version: 66.09
glider: 181
mission: 6
dive: 99
start: 6 29 111 14 59 39
data:
$ID,181
$MISSION,6
$DIVE,99
$N_DIVES,100
$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,400
$T_MISSION,440
$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,150
$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,-40546.867
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,290611,145155,2002.425,11953.888,38,1.2,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.9
$GPS2,290611,145914,2002.465,11953.921,8,2.0,8,-2.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,176.9,116173,-14.5,-8.250
$D_GRID,3508
$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,14,begin dive
$GC,18,-0.47,-146.0,0.0,0.0,0,97,0.00,0.00,-76.72,0.000,2,0.000,0.000,206,2616,2553,0,0,0,0,0,0
$GC,100,-0.47,-146.0,3.5,-3.6,11,132,7.90,2.22,-18.67,0.000,4,0.234,0.041,2140,1177,3468,0,0,0,0,0,0
$GC,145,-0.47,-146.0,19.4,-35.7,17,153,0.00,2.25,0.00,0.000,6,0.000,0.038,2131,2593,3469,0,0,0,0,0,0
$GC,279,-0.47,-146.0,77.5,-41.6,42,287,0.00,1.83,0.00,0.000,4,0.000,0.039,2122,3780,3469,0,0,0,0,0,0
$GC,300,-0.47,-146.0,86.8,-42.7,45,308,0.00,1.85,0.00,0.000,6,0.000,0.025,2122,2561,3469,0,0,0,0,0,0
$GC,434,-0.47,-146.0,126.9,-28.5,70,442,0.00,1.92,0.00,0.000,4,0.000,0.041,2113,3787,3470,0,0,0,0,0,0
$GC,466,-0.47,-146.0,134.8,-25.5,75,475,0.10,1.77,0.00,0.000,6,0.155,0.026,2143,2608,3470,0,0,0,0,0,0
$GC,602,-0.47,-146.0,161.6,-18.3,100,611,0.00,2.10,0.00,0.000,4,0.000,0.028,2144,1200,3471,0,0,0,0,0,0
$GC,650,-0.47,-146.0,169.4,-15.4,108,658,0.00,2.17,0.00,0.000,6,0.000,0.035,2137,2602,3472,0,0,0,0,0,0
$GC,785,-0.47,-146.0,190.8,-16.8,133,793,0.00,1.83,0.00,0.000,4,0.000,0.042,2129,3782,3472,0,0,0,0,0,0
$GC,900,-0.47,-146.0,211.2,-14.7,147,907,0.00,1.73,0.00,0.000,6,0.000,0.024,2129,2609,3472,0,0,0,0,0,0
$GC,1226,-0.47,-146.0,260.6,-14.1,178,1230,0.00,2.05,0.00,0.000,4,0.000,0.028,2129,1212,3472,0,0,0,0,0,0
$GC,1292,-0.47,-146.0,268.8,-11.3,184,1296,0.00,2.15,0.00,0.000,6,0.000,0.036,2124,2626,3473,0,0,0,0,0,0
$GC,1618,-0.47,-146.0,313.1,-14.3,214,1622,0.00,2.10,0.00,0.000,4,0.000,0.028,2124,1205,3470,0,0,0,0,0,0
$GC,1639,-0.47,-146.0,316.4,-14.5,215,1647,0.12,2.15,0.00,0.000,6,0.168,0.036,2147,2623,3470,0,0,0,0,0,0
$GC,1965,-0.47,-146.0,354.9,-11.7,246,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2622,3466,0,0,0,0,0,0
$GC,2286,-0.47,-146.0,392.7,-12.1,276,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2622,3463,0,0,0,0,0,0
$GC,2613,-0.47,-146.0,433.5,-12.8,307,2617,0.00,2.10,0.00,0.000,4,0.000,0.032,2148,1216,3459,0,0,0,0,0,0
$GC,2675,-0.47,-146.0,441.5,-12.0,312,2679,0.00,2.12,0.00,0.000,6,0.000,0.039,2141,2603,3458,0,0,0,0,0,0
$GC,3000,-0.47,-146.0,485.8,-13.4,342,3004,0.00,2.08,0.00,0.000,4,0.000,0.034,2141,1215,3455,0,0,0,0,0,0
$GC,3089,-0.47,-146.0,497.9,-12.4,349,3096,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2599,3454,0,0,0,0,0,0
$GC,3406,-0.47,-146.0,538.3,-12.9,366,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3451,0,0,0,0,0,0
$GC,3716,-0.47,-146.0,577.4,-12.1,381,3720,0.00,2.08,0.00,0.000,4,0.000,0.034,2139,1217,3448,0,0,0,0,0,0
$GC,3760,-0.47,-146.0,582.9,-11.8,383,3764,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2580,3448,0,0,0,0,0,0
$GC,4087,-0.47,-146.0,619.1,-10.8,399,4092,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1211,3445,0,0,0,0,0,0
$GC,4126,-0.47,-146.0,623.4,-10.5,400,4134,0.00,2.17,0.00,0.000,6,0.000,0.042,2136,2585,3445,0,0,0,0,0,0
$GC,4442,-0.47,-146.0,654.5,-10.0,416,4446,0.00,2.05,0.00,0.000,4,0.000,0.036,2138,1222,3442,0,0,0,0,0,0
$GC,4497,-0.47,-146.0,660.0,-9.1,418,4502,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2609,3442,0,0,0,0,0,0
$GC,4820,-0.47,-146.0,690.2,-9.5,434,4824,0.00,2.10,0.00,0.000,4,0.000,0.036,2138,1218,3439,0,0,0,0,0,0
$GC,4858,-0.47,-146.0,694.0,-9.5,435,4865,0.00,2.08,0.00,0.000,6,0.000,0.041,2138,2562,3438,0,0,0,0,0,0
$GC,5175,-0.47,-146.0,723.2,-9.3,451,5178,0.00,1.88,0.00,0.000,4,0.000,0.051,2138,3783,3436,0,0,0,0,0,0
$GC,5199,-0.47,-146.0,725.3,-9.1,452,5203,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2574,3436,0,0,0,0,0,0
$GC,5532,-0.47,-146.0,756.3,-9.4,468,5535,0.00,2.03,0.00,0.000,4,0.000,0.035,2138,1211,3434,0,0,0,0,0,0
$GC,5565,-0.47,-146.0,759.7,-9.6,469,5569,0.00,2.10,0.00,0.000,6,0.000,0.041,2137,2568,3434,0,0,0,0,0,0
$GC,5887,-0.47,-146.0,790.9,-9.9,485,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2569,3435,0,0,0,0,0,0
$GC,6196,-0.47,-146.0,821.0,-9.6,500,6200,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1199,3431,0,0,0,0,0,0
$GC,6223,-0.47,-146.0,823.7,-9.7,501,6227,0.00,2.10,0.00,0.000,6,0.000,0.041,2138,2561,3431,0,0,0,0,0,0
$GC,6550,-0.47,-146.0,853.7,-9.2,517,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2561,3429,0,0,0,0,0,0
$GC,6859,-0.47,-146.0,882.3,-9.4,532,6863,0.00,2.05,0.00,0.000,4,0.000,0.036,2136,1205,3427,0,0,0,0,0,0
$GC,6898,-0.47,-146.0,886.4,-10.2,533,6905,0.00,2.10,0.00,0.000,6,0.000,0.041,2138,2561,3427,0,0,0,0,0,0
$GC,7214,-0.47,-146.0,918.3,-10.8,549,7218,0.00,2.05,0.00,0.000,4,0.000,0.037,2137,1205,3426,0,0,0,0,0,0
$GC,7247,-0.47,-146.0,922.1,-10.8,550,7251,0.00,2.10,0.00,0.000,6,0.000,0.042,2138,2538,3425,0,0,0,0,0,0
$GC,7570,-0.47,-146.0,955.9,-10.3,566,7573,0.00,1.95,0.00,0.000,4,0.000,0.053,2138,3771,3424,0,0,0,0,0,0
$GC,7619,-0.47,-146.0,961.1,-9.9,568,7623,0.00,1.83,0.00,0.000,6,0.000,0.031,2137,2544,3424,0,0,0,0,0,0
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7903,begin apogee
$GC,7910,-0.16,0.0,991.3,10.3,582,8025,0.32,0.00,109.62,1.112,4,0.129,0.000,2244,2109,2869,0,0,0,0,0,0
$STATE,8026,end apogee,CONTROL_FINISHED_OK
$STATE,8026,begin climb
$GC,8028,0.47,146.0,997.3,0.0,587,8160,0.62,2.25,120.50,1.086,4,0.090,0.041,2450,727,2273,0,0,0,0,0,0
$GC,8414,0.47,146.0,971.4,9.9,605,8419,0.00,2.20,0.00,0.000,6,0.000,0.036,2450,2130,2265,0,0,0,0,0,0
$GC,8742,0.47,146.0,937.5,10.5,621,8746,0.00,2.17,0.00,0.000,4,0.000,0.039,2460,729,2262,0,0,0,0,0,0
$GC,9000,0.47,146.0,909.1,11.0,632,9007,0.00,2.17,0.00,0.000,6,0.000,0.036,2460,2128,2261,0,0,0,0,0,0
$GC,9316,0.47,146.0,873.7,11.1,648,9320,0.00,2.17,0.00,0.000,4,0.000,0.046,2459,3537,2259,0,0,0,0,0,0
$GC,9382,0.47,146.0,865.7,12.2,651,9387,0.00,2.15,0.00,0.000,6,0.000,0.030,2469,2143,2259,0,0,0,0,0,0
$GC,9710,0.47,146.0,830.6,10.5,667,9714,0.00,2.15,0.00,0.000,4,0.000,0.040,2481,723,2256,0,0,0,0,0,0
$GC,9795,0.47,146.0,821.7,10.3,671,9799,0.00,2.15,0.00,0.000,6,0.000,0.035,2481,2122,2258,0,0,0,0,0,0
$GC,10122,0.47,146.0,786.6,10.5,687,10126,0.00,2.17,0.00,0.000,4,0.000,0.045,2480,3540,2257,0,0,0,0,0,0
$GC,10162,0.47,146.0,782.2,10.9,689,10166,0.15,2.12,0.00,0.000,6,0.191,0.029,2454,2131,2256,0,0,0,0,0,0
$GC,10489,0.47,146.0,752.8,9.1,705,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2132,2256,0,0,0,0,0,0
$GC,10797,0.47,146.0,723.4,9.7,720,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2131,2256,0,0,0,0,0,0
$GC,11107,0.47,146.0,692.3,9.9,735,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2131,2255,0,0,0,0,0,0
$GC,11417,0.47,146.0,661.1,9.7,750,11420,0.00,2.15,0.00,0.000,4,0.000,0.041,2463,712,2255,0,0,0,0,0,0
$GC,11502,0.47,146.0,652.9,9.6,754,11506,0.00,2.17,0.00,0.000,6,0.000,0.036,2464,2139,2255,0,0,0,0,0,0
$GC,11829,0.47,146.0,621.6,9.7,770,11833,0.00,2.15,0.00,0.000,4,0.000,0.045,2462,3538,2255,0,0,0,0,0,0
$GC,11856,0.47,146.0,618.4,9.8,771,11860,0.00,2.12,0.00,0.000,6,0.000,0.028,2473,2122,2254,0,0,0,0,0,0
$GC,12178,0.47,146.0,585.7,10.4,787,12182,0.00,2.12,0.00,0.000,4,0.000,0.040,2484,716,2254,0,0,0,0,0,0
$GC,12250,0.47,146.0,578.0,10.6,790,12254,0.00,2.17,0.00,0.000,6,0.000,0.034,2484,2147,2254,0,0,0,0,0,0
$GC,12571,0.47,146.0,541.9,11.7,806,12575,0.00,2.15,0.00,0.000,4,0.000,0.044,2484,3540,2254,0,0,0,0,0,0
$GC,12597,0.47,146.0,538.4,11.5,807,12602,0.15,2.12,0.00,0.000,6,0.181,0.028,2456,2125,2254,0,0,0,0,0,0
$GC,12925,0.47,146.0,507.5,9.0,823,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2125,2254,0,0,0,0,0,0
$GC,13240,0.47,146.0,479.4,8.8,848,13244,0.00,2.12,0.00,0.000,4,0.000,0.040,2465,709,2254,0,0,0,0,0,0
$GC,13329,0.47,146.0,471.5,8.6,855,13336,0.00,2.15,0.00,0.000,6,0.000,0.033,2465,2127,2254,0,0,0,0,0,0
$GC,13654,0.47,146.0,442.9,9.0,886,13655,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2128,2254,0,0,0,0,0,0
$GC,13975,0.47,146.0,412.9,9.7,916,13979,0.00,2.15,0.00,0.000,4,0.000,0.044,2465,3541,2254,0,0,0,0,0,0
$GC,14018,0.47,146.0,407.8,11.0,919,14026,0.00,2.12,0.00,0.000,6,0.000,0.028,2475,2117,2254,0,0,0,0,0,0
$GC,14344,0.47,146.0,368.9,12.1,950,14348,0.00,2.17,0.00,0.000,4,0.000,0.041,2475,3535,2254,0,0,0,0,0,0
$GC,14373,0.47,146.0,365.5,12.2,952,14378,0.12,2.10,0.00,0.000,6,0.178,0.028,2454,2129,2254,0,0,0,0,0,0
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$STATE,18562,end climb,SURFACE_DEPTH_REACHED
$STATE,18563,begin surface coast
$FINISH,2.2,1.021207
$STATE,18569,end surface coast,CONTROL_FINISHED_OK
$STATE,18569,begin surface
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$TT8_MAMPS,0.027713,0.027713
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$10V_AH,10.1,16.798
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$FG_AHR_10Vo,0.000
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$MEM,322664
$DATA_FILE_SIZE,103848,1531
$CAP_FILE_SIZE,194897,0
$CFSIZE,260165632,241664000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,201136,2000.534,11953.052,32,0.8,32,-2.2