version: 66.09
glider: 181
mission: 6
dive: 209
start: 7 20 111 14 1 27
data:
$ID,181
$MISSION,6
$DIVE,209
$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,-40782.246
$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,52
$R_STBD_OVSHOOT,38
$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
$GPS1,200711,135436,1849.919,12036.650,36,0.9,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.8
$GPS2,200711,140102,1850.089,12036.756,14,1.0,14,-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,198.9,30178,-15.3,-11.000
$D_GRID,2938
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-63.78,0.000,2,0.000,0.000,200,2580,2256,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.1,-3.3,9,131,7.90,1.88,-30.50,0.000,4,0.228,0.056,2133,3784,3765,0,0,0,0,0,0
$GC,155,-0.52,-219.0,29.7,-48.8,19,163,0.00,1.80,0.00,0.000,6,0.000,0.025,2133,2575,3765,0,0,0,0,0,0
$GC,288,-0.52,-219.0,93.2,-41.5,44,296,0.00,1.90,0.00,0.000,4,0.000,0.042,2123,3776,3765,0,0,0,0,0,0
$GC,325,-0.52,-219.0,107.6,-38.5,50,333,0.00,1.73,0.00,0.000,6,0.000,0.024,2124,2616,3766,0,0,0,0,0,0
$GC,458,-0.52,-219.0,135.3,-20.6,75,466,0.00,1.83,0.00,0.000,4,0.000,0.041,2115,3774,3767,0,0,0,0,0,0
$GC,546,-0.52,-219.0,155.4,-20.0,91,555,0.10,1.65,0.00,0.000,6,0.125,0.024,2148,2656,3768,0,0,0,0,0,0
$GC,683,-0.52,-219.0,175.5,-15.6,116,691,0.00,2.15,0.00,0.000,4,0.000,0.027,2148,1206,3769,0,0,0,0,0,0
$GC,716,-0.52,-219.0,180.5,-15.2,121,724,0.00,2.25,0.00,0.000,6,0.000,0.033,2141,2662,3769,0,0,0,0,0,0
$GC,850,-0.52,-219.0,198.8,-15.0,146,859,0.00,1.73,0.00,0.000,4,0.000,0.042,2138,3776,3769,0,0,0,0,0,0
$GC,880,-0.52,-219.0,203.8,-14.8,149,887,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2668,3769,0,0,0,0,0,0
$GC,1206,-0.52,-219.0,256.0,-17.0,180,1210,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1202,3767,0,0,0,0,0,0
$GC,1289,-0.52,-219.0,267.5,-11.8,187,1296,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2642,3767,0,0,0,0,0,0
$GC,1614,-0.52,-219.0,311.6,-12.8,218,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2642,3766,0,0,0,0,0,0
$GC,1935,-0.52,-219.0,350.5,-12.2,248,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2643,3761,0,0,0,0,0,0
$GC,2255,-0.52,-219.0,392.2,-12.5,278,2258,0.00,1.73,0.00,0.000,4,0.000,0.045,2137,3777,3758,0,0,0,0,0,0
$GC,2327,-0.52,-219.0,400.4,-9.6,284,2334,0.00,1.67,0.00,0.000,6,0.000,0.024,2137,2655,3757,0,0,0,0,0,0
$GC,2653,-0.52,-219.0,439.8,-12.6,315,2657,0.00,2.12,0.00,0.000,4,0.000,0.028,2137,1203,3754,0,0,0,0,0,0
$GC,2682,-0.52,-219.0,443.5,-12.2,317,2686,0.00,2.20,0.00,0.000,6,0.000,0.036,2137,2646,3754,0,0,0,0,0,0
$GC,3007,-0.52,-219.0,480.5,-12.0,347,3011,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1202,3751,0,0,0,0,0,0
$GC,3040,-0.52,-219.0,484.6,-11.7,349,3047,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2642,3750,0,0,0,0,0,0
$GC,3361,-0.52,-219.0,520.6,-11.6,372,3365,0.00,2.15,0.00,0.000,4,0.000,0.030,2137,1205,3747,0,0,0,0,0,0
$GC,3399,-0.52,-219.0,524.9,-10.8,373,3407,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2626,3747,0,0,0,0,0,0
$GC,3716,-0.52,-219.0,554.9,-9.4,389,3720,0.00,1.77,0.00,0.000,4,0.000,0.048,2137,3784,3744,0,0,0,0,0,0
$GC,3744,-0.52,-219.0,557.7,-9.5,390,3748,0.00,1.73,0.00,0.000,6,0.000,0.025,2138,2628,3744,0,0,0,0,0,0
$GC,4071,-0.52,-219.0,586.2,-8.4,406,4075,0.00,2.10,0.00,0.000,4,0.000,0.031,2137,1202,3741,0,0,0,0,0,0
$GC,4127,-0.52,-219.0,590.8,-7.6,408,4134,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2598,3740,0,0,0,0,0,0
$GC,4443,-0.52,-219.0,617.8,-9.4,424,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2597,3739,0,0,0,0,0,0
$GC,4753,-0.52,-219.0,649.0,-10.8,439,4757,0.00,1.85,0.00,0.000,4,0.000,0.049,2138,3773,3736,0,0,0,0,0,0
$GC,4792,-0.52,-219.0,653.2,-10.1,440,4799,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2586,3735,0,0,0,0,0,0
$GC,5108,-0.52,-219.0,686.9,-11.6,456,5112,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1205,3733,0,0,0,0,0,0
$GC,5164,-0.52,-219.0,693.2,-10.8,458,5168,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2585,3733,0,0,0,0,0,0
$GC,5480,-0.52,-219.0,726.7,-10.8,473,5484,0.00,1.85,0.00,0.000,4,0.000,0.049,2137,3784,3731,0,0,0,0,0,0
$GC,5531,-0.52,-219.0,732.1,-9.9,475,5535,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2590,3731,0,0,0,0,0,0
$GC,5858,-0.52,-219.0,763.9,-9.7,491,5862,0.00,2.05,0.00,0.000,4,0.000,0.033,2137,1210,3729,0,0,0,0,0,0
$GC,5931,-0.52,-219.0,770.7,-8.8,494,5935,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2593,3729,0,0,0,0,0,0
$GC,6259,-0.52,-219.0,799.2,-8.7,510,6262,0.00,1.83,0.00,0.000,4,0.000,0.050,2137,3777,3727,0,0,0,0,0,0
$GC,6297,-0.52,-219.0,802.6,-8.3,511,6304,0.00,1.75,0.00,0.000,6,0.000,0.028,2137,2577,3726,0,0,0,0,0,0
$GC,6614,-0.52,-219.0,829.5,-8.5,527,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3725,0,0,0,0,0,0
$GC,6923,-0.52,-219.0,854.0,-7.6,542,6926,0.00,2.03,0.00,0.000,4,0.000,0.034,2137,1214,3723,0,0,0,0,0,0
$GC,6962,-0.52,-219.0,856.9,-7.4,543,6968,0.00,2.10,0.00,0.000,6,0.000,0.038,2137,2579,3723,0,0,0,0,0,0
$GC,7279,-0.52,-219.0,878.0,-6.8,559,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2579,3721,0,0,0,0,0,0
$GC,7587,-0.52,-219.0,898.3,-6.6,574,7591,0.00,2.08,0.00,0.000,4,0.000,0.033,2137,1204,3721,0,0,0,0,0,0
$GC,7614,-0.52,-219.0,900.3,-6.7,575,7618,0.00,2.12,0.00,0.000,6,0.000,0.038,2137,2583,3720,0,0,0,0,0,0
$GC,7942,-0.52,-219.0,921.1,-6.6,591,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2585,3719,0,0,0,0,0,0
$GC,8250,-0.52,-219.0,943.6,-7.7,606,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2585,3718,0,0,0,0,0,0
$GC,8560,-0.52,-219.0,968.4,-8.3,621,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2585,3715,0,0,0,0,0,0
$STATE,8827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8827,begin apogee
$GC,8833,-0.13,0.0,991.8,9.1,634,9003,0.40,0.00,163.45,1.099,4,0.104,0.000,2275,2119,2869,0,0,0,0,0,0
$STATE,9004,end apogee,CONTROL_FINISHED_OK
$STATE,9004,begin climb
$GC,9006,0.52,219.0,1004.1,0.0,642,9191,0.60,2.25,176.10,1.076,4,0.048,0.038,2509,733,1976,0,0,0,0,0,0
$GC,9387,0.52,219.0,974.2,12.8,658,9394,0.00,2.28,0.00,0.000,6,0.000,0.034,2508,2130,1973,0,0,0,0,0,0
$GC,9704,0.52,219.0,928.3,14.9,674,9708,0.00,2.17,0.00,0.000,4,0.000,0.037,2518,728,1973,0,0,0,0,0,0
$GC,9939,0.52,219.0,893.5,15.0,684,9946,0.00,2.22,0.00,0.000,6,0.000,0.034,2518,2137,1972,0,0,0,0,0,0
$GC,10256,0.52,219.0,845.4,15.2,700,10260,0.00,2.17,0.00,0.000,4,0.000,0.037,2528,739,1972,0,0,0,0,0,0
$GC,10341,0.52,219.0,832.5,14.8,704,10345,0.15,2.12,0.00,0.000,6,0.167,0.036,2487,2110,1972,0,0,0,0,0,0
$GC,10668,0.52,219.0,789.5,12.7,720,10672,0.00,2.22,0.00,0.000,4,0.000,0.045,2489,3542,1971,0,0,0,0,0,0
$GC,10745,0.52,219.0,778.6,14.2,723,10752,0.00,2.15,0.00,0.000,6,0.000,0.028,2498,2121,1971,0,0,0,0,0,0
$GC,11061,0.52,219.0,735.1,13.8,739,11065,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,716,1970,0,0,0,0,0,0
$GC,11102,0.52,219.0,730.0,12.7,741,11106,0.00,2.17,0.00,0.000,6,0.000,0.034,2508,2137,1970,0,0,0,0,0,0
$GC,11429,0.52,219.0,687.4,12.6,757,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2137,1970,0,0,0,0,0,0
$GC,11738,0.52,219.0,648.3,12.7,772,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2137,1970,0,0,0,0,0,0
$GC,12047,0.52,219.0,609.7,12.3,787,12051,0.00,2.17,0.00,0.000,4,0.000,0.044,2508,3541,1970,0,0,0,0,0,0
$GC,12108,0.52,219.0,601.4,13.5,789,12115,0.00,2.17,0.00,0.000,6,0.000,0.027,2517,2096,1970,0,0,0,0,0,0
$GC,12425,0.52,219.0,559.5,13.6,805,12429,0.00,2.08,0.00,0.000,4,0.000,0.037,2528,719,1970,0,0,0,0,0,0
$GC,12525,0.52,219.0,545.1,14.3,809,12532,0.15,2.15,0.00,0.000,6,0.162,0.034,2489,2123,1969,0,0,0,0,0,0
$GC,12842,0.52,219.0,508.1,11.5,825,12846,0.00,2.20,0.00,0.000,4,0.000,0.044,2488,3539,1970,0,0,0,0,0,0
$GC,12880,0.52,219.0,503.2,11.9,826,12887,0.00,2.17,0.00,0.000,6,0.000,0.028,2498,2123,1969,0,0,0,0,0,0
$GC,13205,0.52,219.0,465.9,11.5,855,13209,0.00,2.10,0.00,0.000,4,0.000,0.036,2507,721,1969,0,0,0,0,0,0
$GC,13324,0.52,219.0,452.4,11.0,865,13328,0.00,2.12,0.00,0.000,6,0.000,0.034,2507,2115,1970,0,0,0,0,0,0
$GC,13656,0.52,219.0,414.5,11.9,896,13660,0.00,2.17,0.00,0.000,4,0.000,0.043,2506,3538,1969,0,0,0,0,0,0
$GC,13729,0.52,219.0,405.1,13.0,902,13734,0.00,2.15,0.00,0.000,6,0.000,0.027,2517,2101,1970,0,0,0,0,0,0
$GC,14055,0.52,219.0,367.8,11.6,932,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2101,1970,0,0,0,0,0,0
$GC,14376,0.52,219.0,329.5,12.2,962,14380,0.00,2.08,0.00,0.000,4,0.000,0.035,2527,712,1969,0,0,0,0,0,0
$GC,14462,0.52,219.0,319.1,11.9,969,14467,0.15,2.12,0.00,0.000,6,0.156,0.031,2487,2119,1971,0,0,0,0,0,0
$GC,14789,0.54,232.2,286.3,10.6,999,14802,0.00,0.00,10.93,0.649,6,0.000,0.000,2487,2120,1919,0,0,0,0,0,0
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$STATE,17391,end climb,SURFACE_DEPTH_REACHED
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$10V_AH,10.0,32.649
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,321508
$DATA_FILE_SIZE,93743,1390
$CAP_FILE_SIZE,183975,0
$CFSIZE,260165632,231448576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,185406,1847.928,12035.467,29,1.2,29,-2.0