version: 66.09
glider: 181
mission: 6
dive: 67
start: 6 22 111 21 23 3
data:
$ID,181
$MISSION,6
$DIVE,67
$N_DIVES,75
$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,2
$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,-39601.699
$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,42
$R_STBD_OVSHOOT,34
$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
$GPS1,220611,211555,2031.050,11957.286,38,1.2,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-61.0
$GPS2,220611,212238,2030.998,11957.201,15,1.2,15,-2.3
$SPEED_LIMITS,0.191,0.305
$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,180.6,168600,-16.3,-11.000
$D_GRID,3315
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-82.40,0.000,2,0.000,0.000,158,2580,2682,0,0,0,0,0,0
$GC,104,-0.57,-194.6,3.9,-5.2,11,137,8.10,2.10,-17.48,0.000,4,0.242,0.037,2117,1163,3664,0,0,0,0,0,0
$GC,166,-0.57,-194.6,30.8,-44.6,20,175,0.00,2.33,0.00,0.000,6,0.000,0.050,2111,2590,3666,0,0,0,0,0,0
$GC,304,-0.57,-194.6,89.7,-45.9,45,312,0.00,2.15,0.00,0.000,4,0.000,0.031,2111,1185,3666,0,0,0,0,0,0
$GC,459,-0.57,-194.6,129.5,-18.6,73,467,0.00,2.22,0.00,0.000,6,0.000,0.040,2111,2601,3668,0,0,0,0,0,0
$GC,597,-0.57,-194.6,158.3,-23.2,98,605,0.00,1.85,0.00,0.000,4,0.000,0.047,2103,3780,3667,0,0,0,0,0,0
$GC,629,-0.57,-194.6,166.5,-25.5,103,637,0.00,1.80,0.00,0.000,6,0.000,0.025,2103,2582,3670,0,0,0,0,0,0
$GC,766,-0.57,-194.6,197.2,-22.9,128,775,0.00,2.05,0.00,0.000,4,0.000,0.028,2103,1202,3670,0,0,0,0,0,0
$GC,830,-0.57,-194.6,209.9,-16.6,139,838,0.00,2.17,0.00,0.000,6,0.000,0.039,2095,2598,3670,0,0,0,0,0,0
$GC,969,-0.57,-194.6,239.6,-21.0,164,978,0.00,1.85,0.00,0.000,4,0.000,0.047,2086,3781,3670,0,0,0,0,0,0
$GC,1007,-0.57,-194.6,249.1,-25.1,170,1016,0.08,1.77,0.00,0.000,6,0.153,0.026,2109,2592,3670,0,0,0,0,0,0
$GC,1142,-0.57,-194.6,277.4,-20.4,183,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2589,3670,0,0,0,0,0,0
$GC,1332,-0.57,-194.6,314.0,-18.3,201,1335,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3782,3669,0,0,0,0,0,0
$GC,1380,-0.57,-194.6,323.6,-18.6,205,1388,0.00,1.77,0.00,0.000,6,0.000,0.026,2102,2595,3669,0,0,0,0,0,0
$GC,1579,-0.57,-194.6,360.3,-18.1,224,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2592,3667,0,0,0,0,0,0
$GC,1770,-0.57,-194.6,396.7,-19.1,242,1773,0.00,2.03,0.00,0.000,4,0.000,0.031,2102,1207,3666,0,0,0,0,0,0
$GC,1837,-0.57,-194.6,408.4,-15.6,248,1842,0.00,2.15,0.00,0.000,6,0.000,0.040,2097,2610,3666,0,0,0,0,0,0
$GC,2035,-0.57,-194.6,446.3,-20.4,266,2039,0.00,1.77,0.00,0.000,4,0.000,0.048,2089,3778,3664,0,0,0,0,0,0
$GC,2119,-0.57,-194.6,462.9,-18.2,273,2126,0.00,1.77,0.00,0.000,6,0.000,0.028,2089,2596,3663,0,0,0,0,0,0
$GC,2317,-0.57,-194.6,501.6,-19.6,292,2321,0.00,1.88,0.00,0.000,4,0.000,0.048,2080,3777,3661,0,0,0,0,0,0
$GC,2350,-0.57,-194.6,508.5,-20.6,295,2355,0.10,1.77,0.00,0.000,6,0.145,0.029,2113,2603,3660,0,0,0,0,0,0
$GC,2553,-0.57,-194.6,538.6,-13.6,314,2557,0.00,2.08,0.00,0.000,4,0.000,0.033,2113,1191,3659,0,0,0,0,0,0
$GC,2577,-0.57,-194.6,541.6,-13.3,316,2581,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2598,3658,0,0,0,0,0,0
$GC,2775,-0.57,-194.6,565.9,-12.0,334,2778,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3780,3657,0,0,0,0,0,0
$GC,2835,-0.57,-194.6,572.9,-10.9,339,2842,0.00,1.77,0.00,0.000,6,0.000,0.029,2111,2600,3655,0,0,0,0,0,0
$GC,3033,-0.57,-194.6,595.8,-12.1,358,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2597,3654,0,0,0,0,0,0
$GC,3220,-0.57,-194.6,619.4,-12.8,369,3224,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1199,3651,0,0,0,0,0,0
$GC,3258,-0.57,-194.6,624.6,-12.9,370,3266,0.00,2.20,0.00,0.000,6,0.000,0.042,2111,2600,3651,0,0,0,0,0,0
$GC,3575,-0.57,-194.6,665.2,-12.9,386,3579,0.00,1.83,0.00,0.000,4,0.000,0.052,2111,3777,3648,0,0,0,0,0,0
$GC,3624,-0.57,-194.6,671.7,-12.2,388,3629,0.00,1.80,0.00,0.000,6,0.000,0.030,2111,2589,3647,0,0,0,0,0,0
$GC,3952,-0.57,-194.6,713.9,-12.9,404,3955,0.00,2.05,0.00,0.000,4,0.000,0.035,2111,1204,3644,0,0,0,0,0,0
$GC,3984,-0.57,-194.6,718.3,-12.8,405,3988,0.00,2.20,0.00,0.000,6,0.000,0.042,2111,2633,3644,0,0,0,0,0,0
$GC,4306,-0.57,-194.6,756.3,-11.4,421,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2634,3641,0,0,0,0,0,0
$GC,4616,-0.57,-194.6,790.8,-10.9,436,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2634,3640,0,0,0,0,0,0
$GC,4925,-0.57,-194.6,823.0,-9.9,451,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2634,3637,0,0,0,0,0,0
$GC,5234,-0.57,-194.6,855.3,-10.3,466,5238,0.00,2.17,0.00,0.000,4,0.000,0.037,2111,1201,3634,0,0,0,0,0,0
$GC,5279,-0.57,-194.6,860.2,-11.0,468,5283,0.00,2.15,0.00,0.000,6,0.000,0.044,2111,2593,3634,0,0,0,0,0,0
$GC,5600,-0.57,-194.6,894.7,-10.9,484,5604,0.00,1.83,0.00,0.000,4,0.000,0.054,2111,3780,3632,0,0,0,0,0,0
$GC,5646,-0.57,-194.6,899.5,-10.5,486,5649,0.00,1.75,0.00,0.000,6,0.000,0.032,2111,2601,3632,0,0,0,0,0,0
$GC,5979,-0.57,-194.6,935.1,-10.5,502,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2597,3630,0,0,0,0,0,0
$GC,6289,-0.57,-194.6,965.7,-9.7,517,6293,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1203,3628,0,0,0,0,0,0
$GC,6333,-0.57,-194.6,970.2,-9.8,519,6337,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2611,3627,0,0,0,0,0,0
$STATE,6548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6549,begin apogee
$GC,6555,-0.16,0.0,990.9,9.9,530,6709,0.40,0.00,149.38,1.112,6,0.131,0.000,2242,2120,2869,0,0,0,0,0,0
$STATE,6710,end apogee,CONTROL_FINISHED_OK
$STATE,6710,begin climb
$GC,6712,0.57,194.6,997.1,0.0,537,6880,0.68,2.30,159.73,1.079,4,0.062,0.041,2499,727,2074,0,0,0,0,0,0
$GC,6931,0.57,194.6,979.2,13.8,547,6935,0.00,2.28,0.00,0.000,6,0.000,0.036,2498,2134,2068,0,0,0,0,0,0
$GC,7247,0.57,194.6,932.8,14.6,562,7251,0.00,2.22,0.00,0.000,4,0.000,0.047,2498,3543,2064,0,0,0,0,0,0
$GC,7279,0.57,194.6,927.5,15.7,563,7286,0.00,2.20,0.00,0.000,6,0.000,0.030,2508,2127,2063,0,0,0,0,0,0
$GC,7596,0.57,194.6,878.8,15.5,579,7600,0.00,2.15,0.00,0.000,4,0.000,0.042,2519,723,2061,0,0,0,0,0,0
$GC,7696,0.57,194.6,863.1,15.8,583,7704,0.10,2.20,0.00,0.000,6,0.154,0.038,2480,2120,2060,0,0,0,0,0,0
$GC,8013,0.57,194.6,822.2,13.0,599,8017,0.00,2.20,0.00,0.000,4,0.000,0.047,2480,3535,2060,0,0,0,0,0,0
$GC,8075,0.57,194.6,813.2,14.8,602,8079,0.00,2.17,0.00,0.000,6,0.000,0.031,2488,2114,2059,0,0,0,0,0,0
$GC,8407,0.57,194.6,767.1,13.8,618,8411,0.00,2.15,0.00,0.000,4,0.000,0.041,2499,707,2059,0,0,0,0,0,0
$GC,8503,0.57,194.6,754.0,13.3,622,8508,0.00,2.17,0.00,0.000,6,0.000,0.036,2498,2127,2058,0,0,0,0,0,0
$GC,8825,0.57,194.6,708.6,13.9,638,8829,0.00,2.20,0.00,0.000,4,0.000,0.045,2498,3542,2057,0,0,0,0,0,0
$GC,8872,0.57,194.6,701.7,15.4,640,8876,0.00,2.15,0.00,0.000,6,0.000,0.031,2509,2120,2057,0,0,0,0,0,0
$GC,9198,0.57,194.6,652.3,15.2,656,9202,0.00,2.12,0.00,0.000,4,0.000,0.041,2525,712,2057,0,0,0,0,0,0
$GC,9361,0.57,194.6,627.6,15.1,663,9366,0.12,2.17,0.00,0.000,6,0.174,0.035,2487,2139,2057,0,0,0,0,0,0
$GC,9687,0.57,194.6,585.7,12.6,684,9691,0.00,2.17,0.00,0.000,4,0.000,0.040,2496,710,2057,0,0,0,0,0,0
$GC,9716,0.57,194.6,582.1,12.5,686,9720,0.00,2.15,0.00,0.000,6,0.000,0.037,2496,2123,2056,0,0,0,0,0,0
$GC,9913,0.57,194.6,556.1,13.2,704,9917,0.00,2.17,0.00,0.000,4,0.000,0.047,2496,3541,2057,0,0,0,0,0,0
$GC,9975,0.57,194.6,547.5,14.1,709,9979,0.00,2.15,0.00,0.000,6,0.000,0.031,2506,2119,2057,0,0,0,0,0,0
$GC,10179,0.57,194.6,521.1,12.8,728,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2119,2056,0,0,0,0,0,0
$GC,10370,0.57,194.6,496.0,13.6,746,10374,0.00,2.10,0.00,0.000,4,0.000,0.041,2516,718,2056,0,0,0,0,0,0
$GC,10413,0.57,194.6,489.8,13.7,749,10422,0.12,2.15,0.00,0.000,6,0.171,0.035,2485,2132,2056,0,0,0,0,0,0
$GC,10611,0.57,194.6,465.4,12.4,768,10615,0.00,2.15,0.00,0.000,4,0.000,0.046,2484,3537,2060,0,0,0,0,0,0
$GC,10647,0.57,194.6,460.6,13.6,771,10651,0.00,2.15,0.00,0.000,6,0.000,0.031,2493,2115,2056,0,0,0,0,0,0
$GC,10850,0.57,194.6,433.6,13.3,790,10854,0.00,2.12,0.00,0.000,4,0.000,0.041,2503,712,2056,0,0,0,0,0,0
$GC,10884,0.57,194.6,429.1,13.1,793,10888,0.00,2.15,0.00,0.000,6,0.000,0.034,2503,2125,2055,0,0,0,0,0,0
$GC,11087,0.57,194.6,402.8,12.6,812,11091,0.00,2.17,0.00,0.000,4,0.000,0.046,2503,3539,2056,0,0,0,0,0,0
$GC,11114,0.57,194.6,399.0,12.9,814,11123,0.00,2.17,0.00,0.000,6,0.000,0.031,2513,2124,2055,0,0,0,0,0,0
$GC,11312,0.57,194.6,373.6,12.9,833,11316,0.00,2.12,0.00,0.000,4,0.000,0.041,2523,710,2053,0,0,0,0,0,0
$GC,11476,0.57,194.6,352.5,12.9,847,11481,0.15,2.17,0.00,0.000,6,0.163,0.036,2484,2134,2056,0,0,0,0,0,0
$GC,11681,0.61,230.5,331.8,9.6,866,11716,0.00,2.22,25.48,0.706,4,0.000,0.045,2483,3527,1929,0,0,0,0,0,0
$GC,11811,0.63,249.9,318.0,10.3,877,11833,0.00,2.15,16.42,0.652,6,0.000,0.031,2491,2122,1850,0,0,0,0,0,0
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$STATE,14486,end climb,SURFACE_DEPTH_REACHED
$STATE,14486,begin surface coast
$FINISH,-0.1,1.021166
$STATE,14521,end surface coast,CONTROL_FINISHED_OK
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$HUMID,39.44
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$10V_AH,10.2,11.290
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322624
$DATA_FILE_SIZE,86987,1294
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$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,346.2,1
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