version: 66.09
glider: 181
mission: 6
dive: 96
start: 6 28 111 22 39 15
data:
$ID,181
$MISSION,6
$DIVE,96
$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,1
$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,-40543.098
$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,43
$R_STBD_OVSHOOT,39
$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
$GPS1,280611,223207,2002.411,11954.608,35,1.3,35,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.4
$GPS2,280611,223850,2002.476,11954.446,11,1.6,11,-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,177.4,116114,-14.5,-8.250
$D_GRID,3508
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-77.85,0.000,2,0.000,0.000,202,2600,2571,0,0,0,0,0,0
$GC,99,-0.47,-146.0,3.5,-3.6,11,131,7.88,1.88,-18.00,0.000,4,0.233,0.057,2134,3782,3468,0,0,0,0,0,0
$GC,155,-0.47,-146.0,25.9,-43.8,19,163,0.00,1.83,0.00,0.000,6,0.000,0.026,2134,2584,3469,0,0,0,0,0,0
$GC,289,-0.47,-146.0,84.8,-40.0,44,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2583,3469,0,0,0,0,0,0
$GC,421,-0.47,-146.0,126.2,-28.2,69,429,0.00,1.88,0.00,0.000,4,0.000,0.042,2125,3776,3470,0,0,0,0,0,0
$GC,463,-0.47,-146.0,139.1,-30.6,76,471,0.00,1.75,0.00,0.000,6,0.000,0.025,2124,2600,3470,0,0,0,0,0,0
$GC,598,-0.47,-146.0,170.1,-21.4,101,606,0.00,1.85,0.00,0.000,4,0.000,0.043,2115,3777,3470,0,0,0,0,0,0
$GC,636,-0.47,-146.0,177.6,-20.0,107,644,0.10,1.67,0.00,0.000,6,0.146,0.026,2146,2656,3471,0,0,0,0,0,0
$GC,771,-0.47,-146.0,200.0,-17.3,132,779,0.00,2.17,0.00,0.000,4,0.000,0.029,2146,1198,3472,0,0,0,0,0,0
$GC,812,-0.47,-146.0,208.1,-17.3,136,821,0.00,2.22,0.00,0.000,6,0.000,0.037,2139,2636,3472,0,0,0,0,0,0
$GC,1139,-0.47,-146.0,256.7,-14.6,167,1143,0.00,2.12,0.00,0.000,4,0.000,0.030,2139,1196,3471,0,0,0,0,0,0
$GC,1281,-0.47,-146.0,273.1,-10.7,179,1285,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2643,3471,0,0,0,0,0,0
$GC,1606,-0.47,-146.0,313.8,-12.5,209,1610,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1206,3469,0,0,0,0,0,0
$GC,1646,-0.47,-146.0,319.1,-13.3,212,1650,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2653,3470,0,0,0,0,0,0
$GC,1971,-0.47,-146.0,366.2,-15.3,242,1975,0.00,1.73,0.00,0.000,4,0.000,0.046,2130,3774,3466,0,0,0,0,0,0
$GC,2027,-0.47,-146.0,374.5,-13.7,247,2031,0.00,1.65,0.00,0.000,6,0.000,0.027,2130,2626,3465,0,0,0,0,0,0
$GC,2358,-0.47,-146.0,420.9,-12.3,278,2362,0.00,2.08,0.00,0.000,4,0.000,0.033,2130,1214,3467,0,0,0,0,0,0
$GC,2505,-0.47,-146.0,437.3,-10.5,291,2509,0.00,2.15,0.00,0.000,6,0.000,0.039,2125,2624,3461,0,0,0,0,0,0
$GC,2830,-0.47,-146.0,474.2,-10.9,321,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2624,3458,0,0,0,0,0,0
$GC,3157,-0.47,-146.0,509.3,-10.0,348,3161,0.00,2.10,0.00,0.000,4,0.000,0.034,2125,1215,3454,0,0,0,0,0,0
$GC,3197,-0.47,-146.0,512.9,-9.0,350,3201,0.00,2.15,0.00,0.000,6,0.000,0.041,2125,2614,3454,0,0,0,0,0,0
$GC,3524,-0.47,-146.0,542.9,-9.8,366,3528,0.00,2.10,0.00,0.000,4,0.000,0.034,2125,1209,3451,0,0,0,0,0,0
$GC,3587,-0.47,-146.0,549.3,-9.5,369,3591,0.00,2.15,0.00,0.000,6,0.000,0.041,2125,2606,3451,0,0,0,0,0,0
$GC,3914,-0.47,-146.0,583.8,-10.8,385,3918,0.00,2.10,0.00,0.000,4,0.000,0.034,2125,1208,3447,0,0,0,0,0,0
$GC,3948,-0.47,-146.0,587.3,-10.2,386,3956,0.00,2.15,0.00,0.000,6,0.000,0.041,2124,2598,3447,0,0,0,0,0,0
$GC,4264,-0.47,-146.0,620.0,-10.6,402,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2598,3444,0,0,0,0,0,0
$GC,4573,-0.47,-146.0,654.4,-11.0,417,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2597,3442,0,0,0,0,0,0
$GC,4883,-0.47,-146.0,688.3,-10.7,432,4887,0.00,1.80,0.00,0.000,4,0.000,0.050,2124,3776,3440,0,0,0,0,0,0
$GC,4910,-0.47,-146.0,691.5,-10.4,433,4914,0.00,1.75,0.00,0.000,6,0.000,0.029,2124,2614,3439,0,0,0,0,0,0
$GC,5238,-0.47,-146.0,724.9,-10.1,449,5242,0.00,2.12,0.00,0.000,4,0.000,0.035,2125,1196,3437,0,0,0,0,0,0
$GC,5329,-0.47,-146.0,733.4,-9.2,453,5333,0.00,2.15,0.00,0.000,6,0.000,0.041,2124,2590,3437,0,0,0,0,0,0
$GC,5661,-0.47,-146.0,765.9,-9.9,469,5665,0.00,2.10,0.00,0.000,4,0.000,0.035,2124,1194,3435,0,0,0,0,0,0
$GC,5711,-0.47,-146.0,771.1,-9.8,471,5715,0.00,2.15,0.00,0.000,6,0.000,0.042,2124,2586,3435,0,0,0,0,0,0
$GC,6034,-0.47,-146.0,803.0,-10.0,487,6038,0.00,2.10,0.00,0.000,4,0.000,0.036,2124,1195,3432,0,0,0,0,0,0
$GC,6077,-0.47,-146.0,807.7,-9.8,489,6082,0.00,2.15,0.00,0.000,6,0.000,0.042,2124,2581,3431,0,0,0,0,0,0
$GC,6406,-0.47,-146.0,837.6,-9.5,505,6410,0.00,2.10,0.00,0.000,4,0.000,0.037,2125,1203,3431,0,0,0,0,0,0
$GC,6451,-0.47,-146.0,842.0,-9.3,507,6455,0.00,2.12,0.00,0.000,6,0.000,0.043,2124,2574,3431,0,0,0,0,0,0
$GC,6784,-0.47,-146.0,874.1,-10.1,523,6788,0.00,1.85,0.00,0.000,4,0.000,0.053,2125,3781,3429,0,0,0,0,0,0
$GC,6834,-0.47,-146.0,878.8,-9.4,525,6838,0.00,1.80,0.00,0.000,6,0.000,0.030,2124,2563,3428,0,0,0,0,0,0
$GC,7162,-0.47,-146.0,911.6,-10.9,541,7165,0.00,2.03,0.00,0.000,4,0.000,0.036,2124,1201,3427,0,0,0,0,0,0
$GC,7256,-0.47,-146.0,922.4,-10.6,545,7260,0.00,2.10,0.00,0.000,6,0.000,0.042,2124,2561,3427,0,0,0,0,0,0
$GC,7584,-0.47,-146.0,960.3,-11.9,561,7587,0.00,2.05,0.00,0.000,4,0.000,0.037,2124,1208,3425,0,0,0,0,0,0
$GC,7630,-0.47,-146.0,965.9,-12.9,563,7634,0.00,2.08,0.00,0.000,6,0.000,0.042,2127,2547,3425,0,0,0,0,0,0
$STATE,7851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7858,-0.16,0.0,992.4,11.8,574,7973,0.38,0.00,109.78,1.111,4,0.129,0.000,2247,2103,2869,0,0,0,0,0,0
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7974,begin climb
$GC,7976,0.47,146.0,999.1,0.0,579,8105,0.62,2.25,119.95,1.082,4,0.086,0.041,2454,720,2274,0,0,0,0,0,0
$GC,8341,0.47,146.0,975.8,9.5,596,8345,0.00,2.22,0.00,0.000,6,0.000,0.037,2454,2132,2266,0,0,0,0,0,0
$GC,8668,0.47,146.0,940.6,11.4,612,8672,0.00,2.20,0.00,0.000,4,0.000,0.040,2464,716,2262,0,0,0,0,0,0
$GC,8842,0.47,146.0,919.7,12.1,620,8846,0.00,2.20,0.00,0.000,6,0.000,0.037,2463,2140,2262,0,0,0,0,0,0
$GC,9175,0.47,146.0,880.4,11.7,636,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2141,2262,0,0,0,0,0,0
$GC,9484,0.47,146.0,845.9,10.5,651,9488,0.00,2.15,0.00,0.000,4,0.000,0.047,2464,3536,2260,0,0,0,0,0,0
$GC,9540,0.47,146.0,839.4,11.5,653,9547,0.00,2.15,0.00,0.000,6,0.000,0.031,2474,2119,2259,0,0,0,0,0,0
$GC,9856,0.47,146.0,807.9,9.9,669,9860,0.00,2.12,0.00,0.000,4,0.000,0.041,2485,718,2258,0,0,0,0,0,0
$GC,10002,0.47,146.0,794.1,9.0,675,10009,0.00,2.15,0.00,0.000,6,0.000,0.035,2484,2125,2258,0,0,0,0,0,0
$GC,10318,0.47,146.0,762.9,10.1,691,10322,0.00,2.15,0.00,0.000,4,0.000,0.040,2494,722,2259,0,0,0,0,0,0
$GC,10351,0.47,146.0,759.5,9.7,692,10356,0.15,2.15,0.00,0.000,6,0.176,0.036,2456,2133,2261,0,0,0,0,0,0
$GC,10673,0.47,146.0,730.2,9.6,708,10677,0.00,2.15,0.00,0.000,4,0.000,0.047,2456,3538,2258,0,0,0,0,0,0
$GC,10745,0.47,146.0,722.3,10.8,711,10749,0.00,2.17,0.00,0.000,6,0.000,0.031,2464,2127,2256,0,0,0,0,0,0
$GC,11067,0.47,146.0,689.1,10.5,727,11071,0.00,2.12,0.00,0.000,4,0.000,0.042,2475,719,2256,0,0,0,0,0,0
$GC,11145,0.47,146.0,680.4,11.0,730,11152,0.00,2.17,0.00,0.000,6,0.000,0.037,2475,2118,2256,0,0,0,0,0,0
$GC,11462,0.47,146.0,643.5,12.1,746,11466,0.00,2.17,0.00,0.000,4,0.000,0.046,2474,3538,2256,0,0,0,0,0,0
$GC,11561,0.47,146.0,629.6,13.6,750,11569,0.00,2.15,0.00,0.000,6,0.000,0.031,2484,2134,2253,0,0,0,0,0,0
$GC,11878,0.47,146.0,588.7,13.0,766,11882,0.00,2.15,0.00,0.000,4,0.000,0.041,2495,715,2255,0,0,0,0,0,0
$GC,12001,0.47,146.0,572.7,12.8,771,12008,0.15,2.15,0.00,0.000,6,0.169,0.035,2456,2135,2255,0,0,0,0,0,0
$GC,12317,0.47,146.0,540.7,9.6,787,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2136,2253,0,0,0,0,0,0
$GC,12626,0.47,146.0,510.9,9.4,802,12630,0.00,2.15,0.00,0.000,4,0.000,0.047,2456,3535,2255,0,0,0,0,0,0
$GC,12666,0.47,146.0,506.8,10.0,804,12670,0.00,2.12,0.00,0.000,6,0.000,0.031,2464,2120,2255,0,0,0,0,0,0
$GC,12991,0.47,146.0,477.3,8.8,831,12994,0.00,2.12,0.00,0.000,4,0.000,0.041,2475,711,2255,0,0,0,0,0,0
$GC,13079,0.47,146.0,469.2,8.9,838,13087,0.00,2.17,0.00,0.000,6,0.000,0.034,2475,2114,2255,0,0,0,0,0,0
$GC,13405,0.47,146.0,439.7,9.5,869,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2114,2255,0,0,0,0,0,0
$GC,13725,0.47,146.0,409.7,9.4,899,13729,0.00,2.17,0.00,0.000,4,0.000,0.047,2475,3538,2255,0,0,0,0,0,0
$GC,13832,0.47,146.0,398.4,10.2,908,13836,0.00,2.12,0.00,0.000,6,0.000,0.031,2480,2119,2255,0,0,0,0,0,0
$GC,14158,0.47,146.0,366.0,9.9,938,14162,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,718,2254,0,0,0,0,0,0
$GC,14355,0.47,146.0,347.9,8.5,955,14360,0.15,2.10,0.00,0.000,6,0.168,0.034,2456,2111,2256,0,0,0,0,0,0
$GC,14683,0.52,186.3,327.4,6.7,985,14716,0.00,2.17,28.62,0.693,4,0.000,0.039,2463,713,2109,0,0,0,0,0,0
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$STATE,18411,end climb,SURFACE_DEPTH_REACHED
$STATE,18411,begin surface coast
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$STATE,18445,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.1,16.277
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$FG_AHR_10Vo,0.000
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$MEM,322704
$DATA_FILE_SIZE,103657,1527
$CAP_FILE_SIZE,196145,0
$CFSIZE,260165632,241987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,034906,2002.908,11952.847,32,1.0,32,-2.2