version: 66.09
glider: 181
mission: 6
dive: 325
start: 8 10 111 12 11 7
data:
$ID,181
$MISSION,6
$DIVE,325
$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,-40937.391
$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,45
$R_STBD_OVSHOOT,30
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,100811,120337,2041.270,12005.357,29,1.0,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.1
$GPS2,100811,121043,2041.264,12005.544,10,1.0,15,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,357.8,118423,-15.4,-11.786
$D_GRID,3690
$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,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-64.68,0.000,2,0.000,0.000,203,2589,2293,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.3,-3.6,10,135,7.95,2.12,-32.47,0.000,4,0.226,0.037,2133,1174,3860,0,0,0,0,0,0
$GC,237,-0.56,-243.3,46.3,-20.9,35,244,0.00,2.22,0.00,0.000,6,0.000,0.038,2125,2604,3862,0,0,0,0,0,0
$GC,375,-0.56,-243.3,89.3,-31.0,60,383,0.00,1.85,0.00,0.000,4,0.000,0.047,2116,3777,3861,0,0,0,0,0,0
$GC,434,-0.56,-243.3,101.8,-19.4,70,442,0.00,1.77,0.00,0.000,6,0.000,0.023,2116,2595,3861,0,0,0,0,0,0
$GC,576,-0.56,-243.3,132.0,-23.5,95,583,0.00,2.05,0.00,0.000,4,0.000,0.027,2116,1193,3862,0,0,0,0,0,0
$GC,661,-0.56,-243.3,148.2,-17.1,110,669,0.00,2.17,0.00,0.000,6,0.000,0.035,2112,2588,3861,0,0,0,0,0,0
$GC,801,-0.56,-243.3,175.3,-20.1,135,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2590,3862,0,0,0,0,0,0
$GC,938,-0.56,-243.3,199.5,-15.6,160,946,0.00,2.10,0.00,0.000,4,0.000,0.028,2111,1196,3862,0,0,0,0,0,0
$GC,957,-0.56,-243.3,203.3,-16.9,162,965,0.00,2.15,0.00,0.000,6,0.000,0.036,2111,2575,3862,0,0,0,0,0,0
$GC,1284,-0.56,-243.3,250.3,-18.3,193,1288,0.00,1.88,0.00,0.000,4,0.000,0.044,2102,3778,3862,0,0,0,0,0,0
$GC,1398,-0.56,-243.3,271.5,-17.9,203,1406,0.12,1.75,0.00,0.000,6,0.141,0.024,2139,2601,3862,0,0,0,0,0,0
$GC,1724,-0.56,-243.3,312.0,-9.9,234,1728,0.00,2.05,0.00,0.000,4,0.000,0.028,2139,1198,3859,0,0,0,0,0,0
$GC,1753,-0.56,-243.3,314.7,-9.9,236,1758,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2616,3860,0,0,0,0,0,0
$GC,2079,-0.56,-243.3,345.2,-11.8,266,2083,0.00,1.80,0.00,0.000,4,0.000,0.044,2131,3775,3856,0,0,0,0,0,0
$GC,2148,-0.56,-243.3,352.9,-11.1,272,2152,0.00,1.73,0.00,0.000,6,0.000,0.024,2131,2620,3856,0,0,0,0,0,0
$GC,2478,-0.56,-243.3,400.8,-15.1,303,2482,0.00,2.08,0.00,0.000,4,0.000,0.029,2131,1200,3853,0,0,0,0,0,0
$GC,2534,-0.56,-243.3,408.7,-12.9,307,2541,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2608,3855,0,0,0,0,0,0
$GC,2859,-0.56,-243.3,453.8,-13.4,338,2863,0.00,1.77,0.00,0.000,4,0.000,0.046,2125,3775,3851,0,0,0,0,0,0
$GC,2932,-0.56,-243.3,462.0,-10.2,344,2939,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2627,3850,0,0,0,0,0,0
$GC,3258,-0.56,-243.3,498.4,-11.0,375,3262,0.00,1.83,0.00,0.000,4,0.000,0.047,2124,3773,3847,0,0,0,0,0,0
$GC,3291,-0.56,-243.3,502.3,-11.2,377,3295,0.00,1.70,0.00,0.000,6,0.000,0.025,2124,2641,3847,0,0,0,0,0,0
$GC,3613,-0.56,-243.3,542.1,-13.1,393,3617,0.00,2.12,0.00,0.000,4,0.000,0.031,2127,1200,3844,0,0,0,0,0,0
$GC,3669,-0.56,-243.3,549.1,-11.5,395,3676,0.00,2.20,0.00,0.000,6,0.000,0.036,2124,2629,3843,0,0,0,0,0,0
$GC,3986,-0.56,-243.3,588.0,-12.3,411,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2629,3841,0,0,0,0,0,0
$GC,4295,-0.56,-243.3,621.9,-9.9,426,4299,0.00,1.80,0.00,0.000,4,0.000,0.048,2125,3769,3838,0,0,0,0,0,0
$GC,4327,-0.56,-243.3,625.0,-9.6,427,4331,0.00,1.73,0.00,0.000,6,0.000,0.026,2124,2628,3838,0,0,0,0,0,0
$GC,4650,-0.56,-243.3,650.0,-7.9,443,4654,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1196,3835,0,0,0,0,0,0
$GC,4691,-0.56,-243.3,653.0,-7.7,445,4695,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2626,3835,0,0,0,0,0,0
$GC,5020,-0.56,-243.3,679.9,-9.4,461,5024,0.00,1.77,0.00,0.000,4,0.000,0.048,2124,3776,3832,0,0,0,0,0,0
$GC,5076,-0.56,-243.3,685.9,-9.3,463,5080,0.00,1.75,0.00,0.000,6,0.000,0.027,2124,2588,3831,0,0,0,0,0,0
$GC,5399,-0.56,-243.3,723.4,-12.5,479,5403,0.00,2.08,0.00,0.000,4,0.000,0.032,2125,1194,3830,0,0,0,0,0,0
$GC,5444,-0.56,-243.3,729.1,-11.8,481,5448,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2632,3830,0,0,0,0,0,0
$GC,5767,-0.56,-243.3,767.0,-11.8,497,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2631,3828,0,0,0,0,0,0
$GC,6075,-0.56,-243.3,800.5,-10.5,512,6079,0.00,2.17,0.00,0.000,4,0.000,0.033,2124,1193,3826,0,0,0,0,0,0
$GC,6116,-0.56,-243.3,804.9,-10.5,514,6120,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2615,3823,0,0,0,0,0,0
$GC,6443,-0.56,-243.3,838.2,-10.4,530,6446,0.00,1.80,0.00,0.000,4,0.000,0.050,2124,3776,3824,0,0,0,0,0,0
$GC,6490,-0.56,-243.3,842.4,-9.1,532,6493,0.00,1.73,0.00,0.000,6,0.000,0.028,2124,2612,3823,0,0,0,0,0,0
$GC,6823,-0.56,-243.3,874.2,-9.2,548,6827,0.00,2.12,0.00,0.000,4,0.000,0.032,2124,1196,3822,0,0,0,0,0,0
$GC,6867,-0.56,-243.3,878.1,-8.5,550,6871,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2619,3823,0,0,0,0,0,0
$GC,7191,-0.56,-243.3,902.2,-7.6,566,7195,0.00,2.15,0.00,0.000,4,0.000,0.033,2125,1205,3819,0,0,0,0,0,0
$GC,7212,-0.56,-243.3,904.3,-7.8,567,7216,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2598,3819,0,0,0,0,0,0
$GC,7540,-0.56,-243.3,931.3,-9.2,583,7544,0.00,1.85,0.00,0.000,4,0.000,0.050,2124,3785,3818,0,0,0,0,0,0
$GC,7579,-0.56,-243.3,935.0,-9.1,584,7586,0.00,1.80,0.00,0.000,6,0.000,0.028,2123,2594,3817,0,0,0,0,0,0
$GC,7895,-0.56,-243.3,968.2,-11.0,600,7899,0.00,2.08,0.00,0.000,4,0.000,0.032,2124,1207,3816,0,0,0,0,0,0
$GC,7958,-0.56,-243.3,974.8,-10.4,603,7962,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2594,3816,0,0,0,0,0,0
$STATE,8098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8098,begin apogee
$GC,8104,-0.13,0.0,990.5,11.1,610,8295,0.43,0.00,185.32,1.085,4,0.105,0.000,2270,2112,2869,0,0,0,0,0,0
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8298,0.56,243.3,1006.6,0.0,619,8509,0.65,2.40,199.15,1.064,4,0.057,0.043,2504,3538,1877,0,0,0,0,0,0
$GC,8672,0.56,243.3,979.3,11.9,636,8677,0.00,2.17,0.00,0.000,6,0.000,0.027,2514,2143,1875,0,0,0,0,0,0
$GC,8996,0.56,243.3,940.5,12.2,652,9000,0.00,2.20,0.00,0.000,4,0.000,0.041,2514,3549,1874,0,0,0,0,0,0
$GC,9096,0.56,243.3,926.4,13.3,656,9103,0.00,2.22,0.00,0.000,6,0.000,0.028,2524,2095,1874,0,0,0,0,0,0
$GC,9414,0.56,243.3,883.5,13.7,672,9418,0.00,2.10,0.00,0.000,4,0.000,0.037,2534,711,1873,0,0,0,0,0,0
$GC,9500,0.56,243.3,871.5,13.8,676,9505,0.12,2.15,0.00,0.000,6,0.171,0.033,2502,2113,1872,0,0,0,0,0,0
$GC,9829,0.57,253.2,833.1,11.5,692,9843,0.00,2.25,8.70,0.872,4,0.000,0.044,2502,3526,1837,0,0,0,0,0,0
$GC,9941,0.57,253.2,818.9,12.7,697,9945,0.00,2.12,0.00,0.000,6,0.000,0.028,2511,2123,1836,0,0,0,0,0,0
$GC,10269,0.57,253.2,779.6,12.2,713,10273,0.00,2.15,0.00,0.000,4,0.000,0.040,2521,712,1836,0,0,0,0,0,0
$GC,10365,0.57,253.2,767.7,12.3,717,10369,0.00,2.15,0.00,0.000,6,0.000,0.032,2521,2117,1836,0,0,0,0,0,0
$GC,10687,0.57,253.2,720.8,15.1,733,10691,0.00,2.20,0.00,0.000,4,0.000,0.044,2522,3541,1835,0,0,0,0,0,0
$GC,10708,0.57,253.2,717.1,15.1,734,10712,0.00,2.15,0.00,0.000,6,0.000,0.027,2531,2110,1835,0,0,0,0,0,0
$GC,11036,0.57,253.2,669.1,14.0,750,11040,0.00,2.10,0.00,0.000,4,0.000,0.037,2541,720,1835,0,0,0,0,0,0
$GC,11121,0.57,253.2,657.6,13.5,754,11126,0.15,2.12,0.00,0.000,6,0.159,0.033,2501,2113,1834,0,0,0,0,0,0
$GC,11452,0.61,290.4,622.5,10.6,770,11487,0.00,2.28,29.23,0.850,4,0.000,0.043,2501,3526,1685,0,0,0,0,0,0
$GC,11568,0.61,290.4,608.8,12.1,775,11572,0.00,2.17,0.00,0.000,6,0.000,0.027,2509,2104,1684,0,0,0,0,0,0
$GC,11889,0.61,290.4,570.9,11.9,791,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2104,1685,0,0,0,0,0,0
$GC,12199,0.61,290.4,532.8,12.8,806,12203,0.00,2.10,0.00,0.000,4,0.000,0.037,2521,719,1687,0,0,0,0,0,0
$GC,12265,0.61,290.4,523.7,13.3,809,12269,0.00,2.15,0.00,0.000,6,0.000,0.032,2520,2121,1688,0,0,0,0,0,0
$GC,12588,0.61,290.4,479.4,13.9,831,12592,0.00,2.20,0.00,0.000,4,0.000,0.042,2520,3544,1689,0,0,0,0,0,0
$GC,12662,0.61,290.4,468.2,14.9,837,12666,0.00,2.17,0.00,0.000,6,0.000,0.027,2529,2102,1690,0,0,0,0,0,0
$GC,12987,0.61,290.4,425.5,12.4,867,12991,0.00,2.10,0.00,0.000,4,0.000,0.037,2539,711,1690,0,0,0,0,0,0
$GC,13028,0.61,290.4,420.4,12.8,870,13032,0.00,2.15,0.00,0.000,6,0.000,0.031,2540,2122,1690,0,0,0,0,0,0
$GC,13355,0.61,290.4,378.9,12.4,900,13359,0.00,2.17,0.00,0.000,4,0.000,0.043,2540,3536,1690,0,0,0,0,0,0
$GC,13407,0.61,290.4,372.0,13.5,904,13411,0.12,2.12,0.00,0.000,6,0.171,0.026,2517,2123,1691,0,0,0,0,0,0
$GC,13732,0.72,378.3,342.8,8.9,934,13805,0.00,2.28,66.90,0.676,4,0.000,0.037,2527,714,1325,0,0,0,0,0,0
$GC,13845,0.75,404.6,330.9,10.9,943,13875,0.10,2.20,20.67,0.615,6,0.104,0.030,2575,2124,1220,0,0,0,0,0,0
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$STATE,16433,end climb,SURFACE_DEPTH_REACHED
$STATE,16433,begin surface coast
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$STATE,16457,end surface coast,CONTROL_FINISHED_OK
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$HUMID,44.40
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$TCM_TEMP,24.70
$XPDR_PINGS,1
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$10V_AH,9.9,49.093
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323032
$DATA_FILE_SIZE,90450,1323
$CAP_FILE_SIZE,181313,0
$CFSIZE,260165632,220921856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100811,164800,2042.573,12005.604,35,1.0,41,-2.4