version: 66.09
glider: 181
mission: 6
dive: 791
start: 11 10 111 11 16 20
data:
$ID,181
$MISSION,6
$DIVE,791
$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,-8
$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,0
$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,1
$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,-41862.859
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,56
$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
$GPS1,101111,110900,2136.809,12030.855,35,1.0,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-55.8
$GPS2,101111,111555,2136.773,12030.672,10,1.2,21,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,288.7,54916,-14.3,-10.312
$D_GRID,1390
$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,17,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.07,0.000,2,0.000,0.000,138,2469,2319,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.7,12,138,8.50,0.90,-34.53,0.000,4,0.223,0.072,2166,3016,3764,0,0,0,0,0,0
$GC,344,-0.46,-219.0,55.6,-20.8,56,351,0.17,0.75,0.00,0.000,6,0.142,0.024,2218,2478,3764,0,0,0,0,0,0
$GC,694,-0.40,-219.0,107.5,-9.9,117,700,0.00,0.65,0.00,0.000,4,0.000,0.024,2218,1975,3762,0,0,0,0,0,0
$GC,870,-0.42,-219.0,124.4,-12.6,147,877,0.00,0.77,0.00,0.000,6,0.000,0.033,2218,2495,3763,0,0,0,0,0,0
$GC,1219,-0.51,-219.0,161.3,-8.0,208,1226,0.00,0.77,0.00,0.000,4,0.000,0.037,2218,3022,3763,0,0,0,0,0,0
$GC,1393,-0.64,-219.0,175.7,-9.4,238,1400,0.12,0.73,0.00,0.000,6,0.045,0.024,2148,2500,3763,0,0,0,0,0,0
$GC,1734,-0.67,-219.0,213.1,-10.6,288,1738,0.00,0.82,0.00,0.000,4,0.000,0.037,2144,3027,3763,0,0,0,0,0,0
$GC,1774,-0.67,-219.0,217.3,-10.2,291,1781,0.00,0.73,0.00,0.000,6,0.000,0.025,2144,2504,3763,0,0,0,0,0,0
$GC,2100,-0.67,-219.0,253.1,-11.8,322,2104,0.00,0.77,0.00,0.000,4,0.000,0.035,2140,3018,3763,0,0,0,0,0,0
$GC,2159,-0.65,-219.0,259.7,-11.6,327,2163,0.00,0.73,0.00,0.000,6,0.000,0.024,2140,2504,3763,0,0,0,0,0,0
$GC,2491,-0.66,-219.0,290.5,-8.3,358,2494,0.00,0.70,0.00,0.000,4,0.000,0.027,2140,1969,3762,0,0,0,0,0,0
$GC,2561,-0.66,-219.0,296.3,-8.3,364,2565,0.00,0.80,0.00,0.000,6,0.000,0.032,2139,2503,3761,0,0,0,0,0,0
$GC,2893,-0.67,-219.0,324.4,-8.0,395,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3759,0,0,0,0,0,0
$GC,3214,-0.69,-219.0,354.3,-10.6,425,3218,0.00,0.73,0.00,0.000,4,0.000,0.027,2139,1974,3757,0,0,0,0,0,0
$GC,3331,-0.69,-219.0,367.1,-10.4,435,3338,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2503,3756,0,0,0,0,0,0
$GC,3657,-0.72,-219.0,399.9,-10.3,466,3661,0.00,0.73,0.00,0.000,4,0.000,0.026,2138,1972,3754,0,0,0,0,0,0
$GC,3775,-0.72,-219.0,412.1,-10.2,476,3781,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2500,3752,0,0,0,0,0,0
$GC,4101,-0.76,-219.0,440.7,-9.5,507,4105,0.00,0.82,0.00,0.000,4,0.000,0.041,2138,3031,3750,0,0,0,0,0,0
$GC,4118,-0.80,-219.0,442.6,-10.0,508,4125,0.00,0.77,0.00,0.000,6,0.000,0.026,2138,2493,3750,0,0,0,0,0,0
$GC,4444,-0.82,-219.0,472.9,-8.7,539,4448,0.00,0.82,0.00,0.000,4,0.000,0.039,2138,3026,3748,0,0,0,0,0,0
$GC,4480,-0.83,-219.0,476.1,-8.5,542,4484,0.00,0.75,0.00,0.000,6,0.000,0.027,2138,2504,3747,0,0,0,0,0,0
$GC,4811,-0.86,-219.0,505.1,-9.8,571,4815,0.12,0.82,0.00,0.000,4,0.080,0.040,2069,3022,3745,0,0,0,0,0,0
$GC,4954,-0.74,-219.0,525.8,-15.8,577,4958,0.20,0.75,0.00,0.000,6,0.138,0.026,2131,2496,3743,0,0,0,0,0,0
$GC,5283,-0.74,-219.0,555.3,-7.2,593,5286,0.00,0.70,0.00,0.000,4,0.000,0.029,2131,1979,3741,0,0,0,0,0,0
$GC,5361,-0.74,-219.0,560.9,-7.0,596,5365,0.00,0.80,0.00,0.000,6,0.000,0.037,2128,2499,3740,0,0,0,0,0,0
$GC,5684,-0.68,-219.0,590.8,-11.3,612,5688,0.00,0.82,0.00,0.000,4,0.000,0.043,2125,3022,3738,0,0,0,0,0,0
$GC,5740,-0.62,-219.0,597.8,-11.5,614,5745,0.15,0.75,0.00,0.000,6,0.121,0.028,2174,2501,3737,0,0,0,0,0,0
$GC,6066,-0.69,-219.0,624.4,-8.6,630,6070,0.00,0.82,0.00,0.000,4,0.000,0.040,2174,3031,3734,0,0,0,0,0,0
$GC,6257,-0.79,-219.0,642.0,-9.2,638,6261,0.12,0.77,0.00,0.000,6,0.047,0.027,2099,2504,3734,0,0,0,0,0,0
$GC,6579,-0.79,-219.0,674.3,-10.4,654,6583,0.00,0.82,0.00,0.000,4,0.000,0.041,2095,3027,3732,0,0,0,0,0,0
$GC,6708,-0.70,-219.0,689.8,-13.1,659,6716,0.15,0.77,0.00,0.000,6,0.129,0.028,2143,2500,3731,0,0,0,0,0,0
$GC,7027,-0.74,-219.0,721.0,-9.6,675,7030,0.00,0.82,0.00,0.000,4,0.000,0.041,2140,3025,3729,0,0,0,0,0,0
$GC,7106,-0.75,-219.0,728.2,-8.8,678,7110,0.00,0.77,0.00,0.000,6,0.000,0.028,2140,2499,3728,0,0,0,0,0,0
$GC,7430,-0.79,-219.0,755.1,-7.8,694,7434,0.00,0.82,0.00,0.000,4,0.000,0.041,2138,3021,3726,0,0,0,0,0,0
$GC,7469,-0.79,-219.0,758.7,-7.0,695,7475,0.00,0.77,0.00,0.000,6,0.000,0.027,2139,2495,3726,0,0,0,0,0,0
$GC,7786,-0.85,-219.0,789.0,-10.0,711,7790,0.12,0.85,0.00,0.000,4,0.084,0.041,2071,3022,3725,0,0,0,0,0,0
$GC,7833,-0.75,-219.0,794.7,-13.2,713,7838,0.17,0.77,0.00,0.000,6,0.145,0.028,2124,2490,3724,0,0,0,0,0,0
$GC,8169,-0.70,-219.0,836.4,-11.3,729,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2489,3722,0,0,0,0,0,0
$GC,8477,-0.66,-219.0,872.9,-11.8,744,8479,0.12,0.00,0.00,0.000,6,0.162,0.000,2158,2490,3721,0,0,0,0,0,0
$GC,8786,-0.76,-219.0,899.9,-8.8,759,8789,0.00,0.85,0.00,0.000,4,0.000,0.042,2157,3028,3720,0,0,0,0,0,0
$GC,8810,-0.85,-219.0,901.9,-7.8,760,8815,0.12,0.77,0.00,0.000,6,0.050,0.028,2088,2507,3719,0,0,0,0,0,0
$GC,9146,-0.76,-219.0,939.1,-11.0,776,9151,0.15,0.85,0.00,0.000,4,0.151,0.044,2127,3021,3718,0,0,0,0,0,0
$GC,9179,-0.70,-219.0,942.9,-10.4,777,9183,0.00,0.77,0.00,0.000,6,0.000,0.028,2127,2498,3718,0,0,0,0,0,0
$GC,9503,-0.67,-219.0,969.0,-8.4,793,9505,0.12,0.00,0.00,0.000,6,0.151,0.000,2161,2494,3716,0,0,0,0,0,0
$GC,9811,-0.76,-219.0,988.0,-6.2,808,9815,0.00,0.82,0.00,0.000,4,0.000,0.043,2160,3016,3715,0,0,0,0,0,0
$STATE,9842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9842,begin apogee
$GC,9851,-0.19,0.0,990.0,6.0,809,10027,0.45,0.00,170.77,1.056,6,0.103,0.000,2310,2104,2869,0,0,0,0,0,0
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10031,0.61,219.0,1000.1,0.0,817,10229,0.75,0.00,190.88,1.030,6,0.051,0.000,2576,2104,1976,0,0,0,0,0,0
$GC,10526,0.52,219.0,950.5,13.6,841,10530,0.12,0.85,0.00,0.000,4,0.171,0.036,2547,2624,1974,0,0,0,0,0,0
$GC,10610,0.44,219.0,939.9,12.0,844,10618,0.10,0.80,0.00,0.000,6,0.147,0.030,2519,2100,1973,0,0,0,0,0,0
$GC,10927,0.44,245.7,908.2,9.5,860,10954,0.00,0.82,22.52,0.954,4,0.000,0.035,2521,1574,1867,0,0,0,0,0,0
$GC,11002,0.46,284.1,901.4,9.1,863,11038,0.00,0.82,32.00,0.954,6,0.000,0.030,2521,2107,1710,0,0,0,0,0,0
$GC,11366,0.58,382.5,871.9,7.2,881,11452,0.12,0.85,79.43,0.971,4,0.091,0.037,2577,2626,1309,0,0,0,0,0,0
$GC,11489,0.54,382.5,858.3,12.0,886,11496,0.00,0.82,0.00,0.000,6,0.000,0.030,2580,2101,1308,0,0,0,0,0,0
$GC,11808,0.53,392.7,827.1,10.0,902,11823,0.12,0.80,10.38,0.833,4,0.150,0.032,2549,1572,1267,0,0,0,0,0,0
$GC,11904,0.57,424.5,818.2,9.3,906,11934,0.00,0.80,26.20,0.904,6,0.000,0.030,2549,2101,1138,0,0,0,0,0,0
$GC,12251,0.67,446.6,785.4,9.6,923,12277,0.12,0.85,19.50,0.876,4,0.089,0.034,2610,1571,1047,0,0,0,0,0,0
$GC,12363,0.62,446.6,772.0,13.1,928,12368,0.10,0.80,0.00,0.000,6,0.132,0.031,2578,2098,1048,0,0,0,0,0,0
$GC,12700,0.68,462.8,736.8,9.8,944,12722,0.00,0.80,14.27,0.825,4,0.000,0.037,2578,2617,982,0,0,0,0,0,0
$GC,12809,0.71,478.3,726.3,9.8,948,12828,0.00,0.77,14.12,0.810,6,0.000,0.032,2579,2101,919,0,0,0,0,0,0
$GC,13149,0.79,478.3,689.8,11.1,965,13153,0.15,0.80,0.00,0.000,4,0.084,0.039,2650,1581,925,0,0,0,0,0,0
$GC,13221,0.72,478.3,679.4,14.5,968,13226,0.12,0.80,0.00,0.000,6,0.137,0.031,2611,2103,926,0,0,0,0,0,0
$GC,13553,0.78,516.3,644.0,9.1,984,13590,0.00,0.82,32.78,0.825,4,0.000,0.038,2611,2619,764,0,0,0,0,0,0
$GC,13641,0.75,516.3,633.7,12.2,988,13645,0.00,0.80,0.00,0.000,6,0.000,0.031,2613,2091,766,0,0,0,0,0,0
$GC,13969,0.75,516.3,596.5,11.6,1004,13973,0.00,0.75,0.00,0.000,4,0.000,0.037,2617,1583,766,0,0,0,0,0,0
$GC,14048,0.76,519.1,588.2,10.2,1007,14060,0.00,0.80,4.75,0.573,6,0.000,0.031,2617,2109,752,0,0,0,0,0,0
$GC,14372,0.81,519.1,551.4,11.9,1023,14376,0.00,0.80,0.00,0.000,4,0.000,0.036,2620,1580,751,0,0,0,0,0,0
$GC,14451,0.84,519.1,542.1,11.2,1026,14455,0.00,0.80,0.00,0.000,6,0.000,0.030,2620,2107,751,0,0,0,0,0,0
$GC,14775,0.88,519.1,505.6,11.1,1042,14779,0.12,0.82,0.00,0.000,4,0.093,0.036,2683,1580,751,0,0,0,0,0,0
$GC,14785,0.93,519.1,504.2,11.1,1042,14789,0.00,0.80,0.00,0.000,6,0.000,0.031,2683,2102,751,0,0,0,0,0,0
$GC,15117,0.90,519.1,463.7,11.8,1072,15121,0.00,0.77,0.00,0.000,4,0.000,0.036,2683,2624,751,0,0,0,0,0,0
$GC,15178,0.81,519.1,454.5,15.9,1077,15186,0.15,0.80,0.00,0.000,6,0.137,0.031,2640,2097,751,0,0,0,0,0,0
$GC,15504,0.85,519.1,413.4,12.6,1108,15508,0.00,0.80,0.00,0.000,4,0.000,0.034,2640,2626,751,0,0,0,0,0,0
$GC,15532,0.90,519.1,409.8,12.1,1110,15539,0.00,0.80,0.00,0.000,6,0.000,0.033,2641,2100,751,0,0,0,0,0,0
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$STATE,19053,end climb,SURFACE_DEPTH_REACHED
$STATE,19053,begin surface coast
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$STATE,19076,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,49.29
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,19
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$10V_AH,8.9,93.423
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$FG_AHR_10Vo,0.000
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$MEM,321712
$DATA_FILE_SIZE,90234,1583
$CAP_FILE_SIZE,207426,0
$CFSIZE,260165632,180084736
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$GPS,101111,163654,2137.521,12029.875,40,1.2,40,-2.6