version: 66.09
glider: 181
mission: 6
dive: 371
start: 8 19 111 21 9 8
data:
$ID,181
$MISSION,6
$DIVE,371
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,-41002.824
$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,48
$R_STBD_OVSHOOT,53
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,190811,205906,2136.635,11957.962,26,1.3,26,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.0
$GPS2,190811,210843,2136.583,11957.799,8,1.3,14,-2.6
$SPEED_LIMITS,0.204,0.329
$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,181.8,290016,-16.3,-11.786
$D_GRID,3020
$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,-0.54,-219.0,0.0,0.0,0,84,0.00,0.00,-64.25,0.000,2,0.000,0.000,198,2656,2265,0,0,0,0,0,0
$GC,87,-0.54,-219.0,3.1,-3.0,10,136,8.10,2.25,-34.17,0.000,4,0.229,0.037,2132,1184,3764,0,0,0,0,0,0
$GC,227,-0.54,-219.0,39.4,-23.3,33,234,0.00,2.17,0.00,0.000,6,0.000,0.037,2123,2584,3765,0,0,0,0,0,0
$GC,366,-0.54,-219.0,81.6,-28.8,58,374,0.00,1.88,0.00,0.000,4,0.000,0.043,2113,3783,3764,0,0,0,0,0,0
$GC,453,-0.54,-219.0,106.4,-23.7,73,459,0.00,1.73,0.00,0.000,6,0.000,0.022,2114,2613,3764,0,0,0,0,0,0
$GC,592,-0.54,-219.0,137.4,-23.6,98,600,0.12,0.00,0.00,0.000,6,0.164,0.000,2145,2609,3764,0,0,0,0,0,0
$GC,734,-0.54,-219.0,159.1,-12.6,123,740,0.00,1.80,0.00,0.000,4,0.000,0.039,2139,3785,3765,0,0,0,0,0,0
$GC,781,-0.54,-219.0,164.3,-10.5,131,788,0.00,1.62,0.00,0.000,6,0.000,0.022,2138,2682,3765,0,0,0,0,0,0
$GC,919,-0.54,-219.0,180.7,-13.0,156,928,0.00,2.17,0.00,0.000,4,0.000,0.027,2138,1215,3765,0,0,0,0,0,0
$GC,974,-0.54,-219.0,187.1,-11.6,165,981,0.00,2.20,0.00,0.000,6,0.000,0.032,2139,2667,3765,0,0,0,0,0,0
$GC,1118,-0.54,-219.0,204.6,-12.2,188,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2667,3765,0,0,0,0,0,0
$GC,1438,-0.54,-219.0,243.5,-13.2,218,1441,0.00,1.70,0.00,0.000,4,0.000,0.042,2130,3787,3764,0,0,0,0,0,0
$GC,1495,-0.54,-219.0,250.7,-11.2,223,1499,0.00,1.65,0.00,0.000,6,0.000,0.023,2130,2638,3764,0,0,0,0,0,0
$GC,1826,-0.54,-219.0,292.1,-12.4,254,1830,0.00,2.10,0.00,0.000,4,0.000,0.028,2130,1196,3761,0,0,0,0,0,0
$GC,1858,-0.54,-219.0,296.6,-13.2,256,1865,0.00,2.25,0.00,0.000,6,0.000,0.033,2126,2679,3762,0,0,0,0,0,0
$GC,2186,-0.54,-219.0,338.6,-13.2,287,2189,0.00,1.67,0.00,0.000,4,0.000,0.044,2126,3789,3758,0,0,0,0,0,0
$GC,2209,-0.54,-219.0,342.1,-13.4,289,2213,0.00,1.65,0.00,0.000,6,0.000,0.024,2125,2646,3758,0,0,0,0,0,0
$GC,2540,-0.54,-219.0,383.4,-12.2,320,2544,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1203,3755,0,0,0,0,0,0
$GC,2557,-0.54,-219.0,385.3,-11.9,321,2562,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2682,3755,0,0,0,0,0,0
$GC,2885,-0.54,-219.0,421.2,-10.8,351,2889,0.00,2.20,0.00,0.000,4,0.000,0.028,2125,1202,3752,0,0,0,0,0,0
$GC,2940,-0.54,-219.0,427.0,-9.3,355,2947,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2665,3752,0,0,0,0,0,0
$GC,3266,-0.54,-219.0,460.7,-10.1,386,3270,0.00,1.75,0.00,0.000,4,0.000,0.044,2124,3786,3750,0,0,0,0,0,0
$GC,3345,-0.54,-219.0,467.6,-7.7,393,3349,0.00,1.67,0.00,0.000,6,0.000,0.024,2124,2663,3750,0,0,0,0,0,0
$GC,3676,-0.54,-219.0,498.9,-9.8,424,3680,0.00,2.15,0.00,0.000,4,0.000,0.029,2124,1200,3746,0,0,0,0,0,0
$GC,3764,-0.54,-219.0,507.1,-8.6,428,3768,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2655,3745,0,0,0,0,0,0
$GC,4087,-0.54,-219.0,538.5,-9.9,444,4091,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1201,3743,0,0,0,0,0,0
$GC,4143,-0.54,-219.0,544.1,-9.3,446,4150,0.00,2.20,0.00,0.000,6,0.000,0.035,2124,2633,3742,0,0,0,0,0,0
$GC,4459,-0.54,-219.0,573.8,-9.3,462,4463,0.00,2.15,0.00,0.000,4,0.000,0.030,2124,1198,3740,0,0,0,0,0,0
$GC,4483,-0.54,-219.0,576.0,-9.4,463,4487,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2615,3740,0,0,0,0,0,0
$GC,4804,-0.54,-219.0,605.5,-9.4,479,4808,0.00,1.80,0.00,0.000,4,0.000,0.047,2124,3776,3737,0,0,0,0,0,0
$GC,4837,-0.54,-219.0,608.7,-9.5,480,4841,0.00,1.73,0.00,0.000,6,0.000,0.025,2123,2595,3737,0,0,0,0,0,0
$GC,5160,-0.54,-219.0,639.8,-10.0,496,5164,0.00,2.05,0.00,0.000,4,0.000,0.030,2124,1206,3734,0,0,0,0,0,0
$GC,5232,-0.54,-219.0,646.7,-8.4,499,5236,0.00,2.12,0.00,0.000,6,0.000,0.034,2115,2588,3734,0,0,0,0,0,0
$GC,5555,-0.54,-219.0,678.0,-9.7,515,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2591,3731,0,0,0,0,0,0
$GC,5863,-0.54,-219.0,707.7,-9.7,530,5867,0.00,1.85,0.00,0.000,4,0.000,0.048,2112,3784,3729,0,0,0,0,0,0
$GC,5890,-0.54,-219.0,710.1,-9.6,531,5895,0.12,1.75,0.00,0.000,6,0.133,0.026,2149,2590,3728,0,0,0,0,0,0
$GC,6223,-0.54,-219.0,730.2,-5.9,547,6226,0.00,2.05,0.00,0.000,4,0.000,0.030,2149,1202,3727,0,0,0,0,0,0
$GC,6289,-0.54,-219.0,735.0,-6.6,550,6293,0.00,2.10,0.00,0.000,6,0.000,0.034,2150,2576,3726,0,0,0,0,0,0
$GC,6618,-0.54,-219.0,756.7,-6.8,566,6621,0.00,1.85,0.00,0.000,4,0.000,0.046,2149,3780,3724,0,0,0,0,0,0
$GC,6690,-0.54,-219.0,762.6,-8.5,569,6694,0.00,1.80,0.00,0.000,6,0.000,0.024,2149,2586,3723,0,0,0,0,0,0
$GC,7019,-0.54,-219.0,788.8,-8.2,585,7022,0.00,2.05,0.00,0.000,4,0.000,0.031,2158,1206,3722,0,0,0,0,0,0
$GC,7208,-0.54,-219.0,805.7,-8.8,593,7212,0.00,2.10,0.00,0.000,6,0.000,0.033,2157,2575,3721,0,0,0,0,0,0
$GC,7531,-0.54,-219.0,835.9,-9.8,609,7535,0.00,2.08,0.00,0.000,4,0.000,0.031,2159,1202,3720,0,0,0,0,0,0
$GC,7678,-0.54,-219.0,851.0,-10.6,615,7685,0.00,2.12,0.00,0.000,6,0.000,0.034,2159,2580,3719,0,0,0,0,0,0
$GC,7995,-0.54,-219.0,882.2,-9.8,631,7999,0.00,2.08,0.00,0.000,4,0.000,0.031,2159,1200,3718,0,0,0,0,0,0
$GC,8064,-0.54,-219.0,889.0,-9.8,634,8068,0.00,2.10,0.00,0.000,6,0.000,0.035,2159,2563,3717,0,0,0,0,0,0
$GC,8391,-0.54,-219.0,919.6,-9.2,650,8395,0.00,2.08,0.00,0.000,4,0.000,0.033,2160,1200,3716,0,0,0,0,0,0
$GC,8452,-0.54,-219.0,925.3,-9.4,652,8459,0.00,2.10,0.00,0.000,6,0.000,0.036,2160,2556,3715,0,0,0,0,0,0
$GC,8769,-0.54,-219.0,952.2,-8.6,668,8772,0.00,2.05,0.00,0.000,4,0.000,0.033,2160,1202,3713,0,0,0,0,0,0
$GC,8876,-0.54,-219.0,961.4,-8.5,672,8882,0.00,2.08,0.00,0.000,6,0.000,0.035,2160,2540,3714,0,0,0,0,0,0
$GC,9192,-0.54,-219.0,987.4,-8.2,688,9195,0.00,2.03,0.00,0.000,4,0.000,0.034,2159,1202,3712,0,0,0,0,0,0
$STATE,9222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9222,begin apogee
$GC,9230,-0.13,0.0,990.1,8.1,689,9400,0.30,0.00,165.40,1.090,4,0.073,0.000,2280,2130,2870,0,0,0,0,0,0
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9403,0.54,219.0,999.5,0.0,697,9590,0.60,2.33,178.43,1.066,4,0.047,0.042,2512,3540,1976,0,0,0,0,0,0
$GC,9708,0.54,219.0,970.1,15.7,711,9715,0.00,2.20,0.00,0.000,6,0.000,0.028,2522,2136,1974,0,0,0,0,0,0
$GC,10024,0.54,219.0,926.3,14.0,727,10028,0.00,2.20,0.00,0.000,4,0.000,0.041,2523,3539,1972,0,0,0,0,0,0
$GC,10203,0.54,219.0,898.7,15.0,735,10207,0.12,2.15,0.00,0.000,6,0.190,0.028,2501,2126,1976,0,0,0,0,0,0
$GC,10524,0.54,219.0,857.3,12.7,751,10528,0.00,2.15,0.00,0.000,4,0.000,0.039,2511,721,1972,0,0,0,0,0,0
$GC,10574,0.54,219.0,850.9,12.4,753,10578,0.00,2.12,0.00,0.000,6,0.000,0.034,2511,2110,1972,0,0,0,0,0,0
$GC,10902,0.54,219.0,808.8,12.7,769,10906,0.00,2.22,0.00,0.000,4,0.000,0.044,2511,3542,1971,0,0,0,0,0,0
$GC,10979,0.54,219.0,797.1,14.6,772,10986,0.00,2.17,0.00,0.000,6,0.000,0.028,2521,2134,1971,0,0,0,0,0,0
$GC,11295,0.54,219.0,753.5,13.6,788,11299,0.00,2.15,0.00,0.000,4,0.000,0.038,2531,714,1970,0,0,0,0,0,0
$GC,11407,0.54,219.0,738.0,13.4,793,11412,0.12,2.17,0.00,0.000,6,0.168,0.033,2495,2135,1970,0,0,0,0,0,0
$GC,11736,0.55,229.6,699.6,11.4,809,11751,0.00,2.22,8.68,0.812,4,0.000,0.044,2499,3526,1934,0,0,0,0,0,0
$GC,11813,0.55,229.6,689.6,12.7,812,11817,0.00,2.12,0.00,0.000,6,0.000,0.029,2508,2127,1934,0,0,0,0,0,0
$GC,12135,0.55,229.7,650.0,11.8,828,12139,0.00,2.15,0.00,0.000,4,0.000,0.038,2519,710,1934,0,0,0,0,0,0
$GC,12185,0.57,242.8,644.2,11.3,830,12202,0.00,2.20,12.27,0.810,6,0.000,0.033,2519,2141,1879,0,0,0,0,0,0
$GC,12526,0.57,242.8,604.3,12.1,847,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2141,1877,0,0,0,0,0,0
$GC,12834,0.57,242.8,566.7,12.3,862,12838,0.00,2.15,0.00,0.000,4,0.000,0.044,2518,3535,1881,0,0,0,0,0,0
$GC,12900,0.57,242.8,557.5,13.6,865,12904,0.00,2.17,0.00,0.000,6,0.000,0.027,2528,2123,1880,0,0,0,0,0,0
$GC,13228,0.57,242.8,516.1,12.5,881,13232,0.00,2.12,0.00,0.000,4,0.000,0.038,2539,720,1880,0,0,0,0,0,0
$GC,13426,0.57,242.8,491.3,12.3,893,13430,0.12,2.10,0.00,0.000,6,0.162,0.033,2506,2094,1882,0,0,0,0,0,0
$GC,13751,0.61,272.8,455.6,10.7,923,13785,0.00,2.33,24.35,0.750,4,0.000,0.044,2506,3537,1755,0,0,0,0,0,0
$GC,13846,0.61,272.8,444.6,12.0,931,13853,0.00,2.22,0.00,0.000,6,0.000,0.029,2514,2082,1755,0,0,0,0,0,0
$GC,14172,0.63,294.5,410.4,11.0,962,14195,0.00,2.17,17.92,0.700,4,0.000,0.038,2524,717,1668,0,0,0,0,0,0
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$STATE,17590,end climb,SURFACE_DEPTH_REACHED
$STATE,17590,begin surface coast
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$STATE,17615,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$MEM,323560
$DATA_FILE_SIZE,97023,1419
$CAP_FILE_SIZE,196413,0
$CFSIZE,260165632,216383488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200811,020506,2136.228,11957.627,28,1.0,28,-2.6