version: 66.09
glider: 181
mission: 6
dive: 196
start: 7 17 111 22 23 8
data:
$ID,181
$MISSION,6
$DIVE,196
$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,-40765.891
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,170711,221530,1911.675,12035.281,34,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-57.0
$GPS2,170711,222243,1911.779,12035.365,10,1.0,15,-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,187.4,69331,-15.3,-11.000
$D_GRID,2522
$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,-71.10,0.000,2,0.000,0.000,141,2603,2440,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.5,-3.9,10,132,8.15,1.92,-25.65,0.000,4,0.230,0.057,2132,3797,3765,0,0,0,0,0,0
$GC,197,-0.52,-219.0,49.9,-56.5,27,205,0.00,1.83,0.00,0.000,6,0.000,0.024,2132,2593,3766,0,0,0,0,0,0
$GC,331,-0.52,-219.0,107.8,-31.5,52,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2583,3766,0,0,0,0,0,0
$GC,464,-0.52,-219.0,146.1,-25.3,77,472,0.00,1.88,0.00,0.000,4,0.000,0.042,2124,3776,3768,0,0,0,0,0,0
$GC,531,-0.52,-219.0,164.1,-22.3,89,539,0.00,1.80,0.00,0.000,6,0.000,0.024,2124,2571,3768,0,0,0,0,0,0
$GC,667,-0.52,-219.0,191.4,-21.4,114,675,0.00,2.03,0.00,0.000,4,0.000,0.027,2123,1203,3769,0,0,0,0,0,0
$GC,719,-0.52,-219.0,199.8,-12.8,123,728,0.10,2.10,0.00,0.000,6,0.121,0.034,2150,2560,3769,0,0,0,0,0,0
$GC,853,-0.52,-219.0,216.2,-12.7,136,857,0.00,1.85,0.00,0.000,4,0.000,0.043,2142,3783,3769,0,0,0,0,0,0
$GC,924,-0.52,-219.0,225.3,-11.8,142,933,0.00,1.77,0.00,0.000,6,0.000,0.024,2141,2579,3769,0,0,0,0,0,0
$GC,1251,-0.52,-219.0,277.2,-15.2,173,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2579,3769,0,0,0,0,0,0
$GC,1570,-0.52,-219.0,318.6,-12.0,203,1573,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3784,3767,0,0,0,0,0,0
$GC,1593,-0.52,-219.0,321.6,-11.5,205,1597,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2606,3766,0,0,0,0,0,0
$GC,1923,-0.52,-219.0,360.0,-12.3,236,1927,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1202,3764,0,0,0,0,0,0
$GC,2007,-0.52,-219.0,368.0,-8.0,243,2014,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2593,3763,0,0,0,0,0,0
$GC,2333,-0.52,-219.0,402.8,-10.0,274,2336,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3777,3759,0,0,0,0,0,0
$GC,2394,-0.52,-219.0,408.3,-7.9,279,2401,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2593,3758,0,0,0,0,0,0
$GC,2720,-0.52,-219.0,440.0,-10.0,310,2723,0.00,2.03,0.00,0.000,4,0.000,0.030,2138,1215,3755,0,0,0,0,0,0
$GC,2743,-0.52,-219.0,442.4,-10.1,312,2748,0.00,2.15,0.00,0.000,6,0.000,0.038,2137,2607,3755,0,0,0,0,0,0
$GC,3074,-0.52,-219.0,479.7,-12.3,343,3078,0.00,1.80,0.00,0.000,4,0.000,0.048,2133,3786,3752,0,0,0,0,0,0
$GC,3121,-0.52,-219.0,485.0,-11.2,347,3125,0.00,1.75,0.00,0.000,6,0.000,0.026,2133,2613,3751,0,0,0,0,0,0
$GC,3446,-0.52,-219.0,525.0,-13.0,369,3450,0.00,2.08,0.00,0.000,4,0.000,0.031,2133,1202,3748,0,0,0,0,0,0
$GC,3486,-0.52,-219.0,529.5,-11.3,371,3490,0.00,2.17,0.00,0.000,6,0.000,0.037,2126,2623,3747,0,0,0,0,0,0
$GC,3813,-0.52,-219.0,571.6,-13.3,387,3817,0.00,1.80,0.00,0.000,4,0.000,0.048,2118,3784,3745,0,0,0,0,0,0
$GC,3840,-0.52,-219.0,575.5,-13.1,388,3845,0.10,1.75,0.00,0.000,6,0.116,0.028,2154,2616,3744,0,0,0,0,0,0
$GC,4170,-0.52,-219.0,603.3,-8.1,404,4174,0.00,2.08,0.00,0.000,4,0.000,0.032,2154,1209,3741,0,0,0,0,0,0
$GC,4225,-0.52,-219.0,607.5,-7.1,406,4229,0.00,2.15,0.00,0.000,6,0.000,0.037,2152,2617,3741,0,0,0,0,0,0
$GC,4547,-0.52,-219.0,630.5,-7.1,422,4551,0.00,1.77,0.00,0.000,4,0.000,0.048,2151,3775,3738,0,0,0,0,0,0
$GC,4575,-0.52,-219.0,632.6,-7.2,423,4578,0.00,1.75,0.00,0.000,6,0.000,0.027,2154,2609,3738,0,0,0,0,0,0
$GC,4902,-0.52,-219.0,653.7,-6.4,439,4906,0.00,2.08,0.00,0.000,4,0.000,0.032,2151,1206,3735,0,0,0,0,0,0
$GC,4958,-0.52,-219.0,657.4,-6.3,441,4965,0.00,2.15,0.00,0.000,6,0.000,0.038,2152,2605,3737,0,0,0,0,0,0
$GC,5275,-0.52,-219.0,677.1,-6.8,457,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2605,3732,0,0,0,0,0,0
$GC,5584,-0.52,-219.0,702.4,-8.4,472,5588,0.00,2.10,0.00,0.000,4,0.000,0.033,2151,1206,3730,0,0,0,0,0,0
$GC,5624,-0.52,-219.0,705.6,-8.1,474,5628,0.00,2.15,0.00,0.000,6,0.000,0.038,2151,2604,3730,0,0,0,0,0,0
$GC,5952,-0.52,-219.0,734.1,-9.3,490,5956,0.00,2.12,0.00,0.000,4,0.000,0.034,2151,1196,3729,0,0,0,0,0,0
$GC,5980,-0.52,-219.0,736.9,-9.4,491,5984,0.00,2.15,0.00,0.000,6,0.000,0.038,2151,2591,3729,0,0,0,0,0,0
$GC,6302,-0.52,-219.0,764.8,-8.2,507,6305,0.00,2.10,0.00,0.000,4,0.000,0.033,2152,1196,3727,0,0,0,0,0,0
$GC,6329,-0.52,-219.0,767.3,-7.8,508,6333,0.00,2.15,0.00,0.000,6,0.000,0.038,2151,2582,3727,0,0,0,0,0,0
$GC,6651,-0.52,-219.0,787.4,-5.7,524,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2583,3725,0,0,0,0,0,0
$GC,6960,-0.52,-219.0,802.6,-4.6,539,6964,0.00,2.08,0.00,0.000,4,0.000,0.034,2151,1206,3721,0,0,0,0,0,0
$GC,6993,-0.52,-219.0,804.2,-4.7,540,7000,0.00,2.10,0.00,0.000,6,0.000,0.038,2151,2562,3723,0,0,0,0,0,0
$GC,7309,-0.52,-219.0,818.2,-4.9,556,7313,0.00,1.90,0.00,0.000,4,0.000,0.051,2151,3783,3722,0,0,0,0,0,0
$GC,7342,-0.52,-219.0,819.9,-4.9,557,7346,0.00,1.80,0.00,0.000,6,0.000,0.028,2151,2562,3723,0,0,0,0,0,0
$GC,7665,-0.52,-219.0,838.8,-6.3,573,7669,0.00,2.03,0.00,0.000,4,0.000,0.033,2151,1197,3720,0,0,0,0,0,0
$GC,7922,-0.52,-219.0,861.1,-9.1,584,7926,0.00,2.10,0.00,0.000,6,0.000,0.036,2151,2568,3720,0,0,0,0,0,0
$GC,8245,-0.52,-219.0,892.4,-10.4,600,8249,0.00,2.05,0.00,0.000,4,0.000,0.034,2157,1206,3716,0,0,0,0,0,0
$GC,8503,-0.52,-219.0,921.0,-10.8,611,8509,0.00,2.05,0.00,0.000,6,0.000,0.036,2157,2542,3717,0,0,0,0,0,0
$GC,8819,-0.52,-219.0,952.6,-9.8,627,8823,0.00,2.03,0.00,0.000,4,0.000,0.035,2160,1206,3716,0,0,0,0,0,0
$GC,9076,-0.52,-219.0,975.6,-8.3,638,9080,0.00,2.03,0.00,0.000,6,0.000,0.037,2160,2530,3715,0,0,0,0,0,0
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9299,-0.13,0.0,990.0,6.4,649,9469,0.30,0.00,163.10,1.101,4,0.069,0.000,2290,2119,2870,0,0,0,0,0,0
$STATE,9470,end apogee,CONTROL_FINISHED_OK
$STATE,9470,begin climb
$GC,9472,0.52,219.0,995.2,0.0,657,9661,0.52,2.28,176.23,1.068,4,0.049,0.040,2497,726,1976,0,0,0,0,0,0
$GC,9775,0.52,219.0,961.9,15.5,671,9779,0.00,2.25,0.00,0.000,6,0.000,0.034,2498,2125,1978,0,0,0,0,0,0
$GC,10102,0.52,219.0,916.0,13.2,687,10106,0.00,2.20,0.00,0.000,4,0.000,0.038,2507,728,1980,0,0,0,0,0,0
$GC,10330,0.52,219.0,887.6,11.8,697,10334,0.00,2.17,0.00,0.000,6,0.000,0.034,2507,2133,1980,0,0,0,0,0,0
$GC,10653,0.52,219.0,848.3,12.1,713,10657,0.00,2.20,0.00,0.000,4,0.000,0.046,2507,3535,1979,0,0,0,0,0,0
$GC,10691,0.52,219.0,842.8,14.0,714,10699,0.00,2.17,0.00,0.000,6,0.000,0.029,2516,2131,1980,0,0,0,0,0,0
$GC,11008,0.52,219.0,800.0,13.2,730,11012,0.00,2.15,0.00,0.000,4,0.000,0.037,2527,711,1978,0,0,0,0,0,0
$GC,11057,0.52,219.0,793.1,13.4,732,11062,0.15,2.15,0.00,0.000,6,0.166,0.034,2489,2118,1978,0,0,0,0,0,0
$GC,11379,0.52,219.0,755.5,12.2,748,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2119,1977,0,0,0,0,0,0
$GC,11688,0.52,219.0,716.3,13.4,763,11692,0.00,2.22,0.00,0.000,4,0.000,0.046,2488,3542,1977,0,0,0,0,0,0
$GC,11738,0.52,219.0,708.8,14.7,765,11742,0.00,2.17,0.00,0.000,6,0.000,0.029,2497,2100,1977,0,0,0,0,0,0
$GC,12066,0.52,219.0,664.0,13.3,781,12070,0.00,2.10,0.00,0.000,4,0.000,0.040,2507,712,1977,0,0,0,0,0,0
$GC,12212,0.52,219.0,645.0,12.9,787,12219,0.00,2.12,0.00,0.000,6,0.000,0.035,2503,2101,1978,0,0,0,0,0,0
$GC,12528,0.52,219.0,601.8,13.5,803,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2101,1977,0,0,0,0,0,0
$GC,12837,0.52,219.0,562.2,12.3,818,12841,0.00,2.25,0.00,0.000,4,0.000,0.046,2508,3544,1976,0,0,0,0,0,0
$GC,12898,0.52,219.0,554.2,13.2,820,12906,0.00,2.22,0.00,0.000,6,0.000,0.029,2518,2098,1976,0,0,0,0,0,0
$GC,13215,0.54,231.7,518.6,10.6,836,13229,0.00,0.00,11.50,0.766,6,0.000,0.000,2522,2098,1924,0,0,0,0,0,0
$GC,13528,0.54,231.7,483.3,11.7,857,13532,0.00,2.10,0.00,0.000,4,0.000,0.039,2527,719,1922,0,0,0,0,0,0
$GC,13577,0.54,231.7,477.3,11.6,861,13585,0.12,2.15,0.00,0.000,6,0.164,0.034,2495,2125,1924,0,0,0,0,0,0
$GC,13903,0.55,237.5,442.2,10.8,892,13916,0.00,2.20,6.30,0.682,4,0.000,0.044,2495,3537,1901,0,0,0,0,0,0
$GC,14000,0.55,237.5,430.6,11.7,900,14007,0.00,2.17,0.00,0.000,6,0.000,0.029,2503,2107,1900,0,0,0,0,0,0
$GC,14325,0.55,237.5,393.6,11.9,931,14329,0.00,2.10,0.00,0.000,4,0.000,0.039,2514,717,1900,0,0,0,0,0,0
$GC,14403,0.55,237.5,383.9,12.5,937,14410,0.00,2.12,0.00,0.000,6,0.000,0.034,2514,2111,1900,0,0,0,0,0,0
$GC,14729,0.55,237.5,342.7,11.1,968,14733,0.00,2.20,0.00,0.000,4,0.000,0.046,2514,3533,1901,0,0,0,0,0,0
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$STATE,17703,end climb,SURFACE_DEPTH_REACHED
$STATE,17703,begin surface coast
$FINISH,0.2,1.020502
$STATE,17726,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,2
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$10V_AH,10.0,30.695
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$FG_AHR_10Vo,0.000
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$MEM,321584
$DATA_FILE_SIZE,93837,1374
$CAP_FILE_SIZE,191932,0
$CFSIZE,260165632,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,032106,1909.911,12034.596,37,1.3,37,-2.1