version: 66.09
glider: 181
mission: 6
dive: 91
start: 6 27 111 19 57 34
data:
$ID,181
$MISSION,6
$DIVE,91
$N_DIVES,95
$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,-40536.809
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,270611,195036,2005.977,11956.336,31,1.2,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.4
$GPS2,270611,195707,2005.955,11956.297,14,1.9,25,-2.2
$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,156.8,122321,-14.5,-8.250
$D_GRID,3467
$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,-0.47,-146.0,0.0,0.0,0,78,0.00,0.00,-60.00,0.000,2,0.000,0.000,200,2623,2571,0,0,0,0,0,0
$GC,81,-0.47,-146.0,3.3,-4.2,8,114,7.82,1.83,-17.90,0.000,4,0.231,0.057,2133,3771,3468,0,0,0,0,0,0
$GC,148,-0.47,-146.0,32.2,-49.9,18,156,0.00,1.80,0.00,0.000,6,0.000,0.028,2133,2584,3469,0,0,0,0,0,0
$GC,285,-0.47,-146.0,90.4,-33.9,43,294,0.00,2.08,0.00,0.000,4,0.000,0.028,2133,1194,3470,0,0,0,0,0,0
$GC,339,-0.47,-146.0,104.7,-24.9,52,347,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2577,3470,0,0,0,0,0,0
$GC,476,-0.47,-146.0,136.7,-23.6,77,484,0.00,1.88,0.00,0.000,4,0.000,0.044,2114,3783,3471,0,0,0,0,0,0
$GC,573,-0.47,-146.0,159.9,-23.0,94,582,0.10,1.77,0.00,0.000,6,0.142,0.025,2146,2593,3472,0,0,0,0,0,0
$GC,713,-0.47,-146.0,183.2,-16.3,119,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2590,3473,0,0,0,0,0,0
$GC,849,-0.47,-146.0,208.3,-18.4,140,853,0.00,2.03,0.00,0.000,4,0.000,0.031,2146,1204,3473,0,0,0,0,0,0
$GC,895,-0.47,-146.0,216.1,-15.9,144,899,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2605,3473,0,0,0,0,0,0
$GC,1220,-0.47,-146.0,271.6,-15.0,174,1224,0.00,1.77,0.00,0.000,4,0.000,0.044,2130,3787,3473,0,0,0,0,0,0
$GC,1265,-0.47,-146.0,278.2,-14.5,178,1268,0.00,1.73,0.00,0.000,6,0.000,0.026,2130,2592,3472,0,0,0,0,0,0
$GC,1595,-0.47,-146.0,326.2,-14.8,209,1599,0.00,2.03,0.00,0.000,4,0.000,0.031,2130,1206,3470,0,0,0,0,0,0
$GC,1699,-0.47,-146.0,339.8,-12.7,218,1703,0.00,2.12,0.00,0.000,6,0.000,0.038,2124,2599,3470,0,0,0,0,0,0
$GC,2024,-0.47,-146.0,386.9,-14.9,248,2028,0.00,1.80,0.00,0.000,4,0.000,0.048,2121,3777,3468,0,0,0,0,0,0
$GC,2042,-0.47,-146.0,389.5,-14.5,249,2049,0.00,1.75,0.00,0.000,6,0.000,0.028,2123,2606,3467,0,0,0,0,0,0
$GC,2367,-0.47,-146.0,436.8,-15.0,280,2371,0.00,2.05,0.00,0.000,4,0.000,0.033,2121,1211,3464,0,0,0,0,0,0
$GC,2436,-0.47,-146.0,447.0,-13.7,286,2441,0.12,2.12,0.00,0.000,6,0.168,0.039,2145,2604,3464,0,0,0,0,0,0
$GC,2761,-0.47,-146.0,486.3,-12.6,316,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2600,3460,0,0,0,0,0,0
$GC,3084,-0.47,-146.0,525.7,-12.1,337,3087,0.00,1.83,0.00,0.000,4,0.000,0.049,2141,3782,3457,0,0,0,0,0,0
$GC,3111,-0.47,-146.0,529.3,-11.7,338,3115,0.00,1.77,0.00,0.000,6,0.000,0.029,2141,2598,3457,0,0,0,0,0,0
$GC,3439,-0.47,-146.0,568.1,-11.5,354,3442,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1214,3454,0,0,0,0,0,0
$GC,3493,-0.47,-146.0,574.6,-11.4,356,3497,0.00,2.15,0.00,0.000,6,0.000,0.041,2137,2612,3451,0,0,0,0,0,0
$GC,3816,-0.47,-146.0,611.1,-11.4,372,3820,0.00,1.77,0.00,0.000,4,0.000,0.050,2134,3780,3448,0,0,0,0,0,0
$GC,3865,-0.47,-146.0,616.6,-10.6,374,3870,0.00,1.77,0.00,0.000,6,0.000,0.028,2135,2595,3450,0,0,0,0,0,0
$GC,4193,-0.47,-146.0,651.8,-10.8,390,4197,0.00,2.05,0.00,0.000,4,0.000,0.034,2134,1209,3447,0,0,0,0,0,0
$GC,4253,-0.47,-146.0,658.7,-11.2,392,4260,0.00,2.17,0.00,0.000,6,0.000,0.040,2125,2599,3447,0,0,0,0,0,0
$GC,4570,-0.47,-146.0,697.8,-12.8,408,4574,0.00,2.08,0.00,0.000,4,0.000,0.034,2126,1209,3444,0,0,0,0,0,0
$GC,4636,-0.47,-146.0,706.7,-12.3,411,4640,0.00,2.17,0.00,0.000,6,0.000,0.041,2124,2622,3444,0,0,0,0,0,0
$GC,4964,-0.47,-146.0,748.1,-12.2,427,4968,0.00,2.12,0.00,0.000,4,0.000,0.034,2125,1208,3442,0,0,0,0,0,0
$GC,4992,-0.47,-146.0,751.8,-12.0,428,4996,0.00,2.15,0.00,0.000,6,0.000,0.043,2124,2601,3439,0,0,0,0,0,0
$GC,5308,-0.47,-146.0,788.6,-11.4,443,5312,0.00,1.80,0.00,0.000,4,0.000,0.051,2120,3781,3439,0,0,0,0,0,0
$GC,5335,-0.47,-146.0,791.9,-11.0,444,5339,0.00,1.77,0.00,0.000,6,0.000,0.030,2120,2604,3439,0,0,0,0,0,0
$GC,5663,-0.47,-146.0,827.4,-10.4,460,5667,0.00,2.08,0.00,0.000,4,0.000,0.036,2121,1204,3438,0,0,0,0,0,0
$GC,5757,-0.47,-146.0,837.5,-10.7,464,5762,0.15,2.15,0.00,0.000,6,0.162,0.041,2152,2604,3438,0,0,0,0,0,0
$GC,6074,-0.47,-146.0,862.5,-7.9,479,6078,0.00,2.10,0.00,0.000,4,0.000,0.036,2153,1207,3435,0,0,0,0,0,0
$GC,6106,-0.47,-146.0,865.4,-8.0,480,6113,0.00,2.15,0.00,0.000,6,0.000,0.041,2152,2601,3435,0,0,0,0,0,0
$GC,6423,-0.47,-146.0,890.8,-8.2,496,6427,0.00,2.10,0.00,0.000,4,0.000,0.035,2152,1208,3432,0,0,0,0,0,0
$GC,6450,-0.47,-146.0,893.4,-8.4,497,6455,0.00,2.20,0.00,0.000,6,0.000,0.042,2152,2633,3432,0,0,0,0,0,0
$GC,6778,-0.47,-146.0,921.9,-9.0,513,6782,0.00,2.15,0.00,0.000,4,0.000,0.037,2152,1208,3429,0,0,0,0,0,0
$GC,6867,-0.47,-146.0,930.4,-9.5,517,6871,0.00,2.17,0.00,0.000,6,0.000,0.041,2151,2590,3431,0,0,0,0,0,0
$GC,7194,-0.47,-146.0,959.0,-8.7,533,7198,0.00,2.10,0.00,0.000,4,0.000,0.037,2152,1201,3430,0,0,0,0,0,0
$GC,7244,-0.47,-146.0,963.5,-8.9,535,7248,0.00,2.17,0.00,0.000,6,0.000,0.042,2152,2604,3429,0,0,0,0,0,0
$GC,7566,-0.47,-146.0,990.0,-8.2,551,7570,0.00,2.05,0.00,0.000,3,0.000,0.037,2152,1240,3428,0,0,0,0,0,0
$STATE,7571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7571,begin apogee
$GC,7578,-0.16,0.0,990.4,8.3,551,7696,0.28,0.00,110.43,1.115,6,0.121,0.000,2244,2131,2869,0,0,0,0,0,0
$STATE,7697,end apogee,CONTROL_FINISHED_OK
$STATE,7697,begin climb
$GC,7699,0.47,146.0,996.2,0.0,556,7831,0.60,2.35,120.55,1.085,4,0.081,0.041,2464,745,2273,0,0,0,0,0,0
$GC,7875,0.47,147.5,988.4,8.2,564,7882,0.00,2.22,0.00,0.000,6,0.000,0.035,2464,2121,2269,0,0,0,0,0,0
$GC,8191,0.47,147.5,959.6,9.1,580,8195,0.00,2.22,0.00,0.000,4,0.000,0.046,2464,3541,2263,0,0,0,0,0,0
$GC,8224,0.47,147.5,955.9,9.6,581,8232,0.00,2.17,0.00,0.000,6,0.000,0.030,2474,2135,2262,0,0,0,0,0,0
$GC,8540,0.47,147.5,925.0,9.7,597,8544,0.00,2.17,0.00,0.000,4,0.000,0.041,2484,713,2261,0,0,0,0,0,0
$GC,8635,0.47,147.5,915.2,10.6,601,8639,0.00,2.20,0.00,0.000,6,0.000,0.036,2484,2136,2261,0,0,0,0,0,0
$GC,8957,0.47,147.5,879.8,11.1,617,8961,0.00,2.15,0.00,0.000,4,0.000,0.046,2487,3537,2260,0,0,0,0,0,0
$GC,8983,0.47,147.5,876.4,11.6,618,8988,0.15,2.17,0.00,0.000,6,0.194,0.030,2458,2105,2259,0,0,0,0,0,0
$GC,9306,0.47,147.5,845.6,9.5,634,9310,0.00,2.10,0.00,0.000,4,0.000,0.040,2467,723,2258,0,0,0,0,0,0
$GC,9400,0.47,147.5,836.5,9.3,638,9404,0.00,2.15,0.00,0.000,6,0.000,0.035,2468,2135,2257,0,0,0,0,0,0
$GC,9723,0.47,147.5,803.8,10.5,654,9727,0.00,2.15,0.00,0.000,4,0.000,0.046,2468,3536,2257,0,0,0,0,0,0
$GC,9812,0.47,147.5,792.7,12.5,658,9816,0.00,2.12,0.00,0.000,6,0.000,0.031,2477,2125,2259,0,0,0,0,0,0
$GC,10134,0.47,147.5,755.9,11.2,674,10138,0.00,2.12,0.00,0.000,4,0.000,0.041,2488,724,2255,0,0,0,0,0,0
$GC,10233,0.47,147.5,744.0,11.5,678,10241,0.15,2.15,0.00,0.000,6,0.174,0.034,2450,2130,2256,0,0,0,0,0,0
$GC,10550,0.47,147.5,711.9,10.2,694,10554,0.00,2.17,0.00,0.000,4,0.000,0.046,2450,3543,2255,0,0,0,0,0,0
$GC,10577,0.47,147.5,708.6,10.4,695,10581,0.00,2.17,0.00,0.000,6,0.000,0.030,2458,2090,2255,0,0,0,0,0,0
$GC,10898,0.47,147.5,674.8,10.4,711,10902,0.00,2.08,0.00,0.000,4,0.000,0.041,2469,721,2255,0,0,0,0,0,0
$GC,11059,0.47,147.5,657.8,10.7,718,11063,0.00,2.12,0.00,0.000,6,0.000,0.035,2469,2124,2254,0,0,0,0,0,0
$GC,11387,0.47,147.5,624.0,9.8,734,11391,0.00,2.15,0.00,0.000,4,0.000,0.045,2469,3536,2254,0,0,0,0,0,0
$GC,11454,0.47,147.5,616.5,11.2,737,11459,0.00,2.12,0.00,0.000,6,0.000,0.029,2483,2119,2254,0,0,0,0,0,0
$GC,11776,0.47,147.5,586.0,8.8,753,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2119,2254,0,0,0,0,0,0
$GC,12085,0.47,147.5,558.6,9.1,768,12089,0.00,2.12,0.00,0.000,4,0.000,0.039,2489,716,2254,0,0,0,0,0,0
$GC,12202,0.47,147.5,547.8,9.1,773,12207,0.12,2.15,0.00,0.000,6,0.171,0.034,2458,2131,2254,0,0,0,0,0,0
$GC,12523,0.49,161.9,523.5,7.7,789,12539,0.00,2.17,10.75,0.786,4,0.000,0.043,2457,3545,2207,0,0,0,0,0,0
$GC,12653,0.49,161.9,510.2,10.7,794,12657,0.00,2.15,0.00,0.000,6,0.000,0.029,2466,2118,2208,0,0,0,0,0,0
$GC,12976,0.49,161.9,475.7,10.5,820,12980,0.00,2.10,0.00,0.000,4,0.000,0.039,2476,722,2210,0,0,0,0,0,0
$GC,13111,0.49,161.9,461.6,10.4,831,13118,0.00,2.15,0.00,0.000,6,0.000,0.034,2476,2132,2207,0,0,0,0,0,0
$GC,13437,0.49,161.9,430.4,9.0,862,13441,0.00,2.15,0.00,0.000,4,0.000,0.044,2476,3541,2206,0,0,0,0,0,0
$GC,13481,0.49,161.9,426.0,9.6,865,13489,0.00,2.15,0.00,0.000,6,0.000,0.029,2486,2115,2206,0,0,0,0,0,0
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$STATE,18281,end climb,SURFACE_DEPTH_REACHED
$STATE,18281,begin surface coast
$FINISH,0.0,1.004766
$STATE,18311,end surface coast,CONTROL_FINISHED_OK
$STATE,18311,begin surface
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$10V_AH,10.1,15.419
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322644
$DATA_FILE_SIZE,100417,1488
$CAP_FILE_SIZE,197458,0
$CFSIZE,260165632,242511872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300,306.7,1
$GPS,280611,010506,2005.578,11954.871,26,1.5,26,-2.2