version: 66.09
glider: 181
mission: 6
dive: 193
start: 7 17 111 7 52 39
data:
$ID,181
$MISSION,6
$DIVE,193
$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,-40762.117
$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,47
$R_STBD_OVSHOOT,50
$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
$GPS1,170711,074536,1916.421,12035.385,25,1.3,25,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.3
$GPS2,170711,075214,1916.598,12035.531,14,1.4,14,-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,187.0,78246,-15.3,-11.000
$D_GRID,2617
$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,-71.12,0.000,2,0.000,0.000,204,2620,2477,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.7,-4.3,10,131,7.82,1.80,-23.95,0.000,4,0.226,0.057,2133,3768,3762,0,0,0,0,0,0
$GC,209,-0.52,-219.0,62.1,-59.0,29,217,0.00,1.77,0.00,0.000,6,0.000,0.024,2132,2579,3764,0,0,0,0,0,0
$GC,343,-0.52,-219.0,115.8,-30.8,54,351,0.00,1.88,0.00,0.000,4,0.000,0.044,2123,3761,3765,0,0,0,0,0,0
$GC,379,-0.52,-219.0,125.4,-26.2,60,387,0.00,1.73,0.00,0.000,6,0.000,0.024,2127,2606,3765,0,0,0,0,0,0
$GC,514,-0.52,-219.0,157.9,-27.4,85,522,0.00,1.83,0.00,0.000,4,0.000,0.044,2115,3762,3766,0,0,0,0,0,0
$GC,556,-0.52,-219.0,167.9,-21.5,92,565,0.10,1.70,0.00,0.000,6,0.141,0.024,2146,2616,3766,0,0,0,0,0,0
$GC,694,-0.52,-219.0,190.7,-15.8,117,702,0.00,2.10,0.00,0.000,4,0.000,0.028,2146,1202,3767,0,0,0,0,0,0
$GC,774,-0.52,-219.0,200.8,-9.9,131,781,0.00,2.10,0.00,0.000,6,0.000,0.033,2139,2591,3768,0,0,0,0,0,0
$GC,1099,-0.52,-219.0,250.0,-16.1,162,1103,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3782,3767,0,0,0,0,0,0
$GC,1167,-0.52,-219.0,258.4,-10.6,168,1170,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2615,3767,0,0,0,0,0,0
$GC,1500,-0.52,-219.0,293.5,-10.2,199,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3763,0,0,0,0,0,0
$GC,1817,-0.52,-219.0,334.1,-13.7,229,1821,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3784,3762,0,0,0,0,0,0
$GC,1845,-0.52,-219.0,338.3,-13.7,231,1852,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2624,3762,0,0,0,0,0,0
$GC,2170,-0.52,-219.0,378.5,-11.1,262,2174,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1201,3758,0,0,0,0,0,0
$GC,2192,-0.52,-219.0,380.9,-10.8,263,2198,0.00,2.17,0.00,0.000,6,0.000,0.036,2138,2631,3758,0,0,0,0,0,0
$GC,2517,-0.52,-219.0,416.7,-12.0,294,2520,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3780,3755,0,0,0,0,0,0
$GC,2540,-0.52,-219.0,419.4,-12.1,296,2544,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2627,3755,0,0,0,0,0,0
$GC,2871,-0.52,-219.0,455.6,-11.0,327,2875,0.00,2.10,0.00,0.000,4,0.000,0.029,2138,1193,3751,0,0,0,0,0,0
$GC,2928,-0.52,-219.0,461.5,-9.6,332,2932,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2626,3751,0,0,0,0,0,0
$GC,3253,-0.52,-219.0,498.7,-12.6,362,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2626,3748,0,0,0,0,0,0
$GC,3573,-0.52,-219.0,540.4,-12.9,378,3577,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1204,3742,0,0,0,0,0,0
$GC,3600,-0.52,-219.0,544.1,-12.7,379,3604,0.00,2.15,0.00,0.000,6,0.000,0.037,2142,2608,3744,0,0,0,0,0,0
$GC,3921,-0.52,-219.0,583.4,-12.4,395,3925,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3784,3741,0,0,0,0,0,0
$GC,3968,-0.52,-219.0,588.2,-10.5,397,3971,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2616,3741,0,0,0,0,0,0
$GC,4301,-0.52,-219.0,621.4,-9.9,413,4305,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1205,3739,0,0,0,0,0,0
$GC,4351,-0.52,-219.0,625.9,-8.4,415,4355,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2637,3738,0,0,0,0,0,0
$GC,4674,-0.52,-219.0,650.6,-7.9,431,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3735,0,0,0,0,0,0
$GC,4982,-0.52,-219.0,675.5,-9.1,446,4986,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1201,3733,0,0,0,0,0,0
$GC,5015,-0.52,-219.0,678.8,-9.3,447,5022,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2633,3733,0,0,0,0,0,0
$GC,5332,-0.52,-219.0,710.8,-10.8,463,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2634,3731,0,0,0,0,0,0
$GC,5640,-0.52,-219.0,746.9,-11.2,478,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2634,3729,0,0,0,0,0,0
$GC,5950,-0.52,-219.0,778.3,-9.6,493,5954,0.00,2.15,0.00,0.000,4,0.000,0.033,2137,1206,3727,0,0,0,0,0,0
$GC,6006,-0.52,-219.0,783.3,-8.1,495,6013,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2635,3727,0,0,0,0,0,0
$GC,6322,-0.52,-219.0,807.9,-7.7,511,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2635,3726,0,0,0,0,0,0
$GC,6632,-0.52,-219.0,830.1,-6.6,526,6636,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1209,3724,0,0,0,0,0,0
$GC,6673,-0.52,-219.0,832.8,-6.5,528,6677,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2618,3724,0,0,0,0,0,0
$GC,7000,-0.52,-219.0,855.2,-7.2,544,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2618,3722,0,0,0,0,0,0
$GC,7310,-0.52,-219.0,879.3,-8.1,559,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2618,3721,0,0,0,0,0,0
$GC,7618,-0.52,-219.0,907.9,-9.9,574,7622,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1200,3719,0,0,0,0,0,0
$GC,7674,-0.52,-219.0,913.5,-9.5,576,7678,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2606,3719,0,0,0,0,0,0
$GC,7991,-0.52,-219.0,944.0,-9.7,591,7995,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1201,3718,0,0,0,0,0,0
$GC,8012,-0.52,-219.0,946.6,-9.6,592,8016,0.00,2.17,0.00,0.000,6,0.000,0.040,2137,2606,3717,0,0,0,0,0,0
$GC,8341,-0.52,-219.0,974.0,-7.8,608,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3717,0,0,0,0,0,0
$STATE,8606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8606,begin apogee
$GC,8612,-0.13,0.0,991.0,5.7,621,8782,0.38,0.00,163.85,1.099,4,0.107,0.000,2268,2112,2870,0,0,0,0,0,0
$STATE,8783,end apogee,CONTROL_FINISHED_OK
$STATE,8783,begin climb
$GC,8785,0.52,219.0,996.2,0.0,629,8969,0.62,2.25,175.60,1.068,4,0.057,0.040,2491,730,1976,0,0,0,0,0,0
$GC,9181,0.52,219.0,953.6,13.4,646,9186,0.00,2.22,0.00,0.000,6,0.000,0.034,2496,2135,1977,0,0,0,0,0,0
$GC,9504,0.52,219.0,909.8,13.0,662,9508,0.00,2.17,0.00,0.000,4,0.000,0.037,2506,734,1976,0,0,0,0,0,0
$GC,9682,0.52,219.0,888.0,11.9,670,9686,0.00,2.20,0.00,0.000,6,0.000,0.034,2505,2159,1978,0,0,0,0,0,0
$GC,10010,0.52,219.0,848.3,11.9,686,10014,0.00,2.15,0.00,0.000,4,0.000,0.045,2506,3535,1976,0,0,0,0,0,0
$GC,10059,0.52,219.0,841.5,13.8,688,10063,0.00,2.08,0.00,0.000,6,0.000,0.028,2514,2161,1977,0,0,0,0,0,0
$GC,10387,0.52,219.0,797.1,14.2,704,10391,0.00,2.20,0.00,0.000,4,0.000,0.040,2521,714,1975,0,0,0,0,0,0
$GC,10503,0.52,219.0,779.9,14.8,709,10508,0.15,2.17,0.00,0.000,6,0.168,0.034,2487,2128,1976,0,0,0,0,0,0
$GC,10825,0.52,219.0,738.7,12.8,725,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2129,1976,0,0,0,0,0,0
$GC,11134,0.52,219.0,699.2,12.7,740,11138,0.00,2.17,0.00,0.000,4,0.000,0.046,2487,3536,1975,0,0,0,0,0,0
$GC,11177,0.52,219.0,692.9,14.4,742,11181,0.00,2.17,0.00,0.000,6,0.000,0.029,2496,2099,1975,0,0,0,0,0,0
$GC,11505,0.52,219.0,645.7,14.3,758,11509,0.00,2.10,0.00,0.000,4,0.000,0.040,2506,711,1974,0,0,0,0,0,0
$GC,11583,0.52,219.0,635.3,12.4,761,11590,0.00,2.15,0.00,0.000,6,0.000,0.034,2506,2118,1974,0,0,0,0,0,0
$GC,11900,0.52,219.0,588.0,15.4,777,11904,0.00,2.20,0.00,0.000,4,0.000,0.045,2506,3544,1975,0,0,0,0,0,0
$GC,11984,0.52,219.0,573.6,17.1,781,11988,0.00,2.12,0.00,0.000,6,0.000,0.028,2515,2128,1974,0,0,0,0,0,0
$GC,12311,0.52,219.0,520.8,15.8,797,12315,0.00,2.12,0.00,0.000,4,0.000,0.038,2526,718,1975,0,0,0,0,0,0
$GC,12424,0.52,219.0,503.8,15.2,802,12429,0.15,2.12,0.00,0.000,6,0.161,0.034,2486,2113,1975,0,0,0,0,0,0
$GC,12750,0.52,219.0,464.2,11.7,831,12754,0.00,2.20,0.00,0.000,4,0.000,0.045,2487,3539,1972,0,0,0,0,0,0
$GC,12789,0.52,219.0,459.2,12.6,834,12793,0.00,2.12,0.00,0.000,6,0.000,0.028,2495,2122,1974,0,0,0,0,0,0
$GC,13114,0.52,219.0,419.5,11.9,864,13118,0.00,2.12,0.00,0.000,4,0.000,0.037,2506,708,1975,0,0,0,0,0,0
$GC,13200,0.52,219.0,409.3,11.9,871,13204,0.00,2.15,0.00,0.000,6,0.000,0.034,2506,2121,1975,0,0,0,0,0,0
$GC,13526,0.52,219.0,370.9,11.8,901,13530,0.00,2.12,0.00,0.000,4,0.000,0.036,2515,717,1975,0,0,0,0,0,0
$GC,13547,0.52,219.0,368.1,11.6,902,13554,0.00,2.17,0.00,0.000,6,0.000,0.034,2515,2115,1975,0,0,0,0,0,0
$GC,13873,0.52,219.0,328.6,11.4,933,13877,0.00,2.20,0.00,0.000,4,0.000,0.044,2515,3542,1975,0,0,0,0,0,0
$GC,13918,0.52,219.0,322.9,12.7,937,13923,0.12,2.15,0.00,0.000,6,0.174,0.027,2493,2109,1975,0,0,0,0,0,0
$GC,14247,0.53,221.6,288.7,10.9,967,14259,0.00,2.25,3.90,0.493,4,0.000,0.041,2493,3530,1965,0,0,0,0,0,0
$GC,14295,0.53,221.6,282.9,12.2,971,14299,0.00,2.12,0.00,0.000,6,0.000,0.028,2502,2114,1965,0,0,0,0,0,0
$GC,14622,0.60,279.4,249.6,9.0,1001,14671,0.00,2.22,42.62,0.634,4,0.000,0.037,2512,713,1729,0,0,0,0,0,0
$GC,14774,0.68,348.7,235.4,8.7,1014,14835,0.00,2.15,50.72,0.601,6,0.000,0.032,2511,2105,1447,0,0,0,0,0,0
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$STATE,16968,end climb,SURFACE_DEPTH_REACHED
$STATE,16968,begin surface coast
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$XPDR_PINGS,1
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$10V_AH,10.0,30.247
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.400,165.125,630.400,0.000,0.000,30.807,41.265,178.190,0.250,0.000,16.867,3309.695,9651.244,664.820,3464.680,361.516,0.000,2107.376,0.000,2400.532,0.000,0.543,0.000
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$MEM,321608
$DATA_FILE_SIZE,93848,1379
$CAP_FILE_SIZE,181764,0
$CFSIZE,260165632,233025536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,123806,1915.113,12036.770,21,2.0,21,-2.1