version: 66.09
glider: 181
mission: 6
dive: 97
start: 6 29 111 3 55 57
data:
$ID,181
$MISSION,6
$DIVE,97
$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,-40544.355
$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,51
$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
$GPS1,290611,034906,2002.908,11952.847,32,1.0,32,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.3
$GPS2,290611,035532,2003.004,11952.832,12,1.1,12,-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,176.1,117356,-14.5,-8.250
$D_GRID,3490
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-70.70,0.000,2,0.000,0.000,212,2623,2566,0,0,0,0,0,0
$GC,92,-0.47,-146.0,3.4,-4.0,10,124,7.78,1.83,-18.40,0.000,4,0.232,0.056,2134,3775,3468,0,0,0,0,0,0
$GC,152,-0.47,-146.0,26.6,-42.6,19,160,0.00,1.80,0.00,0.000,6,0.000,0.025,2134,2590,3469,0,0,0,0,0,0
$GC,286,-0.47,-146.0,84.0,-36.3,44,294,0.00,1.88,0.00,0.000,4,0.000,0.046,2125,3765,3470,0,0,0,0,0,0
$GC,313,-0.47,-146.0,92.9,-33.5,48,321,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2597,3470,0,0,0,0,0,0
$GC,448,-0.47,-146.0,129.4,-32.2,73,456,0.00,2.08,0.00,0.000,4,0.000,0.029,2125,1206,3470,0,0,0,0,0,0
$GC,563,-0.47,-146.0,156.7,-18.8,94,572,0.08,2.08,0.00,0.000,6,0.155,0.037,2140,2535,3469,0,0,0,0,0,0
$GC,700,-0.47,-146.0,180.4,-16.3,119,708,0.00,1.90,0.00,0.000,4,0.000,0.042,2133,3767,3472,0,0,0,0,0,0
$GC,722,-0.47,-146.0,184.3,-15.7,122,730,0.00,1.88,0.00,0.000,6,0.000,0.024,2133,2512,3473,0,0,0,0,0,0
$GC,862,-0.47,-146.0,205.8,-16.6,145,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2510,3472,0,0,0,0,0,0
$GC,1184,-0.47,-146.0,259.8,-15.0,175,1187,0.00,1.92,0.00,0.000,4,0.000,0.042,2124,3767,3472,0,0,0,0,0,0
$GC,1222,-0.47,-146.0,266.5,-15.5,178,1230,0.00,1.88,0.00,0.000,6,0.000,0.026,2124,2504,3472,0,0,0,0,0,0
$GC,1547,-0.47,-146.0,314.5,-15.3,209,1551,0.00,1.92,0.00,0.000,4,0.000,0.044,2116,3761,3471,0,0,0,0,0,0
$GC,1582,-0.47,-146.0,319.9,-15.7,212,1586,0.12,1.83,0.00,0.000,6,0.149,0.027,2149,2510,3470,0,0,0,0,0,0
$GC,1912,-0.47,-146.0,354.5,-9.4,243,1916,0.00,1.90,0.00,0.000,4,0.000,0.031,2146,1201,3468,0,0,0,0,0,0
$GC,1995,-0.47,-146.0,361.8,-7.9,250,2002,0.00,1.98,0.00,0.000,6,0.000,0.036,2150,2500,3467,0,0,0,0,0,0
$GC,2321,-0.47,-146.0,392.9,-9.8,281,2324,0.00,1.95,0.00,0.000,4,0.000,0.046,2144,3758,3465,0,0,0,0,0,0
$GC,2344,-0.47,-146.0,395.7,-10.4,283,2347,0.00,1.80,0.00,0.000,6,0.000,0.028,2142,2523,3463,0,0,0,0,0,0
$GC,2675,-0.47,-146.0,435.3,-12.4,314,2678,0.00,1.90,0.00,0.000,4,0.000,0.046,2136,3763,3459,0,0,0,0,0,0
$GC,2713,-0.47,-146.0,440.2,-12.4,317,2720,0.00,1.85,0.00,0.000,6,0.000,0.028,2136,2535,3458,0,0,0,0,0,0
$GC,3038,-0.47,-146.0,479.6,-11.9,348,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2533,3455,0,0,0,0,0,0
$GC,3353,-0.47,-146.0,517.1,-11.6,371,3357,0.00,1.95,0.00,0.000,4,0.000,0.033,2136,1203,3453,0,0,0,0,0,0
$GC,3380,-0.47,-146.0,520.3,-11.3,372,3384,0.00,2.05,0.00,0.000,6,0.000,0.038,2128,2522,3452,0,0,0,0,0,0
$GC,3708,-0.47,-146.0,557.1,-11.5,388,3712,0.00,1.90,0.00,0.000,4,0.000,0.048,2120,3768,3449,0,0,0,0,0,0
$GC,3777,-0.47,-146.0,565.2,-11.0,391,3780,0.00,1.80,0.00,0.000,6,0.000,0.028,2120,2547,3448,0,0,0,0,0,0
$GC,4110,-0.47,-146.0,606.7,-12.4,407,4112,0.12,0.00,0.00,0.000,6,0.162,0.000,2152,2544,3445,0,0,0,0,0,0
$GC,4418,-0.47,-146.0,636.8,-9.4,422,4422,0.00,1.98,0.00,0.000,4,0.000,0.034,2152,1208,3443,0,0,0,0,0,0
$GC,4464,-0.47,-146.0,640.9,-9.5,424,4468,0.00,2.03,0.00,0.000,6,0.000,0.038,2151,2536,3443,0,0,0,0,0,0
$GC,4797,-0.47,-146.0,670.8,-9.0,440,4801,0.00,2.00,0.00,0.000,4,0.000,0.034,2152,1206,3440,0,0,0,0,0,0
$GC,4823,-0.47,-146.0,673.5,-8.9,441,4828,0.00,2.08,0.00,0.000,6,0.000,0.039,2151,2530,3440,0,0,0,0,0,0
$GC,5151,-0.47,-146.0,701.2,-8.5,457,5155,0.00,1.88,0.00,0.000,4,0.000,0.050,2151,3761,3437,0,0,0,0,0,0
$GC,5197,-0.47,-146.0,705.0,-8.4,459,5201,0.00,1.77,0.00,0.000,6,0.000,0.030,2151,2551,3437,0,0,0,0,0,0
$GC,5530,-0.47,-146.0,731.1,-7.7,475,5534,0.00,2.00,0.00,0.000,4,0.000,0.035,2151,1205,3435,0,0,0,0,0,0
$GC,5636,-0.47,-146.0,739.5,-7.6,479,5643,0.00,2.00,0.00,0.000,6,0.000,0.039,2151,2513,3434,0,0,0,0,0,0
$GC,5952,-0.47,-146.0,764.2,-8.1,495,5956,0.00,1.92,0.00,0.000,4,0.000,0.050,2152,3768,3433,0,0,0,0,0,0
$GC,6013,-0.47,-146.0,769.2,-7.7,497,6020,0.00,1.83,0.00,0.000,6,0.000,0.030,2151,2532,3432,0,0,0,0,0,0
$GC,6330,-0.47,-146.0,794.3,-7.8,513,6334,0.00,1.98,0.00,0.000,4,0.000,0.036,2151,1208,3430,0,0,0,0,0,0
$GC,6399,-0.47,-146.0,799.8,-8.0,516,6402,0.00,2.00,0.00,0.000,6,0.000,0.039,2151,2513,3430,0,0,0,0,0,0
$GC,6732,-0.47,-146.0,826.7,-8.0,532,6736,0.00,1.92,0.00,0.000,4,0.000,0.050,2151,3767,3429,0,0,0,0,0,0
$GC,6777,-0.47,-146.0,830.2,-7.6,534,6781,0.00,1.83,0.00,0.000,6,0.000,0.030,2151,2534,3429,0,0,0,0,0,0
$GC,7110,-0.47,-146.0,855.2,-7.7,550,7114,0.00,1.98,0.00,0.000,4,0.000,0.036,2151,1201,3431,0,0,0,0,0,0
$GC,7188,-0.47,-146.0,860.9,-7.0,553,7192,0.00,2.03,0.00,0.000,6,0.000,0.040,2151,2518,3427,0,0,0,0,0,0
$GC,7509,-0.47,-146.0,884.3,-7.1,569,7513,0.00,1.90,0.00,0.000,4,0.000,0.052,2151,3761,3425,0,0,0,0,0,0
$GC,7543,-0.47,-146.0,886.8,-7.1,570,7546,0.00,1.83,0.00,0.000,6,0.000,0.030,2151,2529,3425,0,0,0,0,0,0
$GC,7864,-0.47,-146.0,909.1,-6.9,586,7868,0.00,1.98,0.00,0.000,4,0.000,0.036,2151,1197,3425,0,0,0,0,0,0
$GC,7942,-0.47,-146.0,914.7,-6.9,589,7946,0.00,2.00,0.00,0.000,6,0.000,0.041,2151,2502,3424,0,0,0,0,0,0
$GC,8265,-0.47,-146.0,934.7,-6.1,605,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2504,3423,0,0,0,0,0,0
$GC,8574,-0.47,-146.0,953.5,-6.1,620,8577,0.00,1.95,0.00,0.000,4,0.000,0.052,2151,3768,3422,0,0,0,0,0,0
$GC,8597,-0.47,-146.0,954.9,-6.3,621,8601,0.00,1.85,0.00,0.000,6,0.000,0.030,2151,2516,3422,0,0,0,0,0,0
$GC,8930,-0.47,-146.0,977.3,-7.1,637,8934,0.00,1.98,0.00,0.000,4,0.000,0.036,2151,1214,3420,0,0,0,0,0,0
$GC,8963,-0.47,-146.0,980.0,-7.3,638,8967,0.00,1.98,0.00,0.000,6,0.000,0.040,2151,2501,3420,0,0,0,0,0,0
$STATE,9118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9118,begin apogee
$GC,9124,-0.16,0.0,991.7,7.7,646,9240,0.28,0.00,108.72,1.117,4,0.120,0.000,2244,2103,2872,0,0,0,0,0,0
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9243,0.47,146.0,996.7,0.0,651,9375,0.62,2.22,121.10,1.088,4,0.090,0.040,2450,728,2273,0,0,0,0,0,0
$GC,9429,0.47,146.0,989.2,8.2,660,9433,0.00,2.22,0.00,0.000,6,0.000,0.034,2450,2115,2269,0,0,0,0,0,0
$GC,9756,0.47,146.0,961.4,8.5,676,9760,0.00,2.25,0.00,0.000,4,0.000,0.045,2450,3541,2261,0,0,0,0,0,0
$GC,9915,0.47,146.0,944.4,11.8,683,9919,0.00,2.12,0.00,0.000,6,0.000,0.029,2460,2156,2261,0,0,0,0,0,0
$GC,10237,0.47,146.0,908.7,11.4,699,10241,0.00,2.20,0.00,0.000,4,0.000,0.039,2470,718,2260,0,0,0,0,0,0
$GC,10354,0.47,146.0,894.7,11.7,704,10358,0.00,2.17,0.00,0.000,6,0.000,0.034,2470,2137,2260,0,0,0,0,0,0
$GC,10675,0.47,146.0,854.7,12.6,720,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2138,2259,0,0,0,0,0,0
$GC,10984,0.47,146.0,817.0,11.7,735,10988,0.00,2.17,0.00,0.000,4,0.000,0.039,2480,713,2259,0,0,0,0,0,0
$GC,11034,0.47,146.0,810.9,11.8,737,11038,0.00,2.17,0.00,0.000,6,0.000,0.034,2480,2137,2258,0,0,0,0,0,0
$GC,11356,0.47,146.0,772.9,11.9,753,11358,0.10,0.00,0.00,0.000,6,0.200,0.000,2458,2139,2258,0,0,0,0,0,0
$GC,11665,0.47,146.0,740.9,10.4,768,11669,0.00,2.15,0.00,0.000,4,0.000,0.046,2458,3541,2257,0,0,0,0,0,0
$GC,11737,0.47,146.0,732.2,11.5,771,11741,0.00,2.10,0.00,0.000,6,0.000,0.029,2465,2138,2256,0,0,0,0,0,0
$GC,12059,0.47,146.0,699.3,10.1,787,12063,0.00,2.15,0.00,0.000,4,0.000,0.040,2477,717,2256,0,0,0,0,0,0
$GC,12130,0.47,146.0,691.8,10.1,790,12134,0.00,2.17,0.00,0.000,6,0.000,0.033,2473,2149,2257,0,0,0,0,0,0
$GC,12453,0.47,146.0,657.5,10.6,806,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2149,2256,0,0,0,0,0,0
$GC,12762,0.47,146.0,624.6,10.6,821,12766,0.00,2.12,0.00,0.000,4,0.000,0.045,2477,3535,2256,0,0,0,0,0,0
$GC,12811,0.47,146.0,618.8,11.8,823,12816,0.08,2.12,0.00,0.000,6,0.168,0.029,2456,2153,2256,0,0,0,0,0,0
$GC,13133,0.47,146.0,591.2,8.2,839,13137,0.00,2.17,0.00,0.000,4,0.000,0.041,2465,716,2255,0,0,0,0,0,0
$GC,13200,0.47,146.0,585.5,8.5,842,13204,0.00,2.17,0.00,0.000,6,0.000,0.034,2465,2152,2256,0,0,0,0,0,0
$GC,13528,0.47,146.0,557.2,8.5,858,13532,0.00,2.12,0.00,0.000,4,0.000,0.046,2465,3535,2255,0,0,0,0,0,0
$GC,13568,0.47,146.0,553.1,10.2,860,13572,0.00,2.10,0.00,0.000,6,0.000,0.031,2474,2136,2255,0,0,0,0,0,0
$GC,13894,0.47,146.0,521.7,9.4,876,13898,0.00,2.15,0.00,0.000,4,0.000,0.040,2485,713,2255,0,0,0,0,0,0
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$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19428,begin surface coast
$FINISH,-0.0,1.008285
$STATE,19455,end surface coast,CONTROL_FINISHED_OK
$STATE,19455,begin surface
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.1,16.450
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.875,201.625,541.350,0.000,0.000,28.004,17.229,191.957,0.000,0.000,15.085,3816.837,11162.266,620.392,3907.254,392.822,0.000,2238.706,0.000,2743.252,0.000,0.542,0.000
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$MEM,322624
$DATA_FILE_SIZE,106955,1568
$CAP_FILE_SIZE,208248,0
$CFSIZE,260165632,241864704
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,092237,2003.428,11953.616,30,0.9,30,-2.2