version: 66.09
glider: 181
mission: 6
dive: 423
start: 8 30 111 18 15 9
data:
$ID,181
$MISSION,6
$DIVE,423
$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,-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,-41093.312
$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,66
$R_STBD_OVSHOOT,36
$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
$GPS1,300811,180736,2021.119,12011.646,34,1.1,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.3
$GPS2,300811,181444,2021.021,12011.647,14,1.4,14,-2.3
$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,190.0,151430,-16.3,-11.786
$D_GRID,3738
$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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.60,0.000,2,0.000,0.000,128,2563,2455,0,0,0,0,0,0
$GC,95,-0.54,-219.0,3.0,-3.3,13,137,8.50,0.00,-27.17,0.000,6,0.232,0.000,2137,2563,3764,0,0,0,0,0,0
$GC,273,-0.54,-219.0,60.0,-28.5,44,279,0.00,1.90,0.00,0.000,4,0.000,0.044,2128,3783,3765,0,0,0,0,0,0
$GC,376,-0.54,-219.0,91.3,-26.4,62,383,0.00,1.73,0.00,0.000,6,0.000,0.024,2128,2595,3765,0,0,0,0,0,0
$GC,520,-0.54,-219.0,121.6,-22.5,87,526,0.00,2.03,0.00,0.000,4,0.000,0.028,2128,1203,3765,0,0,0,0,0,0
$GC,590,-0.54,-219.0,133.7,-13.6,99,596,0.00,2.10,0.00,0.000,6,0.000,0.033,2124,2582,3765,0,0,0,0,0,0
$GC,735,-0.54,-219.0,143.3,-4.2,124,742,0.00,1.83,0.00,0.000,4,0.000,0.042,2115,3783,3766,0,0,0,0,0,0
$GC,794,-0.54,-219.0,144.2,-2.6,134,802,0.00,1.67,0.00,0.000,6,0.000,0.024,2115,2620,3767,0,0,0,0,0,0
$GC,940,-0.54,-219.0,152.1,-9.9,159,947,0.00,2.05,0.00,0.000,4,0.000,0.028,2115,1214,3767,0,0,0,0,0,0
$GC,1004,-0.54,-219.0,161.9,-16.1,170,1012,0.12,2.08,0.00,0.000,6,0.146,0.034,2148,2585,3768,0,0,0,0,0,0
$GC,1150,-0.54,-219.0,187.4,-17.7,195,1157,0.00,1.80,0.00,0.000,4,0.000,0.042,2141,3781,3767,0,0,0,0,0,0
$GC,1197,-0.54,-219.0,195.0,-14.8,203,1204,0.00,1.70,0.00,0.000,6,0.000,0.024,2140,2596,3767,0,0,0,0,0,0
$GC,1335,-0.54,-219.0,208.4,-7.4,219,1339,0.00,2.03,0.00,0.000,4,0.000,0.029,2141,1213,3768,0,0,0,0,0,0
$GC,1382,-0.54,-219.0,211.4,-6.4,223,1386,0.00,2.10,0.00,0.000,6,0.000,0.033,2139,2596,3768,0,0,0,0,0,0
$GC,1713,-0.54,-219.0,248.4,-13.8,254,1717,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3783,3767,0,0,0,0,0,0
$GC,1752,-0.54,-219.0,253.2,-12.1,257,1758,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2569,3768,0,0,0,0,0,0
$GC,2077,-0.54,-219.0,271.5,-3.9,288,2081,0.00,2.00,0.00,0.000,4,0.000,0.029,2138,1203,3766,0,0,0,0,0,0
$GC,2105,-0.54,-219.0,273.3,-4.9,290,2112,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2603,3765,0,0,0,0,0,0
$GC,2430,-0.54,-219.0,313.2,-15.1,321,2434,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3783,3763,0,0,0,0,0,0
$GC,2453,-0.54,-219.0,316.6,-14.7,323,2457,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2593,3763,0,0,0,0,0,0
$GC,2785,-0.54,-219.0,338.1,-2.4,354,2788,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1200,3761,0,0,0,0,0,0
$GC,2853,-0.54,-219.0,339.4,-1.8,360,2858,0.00,2.08,0.00,0.000,6,0.000,0.034,2138,2561,3760,0,0,0,0,0,0
$GC,3185,-0.54,-219.0,363.3,-10.2,391,3188,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3777,3758,0,0,0,0,0,0
$GC,3212,-0.54,-219.0,366.4,-10.4,393,3219,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2453,3757,0,0,0,0,0,0
$GC,3538,-0.54,-219.0,390.7,-5.8,424,3541,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3777,3755,0,0,0,0,0,0
$GC,3610,-0.54,-219.0,395.3,-6.6,430,3617,0.00,2.05,0.00,0.000,6,0.000,0.026,2138,2389,3755,0,0,0,0,0,0
$GC,3936,-0.54,-219.0,423.7,-9.7,461,3939,0.00,2.15,0.00,0.000,4,0.000,0.043,2138,3776,3752,0,0,0,0,0,0
$GC,4032,-0.54,-219.0,433.7,-10.2,469,4036,0.00,2.05,0.00,0.000,6,0.000,0.026,2138,2394,3752,0,0,0,0,0,0
$GC,4363,-0.54,-219.0,460.0,-7.3,500,4367,0.00,1.75,0.00,0.000,4,0.000,0.032,2138,1199,3749,0,0,0,0,0,0
$GC,4402,-0.54,-219.0,462.7,-6.7,503,4409,0.00,1.80,0.00,0.000,6,0.000,0.031,2138,2402,3749,0,0,0,0,0,0
$GC,4728,-0.54,-219.0,482.3,-6.5,534,4731,0.00,1.77,0.00,0.000,4,0.000,0.032,2138,1210,3747,0,0,0,0,0,0
$GC,4774,-0.54,-219.0,485.9,-7.6,538,4778,0.00,1.77,0.00,0.000,6,0.000,0.034,2138,2383,3747,0,0,0,0,0,0
$GC,5102,-0.54,-219.0,518.7,-10.7,561,5106,0.00,2.17,0.00,0.000,4,0.000,0.044,2138,3787,3745,0,0,0,0,0,0
$GC,5165,-0.54,-219.0,525.8,-10.4,564,5169,0.00,2.05,0.00,0.000,6,0.000,0.025,2138,2406,3744,0,0,0,0,0,0
$GC,5499,-0.54,-219.0,545.6,-4.2,580,5503,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3779,3742,0,0,0,0,0,0
$GC,5544,-0.54,-219.0,547.8,-4.6,582,5548,0.00,2.03,0.00,0.000,6,0.000,0.026,2138,2419,3742,0,0,0,0,0,0
$GC,5871,-0.54,-219.0,570.1,-8.4,598,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2417,3741,0,0,0,0,0,0
$GC,6181,-0.54,-219.0,600.0,-10.1,613,6185,0.00,2.12,0.00,0.000,4,0.000,0.044,2137,3776,3739,0,0,0,0,0,0
$GC,6267,-0.54,-219.0,609.0,-10.7,617,6270,0.00,2.00,0.00,0.000,6,0.000,0.026,2138,2431,3738,0,0,0,0,0,0
$GC,6600,-0.54,-219.0,638.7,-8.5,633,6604,0.00,2.12,0.00,0.000,4,0.000,0.044,2138,3785,3737,0,0,0,0,0,0
$GC,6767,-0.54,-219.0,654.2,-10.4,640,6774,0.00,2.00,0.00,0.000,6,0.000,0.026,2138,2439,3736,0,0,0,0,0,0
$GC,7084,-0.54,-219.0,682.6,-8.9,656,7087,0.00,1.83,0.00,0.000,4,0.000,0.033,2145,1206,3734,0,0,0,0,0,0
$GC,7202,-0.54,-219.0,693.1,-8.7,661,7206,0.00,1.90,0.00,0.000,6,0.000,0.035,2145,2421,3734,0,0,0,0,0,0
$GC,7529,-0.54,-219.0,716.6,-7.3,677,7533,0.00,1.85,0.00,0.000,4,0.000,0.033,2145,1217,3733,0,0,0,0,0,0
$GC,7702,-0.54,-219.0,732.4,-10.3,684,7709,0.00,1.80,0.00,0.000,6,0.000,0.034,2145,2403,3732,0,0,0,0,0,0
$GC,8018,-0.54,-219.0,769.3,-12.5,700,8022,0.00,1.80,0.00,0.000,4,0.000,0.034,2150,1201,3731,0,0,0,0,0,0
$GC,8275,-0.54,-219.0,802.3,-12.3,711,8279,0.00,1.83,0.00,0.000,6,0.000,0.034,2150,2372,3730,0,0,0,0,0,0
$GC,8598,-0.54,-219.0,838.4,-10.9,727,8602,0.00,1.75,0.00,0.000,4,0.000,0.034,2150,1206,3729,0,0,0,0,0,0
$GC,8856,-0.54,-219.0,866.4,-11.2,738,8860,0.00,1.77,0.00,0.000,6,0.000,0.034,2150,2374,3729,0,0,0,0,0,0
$GC,9179,-0.54,-219.0,898.3,-9.7,754,9183,0.00,1.75,0.00,0.000,4,0.000,0.034,2150,1203,3727,0,0,0,0,0,0
$GC,9409,-0.54,-219.0,919.4,-8.4,764,9413,0.00,1.77,0.00,0.000,6,0.000,0.035,2150,2371,3726,0,0,0,0,0,0
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9617,-0.13,0.0,934.7,7.5,774,9793,0.32,0.00,169.20,1.043,4,0.058,0.000,2293,2125,2869,0,0,0,0,0,0
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9797,0.54,219.0,942.5,0.0,782,9982,0.57,2.35,176.90,1.017,4,0.046,0.044,2514,3541,1976,0,0,0,0,0,0
$GC,10111,0.54,219.0,910.3,16.1,797,10115,0.00,2.17,0.00,0.000,6,0.000,0.028,2525,2137,1974,0,0,0,0,0,0
$GC,10439,0.54,219.0,862.5,14.4,813,10443,0.00,2.20,0.00,0.000,4,0.000,0.041,2525,3541,1973,0,0,0,0,0,0
$GC,10600,0.54,219.0,836.5,15.8,820,10605,0.15,2.17,0.00,0.000,6,0.185,0.028,2498,2111,1973,0,0,0,0,0,0
$GC,10923,0.54,219.0,796.9,12.0,836,10927,0.00,2.12,0.00,0.000,4,0.000,0.038,2507,711,1972,0,0,0,0,0,0
$GC,11008,0.57,240.6,787.4,11.0,840,11031,0.00,2.15,18.15,0.907,6,0.000,0.033,2507,2120,1888,0,0,0,0,0,0
$GC,11341,0.62,280.1,752.1,10.4,856,11378,0.00,2.25,31.80,0.905,4,0.000,0.042,2507,3535,1726,0,0,0,0,0,0
$GC,11417,0.62,280.1,743.2,12.0,858,11424,0.00,2.17,0.00,0.000,6,0.000,0.028,2517,2126,1725,0,0,0,0,0,0
$GC,11733,0.62,280.1,704.8,12.4,874,11737,0.00,2.15,0.00,0.000,4,0.000,0.039,2528,720,1727,0,0,0,0,0,0
$GC,11789,0.62,280.1,697.5,12.8,876,11796,0.00,2.15,0.00,0.000,6,0.000,0.034,2527,2120,1728,0,0,0,0,0,0
$GC,12105,0.62,280.1,658.1,12.2,892,12109,0.00,2.20,0.00,0.000,4,0.000,0.044,2528,3539,1730,0,0,0,0,0,0
$GC,12161,0.62,280.1,650.9,13.3,894,12167,0.00,2.15,0.00,0.000,6,0.000,0.029,2538,2123,1730,0,0,0,0,0,0
$GC,12477,0.62,286.6,614.0,11.5,910,12491,0.00,2.22,7.75,0.741,4,0.000,0.038,2548,720,1700,0,0,0,0,0,0
$GC,12543,0.62,286.6,605.9,12.3,913,12547,0.00,2.17,0.00,0.000,6,0.000,0.034,2548,2122,1700,0,0,0,0,0,0
$GC,12877,0.62,286.6,559.4,14.6,929,12881,0.00,2.22,0.00,0.000,4,0.000,0.044,2548,3545,1699,0,0,0,0,0,0
$GC,12945,0.62,286.6,548.2,16.4,932,12950,0.15,2.15,0.00,0.000,6,0.171,0.029,2520,2129,1698,0,0,0,0,0,0
$GC,13272,0.62,286.6,505.5,12.5,948,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2128,1699,0,0,0,0,0,0
$GC,13590,0.67,321.6,470.0,10.5,975,13624,0.00,2.25,27.83,0.746,4,0.000,0.039,2529,721,1558,0,0,0,0,0,0
$GC,13661,0.71,352.7,462.2,10.7,981,13694,0.00,2.20,24.88,0.711,6,0.000,0.034,2529,2142,1430,0,0,0,0,0,0
$GC,14012,0.71,352.7,417.1,14.2,1014,14016,0.00,2.17,0.00,0.000,4,0.000,0.044,2529,3537,1431,0,0,0,0,0,0
$GC,14101,0.71,352.7,403.8,14.4,1021,14108,0.00,2.10,0.00,0.000,6,0.000,0.029,2538,2155,1433,0,0,0,0,0,0
$GC,14427,0.71,358.1,362.2,11.6,1052,14439,0.00,2.28,6.70,0.622,4,0.000,0.037,2549,720,1409,0,0,0,0,0,0
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$STATE,16985,end climb,SURFACE_DEPTH_REACHED
$STATE,16985,begin surface coast
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$STATE,17021,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.73
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$10V_AH,9.8,60.645
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323008
$DATA_FILE_SIZE,80318,1409
$CAP_FILE_SIZE,190602,0
$CFSIZE,260165632,211513344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300811,230125,2018.739,12012.807,41,1.0,41,-2.3