version: 66.09
glider: 181
mission: 6
dive: 94
start: 6 28 111 11 49 29
data:
$ID,181
$MISSION,6
$DIVE,94
$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,-40540.582
$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,49
$R_STBD_OVSHOOT,57
$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
$GPS1,280611,114155,2005.881,11957.170,37,1.2,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.1
$GPS2,280611,114902,2005.949,11957.186,11,1.2,11,-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,180.9,122238,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.47,-146.0,0.0,0.0,0,87,0.00,0.00,-65.80,0.000,2,0.000,0.000,194,2633,2667,0,0,0,0,0,0
$GC,90,-0.47,-146.0,3.9,-5.1,9,123,7.97,2.20,-15.18,0.000,4,0.236,0.043,2142,1194,3468,0,0,0,0,0,0
$GC,173,-0.47,-146.0,39.9,-38.7,22,181,0.00,2.20,0.00,0.000,6,0.000,0.041,2134,2572,3469,0,0,0,0,0,0
$GC,309,-0.47,-146.0,88.6,-30.3,47,319,0.00,1.90,0.00,0.000,4,0.000,0.043,2125,3790,3471,0,0,0,0,0,0
$GC,350,-0.47,-146.0,99.3,-27.4,53,358,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2609,3471,0,0,0,0,0,0
$GC,489,-0.47,-146.0,134.1,-18.3,78,497,0.00,2.10,0.00,0.000,4,0.000,0.028,2125,1203,3472,0,0,0,0,0,0
$GC,527,-0.47,-146.0,141.3,-18.3,84,536,0.10,2.20,0.00,0.000,6,0.148,0.037,2146,2610,3472,0,0,0,0,0,0
$GC,668,-0.47,-146.0,164.4,-18.1,109,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2609,3473,0,0,0,0,0,0
$GC,804,-0.47,-146.0,186.5,-17.0,134,812,0.00,1.83,0.00,0.000,4,0.000,0.044,2139,3784,3474,0,0,0,0,0,0
$GC,842,-0.47,-146.0,192.6,-16.3,140,850,0.00,1.80,0.00,0.000,6,0.000,0.025,2140,2584,3474,0,0,0,0,0,0
$GC,981,-0.47,-146.0,216.2,-16.7,156,984,0.00,1.88,0.00,0.000,4,0.000,0.043,2131,3780,3474,0,0,0,0,0,0
$GC,1039,-0.47,-146.0,226.2,-14.3,161,1047,0.00,1.73,0.00,0.000,6,0.000,0.025,2131,2616,3474,0,0,0,0,0,0
$GC,1366,-0.47,-146.0,271.4,-14.2,192,1369,0.00,2.05,0.00,0.000,4,0.000,0.030,2131,1211,3473,0,0,0,0,0,0
$GC,1460,-0.47,-146.0,284.0,-12.4,200,1464,0.00,2.15,0.00,0.000,6,0.000,0.035,2124,2627,3474,0,0,0,0,0,0
$GC,1785,-0.47,-146.0,330.2,-13.8,230,1789,0.00,1.75,0.00,0.000,4,0.000,0.044,2116,3777,3470,0,0,0,0,0,0
$GC,1834,-0.47,-146.0,337.2,-13.2,234,1842,0.08,1.73,0.00,0.000,6,0.132,0.026,2142,2615,3470,0,0,0,0,0,0
$GC,2160,-0.47,-146.0,374.0,-10.8,265,2163,0.00,2.05,0.00,0.000,4,0.000,0.031,2142,1216,3466,0,0,0,0,0,0
$GC,2284,-0.47,-146.0,386.0,-9.2,276,2288,0.00,2.12,0.00,0.000,6,0.000,0.036,2139,2611,3465,0,0,0,0,0,0
$GC,2609,-0.47,-146.0,421.1,-11.5,306,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3463,0,0,0,0,0,0
$GC,2932,-0.47,-146.0,456.1,-11.4,336,2936,0.00,2.10,0.00,0.000,4,0.000,0.031,2139,1200,3458,0,0,0,0,0,0
$GC,2972,-0.47,-146.0,460.9,-10.9,339,2977,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2606,3458,0,0,0,0,0,0
$GC,3298,-0.47,-146.0,496.9,-11.1,369,3302,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1200,3455,0,0,0,0,0,0
$GC,3364,-0.47,-146.0,504.2,-10.0,373,3368,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2590,3455,0,0,0,0,0,0
$GC,3692,-0.47,-146.0,539.1,-10.7,389,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2591,3452,0,0,0,0,0,0
$GC,4002,-0.47,-146.0,573.1,-10.9,404,4006,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1203,3449,0,0,0,0,0,0
$GC,4110,-0.47,-146.0,585.4,-11.3,409,4114,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2586,3449,0,0,0,0,0,0
$GC,4436,-0.47,-146.0,621.2,-11.0,425,4440,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1213,3446,0,0,0,0,0,0
$GC,4486,-0.47,-146.0,626.8,-10.8,427,4490,0.00,2.10,0.00,0.000,6,0.000,0.040,2138,2581,3445,0,0,0,0,0,0
$GC,4808,-0.47,-146.0,660.5,-10.4,443,4812,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3776,3443,0,0,0,0,0,0
$GC,4854,-0.47,-146.0,664.9,-10.1,445,4858,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2583,3443,0,0,0,0,0,0
$GC,5187,-0.47,-146.0,698.1,-9.9,461,5191,0.00,2.05,0.00,0.000,4,0.000,0.034,2135,1202,3440,0,0,0,0,0,0
$GC,5287,-0.47,-146.0,708.1,-9.4,465,5291,0.00,2.10,0.00,0.000,6,0.000,0.039,2138,2568,3440,0,0,0,0,0,0
$GC,5609,-0.47,-146.0,736.9,-9.0,481,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2569,3439,0,0,0,0,0,0
$GC,5918,-0.47,-146.0,765.6,-9.5,496,5921,0.00,1.85,0.00,0.000,4,0.000,0.050,2131,3778,3436,0,0,0,0,0,0
$GC,5950,-0.47,-146.0,768.9,-9.6,497,5955,0.00,1.83,0.00,0.000,6,0.000,0.028,2131,2577,3436,0,0,0,0,0,0
$GC,6273,-0.47,-146.0,801.8,-10.6,513,6277,0.00,2.03,0.00,0.000,4,0.000,0.034,2131,1200,3434,0,0,0,0,0,0
$GC,6389,-0.47,-146.0,814.6,-10.6,518,6393,0.00,2.10,0.00,0.000,6,0.000,0.039,2125,2568,3435,0,0,0,0,0,0
$GC,6717,-0.47,-146.0,850.4,-11.0,534,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2569,3432,0,0,0,0,0,0
$GC,7026,-0.47,-146.0,883.8,-10.7,549,7030,0.00,1.90,0.00,0.000,4,0.000,0.051,2124,3775,3431,0,0,0,0,0,0
$GC,7059,-0.47,-146.0,887.4,-10.4,550,7063,0.00,1.85,0.00,0.000,6,0.000,0.029,2124,2559,3431,0,0,0,0,0,0
$GC,7381,-0.47,-146.0,917.8,-9.3,566,7385,0.00,2.03,0.00,0.000,4,0.000,0.036,2124,1199,3427,0,0,0,0,0,0
$GC,7450,-0.47,-146.0,924.3,-9.3,569,7454,0.00,2.10,0.00,0.000,6,0.000,0.041,2124,2559,3430,0,0,0,0,0,0
$GC,7778,-0.47,-146.0,951.8,-8.2,585,7781,0.00,1.88,0.00,0.000,4,0.000,0.052,2124,3778,3426,0,0,0,0,0,0
$GC,7811,-0.47,-146.0,954.6,-8.2,586,7815,0.00,1.83,0.00,0.000,6,0.000,0.029,2123,2551,3427,0,0,0,0,0,0
$GC,8133,-0.47,-146.0,979.9,-7.8,602,8137,0.00,2.00,0.00,0.000,4,0.000,0.035,2124,1203,3427,0,0,0,0,0,0
$GC,8239,-0.47,-146.0,988.5,-8.0,606,8247,0.12,2.08,0.00,0.000,6,0.165,0.040,2154,2546,3426,0,0,0,0,0,0
$STATE,8265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8265,begin apogee
$GC,8271,-0.16,0.0,990.1,7.3,608,8388,0.28,0.00,109.93,1.115,4,0.122,0.000,2242,2112,2871,0,0,0,0,0,0
$STATE,8389,end apogee,CONTROL_FINISHED_OK
$STATE,8389,begin climb
$GC,8391,0.47,146.0,992.7,0.0,613,8521,0.65,2.25,120.68,1.085,4,0.092,0.040,2456,726,2273,0,0,0,0,0,0
$GC,8551,0.47,146.0,983.3,9.9,621,8555,0.00,2.28,0.00,0.000,6,0.000,0.033,2456,2135,2270,0,0,0,0,0,0
$GC,8878,0.47,146.0,947.6,11.1,637,8882,0.00,2.20,0.00,0.000,4,0.000,0.044,2456,3539,2263,0,0,0,0,0,0
$GC,8921,0.47,146.0,941.9,12.8,639,8925,0.00,2.17,0.00,0.000,6,0.000,0.030,2466,2125,2262,0,0,0,0,0,0
$GC,9249,0.47,146.0,903.9,11.6,655,9253,0.00,2.17,0.00,0.000,4,0.000,0.040,2477,716,2261,0,0,0,0,0,0
$GC,9321,0.47,146.0,895.3,11.0,658,9325,0.00,2.15,0.00,0.000,6,0.000,0.035,2476,2120,2261,0,0,0,0,0,0
$GC,9649,0.47,146.0,858.0,11.3,674,9653,0.00,2.20,0.00,0.000,4,0.000,0.044,2476,3542,2263,0,0,0,0,0,0
$GC,9676,0.47,146.0,854.6,11.6,675,9681,0.12,2.17,0.00,0.000,6,0.197,0.030,2458,2115,2259,0,0,0,0,0,0
$GC,10003,0.47,146.0,823.3,9.7,691,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2112,2258,0,0,0,0,0,0
$GC,10313,0.47,146.0,794.3,9.3,706,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2112,2258,0,0,0,0,0,0
$GC,10622,0.47,146.0,765.8,9.2,721,10626,0.00,2.12,0.00,0.000,4,0.000,0.040,2467,715,2257,0,0,0,0,0,0
$GC,10676,0.47,146.0,760.5,9.5,723,10685,0.00,2.17,0.00,0.000,6,0.000,0.034,2467,2139,2257,0,0,0,0,0,0
$GC,10994,0.48,153.2,733.1,8.0,739,11003,0.00,2.20,4.22,0.710,4,0.000,0.044,2467,3529,2248,0,0,0,0,0,0
$GC,11076,0.48,153.2,725.2,9.8,742,11083,0.00,2.15,0.00,0.000,6,0.000,0.030,2476,2134,2244,0,0,0,0,0,0
$GC,11392,0.48,153.2,696.8,9.4,758,11396,0.00,2.15,0.00,0.000,4,0.000,0.040,2487,710,2241,0,0,0,0,0,0
$GC,11566,0.48,153.2,679.3,10.1,766,11571,0.12,2.12,0.00,0.000,6,0.170,0.034,2456,2109,2244,0,0,0,0,0,0
$GC,11893,0.48,153.2,648.3,9.6,782,11897,0.00,2.20,0.00,0.000,4,0.000,0.045,2457,3537,2243,0,0,0,0,0,0
$GC,11965,0.48,153.2,640.4,10.6,785,11969,0.00,2.15,0.00,0.000,6,0.000,0.030,2463,2107,2243,0,0,0,0,0,0
$GC,12293,0.48,153.2,608.8,9.2,801,12297,0.00,2.10,0.00,0.000,4,0.000,0.041,2476,716,2243,0,0,0,0,0,0
$GC,12506,0.48,153.2,588.8,9.0,810,12513,0.00,2.12,0.00,0.000,6,0.000,0.034,2475,2083,2244,0,0,0,0,0,0
$GC,12823,0.48,153.2,559.2,9.2,826,12827,0.00,2.25,0.00,0.000,4,0.000,0.044,2475,3542,2243,0,0,0,0,0,0
$GC,12894,0.48,153.2,551.7,10.3,829,12898,0.00,2.17,0.00,0.000,6,0.000,0.030,2484,2095,2242,0,0,0,0,0,0
$GC,13222,0.48,153.2,519.9,9.3,845,13226,0.00,2.08,0.00,0.000,4,0.000,0.040,2495,714,2243,0,0,0,0,0,0
$GC,13310,0.48,153.2,511.7,9.0,849,13315,0.15,2.15,0.00,0.000,6,0.171,0.033,2454,2104,2243,0,0,0,0,0,0
$GC,13633,0.51,180.8,488.1,7.2,872,13662,0.00,0.00,23.05,0.797,6,0.000,0.000,2457,2104,2131,0,0,0,0,0,0
$GC,13980,0.51,180.8,458.9,8.5,905,13984,0.00,2.12,0.00,0.000,4,0.000,0.040,2465,722,2129,0,0,0,0,0,0
$GC,14024,0.51,180.8,454.8,9.1,908,14031,0.00,2.12,0.00,0.000,6,0.000,0.034,2464,2099,2129,0,0,0,0,0,0
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$STATE,19200,end climb,SURFACE_DEPTH_REACHED
$STATE,19200,begin surface coast
$FINISH,0.1,1.002219
$STATE,19241,end surface coast,CONTROL_FINISHED_OK
$STATE,19241,begin surface
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$HUMID,38.89
$INTERNAL_PRESSURE,9.34606
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$XPDR_PINGS,0
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$10V_AH,10.1,15.932
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322612
$DATA_FILE_SIZE,107199,1583
$CAP_FILE_SIZE,207587,0
$CFSIZE,260165632,242180096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,347.2,1
$GPS,280611,171155,2004.238,11956.889,39,1.3,39,-2.2