version: 66.09
glider: 181
mission: 6
dive: 768
start: 11 5 111 5 11 57
data:
$ID,181
$MISSION,6
$DIVE,768
$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,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,-41817.879
$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,66
$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
$GPS1,051111,050455,2134.646,12024.902,41,1.5,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.7
$GPS2,051111,051132,2134.629,12024.998,14,1.5,14,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,191.3,289700,-14.3,-10.312
$D_GRID,1422
$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,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-67.97,0.000,2,0.000,0.000,144,2491,2364,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.0,-3.0,12,139,8.45,0.77,-34.12,0.000,4,0.223,0.063,2168,1943,3765,0,0,0,0,0,0
$GC,210,-0.49,-219.0,24.9,-18.0,32,217,0.15,0.85,0.00,0.000,6,0.133,0.035,2212,2502,3766,0,0,0,0,0,0
$GC,558,-0.42,-219.0,78.0,-17.1,93,564,0.00,0.73,0.00,0.000,4,0.000,0.023,2213,1964,3764,0,0,0,0,0,0
$GC,679,-0.37,-219.0,97.6,-13.8,114,686,0.12,0.82,0.00,0.000,6,0.109,0.034,2253,2507,3764,0,0,0,0,0,0
$GC,1027,-0.50,-219.0,125.0,-10.3,175,1034,0.12,0.77,0.00,0.000,4,0.082,0.024,2188,1944,3764,0,0,0,0,0,0
$GC,1132,-0.53,-219.0,137.8,-12.6,193,1139,0.00,0.85,0.00,0.000,6,0.000,0.033,2185,2510,3764,0,0,0,0,0,0
$GC,1481,-0.58,-219.0,169.7,-8.2,254,1488,0.00,0.75,0.00,0.000,4,0.000,0.024,2185,1950,3765,0,0,0,0,0,0
$GC,1597,-0.62,-219.0,181.0,-10.0,274,1604,0.00,0.82,0.00,0.000,6,0.000,0.032,2183,2505,3765,0,0,0,0,0,0
$GC,1934,-0.67,-219.0,216.7,-9.8,320,1938,0.00,0.73,0.00,0.000,4,0.000,0.024,2183,1958,3764,0,0,0,0,0,0
$GC,2027,-0.71,-219.0,225.0,-8.7,328,2031,0.08,0.80,0.00,0.000,6,0.047,0.034,2122,2497,3764,0,0,0,0,0,0
$GC,2358,-0.71,-219.0,256.2,-10.4,359,2361,0.00,0.73,0.00,0.000,4,0.000,0.025,2121,1960,3764,0,0,0,0,0,0
$GC,2443,-0.66,-219.0,266.0,-11.8,366,2450,0.12,0.82,0.00,0.000,6,0.116,0.034,2159,2506,3764,0,0,0,0,0,0
$GC,2769,-0.73,-219.0,298.4,-9.2,397,2773,0.00,0.75,0.00,0.000,4,0.000,0.024,2160,1955,3762,0,0,0,0,0,0
$GC,2877,-0.74,-219.0,307.9,-8.5,406,2884,0.00,0.82,0.00,0.000,6,0.000,0.034,2158,2503,3761,0,0,0,0,0,0
$GC,3203,-0.79,-219.0,338.1,-9.5,437,3208,0.12,0.80,0.00,0.000,4,0.079,0.038,2086,3024,3759,0,0,0,0,0,0
$GC,3389,-0.66,-219.0,367.2,-15.1,453,3397,0.22,0.75,0.00,0.000,6,0.133,0.025,2155,2483,3758,0,0,0,0,0,0
$GC,3716,-0.73,-219.0,397.0,-7.9,484,3719,0.00,0.82,0.00,0.000,4,0.000,0.037,2154,3022,3755,0,0,0,0,0,0
$GC,3785,-0.75,-219.0,402.9,-8.6,490,3789,0.00,0.73,0.00,0.000,6,0.000,0.025,2153,2507,3755,0,0,0,0,0,0
$GC,4116,-0.81,-219.0,434.1,-9.5,521,4121,0.12,0.82,0.00,0.000,4,0.081,0.038,2083,3030,3752,0,0,0,0,0,0
$GC,4151,-0.77,-219.0,438.1,-11.1,524,4155,0.12,0.75,0.00,0.000,6,0.122,0.025,2125,2497,3751,0,0,0,0,0,0
$GC,4483,-0.79,-219.0,473.0,-10.9,555,4486,0.00,0.70,0.00,0.000,4,0.000,0.026,2125,1968,3750,0,0,0,0,0,0
$GC,4496,-0.81,-219.0,474.4,-11.0,556,4499,0.00,0.80,0.00,0.000,6,0.000,0.034,2125,2497,3750,0,0,0,0,0,0
$GC,4838,-0.83,-219.0,512.2,-11.4,583,4841,0.00,0.80,0.00,0.000,4,0.000,0.041,2125,3028,3747,0,0,0,0,0,0
$GC,4933,-0.82,-219.0,523.7,-11.7,587,4937,0.00,0.75,0.00,0.000,6,0.000,0.026,2125,2502,3746,0,0,0,0,0,0
$GC,5263,-0.84,-219.0,557.9,-10.1,603,5266,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,1973,3744,0,0,0,0,0,0
$GC,5358,-0.81,-219.0,568.1,-10.2,607,5362,0.00,0.80,0.00,0.000,6,0.000,0.035,2124,2498,3742,0,0,0,0,0,0
$GC,5687,-0.75,-219.0,606.4,-11.8,623,5691,0.00,0.80,0.00,0.000,4,0.000,0.042,2121,3027,3740,0,0,0,0,0,0
$GC,5813,-0.68,-219.0,622.0,-12.5,628,5817,0.08,0.75,0.00,0.000,6,0.138,0.026,2146,2500,3738,0,0,0,0,0,0
$GC,6138,-0.73,-219.0,654.9,-10.2,644,6142,0.00,0.70,0.00,0.000,4,0.000,0.027,2147,1973,3736,0,0,0,0,0,0
$GC,6150,-0.78,-219.0,656.7,-10.2,644,6153,0.00,0.80,0.00,0.000,6,0.000,0.034,2145,2500,3736,0,0,0,0,0,0
$GC,6472,-0.82,-219.0,690.5,-10.5,660,6476,0.10,0.75,0.00,0.000,4,0.095,0.028,2090,1974,3734,0,0,0,0,0,0
$GC,6506,-0.81,-219.0,694.3,-10.7,661,6510,0.00,0.80,0.00,0.000,6,0.000,0.034,2086,2500,3734,0,0,0,0,0,0
$GC,6828,-0.71,-219.0,739.2,-13.6,677,6833,0.20,0.82,0.00,0.000,4,0.147,0.038,2139,3024,3732,0,0,0,0,0,0
$GC,7010,-0.68,-219.0,756.4,-8.8,685,7014,0.00,0.75,0.00,0.000,6,0.000,0.026,2139,2494,3731,0,0,0,0,0,0
$GC,7344,-0.65,-219.0,784.1,-8.8,701,7347,0.00,0.82,0.00,0.000,4,0.000,0.041,2138,3021,3729,0,0,0,0,0,0
$GC,7474,-0.61,-219.0,796.8,-10.8,706,7481,0.10,0.73,0.00,0.000,6,0.119,0.026,2172,2512,3729,0,0,0,0,0,0
$GC,7793,-0.70,-219.0,823.4,-8.6,722,7797,0.00,0.80,0.00,0.000,4,0.000,0.041,2172,3026,3727,0,0,0,0,0,0
$GC,7827,-0.80,-219.0,826.9,-9.0,723,7832,0.12,0.75,0.00,0.000,6,0.051,0.026,2098,2507,3727,0,0,0,0,0,0
$GC,8149,-0.72,-219.0,872.3,-15.1,739,8153,0.15,0.75,0.00,0.000,4,0.146,0.026,2140,1971,3724,0,0,0,0,0,0
$GC,8166,-0.66,-219.0,875.0,-14.8,739,8173,0.00,0.80,0.00,0.000,6,0.000,0.038,2138,2486,3725,0,0,0,0,0,0
$GC,8484,-0.63,-219.0,909.6,-10.2,755,8489,0.12,0.85,0.00,0.000,4,0.156,0.044,2170,3021,3723,0,0,0,0,0,0
$GC,8615,-0.72,-219.0,920.3,-7.7,760,8621,0.00,0.75,0.00,0.000,6,0.000,0.026,2170,2504,3723,0,0,0,0,0,0
$GC,8933,-0.81,-219.0,943.2,-7.1,776,8938,0.17,0.85,0.00,0.000,4,0.075,0.041,2087,3032,3722,0,0,0,0,0,0
$GC,8994,-0.73,-219.0,949.8,-12.0,778,9002,0.15,0.77,0.00,0.000,6,0.135,0.026,2134,2494,3721,0,0,0,0,0,0
$GC,9312,-0.70,-219.0,981.6,-11.2,794,9316,0.00,0.82,0.00,0.000,4,0.000,0.041,2132,3023,3720,0,0,0,0,0,0
$STATE,9388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9388,begin apogee
$GC,9396,-0.19,0.0,990.1,9.8,797,9570,0.57,0.00,168.18,1.062,6,0.123,0.000,2311,2104,2869,0,0,0,0,0,0
$STATE,9571,end apogee,CONTROL_FINISHED_OK
$STATE,9571,begin climb
$GC,9573,0.61,219.0,1003.3,0.0,805,9762,0.73,0.82,182.10,1.044,4,0.049,0.024,2589,1575,1976,0,0,0,0,0,0
$GC,9846,0.50,219.0,989.1,10.6,818,9851,0.17,0.85,0.00,0.000,6,0.147,0.028,2541,2120,1973,0,0,0,0,0,0
$GC,10172,0.53,297.0,963.0,7.8,834,10238,0.00,0.77,62.08,1.021,4,0.000,0.033,2540,2618,1657,0,0,0,0,0,0
$GC,10375,0.52,329.8,944.6,9.3,843,10406,0.00,0.77,26.95,0.972,6,0.000,0.028,2543,2092,1524,0,0,0,0,0,0
$GC,10718,0.52,344.1,913.1,9.9,859,10740,0.00,0.85,13.23,0.909,4,0.000,0.032,2543,2631,1466,0,0,0,0,0,0
$GC,10854,0.49,344.1,898.8,10.9,865,10858,0.00,0.77,0.00,0.000,6,0.000,0.028,2546,2103,1466,0,0,0,0,0,0
$GC,11188,0.55,404.0,868.7,8.4,881,11241,0.00,0.85,48.70,0.970,4,0.000,0.033,2546,2631,1221,0,0,0,0,0,0
$GC,11297,0.55,419.2,858.6,9.8,886,11315,0.00,0.80,13.93,0.873,6,0.000,0.028,2549,2097,1159,0,0,0,0,0,0
$GC,11627,0.62,429.4,827.5,10.0,902,11641,0.00,0.77,10.02,0.832,4,0.000,0.031,2552,1579,1118,0,0,0,0,0,0
$GC,11681,0.70,457.0,821.7,9.4,904,11709,0.10,0.77,23.20,0.906,6,0.058,0.029,2610,2097,1006,0,0,0,0,0,0
$GC,12019,0.66,457.0,779.1,12.4,920,12022,0.00,0.77,0.00,0.000,4,0.000,0.031,2613,1572,1009,0,0,0,0,0,0
$GC,12149,0.62,457.0,762.6,12.7,925,12156,0.10,0.80,0.00,0.000,6,0.130,0.031,2581,2102,1009,0,0,0,0,0,0
$GC,12469,0.62,463.6,730.0,10.1,941,12480,0.00,0.82,7.70,0.753,4,0.000,0.031,2582,1573,978,0,0,0,0,0,0
$GC,12503,0.61,463.6,725.9,10.5,942,12510,0.00,0.80,0.00,0.000,6,0.000,0.030,2582,2101,977,0,0,0,0,0,0
$GC,12821,0.60,463.6,691.9,11.1,958,12824,0.00,0.77,0.00,0.000,4,0.000,0.033,2584,1579,976,0,0,0,0,0,0
$GC,12893,0.58,463.6,683.1,11.8,961,12898,0.00,0.80,0.00,0.000,6,0.000,0.029,2584,2109,976,0,0,0,0,0,0
$GC,13221,0.65,463.6,645.9,11.0,977,13225,0.00,0.80,0.00,0.000,4,0.000,0.033,2588,1574,976,0,0,0,0,0,0
$GC,13239,0.70,463.6,644.0,10.9,977,13246,0.00,0.80,0.00,0.000,6,0.000,0.029,2588,2109,976,0,0,0,0,0,0
$GC,13556,0.75,463.6,609.2,10.8,993,13559,0.00,0.80,0.00,0.000,4,0.000,0.033,2591,1574,976,0,0,0,0,0,0
$GC,13590,0.77,463.6,605.2,11.3,994,13594,0.00,0.80,0.00,0.000,6,0.000,0.030,2591,2105,976,0,0,0,0,0,0
$GC,13913,0.84,486.6,573.8,9.6,1010,13936,0.15,0.80,19.08,0.770,4,0.079,0.036,2658,2619,885,0,0,0,0,0,0
$GC,14046,0.77,486.6,556.3,13.8,1015,14053,0.10,0.77,0.00,0.000,6,0.143,0.029,2629,2098,887,0,0,0,0,0,0
$GC,14363,0.73,486.6,520.1,11.4,1031,14367,0.00,0.77,0.00,0.000,4,0.000,0.033,2629,2615,894,0,0,0,0,0,0
$GC,14423,0.68,486.6,511.9,13.3,1033,14432,0.10,0.77,3.75,0.488,6,0.141,0.029,2599,2097,884,0,0,0,0,0,0
$GC,14746,0.72,486.6,474.6,11.7,1059,14750,0.00,0.80,0.00,0.000,4,0.000,0.033,2599,2633,885,0,0,0,0,0,0
$GC,14808,0.74,486.6,467.4,11.7,1064,14815,0.00,0.80,0.00,0.000,6,0.000,0.031,2600,2099,885,0,0,0,0,0,0
$GC,15135,0.81,520.8,433.5,9.2,1095,15169,0.10,0.82,27.67,0.692,4,0.100,0.034,2655,1568,746,0,0,0,0,0,0
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$STATE,18910,end climb,SURFACE_DEPTH_REACHED
$STATE,18911,begin surface coast
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$STATE,18934,end surface coast,CONTROL_FINISHED_OK
$STATE,18934,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,49.44
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,9.6,91.064
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.850,71.925,675.150,0.000,0.000,26.313,23.627,172.471,0.000,0.000,17.238,3884.671,11063.159,725.115,3193.710,525.985,0.000,2338.366,0.000,2935.220,0.000,0.539,0.000
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$MEM,322724
$DATA_FILE_SIZE,90080,1587
$CAP_FILE_SIZE,218565,0
$CFSIZE,260165632,182325248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051111,103007,2133.056,12024.931,37,1.4,37,-2.6