version: 66.09
glider: 181
mission: 6
dive: 86
start: 6 26 111 16 12 59
data:
$ID,181
$MISSION,6
$DIVE,86
$N_DIVES,90
$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,400
$T_MISSION,440
$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,150
$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,-39625.598
$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,48
$R_STBD_OVSHOOT,42
$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
$GPS1,260611,160601,2008.654,11957.698,39,1.3,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.9
$GPS2,260611,161232,2008.598,11957.751,12,1.3,12,-2.3
$SPEED_LIMITS,0.143,0.243
$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,177.2,127104,-14.5,-8.250
$D_GRID,3486
$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,14,begin dive
$GC,16,-0.47,-146.0,0.0,0.0,0,80,0.00,0.00,-61.58,0.000,2,0.000,0.000,146,2618,2604,0,0,0,0,0,0
$GC,83,-0.47,-146.0,3.5,-4.7,8,115,8.15,1.80,-16.65,0.000,4,0.236,0.056,2132,3778,3466,0,0,0,0,0,0
$GC,225,-0.47,-146.0,68.8,-31.5,32,233,0.00,1.80,0.00,0.000,6,0.000,0.024,2132,2586,3468,0,0,0,0,0,0
$GC,362,-0.47,-146.0,110.1,-31.2,57,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2588,3470,0,0,0,0,0,0
$GC,499,-0.47,-146.0,143.8,-21.6,82,507,0.00,2.08,0.00,0.000,4,0.000,0.028,2132,1199,3471,0,0,0,0,0,0
$GC,584,-0.47,-146.0,159.6,-18.6,97,593,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2587,3470,0,0,0,0,0,0
$GC,722,-0.47,-146.0,184.9,-15.0,122,730,0.00,1.85,0.00,0.000,4,0.000,0.043,2115,3783,3471,0,0,0,0,0,0
$GC,770,-0.47,-146.0,193.0,-16.5,130,779,0.10,1.77,0.00,0.000,6,0.138,0.024,2147,2587,3472,0,0,0,0,0,0
$GC,909,-0.47,-146.0,212.0,-13.3,147,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2584,3472,0,0,0,0,0,0
$GC,1229,-0.47,-146.0,255.0,-13.0,177,1232,0.00,2.00,0.00,0.000,4,0.000,0.028,2147,1209,3472,0,0,0,0,0,0
$GC,1253,-0.47,-146.0,258.6,-13.6,179,1257,0.00,2.12,0.00,0.000,6,0.000,0.036,2140,2609,3472,0,0,0,0,0,0
$GC,1580,-0.47,-146.0,301.2,-12.7,209,1583,0.00,1.77,0.00,0.000,4,0.000,0.045,2137,3781,3470,0,0,0,0,0,0
$GC,1640,-0.47,-146.0,309.1,-11.8,214,1648,0.00,1.75,0.00,0.000,6,0.000,0.025,2137,2600,3469,0,0,0,0,0,0
$GC,1966,-0.47,-146.0,354.4,-14.1,245,1970,0.00,2.08,0.00,0.000,4,0.000,0.031,2137,1195,3467,0,0,0,0,0,0
$GC,2037,-0.47,-146.0,364.2,-12.3,251,2044,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2598,3466,0,0,0,0,0,0
$GC,2363,-0.47,-146.0,406.1,-12.1,282,2367,0.00,1.80,0.00,0.000,4,0.000,0.046,2131,3785,3464,0,0,0,0,0,0
$GC,2422,-0.47,-146.0,413.1,-11.7,287,2425,0.00,1.73,0.00,0.000,6,0.000,0.027,2131,2595,3463,0,0,0,0,0,0
$GC,2753,-0.47,-146.0,454.6,-12.5,318,2757,0.00,2.03,0.00,0.000,4,0.000,0.031,2131,1214,3459,0,0,0,0,0,0
$GC,2877,-0.47,-146.0,469.1,-11.0,329,2881,0.00,2.15,0.00,0.000,6,0.000,0.038,2124,2611,3458,0,0,0,0,0,0
$GC,3217,-0.47,-146.0,510.3,-12.3,357,3221,0.00,1.83,0.00,0.000,4,0.000,0.047,2112,3783,3455,0,0,0,0,0,0
$GC,3313,-0.47,-146.0,521.9,-11.0,361,3317,0.12,1.73,0.00,0.000,6,0.153,0.028,2150,2598,3453,0,0,0,0,0,0
$GC,3639,-0.47,-146.0,551.4,-8.9,377,3643,0.00,2.05,0.00,0.000,4,0.000,0.032,2147,1210,3451,0,0,0,0,0,0
$GC,3717,-0.47,-146.0,558.4,-8.4,380,3722,0.00,2.17,0.00,0.000,6,0.000,0.038,2150,2602,3451,0,0,0,0,0,0
$GC,4039,-0.47,-146.0,587.1,-9.0,396,4043,0.00,2.08,0.00,0.000,4,0.000,0.032,2150,1212,3448,0,0,0,0,0,0
$GC,4133,-0.47,-146.0,595.2,-8.3,400,4137,0.00,2.12,0.00,0.000,6,0.000,0.039,2150,2602,3447,0,0,0,0,0,0
$GC,4455,-0.47,-146.0,619.7,-7.4,416,4459,0.00,2.08,0.00,0.000,4,0.000,0.034,2151,1215,3445,0,0,0,0,0,0
$GC,4504,-0.47,-146.0,623.5,-7.3,418,4509,0.00,2.17,0.00,0.000,6,0.000,0.041,2150,2625,3444,0,0,0,0,0,0
$GC,4827,-0.47,-146.0,648.2,-8.3,434,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2625,3442,0,0,0,0,0,0
$GC,5136,-0.47,-146.0,675.7,-9.2,449,5140,0.00,2.12,0.00,0.000,4,0.000,0.036,2150,1214,3441,0,0,0,0,0,0
$GC,5190,-0.47,-146.0,681.1,-9.6,451,5198,0.00,2.17,0.00,0.000,6,0.000,0.041,2150,2596,3440,0,0,0,0,0,0
$GC,5507,-0.47,-146.0,709.7,-9.2,467,5511,0.00,2.08,0.00,0.000,4,0.000,0.036,2150,1215,3438,0,0,0,0,0,0
$GC,5570,-0.47,-146.0,715.4,-8.9,470,5574,0.00,2.15,0.00,0.000,6,0.000,0.042,2150,2609,3437,0,0,0,0,0,0
$GC,5903,-0.47,-146.0,744.0,-8.7,486,5907,0.00,2.12,0.00,0.000,4,0.000,0.037,2150,1207,3435,0,0,0,0,0,0
$GC,5971,-0.47,-146.0,750.1,-9.1,489,5975,0.00,2.15,0.00,0.000,6,0.000,0.041,2150,2605,3436,0,0,0,0,0,0
$GC,6298,-0.47,-146.0,777.9,-8.2,505,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2605,3433,0,0,0,0,0,0
$GC,6608,-0.47,-146.0,801.2,-7.2,520,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2605,3432,0,0,0,0,0,0
$GC,6917,-0.47,-146.0,822.6,-7.1,535,6921,0.00,2.12,0.00,0.000,4,0.000,0.037,2150,1215,3431,0,0,0,0,0,0
$GC,7006,-0.47,-146.0,828.6,-6.4,539,7010,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2605,3431,0,0,0,0,0,0
$GC,7328,-0.47,-146.0,848.6,-6.2,555,7332,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1215,3429,0,0,0,0,0,0
$GC,7368,-0.47,-146.0,851.4,-6.2,557,7372,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2607,3429,0,0,0,0,0,0
$GC,7696,-0.47,-146.0,871.5,-6.0,573,7700,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1216,3428,0,0,0,0,0,0
$GC,7729,-0.47,-146.0,873.7,-6.1,574,7736,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2602,3427,0,0,0,0,0,0
$GC,8047,-0.47,-146.0,894.1,-6.6,590,8051,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1215,3426,0,0,0,0,0,0
$GC,8096,-0.47,-146.0,897.9,-7.2,592,8100,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2607,3426,0,0,0,0,0,0
$GC,8418,-0.47,-146.0,920.6,-7.2,608,8422,0.00,2.12,0.00,0.000,4,0.000,0.037,2150,1203,3425,0,0,0,0,0,0
$GC,8504,-0.47,-146.0,926.9,-7.4,612,8508,0.00,2.15,0.00,0.000,6,0.000,0.042,2150,2598,3425,0,0,0,0,0,0
$GC,8831,-0.47,-146.0,951.4,-7.3,628,8835,0.00,2.12,0.00,0.000,4,0.000,0.038,2150,1214,3424,0,0,0,0,0,0
$GC,8881,-0.47,-146.0,955.4,-7.6,630,8885,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2605,3423,0,0,0,0,0,0
$GC,9198,-0.47,-146.0,977.5,-6.7,645,9202,0.00,2.10,0.00,0.000,4,0.000,0.038,2150,1216,3420,0,0,0,0,0,0
$GC,9253,-0.47,-146.0,981.3,-6.8,647,9260,0.00,2.15,0.00,0.000,6,0.000,0.044,2150,2603,3422,0,0,0,0,0,0
$STATE,9402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9402,begin apogee
$GC,9409,-0.16,0.0,990.2,6.0,655,9526,0.28,0.00,110.47,1.116,6,0.119,0.000,2244,2131,2869,0,0,0,0,0,0
$STATE,9526,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9529,0.47,146.0,992.6,0.0,660,9659,0.60,2.30,121.00,1.085,4,0.080,0.041,2462,739,2274,0,0,0,0,0,0
$GC,9726,0.47,146.0,978.2,11.3,669,9730,0.00,2.25,0.00,0.000,6,0.000,0.037,2462,2137,2267,0,0,0,0,0,0
$GC,10048,0.47,146.0,941.2,11.4,685,10052,0.00,2.22,0.00,0.000,4,0.000,0.047,2462,3542,2263,0,0,0,0,0,0
$GC,10111,0.47,146.0,933.3,12.8,688,10115,0.00,2.17,0.00,0.000,6,0.000,0.031,2472,2134,2261,0,0,0,0,0,0
$GC,10438,0.47,146.0,896.5,11.0,704,10442,0.00,2.17,0.00,0.000,4,0.000,0.041,2483,720,2260,0,0,0,0,0,0
$GC,10578,0.47,146.0,881.8,10.1,710,10583,0.00,2.20,0.00,0.000,6,0.000,0.035,2483,2139,2260,0,0,0,0,0,0
$GC,10901,0.47,146.0,849.7,9.7,726,10905,0.00,2.17,0.00,0.000,4,0.000,0.046,2483,3538,2259,0,0,0,0,0,0
$GC,10963,0.47,146.0,842.9,11.0,729,10968,0.15,2.15,0.00,0.000,6,0.194,0.031,2457,2128,2258,0,0,0,0,0,0
$GC,11290,0.47,146.0,816.0,8.3,745,11294,0.00,2.15,0.00,0.000,4,0.000,0.042,2466,715,2257,0,0,0,0,0,0
$GC,11333,0.47,146.0,811.8,9.1,747,11337,0.00,2.15,0.00,0.000,6,0.000,0.035,2466,2123,2255,0,0,0,0,0,0
$GC,11660,0.47,146.0,782.6,9.0,763,11664,0.00,2.17,0.00,0.000,4,0.000,0.045,2466,3538,2257,0,0,0,0,0,0
$GC,11727,0.47,146.0,775.4,11.1,766,11731,0.00,2.15,0.00,0.000,6,0.000,0.030,2475,2115,2256,0,0,0,0,0,0
$GC,12055,0.47,146.0,743.2,9.7,782,12059,0.00,2.12,0.00,0.000,4,0.000,0.041,2486,719,2254,0,0,0,0,0,0
$GC,12256,0.47,146.0,725.3,9.6,791,12261,0.12,2.15,0.00,0.000,6,0.173,0.035,2455,2131,2256,0,0,0,0,0,0
$GC,12583,0.47,146.0,698.7,8.3,807,12587,0.00,2.15,0.00,0.000,4,0.000,0.046,2456,3532,2255,0,0,0,0,0,0
$GC,12610,0.47,146.6,696.2,8.2,808,12614,0.00,2.12,0.00,0.000,6,0.000,0.031,2464,2122,2254,0,0,0,0,0,0
$GC,12932,0.47,146.6,668.6,8.6,824,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2122,2258,0,0,0,0,0,0
$GC,13241,0.47,146.6,640.8,9.2,839,13245,0.00,2.12,0.00,0.000,4,0.000,0.041,2474,719,2254,0,0,0,0,0,0
$GC,13304,0.47,146.6,634.9,9.6,842,13308,0.00,2.15,0.00,0.000,6,0.000,0.035,2474,2126,2254,0,0,0,0,0,0
$GC,13638,0.47,146.6,603.4,9.1,858,13642,0.00,2.15,0.00,0.000,4,0.000,0.040,2484,719,2254,0,0,0,0,0,0
$GC,13822,0.47,146.6,587.7,8.4,866,13826,0.05,2.20,0.00,0.000,6,0.155,0.036,2453,2133,2258,0,0,0,0,0,0
$GC,14149,0.50,169.9,563.3,7.4,882,14172,0.00,2.25,16.73,0.834,4,0.000,0.046,2453,3535,2175,0,0,0,0,0,0
$GC,14242,0.50,169.9,555.6,8.7,886,14246,0.00,2.15,0.00,0.000,6,0.000,0.031,2460,2124,2177,0,0,0,0,0,0
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$STATE,20245,end climb,SURFACE_DEPTH_REACHED
$STATE,20245,begin surface coast
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$10V_AH,10.2,14.488
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$FG_AHR_10Vo,0.000
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$MEM,322628
$DATA_FILE_SIZE,103564,1586
$CAP_FILE_SIZE,212315,0
$CFSIZE,260165632,243015680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,302.4,1
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