version: 66.09
glider: 181
mission: 6
dive: 233
start: 7 24 111 2 19 21
data:
$ID,181
$MISSION,6
$DIVE,233
$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,-4
$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,-40812.582
$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,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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,240711,021236,1846.706,12014.581,26,0.9,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.6
$GPS2,240711,021856,1846.824,12014.544,11,1.3,11,-2.0
$SPEED_LIMITS,0.191,0.321
$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,315.8,35271,-15.3,-11.000
$D_GRID,1898
$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,-63.95,0.000,2,0.000,0.000,206,2646,2295,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.5,-4.3,9,131,7.88,2.17,-29.48,0.000,4,0.226,0.039,2140,1187,3762,0,0,0,0,0,0
$GC,278,-0.52,-219.0,59.5,-22.8,43,287,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2589,3764,0,0,0,0,0,0
$GC,412,-0.52,-219.0,99.4,-31.6,68,420,0.00,1.88,0.00,0.000,4,0.000,0.045,2129,3784,3763,0,0,0,0,0,0
$GC,515,-0.52,-219.0,127.7,-20.1,87,524,0.00,1.73,0.00,0.000,6,0.000,0.023,2129,2628,3765,0,0,0,0,0,0
$GC,651,-0.52,-219.0,155.8,-23.9,112,660,0.00,2.12,0.00,0.000,4,0.000,0.028,2128,1203,3765,0,0,0,0,0,0
$GC,704,-0.52,-219.0,165.7,-16.4,121,712,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2639,3765,0,0,0,0,0,0
$GC,840,-0.52,-219.0,189.1,-18.4,146,848,0.00,1.75,0.00,0.000,4,0.000,0.043,2116,3771,3766,0,0,0,0,0,0
$GC,903,-0.52,-219.0,200.2,-15.4,157,910,0.12,1.65,0.00,0.000,6,0.146,0.023,2150,2633,3765,0,0,0,0,0,0
$GC,1228,-0.52,-219.0,241.0,-12.1,188,1232,0.00,2.10,0.00,0.000,4,0.000,0.028,2150,1189,3766,0,0,0,0,0,0
$GC,1283,-0.52,-219.0,246.3,-8.7,192,1291,0.00,2.25,0.00,0.000,6,0.000,0.032,2150,2650,3765,0,0,0,0,0,0
$GC,1610,-0.52,-219.0,280.0,-11.3,223,1614,0.00,1.70,0.00,0.000,4,0.000,0.044,2144,3780,3764,0,0,0,0,0,0
$GC,1637,-0.52,-219.0,283.5,-11.5,225,1644,0.00,1.70,0.00,0.000,6,0.000,0.023,2144,2635,3764,0,0,0,0,0,0
$GC,1963,-0.52,-219.0,323.7,-12.6,256,1967,0.00,2.10,0.00,0.000,4,0.000,0.027,2144,1195,3760,0,0,0,0,0,0
$GC,2029,-0.52,-219.0,331.2,-9.9,261,2036,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2626,3757,0,0,0,0,0,0
$GC,2355,-0.52,-219.0,371.3,-12.0,292,2358,0.00,1.75,0.00,0.000,4,0.000,0.045,2138,3777,3756,0,0,0,0,0,0
$GC,2406,-0.52,-219.0,376.5,-10.0,296,2413,0.00,1.70,0.00,0.000,6,0.000,0.024,2139,2639,3756,0,0,0,0,0,0
$GC,2731,-0.52,-219.0,413.1,-12.2,327,2735,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1204,3753,0,0,0,0,0,0
$GC,2771,-0.52,-219.0,417.6,-11.1,330,2775,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2634,3752,0,0,0,0,0,0
$GC,3097,-0.52,-219.0,451.3,-10.3,360,3100,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3774,3750,0,0,0,0,0,0
$GC,3131,-0.52,-219.0,455.2,-11.1,363,3135,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2629,3750,0,0,0,0,0,0
$GC,3462,-0.52,-219.0,490.0,-11.2,394,3466,0.00,2.10,0.00,0.000,4,0.000,0.031,2139,1203,3747,0,0,0,0,0,0
$GC,3506,-0.52,-219.0,494.5,-9.8,397,3513,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2644,3746,0,0,0,0,0,0
$GC,3824,-0.52,-219.0,526.0,-10.6,416,3828,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3784,3744,0,0,0,0,0,0
$GC,3870,-0.52,-219.0,530.6,-9.7,418,3874,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2639,3743,0,0,0,0,0,0
$GC,4204,-0.52,-219.0,566.1,-11.4,434,4208,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1200,3740,0,0,0,0,0,0
$GC,4244,-0.52,-219.0,570.4,-10.5,436,4248,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2636,3740,0,0,0,0,0,0
$GC,4571,-0.52,-219.0,606.4,-11.3,452,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2637,3738,0,0,0,0,0,0
$GC,4881,-0.52,-219.0,637.6,-9.3,467,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3735,0,0,0,0,0,0
$GC,5191,-0.52,-219.0,666.0,-9.2,482,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3733,0,0,0,0,0,0
$GC,5500,-0.52,-219.0,697.1,-10.3,497,5504,0.00,2.17,0.00,0.000,4,0.000,0.031,2141,1194,3731,0,0,0,0,0,0
$GC,5532,-0.52,-219.0,700.7,-10.3,498,5537,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2631,3731,0,0,0,0,0,0
$GC,5849,-0.52,-219.0,733.8,-10.9,513,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2632,3730,0,0,0,0,0,0
$GC,6158,-0.52,-219.0,765.1,-9.9,528,6162,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1200,3728,0,0,0,0,0,0
$GC,6185,-0.52,-219.0,768.2,-9.9,529,6189,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2624,3728,0,0,0,0,0,0
$GC,6507,-0.52,-219.0,794.9,-7.9,545,6511,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3776,3726,0,0,0,0,0,0
$GC,6542,-0.52,-219.0,797.2,-7.4,546,6545,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2606,3726,0,0,0,0,0,0
$GC,6864,-0.52,-219.0,818.2,-6.6,562,6868,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1206,3724,0,0,0,0,0,0
$GC,6927,-0.52,-219.0,822.2,-6.4,565,6931,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2617,3722,0,0,0,0,0,0
$GC,7254,-0.52,-219.0,841.0,-5.9,581,7258,0.00,1.80,0.00,0.000,4,0.000,0.049,2137,3777,3722,0,0,0,0,0,0
$GC,7282,-0.52,-219.0,842.7,-6.1,582,7286,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2606,3722,0,0,0,0,0,0
$GC,7609,-0.52,-219.0,863.1,-6.5,598,7613,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1206,3721,0,0,0,0,0,0
$GC,7664,-0.52,-219.0,867.1,-6.9,600,7671,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2604,3720,0,0,0,0,0,0
$GC,7981,-0.52,-219.0,889.8,-7.3,616,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2603,3719,0,0,0,0,0,0
$GC,8290,-0.52,-219.0,911.8,-7.1,631,8294,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3777,3718,0,0,0,0,0,0
$GC,8317,-0.52,-219.0,913.5,-7.2,632,8320,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2578,3717,0,0,0,0,0,0
$GC,8650,-0.52,-219.0,939.7,-8.1,648,8653,0.00,2.05,0.00,0.000,4,0.000,0.032,2137,1202,3717,0,0,0,0,0,0
$GC,8700,-0.52,-219.0,944.0,-8.4,650,8704,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2572,3717,0,0,0,0,0,0
$GC,9027,-0.52,-219.0,969.1,-7.5,666,9031,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3789,3715,0,0,0,0,0,0
$GC,9073,-0.52,-219.0,972.6,-7.3,668,9077,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2567,3715,0,0,0,0,0,0
$STATE,9300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9300,begin apogee
$GC,9307,-0.13,0.0,990.8,8.0,679,9476,0.38,0.00,162.45,1.099,4,0.079,0.000,2280,2113,2867,0,0,0,0,0,0
$STATE,9477,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9480,0.52,219.0,1001.7,0.0,687,9669,0.60,2.28,176.00,1.072,4,0.057,0.037,2499,723,1975,0,0,0,0,0,0
$GC,9719,0.52,219.0,986.5,12.6,698,9723,0.00,2.30,0.00,0.000,6,0.000,0.033,2499,2127,1975,0,0,0,0,0,0
$GC,10041,0.52,219.0,942.7,13.9,714,10045,0.00,2.22,0.00,0.000,4,0.000,0.035,2508,717,1973,0,0,0,0,0,0
$GC,10238,0.52,219.0,917.0,12.6,723,10242,0.00,2.20,0.00,0.000,6,0.000,0.034,2509,2124,1973,0,0,0,0,0,0
$GC,10564,0.52,219.0,870.3,14.7,739,10569,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3536,1971,0,0,0,0,0,0
$GC,10592,0.52,219.0,866.0,14.7,740,10596,0.00,2.17,0.00,0.000,6,0.000,0.028,2518,2115,1971,0,0,0,0,0,0
$GC,10913,0.52,219.0,817.3,15.2,756,10917,0.00,2.12,0.00,0.000,4,0.000,0.037,2529,714,1975,0,0,0,0,0,0
$GC,10990,0.52,219.0,805.6,14.6,759,10998,0.15,2.20,0.00,0.000,6,0.166,0.033,2490,2129,1971,0,0,0,0,0,0
$GC,11306,0.52,219.0,768.9,11.4,775,11310,0.00,2.17,0.00,0.000,4,0.000,0.044,2490,3535,1971,0,0,0,0,0,0
$GC,11356,0.52,219.0,762.5,12.7,777,11361,0.00,2.20,0.00,0.000,6,0.000,0.028,2498,2113,1970,0,0,0,0,0,0
$GC,11679,0.52,219.0,724.0,11.7,793,11683,0.00,2.12,0.00,0.000,4,0.000,0.039,2509,713,1967,0,0,0,0,0,0
$GC,11756,0.52,219.0,714.6,11.8,796,11764,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2084,1970,0,0,0,0,0,0
$GC,12073,0.52,219.0,675.2,12.8,812,12077,0.00,2.25,0.00,0.000,4,0.000,0.044,2509,3537,1969,0,0,0,0,0,0
$GC,12123,0.52,219.0,667.9,14.7,814,12127,0.00,2.20,0.00,0.000,6,0.000,0.028,2518,2082,1969,0,0,0,0,0,0
$GC,12439,0.52,219.0,621.6,15.0,829,12443,0.00,2.08,0.00,0.000,4,0.000,0.038,2529,722,1969,0,0,0,0,0,0
$GC,12488,0.52,219.0,614.2,14.0,831,12493,0.15,2.12,0.00,0.000,6,0.161,0.033,2489,2112,1969,0,0,0,0,0,0
$GC,12812,0.52,219.0,575.8,11.8,847,12816,0.00,2.20,0.00,0.000,4,0.000,0.045,2489,3535,1969,0,0,0,0,0,0
$GC,12861,0.52,219.0,569.1,13.0,849,12866,0.00,2.20,0.00,0.000,6,0.000,0.027,2498,2106,1969,0,0,0,0,0,0
$GC,13184,0.52,219.0,531.1,11.6,865,13188,0.00,2.10,0.00,0.000,4,0.000,0.037,2508,716,1969,0,0,0,0,0,0
$GC,13272,0.52,219.0,520.1,11.9,869,13277,0.00,2.15,0.00,0.000,6,0.000,0.033,2508,2128,1969,0,0,0,0,0,0
$GC,13596,0.52,219.0,478.5,13.6,892,13600,0.00,2.17,0.00,0.000,4,0.000,0.045,2508,3536,1970,0,0,0,0,0,0
$GC,13623,0.52,219.0,474.0,14.3,894,13631,0.00,2.22,0.00,0.000,6,0.000,0.028,2518,2084,1971,0,0,0,0,0,0
$GC,13950,0.52,219.0,429.9,13.1,925,13954,0.00,2.05,0.00,0.000,4,0.000,0.037,2530,726,1970,0,0,0,0,0,0
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$STATE,17634,end climb,SURFACE_DEPTH_REACHED
$STATE,17634,begin surface coast
$FINISH,0.2,1.020307
$STATE,17656,end surface coast,CONTROL_FINISHED_OK
$STATE,17656,begin surface
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$10V_AH,9.9,35.811
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$FG_AHR_10Vo,0.000
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$MEM,322796
$DATA_FILE_SIZE,97060,1418
$CAP_FILE_SIZE,192944,0
$CFSIZE,260165632,229490688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,071607,1848.298,12013.304,35,1.0,35,-2.0