version: 66.09
glider: 181
mission: 6
dive: 389
start: 8 23 111 16 52 3
data:
$ID,181
$MISSION,6
$DIVE,389
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,-41034.234
$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,65
$R_STBD_OVSHOOT,42
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,230811,164606,2113.170,11947.466,37,0.9,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.5
$GPS2,230811,165138,2113.123,11947.379,8,1.5,8,-2.5
$SPEED_LIMITS,0.204,0.329
$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,177.4,247532,-16.3,-11.786
$D_GRID,3308
$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,-0.54,-219.0,0.0,0.0,0,86,0.00,0.00,-68.03,0.000,2,0.000,0.000,208,2573,2376,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.5,-3.8,12,131,8.12,0.00,-29.20,0.000,6,0.232,0.000,2138,2564,3763,0,0,0,0,0,0
$GC,267,-0.54,-219.0,57.1,-25.7,43,274,0.00,1.88,0.00,0.000,4,0.000,0.043,2130,3775,3763,0,0,0,0,0,0
$GC,314,-0.54,-219.0,69.6,-27.8,51,321,0.00,1.73,0.00,0.000,6,0.000,0.023,2130,2582,3763,0,0,0,0,0,0
$GC,458,-0.54,-219.0,96.6,-20.5,76,464,0.00,1.85,0.00,0.000,4,0.000,0.042,2121,3779,3763,0,0,0,0,0,0
$GC,505,-0.54,-219.0,106.0,-19.7,84,511,0.00,1.62,0.00,0.000,6,0.000,0.023,2120,2676,3763,0,0,0,0,0,0
$GC,648,-0.54,-219.0,132.7,-18.8,109,654,0.00,1.67,0.00,0.000,4,0.000,0.041,2112,3776,3764,0,0,0,0,0,0
$GC,706,-0.54,-219.0,141.8,-14.0,119,713,0.08,1.55,0.00,0.000,6,0.133,0.023,2153,2716,3763,0,0,0,0,0,0
$GC,853,-0.54,-219.0,157.7,-9.9,144,860,0.00,2.20,0.00,0.000,4,0.000,0.026,2153,1206,3763,0,0,0,0,0,0
$GC,902,-0.54,-219.0,162.6,-9.6,152,908,0.00,2.25,0.00,0.000,6,0.000,0.031,2152,2696,3764,0,0,0,0,0,0
$GC,1044,-0.54,-219.0,178.2,-12.2,177,1051,0.00,2.17,0.00,0.000,4,0.000,0.025,2151,1212,3764,0,0,0,0,0,0
$GC,1080,-0.54,-219.0,182.4,-11.7,183,1087,0.00,2.22,0.00,0.000,6,0.000,0.032,2152,2682,3764,0,0,0,0,0,0
$GC,1226,-0.54,-219.0,200.1,-12.1,208,1229,0.00,1.65,0.00,0.000,4,0.000,0.042,2144,3784,3764,0,0,0,0,0,0
$GC,1242,-0.54,-219.0,202.4,-11.6,209,1248,0.00,1.62,0.00,0.000,6,0.000,0.023,2144,2674,3764,0,0,0,0,0,0
$GC,1567,-0.54,-219.0,236.9,-9.6,240,1571,0.00,2.12,0.00,0.000,4,0.000,0.026,2144,1213,3763,0,0,0,0,0,0
$GC,1612,-0.54,-219.0,241.0,-9.1,243,1619,0.00,2.15,0.00,0.000,6,0.000,0.031,2139,2645,3762,0,0,0,0,0,0
$GC,1937,-0.54,-219.0,272.6,-10.4,274,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2646,3761,0,0,0,0,0,0
$GC,2259,-0.54,-219.0,302.2,-8.5,304,2263,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3779,3759,0,0,0,0,0,0
$GC,2299,-0.54,-219.0,306.1,-8.8,307,2306,0.00,1.65,0.00,0.000,6,0.000,0.023,2137,2637,3759,0,0,0,0,0,0
$GC,2624,-0.54,-219.0,336.0,-9.2,338,2628,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1208,3756,0,0,0,0,0,0
$GC,2686,-0.54,-219.0,341.9,-9.1,343,2693,0.00,2.15,0.00,0.000,6,0.000,0.032,2137,2627,3755,0,0,0,0,0,0
$GC,3012,-0.54,-219.0,374.3,-10.6,374,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2628,3753,0,0,0,0,0,0
$GC,3333,-0.54,-219.0,406.4,-9.7,404,3337,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1206,3751,0,0,0,0,0,0
$GC,3384,-0.54,-219.0,411.5,-9.2,408,3389,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2598,3750,0,0,0,0,0,0
$GC,3716,-0.54,-219.0,442.2,-9.7,439,3719,0.00,1.80,0.00,0.000,4,0.000,0.046,2135,3776,3748,0,0,0,0,0,0
$GC,3739,-0.54,-219.0,444.6,-9.7,441,3743,0.00,1.73,0.00,0.000,6,0.000,0.024,2135,2595,3748,0,0,0,0,0,0
$GC,4070,-0.54,-219.0,477.3,-10.0,472,4074,0.00,2.05,0.00,0.000,4,0.000,0.030,2135,1209,3745,0,0,0,0,0,0
$GC,4128,-0.54,-219.0,482.7,-8.9,477,4132,0.00,2.10,0.00,0.000,6,0.000,0.034,2127,2579,3745,0,0,0,0,0,0
$GC,4462,-0.54,-219.0,513.8,-9.1,501,4465,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3783,3742,0,0,0,0,0,0
$GC,4508,-0.54,-219.0,517.8,-8.3,503,4512,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2570,3742,0,0,0,0,0,0
$GC,4841,-0.54,-219.0,546.4,-8.9,519,4845,0.00,2.00,0.00,0.000,4,0.000,0.030,2125,1210,3739,0,0,0,0,0,0
$GC,4892,-0.54,-219.0,550.9,-8.7,521,4896,0.00,2.10,0.00,0.000,6,0.000,0.035,2125,2577,3739,0,0,0,0,0,0
$GC,5219,-0.54,-219.0,582.9,-10.2,537,5223,0.00,1.90,0.00,0.000,4,0.000,0.047,2123,3776,3737,0,0,0,0,0,0
$GC,5252,-0.54,-219.0,586.3,-9.8,538,5256,0.00,1.77,0.00,0.000,6,0.000,0.025,2122,2562,3736,0,0,0,0,0,0
$GC,5575,-0.54,-219.0,618.9,-10.5,554,5578,0.00,2.00,0.00,0.000,4,0.000,0.031,2122,1206,3734,0,0,0,0,0,0
$GC,5613,-0.54,-219.0,623.1,-10.0,555,5620,0.00,2.08,0.00,0.000,6,0.000,0.034,2117,2562,3734,0,0,0,0,0,0
$GC,5930,-0.54,-219.0,656.3,-10.7,571,5934,0.00,1.88,0.00,0.000,4,0.000,0.047,2113,3776,3732,0,0,0,0,0,0
$GC,5963,-0.54,-219.0,660.1,-10.7,572,5968,0.12,1.77,0.00,0.000,6,0.129,0.025,2149,2564,3732,0,0,0,0,0,0
$GC,6285,-0.54,-219.0,686.8,-8.5,588,6289,0.00,2.00,0.00,0.000,4,0.000,0.030,2150,1210,3730,0,0,0,0,0,0
$GC,6342,-0.54,-219.0,691.7,-8.7,590,6346,0.00,2.05,0.00,0.000,6,0.000,0.033,2150,2555,3730,0,0,0,0,0,0
$GC,6664,-0.54,-219.0,717.7,-8.0,606,6667,0.00,1.88,0.00,0.000,4,0.000,0.045,2150,3776,3728,0,0,0,0,0,0
$GC,6787,-0.54,-219.0,728.8,-9.4,611,6790,0.00,1.83,0.00,0.000,6,0.000,0.024,2156,2537,3727,0,0,0,0,0,0
$GC,7109,-0.54,-219.0,757.3,-9.1,627,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2535,3726,0,0,0,0,0,0
$GC,7418,-0.54,-219.0,787.2,-10.0,642,7422,0.00,2.03,0.00,0.000,4,0.000,0.032,2163,1206,3724,0,0,0,0,0,0
$GC,7565,-0.54,-219.0,802.5,-10.5,648,7569,0.00,2.03,0.00,0.000,6,0.000,0.032,2162,2530,3723,0,0,0,0,0,0
$GC,7887,-0.54,-219.0,834.5,-9.6,664,7891,0.00,1.98,0.00,0.000,4,0.000,0.030,2164,1212,3722,0,0,0,0,0,0
$GC,7994,-0.54,-219.0,844.9,-9.6,668,8001,0.00,2.03,0.00,0.000,6,0.000,0.033,2164,2530,3721,0,0,0,0,0,0
$GC,8310,-0.54,-219.0,874.0,-9.5,684,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2530,3720,0,0,0,0,0,0
$GC,8620,-0.54,-219.0,904.7,-10.1,699,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2530,3719,0,0,0,0,0,0
$GC,8929,-0.54,-219.0,935.9,-10.0,714,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2530,3718,0,0,0,0,0,0
$GC,9238,-0.54,-219.0,968.1,-10.6,729,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2530,3716,0,0,0,0,0,0
$STATE,9462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9462,begin apogee
$GC,9469,-0.13,0.0,991.9,10.5,740,9641,0.28,0.00,167.15,1.085,4,0.065,0.000,2286,2115,2869,0,0,0,0,0,0
$STATE,9642,end apogee,CONTROL_FINISHED_OK
$STATE,9642,begin climb
$GC,9645,0.54,219.0,1004.3,0.0,748,9832,0.55,2.22,178.02,1.063,4,0.046,0.036,2505,740,1976,0,0,0,0,0,0
$GC,9862,0.58,251.3,994.2,10.6,758,9897,0.00,2.28,28.35,0.998,6,0.000,0.032,2505,2128,1843,0,0,0,0,0,0
$GC,10219,0.58,251.3,951.0,12.3,776,10223,0.00,2.20,0.00,0.000,4,0.000,0.043,2505,3537,1842,0,0,0,0,0,0
$GC,10260,0.58,251.3,945.5,14.0,778,10264,0.00,2.12,0.00,0.000,6,0.000,0.028,2515,2144,1841,0,0,0,0,0,0
$GC,10587,0.58,251.3,900.3,14.0,794,10591,0.00,2.17,0.00,0.000,4,0.000,0.038,2526,716,1840,0,0,0,0,0,0
$GC,10681,0.58,251.3,887.0,13.9,798,10686,0.00,2.15,0.00,0.000,6,0.000,0.034,2526,2113,1840,0,0,0,0,0,0
$GC,10997,0.58,251.3,841.2,14.5,813,11001,0.00,2.12,0.00,0.000,4,0.000,0.037,2535,721,1840,0,0,0,0,0,0
$GC,11041,0.58,251.3,834.8,13.4,815,11045,0.00,2.12,0.00,0.000,6,0.000,0.034,2535,2106,1840,0,0,0,0,0,0
$GC,11370,0.58,251.3,785.2,15.2,831,11374,0.00,2.22,0.00,0.000,4,0.000,0.044,2535,3538,1839,0,0,0,0,0,0
$GC,11432,0.58,251.3,774.8,16.4,834,11437,0.15,2.17,0.00,0.000,6,0.179,0.028,2508,2106,1839,0,0,0,0,0,0
$GC,11765,0.58,251.3,732.5,12.5,850,11769,0.00,2.12,0.00,0.000,4,0.000,0.038,2517,714,1838,0,0,0,0,0,0
$GC,11810,0.58,251.3,726.7,13.1,852,11814,0.00,2.17,0.00,0.000,6,0.000,0.033,2517,2120,1838,0,0,0,0,0,0
$GC,12143,0.59,257.9,686.7,11.5,868,12153,0.00,2.22,5.78,0.723,4,0.000,0.042,2517,3536,1818,0,0,0,0,0,0
$GC,12206,0.59,257.9,678.5,14.2,871,12210,0.00,2.15,0.00,0.000,6,0.000,0.028,2527,2124,1818,0,0,0,0,0,0
$GC,12539,0.59,257.9,634.1,13.6,887,12543,0.00,2.15,0.00,0.000,4,0.000,0.039,2537,720,1817,0,0,0,0,0,0
$GC,12656,0.59,257.9,617.6,13.6,892,12660,0.00,2.15,0.00,0.000,6,0.000,0.034,2537,2113,1817,0,0,0,0,0,0
$GC,12978,0.59,257.9,569.8,14.7,908,12982,0.00,2.22,0.00,0.000,4,0.000,0.045,2538,3542,1817,0,0,0,0,0,0
$GC,13011,0.59,257.9,564.6,15.1,909,13018,0.15,2.20,0.00,0.000,6,0.172,0.028,2510,2088,1817,0,0,0,0,0,0
$GC,13327,0.61,275.6,528.2,11.1,925,13349,0.00,2.10,15.27,0.766,4,0.000,0.037,2518,723,1745,0,0,0,0,0,0
$GC,13399,0.62,283.1,519.8,11.5,928,13417,0.00,2.15,7.75,0.649,6,0.000,0.033,2518,2109,1713,0,0,0,0,0,0
$GC,13730,0.64,297.2,482.4,11.3,951,13753,0.00,2.33,12.77,0.715,4,0.000,0.044,2518,3540,1656,0,0,0,0,0,0
$GC,13815,0.64,297.2,471.6,12.6,958,13822,0.00,2.20,0.00,0.000,6,0.000,0.028,2528,2098,1655,0,0,0,0,0,0
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$STATE,17817,end climb,SURFACE_DEPTH_REACHED
$STATE,17817,begin surface coast
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$STATE,17846,end surface coast,CONTROL_FINISHED_OK
$STATE,17848,begin surface
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$XPDR_PINGS,2
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$10V_AH,9.8,57.474
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$FG_AHR_10Vo,0.000
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$MEM,323588
$DATA_FILE_SIZE,83570,1468
$CAP_FILE_SIZE,197350,0
$CFSIZE,260165632,214560768
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$GPS,230811,215207,2110.734,11946.864,40,1.1,40,-2.5