version: 66.10
glider: 168
mission: 6
dive: 58
start: 11 23 111 2 47 51
data:
$ID,168
$MISSION,6
$DIVE,58
$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,300
$T_MISSION,320
$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,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,1
$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,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,-5647.061
$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,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,49
$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
$GPS1,231111,024107,2026.734,12346.913,28,1.2,28,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-71.6
$GPS2,231111,024726,2026.754,12346.822,15,1.4,15,-2.6
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.340,-0.048
$KALMAN_X,8401332.0,0.0,0.0,5353188.0,-3352.0
$KALMAN_Y,1547705.2,0.0,0.0,724141.8,-105.8
$MHEAD_RNG_PITCHd_Wd,100.7,61620,-14.0,-11.000
$D_GRID,5503
$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,-0.63,-204.4,0.0,0.0,0,27,0.00,0.00,-8.43,0.000,2,0.000,0.000,99,2036,1253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.63,-204.4,3.7,0.0,1,145,6.93,2.28,-100.62,0.000,4,0.197,0.056,2047,603,3789,0,0,0,0,0,0,25.65,26.00,26.33
$GC,175,-0.55,-204.4,14.6,-34.3,22,184,0.10,2.17,0.00,0.000,6,0.138,0.036,2072,2013,3789,0,0,0,0,0,0,25.89,26.06,28.83
$GC,495,-0.50,-204.4,107.6,-19.3,83,504,0.08,2.20,0.00,0.000,4,0.190,0.041,2082,3425,3790,0,0,0,0,0,0,26.21,26.20,28.83
$GC,563,-0.50,-204.4,118.9,-12.4,95,571,0.00,2.17,0.00,0.000,6,0.000,0.034,2082,2010,3790,0,0,0,0,0,0,28.83,26.28,28.83
$GC,888,-0.47,-204.4,166.0,-14.7,156,897,0.08,2.15,0.00,0.000,4,0.168,0.046,2104,631,3791,0,0,0,0,0,0,26.34,26.29,28.83
$GC,961,-0.49,-204.4,174.1,-8.0,169,969,0.00,2.10,0.00,0.000,6,0.000,0.033,2100,2021,3791,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1285,-0.49,-204.4,210.9,-10.9,230,1293,0.00,2.17,0.00,0.000,4,0.000,0.043,2091,3426,3790,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1329,-0.50,-204.4,215.1,-9.2,237,1336,0.00,2.12,0.00,0.000,6,0.000,0.033,2091,2029,3791,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1656,-0.50,-204.4,251.2,-10.7,298,1666,0.00,2.12,0.00,0.000,4,0.000,0.045,2091,624,3789,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1702,-0.51,-204.4,256.1,-11.0,302,1711,0.00,2.12,0.00,0.000,6,0.000,0.035,2087,2021,3789,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2011,-0.51,-204.4,293.3,-12.2,333,2019,0.00,2.15,0.00,0.000,4,0.000,0.044,2078,3436,3788,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2045,-0.51,-204.4,297.0,-11.7,336,2053,0.00,2.15,0.00,0.000,6,0.000,0.034,2077,2022,3788,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2352,-0.51,-204.4,334.3,-11.5,367,2361,0.00,2.12,0.00,0.000,4,0.000,0.046,2077,620,3787,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2377,-0.51,-204.4,336.8,-11.4,369,2384,0.00,2.10,0.00,0.000,6,0.000,0.035,2073,2027,3787,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2685,-0.51,-204.4,373.6,-11.6,400,2694,0.00,2.12,0.00,0.000,4,0.000,0.044,2064,3432,3785,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2707,-0.51,-204.4,376.2,-11.6,402,2711,0.10,2.12,0.00,0.000,6,0.125,0.034,2102,2022,3786,0,0,0,0,0,0,26.42,26.48,28.83
$GC,3020,-0.53,-204.4,401.3,-7.6,433,3029,0.08,2.12,0.00,0.000,4,0.123,0.044,2014,616,3784,0,0,0,0,0,0,26.58,26.46,28.83
$GC,3045,-0.53,-204.4,403.8,-8.9,435,3053,0.25,2.12,0.00,0.000,6,0.118,0.037,2089,2032,3783,0,0,0,0,0,0,26.36,26.49,28.83
$GC,3352,-0.54,-204.4,435.1,-9.4,466,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2034,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.55,-204.4,462.8,-9.1,496,3665,0.00,2.12,0.00,0.000,4,0.000,0.044,2080,3432,3780,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3690,-0.56,-204.4,465.9,-8.8,499,3697,0.00,2.12,0.00,0.000,6,0.000,0.033,2080,2012,3780,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3998,-0.57,-204.4,492.0,-8.3,530,4002,0.00,2.12,0.00,0.000,4,0.000,0.047,2080,614,3778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4020,-0.58,-204.4,493.8,-8.2,532,4029,0.00,2.10,0.00,0.000,6,0.000,0.035,2074,2032,3778,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4330,-0.59,-204.4,521.0,-9.0,563,4340,0.00,2.12,0.00,0.000,4,0.000,0.044,2067,3436,3776,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4373,-0.60,-204.4,524.5,-8.2,567,4382,0.00,2.12,0.00,0.000,6,0.000,0.034,2067,2025,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4682,-0.60,-204.4,551.4,-8.7,598,4691,0.00,2.15,0.00,0.000,4,0.000,0.047,2067,625,3774,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4727,-0.61,-204.4,555.0,-8.9,602,4734,0.00,2.10,0.00,0.000,6,0.000,0.037,2064,2024,3773,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5034,-0.61,-204.4,582.3,-8.8,633,5043,0.00,2.15,0.00,0.000,4,0.000,0.047,2055,3439,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5079,-0.62,-204.4,585.8,-8.6,637,5086,0.00,2.12,0.00,0.000,6,0.000,0.034,2055,2027,3771,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5399,-0.62,-204.4,615.0,-9.2,661,5405,0.00,2.15,0.00,0.000,4,0.000,0.050,2055,618,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5430,-0.62,-204.4,617.2,-9.4,662,5437,0.00,2.12,0.00,0.000,6,0.000,0.037,2049,2031,3768,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5737,-0.62,-204.4,647.0,-8.8,678,5743,0.00,2.15,0.00,0.000,4,0.000,0.046,2040,3434,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5766,-0.62,-204.4,648.7,-8.6,679,5770,0.00,2.15,0.00,0.000,6,0.000,0.036,2040,2018,3767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6074,-0.61,-204.4,672.3,-7.3,694,6080,0.00,2.12,0.00,0.000,4,0.000,0.050,2040,616,3765,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6096,-0.60,-204.4,673.8,-7.5,695,6101,0.10,2.10,0.00,0.000,6,0.142,0.037,2064,2027,3765,0,0,0,0,0,0,26.39,26.50,28.83
$GC,6416,-0.61,-204.4,694.0,-6.4,711,6422,0.00,2.12,0.00,0.000,4,0.000,0.047,2056,3422,3763,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6448,-0.62,-204.4,695.3,-6.4,712,6455,0.00,2.12,0.00,0.000,6,0.000,0.035,2055,2016,3763,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6755,-0.62,-204.4,717.7,-7.4,728,6761,0.00,2.15,0.00,0.000,4,0.000,0.050,2055,617,3761,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6798,-0.63,-204.4,720.8,-7.6,730,6802,0.00,2.12,0.00,0.000,6,0.000,0.037,2051,2021,3760,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7111,-0.63,-204.4,747.0,-8.8,746,7117,0.00,2.15,0.00,0.000,4,0.000,0.047,2041,3436,3759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7158,-0.63,-204.4,750.4,-8.5,748,7162,0.00,2.12,0.00,0.000,6,0.000,0.035,2041,2024,3758,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7465,-0.63,-204.4,780.8,-9.7,763,7471,0.00,2.15,0.00,0.000,4,0.000,0.050,2041,621,3757,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7505,-0.63,-204.4,784.8,-10.0,765,7510,0.05,2.10,0.00,0.000,6,0.207,0.037,2053,2027,3757,0,0,0,0,0,0,26.39,26.48,28.83
$GC,7829,-0.63,-204.4,812.3,-8.5,781,7833,0.00,2.17,0.00,0.000,4,0.000,0.048,2044,3437,3754,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7879,-0.64,-204.4,815.9,-8.6,783,7883,0.00,2.15,0.00,0.000,6,0.000,0.035,2044,2025,3754,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8187,-0.64,-204.4,844.2,-9.1,798,8192,0.00,2.15,0.00,0.000,4,0.000,0.050,2043,628,3753,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8234,-0.64,-204.4,847.9,-9.3,800,8238,0.00,2.10,0.00,0.000,6,0.000,0.037,2036,2029,3752,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8547,-0.63,-204.4,878.2,-9.4,816,8552,0.00,2.15,0.00,0.000,4,0.000,0.047,2027,3424,3750,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8579,-0.63,-204.4,880.1,-9.4,817,8586,0.08,2.12,0.00,0.000,6,0.151,0.037,2052,2026,3751,0,0,0,0,0,0,26.38,26.46,28.83
$GC,8886,-0.63,-204.4,905.8,-7.9,833,8891,0.00,2.17,0.00,0.000,4,0.000,0.051,2052,610,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8915,-0.64,-204.4,907.6,-8.0,834,8924,0.00,2.15,0.00,0.000,6,0.000,0.037,2044,2035,3750,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9226,-0.64,-204.4,932.2,-7.5,850,9232,0.00,2.15,0.00,0.000,4,0.000,0.046,2037,3440,3748,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9249,-0.64,-204.4,933.7,-7.3,851,9253,0.00,2.17,0.00,0.000,6,0.000,0.036,2037,2016,3748,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9562,-0.64,-204.4,956.7,-6.9,867,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2016,3747,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9618,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9619,begin apogee
$GC,9624,-0.22,0.0,960.9,-6.9,870,9864,0.40,0.00,234.18,0.895,6,0.094,0.000,2183,1855,2953,0,0,0,0,0,0,26.34,28.83,24.18
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9867,0.63,204.4,968.6,0.0,882,10058,0.70,2.35,179.43,1.054,4,0.041,0.031,2469,3294,2107,0,0,0,0,0,0,24.90,24.53,23.83
$GC,10176,0.56,204.4,924.5,24.0,897,10183,0.20,2.25,0.00,0.000,6,0.165,0.037,2427,1893,2087,0,0,0,0,0,0,25.16,25.30,28.83
$GC,10484,0.51,204.4,863.8,18.2,913,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1893,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10781,0.46,204.4,811.1,16.9,928,10788,0.12,2.12,0.00,0.000,4,0.171,0.031,2387,3296,2082,0,0,0,0,0,0,25.86,26.00,28.83
$GC,10844,0.43,204.4,801.9,15.8,931,10848,0.00,2.22,0.00,0.000,6,0.000,0.038,2398,1867,2081,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11157,0.40,204.4,759.7,13.0,947,11162,0.10,2.17,0.00,0.000,4,0.179,0.033,2371,3291,2080,0,0,0,0,0,0,26.04,26.13,28.83
$GC,11222,0.38,204.4,752.2,12.3,950,11226,0.00,2.22,0.00,0.000,6,0.000,0.039,2381,1875,2080,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11537,0.36,204.4,716.4,11.9,966,11542,0.00,2.15,0.00,0.000,4,0.000,0.037,2380,3283,2079,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11598,0.34,204.4,709.5,11.8,969,11603,0.12,2.20,0.00,0.000,6,0.159,0.037,2354,1862,2079,0,0,0,0,0,0,26.05,26.21,28.83
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$STATE,17334,end climb,SURFACE_DEPTH_REACHED
$STATE,17335,begin surface coast
$FINISH,2.8,1.008483
$STATE,17366,end surface coast,CONTROL_FINISHED_OK
$STATE,17366,begin surface
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$HUMID,40.35
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.80
$XPDR_PINGS,1
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$10V_AH,10.2,12.108
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329800
$DATA_FILE_SIZE,106986,1665
$CAP_FILE_SIZE,198970,0
$CFSIZE,260165632,215924736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231111,073937,2026.481,12349.691,28,1.1,28,-2.6