version: 66.10
glider: 168
mission: 6
dive: 507
start: 2 24 112 2 34 56
data:
$ID,168
$MISSION,6
$DIVE,507
$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,340
$T_MISSION,380
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51744
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-7561.9062
$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,42
$R_STBD_OVSHOOT,46
$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
$GPS1,240212,022737,1957.009,12358.118,30,0.9,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.56
$_SM_ANGLEo,-74.4
$GPS2,240212,023432,1956.995,12358.165,13,1.0,13,-2.4
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,228.0,238936,-15.3,-9.706
$D_GRID,5332
$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,17,-0.65,-194.6,0.0,0.0,0,82,0.00,0.00,-62.78,0.000,2,0.000,0.000,101,1982,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.65,-194.6,8.6,-6.6,11,112,7.07,2.17,-11.48,0.000,4,0.187,0.056,2030,624,3748,0,0,0,0,0,0,24.70,25.73,26.43
$GC,135,-0.54,-194.6,29.3,-39.1,19,142,0.20,2.12,0.00,0.000,6,0.148,0.034,2077,2017,3749,0,0,0,0,0,0,25.42,25.86,28.83
$GC,448,-0.49,-194.6,104.0,-21.8,80,455,0.00,2.20,0.00,0.000,4,0.000,0.036,2067,3439,3750,0,0,0,0,0,0,28.83,25.95,28.83
$GC,478,-0.46,-194.6,110.6,-20.9,85,486,0.12,2.17,0.00,0.000,6,0.123,0.032,2106,2024,3750,0,0,0,0,0,0,25.80,25.97,28.83
$GC,791,-0.45,-194.6,149.2,-12.4,146,798,0.00,2.20,0.00,0.000,4,0.000,0.044,2107,618,3750,0,0,0,0,0,0,28.83,25.88,28.83
$GC,827,-0.46,-194.6,153.6,-12.1,152,833,0.00,2.12,0.00,0.000,6,0.000,0.031,2100,2034,3750,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1136,-0.46,-194.6,192.9,-12.4,213,1144,0.00,2.20,0.00,0.000,4,0.000,0.037,2089,3436,3750,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1163,-0.47,-194.6,195.8,-11.7,217,1171,0.00,2.15,0.00,0.000,6,0.000,0.030,2089,2023,3750,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1473,-0.47,-194.6,232.7,-12.2,251,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2023,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-0.47,-194.6,264.1,-10.2,281,1786,0.00,2.17,0.00,0.000,4,0.000,0.040,2081,3422,3750,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1801,-0.47,-194.6,266.6,-10.0,283,1809,0.08,2.12,0.00,0.000,6,0.132,0.031,2112,2025,3750,0,0,0,0,0,0,25.99,26.08,28.83
$GC,2109,-0.50,-194.6,288.8,-7.0,314,2118,0.10,2.17,0.00,0.000,4,0.099,0.042,2008,622,3749,0,0,0,0,0,0,26.45,25.92,28.83
$GC,2132,-0.51,-194.6,291.1,-8.5,316,2141,0.28,2.10,0.00,0.000,6,0.112,0.034,2088,2021,3749,0,0,0,0,0,0,25.67,26.06,28.83
$GC,2442,-0.53,-194.6,321.5,-9.7,347,2446,0.00,2.22,0.00,0.000,4,0.000,0.040,2079,3437,3749,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2506,-0.56,-194.6,327.2,-8.7,353,2514,0.00,2.15,0.00,0.000,6,0.000,0.029,2079,2022,3748,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2814,-0.57,-194.6,358.6,-8.6,384,2822,0.00,2.20,0.00,0.000,4,0.000,0.044,2078,621,3747,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2846,-0.59,-194.6,361.1,-7.8,387,2855,0.00,2.12,0.00,0.000,6,0.000,0.031,2078,2033,3747,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3156,-0.60,-194.6,380.2,-6.5,418,3167,0.08,2.15,0.00,0.000,4,0.122,0.037,1976,3424,3745,0,0,0,0,0,0,26.46,26.00,28.83
$GC,3250,-0.56,-194.6,393.6,-16.1,427,3260,0.30,2.17,0.00,0.000,6,0.106,0.035,2076,2026,3745,0,0,0,0,0,0,25.66,26.01,28.83
$GC,3560,-0.58,-194.6,425.4,-9.9,458,3564,0.00,2.20,0.00,0.000,4,0.000,0.044,2077,610,3744,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3605,-0.60,-194.6,429.6,-9.9,462,3612,0.08,2.12,0.00,0.000,6,0.121,0.031,1995,2025,3743,0,0,0,0,0,0,26.02,26.09,28.83
$GC,3912,-0.56,-194.6,480.9,-16.2,493,3923,0.20,2.22,0.00,0.000,4,0.123,0.039,2056,3436,3741,0,0,0,0,0,0,26.00,25.96,28.83
$GC,3987,-0.59,-194.6,487.4,-6.4,500,3996,0.00,2.15,0.00,0.000,6,0.000,0.031,2056,2018,3741,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4296,-0.60,-194.6,512.4,-9.6,531,4305,0.00,2.20,0.00,0.000,4,0.000,0.047,2056,622,3739,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4330,-0.61,-194.6,515.4,-9.5,534,4338,0.00,2.12,0.00,0.000,6,0.000,0.034,2051,2025,3739,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4637,-0.61,-194.6,546.3,-9.3,565,4647,0.00,2.20,0.00,0.000,4,0.000,0.042,2042,3436,3738,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4685,-0.63,-194.6,549.8,-8.4,569,4693,0.00,2.17,0.00,0.000,6,0.000,0.032,2043,2026,3738,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4990,-0.63,-194.6,575.2,-9.2,600,4999,0.00,2.20,0.00,0.000,4,0.000,0.047,2042,616,3735,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5025,-0.63,-194.6,578.3,-9.9,603,5032,0.00,2.15,0.00,0.000,6,0.000,0.033,2042,2033,3735,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5334,-0.63,-194.6,612.1,-11.8,629,5340,0.00,2.17,0.00,0.000,4,0.000,0.043,2032,3431,3733,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5396,-0.64,-194.6,619.0,-11.6,632,5400,0.00,2.17,0.00,0.000,6,0.000,0.033,2032,2027,3732,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5709,-0.64,-194.6,654.6,-10.2,648,5714,0.00,2.20,0.00,0.000,4,0.000,0.047,2032,625,3730,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5748,-0.64,-194.6,658.6,-10.1,650,5755,0.05,2.12,0.00,0.000,6,0.205,0.034,2046,2022,3730,0,0,0,0,0,0,25.88,25.98,28.83
$GC,6072,-0.65,-194.6,683.8,-7.7,666,6078,0.00,2.20,0.00,0.000,4,0.000,0.043,2037,3434,3727,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6131,-0.67,-194.6,688.4,-7.4,669,6136,0.00,2.20,0.00,0.000,6,0.000,0.033,2037,2025,3727,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6452,-0.68,-194.6,714.9,-8.3,685,6458,0.00,2.22,0.00,0.000,4,0.000,0.048,2037,616,3725,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6485,-0.68,-194.6,716.7,-8.3,686,6492,0.00,2.15,0.00,0.000,6,0.000,0.034,2030,2028,3724,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6792,-0.68,-194.6,744.0,-8.7,702,6798,0.00,2.20,0.00,0.000,4,0.000,0.044,2021,3429,3723,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6842,-0.69,-194.6,747.4,-8.8,704,6851,0.00,2.20,0.00,0.000,6,0.000,0.034,2021,2015,3722,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7151,-0.69,-194.6,782.2,-12.5,720,7158,0.00,2.25,0.00,0.000,4,0.000,0.044,2014,3429,3720,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7179,-0.69,-194.6,784.8,-12.6,721,7184,0.00,2.20,0.00,0.000,6,0.000,0.036,2014,2027,3720,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7488,-0.69,-194.6,827.1,-13.3,736,7493,0.00,2.22,0.00,0.000,4,0.000,0.049,2014,623,3718,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7527,-0.69,-194.6,832.4,-13.4,738,7533,0.08,2.17,0.00,0.000,6,0.166,0.036,2033,2033,3718,0,0,0,0,0,0,25.76,25.89,28.83
$GC,7850,-0.70,-194.6,864.1,-9.0,754,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2032,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8147,-0.71,-194.6,886.3,-6.7,769,8153,0.00,2.20,0.00,0.000,4,0.000,0.044,2024,3429,3716,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8175,-0.71,-194.6,887.5,-6.6,770,8179,0.00,2.20,0.00,0.000,6,0.000,0.034,2023,2024,3716,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8484,-0.72,-194.6,908.4,-7.2,785,8489,0.00,2.20,0.00,0.000,4,0.000,0.050,2023,627,3714,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8522,-0.73,-194.6,911.5,-7.4,787,8528,0.00,2.15,0.00,0.000,6,0.000,0.036,2018,2023,3714,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8843,-0.73,-194.6,941.6,-10.5,803,8848,0.00,2.22,0.00,0.000,4,0.000,0.045,2009,3431,3712,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8889,-0.73,-194.6,945.8,-10.6,805,8894,0.00,2.22,0.00,0.000,6,0.000,0.035,2008,2017,3712,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9196,-0.73,-194.6,982.0,-11.2,820,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2017,3710,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9274,begin apogee
$GC,9281,-0.22,0.0,990.3,-10.3,824,9459,0.47,0.00,168.18,1.022,6,0.093,0.000,2179,2016,2944,0,0,0,0,0,0,25.56,28.83,23.31
$STATE,9459,end apogee,CONTROL_FINISHED_OK
$STATE,9460,begin climb
$GC,9462,0.65,194.6,998.0,0.0,833,9644,0.75,2.30,173.48,0.995,4,0.042,0.031,2476,3402,2149,0,0,0,0,0,0,25.13,24.92,23.37
$GC,9691,0.59,194.6,976.1,19.1,844,9699,0.17,2.30,0.00,0.000,6,0.151,0.034,2440,1972,2132,0,0,0,0,0,0,25.13,25.40,28.83
$GC,9997,0.55,194.6,920.0,17.0,860,10001,0.00,2.20,0.00,0.000,4,0.000,0.031,2440,3398,2126,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10063,0.51,194.6,909.3,17.0,863,10070,0.12,2.25,0.00,0.000,6,0.157,0.034,2416,1965,2125,0,0,0,0,0,0,25.59,25.84,28.83
$GC,10379,0.49,194.6,866.1,12.6,879,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1964,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10680,0.47,194.6,831.4,10.8,894,10682,0.08,0.00,0.00,0.000,6,0.193,0.000,2396,1964,2122,0,0,0,0,0,0,26.20,28.83,28.83
$GC,10979,0.46,199.0,803.4,9.6,909,10985,0.00,2.22,0.00,0.000,4,0.000,0.032,2396,3394,2122,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11019,0.45,199.0,799.1,10.2,911,11025,0.00,2.20,0.00,0.000,6,0.000,0.034,2406,1976,2121,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11340,0.43,199.0,759.6,13.3,927,11347,0.08,2.20,0.00,0.000,4,0.186,0.031,2388,3402,2120,0,0,0,0,0,0,26.25,25.95,28.83
$GC,11373,0.42,199.0,756.7,13.4,928,11380,0.00,2.25,0.00,0.000,6,0.000,0.034,2396,1962,2120,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11681,0.41,199.0,716.3,12.7,944,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1962,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11980,0.40,199.0,681.5,11.1,959,11986,0.08,2.22,0.00,0.000,4,0.190,0.032,2377,3386,2119,0,0,0,0,0,0,26.27,25.92,28.83
$GC,12014,0.40,199.0,679.3,11.0,960,12021,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1978,2119,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,17754,end climb,SURFACE_DEPTH_REACHED
$STATE,17754,begin surface coast
$FINISH,5.6,1.022224
$STATE,17849,end surface coast,CONTROL_FINISHED_OK
$STATE,17849,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.20
$XPDR_PINGS,3
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$10V_AH,9.6,76.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329808
$DATA_FILE_SIZE,93543,1663
$CAP_FILE_SIZE,203797,0
$CFSIZE,260165632,171003904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,118.1,1
$GPS,240212,073500,1954.885,12356.351,37,1.0,42,-2.4