version: 66.09
glider: 181
mission: 6
dive: 104
start: 6 30 111 18 25 15
data:
$ID,181
$MISSION,6
$DIVE,104
$N_DIVES,110
$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,-40582.918
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,300611,181737,1959.495,11951.907,38,0.8,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.5
$GPS2,300611,182450,1959.581,11951.936,10,1.6,10,-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,174.9,111244,-14.5,-8.250
$D_GRID,3495
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.47,-146.0,0.0,0.0,0,75,0.00,0.00,-55.50,0.000,2,0.000,0.000,198,2611,2459,0,0,0,0,0,0
$GC,78,-0.47,-146.0,3.2,-4.5,8,116,7.90,2.15,-20.98,0.000,4,0.234,0.037,2138,1183,3465,0,0,0,0,0,0
$GC,150,-0.47,-146.0,27.4,-35.0,19,158,0.00,2.25,0.00,0.000,6,0.000,0.044,2129,2588,3466,0,0,0,0,0,0
$GC,283,-0.47,-146.0,78.9,-38.5,44,291,0.00,1.88,0.00,0.000,4,0.000,0.045,2120,3784,3467,0,0,0,0,0,0
$GC,325,-0.47,-146.0,94.5,-35.2,51,333,0.00,1.80,0.00,0.000,6,0.000,0.024,2125,2583,3466,0,0,0,0,0,0
$GC,460,-0.47,-146.0,135.4,-26.8,76,469,0.00,2.05,0.00,0.000,4,0.000,0.028,2120,1205,3469,0,0,0,0,0,0
$GC,508,-0.47,-146.0,147.0,-23.1,84,516,0.10,2.17,0.00,0.000,6,0.158,0.038,2141,2585,3469,0,0,0,0,0,0
$GC,645,-0.47,-146.0,174.9,-17.7,109,653,0.00,1.85,0.00,0.000,4,0.000,0.042,2134,3787,3470,0,0,0,0,0,0
$GC,697,-0.47,-146.0,183.5,-14.2,118,706,0.00,1.80,0.00,0.000,6,0.000,0.025,2134,2579,3470,0,0,0,0,0,0
$GC,831,-0.47,-146.0,205.3,-16.3,140,835,0.00,2.00,0.00,0.000,4,0.000,0.029,2134,1202,3471,0,0,0,0,0,0
$GC,867,-0.47,-146.0,210.5,-14.7,143,871,0.00,2.10,0.00,0.000,6,0.000,0.034,2124,2589,3471,0,0,0,0,0,0
$GC,1194,-0.47,-146.0,267.3,-17.5,173,1198,0.00,1.77,0.00,0.000,4,0.000,0.042,2116,3777,3471,0,0,0,0,0,0
$GC,1240,-0.47,-146.0,275.0,-16.3,177,1245,0.12,1.73,0.00,0.000,6,0.150,0.025,2150,2585,3471,0,0,0,0,0,0
$GC,1572,-0.47,-146.0,317.8,-12.3,208,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2583,3469,0,0,0,0,0,0
$GC,1891,-0.47,-146.0,357.5,-12.3,238,1895,0.00,2.03,0.00,0.000,4,0.000,0.031,2150,1200,3465,0,0,0,0,0,0
$GC,1936,-0.47,-146.0,363.1,-12.1,242,1940,0.00,2.15,0.00,0.000,6,0.000,0.038,2150,2601,3465,0,0,0,0,0,0
$GC,2267,-0.47,-146.0,402.1,-11.9,273,2271,0.00,2.10,0.00,0.000,4,0.000,0.032,2150,1211,3461,0,0,0,0,0,0
$GC,2294,-0.47,-146.0,405.6,-12.1,275,2301,0.00,2.15,0.00,0.000,6,0.000,0.037,2150,2581,3461,0,0,0,0,0,0
$GC,2620,-0.47,-146.0,444.9,-12.3,306,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2580,3458,0,0,0,0,0,0
$GC,2941,-0.47,-146.0,482.5,-11.6,336,2945,0.00,2.05,0.00,0.000,4,0.000,0.033,2150,1210,3454,0,0,0,0,0,0
$GC,3010,-0.47,-146.0,490.2,-10.4,342,3014,0.00,2.12,0.00,0.000,6,0.000,0.039,2150,2587,3454,0,0,0,0,0,0
$GC,3334,-0.47,-146.0,523.4,-10.1,362,3337,0.00,1.85,0.00,0.000,4,0.000,0.050,2149,3776,3451,0,0,0,0,0,0
$GC,3366,-0.47,-146.0,526.7,-9.5,363,3370,0.00,1.77,0.00,0.000,6,0.000,0.028,2150,2590,3451,0,0,0,0,0,0
$GC,3689,-0.47,-146.0,556.0,-9.2,379,3692,0.00,2.05,0.00,0.000,4,0.000,0.034,2150,1203,3447,0,0,0,0,0,0
$GC,3712,-0.47,-146.0,558.4,-9.3,380,3716,0.00,2.15,0.00,0.000,6,0.000,0.041,2152,2600,3447,0,0,0,0,0,0
$GC,4039,-0.47,-146.0,584.8,-7.4,396,4043,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1209,3444,0,0,0,0,0,0
$GC,4095,-0.47,-146.0,589.2,-7.4,398,4102,0.00,2.10,0.00,0.000,6,0.000,0.040,2150,2572,3444,0,0,0,0,0,0
$GC,4411,-0.47,-146.0,612.8,-7.9,414,4415,0.00,1.90,0.00,0.000,4,0.000,0.050,2150,3781,3442,0,0,0,0,0,0
$GC,4439,-0.47,-146.0,615.1,-8.1,415,4443,0.00,1.75,0.00,0.000,6,0.000,0.029,2150,2584,3441,0,0,0,0,0,0
$GC,4766,-0.47,-146.0,643.8,-9.4,431,4770,0.00,2.03,0.00,0.000,4,0.000,0.034,2150,1212,3439,0,0,0,0,0,0
$GC,4793,-0.47,-146.0,646.5,-9.5,432,4798,0.00,2.15,0.00,0.000,6,0.000,0.040,2150,2578,3439,0,0,0,0,0,0
$GC,5121,-0.47,-146.0,677.0,-9.3,448,5125,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1196,3436,0,0,0,0,0,0
$GC,5160,-0.47,-146.0,680.9,-9.8,450,5165,0.00,2.12,0.00,0.000,6,0.000,0.041,2150,2578,3437,0,0,0,0,0,0
$GC,5488,-0.47,-146.0,712.6,-9.6,466,5492,0.00,2.08,0.00,0.000,4,0.000,0.035,2150,1208,3434,0,0,0,0,0,0
$GC,5543,-0.47,-146.0,717.9,-9.3,468,5547,0.00,2.10,0.00,0.000,6,0.000,0.040,2150,2572,3434,0,0,0,0,0,0
$GC,5865,-0.47,-146.0,744.0,-7.8,484,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2572,3432,0,0,0,0,0,0
$GC,6175,-0.47,-146.0,764.8,-6.4,499,6178,0.00,2.05,0.00,0.000,4,0.000,0.036,2150,1212,3431,0,0,0,0,0,0
$GC,6213,-0.47,-146.0,767.5,-6.4,500,6220,0.00,2.10,0.00,0.000,6,0.000,0.041,2150,2561,3431,0,0,0,0,0,0
$GC,6530,-0.47,-146.0,786.8,-6.5,516,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2562,3429,0,0,0,0,0,0
$GC,6839,-0.47,-146.0,811.4,-8.3,531,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2562,3428,0,0,0,0,0,0
$GC,7148,-0.47,-146.0,835.9,-8.6,546,7152,0.00,2.08,0.00,0.000,4,0.000,0.038,2151,1201,3426,0,0,0,0,0,0
$GC,7174,-0.47,-146.0,838.7,-9.4,547,7179,0.00,2.08,0.00,0.000,6,0.000,0.041,2150,2551,3426,0,0,0,0,0,0
$GC,7503,-0.47,-146.0,866.2,-8.2,563,7506,0.00,2.05,0.00,0.000,4,0.000,0.037,2150,1207,3425,0,0,0,0,0,0
$GC,7530,-0.47,-146.0,868.7,-8.1,564,7534,0.00,2.10,0.00,0.000,6,0.000,0.042,2150,2542,3425,0,0,0,0,0,0
$GC,7858,-0.47,-146.0,892.2,-6.9,580,7861,0.00,2.03,0.00,0.000,4,0.000,0.037,2150,1202,3424,0,0,0,0,0,0
$GC,7897,-0.47,-146.0,895.0,-6.9,581,7904,0.00,2.08,0.00,0.000,6,0.000,0.042,2150,2547,3423,0,0,0,0,0,0
$GC,8213,-0.47,-146.0,912.6,-5.2,597,8217,0.00,2.03,0.00,0.000,4,0.000,0.036,2150,1203,3422,0,0,0,0,0,0
$GC,8241,-0.47,-146.0,914.3,-5.4,598,8245,0.00,2.05,0.00,0.000,6,0.000,0.042,2150,2533,3422,0,0,0,0,0,0
$GC,8569,-0.47,-146.0,932.3,-5.5,614,8573,0.00,2.00,0.00,0.000,4,0.000,0.037,2151,1212,3422,0,0,0,0,0,0
$GC,8592,-0.47,-146.0,933.7,-5.6,615,8596,0.00,2.03,0.00,0.000,6,0.000,0.041,2150,2526,3422,0,0,0,0,0,0
$GC,8926,-0.47,-146.0,953.1,-6.0,631,8929,0.00,1.95,0.00,0.000,4,0.000,0.053,2144,3790,3420,0,0,0,0,0,0
$GC,8987,-0.47,-146.0,957.3,-6.6,633,8993,0.00,1.88,0.00,0.000,6,0.000,0.031,2143,2528,3420,0,0,0,0,0,0
$GC,9303,-0.47,-146.0,978.8,-7.0,649,9307,0.00,2.00,0.00,0.000,4,0.000,0.038,2141,1218,3419,0,0,0,0,0,0
$GC,9426,-0.47,-146.0,988.5,-7.2,654,9430,0.00,2.00,0.00,0.000,6,0.000,0.041,2138,2521,3419,0,0,0,0,0,0
$STATE,9456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9457,begin apogee
$GC,9463,-0.16,0.0,990.9,7.5,656,9579,0.32,0.00,109.10,1.121,4,0.125,0.000,2245,2114,2869,0,0,0,0,0,0
$STATE,9580,end apogee,CONTROL_FINISHED_OK
$STATE,9580,begin climb
$GC,9582,0.47,146.0,995.0,0.0,661,9713,0.62,2.28,119.90,1.090,4,0.086,0.042,2453,719,2275,0,0,0,0,0,0
$GC,9747,0.47,148.2,987.8,8.2,669,9751,0.00,2.30,0.00,0.000,6,0.000,0.036,2454,2130,2272,0,0,0,0,0,0
$GC,10068,0.47,148.2,955.9,10.4,685,10072,0.00,2.22,0.00,0.000,4,0.000,0.046,2453,3545,2267,0,0,0,0,0,0
$GC,10117,0.47,148.2,950.0,11.5,687,10121,0.00,2.20,0.00,0.000,6,0.000,0.031,2463,2120,2265,0,0,0,0,0,0
$GC,10439,0.47,148.2,916.3,10.5,703,10443,0.00,2.17,0.00,0.000,4,0.000,0.042,2474,714,2264,0,0,0,0,0,0
$GC,10511,0.47,148.2,908.3,10.7,706,10515,0.00,2.17,0.00,0.000,6,0.000,0.035,2474,2121,2264,0,0,0,0,0,0
$GC,10839,0.47,148.2,873.2,10.8,722,10843,0.00,2.17,0.00,0.000,4,0.000,0.040,2484,708,2262,0,0,0,0,0,0
$GC,10877,0.47,148.2,868.6,11.1,723,10884,0.00,2.15,0.00,0.000,6,0.000,0.035,2483,2109,2262,0,0,0,0,0,0
$GC,11194,0.47,148.2,830.3,12.7,739,11198,0.00,2.15,0.00,0.000,4,0.000,0.041,2492,710,2262,0,0,0,0,0,0
$GC,11243,0.47,148.2,823.6,13.2,741,11248,0.17,2.17,0.00,0.000,6,0.175,0.035,2448,2124,2262,0,0,0,0,0,0
$GC,11565,0.47,148.2,785.2,12.1,757,11569,0.00,2.20,0.00,0.000,4,0.000,0.047,2448,3536,2260,0,0,0,0,0,0
$GC,11672,0.47,148.2,770.7,14.2,762,11676,0.00,2.17,0.00,0.000,6,0.000,0.031,2457,2098,2260,0,0,0,0,0,0
$GC,11999,0.47,148.2,731.7,11.2,778,12002,0.00,2.10,0.00,0.000,4,0.000,0.041,2467,710,2264,0,0,0,0,0,0
$GC,12048,0.47,148.2,726.0,11.0,780,12052,0.00,2.15,0.00,0.000,6,0.000,0.035,2467,2117,2258,0,0,0,0,0,0
$GC,12370,0.47,148.2,692.3,10.2,796,12374,0.00,2.17,0.00,0.000,4,0.000,0.045,2467,3538,2260,0,0,0,0,0,0
$GC,12410,0.47,148.2,688.0,11.0,798,12414,0.00,2.15,0.00,0.000,6,0.000,0.029,2477,2106,2260,0,0,0,0,0,0
$GC,12737,0.47,148.2,655.2,9.9,814,12741,0.00,2.10,0.00,0.000,4,0.000,0.041,2487,712,2259,0,0,0,0,0,0
$GC,12844,0.47,148.2,644.3,10.2,819,12849,0.12,2.10,0.00,0.000,6,0.174,0.034,2457,2099,2259,0,0,0,0,0,0
$GC,13173,0.48,152.0,616.8,8.1,835,13180,0.00,0.00,3.88,0.628,6,0.000,0.000,2456,2099,2249,0,0,0,0,0,0
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$STATE,19417,end climb,SURFACE_DEPTH_REACHED
$STATE,19417,begin surface coast
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$STATE,19455,end surface coast,CONTROL_FINISHED_OK
$STATE,19455,begin surface
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$10V_AH,10.2,17.682
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$FG_AHR_10Vo,0.000
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$MEM,322608
$DATA_FILE_SIZE,103798,1554
$CAP_FILE_SIZE,212474,0
$CFSIZE,260165632,241106944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,235201,1958.130,11950.195,35,1.8,35,-2.2