version: 66.09
glider: 181
mission: 6
dive: 208
start: 7 20 111 9 7 51
data:
$ID,181
$MISSION,6
$DIVE,208
$N_DIVES,0
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$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,-40780.988
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,32
$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
$GPS1,200711,090054,1851.590,12036.011,39,1.2,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.3
$GPS2,200711,090726,1851.664,12036.116,11,1.6,11,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,195.6,32698,-15.3,-11.000
$D_GRID,3066
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.75,0.000,2,0.000,0.000,197,2604,2255,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.0,-3.3,9,132,7.88,1.90,-32.05,0.000,4,0.226,0.058,2134,3789,3764,0,0,0,0,0,0
$GC,170,-0.52,-219.0,34.4,-52.5,22,179,0.00,1.83,0.00,0.000,6,0.000,0.023,2134,2584,3765,0,0,0,0,0,0
$GC,304,-0.52,-219.0,97.5,-42.0,47,312,0.00,1.90,0.00,0.000,4,0.000,0.043,2124,3780,3765,0,0,0,0,0,0
$GC,341,-0.52,-219.0,113.5,-42.6,53,349,0.00,1.80,0.00,0.000,6,0.000,0.025,2124,2583,3765,0,0,0,0,0,0
$GC,476,-0.52,-219.0,154.6,-25.6,78,484,0.00,1.90,0.00,0.000,4,0.000,0.043,2116,3785,3766,0,0,0,0,0,0
$GC,513,-0.52,-219.0,162.4,-20.3,84,522,0.10,1.62,0.00,0.000,6,0.132,0.024,2148,2680,3767,0,0,0,0,0,0
$GC,651,-0.52,-219.0,185.5,-15.4,109,659,0.00,1.73,0.00,0.000,4,0.000,0.041,2143,3784,3768,0,0,0,0,0,0
$GC,673,-0.52,-219.0,189.3,-15.3,112,681,0.00,1.60,0.00,0.000,6,0.000,0.023,2141,2709,3768,0,0,0,0,0,0
$GC,809,-0.52,-219.0,205.5,-11.9,133,813,0.00,2.20,0.00,0.000,4,0.000,0.028,2140,1200,3769,0,0,0,0,0,0
$GC,862,-0.52,-219.0,211.6,-10.7,137,866,0.00,2.30,0.00,0.000,6,0.000,0.034,2138,2704,3769,0,0,0,0,0,0
$GC,1192,-0.52,-219.0,259.1,-13.5,168,1196,0.00,2.25,0.00,0.000,4,0.000,0.028,2138,1190,3768,0,0,0,0,0,0
$GC,1259,-0.52,-219.0,266.7,-10.3,174,1263,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2673,3768,0,0,0,0,0,0
$GC,1584,-0.52,-219.0,311.6,-14.7,204,1588,0.00,1.73,0.00,0.000,4,0.000,0.045,2137,3787,3765,0,0,0,0,0,0
$GC,1676,-0.52,-219.0,322.6,-10.4,212,1680,0.00,1.62,0.00,0.000,6,0.000,0.023,2138,2681,3764,0,0,0,0,0,0
$GC,2007,-0.52,-219.0,366.3,-11.9,243,2011,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1190,3761,0,0,0,0,0,0
$GC,2063,-0.52,-219.0,371.6,-8.8,247,2069,0.00,2.25,0.00,0.000,6,0.000,0.034,2137,2670,3760,0,0,0,0,0,0
$GC,2388,-0.52,-219.0,409.5,-13.0,278,2391,0.00,1.67,0.00,0.000,4,0.000,0.045,2138,3781,3757,0,0,0,0,0,0
$GC,2446,-0.52,-219.0,415.9,-10.6,283,2450,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2674,3756,0,0,0,0,0,0
$GC,2776,-0.52,-219.0,457.4,-12.7,314,2780,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1203,3753,0,0,0,0,0,0
$GC,2844,-0.52,-219.0,464.7,-9.5,319,2850,0.00,2.22,0.00,0.000,6,0.000,0.035,2138,2664,3752,0,0,0,0,0,0
$GC,3179,-0.52,-219.0,503.1,-12.1,350,3183,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1202,3750,0,0,0,0,0,0
$GC,3200,-0.52,-219.0,506.0,-12.2,351,3204,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2654,3749,0,0,0,0,0,0
$GC,3521,-0.52,-219.0,544.2,-12.1,367,3525,0.00,1.73,0.00,0.000,4,0.000,0.048,2138,3785,3746,0,0,0,0,0,0
$GC,3570,-0.52,-219.0,549.7,-10.3,369,3575,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2666,3745,0,0,0,0,0,0
$GC,3899,-0.52,-219.0,584.4,-10.8,385,3903,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1205,3742,0,0,0,0,0,0
$GC,3976,-0.52,-219.0,592.4,-9.1,388,3983,0.00,2.22,0.00,0.000,6,0.000,0.036,2138,2653,3742,0,0,0,0,0,0
$GC,4292,-0.52,-219.0,624.9,-11.1,404,4296,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1202,3740,0,0,0,0,0,0
$GC,4337,-0.52,-219.0,630.1,-11.0,406,4341,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2636,3739,0,0,0,0,0,0
$GC,4658,-0.52,-219.0,667.1,-11.5,422,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3736,0,0,0,0,0,0
$GC,4968,-0.52,-219.0,702.7,-10.9,437,4972,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1192,3734,0,0,0,0,0,0
$GC,5002,-0.52,-219.0,706.4,-10.4,438,5009,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2614,3734,0,0,0,0,0,0
$GC,5318,-0.52,-219.0,735.5,-9.7,454,5322,0.00,1.80,0.00,0.000,4,0.000,0.049,2137,3786,3731,0,0,0,0,0,0
$GC,5357,-0.52,-219.0,738.8,-8.8,455,5364,0.00,1.73,0.00,0.000,6,0.000,0.026,2138,2600,3731,0,0,0,0,0,0
$GC,5674,-0.52,-219.0,769.2,-10.4,471,5678,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1212,3729,0,0,0,0,0,0
$GC,5724,-0.52,-219.0,774.5,-10.0,473,5729,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2604,3729,0,0,0,0,0,0
$GC,6046,-0.52,-219.0,807.6,-10.5,489,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3727,0,0,0,0,0,0
$GC,6355,-0.52,-219.0,835.4,-8.2,504,6359,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1212,3725,0,0,0,0,0,0
$GC,6378,-0.52,-219.0,837.2,-8.3,505,6382,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2605,3725,0,0,0,0,0,0
$GC,6699,-0.52,-219.0,861.5,-7.5,521,6703,0.00,1.83,0.00,0.000,4,0.000,0.050,2137,3788,3724,0,0,0,0,0,0
$GC,6726,-0.52,-219.0,863.5,-7.4,522,6730,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2610,3723,0,0,0,0,0,0
$GC,7054,-0.52,-219.0,885.6,-6.5,538,7058,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1199,3722,0,0,0,0,0,0
$GC,7092,-0.52,-219.0,888.2,-6.3,539,7099,0.00,2.20,0.00,0.000,6,0.000,0.038,2137,2593,3722,0,0,0,0,0,0
$GC,7409,-0.52,-219.0,908.4,-6.6,555,7413,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3777,3720,0,0,0,0,0,0
$GC,7442,-0.52,-219.0,910.8,-6.7,556,7446,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2591,3720,0,0,0,0,0,0
$GC,7764,-0.52,-219.0,932.9,-7.1,572,7768,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1207,3719,0,0,0,0,0,0
$GC,7805,-0.52,-219.0,935.9,-7.2,574,7809,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2603,3719,0,0,0,0,0,0
$GC,8133,-0.52,-219.0,960.3,-7.4,590,8136,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3783,3717,0,0,0,0,0,0
$GC,8179,-0.52,-219.0,963.4,-7.0,592,8183,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2593,3717,0,0,0,0,0,0
$GC,8513,-0.52,-219.0,987.4,-7.4,608,8517,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1203,3716,0,0,0,0,0,0
$STATE,8543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8543,begin apogee
$GC,8550,-0.13,0.0,990.2,7.8,609,8719,0.40,0.00,163.23,1.094,4,0.103,0.000,2276,2132,2869,0,0,0,0,0,0
$STATE,8720,end apogee,CONTROL_FINISHED_OK
$STATE,8720,begin climb
$GC,8722,0.52,219.0,1000.4,0.0,617,8908,0.60,2.30,175.32,1.067,4,0.048,0.037,2509,732,1978,0,0,0,0,0,0
$GC,8926,0.52,219.0,988.8,12.9,627,8930,0.00,2.30,0.00,0.000,6,0.000,0.033,2508,2121,1977,0,0,0,0,0,0
$GC,9254,0.52,219.0,943.5,13.7,643,9258,0.00,2.25,0.00,0.000,4,0.000,0.043,2508,3544,1976,0,0,0,0,0,0
$GC,9292,0.52,219.0,937.7,15.1,644,9299,0.00,2.20,0.00,0.000,6,0.000,0.027,2519,2143,1975,0,0,0,0,0,0
$GC,9608,0.52,219.0,891.0,15.0,660,9612,0.00,2.17,0.00,0.000,4,0.000,0.037,2529,719,1974,0,0,0,0,0,0
$GC,9657,0.52,219.0,883.5,14.6,662,9662,0.15,2.17,0.00,0.000,6,0.169,0.034,2491,2126,1974,0,0,0,0,0,0
$GC,9973,0.52,219.0,842.0,12.9,677,9977,0.00,2.17,0.00,0.000,4,0.000,0.044,2491,3537,1973,0,0,0,0,0,0
$GC,10051,0.52,219.0,831.0,13.6,680,10058,0.00,2.15,0.00,0.000,6,0.000,0.028,2499,2126,1973,0,0,0,0,0,0
$GC,10367,0.52,219.0,791.1,12.0,696,10371,0.00,2.12,0.00,0.000,4,0.000,0.037,2510,721,1973,0,0,0,0,0,0
$GC,10452,0.52,219.0,781.2,11.8,700,10456,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2126,1973,0,0,0,0,0,0
$GC,10780,0.52,219.0,739.5,12.3,716,10784,0.00,2.17,0.00,0.000,4,0.000,0.044,2510,3539,1973,0,0,0,0,0,0
$GC,10842,0.52,219.0,731.1,14.0,719,10846,0.00,2.12,0.00,0.000,6,0.000,0.028,2519,2125,1972,0,0,0,0,0,0
$GC,11170,0.52,219.0,686.1,13.9,735,11175,0.12,2.17,0.00,0.000,4,0.179,0.037,2497,710,1972,0,0,0,0,0,0
$GC,11294,0.53,220.8,671.4,10.9,740,11301,0.00,2.15,0.00,0.000,6,0.000,0.033,2497,2109,1972,0,0,0,0,0,0
$GC,11610,0.53,220.8,631.6,12.4,756,11614,0.00,2.20,0.00,0.000,4,0.000,0.044,2497,3537,1972,0,0,0,0,0,0
$GC,11650,0.53,220.8,625.9,14.1,758,11654,0.00,2.20,0.00,0.000,6,0.000,0.028,2507,2091,1972,0,0,0,0,0,0
$GC,11978,0.53,220.8,581.2,13.8,774,11982,0.00,2.08,0.00,0.000,4,0.000,0.038,2517,720,1972,0,0,0,0,0,0
$GC,12092,0.53,220.8,565.6,13.9,779,12096,0.00,2.10,0.00,0.000,6,0.000,0.034,2517,2099,1972,0,0,0,0,0,0
$GC,12419,0.53,220.8,519.9,14.3,795,12423,0.00,2.22,0.00,0.000,4,0.000,0.044,2517,3539,1972,0,0,0,0,0,0
$GC,12474,0.53,220.8,511.3,14.9,797,12479,0.15,2.17,0.00,0.000,6,0.166,0.027,2489,2088,1972,0,0,0,0,0,0
$GC,12796,0.53,220.8,473.0,11.3,822,12800,0.00,2.05,0.00,0.000,4,0.000,0.037,2497,723,1972,0,0,0,0,0,0
$GC,12888,0.53,220.8,462.8,11.3,830,12892,0.00,2.08,0.00,0.000,6,0.000,0.033,2497,2088,1972,0,0,0,0,0,0
$GC,13213,0.53,220.8,425.6,11.1,860,13217,0.00,2.22,0.00,0.000,4,0.000,0.043,2497,3538,1972,0,0,0,0,0,0
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$GC,14241,0.53,220.8,302.4,12.6,953,14246,0.15,2.08,0.00,0.000,6,0.157,0.033,2488,2092,1973,0,0,0,0,0,0
$GC,14570,0.53,224.8,266.7,10.9,983,14578,0.00,0.00,5.95,0.591,6,0.000,0.000,2488,2092,1952,0,0,0,0,0,0
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$STATE,17031,end climb,SURFACE_DEPTH_REACHED
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$FG_AHR_10Vo,0.000
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$MEM,321584
$DATA_FILE_SIZE,93845,1367
$CAP_FILE_SIZE,190171,0
$CFSIZE,260165632,231542784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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