version: 66.09
glider: 181
mission: 6
dive: 195
start: 7 17 111 17 40 17
data:
$ID,181
$MISSION,6
$DIVE,195
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,51861
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40764.633
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,170711,173252,1913.254,12035.891,27,2.0,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.0
$GPS2,170711,173952,1913.422,12035.958,12,3.0,31,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,188.0,72460,-15.3,-11.000
$D_GRID,2604
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.95,0.000,2,0.000,0.000,172,2609,2442,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.3,-3.7,10,131,7.95,0.00,-25.55,0.000,6,0.226,0.000,2138,2605,3766,0,0,0,0,0,0
$GC,257,-0.52,-219.0,72.1,-43.1,39,265,0.00,1.85,0.00,0.000,4,0.000,0.041,2130,3781,3767,0,0,0,0,0,0
$GC,294,-0.52,-219.0,87.3,-41.6,45,302,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2585,3767,0,0,0,0,0,0
$GC,428,-0.52,-219.0,127.8,-29.3,70,436,0.00,1.90,0.00,0.000,4,0.000,0.045,2121,3777,3767,0,0,0,0,0,0
$GC,490,-0.52,-219.0,141.5,-19.9,81,498,0.00,1.70,0.00,0.000,6,0.000,0.024,2121,2635,3768,0,0,0,0,0,0
$GC,626,-0.52,-219.0,169.2,-21.1,106,634,0.00,2.12,0.00,0.000,4,0.000,0.028,2121,1207,3767,0,0,0,0,0,0
$GC,694,-0.52,-219.0,180.0,-13.0,118,703,0.10,2.17,0.00,0.000,6,0.122,0.034,2146,2609,3770,0,0,0,0,0,0
$GC,831,-0.52,-219.0,199.5,-16.8,143,839,0.00,1.80,0.00,0.000,4,0.000,0.043,2140,3775,3770,0,0,0,0,0,0
$GC,850,-0.52,-219.0,203.4,-16.3,145,857,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2593,3770,0,0,0,0,0,0
$GC,1175,-0.52,-219.0,254.1,-15.8,176,1179,0.00,1.88,0.00,0.000,4,0.000,0.044,2139,3785,3769,0,0,0,0,0,0
$GC,1245,-0.52,-219.0,263.9,-12.0,182,1253,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2608,3769,0,0,0,0,0,0
$GC,1571,-0.52,-219.0,310.8,-15.9,213,1574,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1207,3767,0,0,0,0,0,0
$GC,1639,-0.52,-219.0,319.9,-12.6,219,1643,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2603,3766,0,0,0,0,0,0
$GC,1969,-0.52,-219.0,368.3,-14.1,250,1973,0.00,1.80,0.00,0.000,4,0.000,0.047,2137,3787,3764,0,0,0,0,0,0
$GC,2038,-0.52,-219.0,376.0,-9.8,256,2042,0.00,1.70,0.00,0.000,6,0.000,0.024,2137,2614,3763,0,0,0,0,0,0
$GC,2369,-0.52,-219.0,417.8,-13.6,287,2372,0.00,2.05,0.00,0.000,4,0.000,0.031,2137,1212,3760,0,0,0,0,0,0
$GC,2392,-0.52,-219.0,420.9,-13.5,289,2396,0.00,2.17,0.00,0.000,6,0.000,0.038,2137,2634,3760,0,0,0,0,0,0
$GC,2717,-0.52,-219.0,464.5,-14.1,319,2721,0.00,1.80,0.00,0.000,4,0.000,0.048,2135,3777,3756,0,0,0,0,0,0
$GC,2802,-0.52,-219.0,474.4,-10.1,326,2809,0.00,1.70,0.00,0.000,6,0.000,0.027,2135,2643,3755,0,0,0,0,0,0
$GC,3125,-0.52,-219.0,516.2,-12.8,351,3129,0.00,2.12,0.00,0.000,4,0.000,0.031,2135,1200,3752,0,0,0,0,0,0
$GC,3166,-0.52,-219.0,520.5,-10.4,353,3170,0.00,2.22,0.00,0.000,6,0.000,0.037,2127,2657,3752,0,0,0,0,0,0
$GC,3494,-0.52,-219.0,552.7,-9.6,369,3498,0.00,2.17,0.00,0.000,4,0.000,0.031,2127,1201,3749,0,0,0,0,0,0
$GC,3538,-0.52,-219.0,556.8,-8.7,371,3542,0.00,2.20,0.00,0.000,6,0.000,0.039,2126,2638,3749,0,0,0,0,0,0
$GC,3866,-0.52,-219.0,587.4,-9.9,387,3869,0.00,1.75,0.00,0.000,4,0.000,0.049,2124,3777,3746,0,0,0,0,0,0
$GC,3890,-0.52,-219.0,589.8,-9.9,388,3893,0.00,1.67,0.00,0.000,6,0.000,0.028,2125,2636,3745,0,0,0,0,0,0
$GC,4222,-0.52,-219.0,626.2,-11.7,404,4226,0.00,2.15,0.00,0.000,4,0.000,0.033,2120,1196,3743,0,0,0,0,0,0
$GC,4249,-0.52,-219.0,629.7,-11.8,405,4254,0.00,2.22,0.00,0.000,6,0.000,0.040,2125,2642,3743,0,0,0,0,0,0
$GC,4578,-0.52,-219.0,669.1,-12.6,421,4581,0.00,1.75,0.00,0.000,4,0.000,0.051,2125,3776,3740,0,0,0,0,0,0
$GC,4605,-0.52,-219.0,672.7,-12.3,422,4609,0.00,1.73,0.00,0.000,6,0.000,0.028,2125,2639,3740,0,0,0,0,0,0
$GC,4933,-0.52,-219.0,710.7,-11.6,438,4937,0.00,2.12,0.00,0.000,4,0.000,0.034,2125,1204,3739,0,0,0,0,0,0
$GC,4988,-0.52,-219.0,715.7,-8.7,440,4995,0.00,2.20,0.00,0.000,6,0.000,0.039,2125,2631,3737,0,0,0,0,0,0
$GC,5304,-0.52,-219.0,748.4,-11.1,456,5308,0.00,1.83,0.00,0.000,4,0.000,0.051,2124,3780,3734,0,0,0,0,0,0
$GC,5343,-0.52,-219.0,752.4,-10.2,457,5350,0.00,1.70,0.00,0.000,6,0.000,0.028,2124,2621,3735,0,0,0,0,0,0
$GC,5659,-0.52,-219.0,786.3,-11.0,473,5663,0.00,2.10,0.00,0.000,4,0.000,0.034,2124,1208,3733,0,0,0,0,0,0
$GC,5725,-0.52,-219.0,792.5,-8.6,476,5729,0.00,2.20,0.00,0.000,6,0.000,0.039,2125,2637,3732,0,0,0,0,0,0
$GC,6048,-0.52,-219.0,819.8,-8.4,492,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2637,3730,0,0,0,0,0,0
$GC,6357,-0.52,-219.0,844.5,-7.0,507,6361,0.00,2.15,0.00,0.000,4,0.000,0.034,2124,1210,3728,0,0,0,0,0,0
$GC,6384,-0.52,-219.0,846.6,-6.6,508,6389,0.00,2.20,0.00,0.000,6,0.000,0.041,2125,2620,3728,0,0,0,0,0,0
$GC,6706,-0.52,-219.0,869.4,-7.6,524,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2621,3727,0,0,0,0,0,0
$GC,7016,-0.52,-219.0,892.3,-7.4,539,7019,0.00,1.80,0.00,0.000,4,0.000,0.052,2124,3778,3725,0,0,0,0,0,0
$GC,7043,-0.52,-219.0,894.5,-7.3,540,7047,0.00,1.70,0.00,0.000,6,0.000,0.028,2124,2626,3725,0,0,0,0,0,0
$GC,7371,-0.52,-219.0,918.8,-7.5,556,7375,0.00,2.12,0.00,0.000,4,0.000,0.034,2125,1201,3723,0,0,0,0,0,0
$GC,7404,-0.52,-219.0,921.4,-7.7,557,7411,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2627,3723,0,0,0,0,0,0
$GC,7721,-0.52,-219.0,948.4,-9.4,573,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2627,3722,0,0,0,0,0,0
$GC,8029,-0.52,-219.0,979.1,-10.3,588,8033,0.00,2.17,0.00,0.000,4,0.000,0.035,2125,1198,3720,0,0,0,0,0,0
$GC,8045,-0.52,-219.0,980.9,-10.4,588,8052,0.00,2.22,0.00,0.000,6,0.000,0.041,2124,2625,3720,0,0,0,0,0,0
$STATE,8153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8153,begin apogee
$GC,8160,-0.13,0.0,991.6,9.9,594,8329,0.45,0.00,164.02,1.099,4,0.109,0.000,2276,2119,2869,0,0,0,0,0,0
$STATE,8330,end apogee,CONTROL_FINISHED_OK
$STATE,8330,begin climb
$GC,8333,0.52,219.0,1003.1,0.0,602,8516,0.60,2.38,174.65,1.071,4,0.054,0.044,2501,3539,1978,0,0,0,0,0,0
$GC,8521,0.52,219.0,995.8,12.4,610,8526,0.00,2.30,0.00,0.000,6,0.000,0.028,2510,2138,1978,0,0,0,0,0,0
$GC,8843,0.52,219.0,956.1,11.9,626,8847,0.00,2.20,0.00,0.000,4,0.000,0.037,2521,716,1982,0,0,0,0,0,0
$GC,8875,0.52,219.0,952.2,11.4,627,8883,0.12,2.20,0.00,0.000,6,0.168,0.034,2491,2124,1983,0,0,0,0,0,0
$GC,9192,0.55,243.1,920.1,10.2,643,9219,0.00,2.25,21.73,1.011,4,0.000,0.044,2490,3536,1878,0,0,0,0,0,0
$GC,9286,0.55,243.1,908.3,13.3,647,9290,0.00,2.17,0.00,0.000,6,0.000,0.028,2499,2125,1876,0,0,0,0,0,0
$GC,9608,0.55,243.1,863.9,15.0,663,9612,0.00,2.15,0.00,0.000,4,0.000,0.039,2505,720,1876,0,0,0,0,0,0
$GC,9693,0.55,243.1,851.2,14.2,667,9697,0.00,2.17,0.00,0.000,6,0.000,0.036,2509,2124,1876,0,0,0,0,0,0
$GC,10021,0.55,243.1,796.3,17.3,683,10025,0.00,2.22,0.00,0.000,4,0.000,0.046,2509,3541,1875,0,0,0,0,0,0
$GC,10076,0.55,243.1,785.9,18.4,685,10083,0.00,2.15,0.00,0.000,6,0.000,0.030,2519,2123,1875,0,0,0,0,0,0
$GC,10392,0.55,243.1,731.1,17.0,701,10396,0.00,2.15,0.00,0.000,4,0.000,0.039,2527,714,1874,0,0,0,0,0,0
$GC,10487,0.55,243.1,715.4,15.9,705,10492,0.12,2.17,0.00,0.000,6,0.171,0.034,2498,2124,1874,0,0,0,0,0,0
$GC,10814,0.55,243.1,670.2,13.5,721,10818,0.00,2.20,0.00,0.000,4,0.000,0.046,2498,3545,1871,0,0,0,0,0,0
$GC,10846,0.55,243.1,665.3,14.1,722,10853,0.00,2.17,0.00,0.000,6,0.000,0.029,2506,2111,1873,0,0,0,0,0,0
$GC,11162,0.55,243.1,623.2,13.1,738,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2111,1873,0,0,0,0,0,0
$GC,11472,0.55,243.1,582.9,12.5,753,11476,0.00,2.10,0.00,0.000,4,0.000,0.040,2516,720,1872,0,0,0,0,0,0
$GC,11544,0.55,243.1,574.4,11.4,756,11548,0.00,2.15,0.00,0.000,6,0.000,0.034,2517,2125,1872,0,0,0,0,0,0
$GC,11861,0.55,243.1,531.3,14.4,771,11865,0.00,2.20,0.00,0.000,4,0.000,0.046,2517,3536,1873,0,0,0,0,0,0
$GC,11923,0.55,243.1,521.4,16.2,774,11927,0.00,2.15,0.00,0.000,6,0.000,0.029,2526,2122,1873,0,0,0,0,0,0
$GC,12252,0.55,243.1,467.0,16.7,798,12256,0.00,2.12,0.00,0.000,4,0.000,0.039,2537,712,1876,0,0,0,0,0,0
$GC,12361,0.55,243.1,448.5,16.8,807,12365,0.15,2.15,0.00,0.000,6,0.164,0.034,2497,2124,1873,0,0,0,0,0,0
$GC,12686,0.55,243.1,404.1,12.0,837,12690,0.00,2.17,0.00,0.000,4,0.000,0.045,2497,3536,1872,0,0,0,0,0,0
$GC,12726,0.55,243.1,399.0,13.0,840,12730,0.00,2.15,0.00,0.000,6,0.000,0.030,2505,2109,1873,0,0,0,0,0,0
$GC,13051,0.57,255.8,361.2,10.6,870,13063,0.00,0.00,10.32,0.689,6,0.000,0.000,2505,2109,1826,0,0,0,0,0,0
$GC,13380,0.62,293.0,329.4,9.7,901,13415,0.00,2.22,28.15,0.674,4,0.000,0.039,2516,712,1672,0,0,0,0,0,0
$GC,13506,0.67,339.5,317.4,9.4,912,13551,0.00,2.12,34.78,0.649,6,0.000,0.033,2515,2089,1484,0,0,0,0,0,0
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$STATE,16349,end climb,SURFACE_DEPTH_REACHED
$STATE,16349,begin surface coast
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.66
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$XPDR_PINGS,0
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$10V_AH,10.0,30.545
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$FG_AHR_10Vo,0.000
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$MEM,321500
$DATA_FILE_SIZE,90181,1323
$CAP_FILE_SIZE,179057,0
$CFSIZE,260165632,232833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,221530,1911.675,12035.281,34,1.0,41,-2.1