,0.00,2.10,0.00,0.000,4,0.000,0.046,2057,3408,3833,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5353,-0.56,-219.0,572.8,-7.1,648,5362,0.00,2.10,0.00,0.000,6,0.000,0.035,2057,2001,3833,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5664,-0.55,-219.0,597.1,-8.6,679,5673,0.08,2.15,0.00,0.000,4,0.158,0.048,2081,595,3831,0,0,0,0,0,0,26.60,26.55,28.83
$GC,5707,-0.56,-219.0,600.5,-7.7,683,5713,0.00,2.12,0.00,0.000,6,0.000,0.037,2080,2012,3831,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6028,-0.57,-219.0,622.2,-6.2,699,6032,0.00,2.12,0.00,0.000,4,0.000,0.046,2073,3409,3828,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6090,-0.60,-219.0,625.8,-5.8,702,6096,0.00,2.10,0.00,0.000,6,0.000,0.035,2073,2001,3828,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6411,-0.61,-219.0,642.8,-5.0,718,6413,0.08,0.00,0.00,0.000,6,0.122,0.000,1991,2000,3827,0,0,0,0,0,0,26.65,28.83,28.83
$GC,6712,-0.53,-219.0,682.7,-14.0,733,6714,0.28,0.00,0.00,0.000,6,0.119,0.000,2083,2000,3825,0,0,0,0,0,0,26.47,28.83,28.83
$GC,7011,-0.55,-219.0,701.2,-5.8,748,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2000,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7311,-0.57,-219.0,719.3,-6.0,763,7316,0.00,2.12,0.00,0.000,4,0.000,0.047,2079,3395,3820,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7340,-0.59,-219.0,720.5,-6.0,764,7352,0.08,2.10,0.00,0.000,6,0.131,0.034,2019,1990,3820,0,0,0,0,0,0,26.52,26.58,28.83
$GC,7651,-0.55,-219.0,753.1,-10.1,780,7657,0.15,2.10,0.00,0.000,4,0.129,0.050,2075,602,3819,0,0,0,0,0,0,26.50,26.53,28.83
$GC,7694,-0.54,-219.0,756.1,-8.8,782,7698,0.00,2.10,0.00,0.000,6,0.000,0.037,2074,1999,3819,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8007,-0.55,-219.0,770.1,-4.4,798,8012,0.00,2.15,0.00,0.000,4,0.000,0.048,2069,3405,3817,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8069,-0.58,-219.0,772.6,-4.2,801,8074,0.00,2.10,0.00,0.000,6,0.000,0.036,2069,2004,3817,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8389,-0.70,-219.0,795.0,-8.6,817,8395,0.12,2.15,0.00,0.000,4,0.095,0.043,1992,3409,3815,0,0,0,0,0,0,26.61,26.55,28.83
$GC,8436,-0.79,-219.0,798.8,-9.0,819,8440,0.00,2.12,0.00,0.000,6,0.000,0.039,1992,2004,3814,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8743,-0.73,-219.0,844.7,-15.7,834,8749,0.10,2.17,0.00,0.000,4,0.158,0.053,2022,595,3813,0,0,0,0,0,0,26.51,26.51,28.83
$GC,8796,-0.69,-219.0,850.5,-15.2,836,8806,0.05,2.12,0.00,0.000,6,0.213,0.041,2032,2006,3812,0,0,0,0,0,0,26.46,26.55,28.83
$GC,9103,-0.66,-219.0,889.9,-12.5,852,9108,0.00,2.15,0.00,0.000,4,0.000,0.050,2022,3412,3811,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9131,-0.64,-219.0,892.5,-12.6,853,9136,0.08,2.15,0.00,0.000,6,0.153,0.038,2046,1998,3811,0,0,0,0,0,0,26.47,26.55,28.83
$GC,9437,-0.64,-219.0,927.6,-10.9,868,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1997,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9737,-0.64,-219.0,958.0,-9.7,883,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1997,3809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10038,-0.64,-219.0,985.3,-8.5,898,10044,0.00,2.15,0.00,0.000,4,0.000,0.048,2039,3399,3807,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10081,-0.64,-219.0,988.5,-8.3,900,10085,0.00,2.12,0.00,0.000,6,0.000,0.038,2039,1999,3807,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10110,begin apogee
$GC,10117,-0.22,0.0,991.3,-8.0,902,10314,0.38,0.00,185.10,1.295,6,0.095,0.000,2178,1858,2954,0,0,0,0,1,0,26.47,28.83,23.73
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10315,begin climb
$GC,10317,0.59,219.0,1002.0,0.0,912,10523,0.70,2.28,190.30,1.299,4,0.050,0.034,2451,3289,2065,0,0,0,0,1,0,24.75,24.41,23.56
$GC,10644,0.48,219.0,966.0,19.9,928,10649,0.20,2.25,0.00,0.000,6,0.160,0.041,2407,1893,2064,0,0,0,0,0,0,25.18,25.29,28.83
$GC,10953,0.40,219.0,916.1,15.1,943,10959,0.10,2.15,0.00,0.000,4,0.174,0.034,2380,3287,2061,0,0,0,0,0,0,25.74,25.82,28.83
$GC,11035,0.35,219.0,905.2,13.5,947,11040,0.12,2.25,0.00,0.000,6,0.149,0.042,2354,1867,2060,0,0,0,0,0,0,25.78,25.86,28.83
$GC,11350,0.32,219.0,875.0,9.1,963,11355,0.00,2.17,0.00,0.000,4,0.000,0.040,2354,3289,2058,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11390,0.29,219.0,871.1,9.3,965,11395,0.08,2.20,0.00,0.000,6,0.175,0.044,2342,1877,2058,0,0,1,0,0,0,25.98,26.06,28.83
$GC,11705,0.30,234.7,845.4,8.3,981,11730,0.00,2.17,19.12,1.027,4,0.000,0.039,2341,3286,1989,0,0,0,0,0,0,28.83,25.79,25.03
$GC,11771,0.29,234.7,840.1,8.7,984,11775,0.00,2.25,0.00,0.000,6,0.000,0.044,2349,1868,1983,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12079,0.28,234.7,810.2,9.8,999,12084,0.00,2.17,0.00,0.000,4,0.000,0.054,2358,475,1980,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12098,0.27,234.7,808.2,9.9,1000,12105,0.10,2.12,0.00,0.000,6,0.131,0.030,2325,1887,1980,0,0,0,0,0,0,26.03,26.10,28.83
$GC,12420,0.34,285.6,783.3,7.3,1016,12479,0.12,2.25,48.80,0.981,4,0.077,0.041,2433,3269,1777,0,0,0,0,0,0,26.27,25.33,24.60
$GC,12572,0.28,285.6,760.8,16.9,1023,12577,0.32,2.25,0.00,0.000,6,0.127,0.046,2341,1874,1767,0,0,0,0,0,0,25.55,25.63,28.83
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$STATE,18579,begin surface coast
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$XPDR_PINGS,10
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$10V_AH,10.3,6.585
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$FG_AHR_10Vo,0.000
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$MEM,329780
$DATA_FILE_SIZE,110509,1701
$CAP_FILE_SIZE,215188,0
$CFSIZE,260165632,218923008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
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