version: 66.10
glider: 168
mission: 6
dive: 15
start: 11 14 111 5 30 52
data:
$ID,168
$MISSION,6
$DIVE,15
$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,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-5591.6328
$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,2260
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$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,24
$R_STBD_OVSHOOT,39
$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
$GPS1,141111,052437,2107.927,12256.224,36,1.0,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.5
$GPS2,141111,053026,2107.965,12256.226,13,1.3,13,-2.7
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$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,126.7,175527,-15.3,-11.000
$D_GRID,3467
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-219.0,0.0,0.0,0,96,0.00,0.00,-77.80,0.000,2,0.000,0.000,100,1994,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.71,-219.0,3.3,-4.5,11,129,6.93,2.20,-14.82,0.000,4,0.203,0.063,2029,582,3848,0,0,0,0,0,0,25.79,26.02,26.33
$GC,158,-0.50,-219.0,31.2,-48.6,20,167,0.22,2.17,0.00,0.000,6,0.151,0.035,2092,1997,3849,0,0,0,0,0,0,25.91,26.08,28.83
$GC,483,-0.42,-219.0,130.1,-23.3,81,490,0.12,0.00,0.00,0.000,6,0.157,0.000,2134,1999,3848,0,0,0,0,0,0,26.16,28.83,28.83
$GC,797,-0.42,-219.0,178.5,-13.2,142,805,0.00,2.20,0.00,0.000,4,0.000,0.048,2124,3398,3849,0,0,0,0,0,0,28.83,26.33,28.83
$GC,840,-0.47,-219.0,183.2,-8.4,149,849,0.03,2.17,0.00,0.000,6,0.114,0.039,2067,1988,3849,0,0,0,0,0,0,26.27,26.36,28.83
$GC,1156,-0.42,-219.0,243.5,-18.7,210,1165,0.17,2.20,0.00,0.000,4,0.135,0.054,2128,588,3849,0,0,0,0,0,0,26.33,26.39,28.83
$GC,1216,-0.47,-219.0,250.9,-8.2,219,1225,0.03,2.10,0.00,0.000,6,0.103,0.038,2072,1998,3849,0,0,0,0,0,0,26.35,26.44,28.83
$GC,1524,-0.44,-219.0,292.6,-13.7,250,1535,0.12,2.15,0.00,0.000,4,0.135,0.047,2108,3408,3849,0,0,0,0,0,0,26.41,26.44,28.83
$GC,1563,-0.45,-219.0,296.2,-11.2,253,1569,0.00,2.12,0.00,0.000,6,0.000,0.039,2107,2000,3849,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1869,-0.49,-219.0,320.3,-7.3,284,1878,0.00,2.17,0.00,0.000,4,0.000,0.053,2108,587,3847,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1894,-0.52,-219.0,322.1,-7.9,286,1900,0.00,2.12,0.00,0.000,6,0.000,0.039,2106,2007,3847,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2201,-0.56,-219.0,348.4,-9.3,317,2211,0.10,2.15,0.00,0.000,4,0.098,0.047,1994,3406,3846,0,0,0,0,0,0,26.58,26.50,28.83
$GC,2233,-0.56,-219.0,353.0,-12.7,320,2243,0.28,2.15,0.00,0.000,6,0.119,0.043,2086,2000,3846,0,0,0,0,0,0,26.43,26.51,28.83
$GC,2544,-0.58,-219.0,388.9,-10.2,351,2548,0.00,2.17,0.00,0.000,4,0.000,0.053,2086,584,3845,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2566,-0.59,-219.0,391.1,-10.0,353,2575,0.00,2.12,0.00,0.000,6,0.000,0.039,2083,2001,3845,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2876,-0.61,-219.0,419.1,-9.2,384,2885,0.08,2.15,0.00,0.000,4,0.126,0.047,1982,3412,3843,0,0,0,0,0,0,26.61,26.53,28.83
$GC,2921,-0.59,-219.0,425.1,-14.2,388,2928,0.28,2.15,0.00,0.000,6,0.116,0.043,2075,2000,3842,0,0,0,0,0,0,26.46,26.53,28.83
$GC,3229,-0.60,-219.0,457.4,-9.5,419,3238,0.00,2.17,0.00,0.000,4,0.000,0.054,2075,588,3840,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3271,-0.63,-219.0,461.3,-9.4,423,3279,0.00,2.12,0.00,0.000,6,0.000,0.039,2070,2007,3840,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3581,-0.64,-219.0,488.6,-8.2,454,3590,0.00,2.15,0.00,0.000,4,0.000,0.050,2063,3406,3838,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3623,-0.66,-219.0,491.6,-7.3,458,3632,0.00,2.15,0.00,0.000,6,0.000,0.041,2063,1990,3838,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3933,-0.67,-219.0,516.5,-8.0,489,3942,0.08,2.17,0.00,0.000,4,0.122,0.054,1973,587,3836,0,0,0,0,0,0,26.64,26.54,28.83
$GC,3965,-0.65,-219.0,520.7,-11.8,492,3975,0.28,2.12,0.00,0.000,6,0.122,0.043,2055,1997,3836,0,0,0,0,0,0,26.47,26.57,28.83
$GC,4275,-0.65,-219.0,551.3,-9.8,523,4279,0.00,2.17,0.00,0.000,4,0.000,0.050,2045,3409,3834,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4307,-0.65,-219.0,554.3,-9.5,526,4311,0.00,2.15,0.00,0.000,6,0.000,0.042,2045,2000,3834,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4618,-0.65,-219.0,588.6,-11.8,557,4627,0.00,2.17,0.00,0.000,4,0.000,0.057,2044,586,3832,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4660,-0.67,-219.0,593.3,-11.4,561,4669,0.00,2.15,0.00,0.000,6,0.000,0.041,2037,2003,3831,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4982,-0.66,-219.0,633.0,-12.3,580,4987,0.00,2.12,0.00,0.000,4,0.000,0.052,2028,3402,3829,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5039,-0.66,-219.0,640.0,-12.0,583,5046,0.08,2.15,0.00,0.000,6,0.152,0.042,2052,1997,3829,0,0,0,0,0,0,26.51,26.56,28.83
$GC,5362,-0.67,-219.0,673.4,-9.9,599,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1997,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.68,-219.0,701.7,-9.1,614,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1996,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5962,-0.69,-219.0,726.5,-7.8,629,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1997,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.71,-219.0,750.1,-8.0,644,6267,0.08,2.17,0.00,0.000,4,0.122,0.057,1973,596,3819,0,0,0,0,0,0,26.65,26.55,28.83
$GC,6283,-0.71,-219.0,752.3,-8.6,645,6288,0.22,2.12,0.00,0.000,6,0.127,0.044,2036,1997,3819,0,0,0,0,0,0,26.48,26.58,28.83
$GC,6595,-0.71,-219.0,787.7,-11.7,661,6599,0.00,2.20,0.00,0.000,4,0.000,0.053,2025,3414,3816,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6638,-0.71,-219.0,792.5,-11.7,663,6643,0.00,2.15,0.00,0.000,6,0.000,0.044,2025,2004,3816,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6956,-0.71,-219.0,832.8,-12.3,679,6962,0.00,2.20,0.00,0.000,4,0.000,0.060,2025,586,3814,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6985,-0.71,-219.0,835.4,-12.3,680,6989,0.05,2.15,0.00,0.000,6,0.213,0.044,2035,1999,3814,0,0,0,0,0,0,26.48,26.57,28.83
$GC,7293,-0.71,-219.0,869.7,-10.3,695,7299,0.00,2.12,0.00,0.000,4,0.000,0.052,2025,3407,3812,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7335,-0.72,-219.0,873.6,-10.0,697,7339,0.00,2.17,0.00,0.000,6,0.000,0.044,2025,1992,3812,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7648,-0.72,-219.0,905.2,-10.2,713,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1992,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,-0.72,-219.0,936.1,-10.6,728,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1992,3808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8248,-0.72,-219.0,967.6,-10.5,743,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,1992,3807,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8472,-0.23,0.0,991.1,-11.1,754,8669,0.45,0.00,184.65,1.281,6,0.096,0.000,2190,1858,2955,0,0,0,0,1,0,26.51,28.83,23.70
$STATE,8670,end apogee,CONTROL_FINISHED_OK
$STATE,8670,begin climb
$GC,8672,0.71,219.0,1005.7,0.0,764,8882,0.80,2.35,200.82,1.089,4,0.044,0.054,2516,483,2051,0,0,0,0,0,0,24.77,24.51,23.80
$GC,8945,0.58,219.0,979.5,20.4,777,8951,0.22,2.20,0.00,0.000,6,0.142,0.028,2447,1895,2034,0,0,0,0,0,0,25.04,25.19,28.83
$GC,9266,0.49,219.0,926.9,16.0,793,9272,0.12,2.12,0.00,0.000,4,0.174,0.036,2408,3280,2026,0,0,0,0,0,0,25.71,25.82,28.83
$GC,9365,0.45,219.0,913.8,12.6,798,9371,0.00,2.20,0.00,0.000,6,0.000,0.045,2418,1882,2024,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9685,0.39,219.0,872.2,13.0,814,9691,0.12,2.10,0.00,0.000,4,0.169,0.037,2378,3271,2022,0,0,0,0,0,0,25.99,26.09,28.83
$GC,9713,0.34,219.0,869.7,12.9,815,9718,0.10,2.20,0.00,0.000,6,0.164,0.045,2362,1874,2022,0,0,0,0,0,0,26.00,26.08,28.83
$GC,10019,0.45,314.2,844.4,7.8,830,10113,0.12,2.30,86.70,0.977,4,0.080,0.040,2453,3279,1664,0,0,0,0,0,0,26.27,24.96,24.22
$GC,10145,0.38,314.2,825.1,17.5,835,10150,0.28,2.33,0.00,0.000,6,0.135,0.049,2382,1874,1647,0,0,0,0,0,0,25.16,25.24,28.83
$GC,10453,0.38,314.2,787.5,11.5,850,10459,0.00,2.25,0.00,0.000,4,0.000,0.062,2392,466,1641,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10505,0.38,314.2,782.9,11.6,852,10512,0.00,2.12,0.00,0.000,6,0.000,0.032,2392,1867,1640,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10812,0.38,314.2,743.5,12.9,868,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1868,1639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11112,0.38,314.2,703.2,14.0,883,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1868,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11412,0.38,314.2,659.7,14.7,898,11418,0.00,2.17,0.00,0.000,4,0.000,0.043,2392,3280,1637,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11434,0.38,314.2,656.7,14.7,899,11439,0.08,2.25,0.00,0.000,6,0.181,0.050,2381,1881,1636,0,0,0,0,0,0,26.17,26.24,28.83
$GC,11753,0.40,314.2,613.1,13.2,915,11758,0.00,2.22,0.00,0.000,4,0.000,0.061,2390,461,1635,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11785,0.42,314.2,610.5,13.0,916,11792,0.00,2.12,0.00,0.000,6,0.000,0.033,2390,1879,1635,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12095,0.53,397.2,576.4,8.2,943,12205,0.12,2.40,103.25,0.729,4,0.079,0.063,2490,465,1328,0,0,0,0,0,0,26.42,25.10,24.54
$GC,12226,0.46,397.2,553.3,19.4,956,12235,0.25,2.15,0.00,0.000,6,0.120,0.029,2407,1879,1316,0,0,0,0,0,0,25.20,25.34,28.83
$GC,12535,0.55,463.6,522.8,8.7,987,12626,0.10,2.45,83.82,0.689,4,0.094,0.064,2492,466,1056,0,0,0,0,0,0,25.94,25.01,24.46
$GC,12660,0.48,463.6,498.5,22.7,999,12670,0.25,2.17,0.00,0.000,6,0.129,0.029,2417,1879,1044,0,0,0,0,0,0,25.20,25.33,28.83
$GC,12970,0.50,463.6,454.8,13.6,1030,12979,0.00,2.30,0.00,0.000,4,0.000,0.060,2428,465,1040,0,0,0,0,0,0,28.83,25.80,28.83
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$STATE,16041,end climb,SURFACE_DEPTH_REACHED
$STATE,16041,begin surface coast
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$STATE,16074,end surface coast,CONTROL_FINISHED_OK
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$HUMID,39.13
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.30
$XPDR_PINGS,3
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$10V_AH,10.3,4.162
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$FG_AHR_10Vo,0.000
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$MEM,324620
$DATA_FILE_SIZE,96945,1487
$CAP_FILE_SIZE,180838,0
$CFSIZE,260165632,220286976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141111,100107,2106.409,12257.090,30,1.2,30,-2.7