version: 66.09
glider: 181
mission: 6
dive: 234
start: 7 24 111 7 23 39
data:
$ID,181
$MISSION,6
$DIVE,234
$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,300
$T_MISSION,340
$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,225
$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,-40813.84
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,240711,071607,1848.298,12013.304,35,1.0,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,240711,072314,1848.309,12013.345,12,1.3,12,-2.0
$SPEED_LIMITS,0.191,0.321
$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,314.8,31857,-15.3,-11.000
$D_GRID,1864
$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,16,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.88,0.000,2,0.000,0.000,202,2628,2269,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.1,-3.9,9,131,7.97,2.17,-30.27,0.000,4,0.228,0.038,2143,1176,3764,0,0,0,0,0,0
$GC,160,-0.52,-219.0,30.4,-46.5,20,169,0.00,2.25,0.00,0.000,6,0.000,0.044,2138,2570,3765,0,0,0,0,0,0
$GC,294,-0.52,-219.0,79.7,-36.7,45,302,0.00,1.92,0.00,0.000,4,0.000,0.047,2128,3784,3765,0,0,0,0,0,0
$GC,403,-0.52,-219.0,111.9,-24.6,65,411,0.00,1.75,0.00,0.000,6,0.000,0.023,2129,2605,3766,0,0,0,0,0,0
$GC,538,-0.52,-219.0,145.5,-25.2,90,546,0.00,2.08,0.00,0.000,4,0.000,0.026,2129,1207,3766,0,0,0,0,0,0
$GC,560,-0.52,-219.0,150.6,-22.4,93,569,0.00,2.25,0.00,0.000,6,0.000,0.036,2124,2645,3767,0,0,0,0,0,0
$GC,696,-0.52,-219.0,176.0,-18.4,118,704,0.00,1.77,0.00,0.000,4,0.000,0.044,2116,3784,3767,0,0,0,0,0,0
$GC,732,-0.52,-219.0,184.1,-20.9,124,741,0.10,1.67,0.00,0.000,6,0.134,0.024,2148,2652,3768,0,0,0,0,0,0
$GC,874,-0.52,-219.0,207.0,-15.1,146,878,0.00,2.10,0.00,0.000,4,0.000,0.028,2148,1213,3768,0,0,0,0,0,0
$GC,939,-0.52,-219.0,215.6,-11.3,151,946,0.00,2.17,0.00,0.000,6,0.000,0.034,2142,2650,3768,0,0,0,0,0,0
$GC,1264,-0.52,-219.0,258.9,-13.5,182,1268,0.00,1.73,0.00,0.000,4,0.000,0.045,2138,3784,3767,0,0,0,0,0,0
$GC,1287,-0.52,-219.0,262.0,-13.6,184,1291,0.00,1.65,0.00,0.000,6,0.000,0.023,2139,2646,3770,0,0,0,0,0,0
$GC,1618,-0.52,-219.0,307.7,-13.3,215,1622,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1194,3765,0,0,0,0,0,0
$GC,1647,-0.52,-219.0,311.4,-12.9,217,1651,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2638,3765,0,0,0,0,0,0
$GC,1974,-0.52,-219.0,354.0,-12.9,247,1978,0.00,1.73,0.00,0.000,4,0.000,0.045,2132,3782,3760,0,0,0,0,0,0
$GC,2002,-0.52,-219.0,357.8,-12.6,249,2008,0.00,1.70,0.00,0.000,6,0.000,0.024,2131,2602,3760,0,0,0,0,0,0
$GC,2327,-0.52,-219.0,400.5,-13.4,280,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2601,3757,0,0,0,0,0,0
$GC,2647,-0.52,-219.0,441.4,-12.1,310,2651,0.00,1.83,0.00,0.000,4,0.000,0.045,2125,3774,3754,0,0,0,0,0,0
$GC,2674,-0.52,-219.0,445.1,-12.6,312,2681,0.00,1.70,0.00,0.000,6,0.000,0.025,2125,2650,3753,0,0,0,0,0,0
$GC,2999,-0.52,-219.0,485.5,-12.6,343,3003,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1196,3751,0,0,0,0,0,0
$GC,3043,-0.52,-219.0,491.1,-11.6,346,3051,0.00,2.28,0.00,0.000,6,0.000,0.037,2125,2666,3750,0,0,0,0,0,0
$GC,3372,-0.52,-219.0,533.3,-12.8,366,3376,0.00,1.70,0.00,0.000,4,0.000,0.049,2124,3776,3747,0,0,0,0,0,0
$GC,3396,-0.52,-219.0,536.4,-13.4,367,3400,0.00,1.73,0.00,0.000,6,0.000,0.026,2128,2635,3746,0,0,0,0,0,0
$GC,3729,-0.52,-219.0,581.5,-13.4,383,3733,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1196,3744,0,0,0,0,0,0
$GC,3792,-0.52,-219.0,588.7,-10.5,386,3797,0.12,2.20,0.00,0.000,6,0.145,0.037,2152,2632,3744,0,0,0,0,0,0
$GC,4121,-0.52,-219.0,615.2,-7.5,402,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2632,3740,0,0,0,0,0,0
$GC,4429,-0.52,-219.0,637.2,-7.1,417,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2632,3738,0,0,0,0,0,0
$GC,4739,-0.52,-219.0,657.9,-6.7,432,4743,0.00,2.17,0.00,0.000,4,0.000,0.033,2152,1193,3737,0,0,0,0,0,0
$GC,4771,-0.52,-219.0,660.3,-6.8,433,4779,0.00,2.25,0.00,0.000,6,0.000,0.037,2152,2632,3734,0,0,0,0,0,0
$GC,5088,-0.52,-219.0,681.4,-6.7,449,5092,0.00,2.17,0.00,0.000,4,0.000,0.034,2152,1191,3732,0,0,0,0,0,0
$GC,5121,-0.52,-219.0,684.0,-6.8,450,5128,0.00,2.22,0.00,0.000,6,0.000,0.038,2152,2624,3733,0,0,0,0,0,0
$GC,5437,-0.52,-219.0,705.5,-7.1,466,5441,0.00,2.17,0.00,0.000,4,0.000,0.034,2152,1190,3733,0,0,0,0,0,0
$GC,5460,-0.52,-219.0,707.2,-7.2,467,5464,0.00,2.20,0.00,0.000,6,0.000,0.037,2152,2614,3730,0,0,0,0,0,0
$GC,5788,-0.52,-219.0,730.0,-6.8,483,5792,0.00,2.15,0.00,0.000,4,0.000,0.032,2151,1189,3728,0,0,0,0,0,0
$GC,5810,-0.52,-219.0,731.7,-6.8,484,5814,0.00,2.20,0.00,0.000,6,0.000,0.037,2152,2601,3728,0,0,0,0,0,0
$GC,6138,-0.52,-219.0,753.9,-7.0,500,6142,0.00,1.83,0.00,0.000,4,0.000,0.050,2152,3779,3726,0,0,0,0,0,0
$GC,6162,-0.52,-219.0,755.5,-7.0,501,6166,0.00,1.77,0.00,0.000,6,0.000,0.027,2152,2576,3726,0,0,0,0,0,0
$GC,6495,-0.52,-219.0,782.7,-8.9,517,6499,0.00,2.05,0.00,0.000,4,0.000,0.033,2152,1202,3725,0,0,0,0,0,0
$GC,6676,-0.52,-219.0,800.8,-10.5,525,6680,0.00,2.17,0.00,0.000,6,0.000,0.037,2152,2608,3724,0,0,0,0,0,0
$GC,7004,-0.52,-219.0,832.9,-9.6,541,7008,0.00,2.12,0.00,0.000,4,0.000,0.033,2158,1201,3722,0,0,0,0,0,0
$GC,7261,-0.52,-219.0,857.5,-9.2,552,7268,0.00,2.17,0.00,0.000,6,0.000,0.036,2158,2604,3718,0,0,0,0,0,0
$GC,7578,-0.52,-219.0,884.8,-8.8,568,7582,0.00,2.15,0.00,0.000,4,0.000,0.034,2160,1196,3720,0,0,0,0,0,0
$GC,7701,-0.52,-219.0,896.4,-9.1,573,7704,0.00,2.15,0.00,0.000,6,0.000,0.036,2166,2589,3719,0,0,0,0,0,0
$GC,8023,-0.52,-219.0,924.8,-9.1,589,8027,0.00,2.12,0.00,0.000,4,0.000,0.035,2160,1202,3718,0,0,0,0,0,0
$GC,8074,-0.52,-219.0,929.9,-9.3,591,8078,0.00,2.12,0.00,0.000,6,0.000,0.036,2160,2579,3718,0,0,0,0,0,0
$GC,8396,-0.52,-219.0,959.6,-9.4,607,8399,0.00,2.10,0.00,0.000,4,0.000,0.034,2160,1199,3717,0,0,0,0,0,0
$GC,8514,-0.52,-219.0,971.2,-10.0,612,8518,0.00,2.12,0.00,0.000,6,0.000,0.036,2160,2572,3716,0,0,0,0,0,0
$STATE,8724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8724,begin apogee
$GC,8731,-0.13,0.0,991.3,9.7,622,8901,0.30,0.00,162.88,1.094,4,0.062,0.000,2297,2120,2871,0,0,0,0,0,0
$STATE,8901,end apogee,CONTROL_FINISHED_OK
$STATE,8902,begin climb
$GC,8904,0.52,219.0,1002.5,0.0,630,9093,0.52,2.30,176.12,1.067,4,0.048,0.039,2503,722,1975,0,0,0,0,0,0
$GC,9104,0.52,219.0,991.7,11.4,639,9108,0.00,2.35,0.00,0.000,6,0.000,0.034,2503,2124,1975,0,0,0,0,0,0
$GC,9427,0.52,219.0,948.5,13.5,655,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2125,1973,0,0,0,0,0,0
$GC,9735,0.52,219.0,907.5,13.4,670,9739,0.00,2.25,0.00,0.000,4,0.000,0.046,2503,3542,1972,0,0,0,0,0,0
$GC,9775,0.52,219.0,901.7,15.2,672,9779,0.00,2.17,0.00,0.000,6,0.000,0.028,2513,2120,1972,0,0,0,0,0,0
$GC,10103,0.52,219.0,854.9,14.0,688,10107,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,715,1971,0,0,0,0,0,0
$GC,10191,0.52,219.0,842.2,13.8,692,10196,0.12,2.20,0.00,0.000,6,0.168,0.035,2492,2118,1971,0,0,0,0,0,0
$GC,10519,0.52,219.0,801.2,12.4,708,10523,0.00,2.22,0.00,0.000,4,0.000,0.047,2491,3544,1971,0,0,0,0,0,0
$GC,10568,0.52,219.0,794.0,14.4,710,10572,0.00,2.22,0.00,0.000,6,0.000,0.028,2500,2112,1970,0,0,0,0,0,0
$GC,10889,0.52,219.0,752.9,12.7,726,10893,0.00,2.12,0.00,0.000,4,0.000,0.039,2511,716,1970,0,0,0,0,0,0
$GC,10933,0.52,219.0,747.4,12.2,728,10937,0.00,2.15,0.00,0.000,6,0.000,0.034,2511,2112,1970,0,0,0,0,0,0
$GC,11254,0.52,219.0,707.8,11.9,744,11258,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,722,1969,0,0,0,0,0,0
$GC,11277,0.52,219.0,704.8,12.0,745,11282,0.12,2.12,0.00,0.000,6,0.162,0.035,2488,2100,1970,0,0,0,0,0,0
$GC,11606,0.53,226.8,670.5,10.7,761,11619,0.00,2.33,6.72,0.770,4,0.000,0.046,2488,3542,1944,0,0,0,0,0,0
$GC,11686,0.53,226.8,660.0,12.9,764,11694,0.00,2.20,0.00,0.000,6,0.000,0.028,2496,2120,1944,0,0,0,0,0,0
$GC,12003,0.53,226.8,620.6,12.6,780,12007,0.00,2.12,0.00,0.000,4,0.000,0.040,2507,720,1943,0,0,0,0,0,0
$GC,12111,0.53,226.8,606.7,13.0,785,12115,0.00,2.12,0.00,0.000,6,0.000,0.035,2507,2097,1944,0,0,0,0,0,0
$GC,12439,0.53,226.8,563.1,12.9,801,12443,0.00,2.25,0.00,0.000,4,0.000,0.047,2507,3545,1943,0,0,0,0,0,0
$GC,12505,0.53,226.8,553.4,14.0,804,12509,0.00,2.17,0.00,0.000,6,0.000,0.029,2517,2106,1944,0,0,0,0,0,0
$GC,12833,0.53,226.8,511.8,11.9,820,12837,0.00,2.10,0.00,0.000,4,0.000,0.040,2527,722,1943,0,0,0,0,0,0
$GC,12918,0.53,226.8,502.1,11.5,824,12923,0.12,2.12,0.00,0.000,6,0.163,0.035,2494,2102,1943,0,0,0,0,0,0
$GC,13243,0.56,244.2,469.8,10.4,853,13267,0.00,2.30,14.48,0.752,4,0.000,0.047,2494,3541,1874,0,0,0,0,0,0
$GC,13328,0.56,244.2,459.5,12.3,860,13335,0.00,2.25,0.00,0.000,6,0.000,0.029,2503,2077,1874,0,0,0,0,0,0
$GC,13654,0.56,244.2,422.7,11.5,891,13658,0.00,2.08,0.00,0.000,4,0.000,0.039,2514,716,1873,0,0,0,0,0,0
$GC,13744,0.56,244.2,412.2,11.6,899,13748,0.00,2.10,0.00,0.000,6,0.000,0.034,2513,2083,1874,0,0,0,0,0,0
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$STATE,17416,end climb,SURFACE_DEPTH_REACHED
$STATE,17416,begin surface coast
$FINISH,0.1,1.020384
$STATE,17433,end surface coast,CONTROL_FINISHED_OK
$STATE,17433,begin surface
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$XPDR_PINGS,1
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$10V_AH,9.9,35.967
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$FG_AHR_10Vo,0.000
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$MEM,322832
$DATA_FILE_SIZE,93940,1390
$CAP_FILE_SIZE,194241,0
$CFSIZE,260165632,229392384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,121654,1849.884,12011.849,25,1.3,43,-2.0