version: 66.09
glider: 181
mission: 6
dive: 789
start: 11 10 111 0 13 26
data:
$ID,181
$MISSION,6
$DIVE,789
$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,-41860.34
$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,54
$R_STBD_OVSHOOT,64
$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
$GPS1,101111,000636,2136.027,12033.982,25,1.4,25,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.3
$GPS2,101111,001301,2136.063,12033.926,10,1.4,10,-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,288.4,60659,-14.3,-10.312
$D_GRID,1276
$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,-219.0,0.0,0.0,0,92,0.00,0.00,-72.95,0.000,2,0.000,0.000,148,2529,2448,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.3,-3.2,13,138,8.40,0.77,-29.38,0.000,4,0.223,0.078,2167,3005,3763,0,0,0,0,0,0
$GC,299,-0.44,-219.0,46.1,-22.6,48,306,0.20,0.75,0.00,0.000,6,0.142,0.024,2226,2470,3764,0,0,0,0,0,0
$GC,647,-0.36,-219.0,103.6,-15.3,109,654,0.10,0.68,0.00,0.000,4,0.166,0.025,2254,1957,3762,0,0,0,0,0,0
$GC,766,-0.40,-219.0,116.2,-9.3,129,773,0.00,0.77,0.00,0.000,6,0.000,0.033,2252,2480,3762,0,0,0,0,0,0
$GC,1113,-0.52,-219.0,151.0,-11.9,190,1121,0.15,0.82,0.00,0.000,4,0.072,0.037,2179,3022,3762,0,0,0,0,0,0
$GC,1162,-0.61,-219.0,157.0,-12.4,198,1169,0.00,0.73,0.00,0.000,6,0.000,0.024,2179,2497,3762,0,0,0,0,0,0
$GC,1509,-0.64,-219.0,192.9,-11.4,259,1516,0.00,0.80,0.00,0.000,4,0.000,0.037,2179,3025,3763,0,0,0,0,0,0
$GC,1580,-0.65,-219.0,201.0,-11.2,271,1584,0.00,0.73,0.00,0.000,6,0.000,0.024,2179,2505,3763,0,0,0,0,0,0
$GC,1911,-0.69,-219.0,234.0,-8.8,302,1915,0.00,0.70,0.00,0.000,4,0.000,0.026,2179,1966,3763,0,0,0,0,0,0
$GC,1975,-0.75,-219.0,239.9,-9.1,307,1983,0.10,0.80,0.00,0.000,6,0.042,0.034,2107,2500,3763,0,0,0,0,0,0
$GC,2301,-0.74,-219.0,279.6,-12.7,338,2306,0.12,0.75,0.00,0.000,4,0.136,0.027,2144,1966,3763,0,0,0,0,0,0
$GC,2329,-0.75,-219.0,283.2,-12.6,340,2335,0.00,0.80,0.00,0.000,6,0.000,0.034,2142,2500,3763,0,0,0,0,0,0
$GC,2655,-0.77,-219.0,321.7,-11.0,371,2658,0.00,0.75,0.00,0.000,4,0.000,0.028,2142,1970,3762,0,0,0,0,0,0
$GC,2716,-0.77,-219.0,328.5,-10.5,376,2723,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2500,3761,0,0,0,0,0,0
$GC,3042,-0.79,-219.0,353.8,-6.5,407,3046,0.00,0.75,0.00,0.000,4,0.000,0.028,2139,1972,3758,0,0,0,0,0,0
$GC,3059,-0.82,-219.0,355.0,-6.6,408,3066,0.00,0.80,0.00,0.000,6,0.000,0.034,2138,2501,3758,0,0,0,0,0,0
$GC,3385,-0.86,-219.0,385.8,-11.3,439,3390,0.12,0.75,0.00,0.000,4,0.077,0.028,2071,1970,3755,0,0,0,0,0,0
$GC,3488,-0.73,-219.0,400.6,-15.3,448,3492,0.22,0.80,0.00,0.000,6,0.132,0.037,2138,2496,3754,0,0,0,0,0,0
$GC,3819,-0.74,-219.0,432.6,-8.9,479,3823,0.00,0.73,0.00,0.000,4,0.000,0.028,2138,1972,3751,0,0,0,0,0,0
$GC,3894,-0.75,-219.0,439.2,-8.3,485,3901,0.00,0.80,0.00,0.000,6,0.000,0.036,2138,2495,3751,0,0,0,0,0,0
$GC,4222,-0.80,-219.0,469.9,-9.1,516,4226,0.00,0.73,0.00,0.000,4,0.000,0.028,2138,1974,3749,0,0,0,0,0,0
$GC,4247,-0.83,-219.0,472.6,-9.7,518,4251,0.00,0.80,0.00,0.000,6,0.000,0.035,2138,2501,3749,0,0,0,0,0,0
$GC,4588,-0.88,-219.0,504.0,-9.0,548,4593,0.15,0.75,0.00,0.000,4,0.070,0.028,2061,1977,3746,0,0,0,0,0,0
$GC,4644,-0.76,-219.0,511.2,-13.8,550,4649,0.22,0.80,0.00,0.000,6,0.134,0.038,2127,2493,3745,0,0,0,0,0,0
$GC,4968,-0.71,-219.0,546.5,-11.5,566,4971,0.00,0.80,0.00,0.000,4,0.000,0.043,2125,3019,3743,0,0,0,0,0,0
$GC,5106,-0.65,-219.0,562.5,-11.0,572,5111,0.10,0.75,0.00,0.000,6,0.129,0.028,2158,2497,3741,0,0,0,0,0,0
$GC,5442,-0.72,-219.0,588.0,-6.6,588,5445,0.00,0.82,0.00,0.000,4,0.000,0.042,2156,3026,3739,0,0,0,0,0,0
$GC,5538,-0.77,-219.0,593.8,-5.9,592,5541,0.00,0.75,0.00,0.000,6,0.000,0.028,2156,2507,3738,0,0,0,0,0,0
$GC,5867,-0.84,-219.0,613.0,-5.8,608,5871,0.15,0.85,0.00,0.000,4,0.073,0.043,2077,3032,3735,0,0,0,0,0,0
$GC,5987,-0.73,-219.0,626.6,-12.3,613,5992,0.17,0.77,0.00,0.000,6,0.137,0.029,2131,2500,3734,0,0,0,0,0,0
$GC,6317,-0.70,-219.0,661.0,-10.5,629,6320,0.00,0.85,0.00,0.000,4,0.000,0.044,2128,3026,3732,0,0,0,0,0,0
$GC,6352,-0.66,-219.0,664.8,-10.2,630,6356,0.08,0.77,0.00,0.000,6,0.132,0.028,2154,2492,3732,0,0,0,0,0,0
$GC,6680,-0.74,-219.0,693.6,-8.8,646,6683,0.00,0.85,0.00,0.000,4,0.000,0.043,2152,3032,3730,0,0,0,0,0,0
$GC,6753,-0.78,-219.0,700.6,-8.9,649,6757,0.00,0.77,0.00,0.000,6,0.000,0.028,2152,2506,3729,0,0,0,0,0,0
$GC,7082,-0.85,-219.0,729.8,-9.5,665,7087,0.15,0.75,0.00,0.000,4,0.076,0.031,2075,1974,3727,0,0,0,0,0,0
$GC,7110,-0.86,-219.0,733.3,-10.2,666,7113,0.00,0.82,0.00,0.000,6,0.000,0.039,2071,2502,3727,0,0,0,0,0,0
$GC,7438,-0.75,-219.0,783.1,-15.1,682,7442,0.20,0.82,0.00,0.000,4,0.148,0.040,2125,3021,3725,0,0,0,0,0,0
$GC,7559,-0.71,-219.0,798.2,-12.8,687,7562,0.00,0.77,0.00,0.000,6,0.000,0.029,2125,2499,3724,0,0,0,0,0,0
$GC,7887,-0.66,-219.0,832.9,-9.5,703,7889,0.12,0.00,0.00,0.000,6,0.151,0.000,2159,2495,3722,0,0,0,0,0,0
$GC,8198,-0.74,-219.0,852.2,-6.0,718,8202,0.00,0.73,0.00,0.000,4,0.000,0.031,2159,1975,3721,0,0,0,0,0,0
$GC,8290,-0.80,-219.0,858.0,-6.3,722,8294,0.10,0.82,0.00,0.000,6,0.050,0.039,2096,2502,3721,0,0,0,0,0,0
$GC,8624,-0.80,-219.0,882.5,-7.4,738,8628,0.00,0.75,0.00,0.000,4,0.000,0.029,2096,1975,3719,0,0,0,0,0,0
$GC,8670,-0.79,-219.0,886.1,-7.4,740,8674,0.00,0.82,0.00,0.000,6,0.000,0.039,2093,2504,3719,0,0,0,0,0,0
$GC,9005,-0.79,-219.0,913.0,-8.1,756,9009,0.00,0.75,0.00,0.000,4,0.000,0.030,2093,1977,3717,0,0,0,0,0,0
$GC,9060,-0.77,-219.0,918.4,-9.4,758,9065,0.10,0.82,0.00,0.000,6,0.117,0.041,2124,2499,3717,0,0,0,0,0,0
$GC,9386,-0.80,-219.0,944.9,-8.6,774,9389,0.00,0.85,0.00,0.000,4,0.000,0.047,2121,3028,3716,0,0,0,0,0,0
$GC,9478,-0.81,-219.0,953.2,-8.9,778,9481,0.00,0.77,0.00,0.000,6,0.000,0.029,2121,2504,3715,0,0,0,0,0,0
$GC,9813,-0.84,-219.0,983.8,-8.8,794,9817,0.00,0.85,0.00,0.000,4,0.000,0.044,2118,3036,3713,0,0,0,0,0,0
$GC,9869,-0.84,-219.0,989.4,-9.5,796,9872,0.00,0.80,0.00,0.000,6,0.000,0.028,2118,2499,3713,0,0,0,0,0,0
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9886,-0.19,0.0,990.4,9.4,797,10063,0.60,0.00,169.70,1.063,6,0.112,0.000,2310,2087,2869,0,0,0,0,0,0
$STATE,10063,end apogee,CONTROL_FINISHED_OK
$STATE,10063,begin climb
$GC,10066,0.61,219.0,1001.0,0.0,805,10262,0.75,1.00,188.98,1.034,4,0.047,0.035,2586,2640,1976,0,0,0,0,0,0
$GC,10336,0.49,219.0,981.9,13.1,817,10340,0.20,0.88,0.00,0.000,6,0.148,0.028,2537,2114,1974,0,0,0,0,0,0
$GC,10667,0.44,225.4,947.6,10.1,833,10676,0.00,0.80,6.43,0.785,4,0.000,0.030,2540,1558,1951,0,0,0,0,0,0
$GC,10752,0.39,225.4,938.8,10.5,837,10756,0.12,0.85,0.00,0.000,6,0.133,0.032,2501,2114,1950,0,0,0,0,0,0
$GC,11088,0.54,350.6,914.1,6.3,853,11196,0.15,0.93,100.82,0.995,4,0.081,0.033,2567,1568,1439,0,0,0,0,0,0
$GC,11226,0.50,350.6,898.5,11.2,859,11230,0.00,0.85,0.00,0.000,6,0.000,0.031,2567,2087,1438,0,0,0,0,0,0
$GC,11554,0.47,350.6,859.0,12.0,875,11558,0.15,0.80,0.00,0.000,4,0.145,0.035,2527,1570,1439,0,0,0,0,0,0
$GC,11663,0.51,363.0,847.9,9.9,879,11678,0.00,0.82,11.52,0.866,6,0.000,0.032,2527,2106,1389,0,0,0,0,0,0
$GC,12003,0.57,363.0,812.2,10.4,896,12007,0.00,0.77,0.00,0.000,4,0.000,0.038,2527,2624,1391,0,0,0,0,0,0
$GC,12061,0.63,368.5,806.3,10.1,898,12074,0.10,0.80,7.20,0.761,6,0.059,0.031,2581,2094,1365,0,0,0,0,0,0
$GC,12384,0.59,368.5,768.9,10.9,914,12388,0.00,0.77,0.00,0.000,4,0.000,0.036,2585,1570,1364,0,0,0,0,0,0
$GC,12459,0.54,368.5,760.8,11.2,917,12463,0.10,0.82,0.00,0.000,6,0.125,0.031,2553,2109,1364,0,0,0,0,0,0
$GC,12786,0.57,368.5,726.8,11.0,933,12790,0.00,0.80,0.00,0.000,4,0.000,0.035,2555,1575,1364,0,0,0,0,0,0
$GC,12797,0.59,368.5,725.3,11.0,933,12801,0.00,0.80,0.00,0.000,6,0.000,0.032,2555,2098,1363,0,0,0,0,0,0
$GC,13120,0.62,368.5,689.8,10.5,949,13124,0.00,0.77,0.00,0.000,4,0.000,0.038,2554,2618,1363,0,0,0,0,0,0
$GC,13182,0.66,382.3,683.3,9.9,951,13198,0.00,0.80,12.12,0.796,6,0.000,0.031,2557,2088,1309,0,0,0,0,0,0
$GC,13519,0.80,467.4,656.6,7.6,968,13589,0.20,0.00,67.03,0.848,6,0.070,0.000,2645,2089,963,0,0,0,0,0,0
$GC,13890,0.74,467.4,609.9,12.9,986,13894,0.00,0.80,0.00,0.000,4,0.000,0.034,2645,2619,969,0,0,0,0,0,0
$GC,13976,0.68,467.4,597.5,14.2,989,13983,0.17,0.77,0.00,0.000,6,0.136,0.031,2594,2104,969,0,0,0,0,0,0
$GC,14293,0.72,471.6,563.0,10.2,1005,14303,0.00,0.77,6.45,0.643,4,0.000,0.032,2594,2639,946,0,0,0,0,0,0
$GC,14357,0.69,471.6,556.4,10.9,1008,14361,0.00,0.80,0.00,0.000,6,0.000,0.031,2596,2102,946,0,0,0,0,0,0
$GC,14691,0.87,579.9,530.5,6.9,1024,14786,0.17,0.82,85.18,0.765,4,0.076,0.036,2673,1579,504,0,0,0,0,0,0
$GC,14868,0.82,579.9,508.7,14.3,1032,14873,0.10,0.80,0.00,0.000,6,0.122,0.033,2642,2097,507,0,0,0,0,0,0
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$STATE,19066,end climb,SURFACE_DEPTH_REACHED
$STATE,19066,begin surface coast
$FINISH,0.5,1.019411
$STATE,19088,end surface coast,CONTROL_FINISHED_OK
$STATE,19088,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,50.15
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,9
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$10V_AH,8.8,93.220
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$FG_AHR_10Vo,0.000
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$MEM,321664
$DATA_FILE_SIZE,90362,1559
$CAP_FILE_SIZE,216597,0
$CFSIZE,260165632,180273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101111,053406,2136.202,12032.517,34,1.2,34,-2.6