version: 66.10
glider: 168
mission: 6
dive: 120
start: 12 5 111 1 34 44
data:
$ID,168
$MISSION,6
$DIVE,120
$N_DIVES,0
$D_SURF,8
$D_FLARE,8
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,140
$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,-5726.208
$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,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,44
$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
$GPS1,051211,012836,1916.015,12413.039,38,1.1,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.12
$_SM_ANGLEo,-71.5
$GPS2,051211,013419,1916.051,12412.941,8,1.4,13,-2.3
$SPEED_LIMITS,0.191,0.311
$TGT_NAME,HEADING
$TGT_LATLONG,1907.778,12420.288
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,-0.310
$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,142.3,20000,-15.9,-11.000
$D_GRID,5564
$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,-0.68,-204.4,0.0,0.0,0,82,0.00,0.00,-63.50,0.000,2,0.000,0.000,104,1975,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.68,-204.4,8.0,-6.2,10,120,7.00,2.15,-17.52,0.000,4,0.203,0.058,2027,610,3791,0,0,0,0,0,0,25.53,25.98,26.34
$GC,166,-0.57,-204.4,43.1,-46.0,23,174,0.17,2.12,0.00,0.000,6,0.167,0.032,2065,2019,3791,0,0,0,0,0,0,25.76,26.05,28.83
$GC,497,-0.53,-204.4,143.1,-24.8,84,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2020,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.50,-204.4,212.3,-19.5,139,834,0.10,2.15,0.00,0.000,4,0.165,0.044,2095,612,3792,0,0,0,0,0,0,26.25,26.23,28.83
$GC,861,-0.48,-204.4,218.2,-18.0,142,868,0.00,2.12,0.00,0.000,6,0.000,0.032,2087,2034,3792,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1169,-0.47,-204.4,259.1,-11.8,173,1178,0.00,2.15,0.00,0.000,4,0.000,0.043,2087,616,3792,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1201,-0.47,-204.4,262.7,-11.0,176,1211,0.00,2.10,0.00,0.000,6,0.000,0.032,2083,2025,3792,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1510,-0.47,-204.4,295.8,-11.0,207,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2025,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.48,-204.4,331.7,-11.7,237,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2025,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.49,-204.4,365.6,-10.2,267,2122,0.00,2.10,0.00,0.000,4,0.000,0.043,2074,3423,3789,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2140,-0.50,-204.4,368.0,-9.6,269,2147,0.05,2.10,0.00,0.000,6,0.181,0.033,2097,2018,3789,0,0,0,0,0,0,26.32,26.39,28.83
$GC,2446,-0.52,-204.4,388.0,-5.0,300,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2018,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2747,-0.54,-204.4,404.0,-6.2,330,2754,0.10,0.00,0.00,0.000,6,0.099,0.000,1993,2018,3785,0,0,0,0,0,0,26.54,28.83,28.83
$GC,3055,-0.51,-204.4,458.9,-18.5,361,3057,0.28,0.00,0.00,0.000,6,0.119,0.000,2084,2018,3783,0,0,0,0,0,0,26.22,28.83,28.83
$GC,3356,-0.53,-204.4,488.5,-9.3,391,3359,0.00,2.12,0.00,0.000,4,0.000,0.045,2085,622,3782,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3398,-0.56,-204.4,492.3,-9.2,395,3407,0.00,2.05,0.00,0.000,6,0.000,0.034,2084,2019,3782,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3707,-0.58,-204.4,519.2,-8.8,426,3717,0.08,2.15,0.00,0.000,4,0.122,0.041,1988,3435,3779,0,0,0,0,0,0,26.56,26.37,28.83
$GC,3770,-0.57,-204.4,527.6,-14.8,432,3780,0.20,2.12,0.00,0.000,6,0.096,0.037,2066,2030,3778,0,0,0,0,0,0,26.22,26.39,28.83
$GC,4080,-0.58,-204.4,558.8,-9.4,463,4089,0.00,2.17,0.00,0.000,4,0.000,0.047,2066,617,3776,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4103,-0.60,-204.4,560.8,-9.2,465,4111,0.00,2.10,0.00,0.000,6,0.000,0.035,2058,2021,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4412,-0.61,-204.4,587.9,-8.0,496,4416,0.00,2.17,0.00,0.000,4,0.000,0.045,2050,3438,3773,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4467,-0.63,-204.4,591.9,-7.5,501,4474,0.00,2.15,0.00,0.000,6,0.000,0.034,2050,2015,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4785,-0.64,-204.4,617.9,-8.0,522,4790,0.00,2.15,0.00,0.000,4,0.000,0.048,2050,617,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4827,-0.65,-204.4,621.2,-8.2,524,4831,0.00,2.12,0.00,0.000,6,0.000,0.036,2042,2024,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5138,-0.65,-204.4,649.2,-9.1,540,5142,0.00,2.17,0.00,0.000,4,0.000,0.046,2033,3438,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5160,-0.66,-204.4,651.1,-9.0,541,5166,0.00,2.15,0.00,0.000,6,0.000,0.035,2033,2029,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5481,-0.66,-204.4,681.7,-9.8,557,5485,0.00,2.17,0.00,0.000,4,0.000,0.049,2033,613,3765,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5502,-0.66,-204.4,684.1,-9.9,558,5508,0.00,2.15,0.00,0.000,6,0.000,0.037,2024,2031,3765,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5823,-0.66,-204.4,718.0,-10.8,574,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2031,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,-0.66,-204.4,751.1,-10.9,589,6128,0.00,2.15,0.00,0.000,4,0.000,0.045,2014,3431,3760,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6162,-0.66,-204.4,755.3,-10.9,591,6169,0.10,2.17,0.00,0.000,6,0.133,0.037,2047,2015,3760,0,0,0,0,0,0,26.25,26.34,28.83
$GC,6485,-0.67,-204.4,783.3,-8.4,607,6489,0.00,2.15,0.00,0.000,4,0.000,0.050,2047,618,3758,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6515,-0.68,-204.4,785.4,-8.4,608,6519,0.00,2.15,0.00,0.000,6,0.000,0.037,2041,2030,3758,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6822,-0.69,-204.4,811.2,-7.9,623,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2029,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7122,-0.70,-204.4,832.9,-7.0,638,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2030,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7422,-0.71,-204.4,853.8,-7.1,653,7428,0.08,2.15,0.00,0.000,4,0.125,0.044,1954,3429,3752,0,0,0,0,0,0,26.55,26.29,28.83
$GC,7450,-0.71,-204.4,855.6,-7.5,654,7455,0.22,2.17,0.00,0.000,6,0.119,0.039,2025,2021,3752,0,0,0,0,0,0,26.08,26.30,28.83
$GC,7756,-0.71,-204.4,885.7,-9.6,669,7762,0.00,2.20,0.00,0.000,4,0.000,0.050,2025,609,3751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7799,-0.71,-204.4,889.8,-10.0,671,7804,0.00,2.15,0.00,0.000,6,0.000,0.037,2017,2022,3750,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8111,-0.71,-204.4,922.6,-10.5,687,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2023,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,-0.71,-204.4,953.5,-10.1,702,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2022,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-0.71,-204.4,984.3,-10.4,717,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2023,3747,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8771,begin apogee
$GC,8776,-0.22,0.0,990.3,-10.1,720,9023,0.45,0.00,241.45,0.895,6,0.096,0.000,2179,1965,2953,0,0,0,0,0,0,26.10,28.83,24.10
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9024,begin climb
$GC,9026,0.68,204.4,1002.5,0.0,732,9216,0.77,2.38,180.02,1.076,4,0.045,0.032,2485,3383,2112,0,0,0,0,0,0,24.87,24.35,23.60
$GC,9360,0.62,204.4,955.8,22.4,749,9366,0.15,2.25,0.00,0.000,6,0.142,0.034,2450,1975,2089,0,0,0,0,0,0,25.05,25.24,28.83
$GC,9675,0.57,204.4,895.8,18.5,765,9677,0.08,0.00,0.00,0.000,6,0.207,0.000,2433,1975,2085,0,0,0,0,0,0,25.75,28.83,28.83
$GC,9974,0.53,204.4,846.2,16.1,780,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1974,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,0.50,204.4,799.0,15.5,795,10280,0.10,2.20,0.00,0.000,4,0.184,0.031,2406,3401,2082,0,0,0,0,0,0,25.96,26.05,28.83
$GC,10303,0.46,204.4,795.9,15.5,796,10308,0.08,2.22,0.00,0.000,6,0.193,0.035,2399,1962,2081,0,0,0,0,0,0,25.88,26.03,28.83
$GC,10610,0.44,204.4,755.7,12.6,811,10616,0.00,2.12,0.00,0.000,4,0.000,0.047,2409,576,2081,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10678,0.43,204.4,747.9,12.9,814,10683,0.10,2.12,0.00,0.000,6,0.161,0.025,2382,1992,2081,0,0,0,0,0,0,25.96,26.17,28.83
$GC,10986,0.42,204.4,709.9,12.1,829,10992,0.00,2.10,0.00,0.000,4,0.000,0.036,2382,3380,2079,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11032,0.41,204.4,704.8,12.3,831,11037,0.00,2.17,0.00,0.000,6,0.000,0.037,2392,1976,2080,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11340,0.40,204.4,665.4,12.3,846,11345,0.00,2.17,0.00,0.000,4,0.000,0.048,2403,573,2079,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11387,0.39,204.4,660.5,12.3,848,11392,0.10,2.10,0.00,0.000,6,0.152,0.026,2375,1982,2079,0,0,0,0,0,0,26.05,26.24,28.83
$GC,11695,0.44,241.0,628.1,9.7,863,11735,0.05,2.17,31.75,0.854,4,0.167,0.037,2433,3376,1957,0,0,0,0,0,0,26.39,25.79,25.09
$GC,11766,0.42,241.0,619.5,12.4,866,11771,0.20,2.20,0.00,0.000,6,0.135,0.037,2384,1976,1947,0,0,0,0,0,0,25.68,25.82,28.83
$GC,12075,0.47,278.1,587.1,9.7,887,12124,0.00,2.33,42.17,0.757,4,0.000,0.048,2394,568,1814,0,0,0,0,0,0,28.83,25.46,24.85
$GC,12161,0.52,308.9,578.7,9.9,895,12198,0.08,2.15,30.48,0.824,6,0.116,0.027,2469,1971,1693,0,0,0,0,0,0,25.56,25.62,24.58
$GC,12497,0.49,308.9,515.3,19.6,929,12506,0.17,2.17,0.00,0.000,4,0.145,0.032,2412,3382,1666,0,0,0,0,0,0,25.63,25.82,28.83
$GC,12520,0.46,308.9,511.1,19.3,931,12529,0.05,2.17,0.00,0.000,6,0.138,0.038,2400,1981,1665,0,0,0,0,0,0,25.67,25.81,28.83
$GC,12829,0.47,308.9,473.6,11.4,962,12833,0.00,2.22,0.00,0.000,4,0.000,0.049,2410,567,1663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12915,0.51,321.9,464.6,10.5,970,12924,0.00,2.12,3.92,0.631,6,0.000,0.028,2410,1974,1638,0,0,0,0,0,0,28.83,26.06,25.00
$GC,13232,0.51,321.9,426.0,12.1,1002,13242,0.00,2.25,1.48,0.195,4,0.000,0.050,2419,573,1642,0,0,0,0,0,0,28.83,26.05,25.77
$GC,13276,0.52,321.9,420.9,11.9,1006,13285,0.00,2.12,0.00,0.000,6,0.000,0.028,2420,1975,1649,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,16529,end climb,SURFACE_DEPTH_REACHED
$STATE,16529,begin surface coast
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$HUMID,40.03
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,25.00
$XPDR_PINGS,4
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$10V_AH,10.2,20.166
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.125,138.425,786.350,0.000,0.000,29.472,22.388,166.985,1.000,0.000,16.415,3388.183,9406.933,771.383,3058.833,341.664,0.000,2243.670,0.000,2784.000,0.000,0.540,0.000
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$MEM,329864
$DATA_FILE_SIZE,97045,1451
$CAP_FILE_SIZE,179085,0
$CFSIZE,260165632,210309120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051211,061307,1914.562,12413.310,31,1.4,31,-2.3