version: 66.09
glider: 181
mission: 6
dive: 373
start: 8 20 111 7 24 44
data:
$ID,181
$MISSION,6
$DIVE,373
$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,-41005.34
$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,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,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
$GPS1,200811,071754,2135.561,11957.151,23,1.0,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.3
$GPS2,200811,072419,2135.628,11957.069,8,1.1,14,-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,181.6,288268,-16.3,-11.786
$D_GRID,3064
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.60,0.000,2,0.000,0.000,208,2624,2281,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.3,10,135,8.27,2.17,-33.00,0.000,4,0.236,0.037,2134,1170,3759,0,0,0,0,0,0
$GC,175,-0.54,-219.0,25.8,-25.2,24,183,0.00,2.25,0.00,0.000,6,0.000,0.038,2125,2595,3757,0,0,0,0,0,0
$GC,316,-0.54,-219.0,69.7,-36.3,49,323,0.00,1.83,0.00,0.000,4,0.000,0.042,2115,3787,3756,0,0,0,0,0,0
$GC,385,-0.54,-219.0,94.2,-35.1,61,393,0.00,1.77,0.00,0.000,6,0.000,0.023,2116,2588,3756,0,0,0,0,0,0
$GC,525,-0.54,-219.0,129.8,-23.2,86,533,0.00,2.05,0.00,0.000,4,0.000,0.025,2116,1199,3756,0,0,0,0,0,0
$GC,547,-0.54,-219.0,134.6,-21.8,89,554,0.00,2.20,0.00,0.000,6,0.000,0.036,2112,2631,3757,0,0,0,0,0,0
$GC,687,-0.54,-219.0,159.4,-17.4,114,696,0.12,1.80,0.00,0.000,4,0.174,0.044,2136,3776,3757,0,0,0,0,0,0
$GC,731,-0.54,-219.0,166.8,-15.5,121,738,0.00,1.67,0.00,0.000,6,0.000,0.023,2137,2644,3758,0,0,0,0,0,0
$GC,872,-0.54,-219.0,185.7,-13.3,146,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2642,3758,0,0,0,0,0,0
$GC,1010,-0.54,-219.0,202.8,-12.5,169,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2642,3758,0,0,0,0,0,0
$GC,1331,-0.54,-219.0,246.8,-13.4,199,1335,0.00,2.10,0.00,0.000,4,0.000,0.027,2137,1199,3758,0,0,0,0,0,0
$GC,1375,-0.54,-219.0,252.5,-11.4,202,1382,0.00,2.20,0.00,0.000,6,0.000,0.032,2128,2655,3758,0,0,0,0,0,0
$GC,1701,-0.54,-219.0,294.2,-12.8,233,1704,0.00,1.70,0.00,0.000,4,0.000,0.044,2125,3782,3755,0,0,0,0,0,0
$GC,1739,-0.54,-219.0,299.1,-11.9,236,1746,0.00,1.67,0.00,0.000,6,0.000,0.022,2125,2652,3755,0,0,0,0,0,0
$GC,2065,-0.54,-219.0,336.5,-11.4,267,2069,0.00,2.12,0.00,0.000,4,0.000,0.027,2125,1206,3752,0,0,0,0,0,0
$GC,2126,-0.54,-219.0,342.8,-9.3,272,2133,0.00,2.17,0.00,0.000,6,0.000,0.033,2125,2636,3752,0,0,0,0,0,0
$GC,2452,-0.54,-219.0,377.0,-10.1,303,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2638,3750,0,0,0,0,0,0
$GC,2774,-0.54,-219.0,415.0,-12.7,333,2778,0.00,2.12,0.00,0.000,4,0.000,0.028,2125,1201,3747,0,0,0,0,0,0
$GC,2836,-0.54,-219.0,423.3,-12.2,338,2840,0.00,2.12,0.00,0.000,6,0.000,0.034,2125,2602,3747,0,0,0,0,0,0
$GC,3163,-0.54,-219.0,466.0,-12.7,368,3167,0.00,2.08,0.00,0.000,4,0.000,0.029,2124,1208,3744,0,0,0,0,0,0
$GC,3197,-0.54,-219.0,470.4,-12.3,370,3204,0.00,2.10,0.00,0.000,6,0.000,0.035,2125,2581,3744,0,0,0,0,0,0
$GC,3521,-0.54,-219.0,503.8,-8.9,399,3525,0.00,1.83,0.00,0.000,4,0.000,0.045,2117,3778,3741,0,0,0,0,0,0
$GC,3545,-0.54,-219.0,505.7,-8.7,400,3549,0.00,1.75,0.00,0.000,6,0.000,0.025,2117,2574,3740,0,0,0,0,0,0
$GC,3879,-0.54,-219.0,537.2,-10.6,416,3882,0.00,2.00,0.00,0.000,4,0.000,0.030,2117,1212,3738,0,0,0,0,0,0
$GC,3917,-0.54,-219.0,541.7,-10.8,417,3925,0.12,2.10,0.00,0.000,6,0.142,0.035,2148,2581,3738,0,0,0,0,0,0
$GC,4234,-0.54,-219.0,568.8,-9.3,433,4237,0.00,1.88,0.00,0.000,4,0.000,0.047,2141,3790,3735,0,0,0,0,0,0
$GC,4267,-0.54,-219.0,572.1,-9.2,434,4271,0.00,1.75,0.00,0.000,6,0.000,0.025,2145,2593,3734,0,0,0,0,0,0
$GC,4590,-0.54,-219.0,601.9,-8.7,450,4594,0.00,2.05,0.00,0.000,4,0.000,0.031,2141,1206,3731,0,0,0,0,0,0
$GC,4646,-0.54,-219.0,606.8,-8.4,452,4650,0.00,2.10,0.00,0.000,6,0.000,0.034,2139,2582,3731,0,0,0,0,0,0
$GC,4969,-0.54,-219.0,632.1,-8.4,468,4972,0.00,1.85,0.00,0.000,4,0.000,0.047,2139,3783,3729,0,0,0,0,0,0
$GC,5002,-0.54,-219.0,634.6,-8.5,469,5005,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2585,3729,0,0,0,0,0,0
$GC,5324,-0.54,-219.0,661.5,-8.7,485,5328,0.00,2.05,0.00,0.000,4,0.000,0.031,2139,1206,3727,0,0,0,0,0,0
$GC,5352,-0.54,-219.0,664.3,-8.9,486,5356,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2584,3726,0,0,0,0,0,0
$GC,5679,-0.54,-219.0,692.1,-8.8,502,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2585,3724,0,0,0,0,0,0
$GC,5989,-0.54,-219.0,718.0,-8.3,517,5993,0.00,2.10,0.00,0.000,4,0.000,0.031,2139,1200,3722,0,0,0,0,0,0
$GC,6039,-0.54,-219.0,722.4,-8.2,519,6044,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2593,3722,0,0,0,0,0,0
$GC,6362,-0.54,-219.0,745.4,-7.1,535,6365,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3781,3720,0,0,0,0,0,0
$GC,6522,-0.54,-219.0,758.0,-8.7,542,6526,0.00,1.95,0.00,0.000,6,0.000,0.025,2138,2494,3719,0,0,0,0,0,0
$GC,6856,-0.54,-219.0,782.3,-7.2,558,6860,0.00,1.90,0.00,0.000,4,0.000,0.032,2138,1208,3717,0,0,0,0,0,0
$GC,7114,-0.54,-219.0,802.8,-7.6,569,7118,0.00,1.95,0.00,0.000,6,0.000,0.032,2138,2460,3715,0,0,0,0,0,0
$GC,7436,-0.54,-219.0,824.2,-6.7,585,7440,0.00,1.88,0.00,0.000,4,0.000,0.031,2138,1205,3714,0,0,0,0,0,0
$GC,7694,-0.54,-219.0,844.0,-7.8,596,7698,0.00,1.92,0.00,0.000,6,0.000,0.033,2138,2467,3713,0,0,0,0,0,0
$GC,8017,-0.54,-219.0,868.7,-8.0,612,8020,0.00,1.90,0.00,0.000,4,0.000,0.031,2138,1199,3711,0,0,0,0,0,0
$GC,8275,-0.54,-219.0,890.6,-8.2,623,8279,0.00,1.92,0.00,0.000,6,0.000,0.035,2138,2451,3711,0,0,0,0,0,0
$GC,8597,-0.54,-219.0,915.0,-7.7,639,8601,0.00,1.88,0.00,0.000,4,0.000,0.033,2144,1206,3710,0,0,0,0,0,0
$GC,8854,-0.54,-219.0,936.2,-8.7,650,8858,0.00,1.88,0.00,0.000,6,0.000,0.034,2144,2436,3709,0,0,0,0,0,0
$GC,9176,-0.54,-219.0,961.7,-8.1,666,9180,0.00,1.85,0.00,0.000,4,0.000,0.033,2144,1204,3708,0,0,0,0,0,0
$GC,9434,-0.54,-219.0,982.5,-7.9,677,9438,0.00,1.88,0.00,0.000,6,0.000,0.034,2144,2435,3707,0,0,0,0,0,0
$STATE,9547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9547,begin apogee
$GC,9553,-0.13,0.0,990.9,7.4,683,9725,0.35,0.00,164.90,1.089,4,0.066,0.000,2289,2110,2869,0,0,0,0,0,0
$STATE,9725,end apogee,CONTROL_FINISHED_OK
$STATE,9726,begin climb
$GC,9728,0.54,219.0,1000.5,0.0,691,9917,0.60,2.38,178.82,1.063,4,0.054,0.042,2511,3541,1975,0,0,0,0,0,0
$GC,9959,0.54,219.0,981.9,16.2,702,9963,0.00,2.22,0.00,0.000,6,0.000,0.026,2521,2154,1974,0,0,0,0,0,0
$GC,10286,0.54,219.0,934.2,14.2,718,10290,0.00,2.20,0.00,0.000,4,0.000,0.037,2532,716,1973,0,0,0,0,0,0
$GC,10363,0.54,219.0,923.0,14.0,721,10371,0.15,2.15,0.00,0.000,6,0.161,0.032,2493,2115,1972,0,0,0,0,0,0
$GC,10680,0.56,235.0,885.3,11.2,737,10703,0.00,2.28,13.57,0.946,4,0.000,0.043,2493,3528,1911,0,0,0,0,0,0
$GC,10741,0.56,235.0,877.9,12.1,739,10748,0.00,2.15,0.00,0.000,6,0.000,0.027,2502,2117,1911,0,0,0,0,0,0
$GC,11058,0.59,255.7,842.6,11.0,755,11081,0.00,2.25,17.58,0.936,4,0.000,0.038,2512,711,1826,0,0,0,0,0,0
$GC,11150,0.59,255.7,832.1,11.8,759,11154,0.00,2.17,0.00,0.000,6,0.000,0.033,2512,2115,1825,0,0,0,0,0,0
$GC,11478,0.59,255.7,791.3,13.1,775,11482,0.00,2.22,0.00,0.000,4,0.000,0.044,2512,3541,1824,0,0,0,0,0,0
$GC,11550,0.59,255.7,780.5,14.7,778,11554,0.00,2.15,0.00,0.000,6,0.000,0.027,2522,2119,1824,0,0,0,0,0,0
$GC,11878,0.59,255.7,732.6,15.0,794,11882,0.00,2.12,0.00,0.000,4,0.000,0.037,2533,723,1823,0,0,0,0,0,0
$GC,11933,0.59,255.7,724.0,15.2,796,11937,0.00,2.17,0.00,0.000,6,0.000,0.032,2536,2138,1823,0,0,0,0,0,0
$GC,12249,0.59,255.7,674.7,15.8,811,12253,0.00,2.17,0.00,0.000,4,0.000,0.035,2542,713,1823,0,0,0,0,0,0
$GC,12281,0.59,255.7,669.5,15.3,812,12289,0.12,2.20,0.00,0.000,6,0.164,0.033,2510,2121,1824,0,0,0,0,0,0
$GC,12598,0.59,255.7,626.6,13.2,828,12602,0.00,2.20,0.00,0.000,4,0.000,0.044,2510,3535,1823,0,0,0,0,0,0
$GC,12653,0.59,255.7,618.8,13.2,830,12657,0.00,2.10,0.00,0.000,6,0.000,0.027,2518,2135,1823,0,0,0,0,0,0
$GC,12976,0.59,255.7,578.1,12.9,846,12980,0.00,2.15,0.00,0.000,4,0.000,0.037,2529,714,1823,0,0,0,0,0,0
$GC,13061,0.59,255.7,567.6,12.4,850,13065,0.00,2.15,0.00,0.000,6,0.000,0.032,2529,2120,1823,0,0,0,0,0,0
$GC,13388,0.61,272.0,529.2,11.2,866,13410,0.00,2.25,13.60,0.770,4,0.000,0.042,2529,3531,1760,0,0,0,0,0,0
$GC,13484,0.61,272.0,517.1,12.8,870,13488,0.00,2.12,0.00,0.000,6,0.000,0.028,2538,2130,1759,0,0,0,0,0,0
$GC,13813,0.61,272.0,475.8,13.1,894,13817,0.00,2.15,0.00,0.000,4,0.000,0.036,2549,711,1758,0,0,0,0,0,0
$GC,13989,0.61,272.0,452.1,13.4,909,13994,0.12,2.15,0.00,0.000,6,0.166,0.032,2516,2116,1759,0,0,0,0,0,0
$GC,14314,0.61,274.9,413.7,11.7,939,14326,0.00,2.25,4.07,0.538,4,0.000,0.044,2516,3528,1748,0,0,0,0,0,0
$GC,14377,0.61,274.9,405.6,12.7,944,14384,0.00,2.12,0.00,0.000,6,0.000,0.028,2524,2125,1748,0,0,0,0,0,0
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$STATE,17846,end climb,SURFACE_DEPTH_REACHED
$STATE,17846,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,323556
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$CAP_FILE_SIZE,197114,0
$CFSIZE,260165632,216174592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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