version: 66.09
glider: 181
mission: 6
dive: 63
start: 6 22 111 4 21 18
data:
$ID,181
$MISSION,6
$DIVE,63
$N_DIVES,70
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,350
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-39596.668
$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,44
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,220611,041401,2032.234,11953.350,37,1.1,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.7
$GPS2,220611,042020,2032.383,11953.213,13,1.3,13,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.032,-0.303
$KALMAN_X,-42125.5,553.9,1179.0,32490.1,-6340.8
$KALMAN_Y,17016.1,-778.9,8.2,-84812.5,2825.5
$MHEAD_RNG_PITCHd_Wd,176.4,171506,-16.3,-11.000
$D_GRID,3208
$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,-0.57,-194.6,0.0,0.0,0,96,0.00,0.00,-77.65,0.000,2,0.000,0.000,142,2606,2698,0,0,0,0,0,0
$GC,99,-0.57,-194.6,3.9,-6.0,11,131,8.05,2.20,-17.33,0.000,4,0.239,0.044,2109,1180,3665,0,0,0,0,0,0
$GC,145,-0.57,-194.6,24.8,-46.8,17,153,0.00,2.28,0.00,0.000,6,0.000,0.047,2099,2586,3666,0,0,0,0,0,0
$GC,278,-0.57,-194.6,84.1,-40.3,42,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2588,3666,0,0,0,0,0,0
$GC,411,-0.57,-194.6,131.3,-42.4,67,419,0.00,1.88,0.00,0.000,4,0.000,0.042,2090,3794,3667,0,0,0,0,0,0
$GC,439,-0.57,-194.6,141.4,-37.6,71,447,0.00,1.83,0.00,0.000,6,0.000,0.027,2090,2584,3667,0,0,0,0,0,0
$GC,573,-0.57,-194.6,188.3,-35.3,96,581,0.00,2.08,0.00,0.000,4,0.000,0.030,2090,1196,3669,0,0,0,0,0,0
$GC,635,-0.57,-194.6,203.9,-20.2,107,644,0.10,2.20,0.00,0.000,6,0.148,0.039,2115,2605,3669,0,0,0,0,0,0
$GC,771,-0.57,-194.6,233.8,-23.5,132,779,0.00,1.83,0.00,0.000,4,0.000,0.045,2111,3775,3670,0,0,0,0,0,0
$GC,793,-0.57,-194.6,239.2,-23.6,135,801,0.00,1.77,0.00,0.000,6,0.000,0.027,2111,2584,3670,0,0,0,0,0,0
$GC,929,-0.57,-194.6,266.5,-19.4,152,932,0.00,2.00,0.00,0.000,4,0.000,0.029,2111,1210,3670,0,0,0,0,0,0
$GC,988,-0.57,-194.6,278.2,-18.1,157,995,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2597,3670,0,0,0,0,0,0
$GC,1186,-0.57,-194.6,315.4,-17.7,176,1190,0.00,1.80,0.00,0.000,4,0.000,0.046,2111,3785,3670,0,0,0,0,0,0
$GC,1247,-0.57,-194.6,325.3,-14.6,181,1254,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2605,3670,0,0,0,0,0,0
$GC,1445,-0.57,-194.6,357.3,-16.8,200,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2601,3669,0,0,0,0,0,0
$GC,1636,-0.57,-194.6,390.8,-18.4,218,1640,0.00,2.10,0.00,0.000,4,0.000,0.032,2111,1179,3668,0,0,0,0,0,0
$GC,1671,-0.57,-194.6,397.4,-18.6,221,1675,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2604,3668,0,0,0,0,0,0
$GC,1874,-0.57,-194.6,428.8,-15.7,240,1878,0.00,1.83,0.00,0.000,4,0.000,0.048,2103,3776,3665,0,0,0,0,0,0
$GC,1942,-0.57,-194.6,438.5,-13.1,246,1946,0.00,1.73,0.00,0.000,6,0.000,0.028,2103,2589,3664,0,0,0,0,0,0
$GC,2145,-0.57,-194.6,468.2,-15.0,265,2149,0.00,2.03,0.00,0.000,4,0.000,0.033,2103,1212,3663,0,0,0,0,0,0
$GC,2193,-0.57,-194.6,474.7,-13.8,269,2197,0.00,2.12,0.00,0.000,6,0.000,0.041,2095,2600,3662,0,0,0,0,0,0
$GC,2391,-0.57,-194.6,506.4,-16.5,287,2395,0.00,1.85,0.00,0.000,4,0.000,0.049,2086,3783,3659,0,0,0,0,0,0
$GC,2459,-0.57,-194.6,517.7,-13.8,293,2463,0.12,1.73,0.00,0.000,6,0.153,0.029,2121,2600,3658,0,0,0,0,0,0
$GC,2662,-0.57,-194.6,544.1,-12.8,312,2666,0.00,2.05,0.00,0.000,4,0.000,0.035,2121,1215,3656,0,0,0,0,0,0
$GC,2700,-0.57,-194.6,549.1,-12.4,315,2708,0.00,2.17,0.00,0.000,6,0.000,0.041,2113,2599,3655,0,0,0,0,0,0
$GC,2899,-0.57,-194.6,574.6,-13.0,334,2903,0.00,1.88,0.00,0.000,4,0.000,0.051,2112,3777,3654,0,0,0,0,0,0
$GC,2937,-0.57,-194.6,579.6,-12.1,337,2944,0.00,1.77,0.00,0.000,6,0.000,0.031,2112,2600,3653,0,0,0,0,0,0
$GC,3146,-0.57,-194.6,605.5,-12.8,355,3150,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1196,3651,0,0,0,0,0,0
$GC,3173,-0.57,-194.6,609.4,-12.9,356,3178,0.00,2.20,0.00,0.000,6,0.000,0.043,2112,2599,3651,0,0,0,0,0,0
$GC,3495,-0.57,-194.6,650.1,-12.9,372,3498,0.00,1.85,0.00,0.000,4,0.000,0.053,2111,3790,3648,0,0,0,0,0,0
$GC,3540,-0.57,-194.6,655.9,-12.1,374,3544,0.00,1.77,0.00,0.000,6,0.000,0.031,2111,2583,3647,0,0,0,0,0,0
$GC,3873,-0.57,-194.6,698.2,-12.8,390,3877,0.00,2.05,0.00,0.000,4,0.000,0.036,2111,1201,3644,0,0,0,0,0,0
$GC,3945,-0.57,-194.6,707.3,-11.4,393,3949,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2613,3643,0,0,0,0,0,0
$GC,4272,-0.57,-194.6,748.5,-12.1,409,4276,0.00,1.80,0.00,0.000,4,0.000,0.053,2111,3787,3640,0,0,0,0,0,0
$GC,4330,-0.57,-194.6,754.9,-10.5,411,4334,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2595,3640,0,0,0,0,0,0
$GC,4652,-0.57,-194.6,790.8,-11.0,427,4655,0.00,2.05,0.00,0.000,4,0.000,0.037,2110,1212,3636,0,0,0,0,0,0
$GC,4760,-0.57,-194.6,801.7,-10.0,431,4766,0.00,2.17,0.00,0.000,6,0.000,0.044,2112,2609,3636,0,0,0,0,0,0
$GC,5075,-0.57,-194.6,835.9,-11.0,447,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2609,3634,0,0,0,0,0,0
$GC,5386,-0.57,-194.6,872.5,-12.1,462,5390,0.00,1.80,0.00,0.000,4,0.000,0.054,2110,3780,3632,0,0,0,0,0,0
$GC,5414,-0.57,-194.6,876.3,-12.2,463,5418,0.00,1.77,0.00,0.000,6,0.000,0.031,2110,2603,3632,0,0,0,0,0,0
$GC,5741,-0.57,-194.6,915.1,-12.1,479,5744,0.00,2.10,0.00,0.000,4,0.000,0.037,2111,1209,3629,0,0,0,0,0,0
$GC,5818,-0.57,-194.6,924.5,-10.8,482,5822,0.00,2.15,0.00,0.000,6,0.000,0.043,2109,2601,3629,0,0,0,0,0,0
$GC,6141,-0.57,-194.6,962.8,-11.6,498,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2601,3627,0,0,0,0,0,0
$STATE,6385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6385,begin apogee
$GC,6392,-0.16,0.0,990.3,11.3,510,6547,0.40,0.00,148.95,1.110,6,0.129,0.000,2242,2111,2873,0,0,0,0,0,0
$STATE,6548,end apogee,CONTROL_FINISHED_OK
$STATE,6548,begin climb
$GC,6550,0.57,194.6,997.3,0.0,517,6715,0.68,0.00,159.77,1.079,6,0.075,0.000,2481,2111,2075,0,0,0,0,0,0
$GC,7018,0.57,194.6,949.6,12.6,540,7022,0.00,2.28,0.00,0.000,4,0.000,0.047,2481,3538,2065,0,0,0,0,0,0
$GC,7052,0.57,194.6,944.7,13.4,541,7059,0.00,2.20,0.00,0.000,6,0.000,0.031,2490,2128,2063,0,0,0,0,0,0
$GC,7368,0.57,194.6,904.0,12.6,557,7372,0.00,2.17,0.00,0.000,4,0.000,0.041,2501,712,2061,0,0,0,0,0,0
$GC,7485,0.57,194.6,889.7,11.8,562,7490,0.00,2.20,0.00,0.000,6,0.000,0.037,2501,2133,2061,0,0,0,0,0,0
$GC,7815,0.57,194.6,848.1,13.0,578,7819,0.00,2.17,0.00,0.000,4,0.000,0.047,2501,3539,2059,0,0,0,0,0,0
$GC,7848,0.57,194.6,843.0,14.6,579,7855,0.00,2.17,0.00,0.000,6,0.000,0.032,2510,2118,2059,0,0,0,0,0,0
$GC,8164,0.57,194.6,798.4,14.0,595,8168,0.00,2.15,0.00,0.000,4,0.000,0.043,2522,715,2058,0,0,0,0,0,0
$GC,8295,0.57,194.6,780.7,13.0,601,8300,0.15,2.17,0.00,0.000,6,0.174,0.037,2484,2135,2059,0,0,0,0,0,0
$GC,8622,0.57,194.6,743.2,11.0,617,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2136,2057,0,0,0,0,0,0
$GC,8931,0.57,194.6,707.1,12.0,632,8935,0.00,2.17,0.00,0.000,4,0.000,0.049,2484,3542,2057,0,0,0,0,0,0
$GC,8971,0.57,194.6,701.9,13.2,634,8975,0.00,2.15,0.00,0.000,6,0.000,0.032,2492,2117,2057,0,0,0,0,0,0
$GC,9298,0.57,194.6,659.2,13.3,650,9302,0.00,2.12,0.00,0.000,4,0.000,0.042,2502,719,2057,0,0,0,0,0,0
$GC,9415,0.57,194.6,643.9,12.8,655,9419,0.00,2.15,0.00,0.000,6,0.000,0.037,2502,2135,2057,0,0,0,0,0,0
$GC,9737,0.57,194.6,599.9,13.7,671,9741,0.00,2.15,0.00,0.000,4,0.000,0.047,2503,3535,2056,0,0,0,0,0,0
$GC,9833,0.57,194.6,585.3,15.7,679,9837,0.00,2.12,0.00,0.000,6,0.000,0.032,2512,2124,2054,0,0,0,0,0,0
$GC,10031,0.57,194.6,556.6,14.7,697,10035,0.00,2.12,0.00,0.000,4,0.000,0.043,2522,722,2056,0,0,0,0,0,0
$GC,10085,0.57,194.6,548.6,14.3,701,10094,0.10,2.17,0.00,0.000,6,0.151,0.038,2482,2123,2056,0,0,0,0,0,0
$GC,10284,0.57,194.6,524.3,12.3,720,10288,0.00,2.17,0.00,0.000,4,0.000,0.047,2481,3541,2056,0,0,0,0,0,0
$GC,10305,0.57,194.6,521.3,12.8,721,10312,0.00,2.17,0.00,0.000,6,0.000,0.031,2489,2128,2056,0,0,0,0,0,0
$GC,10503,0.57,194.6,494.3,13.9,740,10507,0.00,2.15,0.00,0.000,4,0.000,0.043,2499,707,2056,0,0,0,0,0,0
$GC,10610,0.57,194.6,479.6,13.2,749,10614,0.00,2.15,0.00,0.000,6,0.000,0.037,2500,2127,2056,0,0,0,0,0,0
$GC,10808,0.57,194.6,452.1,14.1,767,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2128,2056,0,0,0,0,0,0
$GC,10999,0.57,194.6,425.5,13.3,785,11003,0.00,2.15,0.00,0.000,4,0.000,0.041,2509,716,2059,0,0,0,0,0,0
$GC,11038,0.57,194.6,420.2,13.0,788,11045,0.00,2.17,0.00,0.000,6,0.000,0.037,2509,2139,2056,0,0,0,0,0,0
$GC,11236,0.57,194.6,393.8,13.3,807,11240,0.00,2.15,0.00,0.000,4,0.000,0.046,2509,3539,2056,0,0,0,0,0,0
$GC,11265,0.57,194.6,389.8,13.8,809,11270,0.12,2.12,0.00,0.000,6,0.186,0.031,2489,2121,2055,0,0,0,0,0,0
$GC,11466,0.58,206.0,366.8,10.6,827,11479,0.00,2.20,6.95,0.705,4,0.000,0.042,2498,719,2029,0,0,0,0,0,0
$GC,11536,0.58,206.0,358.3,12.0,833,11540,0.00,2.15,0.00,0.000,6,0.000,0.037,2498,2132,2028,0,0,0,0,0,0
$GC,11734,0.58,206.8,336.9,11.0,851,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2132,2028,0,0,0,0,0,0
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$STATE,14621,end climb,SURFACE_DEPTH_REACHED
$STATE,14621,begin surface coast
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$STATE,14643,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.032956,0.032956
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$XPDR_PINGS,2
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$10V_AH,10.2,10.654
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$FG_AHR_10Vo,0.000
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$MEM,322688
$DATA_FILE_SIZE,86921,1298
$CAP_FILE_SIZE,175843,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,082754,2030.766,11951.825,38,1.2,39,-2.3