version: 66.09
glider: 181
mission: 6
dive: 103
start: 6 30 111 12 48 39
data:
$ID,181
$MISSION,6
$DIVE,103
$N_DIVES,110
$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,-40581.66
$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,45
$R_STBD_OVSHOOT,58
$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
$GPS1,300611,123855,2000.970,11951.907,40,1.2,40,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.7
$GPS2,300611,124813,2001.118,11951.962,9,1.0,14,-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,175.1,114062,-14.5,-8.250
$D_GRID,3479
$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,16,-0.47,-146.0,0.0,0.0,0,75,0.00,0.00,-56.42,0.000,2,0.000,0.000,197,2629,2505,0,0,0,0,0,0
$GC,78,-0.47,-146.0,3.1,-4.1,8,116,7.97,2.20,-20.40,0.000,4,0.236,0.042,2141,1180,3468,0,0,0,0,0,0
$GC,203,-0.47,-146.0,44.1,-25.8,29,212,0.00,2.22,0.00,0.000,6,0.000,0.042,2135,2574,3470,0,0,0,0,0,0
$GC,337,-0.47,-146.0,83.6,-29.2,54,345,0.00,1.88,0.00,0.000,4,0.000,0.044,2126,3777,3473,0,0,0,0,0,0
$GC,409,-0.47,-146.0,103.2,-20.6,67,418,0.00,1.80,0.00,0.000,6,0.000,0.024,2126,2575,3471,0,0,0,0,0,0
$GC,544,-0.47,-146.0,133.4,-20.7,92,552,0.00,1.90,0.00,0.000,4,0.000,0.042,2117,3787,3472,0,0,0,0,0,0
$GC,566,-0.47,-146.0,138.3,-20.8,95,575,0.08,1.70,0.00,0.000,6,0.159,0.025,2141,2645,3472,0,0,0,0,0,0
$GC,704,-0.47,-146.0,165.7,-20.0,120,712,0.00,2.15,0.00,0.000,4,0.000,0.030,2140,1203,3473,0,0,0,0,0,0
$GC,735,-0.47,-146.0,172.2,-19.0,125,744,0.00,2.15,0.00,0.000,6,0.000,0.036,2137,2588,3473,0,0,0,0,0,0
$GC,871,-0.47,-146.0,195.7,-19.1,150,879,0.00,1.83,0.00,0.000,4,0.000,0.043,2128,3775,3473,0,0,0,0,0,0
$GC,944,-0.47,-146.0,210.2,-16.2,158,953,0.00,1.75,0.00,0.000,6,0.000,0.024,2129,2595,3471,0,0,0,0,0,0
$GC,1272,-0.47,-146.0,260.0,-14.5,189,1275,0.00,2.03,0.00,0.000,4,0.000,0.030,2129,1203,3473,0,0,0,0,0,0
$GC,1318,-0.47,-146.0,266.8,-14.0,193,1322,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2605,3477,0,0,0,0,0,0
$GC,1648,-0.47,-146.0,318.4,-15.8,224,1652,0.00,1.77,0.00,0.000,4,0.000,0.044,2114,3787,3471,0,0,0,0,0,0
$GC,1698,-0.47,-146.0,326.7,-16.1,228,1706,0.08,1.77,0.00,0.000,6,0.133,0.025,2141,2598,3471,0,0,0,0,0,0
$GC,2024,-0.47,-146.0,370.6,-13.4,259,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2595,3470,0,0,0,0,0,0
$GC,2344,-0.47,-146.0,406.0,-10.8,289,2347,0.00,2.05,0.00,0.000,4,0.000,0.031,2141,1202,3464,0,0,0,0,0,0
$GC,2446,-0.47,-146.0,414.8,-7.7,298,2450,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2615,3464,0,0,0,0,0,0
$GC,2777,-0.47,-146.0,444.1,-8.6,329,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2615,3460,0,0,0,0,0,0
$GC,3097,-0.47,-146.0,471.1,-8.8,359,3101,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1203,3457,0,0,0,0,0,0
$GC,3113,-0.47,-146.0,473.0,-9.1,360,3121,0.00,2.17,0.00,0.000,6,0.000,0.039,2137,2594,3457,0,0,0,0,0,0
$GC,3448,-0.47,-146.0,506.6,-10.6,389,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2594,3454,0,0,0,0,0,0
$GC,3757,-0.47,-146.0,540.3,-11.4,404,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2594,3450,0,0,0,0,0,0
$GC,4066,-0.47,-146.0,572.6,-10.0,419,4070,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1205,3448,0,0,0,0,0,0
$GC,4107,-0.47,-146.0,576.5,-9.7,421,4111,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2606,3448,0,0,0,0,0,0
$GC,4434,-0.47,-146.0,606.6,-9.2,437,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2607,3444,0,0,0,0,0,0
$GC,4743,-0.47,-146.0,635.0,-9.1,452,4747,0.00,1.80,0.00,0.000,4,0.000,0.050,2135,3788,3443,0,0,0,0,0,0
$GC,4767,-0.47,-146.0,637.2,-9.2,453,4771,0.00,1.80,0.00,0.000,6,0.000,0.028,2135,2589,3442,0,0,0,0,0,0
$GC,5100,-0.47,-146.0,667.3,-9.1,469,5103,0.00,2.05,0.00,0.000,4,0.000,0.034,2135,1199,3440,0,0,0,0,0,0
$GC,5211,-0.47,-146.0,678.0,-9.5,474,5215,0.00,2.10,0.00,0.000,6,0.000,0.039,2125,2570,3439,0,0,0,0,0,0
$GC,5538,-0.47,-146.0,712.4,-10.8,490,5542,0.00,1.85,0.00,0.000,4,0.000,0.049,2116,3783,3438,0,0,0,0,0,0
$GC,5607,-0.47,-146.0,719.2,-9.6,493,5611,0.12,1.77,0.00,0.000,6,0.153,0.029,2151,2578,3434,0,0,0,0,0,0
$GC,5940,-0.47,-146.0,747.1,-8.4,509,5943,0.00,2.05,0.00,0.000,4,0.000,0.034,2152,1194,3435,0,0,0,0,0,0
$GC,6023,-0.47,-146.0,754.6,-8.7,512,6030,0.00,2.15,0.00,0.000,6,0.000,0.039,2152,2559,3434,0,0,0,0,0,0
$GC,6340,-0.47,-146.0,782.6,-9.3,528,6343,0.00,2.05,0.00,0.000,4,0.000,0.034,2152,1195,3433,0,0,0,0,0,0
$GC,6400,-0.47,-146.0,788.7,-9.5,530,6408,0.00,2.12,0.00,0.000,6,0.000,0.040,2153,2548,3432,0,0,0,0,0,0
$GC,6717,-0.47,-146.0,817.0,-9.0,546,6720,0.00,2.03,0.00,0.000,4,0.000,0.034,2152,1197,3432,0,0,0,0,0,0
$GC,6750,-0.47,-146.0,820.2,-8.8,547,6753,0.00,2.10,0.00,0.000,6,0.000,0.040,2152,2564,3431,0,0,0,0,0,0
$GC,7072,-0.47,-146.0,847.7,-8.2,563,7075,0.00,1.85,0.00,0.000,4,0.000,0.050,2144,3780,3430,0,0,0,0,0,0
$GC,7105,-0.47,-146.0,850.6,-8.2,564,7108,0.00,1.83,0.00,0.000,6,0.000,0.029,2144,2544,3430,0,0,0,0,0,0
$GC,7427,-0.47,-146.0,878.0,-8.4,580,7430,0.00,2.00,0.00,0.000,4,0.000,0.036,2144,1193,3429,0,0,0,0,0,0
$GC,7521,-0.47,-146.0,885.8,-7.7,584,7525,0.00,2.08,0.00,0.000,6,0.000,0.040,2139,2546,3428,0,0,0,0,0,0
$GC,7848,-0.47,-146.0,913.0,-8.7,600,7852,0.00,2.05,0.00,0.000,4,0.000,0.036,2138,1196,3427,0,0,0,0,0,0
$GC,7875,-0.47,-146.0,915.5,-8.8,601,7880,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2543,3425,0,0,0,0,0,0
$GC,8203,-0.47,-146.0,942.9,-8.5,617,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2543,3426,0,0,0,0,0,0
$GC,8513,-0.47,-146.0,968.2,-8.0,632,8516,0.00,2.03,0.00,0.000,4,0.000,0.036,2141,1199,3425,0,0,0,0,0,0
$GC,8568,-0.47,-146.0,972.7,-7.8,634,8572,0.00,2.05,0.00,0.000,6,0.000,0.042,2138,2529,3425,0,0,0,0,0,0
$STATE,8826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8826,begin apogee
$GC,8832,-0.16,0.0,991.1,7.0,647,8948,0.32,0.00,110.22,1.115,4,0.125,0.000,2245,2113,2868,0,0,0,0,0,0
$STATE,8949,end apogee,CONTROL_FINISHED_OK
$STATE,8949,begin climb
$GC,8951,0.47,146.0,993.8,0.0,652,9082,0.62,2.25,119.88,1.086,4,0.088,0.041,2452,729,2273,0,0,0,0,0,0
$GC,9104,0.47,146.0,984.3,10.7,659,9111,0.00,2.28,0.00,0.000,6,0.000,0.035,2452,2128,2271,0,0,0,0,0,0
$GC,9421,0.47,146.0,949.1,10.7,675,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2128,2265,0,0,0,0,0,0
$GC,9730,0.47,146.0,916.3,10.4,690,9734,0.00,2.20,0.00,0.000,4,0.000,0.046,2452,3542,2263,0,0,0,0,0,0
$GC,9774,0.47,146.0,911.4,10.7,692,9778,0.00,2.15,0.00,0.000,6,0.000,0.029,2461,2126,2263,0,0,0,0,0,0
$GC,10102,0.47,146.0,881.6,9.0,708,10106,0.00,2.15,0.00,0.000,4,0.000,0.039,2472,710,2262,0,0,0,0,0,0
$GC,10214,0.49,160.3,872.7,7.7,713,10231,0.00,2.15,10.70,0.957,6,0.000,0.034,2472,2114,2215,0,0,0,0,0,0
$GC,10543,0.49,160.3,845.5,8.5,729,10547,0.00,2.20,0.00,0.000,4,0.000,0.045,2472,3536,2214,0,0,0,0,0,0
$GC,10576,0.49,160.3,841.7,9.5,730,10583,0.00,2.20,0.00,0.000,6,0.000,0.030,2482,2097,2214,0,0,0,0,0,0
$GC,10892,0.49,160.3,810.8,9.7,746,10896,0.00,2.08,0.00,0.000,4,0.000,0.040,2492,727,2214,0,0,0,0,0,0
$GC,11048,0.49,160.3,794.5,10.9,753,11053,0.10,2.12,0.00,0.000,6,0.159,0.035,2463,2086,2214,0,0,0,0,0,0
$GC,11375,0.49,160.3,763.7,9.6,769,11379,0.00,2.25,0.00,0.000,4,0.000,0.046,2463,3544,2213,0,0,0,0,0,0
$GC,11431,0.49,160.3,757.5,11.7,771,11438,0.00,2.20,0.00,0.000,6,0.000,0.029,2471,2088,2217,0,0,0,0,0,0
$GC,11747,0.49,160.3,722.6,11.5,787,11751,0.00,2.08,0.00,0.000,4,0.000,0.041,2481,718,2212,0,0,0,0,0,0
$GC,11792,0.49,160.3,717.3,12.0,789,11796,0.00,2.12,0.00,0.000,6,0.000,0.034,2482,2106,2212,0,0,0,0,0,0
$GC,12125,0.49,160.3,678.0,11.5,805,12129,0.00,2.12,0.00,0.000,4,0.000,0.040,2491,712,2212,0,0,0,0,0,0
$GC,12174,0.49,160.3,672.0,11.7,807,12179,0.12,2.12,0.00,0.000,6,0.175,0.034,2460,2083,2212,0,0,0,0,0,0
$GC,12496,0.49,160.3,639.6,10.0,823,12500,0.00,2.22,0.00,0.000,4,0.000,0.046,2460,3536,2211,0,0,0,0,0,0
$GC,12574,0.49,160.3,630.7,11.4,826,12582,0.00,2.22,0.00,0.000,6,0.000,0.030,2469,2084,2211,0,0,0,0,0,0
$GC,12890,0.49,160.3,597.8,10.4,842,12894,0.00,2.05,0.00,0.000,4,0.000,0.041,2479,720,2211,0,0,0,0,0,0
$GC,12963,0.49,160.3,590.0,10.4,845,12967,0.00,2.08,0.00,0.000,6,0.000,0.035,2479,2089,2211,0,0,0,0,0,0
$GC,13290,0.49,160.3,557.5,9.5,861,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2088,2211,0,0,0,0,0,0
$GC,13599,0.49,160.3,528.7,9.0,876,13603,0.00,2.22,0.00,0.000,4,0.000,0.046,2479,3538,2211,0,0,0,0,0,0
$GC,13654,0.49,160.3,522.8,11.0,878,13661,0.00,2.20,0.00,0.000,6,0.000,0.030,2489,2077,2211,0,0,0,0,0,0
$GC,13973,0.49,160.3,489.3,10.9,898,13976,0.00,2.05,0.00,0.000,4,0.000,0.041,2499,716,2211,0,0,0,0,0,0
$GC,14022,0.49,160.3,483.7,11.1,902,14030,0.10,2.10,0.00,0.000,6,0.154,0.035,2457,2070,2211,0,0,0,0,0,0
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$STATE,19551,end climb,SURFACE_DEPTH_REACHED
$STATE,19551,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,322688
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$CAP_FILE_SIZE,209774,0
$CFSIZE,260165632,241213440
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