version: 66.09
glider: 181
mission: 6
dive: 278
start: 8 2 111 3 48 15
data:
$ID,181
$MISSION,6
$DIVE,278
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$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,-40869.352
$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,37
$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
$GPS1,020811,034107,2024.726,12000.049,33,1.0,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.1
$GPS2,020811,034750,2024.851,11959.984,14,1.3,14,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$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,2.5,9535,-15.4,-11.786
$D_GRID,3345
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-243.3,0.0,0.0,0,90,0.00,0.00,-71.12,0.000,2,0.000,0.000,205,2619,2459,0,0,0,0,0,0
$GC,93,-0.56,-243.3,3.6,-3.8,10,137,7.93,0.00,-27.33,0.000,6,0.228,0.000,2125,2617,3864,0,0,0,0,0,0
$GC,264,-0.56,-243.3,65.5,-36.5,40,272,0.00,1.85,0.00,0.000,4,0.000,0.046,2118,3779,3864,0,0,0,0,0,0
$GC,342,-0.56,-243.3,93.3,-35.2,54,350,0.00,1.80,0.00,0.000,6,0.000,0.024,2118,2585,3864,0,0,0,0,0,0
$GC,478,-0.56,-243.3,141.8,-43.4,79,486,0.00,2.05,0.00,0.000,4,0.000,0.025,2118,1197,3864,0,0,0,0,0,0
$GC,515,-0.56,-243.3,154.8,-32.6,85,523,0.00,2.22,0.00,0.000,6,0.000,0.039,2111,2608,3864,0,0,0,0,0,0
$GC,649,-0.56,-243.3,188.7,-17.5,110,657,0.00,1.83,0.00,0.000,4,0.000,0.044,2102,3780,3865,0,0,0,0,0,0
$GC,707,-0.56,-243.3,195.9,-11.6,120,715,0.10,1.67,0.00,0.000,6,0.135,0.024,2135,2656,3865,0,0,0,0,0,0
$GC,846,-0.56,-243.3,206.4,-7.2,137,850,0.00,2.12,0.00,0.000,4,0.000,0.028,2135,1199,3866,0,0,0,0,0,0
$GC,878,-0.56,-243.3,207.2,-5.7,139,882,0.00,2.22,0.00,0.000,6,0.000,0.035,2126,2663,3867,0,0,0,0,0,0
$GC,1204,-0.56,-243.3,229.4,-13.1,169,1208,0.00,1.70,0.00,0.000,4,0.000,0.044,2124,3790,3865,0,0,0,0,0,0
$GC,1242,-0.56,-243.3,234.7,-12.6,172,1251,0.00,1.67,0.00,0.000,6,0.000,0.024,2124,2654,3865,0,0,0,0,0,0
$GC,1570,-0.56,-243.3,273.0,-9.7,203,1573,0.00,2.12,0.00,0.000,4,0.000,0.028,2124,1199,3864,0,0,0,0,0,0
$GC,1646,-0.56,-243.3,277.9,-5.3,209,1653,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2657,3863,0,0,0,0,0,0
$GC,1972,-0.56,-243.3,312.8,-13.9,240,1976,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1202,3860,0,0,0,0,0,0
$GC,2004,-0.56,-243.3,317.6,-14.4,242,2012,0.00,2.22,0.00,0.000,6,0.000,0.036,2124,2630,3863,0,0,0,0,0,0
$GC,2330,-0.56,-243.3,372.4,-16.3,273,2334,0.00,1.75,0.00,0.000,4,0.000,0.047,2121,3777,3857,0,0,0,0,0,0
$GC,2357,-0.56,-243.3,377.2,-16.1,275,2364,0.00,1.70,0.00,0.000,6,0.000,0.025,2121,2643,3857,0,0,0,0,0,0
$GC,2683,-0.56,-243.3,429.8,-16.4,306,2687,0.00,2.12,0.00,0.000,4,0.000,0.030,2121,1203,3854,0,0,0,0,0,0
$GC,2711,-0.56,-243.3,434.0,-14.5,308,2715,0.00,2.22,0.00,0.000,6,0.000,0.035,2113,2657,3854,0,0,0,0,0,0
$GC,3037,-0.56,-243.3,484.0,-16.4,338,3041,0.00,1.73,0.00,0.000,4,0.000,0.047,2111,3783,3851,0,0,0,0,0,0
$GC,3121,-0.56,-243.3,495.6,-11.6,345,3127,0.00,1.67,0.00,0.000,6,0.000,0.025,2112,2668,3850,0,0,0,0,0,0
$GC,3448,-0.56,-243.3,540.5,-12.9,363,3452,0.10,1.75,0.00,0.000,4,0.162,0.047,2131,3783,3847,0,0,0,0,0,0
$GC,3476,-0.56,-243.3,543.5,-11.2,364,3479,0.00,1.65,0.00,0.000,6,0.000,0.025,2131,2660,3847,0,0,0,0,0,0
$GC,3803,-0.56,-243.3,564.1,-6.1,380,3807,0.00,2.15,0.00,0.000,4,0.000,0.030,2131,1204,3844,0,0,0,0,0,0
$GC,3859,-0.56,-243.3,566.8,-5.8,382,3866,0.00,2.28,0.00,0.000,6,0.000,0.034,2126,2681,3843,0,0,0,0,0,0
$GC,4176,-0.56,-243.3,586.7,-7.2,398,4179,0.00,1.67,0.00,0.000,4,0.000,0.047,2125,3776,3841,0,0,0,0,0,0
$GC,4225,-0.56,-243.3,590.5,-7.3,400,4229,0.00,1.65,0.00,0.000,6,0.000,0.025,2125,2679,3840,0,0,0,0,0,0
$GC,4554,-0.56,-243.3,616.5,-8.0,416,4558,0.00,2.20,0.00,0.000,4,0.000,0.030,2125,1198,3838,0,0,0,0,0,0
$GC,4615,-0.56,-243.3,621.1,-7.1,418,4622,0.00,2.28,0.00,0.000,6,0.000,0.036,2125,2676,3838,0,0,0,0,0,0
$GC,4931,-0.56,-243.3,645.4,-8.6,434,4935,0.00,2.22,0.00,0.000,4,0.000,0.031,2125,1200,3835,0,0,0,0,0,0
$GC,4959,-0.56,-243.3,648.1,-8.8,435,4963,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2661,3835,0,0,0,0,0,0
$GC,5275,-0.56,-243.3,679.2,-10.2,450,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2661,3835,0,0,0,0,0,0
$GC,5585,-0.56,-243.3,710.8,-10.0,465,5589,0.00,2.20,0.00,0.000,4,0.000,0.031,2124,1205,3831,0,0,0,0,0,0
$GC,5612,-0.56,-243.3,713.7,-10.2,466,5616,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2653,3831,0,0,0,0,0,0
$GC,5928,-0.56,-243.3,746.5,-11.0,481,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2653,3829,0,0,0,0,0,0
$GC,6238,-0.56,-243.3,778.5,-9.5,496,6241,0.00,1.75,0.00,0.000,4,0.000,0.049,2125,3783,3827,0,0,0,0,0,0
$GC,6261,-0.56,-243.3,780.5,-9.1,497,6265,0.00,1.67,0.00,0.000,6,0.000,0.025,2125,2645,3826,0,0,0,0,0,0
$GC,6595,-0.56,-243.3,807.5,-8.2,513,6599,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1204,3825,0,0,0,0,0,0
$GC,6664,-0.56,-243.3,813.1,-7.9,516,6668,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2636,3825,0,0,0,0,0,0
$GC,6990,-0.56,-243.3,847.5,-12.1,532,6994,0.00,1.80,0.00,0.000,4,0.000,0.049,2125,3768,3823,0,0,0,0,0,0
$GC,7017,-0.56,-243.3,851.0,-12.3,533,7021,0.00,1.73,0.00,0.000,6,0.000,0.026,2125,2636,3823,0,0,0,0,0,0
$GC,7345,-0.56,-243.3,888.9,-11.3,549,7349,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1196,3826,0,0,0,0,0,0
$GC,7400,-0.56,-243.3,894.8,-9.8,551,7407,0.00,2.20,0.00,0.000,6,0.000,0.036,2124,2618,3822,0,0,0,0,0,0
$GC,7717,-0.56,-243.3,924.5,-8.7,567,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2619,3817,0,0,0,0,0,0
$GC,8025,-0.56,-243.3,948.3,-7.0,582,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2619,3818,0,0,0,0,0,0
$GC,8335,-0.56,-243.3,965.3,-5.2,597,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2619,3818,0,0,0,0,0,0
$GC,8644,-0.56,-243.3,980.9,-4.9,612,8648,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1188,3817,0,0,0,0,0,0
$GC,8684,-0.56,-243.3,982.7,-5.0,614,8688,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2605,3816,0,0,0,0,0,0
$STATE,8864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8864,begin apogee
$GC,8871,-0.13,0.0,990.6,4.4,623,9063,0.43,0.00,183.38,1.089,4,0.106,0.000,2270,2108,2870,0,0,0,0,0,0
$STATE,9063,end apogee,CONTROL_FINISHED_OK
$STATE,9064,begin climb
$GC,9066,0.56,243.3,993.3,0.0,632,9269,0.60,0.00,196.82,1.058,6,0.050,0.000,2509,2108,1882,0,0,0,0,0,0
$GC,9586,0.56,243.3,915.9,18.0,657,9590,0.00,2.12,0.00,0.000,4,0.000,0.035,2518,733,1877,0,0,0,0,0,0
$GC,9648,0.56,243.3,905.5,16.9,660,9652,0.00,2.20,0.00,0.000,6,0.000,0.034,2519,2142,1877,0,0,0,0,0,0
$GC,9975,0.56,243.3,853.2,15.2,676,9979,0.00,2.17,0.00,0.000,4,0.000,0.044,2518,3541,1876,0,0,0,0,0,0
$GC,10024,0.56,243.3,845.1,16.0,678,10028,0.00,2.12,0.00,0.000,6,0.000,0.026,2528,2136,1875,0,0,0,0,0,0
$GC,10346,0.56,243.3,798.4,14.2,694,10350,0.00,2.15,0.00,0.000,4,0.000,0.034,2539,715,1874,0,0,0,0,0,0
$GC,10378,0.56,243.3,793.3,14.5,695,10386,0.15,2.20,0.00,0.000,6,0.165,0.032,2499,2150,1874,0,0,0,0,0,0
$GC,10695,0.56,243.3,747.7,15.5,711,10698,0.00,2.15,0.00,0.000,4,0.000,0.044,2499,3533,1874,0,0,0,0,0,0
$GC,10750,0.56,243.3,738.0,17.2,713,10754,0.00,2.12,0.00,0.000,6,0.000,0.026,2507,2126,1874,0,0,0,0,0,0
$GC,11072,0.56,243.3,680.2,17.8,729,11076,0.00,2.12,0.00,0.000,4,0.000,0.036,2518,722,1874,0,0,0,0,0,0
$GC,11093,0.56,243.3,676.3,16.7,730,11097,0.00,2.20,0.00,0.000,6,0.000,0.032,2518,2159,1874,0,0,0,0,0,0
$GC,11421,0.56,243.3,630.1,12.3,746,11425,0.00,2.12,0.00,0.000,4,0.000,0.044,2518,3535,1873,0,0,0,0,0,0
$GC,11448,0.56,243.3,626.5,11.9,747,11452,0.00,2.12,0.00,0.000,6,0.000,0.026,2527,2127,1873,0,0,0,0,0,0
$GC,11770,0.56,243.3,591.0,12.2,763,11774,0.00,2.15,0.00,0.000,4,0.000,0.036,2538,713,1873,0,0,0,0,0,0
$GC,11861,0.56,243.3,579.8,13.0,767,11865,0.15,2.20,0.00,0.000,6,0.159,0.033,2498,2141,1873,0,0,0,0,0,0
$GC,12195,0.71,371.9,549.8,7.6,783,12303,0.15,2.33,95.80,0.814,4,0.086,0.044,2560,3535,1351,0,0,0,0,0,0
$GC,12349,0.71,371.9,530.7,13.8,790,12354,0.00,2.17,0.00,0.000,6,0.000,0.025,2569,2138,1355,0,0,0,0,0,0
$GC,12675,0.71,371.9,482.3,15.1,810,12679,0.00,2.20,0.00,0.000,4,0.000,0.041,2570,3538,1358,0,0,0,0,0,0
$GC,12726,0.71,371.9,473.8,17.0,814,12730,0.00,2.10,0.00,0.000,6,0.000,0.025,2575,2155,1358,0,0,0,0,0,0
$GC,13051,0.71,371.9,420.7,15.9,844,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2155,1358,0,0,0,0,0,0
$GC,13372,0.71,371.9,368.7,16.5,874,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2155,1358,0,0,0,0,0,0
$GC,13690,0.71,371.9,311.6,20.0,904,13694,0.00,2.15,0.00,0.000,4,0.000,0.033,2590,722,1358,0,0,0,0,0,0
$GC,13753,0.71,371.9,299.2,18.8,909,13758,0.15,2.22,0.00,0.000,6,0.152,0.034,2550,2177,1358,0,0,0,0,0,0
$GC,14084,0.71,371.9,247.0,14.3,940,14088,0.00,2.10,0.00,0.000,4,0.000,0.044,2549,3539,1358,0,0,0,0,0,0
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$STATE,16124,end climb,SURFACE_DEPTH_REACHED
$STATE,16124,begin surface coast
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$STATE,16141,end surface coast,CONTROL_FINISHED_OK
$STATE,16141,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.83
$INTERNAL_PRESSURE,9.3363
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$XPDR_PINGS,0
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$10V_AH,10.0,42.612
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323052
$DATA_FILE_SIZE,87196,1267
$CAP_FILE_SIZE,173263,0
$CFSIZE,260165632,225099776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,081956,2028.433,11959.740,24,3.4,44,-2.3