version: 66.09
glider: 181
mission: 6
dive: 397
start: 8 25 111 9 20 8
data:
$ID,181
$MISSION,6
$DIVE,397
$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,-41044.293
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,250811,091401,2102.899,11950.783,39,1.2,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.5
$GPS2,250811,091943,2102.954,11950.889,9,1.1,14,-2.4
$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,178.4,228268,-16.3,-11.786
$D_GRID,3334
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,87,0.00,0.00,-67.82,0.000,2,0.000,0.000,183,2615,2361,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.4,-3.6,12,133,8.05,1.90,-28.90,0.000,4,0.225,0.057,2130,3786,3765,0,0,0,0,0,0
$GC,235,-0.54,-219.0,50.7,-22.2,37,242,0.00,1.75,0.00,0.000,6,0.000,0.024,2130,2594,3766,0,0,0,0,0,0
$GC,378,-0.54,-219.0,85.2,-24.0,62,385,0.00,1.85,0.00,0.000,4,0.000,0.041,2121,3789,3766,0,0,0,0,0,0
$GC,409,-0.54,-219.0,91.9,-22.2,67,416,0.00,1.75,0.00,0.000,6,0.000,0.023,2121,2577,3765,0,0,0,0,0,0
$GC,552,-0.54,-219.0,120.0,-18.5,92,559,0.00,2.00,0.00,0.000,4,0.000,0.027,2121,1196,3765,0,0,0,0,0,0
$GC,605,-0.54,-219.0,127.9,-13.0,101,613,0.12,2.10,0.00,0.000,6,0.150,0.033,2147,2579,3766,0,0,0,0,0,0
$GC,750,-0.54,-219.0,145.4,-12.0,126,757,0.00,1.83,0.00,0.000,4,0.000,0.041,2139,3785,3766,0,0,0,0,0,0
$GC,837,-0.54,-219.0,155.8,-11.3,141,844,0.00,1.67,0.00,0.000,6,0.000,0.023,2139,2623,3766,0,0,0,0,0,0
$GC,983,-0.54,-219.0,172.9,-12.0,166,989,0.00,2.08,0.00,0.000,4,0.000,0.027,2139,1200,3766,0,0,0,0,0,0
$GC,1025,-0.54,-219.0,177.9,-11.3,173,1033,0.00,2.12,0.00,0.000,6,0.000,0.033,2138,2605,3766,0,0,0,0,0,0
$GC,1171,-0.54,-219.0,196.0,-12.0,198,1178,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3779,3766,0,0,0,0,0,0
$GC,1222,-0.54,-219.0,202.2,-11.2,205,1229,0.00,1.70,0.00,0.000,6,0.000,0.023,2138,2605,3766,0,0,0,0,0,0
$GC,1548,-0.54,-219.0,238.6,-10.6,236,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3765,0,0,0,0,0,0
$GC,1868,-0.54,-219.0,273.1,-10.6,266,1872,0.00,2.05,0.00,0.000,4,0.000,0.028,2138,1203,3764,0,0,0,0,0,0
$GC,1920,-0.54,-219.0,278.2,-9.4,270,1924,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2622,3764,0,0,0,0,0,0
$GC,2246,-0.54,-219.0,312.6,-10.7,300,2250,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1207,3761,0,0,0,0,0,0
$GC,2276,-0.54,-219.0,315.6,-10.6,302,2280,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2604,3761,0,0,0,0,0,0
$GC,2602,-0.54,-219.0,346.9,-9.2,332,2605,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3783,3758,0,0,0,0,0,0
$GC,2629,-0.54,-219.0,349.7,-9.2,334,2636,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2596,3757,0,0,0,0,0,0
$GC,2955,-0.54,-219.0,382.4,-10.4,365,2959,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1200,3755,0,0,0,0,0,0
$GC,3018,-0.54,-219.0,388.8,-9.7,370,3022,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2585,3754,0,0,0,0,0,0
$GC,3343,-0.54,-219.0,419.8,-9.3,400,3347,0.00,2.05,0.00,0.000,4,0.000,0.030,2137,1216,3751,0,0,0,0,0,0
$GC,3359,-0.54,-219.0,421.4,-9.2,401,3366,0.00,2.10,0.00,0.000,6,0.000,0.036,2138,2578,3751,0,0,0,0,0,0
$GC,3685,-0.54,-219.0,448.8,-8.1,432,3689,0.00,1.85,0.00,0.000,4,0.000,0.047,2137,3781,3749,0,0,0,0,0,0
$GC,3720,-0.54,-219.0,451.8,-8.1,435,3724,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2591,3749,0,0,0,0,0,0
$GC,4051,-0.54,-219.0,479.8,-8.6,466,4055,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1207,3746,0,0,0,0,0,0
$GC,4108,-0.54,-219.0,484.6,-8.5,471,4112,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2585,3746,0,0,0,0,0,0
$GC,4432,-0.54,-219.0,509.3,-7.5,495,4436,0.00,1.85,0.00,0.000,4,0.000,0.046,2137,3779,3743,0,0,0,0,0,0
$GC,4555,-0.54,-219.0,519.3,-8.1,500,4559,0.00,1.88,0.00,0.000,6,0.000,0.025,2138,2495,3742,0,0,0,0,0,0
$GC,4878,-0.54,-219.0,543.4,-7.4,516,4881,0.00,2.00,0.00,0.000,4,0.000,0.044,2138,3777,3740,0,0,0,0,0,0
$GC,5041,-0.54,-219.0,556.9,-8.4,523,5045,0.00,1.98,0.00,0.000,6,0.000,0.025,2138,2452,3739,0,0,0,0,0,0
$GC,5370,-0.54,-219.0,581.0,-7.5,539,5373,0.00,1.85,0.00,0.000,4,0.000,0.032,2138,1199,3737,0,0,0,0,0,0
$GC,5465,-0.54,-219.0,589.1,-8.0,543,5468,0.00,1.88,0.00,0.000,6,0.000,0.033,2137,2435,3736,0,0,0,0,0,0
$GC,5793,-0.54,-219.0,616.4,-8.8,559,5797,0.00,1.85,0.00,0.000,4,0.000,0.031,2137,1194,3734,0,0,0,0,0,0
$GC,5849,-0.54,-219.0,621.8,-9.4,561,5852,0.00,1.85,0.00,0.000,6,0.000,0.034,2137,2401,3734,0,0,0,0,0,0
$GC,6171,-0.54,-219.0,651.0,-9.2,577,6175,0.00,2.12,0.00,0.000,4,0.000,0.044,2138,3777,3731,0,0,0,0,0,0
$GC,6216,-0.54,-219.0,655.2,-9.1,579,6219,0.00,2.08,0.00,0.000,6,0.000,0.025,2138,2386,3731,0,0,0,0,0,0
$GC,6543,-0.54,-219.0,683.8,-8.6,595,6547,0.00,1.75,0.00,0.000,4,0.000,0.032,2138,1195,3730,0,0,0,0,0,0
$GC,6571,-0.54,-219.0,686.3,-8.7,596,6574,0.00,1.83,0.00,0.000,6,0.000,0.031,2138,2408,3730,0,0,0,0,0,0
$GC,6899,-0.54,-219.0,712.8,-8.1,612,6903,0.00,2.12,0.00,0.000,4,0.000,0.045,2138,3778,3729,0,0,0,0,0,0
$GC,7007,-0.54,-219.0,721.8,-8.6,617,7010,0.00,2.08,0.00,0.000,6,0.000,0.026,2138,2391,3728,0,0,0,0,0,0
$GC,7340,-0.54,-219.0,745.4,-6.8,633,7344,0.00,1.80,0.00,0.000,4,0.000,0.033,2138,1201,3726,0,0,0,0,0,0
$GC,7401,-0.54,-219.0,750.1,-7.4,635,7408,0.00,1.83,0.00,0.000,6,0.000,0.033,2137,2403,3726,0,0,0,0,0,0
$GC,7719,-0.54,-219.0,772.5,-7.3,651,7723,0.00,2.15,0.00,0.000,4,0.000,0.045,2138,3787,3724,0,0,0,0,0,0
$GC,7797,-0.54,-219.0,779.1,-8.5,654,7803,0.00,2.08,0.00,0.000,6,0.000,0.026,2138,2395,3724,0,0,0,0,0,0
$GC,8113,-0.54,-219.0,804.4,-8.4,670,8117,0.00,1.77,0.00,0.000,4,0.000,0.033,2138,1199,3723,0,0,0,0,0,0
$GC,8293,-0.54,-219.0,820.5,-9.5,678,8297,0.00,1.85,0.00,0.000,6,0.000,0.034,2138,2407,3722,0,0,0,0,0,0
$GC,8627,-0.54,-219.0,849.9,-8.8,694,8630,0.00,1.80,0.00,0.000,4,0.000,0.032,2144,1205,3721,0,0,0,0,0,0
$GC,8885,-0.54,-219.0,872.2,-8.2,705,8888,0.00,1.77,0.00,0.000,6,0.000,0.033,2143,2372,3720,0,0,0,0,0,0
$GC,9207,-0.54,-219.0,896.0,-7.3,721,9211,0.00,1.75,0.00,0.000,4,0.000,0.032,2144,1200,3719,0,0,0,0,0,0
$GC,9465,-0.54,-219.0,915.9,-7.8,732,9469,0.00,1.77,0.00,0.000,6,0.000,0.034,2144,2363,3718,0,0,0,0,0,0
$STATE,9619,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9619,begin apogee
$GC,9626,-0.13,0.0,927.3,7.6,740,9798,0.35,0.00,166.57,1.040,4,0.062,0.000,2296,2116,2868,0,0,0,0,0,0
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9802,0.54,219.0,937.2,0.0,748,9986,0.55,2.38,176.25,1.020,4,0.047,0.043,2508,3542,1976,0,0,0,0,0,0
$GC,10121,0.54,219.0,910.5,13.2,763,10125,0.00,2.17,0.00,0.000,6,0.000,0.026,2517,2136,1975,0,0,0,0,0,0
$GC,10443,0.54,219.0,870.8,12.0,779,10447,0.00,2.20,0.00,0.000,4,0.000,0.040,2518,3544,1974,0,0,0,0,0,0
$GC,10566,0.54,219.0,854.5,13.2,784,10573,0.12,2.17,0.00,0.000,6,0.188,0.026,2499,2112,1973,0,0,0,0,0,0
$GC,10882,0.59,256.8,821.7,10.4,800,10917,0.00,2.20,30.33,0.955,4,0.000,0.037,2508,714,1822,0,0,0,0,0,0
$GC,10947,0.63,291.1,814.6,10.5,803,10983,0.00,2.17,28.30,0.923,6,0.000,0.031,2508,2115,1681,0,0,0,0,0,0
$GC,11299,0.63,291.1,771.9,12.2,820,11303,0.00,2.22,0.00,0.000,4,0.000,0.043,2508,3541,1679,0,0,0,0,0,0
$GC,11394,0.63,291.1,758.7,14.0,824,11398,0.00,2.15,0.00,0.000,6,0.000,0.026,2517,2125,1681,0,0,0,0,0,0
$GC,11710,0.63,291.1,718.1,12.6,839,11713,0.00,2.15,0.00,0.000,4,0.000,0.037,2528,721,1682,0,0,0,0,0,0
$GC,11754,0.63,294.5,712.6,11.7,841,11764,0.00,2.15,4.80,0.689,6,0.000,0.033,2528,2121,1668,0,0,0,0,0,0
$GC,12077,0.63,294.5,673.3,11.8,856,12081,0.00,2.20,0.00,0.000,4,0.000,0.043,2528,3540,1669,0,0,0,0,0,0
$GC,12144,0.63,294.5,664.4,12.5,859,12148,0.00,2.12,0.00,0.000,6,0.000,0.027,2538,2133,1669,0,0,0,0,0,0
$GC,12465,0.63,294.5,622.7,13.5,875,12469,0.00,2.12,0.00,0.000,4,0.000,0.035,2549,721,1668,0,0,0,0,0,0
$GC,12491,0.63,294.5,618.8,13.9,876,12496,0.00,2.20,0.00,0.000,6,0.000,0.032,2549,2129,1668,0,0,0,0,0,0
$GC,12814,0.63,294.5,570.2,15.2,892,12818,0.00,2.20,0.00,0.000,4,0.000,0.043,2549,3539,1668,0,0,0,0,0,0
$GC,12860,0.63,294.5,562.5,16.4,894,12865,0.12,2.10,0.00,0.000,6,0.175,0.026,2528,2143,1669,0,0,0,0,0,0
$GC,13194,0.63,294.5,519.8,12.2,910,13198,0.00,2.17,0.00,0.000,4,0.000,0.037,2537,717,1668,0,0,0,0,0,0
$GC,13294,0.65,307.2,507.6,11.3,914,13311,0.00,2.17,11.95,0.739,6,0.000,0.033,2537,2132,1615,0,0,0,0,0,0
$GC,13632,0.65,308.4,468.2,11.7,943,13636,0.00,2.17,0.00,0.000,4,0.000,0.044,2536,3535,1614,0,0,0,0,0,0
$GC,13706,0.65,308.4,458.3,13.6,949,13710,0.00,2.12,0.00,0.000,6,0.000,0.027,2547,2132,1614,0,0,0,0,0,0
$GC,14031,0.65,308.4,415.9,12.9,979,14035,0.00,2.15,0.00,0.000,4,0.000,0.037,2557,713,1614,0,0,0,0,0,0
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$STATE,17315,end climb,SURFACE_DEPTH_REACHED
$STATE,17315,begin surface coast
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$STATE,17344,end surface coast,CONTROL_FINISHED_OK
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$HUMID,44.72
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
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$10V_AH,9.8,58.223
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323548
$DATA_FILE_SIZE,83632,1419
$CAP_FILE_SIZE,199890,0
$CFSIZE,260165632,213835776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250811,141137,2101.435,11952.383,30,1.0,30,-2.4