version: 66.09
glider: 181
mission: 6
dive: 93
start: 6 28 111 6 15 23
data:
$ID,181
$MISSION,6
$DIVE,93
$N_DIVES,100
$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,-40539.324
$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,69
$R_STBD_OVSHOOT,33
$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,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
$GPS1,280611,060806,2006.363,11956.888,24,1.3,24,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.6
$GPS2,280611,061456,2006.438,11956.873,13,1.3,13,-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,182.5,123166,-14.5,-8.250
$D_GRID,3497
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,200,2565,2465,0,0,0,0,0,0
$GC,85,-0.47,-146.0,3.1,-3.7,8,125,7.93,2.08,-21.08,0.000,4,0.236,0.043,2139,1203,3468,0,0,0,0,0,0
$GC,139,-0.47,-146.0,21.6,-38.5,15,147,0.00,2.22,0.00,0.000,6,0.000,0.041,2131,2599,3469,0,0,0,0,0,0
$GC,276,-0.47,-146.0,84.5,-35.5,40,284,0.00,1.85,0.00,0.000,4,0.000,0.043,2121,3785,3470,0,0,0,0,0,0
$GC,324,-0.47,-146.0,98.2,-27.6,48,332,0.00,1.75,0.00,0.000,6,0.000,0.024,2121,2608,3470,0,0,0,0,0,0
$GC,462,-0.47,-146.0,129.4,-17.9,73,470,0.00,2.10,0.00,0.000,4,0.000,0.029,2121,1205,3472,0,0,0,0,0,0
$GC,536,-0.47,-146.0,143.3,-17.2,86,546,0.10,2.17,0.00,0.000,6,0.155,0.035,2142,2603,3472,0,0,0,0,0,0
$GC,678,-0.47,-146.0,165.8,-15.7,111,686,0.00,1.83,0.00,0.000,4,0.000,0.043,2135,3783,3473,0,0,0,0,0,0
$GC,737,-0.47,-146.0,176.1,-16.7,121,745,0.00,1.75,0.00,0.000,6,0.000,0.024,2135,2605,3473,0,0,0,0,0,0
$GC,875,-0.47,-146.0,200.0,-17.3,146,884,0.00,1.85,0.00,0.000,4,0.000,0.042,2126,3784,3473,0,0,0,0,0,0
$GC,917,-0.47,-146.0,207.9,-17.1,150,926,0.00,1.73,0.00,0.000,6,0.000,0.024,2126,2616,3473,0,0,0,0,0,0
$GC,1244,-0.47,-146.0,260.6,-14.6,181,1248,0.00,2.05,0.00,0.000,4,0.000,0.028,2126,1214,3470,0,0,0,0,0,0
$GC,1291,-0.47,-146.0,267.3,-13.2,185,1295,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2638,3472,0,0,0,0,0,0
$GC,1617,-0.47,-146.0,313.5,-12.8,215,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2638,3470,0,0,0,0,0,0
$GC,1938,-0.47,-146.0,351.5,-11.3,245,1942,0.00,2.12,0.00,0.000,4,0.000,0.030,2125,1202,3467,0,0,0,0,0,0
$GC,1988,-0.47,-146.0,357.3,-10.4,249,1992,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2630,3467,0,0,0,0,0,0
$GC,2314,-0.47,-146.0,396.0,-12.3,279,2318,0.00,1.77,0.00,0.000,4,0.000,0.047,2117,3777,3464,0,0,0,0,0,0
$GC,2340,-0.47,-146.0,399.8,-12.2,281,2348,0.08,1.70,0.00,0.000,6,0.136,0.027,2142,2637,3467,0,0,0,0,0,0
$GC,2666,-0.47,-146.0,435.0,-10.5,312,2670,0.00,2.10,0.00,0.000,4,0.000,0.031,2142,1202,3460,0,0,0,0,0,0
$GC,2786,-0.47,-146.0,446.5,-9.0,322,2790,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2615,3459,0,0,0,0,0,0
$GC,3111,-0.47,-146.0,485.9,-12.7,352,3115,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1200,3456,0,0,0,0,0,0
$GC,3132,-0.47,-146.0,488.8,-13.0,353,3139,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2628,3456,0,0,0,0,0,0
$GC,3461,-0.47,-146.0,529.4,-12.5,374,3465,0.00,1.75,0.00,0.000,4,0.000,0.048,2133,3786,3453,0,0,0,0,0,0
$GC,3494,-0.47,-146.0,533.3,-11.3,375,3498,0.00,1.77,0.00,0.000,6,0.000,0.028,2133,2601,3453,0,0,0,0,0,0
$GC,3817,-0.47,-146.0,568.7,-10.7,391,3820,0.00,2.05,0.00,0.000,4,0.000,0.032,2133,1212,3450,0,0,0,0,0,0
$GC,3930,-0.47,-146.0,580.2,-9.8,396,3934,0.00,2.10,0.00,0.000,6,0.000,0.038,2125,2583,3449,0,0,0,0,0,0
$GC,4257,-0.47,-146.0,615.9,-10.6,412,4260,0.00,2.05,0.00,0.000,4,0.000,0.033,2125,1212,3447,0,0,0,0,0,0
$GC,4326,-0.47,-146.0,622.6,-9.7,415,4330,0.00,2.10,0.00,0.000,6,0.000,0.040,2125,2577,3446,0,0,0,0,0,0
$GC,4653,-0.47,-146.0,653.9,-9.9,431,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2578,3444,0,0,0,0,0,0
$GC,4962,-0.47,-146.0,685.7,-10.8,446,4966,0.00,1.88,0.00,0.000,4,0.000,0.050,2119,3775,3442,0,0,0,0,0,0
$GC,4995,-0.47,-146.0,689.4,-10.9,447,4999,0.12,1.80,0.00,0.000,6,0.155,0.028,2152,2548,3442,0,0,0,0,0,0
$GC,5316,-0.47,-146.0,717.2,-8.7,463,5320,0.00,1.98,0.00,0.000,4,0.000,0.034,2153,1206,3440,0,0,0,0,0,0
$GC,5388,-0.47,-146.0,723.7,-8.6,466,5392,0.00,2.12,0.00,0.000,6,0.000,0.037,2152,2569,3440,0,0,0,0,0,0
$GC,5716,-0.47,-146.0,751.7,-8.7,482,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2570,3438,0,0,0,0,0,0
$GC,6026,-0.47,-146.0,776.4,-7.7,497,6029,0.00,2.05,0.00,0.000,4,0.000,0.034,2152,1204,3436,0,0,0,0,0,0
$GC,6053,-0.47,-146.0,778.6,-7.8,498,6057,0.00,2.12,0.00,0.000,6,0.000,0.040,2152,2557,3436,0,0,0,0,0,0
$GC,6380,-0.47,-146.0,798.9,-5.9,514,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2558,3431,0,0,0,0,0,0
$GC,6689,-0.47,-146.0,815.5,-5.5,529,6693,0.00,2.03,0.00,0.000,4,0.000,0.035,2152,1211,3433,0,0,0,0,0,0
$GC,6723,-0.47,-146.0,817.7,-5.7,530,6727,0.00,2.10,0.00,0.000,6,0.000,0.040,2152,2574,3433,0,0,0,0,0,0
$GC,7045,-0.47,-146.0,838.4,-7.3,546,7048,0.00,2.05,0.00,0.000,4,0.000,0.034,2152,1212,3431,0,0,0,0,0,0
$GC,7069,-0.47,-146.0,840.4,-7.2,547,7073,0.00,2.10,0.00,0.000,6,0.000,0.040,2152,2572,3431,0,0,0,0,0,0
$GC,7397,-0.47,-146.0,866.8,-8.6,563,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2574,3430,0,0,0,0,0,0
$GC,7705,-0.47,-146.0,895.5,-9.6,578,7708,0.00,2.05,0.00,0.000,4,0.000,0.034,2151,1214,3429,0,0,0,0,0,0
$GC,7750,-0.47,-146.0,900.1,-10.3,580,7754,0.00,2.08,0.00,0.000,6,0.000,0.041,2152,2558,3429,0,0,0,0,0,0
$GC,8078,-0.47,-146.0,931.5,-9.2,596,8081,0.00,2.05,0.00,0.000,4,0.000,0.035,2151,1211,3427,0,0,0,0,0,0
$GC,8116,-0.47,-146.0,935.3,-9.1,597,8123,0.00,2.05,0.00,0.000,6,0.000,0.041,2152,2545,3427,0,0,0,0,0,0
$GC,8433,-0.47,-146.0,959.7,-7.1,613,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2546,3426,0,0,0,0,0,0
$GC,8742,-0.47,-146.0,979.0,-6.2,628,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2546,3425,0,0,0,0,0,0
$STATE,8925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8925,begin apogee
$GC,8931,-0.16,0.0,990.7,6.4,637,9049,0.28,0.00,110.12,1.118,4,0.120,0.000,2243,2115,2869,0,0,0,0,0,0
$STATE,9050,end apogee,CONTROL_FINISHED_OK
$STATE,9050,begin climb
$GC,9052,0.47,146.0,993.6,0.0,642,9182,0.62,2.28,120.50,1.087,4,0.089,0.041,2450,716,2275,0,0,0,0,0,0
$GC,9189,0.48,155.6,987.5,7.9,649,9204,0.00,2.33,9.62,0.902,6,0.000,0.034,2450,2137,2233,0,0,0,0,0,0
$GC,9518,0.48,155.6,955.2,9.8,664,9522,0.00,2.20,0.00,0.000,4,0.000,0.045,2455,3536,2226,0,0,0,0,0,0
$GC,9607,0.48,155.6,945.4,11.0,668,9611,0.00,2.15,0.00,0.000,6,0.000,0.030,2460,2138,2225,0,0,0,0,0,0
$GC,9928,0.48,155.6,916.1,8.9,684,9932,0.00,2.17,0.00,0.000,4,0.000,0.041,2471,725,2223,0,0,0,0,0,0
$GC,10027,0.48,155.6,907.3,8.6,688,10034,0.00,2.20,0.00,0.000,6,0.000,0.035,2471,2122,2222,0,0,0,0,0,0
$GC,10344,0.48,155.6,878.2,9.4,704,10348,0.00,2.20,0.00,0.000,4,0.000,0.045,2471,3541,2222,0,0,0,0,0,0
$GC,10393,0.48,155.6,872.6,10.9,706,10397,0.00,2.17,0.00,0.000,6,0.000,0.030,2481,2110,2221,0,0,0,0,0,0
$GC,10717,0.48,155.6,838.0,11.1,722,10721,0.00,2.12,0.00,0.000,4,0.000,0.040,2491,714,2220,0,0,0,0,0,0
$GC,10743,0.48,155.6,834.6,11.0,723,10748,0.10,2.20,0.00,0.000,6,0.160,0.034,2461,2121,2221,0,0,0,0,0,0
$GC,11065,0.48,155.6,801.0,10.7,739,11069,0.00,2.17,0.00,0.000,4,0.000,0.045,2462,3535,2220,0,0,0,0,0,0
$GC,11098,0.48,155.6,796.8,11.8,740,11105,0.00,2.15,0.00,0.000,6,0.000,0.030,2469,2119,2219,0,0,0,0,0,0
$GC,11414,0.48,155.6,759.3,11.9,756,11418,0.00,2.12,0.00,0.000,4,0.000,0.040,2480,718,2220,0,0,0,0,0,0
$GC,11464,0.48,155.6,753.3,11.9,758,11468,0.00,2.17,0.00,0.000,6,0.000,0.034,2480,2117,2219,0,0,0,0,0,0
$GC,11786,0.48,155.6,713.7,12.2,774,11790,0.00,2.17,0.00,0.000,4,0.000,0.044,2480,3538,2219,0,0,0,0,0,0
$GC,11864,0.48,155.6,702.9,13.3,777,11872,0.12,2.15,0.00,0.000,6,0.191,0.029,2461,2108,2218,0,0,0,0,0,0
$GC,12181,0.48,155.6,671.2,9.4,793,12185,0.00,2.10,0.00,0.000,4,0.000,0.040,2470,713,2218,0,0,0,0,0,0
$GC,12247,0.48,155.6,665.0,9.0,796,12251,0.00,2.15,0.00,0.000,6,0.000,0.034,2469,2130,2218,0,0,0,0,0,0
$GC,12575,0.48,155.6,635.2,9.0,812,12579,0.00,2.15,0.00,0.000,4,0.000,0.045,2470,3535,2217,0,0,0,0,0,0
$GC,12682,0.48,155.6,624.1,10.7,817,12686,0.00,2.12,0.00,0.000,6,0.000,0.031,2476,2136,2217,0,0,0,0,0,0
$GC,13015,0.48,155.6,591.5,10.0,833,13019,0.00,2.15,0.00,0.000,4,0.000,0.040,2489,716,2217,0,0,0,0,0,0
$GC,13144,0.48,155.6,578.7,9.6,839,13148,0.00,2.12,0.00,0.000,6,0.000,0.033,2489,2123,2217,0,0,0,0,0,0
$GC,13472,0.48,155.6,543.7,11.1,855,13476,0.00,2.15,0.00,0.000,4,0.000,0.038,2498,717,2217,0,0,0,0,0,0
$GC,13573,0.48,155.6,531.8,12.0,859,13578,0.15,2.12,0.00,0.000,6,0.170,0.034,2459,2118,2220,0,0,0,0,0,0
$GC,13889,0.48,155.6,502.3,9.2,874,13893,0.00,2.17,0.00,0.000,4,0.000,0.044,2459,3538,2217,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,242290688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.225,358.8,1
$GPS,280611,114155,2005.881,11957.170,37,1.2,37,-2.2