version: 66.09
glider: 181
mission: 6
dive: 628
start: 10 10 111 5 45 9
data:
$ID,181
$MISSION,6
$DIVE,628
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-41381.156
$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,2300
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,101011,053837,2152.507,12007.919,23,1.2,23,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.4
$GPS2,101011,054444,2152.558,12007.922,14,1.2,14,-2.6
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,17.5,53957,-16.5,-10.312
$D_GRID,1448
$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,-0.49,-170.3,0.0,0.0,0,87,0.00,0.00,-67.75,0.000,2,0.000,0.000,127,2584,2428,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.7,-4.1,11,128,8.45,1.15,-23.92,0.000,4,0.223,0.063,2133,3305,3564,0,0,0,0,0,0
$GC,175,-0.49,-170.3,31.8,-37.3,25,183,0.00,1.05,0.00,0.000,6,0.000,0.024,2133,2577,3562,0,0,0,0,0,0
$GC,320,-0.49,-170.3,86.1,-32.3,50,326,0.00,1.12,0.00,0.000,4,0.000,0.040,2127,3302,3560,0,0,0,0,0,0
$GC,395,-0.49,-170.3,106.2,-23.3,63,402,0.00,1.02,0.00,0.000,6,0.000,0.023,2127,2583,3559,0,0,0,0,0,0
$GC,536,-0.49,-170.3,137.6,-19.0,88,542,0.00,0.95,0.00,0.000,4,0.000,0.024,2127,1871,3558,0,0,0,0,0,0
$GC,673,-0.49,-170.3,162.5,-17.8,112,679,0.00,1.10,0.00,0.000,6,0.000,0.035,2122,2596,3557,0,0,0,0,0,0
$GC,814,-0.49,-170.3,189.5,-17.4,137,821,0.00,1.05,0.00,0.000,4,0.000,0.037,2116,3299,3557,0,0,0,0,0,0
$GC,910,-0.49,-170.3,205.1,-15.5,151,917,0.00,1.00,0.00,0.000,6,0.000,0.023,2116,2586,3557,0,0,0,0,0,0
$GC,1236,-0.49,-170.3,254.2,-14.5,182,1240,0.00,0.95,0.00,0.000,4,0.000,0.024,2116,1878,3557,0,0,0,0,0,0
$GC,1308,-0.49,-170.3,264.6,-14.1,188,1316,0.08,1.08,0.00,0.000,6,0.139,0.034,2136,2588,3557,0,0,0,0,0,0
$GC,1634,-0.49,-170.3,305.1,-12.9,219,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2588,3556,0,0,0,0,0,0
$GC,1955,-0.49,-170.3,339.9,-10.6,249,1959,0.00,0.98,0.00,0.000,4,0.000,0.024,2136,1885,3554,0,0,0,0,0,0
$GC,2035,-0.49,-170.3,348.3,-9.9,256,2039,0.00,1.08,0.00,0.000,6,0.000,0.036,2133,2593,3552,0,0,0,0,0,0
$GC,2367,-0.49,-170.3,385.0,-11.6,287,2371,0.00,1.08,0.00,0.000,4,0.000,0.041,2128,3301,3549,0,0,0,0,0,0
$GC,2393,-0.49,-170.3,388.5,-11.5,289,2401,0.00,1.02,0.00,0.000,6,0.000,0.025,2128,2588,3549,0,0,0,0,0,0
$GC,2719,-0.49,-170.3,430.3,-13.7,320,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2588,3546,0,0,0,0,0,0
$GC,3041,-0.49,-170.3,473.9,-13.7,350,3045,0.00,1.10,0.00,0.000,4,0.000,0.041,2122,3295,3542,0,0,0,0,0,0
$GC,3087,-0.49,-170.3,480.7,-13.8,354,3091,0.00,1.02,0.00,0.000,6,0.000,0.025,2122,2590,3541,0,0,0,0,0,0
$GC,3423,-0.49,-170.3,521.6,-11.4,377,3427,0.00,0.98,0.00,0.000,4,0.000,0.025,2122,1886,3538,0,0,0,0,0,0
$GC,3576,-0.49,-170.3,538.1,-11.0,383,3583,0.00,1.10,0.00,0.000,6,0.000,0.037,2117,2596,3536,0,0,0,0,0,0
$GC,3893,-0.49,-170.3,573.6,-11.8,399,3896,0.00,1.02,0.00,0.000,4,0.000,0.026,2117,1873,3533,0,0,0,0,0,0
$GC,3920,-0.49,-170.3,577.3,-12.3,400,3924,0.00,1.12,0.00,0.000,6,0.000,0.037,2112,2595,3533,0,0,0,0,0,0
$GC,4247,-0.49,-170.3,615.0,-11.3,416,4249,0.12,0.00,0.00,0.000,6,0.169,0.000,2144,2595,3530,0,0,0,0,0,0
$GC,4558,-0.49,-170.3,640.5,-8.1,431,4562,0.00,1.00,0.00,0.000,4,0.000,0.026,2145,1887,3528,0,0,0,0,0,0
$GC,4586,-0.49,-170.3,643.0,-8.1,432,4589,0.00,1.10,0.00,0.000,6,0.000,0.038,2142,2593,3527,0,0,0,0,0,0
$GC,4913,-0.49,-170.3,671.0,-8.9,448,4917,0.00,1.00,0.00,0.000,4,0.000,0.026,2142,1888,3525,0,0,0,0,0,0
$GC,4964,-0.49,-170.3,675.7,-9.3,450,4968,0.00,1.10,0.00,0.000,6,0.000,0.037,2139,2593,3525,0,0,0,0,0,0
$GC,5292,-0.49,-170.3,708.8,-10.5,466,5296,0.00,1.00,0.00,0.000,4,0.000,0.027,2139,1888,3522,0,0,0,0,0,0
$GC,5330,-0.49,-170.3,713.0,-11.1,467,5337,0.00,1.10,0.00,0.000,6,0.000,0.038,2138,2593,3522,0,0,0,0,0,0
$GC,5647,-0.49,-170.3,746.4,-10.7,483,5651,0.00,1.00,0.00,0.000,4,0.000,0.027,2138,1887,3520,0,0,0,0,0,0
$GC,5686,-0.49,-170.3,750.8,-10.8,484,5693,0.00,1.10,0.00,0.000,6,0.000,0.039,2138,2593,3520,0,0,0,0,0,0
$GC,6003,-0.49,-170.3,784.8,-10.6,500,6007,0.00,1.00,0.00,0.000,4,0.000,0.027,2138,1890,3518,0,0,0,0,0,0
$GC,6049,-0.49,-170.3,789.8,-10.5,502,6053,0.00,1.10,0.00,0.000,6,0.000,0.041,2139,2591,3517,0,0,0,0,0,0
$GC,6383,-0.49,-170.3,824.6,-10.3,518,6387,0.00,1.10,0.00,0.000,4,0.000,0.044,2133,3300,3516,0,0,0,0,0,0
$GC,6456,-0.49,-170.3,832.3,-10.7,521,6459,0.00,1.05,0.00,0.000,6,0.000,0.026,2133,2588,3514,0,0,0,0,0,0
$GC,6788,-0.49,-170.3,870.7,-11.4,537,6792,0.00,0.98,0.00,0.000,4,0.000,0.028,2133,1892,3513,0,0,0,0,0,0
$GC,6949,-0.49,-170.3,886.9,-10.3,544,6953,0.00,1.10,0.00,0.000,6,0.000,0.041,2128,2595,3512,0,0,0,0,0,0
$GC,7282,-0.49,-170.3,921.7,-9.8,560,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2595,3510,0,0,0,0,0,0
$GC,7591,-0.49,-170.3,952.2,-10.4,575,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2595,3509,0,0,0,0,0,0
$GC,7902,-0.49,-170.3,984.9,-11.0,590,7906,0.00,1.02,0.00,0.000,4,0.000,0.027,2128,1884,3508,0,0,0,0,0,0
$STATE,7946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7946,begin apogee
$GC,7952,-0.13,0.0,990.3,10.9,592,8087,0.40,0.00,127.97,1.060,6,0.126,0.000,2253,2186,2869,0,0,0,0,0,0
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8091,0.49,170.3,997.4,0.0,598,8236,0.57,1.12,138.38,1.044,4,0.083,0.031,2461,1483,2174,0,0,0,0,0,0
$GC,8300,0.65,303.5,992.6,4.9,608,8417,0.10,1.05,107.25,1.034,6,0.057,0.031,2518,2160,1631,0,0,0,0,0,0
$GC,8740,0.69,334.5,955.2,9.0,629,8771,0.00,1.12,25.70,0.986,4,0.000,0.040,2518,2860,1505,0,0,0,0,0,0
$GC,8923,0.71,350.3,937.4,9.7,637,8942,0.00,1.02,14.80,0.923,6,0.000,0.026,2523,2170,1440,0,0,0,0,0,0
$GC,9250,0.71,350.3,905.1,11.1,653,9253,0.00,1.08,0.00,0.000,4,0.000,0.037,2523,2868,1439,0,0,0,0,0,0
$GC,9282,0.71,350.3,901.0,11.6,654,9286,0.00,1.05,0.00,0.000,6,0.000,0.027,2527,2163,1439,0,0,0,0,0,0
$GC,9606,0.71,350.3,865.0,10.9,670,9609,0.00,1.02,0.00,0.000,4,0.000,0.034,2532,1470,1438,0,0,0,0,0,0
$GC,9652,0.71,350.3,859.9,11.1,672,9655,0.00,1.08,0.00,0.000,6,0.000,0.031,2532,2176,1438,0,0,0,0,0,0
$GC,9985,0.73,366.4,827.0,9.7,688,10007,0.00,1.08,13.98,0.887,4,0.000,0.040,2532,2857,1375,0,0,0,0,0,0
$GC,10058,0.73,368.3,819.6,10.2,691,10062,0.00,1.05,0.00,0.000,6,0.000,0.027,2537,2159,1374,0,0,0,0,0,0
$GC,10386,0.79,419.9,791.9,8.2,707,10432,0.00,0.00,43.85,0.930,6,0.000,0.000,2536,2159,1157,0,0,0,0,0,0
$GC,10736,0.85,464.9,763.6,8.5,724,10782,0.10,1.15,38.05,0.903,4,0.103,0.038,2586,2857,973,0,0,0,0,0,0
$GC,10822,0.85,464.9,754.2,11.2,727,10829,0.00,1.05,0.00,0.000,6,0.000,0.027,2590,2161,973,0,0,0,0,0,0
$GC,11139,0.85,464.9,718.9,11.5,743,11143,0.00,1.08,0.00,0.000,4,0.000,0.037,2591,2854,971,0,0,0,0,0,0
$GC,11233,0.85,464.9,706.8,13.1,747,11237,0.00,1.02,0.00,0.000,6,0.000,0.027,2595,2159,971,0,0,0,0,0,0
$GC,11561,0.85,464.9,666.6,12.9,763,11565,0.00,1.08,0.00,0.000,4,0.000,0.038,2595,2855,971,0,0,0,0,0,0
$GC,11656,0.85,464.9,652.5,15.0,767,11660,0.00,1.02,0.00,0.000,6,0.000,0.027,2600,2164,971,0,0,0,0,0,0
$GC,11984,0.85,464.9,606.5,13.9,783,11987,0.00,1.08,0.00,0.000,4,0.000,0.037,2600,2859,971,0,0,0,0,0,0
$GC,12023,0.85,464.9,600.7,14.6,784,12030,0.08,1.02,0.00,0.000,6,0.142,0.027,2579,2171,971,0,0,0,0,0,0
$GC,12340,0.85,464.9,563.4,11.5,800,12344,0.00,1.02,0.00,0.000,4,0.000,0.035,2582,1479,971,0,0,0,0,0,0
$GC,12364,0.85,464.9,560.6,11.2,801,12368,0.00,1.05,0.00,0.000,6,0.000,0.032,2582,2164,971,0,0,0,0,0,0
$GC,12697,0.85,464.9,523.1,11.0,817,12701,0.00,1.08,0.00,0.000,4,0.000,0.040,2582,2868,970,0,0,0,0,0,0
$GC,12837,0.85,464.9,505.6,12.7,823,12841,0.00,1.05,0.00,0.000,6,0.000,0.027,2586,2159,971,0,0,0,0,0,0
$GC,13162,0.85,464.9,467.5,11.9,851,13165,0.00,1.02,0.00,0.000,4,0.000,0.034,2591,1465,971,0,0,0,0,0,0
$GC,13185,0.85,464.9,464.7,11.8,853,13189,0.00,1.08,0.00,0.000,6,0.000,0.031,2592,2170,971,0,0,0,0,0,0
$GC,13516,0.85,464.9,426.2,11.6,884,13520,0.00,1.05,0.00,0.000,4,0.000,0.039,2592,2863,971,0,0,0,0,0,0
$GC,13588,0.85,464.9,417.4,12.4,890,13594,0.00,1.05,0.00,0.000,6,0.000,0.027,2596,2162,971,0,0,0,0,0,0
$GC,13913,0.85,464.9,381.5,10.8,921,13917,0.00,1.02,0.00,0.000,4,0.000,0.034,2601,1470,971,0,0,0,0,0,0
$GC,13963,0.85,464.9,375.6,11.7,925,13971,0.00,1.05,0.00,0.000,6,0.000,0.031,2601,2165,971,0,0,0,0,0,0
$GC,14288,0.85,464.9,336.3,12.1,956,14292,0.00,1.08,0.00,0.000,4,0.000,0.038,2601,2861,972,0,0,0,0,0,0
$GC,14394,0.85,464.9,322.4,13.0,965,14402,0.10,1.02,0.00,0.000,6,0.135,0.026,2572,2171,972,0,0,0,0,0,0
$GC,14719,0.86,476.9,289.9,9.8,996,14734,0.00,1.05,11.20,0.607,4,0.000,0.032,2572,2867,923,0,0,0,0,0,0
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$STATE,17466,end climb,SURFACE_DEPTH_REACHED
$STATE,17466,begin surface coast
$FINISH,0.6,1.009504
$STATE,17495,end surface coast,CONTROL_FINISHED_OK
$STATE,17495,begin surface
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$TT8_MAMPS,0.025466,0.025466
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$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$10V_AH,9.8,78.777
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322728
$DATA_FILE_SIZE,80230,1401
$CAP_FILE_SIZE,182589,0
$CFSIZE,260165632,194146304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,175.4,1
$GPS,101011,103924,2153.580,12008.773,27,1.0,44,-2.6