version: 66.09
glider: 181
mission: 6
dive: 206
start: 7 19 111 23 28 33
data:
$ID,181
$MISSION,6
$DIVE,206
$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,-40778.473
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,190711,232124,1854.970,12035.810,23,0.9,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.7
$GPS2,190711,232808,1855.130,12035.838,17,1.2,17,-2.0
$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,192.6,38874,-15.3,-11.000
$D_GRID,3353
$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,-71.12,0.000,2,0.000,0.000,183,2611,2469,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.6,10,131,8.00,2.20,-25.23,0.000,4,0.229,0.039,2146,1168,3764,0,0,0,0,0,0
$GC,154,-0.52,-219.0,27.4,-43.8,19,163,0.00,2.30,0.00,0.000,6,0.000,0.047,2133,2593,3766,0,0,0,0,0,0
$GC,288,-0.52,-219.0,84.5,-35.2,44,296,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3783,3766,0,0,0,0,0,0
$GC,340,-0.52,-219.0,100.9,-34.1,53,348,0.00,1.88,0.00,0.000,6,0.000,0.024,2124,2538,3764,0,0,0,0,0,0
$GC,474,-0.52,-219.0,140.3,-25.2,78,482,0.00,2.00,0.00,0.000,4,0.000,0.026,2125,1183,3767,0,0,0,0,0,0
$GC,505,-0.52,-219.0,146.3,-19.6,83,513,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2574,3770,0,0,0,0,0,0
$GC,641,-0.52,-219.0,171.7,-19.7,108,650,0.00,1.88,0.00,0.000,4,0.000,0.044,2115,3777,3768,0,0,0,0,0,0
$GC,724,-0.52,-219.0,191.2,-22.5,123,733,0.10,1.83,0.00,0.000,6,0.129,0.024,2148,2548,3768,0,0,0,0,0,0
$GC,861,-0.52,-219.0,214.8,-16.8,140,865,0.00,2.03,0.00,0.000,4,0.000,0.028,2148,1187,3769,0,0,0,0,0,0
$GC,906,-0.52,-219.0,221.2,-13.5,144,910,0.00,2.05,0.00,0.000,6,0.000,0.033,2141,2545,3769,0,0,0,0,0,0
$GC,1231,-0.52,-219.0,261.5,-11.9,174,1234,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3786,3768,0,0,0,0,0,0
$GC,1333,-0.52,-219.0,271.5,-8.5,183,1337,0.00,1.83,0.00,0.000,6,0.000,0.024,2138,2516,3768,0,0,0,0,0,0
$GC,1664,-0.52,-219.0,313.3,-12.7,214,1668,0.00,1.95,0.00,0.000,4,0.000,0.044,2138,3782,3765,0,0,0,0,0,0
$GC,1726,-0.52,-219.0,320.0,-9.8,219,1733,0.00,1.80,0.00,0.000,6,0.000,0.024,2138,2538,3765,0,0,0,0,0,0
$GC,2051,-0.52,-219.0,358.9,-12.0,250,2055,0.00,1.92,0.00,0.000,4,0.000,0.046,2138,3785,3761,0,0,0,0,0,0
$GC,2086,-0.52,-219.0,362.8,-11.4,253,2090,0.00,1.77,0.00,0.000,6,0.000,0.025,2138,2558,3761,0,0,0,0,0,0
$GC,2417,-0.52,-219.0,402.8,-12.4,284,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2555,3757,0,0,0,0,0,0
$GC,2738,-0.52,-219.0,445.2,-13.2,314,2741,0.00,1.90,0.00,0.000,4,0.000,0.047,2138,3781,3754,0,0,0,0,0,0
$GC,2772,-0.52,-219.0,449.7,-12.5,317,2776,0.00,1.73,0.00,0.000,6,0.000,0.026,2137,2594,3753,0,0,0,0,0,0
$GC,3103,-0.52,-219.0,493.4,-13.1,348,3107,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1198,3750,0,0,0,0,0,0
$GC,3152,-0.52,-219.0,499.3,-11.1,352,3159,0.00,2.20,0.00,0.000,6,0.000,0.036,2137,2603,3750,0,0,0,0,0,0
$GC,3479,-0.52,-219.0,536.0,-10.7,369,3483,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3779,3747,0,0,0,0,0,0
$GC,3530,-0.52,-219.0,541.2,-9.8,371,3534,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2617,3746,0,0,0,0,0,0
$GC,3858,-0.52,-219.0,572.7,-9.8,387,3862,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1194,3744,0,0,0,0,0,0
$GC,3886,-0.52,-219.0,575.6,-9.7,388,3890,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2608,3744,0,0,0,0,0,0
$GC,4202,-0.52,-219.0,603.6,-9.1,403,4206,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3782,3741,0,0,0,0,0,0
$GC,4263,-0.52,-219.0,608.4,-7.1,405,4270,0.00,1.73,0.00,0.000,6,0.000,0.027,2137,2600,3740,0,0,0,0,0,0
$GC,4580,-0.52,-219.0,637.4,-10.1,421,4584,0.00,2.08,0.00,0.000,4,0.000,0.031,2137,1198,3738,0,0,0,0,0,0
$GC,4646,-0.52,-219.0,643.6,-7.9,424,4650,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2613,3740,0,0,0,0,0,0
$GC,4974,-0.52,-219.0,675.7,-10.5,440,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2614,3735,0,0,0,0,0,0
$GC,5283,-0.52,-219.0,706.1,-9.5,455,5287,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1199,3733,0,0,0,0,0,0
$GC,5305,-0.52,-219.0,708.3,-9.6,456,5309,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2607,3734,0,0,0,0,0,0
$GC,5633,-0.52,-219.0,736.4,-8.7,472,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3731,0,0,0,0,0,0
$GC,5941,-0.52,-219.0,764.3,-9.3,487,5945,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1209,3730,0,0,0,0,0,0
$GC,5992,-0.52,-219.0,769.0,-9.1,489,5996,0.00,2.15,0.00,0.000,6,0.000,0.038,2137,2604,3729,0,0,0,0,0,0
$GC,6308,-0.52,-219.0,796.7,-8.4,504,6311,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3786,3728,0,0,0,0,0,0
$GC,6341,-0.52,-219.0,799.4,-7.8,505,6345,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2591,3728,0,0,0,0,0,0
$GC,6663,-0.52,-219.0,825.9,-8.8,521,6667,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1209,3726,0,0,0,0,0,0
$GC,6702,-0.52,-219.0,829.4,-8.3,522,6709,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2604,3729,0,0,0,0,0,0
$GC,7018,-0.52,-219.0,855.0,-8.2,538,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3724,0,0,0,0,0,0
$GC,7328,-0.52,-219.0,879.7,-7.7,553,7332,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1212,3722,0,0,0,0,0,0
$GC,7356,-0.52,-219.0,882.3,-7.8,554,7360,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2588,3722,0,0,0,0,0,0
$GC,7678,-0.52,-219.0,908.4,-8.4,570,7682,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3784,3721,0,0,0,0,0,0
$GC,7724,-0.52,-219.0,912.0,-8.2,572,7728,0.00,1.75,0.00,0.000,6,0.000,0.028,2137,2594,3720,0,0,0,0,0,0
$GC,8057,-0.52,-219.0,934.6,-5.8,588,8060,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1213,3720,0,0,0,0,0,0
$GC,8126,-0.52,-219.0,937.9,-5.4,591,8130,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2584,3719,0,0,0,0,0,0
$GC,8459,-0.52,-219.0,953.5,-4.9,607,8463,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3783,3718,0,0,0,0,0,0
$GC,8492,-0.52,-219.0,955.2,-5.0,608,8496,0.00,1.77,0.00,0.000,6,0.000,0.027,2137,2577,3718,0,0,0,0,0,0
$GC,8815,-0.52,-219.0,968.7,-4.2,624,8819,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1200,3717,0,0,0,0,0,0
$GC,8871,-0.52,-219.0,971.3,-4.1,626,8875,0.00,2.12,0.00,0.000,6,0.000,0.038,2137,2581,3716,0,0,0,0,0,0
$GC,9193,-0.52,-219.0,985.5,-4.9,642,9196,0.00,1.88,0.00,0.000,4,0.000,0.051,2138,3789,3715,0,0,0,0,0,0
$GC,9220,-0.52,-219.0,987.2,-5.1,643,9224,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2579,3715,0,0,0,0,0,0
$STATE,9277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9277,begin apogee
$GC,9283,-0.13,0.0,990.3,5.7,646,9452,0.40,0.00,163.00,1.101,4,0.103,0.000,2276,2112,2871,0,0,0,0,0,0
$STATE,9453,end apogee,CONTROL_FINISHED_OK
$STATE,9453,begin climb
$GC,9455,0.52,219.0,997.1,0.0,654,9640,0.60,2.40,175.88,1.071,4,0.056,0.044,2498,3545,1978,0,0,0,0,0,0
$GC,9808,0.52,219.0,961.5,14.2,669,9812,0.00,2.22,0.00,0.000,6,0.000,0.028,2509,2128,1977,0,0,0,0,0,0
$GC,10130,0.52,219.0,919.4,12.6,685,10134,0.00,2.22,0.00,0.000,4,0.000,0.041,2509,3541,1973,0,0,0,0,0,0
$GC,10291,0.52,219.0,897.1,13.4,692,10295,0.00,2.20,0.00,0.000,6,0.000,0.028,2518,2104,1975,0,0,0,0,0,0
$GC,10613,0.52,219.0,853.0,14.1,708,10617,0.00,2.15,0.00,0.000,4,0.000,0.038,2529,710,1974,0,0,0,0,0,0
$GC,10702,0.52,219.0,840.3,13.5,712,10707,0.15,2.17,0.00,0.000,6,0.167,0.033,2490,2123,1974,0,0,0,0,0,0
$GC,11030,0.52,219.0,799.6,12.9,728,11034,0.00,2.20,0.00,0.000,4,0.000,0.044,2490,3545,1973,0,0,0,0,0,0
$GC,11092,0.52,219.0,790.3,15.1,731,11096,0.00,2.20,0.00,0.000,6,0.000,0.028,2499,2093,1973,0,0,0,0,0,0
$GC,11419,0.52,219.0,740.4,15.0,747,11423,0.00,2.08,0.00,0.000,4,0.000,0.037,2509,719,1972,0,0,0,0,0,0
$GC,11535,0.52,219.0,723.3,14.5,752,11540,0.00,2.12,0.00,0.000,6,0.000,0.032,2510,2079,1973,0,0,0,0,0,0
$GC,11858,0.52,219.0,677.0,13.6,768,11862,0.00,2.25,0.00,0.000,4,0.000,0.044,2510,3541,1972,0,0,0,0,0,0
$GC,11924,0.52,219.0,667.1,14.8,771,11928,0.00,2.20,0.00,0.000,6,0.000,0.028,2519,2078,1972,0,0,0,0,0,0
$GC,12252,0.52,219.0,622.9,13.4,787,12255,0.00,2.05,0.00,0.000,4,0.000,0.037,2529,723,1972,0,0,0,0,0,0
$GC,12358,0.52,219.0,608.6,12.8,791,12365,0.15,2.05,0.00,0.000,6,0.164,0.032,2490,2074,1972,0,0,0,0,0,0
$GC,12674,0.58,265.4,576.8,9.4,807,12718,0.00,2.35,34.97,0.838,4,0.000,0.044,2490,3546,1787,0,0,0,0,0,0
$GC,12790,0.61,290.3,565.0,10.2,812,12816,0.00,2.25,20.33,0.782,6,0.000,0.028,2498,2082,1685,0,0,0,0,0,0
$GC,13138,0.61,290.3,525.8,12.5,829,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2082,1686,0,0,0,0,0,0
$GC,13453,0.61,290.3,480.9,15.2,850,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2079,1693,0,0,0,0,0,0
$GC,13770,0.61,290.3,436.3,13.5,880,13774,0.00,2.08,0.00,0.000,4,0.000,0.037,2509,710,1690,0,0,0,0,0,0
$GC,13815,0.61,290.3,430.3,12.8,883,13821,0.00,2.10,0.00,0.000,6,0.000,0.032,2509,2093,1690,0,0,0,0,0,0
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$STATE,17377,end climb,SURFACE_DEPTH_REACHED
$STATE,17377,begin surface coast
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$STATE,17389,end surface coast,CONTROL_FINISHED_OK
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$HUMID,41.53
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.9,32.202
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$FG_AHR_10Vo,0.000
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$MEM,321512
$DATA_FILE_SIZE,90412,1352
$CAP_FILE_SIZE,188352,0
$CFSIZE,260165632,231739392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,042054,1852.701,12035.440,37,1.8,37,-2.0