version: 66.10
glider: 168
mission: 6
dive: 61
start: 11 23 111 15 24 8
data:
$ID,168
$MISSION,6
$DIVE,61
$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,-5650.835
$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,33
$R_STBD_OVSHOOT,64
$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
$GPS1,231111,151531,2026.310,12351.585,61,1.6,61,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.82
$_SM_ANGLEo,-72.5
$GPS2,231111,152343,2026.285,12351.486,8,1.2,13,-2.6
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.350,-0.128
$KALMAN_X,8395583.0,0.0,0.0,5367515.0,-3270.0
$KALMAN_Y,1549780.6,0.0,0.0,721281.6,1101.6
$MHEAD_RNG_PITCHd_Wd,112.7,53771,-12.4,-11.000
$D_GRID,5522
$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,18,-0.59,-204.4,0.0,0.0,0,28,0.00,0.00,-8.07,0.000,2,0.000,0.000,100,2042,1561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.59,-204.4,3.9,0.0,1,131,7.00,2.22,-84.32,0.000,4,0.199,0.058,2058,611,3786,0,0,0,0,0,0,25.75,26.01,26.36
$GC,178,-0.52,-204.4,21.4,-29.1,23,186,0.10,2.12,0.00,0.000,6,0.135,0.037,2083,1987,3787,0,0,0,0,0,0,25.93,26.08,28.83
$GC,494,-0.48,-204.4,109.6,-17.1,84,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,1989,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,816,-0.44,-204.4,168.7,-17.6,145,825,0.10,2.15,0.00,0.000,4,0.161,0.044,2115,610,3788,0,0,0,0,0,0,26.30,26.31,28.83
$GC,856,-0.43,-204.4,174.8,-14.1,151,864,0.00,2.15,0.00,0.000,6,0.000,0.034,2111,2033,3788,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1182,-0.43,-204.4,210.6,-10.8,212,1190,0.00,2.17,0.00,0.000,4,0.000,0.043,2101,3439,3788,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1220,-0.44,-204.4,214.4,-9.9,218,1228,0.00,2.15,0.00,0.000,6,0.000,0.032,2101,2022,3788,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1544,-0.44,-204.4,250.2,-9.8,279,1553,0.00,2.12,0.00,0.000,4,0.000,0.045,2101,618,3787,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1569,-0.44,-204.4,252.5,-10.3,281,1576,0.00,2.10,0.00,0.000,6,0.000,0.036,2098,2027,3787,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1876,-0.43,-204.4,279.4,-7.7,312,1887,0.00,2.15,0.00,0.000,4,0.000,0.045,2089,3432,3786,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1900,-0.43,-204.4,281.1,-7.7,314,1911,0.08,2.12,0.00,0.000,6,0.141,0.034,2119,2020,3786,0,0,0,0,0,0,26.39,26.47,28.83
$GC,2211,-0.45,-204.4,297.6,-5.7,345,2215,0.00,2.12,0.00,0.000,4,0.000,0.046,2120,621,3785,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2237,-0.46,-204.4,299.1,-6.0,347,2246,0.03,2.08,0.00,0.000,6,0.103,0.034,2064,2029,3785,0,0,0,0,0,0,26.41,26.50,28.83
$GC,2544,-0.44,-204.4,337.0,-12.2,378,2548,0.12,2.12,0.00,0.000,4,0.126,0.042,2104,3428,3783,0,0,0,0,0,0,26.46,26.48,28.83
$GC,2580,-0.44,-204.4,339.9,-9.9,381,2587,0.00,2.10,0.00,0.000,6,0.000,0.034,2104,2023,3783,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2887,-0.45,-204.4,363.0,-7.7,412,2896,0.00,2.12,0.00,0.000,4,0.000,0.044,2103,616,3782,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2913,-0.46,-204.4,364.9,-7.6,414,2919,0.00,2.10,0.00,0.000,6,0.000,0.034,2100,2031,3782,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3219,-0.47,-204.4,390.6,-8.3,445,3228,0.00,2.12,0.00,0.000,4,0.000,0.044,2093,3437,3780,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3272,-0.49,-204.4,394.5,-7.6,450,3280,0.00,2.10,0.00,0.000,6,0.000,0.032,2092,2023,3780,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3582,-0.49,-204.4,419.2,-7.7,481,3591,0.00,2.12,0.00,0.000,4,0.000,0.045,2092,620,3779,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3624,-0.50,-204.4,422.6,-8.0,485,3633,0.00,2.10,0.00,0.000,6,0.000,0.035,2092,2022,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3936,-0.50,-204.4,445.7,-7.3,516,3945,0.00,2.12,0.00,0.000,4,0.000,0.044,2084,3435,3776,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3988,-0.52,-204.4,449.2,-6.4,521,3997,0.00,2.12,0.00,0.000,6,0.000,0.033,2084,2020,3776,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4298,-0.52,-204.4,471.5,-7.7,552,4307,0.00,2.15,0.00,0.000,4,0.000,0.047,2084,620,3774,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4322,-0.53,-204.4,473.2,-7.6,554,4329,0.00,2.10,0.00,0.000,6,0.000,0.036,2084,2024,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4629,-0.53,-204.4,500.8,-9.7,585,4638,0.00,2.12,0.00,0.000,4,0.000,0.046,2076,3432,3772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4661,-0.54,-204.4,503.7,-9.5,588,4665,0.00,2.10,0.00,0.000,6,0.000,0.034,2077,2023,3772,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4973,-0.54,-204.4,532.2,-8.1,619,4982,0.00,2.12,0.00,0.000,4,0.000,0.047,2076,621,3771,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5005,-0.54,-204.4,534.6,-8.0,622,5014,0.00,2.10,0.00,0.000,6,0.000,0.036,2074,2025,3771,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5316,-0.54,-204.4,556.0,-6.1,653,5325,0.00,2.10,0.00,0.000,4,0.000,0.047,2068,3421,3769,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5378,-0.56,-204.4,559.5,-5.4,659,5387,0.00,2.10,0.00,0.000,6,0.000,0.034,2068,2021,3769,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5687,-0.56,-204.4,580.6,-7.4,690,5696,0.00,2.15,0.00,0.000,4,0.000,0.049,2068,621,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5712,-0.56,-204.4,582.3,-7.6,692,5719,0.00,2.10,0.00,0.000,6,0.000,0.036,2064,2022,3766,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6023,-0.56,-204.4,609.5,-8.9,718,6028,0.00,2.15,0.00,0.000,4,0.000,0.046,2056,3426,3765,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6044,-0.56,-204.4,611.3,-8.9,719,6047,0.00,2.10,0.00,0.000,6,0.000,0.036,2056,2026,3765,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6361,-0.56,-204.4,639.7,-9.2,735,6367,0.05,2.15,0.00,0.000,4,0.194,0.048,2076,632,3762,0,0,0,0,0,0,26.60,26.45,28.83
$GC,6401,-0.56,-204.4,643.2,-9.1,737,6407,0.00,2.10,0.00,0.000,6,0.000,0.037,2074,2025,3762,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6721,-0.56,-204.4,670.9,-9.0,753,6727,0.00,2.15,0.00,0.000,4,0.000,0.048,2068,3427,3760,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6770,-0.57,-204.4,674.4,-8.9,755,6774,0.00,2.12,0.00,0.000,6,0.000,0.035,2068,2024,3760,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7082,-0.57,-204.4,703.2,-8.6,771,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2023,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7381,-0.57,-204.4,725.0,-6.6,786,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2023,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7682,-0.57,-204.4,742.4,-5.8,801,7686,0.00,2.20,0.00,0.000,4,0.000,0.046,2064,3438,3754,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7727,-0.58,-204.4,744.8,-5.8,803,7731,0.00,2.15,0.00,0.000,6,0.000,0.035,2065,2025,3754,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8040,-0.58,-204.4,766.6,-7.4,819,8045,0.00,2.15,0.00,0.000,4,0.000,0.050,2064,632,3752,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8067,-0.58,-204.4,768.3,-7.7,820,8071,0.00,2.12,0.00,0.000,6,0.000,0.037,2064,2035,3752,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8376,-0.58,-204.4,795.2,-8.7,835,8381,0.00,2.12,0.00,0.000,4,0.000,0.047,2056,3436,3751,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8418,-0.59,-204.4,798.7,-8.7,837,8422,0.00,2.15,0.00,0.000,6,0.000,0.035,2056,2024,3750,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8731,-0.59,-204.4,827.5,-9.1,853,8736,0.00,2.15,0.00,0.000,4,0.000,0.050,2056,628,3749,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8763,-0.59,-204.4,829.3,-9.1,854,8769,0.00,2.12,0.00,0.000,6,0.000,0.037,2055,2034,3748,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9070,-0.59,-204.4,857.5,-8.6,870,9075,0.00,2.15,0.00,0.000,4,0.000,0.047,2048,3435,3747,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9117,-0.59,-204.4,860.8,-8.4,872,9121,0.00,2.15,0.00,0.000,6,0.000,0.035,2048,2024,3747,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9430,-0.59,-204.4,888.9,-8.8,888,9435,0.00,2.15,0.00,0.000,4,0.000,0.050,2047,628,3746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9457,-0.59,-204.4,890.8,-8.8,889,9462,0.08,2.12,0.00,0.000,6,0.167,0.038,2066,2031,3746,0,0,0,0,0,0,26.34,26.45,28.83
$STATE,9622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9622,begin apogee
$GC,9628,-0.22,0.0,903.7,-7.2,897,9871,0.30,0.00,237.62,0.868,6,0.089,0.000,2182,1863,2953,0,0,0,0,0,0,26.36,28.83,24.24
$STATE,9872,end apogee,CONTROL_FINISHED_OK
$STATE,9872,begin climb
$GC,9874,0.59,204.4,918.5,0.0,909,10067,0.68,2.40,177.82,1.029,4,0.043,0.031,2457,3301,2105,0,0,0,0,0,0,24.94,24.60,23.89
$GC,10130,0.51,204.4,893.8,19.0,922,10136,0.20,2.30,0.00,0.000,6,0.159,0.037,2414,1893,2092,0,0,0,0,0,0,25.03,25.16,28.83
$GC,10452,0.47,204.4,846.5,14.1,938,10457,0.00,2.15,0.00,0.000,4,0.000,0.033,2414,3291,2086,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10518,0.42,204.4,837.4,14.9,941,10523,0.15,2.25,0.00,0.000,6,0.157,0.038,2383,1866,2086,0,0,0,0,0,0,25.68,25.83,28.83
$GC,10827,0.41,220.2,801.8,10.6,956,10845,0.00,2.22,11.73,0.928,4,0.000,0.032,2383,3297,2047,0,0,0,0,0,0,28.83,25.84,25.06
$GC,10881,0.40,235.9,797.1,10.6,958,10902,0.00,2.25,15.43,0.933,6,0.000,0.038,2392,1871,1991,0,0,0,0,0,0,28.83,25.86,24.91
$GC,11207,0.37,242.0,760.7,10.9,974,11213,0.10,2.15,0.00,0.000,4,0.177,0.034,2366,3283,1971,0,0,0,0,0,0,25.89,25.97,28.83
$GC,11239,0.37,258.5,758.4,10.6,975,11271,0.00,2.22,25.52,0.847,6,0.000,0.041,2374,1873,1896,0,0,0,0,0,0,28.83,25.97,24.94
$GC,11586,0.47,352.5,726.7,8.7,993,11686,0.10,2.35,88.80,0.916,4,0.094,0.035,2447,3291,1502,0,0,0,0,0,0,26.05,24.95,24.27
$GC,11732,0.43,352.5,704.0,17.5,1000,11738,0.25,2.33,0.00,0.000,6,0.127,0.045,2381,1877,1492,0,0,0,0,0,0,25.22,25.31,28.83
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$STATE,16380,end climb,SURFACE_DEPTH_REACHED
$STATE,16380,begin surface coast
$FINISH,2.9,1.022269
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.80
$XPDR_PINGS,3
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$10V_AH,10.3,12.618
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329772
$DATA_FILE_SIZE,100496,1553
$CAP_FILE_SIZE,192067,0
$CFSIZE,260165632,215666688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231111,195937,2025.877,12353.107,28,1.0,28,-2.6