version: 66.09
glider: 181
mission: 6
dive: 65
start: 6 22 111 12 52 47
data:
$ID,181
$MISSION,6
$DIVE,65
$N_DIVES,70
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-39599.184
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,41
$R_STBD_OVSHOOT,69
$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,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
$GPS1,220611,124306,2030.596,11953.544,31,0.9,31,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.3
$GPS2,220611,125149,2030.661,11953.671,10,1.4,10,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.304,-0.028
$KALMAN_X,-45517.6,1404.1,801.3,36217.2,-5483.5
$KALMAN_Y,21010.6,1306.8,484.1,-94564.5,808.3
$MHEAD_RNG_PITCHd_Wd,97.6,168269,-16.3,-11.000
$D_GRID,3244
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-194.6,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,2,0.000,0.000,139,2643,2568,0,0,0,0,0,0
$GC,101,-0.57,-194.6,3.3,-3.7,11,140,8.05,1.75,-20.85,0.000,4,0.238,0.061,2100,3748,3667,0,0,0,0,0,0
$GC,169,-0.57,-194.6,36.7,-61.0,21,177,0.00,1.77,0.00,0.000,6,0.000,0.027,2104,2573,3667,0,0,0,0,0,0
$GC,302,-0.57,-194.6,98.0,-32.2,46,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2573,3669,0,0,0,0,0,0
$GC,435,-0.57,-194.6,137.4,-31.2,71,443,0.00,2.05,0.00,0.000,4,0.000,0.028,2110,1199,3670,0,0,0,0,0,0
$GC,472,-0.57,-194.6,147.3,-27.0,77,480,0.00,2.15,0.00,0.000,6,0.000,0.039,2096,2568,3670,0,0,0,0,0,0
$GC,605,-0.57,-194.6,179.8,-26.2,102,614,0.00,1.90,0.00,0.000,4,0.000,0.044,2086,3789,3671,0,0,0,0,0,0
$GC,642,-0.57,-194.6,189.8,-26.5,108,651,0.08,1.77,0.00,0.000,6,0.146,0.026,2111,2605,3671,0,0,0,0,0,0
$GC,778,-0.57,-194.6,218.0,-19.6,133,786,0.00,2.10,0.00,0.000,4,0.000,0.028,2111,1195,3671,0,0,0,0,0,0
$GC,856,-0.57,-194.6,229.6,-12.3,147,864,0.00,2.20,0.00,0.000,6,0.000,0.041,2110,2601,3671,0,0,0,0,0,0
$GC,990,-0.57,-194.6,248.9,-15.1,172,998,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3776,3671,0,0,0,0,0,0
$GC,1048,-0.57,-194.6,258.0,-14.2,178,1053,0.00,1.77,0.00,0.000,6,0.000,0.027,2102,2583,3671,0,0,0,0,0,0
$GC,1253,-0.57,-194.6,293.3,-18.3,197,1257,0.00,2.00,0.00,0.000,4,0.000,0.030,2102,1210,3670,0,0,0,0,0,0
$GC,1289,-0.57,-194.6,299.2,-16.9,200,1293,0.00,2.12,0.00,0.000,6,0.000,0.040,2094,2604,3670,0,0,0,0,0,0
$GC,1487,-0.57,-194.6,334.9,-18.2,218,1491,0.00,1.83,0.00,0.000,4,0.000,0.047,2086,3777,3671,0,0,0,0,0,0
$GC,1514,-0.57,-194.6,340.2,-18.2,220,1522,0.08,1.75,0.00,0.000,6,0.144,0.027,2111,2607,3668,0,0,0,0,0,0
$GC,1712,-0.57,-194.6,372.2,-16.2,239,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3667,0,0,0,0,0,0
$GC,1903,-0.57,-194.6,401.6,-15.3,257,1907,0.00,1.80,0.00,0.000,4,0.000,0.047,2102,3780,3664,0,0,0,0,0,0
$GC,1927,-0.57,-194.6,405.4,-15.7,259,1930,0.00,1.73,0.00,0.000,6,0.000,0.028,2104,2603,3664,0,0,0,0,0,0
$GC,2130,-0.57,-194.6,437.7,-15.6,278,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2599,3661,0,0,0,0,0,0
$GC,2321,-0.57,-194.6,468.6,-17.0,296,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2599,3659,0,0,0,0,0,0
$GC,2512,-0.57,-194.6,499.9,-15.9,314,2516,0.00,1.83,0.00,0.000,4,0.000,0.049,2094,3786,3657,0,0,0,0,0,0
$GC,2558,-0.57,-194.6,507.0,-14.9,318,2562,0.00,1.80,0.00,0.000,6,0.000,0.030,2094,2589,3656,0,0,0,0,0,0
$GC,2762,-0.57,-194.6,537.4,-14.4,337,2766,0.00,2.05,0.00,0.000,4,0.000,0.033,2094,1198,3654,0,0,0,0,0,0
$GC,2785,-0.57,-194.6,540.7,-15.0,339,2790,0.12,2.15,0.00,0.000,6,0.164,0.042,2118,2602,3654,0,0,0,0,0,0
$GC,2984,-0.57,-194.6,563.8,-12.3,357,2988,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3781,3651,0,0,0,0,0,0
$GC,3011,-0.57,-194.6,567.7,-12.5,359,3019,0.00,1.77,0.00,0.000,6,0.000,0.030,2111,2599,3651,0,0,0,0,0,0
$GC,3210,-0.57,-194.6,593.3,-13.0,378,3213,0.00,2.05,0.00,0.000,4,0.000,0.034,2111,1210,3649,0,0,0,0,0,0
$GC,3260,-0.57,-194.6,599.8,-11.8,382,3267,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2599,3649,0,0,0,0,0,0
$GC,3452,-0.57,-194.6,621.6,-11.4,392,3456,0.00,1.83,0.00,0.000,4,0.000,0.053,2107,3789,3647,0,0,0,0,0,0
$GC,3491,-0.57,-194.6,625.7,-10.4,393,3498,0.00,1.80,0.00,0.000,6,0.000,0.031,2110,2595,3646,0,0,0,0,0,0
$GC,3809,-0.57,-194.6,661.1,-11.5,409,3813,0.00,2.05,0.00,0.000,4,0.000,0.035,2111,1204,3644,0,0,0,0,0,0
$GC,3864,-0.57,-194.6,667.8,-11.2,411,3871,0.00,2.17,0.00,0.000,6,0.000,0.043,2110,2593,3642,0,0,0,0,0,0
$GC,4182,-0.57,-194.6,705.1,-12.0,427,4186,0.00,1.83,0.00,0.000,4,0.000,0.053,2110,3778,3641,0,0,0,0,0,0
$GC,4243,-0.57,-194.6,712.2,-10.7,429,4250,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2606,3639,0,0,0,0,0,0
$GC,4561,-0.57,-194.6,748.3,-11.6,445,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2601,3637,0,0,0,0,0,0
$GC,4869,-0.57,-194.6,782.7,-11.1,460,4872,0.00,1.83,0.00,0.000,4,0.000,0.052,2102,3780,3635,0,0,0,0,0,0
$GC,4896,-0.57,-194.6,786.1,-11.8,461,4900,0.00,1.80,0.00,0.000,6,0.000,0.031,2102,2590,3635,0,0,0,0,0,0
$GC,5223,-0.57,-194.6,824.7,-11.7,477,5227,0.00,2.05,0.00,0.000,4,0.000,0.036,2102,1202,3632,0,0,0,0,0,0
$GC,5302,-0.57,-194.6,833.6,-10.6,480,5309,0.00,2.17,0.00,0.000,6,0.000,0.044,2098,2605,3632,0,0,0,0,0,0
$GC,5619,-0.57,-194.6,870.9,-12.2,496,5623,0.00,1.80,0.00,0.000,4,0.000,0.054,2089,3777,3630,0,0,0,0,0,0
$GC,5688,-0.57,-194.6,879.0,-11.2,499,5691,0.00,1.75,0.00,0.000,6,0.000,0.032,2089,2592,3629,0,0,0,0,0,0
$GC,6021,-0.57,-194.6,920.3,-12.6,515,6025,0.10,2.08,0.00,0.000,4,0.177,0.037,2114,1203,3627,0,0,0,0,0,0
$GC,6047,-0.57,-194.6,923.7,-12.4,516,6051,0.00,2.17,0.00,0.000,6,0.000,0.044,2112,2611,3626,0,0,0,0,0,0
$GC,6370,-0.57,-194.6,955.9,-10.2,532,6374,0.00,1.85,0.00,0.000,4,0.000,0.054,2111,3780,3625,0,0,0,0,0,0
$GC,6425,-0.57,-194.6,961.4,-9.5,534,6428,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2579,3625,0,0,0,0,0,0
$STATE,6703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6703,begin apogee
$GC,6709,-0.16,0.0,992.1,11.3,548,6862,0.40,0.00,148.75,1.116,6,0.129,0.000,2243,2113,2869,0,0,0,0,0,0
$STATE,6863,end apogee,CONTROL_FINISHED_OK
$STATE,6863,begin climb
$GC,6865,0.57,194.6,1000.7,0.0,555,7035,0.68,2.45,160.57,1.082,4,0.065,0.047,2487,3532,2074,0,0,0,0,0,0
$GC,7068,0.57,194.6,988.5,13.4,565,7073,0.00,2.25,0.00,0.000,6,0.000,0.031,2497,2126,2070,0,0,0,0,0,0
$GC,7396,0.57,194.6,946.5,13.2,581,7400,0.00,2.17,0.00,0.000,4,0.000,0.042,2509,719,2064,0,0,0,0,0,0
$GC,7451,0.57,194.6,938.9,13.1,583,7459,0.00,2.22,0.00,0.000,6,0.000,0.037,2508,2131,2062,0,0,0,0,0,0
$GC,7769,0.57,194.6,892.1,15.2,599,7773,0.00,2.20,0.00,0.000,4,0.000,0.047,2508,3540,2061,0,0,0,0,0,0
$GC,7803,0.57,194.6,886.1,16.9,600,7811,0.12,2.20,0.00,0.000,6,0.200,0.032,2490,2116,2060,0,0,0,0,0,0
$GC,8119,0.57,194.6,838.6,15.0,616,8123,0.00,2.15,0.00,0.000,4,0.000,0.042,2499,711,2060,0,0,0,0,0,0
$GC,8163,0.57,194.6,831.8,14.5,618,8168,0.00,2.17,0.00,0.000,6,0.000,0.037,2499,2123,2059,0,0,0,0,0,0
$GC,8491,0.57,194.6,783.4,14.9,634,8495,0.00,2.17,0.00,0.000,4,0.000,0.041,2508,706,2059,0,0,0,0,0,0
$GC,8559,0.57,194.6,773.3,14.6,637,8563,0.00,2.20,0.00,0.000,6,0.000,0.037,2509,2139,2058,0,0,0,0,0,0
$GC,8880,0.57,194.6,725.2,14.5,653,8884,0.00,2.15,0.00,0.000,4,0.000,0.047,2509,3534,2058,0,0,0,0,0,0
$GC,8942,0.57,194.6,715.6,15.9,656,8947,0.12,2.15,0.00,0.000,6,0.194,0.032,2489,2114,2057,0,0,0,0,0,0
$GC,9269,0.57,194.6,673.0,13.1,672,9273,0.00,2.10,0.00,0.000,4,0.000,0.042,2498,722,2057,0,0,0,0,0,0
$GC,9335,0.57,194.6,663.9,13.6,675,9339,0.00,2.15,0.00,0.000,6,0.000,0.038,2498,2135,2057,0,0,0,0,0,0
$GC,9664,0.57,194.6,614.8,15.3,691,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2136,2054,0,0,0,0,0,0
$GC,9978,0.57,194.6,570.7,12.7,716,9982,0.00,2.17,0.00,0.000,4,0.000,0.042,2508,714,2056,0,0,0,0,0,0
$GC,10067,0.57,194.6,559.7,11.7,723,10075,0.00,2.20,0.00,0.000,6,0.000,0.038,2508,2121,2056,0,0,0,0,0,0
$GC,10265,0.57,194.6,536.0,12.0,742,10270,0.00,2.20,0.00,0.000,4,0.000,0.047,2508,3550,2056,0,0,0,0,0,0
$GC,10298,0.57,194.6,531.4,13.2,744,10306,0.12,2.17,0.00,0.000,6,0.187,0.032,2488,2121,2056,0,0,0,0,0,0
$GC,10498,0.58,203.9,509.7,10.6,763,10511,0.00,2.15,5.53,0.721,4,0.000,0.041,2497,717,2040,0,0,0,0,0,0
$GC,10550,0.58,203.9,503.6,11.4,767,10557,0.00,2.17,0.00,0.000,6,0.000,0.037,2497,2139,2037,0,0,0,0,0,0
$GC,10748,0.58,203.9,477.9,13.7,786,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2139,2037,0,0,0,0,0,0
$GC,10939,0.58,203.9,452.6,13.1,804,10943,0.00,2.15,0.00,0.000,4,0.000,0.047,2501,3539,2037,0,0,0,0,0,0
$GC,10994,0.58,203.9,444.4,14.7,808,11001,0.00,2.15,0.00,0.000,6,0.000,0.031,2506,2120,2036,0,0,0,0,0,0
$GC,11192,0.58,203.9,416.4,14.4,827,11196,0.00,2.10,0.00,0.000,4,0.000,0.041,2517,722,2035,0,0,0,0,0,0
$GC,11277,0.58,203.9,404.7,13.8,834,11281,0.00,2.15,0.00,0.000,6,0.000,0.037,2518,2136,2037,0,0,0,0,0,0
$GC,11474,0.58,203.9,377.5,13.4,852,11478,0.00,2.15,0.00,0.000,4,0.000,0.047,2517,3539,2036,0,0,0,0,0,0
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$STATE,14777,end climb,SURFACE_DEPTH_REACHED
$STATE,14777,begin surface coast
$FINISH,-0.1,1.021044
$STATE,14796,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,10.973
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,90200,1345
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$CFSIZE,260165632,245108736
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