version: 66.09
glider: 181
mission: 6
dive: 102
start: 6 30 111 7 10 39
data:
$ID,181
$MISSION,6
$DIVE,102
$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,-40580.406
$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,52
$R_STBD_OVSHOOT,48
$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
$GPS1,300611,070306,2000.864,11951.283,25,1.6,25,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.3
$GPS2,300611,071014,2000.982,11951.283,15,1.6,15,-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,174.5,113965,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.47,-146.0,0.0,0.0,0,82,0.00,0.00,-62.75,0.000,2,0.000,0.000,205,2578,2560,0,0,0,0,0,0
$GC,85,-0.47,-146.0,3.4,-4.4,9,118,7.95,2.12,-18.70,0.000,4,0.236,0.042,2143,1185,3467,0,0,0,0,0,0
$GC,177,-0.47,-146.0,36.5,-32.1,24,185,0.00,2.22,0.00,0.000,6,0.000,0.044,2135,2579,3469,0,0,0,0,0,0
$GC,310,-0.47,-146.0,80.5,-29.6,49,318,0.00,1.88,0.00,0.000,4,0.000,0.044,2126,3783,3470,0,0,0,0,0,0
$GC,388,-0.47,-146.0,102.4,-25.7,63,396,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2624,3470,0,0,0,0,0,0
$GC,523,-0.47,-146.0,130.1,-21.5,88,531,0.00,2.10,0.00,0.000,4,0.000,0.026,2126,1203,3471,0,0,0,0,0,0
$GC,561,-0.47,-146.0,137.6,-18.8,94,569,0.00,2.28,0.00,0.000,6,0.000,0.037,2122,2665,3471,0,0,0,0,0,0
$GC,695,-0.47,-146.0,163.4,-20.5,119,703,0.00,1.73,0.00,0.000,4,0.000,0.041,2113,3790,3472,0,0,0,0,0,0
$GC,723,-0.47,-146.0,168.6,-19.1,123,732,0.10,1.67,0.00,0.000,6,0.145,0.025,2145,2661,3471,0,0,0,0,0,0
$GC,859,-0.47,-146.0,190.2,-15.9,148,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2657,3473,0,0,0,0,0,0
$GC,994,-0.47,-146.0,212.5,-15.7,166,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2657,3473,0,0,0,0,0,0
$GC,1314,-0.47,-146.0,257.6,-11.6,196,1318,0.00,2.12,0.00,0.000,4,0.000,0.029,2145,1199,3472,0,0,0,0,0,0
$GC,1400,-0.47,-146.0,266.4,-9.1,203,1404,0.00,2.33,0.00,0.000,6,0.000,0.034,2138,2730,3472,0,0,0,0,0,0
$GC,1725,-0.47,-146.0,303.7,-12.5,233,1729,0.00,2.28,0.00,0.000,4,0.000,0.029,2137,1196,3470,0,0,0,0,0,0
$GC,1753,-0.47,-146.0,307.4,-13.0,235,1757,0.00,2.30,0.00,0.000,6,0.000,0.037,2134,2707,3470,0,0,0,0,0,0
$GC,2079,-0.47,-146.0,347.9,-12.5,265,2083,0.00,2.25,0.00,0.000,4,0.000,0.029,2137,1195,3466,0,0,0,0,0,0
$GC,2102,-0.47,-146.0,350.7,-12.3,267,2106,0.00,2.33,0.00,0.000,6,0.000,0.038,2137,2712,3466,0,0,0,0,0,0
$GC,2428,-0.47,-146.0,390.1,-12.5,297,2432,0.00,2.25,0.00,0.000,4,0.000,0.032,2137,1201,3463,0,0,0,0,0,0
$GC,2535,-0.47,-146.0,402.8,-11.5,306,2539,0.00,2.28,0.00,0.000,6,0.000,0.038,2137,2686,3462,0,0,0,0,0,0
$GC,2860,-0.47,-146.0,442.0,-12.2,336,2864,0.00,2.20,0.00,0.000,4,0.000,0.033,2138,1209,3458,0,0,0,0,0,0
$GC,2894,-0.47,-146.0,445.7,-10.8,338,2901,0.00,2.25,0.00,0.000,6,0.000,0.040,2137,2670,3458,0,0,0,0,0,0
$GC,3219,-0.47,-146.0,477.6,-9.4,369,3223,0.00,2.17,0.00,0.000,4,0.000,0.034,2137,1212,3455,0,0,0,0,0,0
$GC,3315,-0.47,-146.0,486.3,-8.6,377,3319,0.00,2.25,0.00,0.000,6,0.000,0.041,2137,2667,3454,0,0,0,0,0,0
$GC,3640,-0.47,-146.0,514.5,-8.8,400,3644,0.00,2.17,0.00,0.000,4,0.000,0.034,2137,1212,3449,0,0,0,0,0,0
$GC,3690,-0.47,-146.0,519.2,-9.2,402,3694,0.00,2.22,0.00,0.000,6,0.000,0.041,2137,2655,3451,0,0,0,0,0,0
$GC,4012,-0.47,-146.0,547.3,-8.7,418,4016,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1213,3447,0,0,0,0,0,0
$GC,4089,-0.47,-146.0,554.6,-9.1,421,4093,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2632,3447,0,0,0,0,0,0
$GC,4411,-0.47,-146.0,587.4,-11.0,437,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2632,3444,0,0,0,0,0,0
$GC,4720,-0.47,-146.0,621.0,-10.9,452,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2633,3443,0,0,0,0,0,0
$GC,5029,-0.47,-146.0,655.1,-10.8,467,5033,0.00,2.15,0.00,0.000,4,0.000,0.035,2137,1204,3440,0,0,0,0,0,0
$GC,5085,-0.47,-146.0,661.4,-10.7,469,5092,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2623,3439,0,0,0,0,0,0
$GC,5401,-0.47,-146.0,694.2,-10.1,485,5405,0.00,2.15,0.00,0.000,4,0.000,0.036,2137,1200,3438,0,0,0,0,0,0
$GC,5433,-0.47,-146.0,697.5,-10.0,486,5437,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2621,3437,0,0,0,0,0,0
$GC,5756,-0.47,-146.0,726.8,-9.1,502,5760,0.00,2.12,0.00,0.000,4,0.000,0.036,2133,1211,3435,0,0,0,0,0,0
$GC,5789,-0.47,-146.0,730.1,-9.5,503,5796,0.00,2.17,0.00,0.000,6,0.000,0.042,2137,2621,3439,0,0,0,0,0,0
$GC,6105,-0.47,-146.0,758.8,-9.0,519,6109,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1209,3433,0,0,0,0,0,0
$GC,6176,-0.47,-146.0,765.6,-8.9,522,6181,0.00,2.17,0.00,0.000,6,0.000,0.043,2137,2616,3433,0,0,0,0,0,0
$GC,6499,-0.47,-146.0,796.4,-10.0,538,6502,0.00,2.12,0.00,0.000,4,0.000,0.037,2137,1206,3431,0,0,0,0,0,0
$GC,6543,-0.47,-146.0,801.1,-10.4,540,6547,0.00,2.12,0.00,0.000,6,0.000,0.042,2137,2586,3429,0,0,0,0,0,0
$GC,6864,-0.47,-146.0,831.3,-9.3,556,6868,0.00,2.08,0.00,0.000,4,0.000,0.037,2137,1211,3430,0,0,0,0,0,0
$GC,6908,-0.47,-146.0,835.6,-10.0,558,6912,0.00,2.12,0.00,0.000,6,0.000,0.042,2137,2590,3430,0,0,0,0,0,0
$GC,7235,-0.47,-146.0,863.5,-8.4,574,7239,0.00,1.83,0.00,0.000,4,0.000,0.052,2134,3781,3428,0,0,0,0,0,0
$GC,7274,-0.47,-146.0,866.6,-8.2,575,7281,0.00,1.75,0.00,0.000,6,0.000,0.030,2137,2590,3428,0,0,0,0,0,0
$GC,7590,-0.47,-146.0,890.6,-7.6,591,7594,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1205,3427,0,0,0,0,0,0
$GC,7685,-0.47,-146.0,897.9,-7.3,595,7689,0.00,2.12,0.00,0.000,6,0.000,0.041,2137,2587,3427,0,0,0,0,0,0
$GC,8013,-0.47,-146.0,922.7,-7.7,611,8017,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1210,3425,0,0,0,0,0,0
$GC,8086,-0.47,-146.0,928.6,-7.5,614,8090,0.00,2.10,0.00,0.000,6,0.000,0.042,2137,2568,3425,0,0,0,0,0,0
$GC,8407,-0.47,-146.0,952.3,-7.1,630,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2569,3424,0,0,0,0,0,0
$GC,8717,-0.47,-146.0,971.8,-6.1,645,8721,0.00,2.08,0.00,0.000,4,0.000,0.037,2137,1200,3423,0,0,0,0,0,0
$GC,8783,-0.47,-146.0,976.1,-6.4,648,8787,0.00,2.10,0.00,0.000,6,0.000,0.041,2137,2560,3423,0,0,0,0,0,0
$STATE,9005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9005,begin apogee
$GC,9012,-0.16,0.0,990.1,6.4,659,9128,0.32,0.00,109.88,1.118,4,0.127,0.000,2244,2115,2868,0,0,0,0,0,0
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9129,begin climb
$GC,9131,0.47,146.0,992.5,0.0,664,9262,0.62,2.28,120.05,1.086,4,0.089,0.041,2452,715,2273,0,0,0,0,0,0
$GC,9269,0.47,146.0,984.9,9.0,671,9273,0.00,2.33,0.00,0.000,6,0.000,0.035,2451,2136,2272,0,0,0,0,0,0
$GC,9596,0.47,146.0,950.8,9.8,687,9600,0.00,2.20,0.00,0.000,4,0.000,0.044,2451,3539,2265,0,0,0,0,0,0
$GC,9628,0.47,146.0,947.1,10.4,688,9636,0.00,2.20,0.00,0.000,6,0.000,0.030,2461,2114,2264,0,0,0,0,0,0
$GC,9945,0.47,146.0,914.5,10.5,704,9949,0.00,2.15,0.00,0.000,4,0.000,0.041,2472,715,2262,0,0,0,0,0,0
$GC,10058,0.47,146.0,902.8,10.5,709,10062,0.00,2.17,0.00,0.000,6,0.000,0.035,2472,2125,2262,0,0,0,0,0,0
$GC,10386,0.47,146.0,866.8,11.0,725,10389,0.00,2.15,0.00,0.000,4,0.000,0.039,2481,722,2261,0,0,0,0,0,0
$GC,10424,0.47,146.0,862.4,10.7,726,10431,0.00,2.17,0.00,0.000,6,0.000,0.036,2481,2104,2261,0,0,0,0,0,0
$GC,10741,0.47,146.0,828.3,10.7,742,10745,0.00,2.22,0.00,0.000,4,0.000,0.045,2482,3542,2261,0,0,0,0,0,0
$GC,10803,0.47,146.0,820.6,12.4,745,10808,0.15,2.17,0.00,0.000,6,0.194,0.029,2456,2099,2259,0,0,0,0,0,0
$GC,11130,0.47,146.0,787.8,9.8,761,11134,0.00,2.10,0.00,0.000,4,0.000,0.040,2465,713,2259,0,0,0,0,0,0
$GC,11208,0.47,146.0,780.0,9.7,764,11215,0.00,2.15,0.00,0.000,6,0.000,0.034,2465,2095,2259,0,0,0,0,0,0
$GC,11524,0.47,146.0,747.1,10.5,780,11529,0.00,2.22,0.00,0.000,4,0.000,0.044,2465,3542,2258,0,0,0,0,0,0
$GC,11551,0.47,146.0,743.9,10.4,781,11555,0.00,2.17,0.00,0.000,6,0.000,0.028,2475,2098,2258,0,0,0,0,0,0
$GC,11873,0.47,146.0,709.7,10.5,797,11877,0.00,2.08,0.00,0.000,4,0.000,0.040,2485,721,2258,0,0,0,0,0,0
$GC,12026,0.47,146.0,692.7,10.9,803,12033,0.12,2.10,0.00,0.000,6,0.172,0.034,2454,2101,2258,0,0,0,0,0,0
$GC,12342,0.47,146.0,662.2,9.7,819,12346,0.00,2.20,0.00,0.000,4,0.000,0.045,2454,3535,2257,0,0,0,0,0,0
$GC,12380,0.47,146.0,658.1,10.0,820,12387,0.00,2.22,0.00,0.000,6,0.000,0.030,2463,2085,2257,0,0,0,0,0,0
$GC,12696,0.47,146.0,625.5,10.7,836,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2084,2257,0,0,0,0,0,0
$GC,13006,0.47,146.0,591.9,11.1,851,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2084,2257,0,0,0,0,0,0
$GC,13315,0.47,146.0,560.1,10.1,866,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2084,2257,0,0,0,0,0,0
$GC,13624,0.47,146.0,531.4,8.8,881,13628,0.00,2.05,0.00,0.000,4,0.000,0.040,2470,719,2257,0,0,0,0,0,0
$GC,13670,0.47,146.0,527.3,8.7,883,13674,0.00,2.05,0.00,0.000,6,0.000,0.034,2473,2078,2257,0,0,0,0,0,0
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$STATE,19552,end climb,SURFACE_DEPTH_REACHED
$STATE,19553,begin surface coast
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$STATE,19587,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,17.328
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,110498,1618
$CAP_FILE_SIZE,212468,0
$CFSIZE,260165632,241324032
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