version: 66.09
glider: 181
mission: 6
dive: 368
start: 8 19 111 5 50 32
data:
$ID,181
$MISSION,6
$DIVE,368
$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,-40999.051
$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,45
$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,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
$GPS1,190811,054301,2138.140,11959.083,36,1.4,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.9
$GPS2,190811,055007,2138.213,11959.035,13,1.1,13,-2.6
$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,182.3,293016,-16.3,-11.786
$D_GRID,2799
$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,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.28,0.000,2,0.000,0.000,206,2619,2272,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.4,-3.8,10,134,8.05,2.15,-31.58,0.000,4,0.227,0.037,2134,1180,3760,0,0,0,0,0,0
$GC,210,-0.54,-219.0,36.5,-19.1,30,218,0.00,2.20,0.00,0.000,6,0.000,0.034,2125,2583,3760,0,0,0,0,0,0
$GC,351,-0.54,-219.0,76.9,-34.0,55,358,0.00,1.88,0.00,0.000,4,0.000,0.046,2116,3771,3760,0,0,0,0,0,0
$GC,392,-0.54,-219.0,88.4,-27.0,62,401,0.00,1.80,0.00,0.000,6,0.000,0.023,2116,2564,3760,0,0,0,0,0,0
$GC,534,-0.54,-219.0,122.3,-19.5,87,541,0.00,2.03,0.00,0.000,4,0.000,0.027,2116,1196,3760,0,0,0,0,0,0
$GC,564,-0.54,-219.0,127.8,-17.7,92,573,0.08,2.22,0.00,0.000,6,0.129,0.035,2139,2623,3760,0,0,0,0,0,0
$GC,708,-0.54,-219.0,147.6,-13.8,117,715,0.00,1.77,0.00,0.000,4,0.000,0.044,2138,3789,3760,0,0,0,0,0,0
$GC,789,-0.54,-219.0,158.8,-12.3,131,795,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2651,3761,0,0,0,0,0,0
$GC,927,-0.54,-219.0,175.7,-12.6,156,935,0.00,2.15,0.00,0.000,4,0.000,0.028,2135,1205,3761,0,0,0,0,0,0
$GC,1003,-0.54,-219.0,183.6,-9.6,169,1010,0.00,2.17,0.00,0.000,6,0.000,0.032,2138,2640,3762,0,0,0,0,0,0
$GC,1145,-0.54,-219.0,199.6,-11.5,194,1153,0.00,1.75,0.00,0.000,4,0.000,0.043,2131,3774,3760,0,0,0,0,0,0
$GC,1186,-0.54,-219.0,205.5,-12.9,198,1194,0.00,1.67,0.00,0.000,6,0.000,0.023,2130,2639,3760,0,0,0,0,0,0
$GC,1512,-0.54,-219.0,251.2,-13.5,229,1516,0.00,2.10,0.00,0.000,4,0.000,0.028,2130,1199,3760,0,0,0,0,0,0
$GC,1597,-0.54,-219.0,261.4,-11.4,236,1601,0.00,2.12,0.00,0.000,6,0.000,0.031,2125,2616,3759,0,0,0,0,0,0
$GC,1924,-0.54,-219.0,303.6,-12.9,266,1927,0.00,1.75,0.00,0.000,4,0.000,0.042,2117,3780,3757,0,0,0,0,0,0
$GC,1973,-0.54,-219.0,310.2,-12.3,270,1980,0.00,1.70,0.00,0.000,6,0.000,0.024,2117,2631,3756,0,0,0,0,0,0
$GC,2300,-0.54,-219.0,354.8,-13.8,301,2304,0.00,2.10,0.00,0.000,4,0.000,0.028,2117,1200,3754,0,0,0,0,0,0
$GC,2368,-0.54,-219.0,363.0,-10.6,307,2373,0.12,2.12,0.00,0.000,6,0.145,0.033,2148,2604,3754,0,0,0,0,0,0
$GC,2694,-0.54,-219.0,392.4,-9.1,337,2698,0.00,1.77,0.00,0.000,4,0.000,0.044,2141,3783,3751,0,0,0,0,0,0
$GC,2732,-0.54,-219.0,396.3,-9.5,340,2739,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2601,3750,0,0,0,0,0,0
$GC,3058,-0.54,-219.0,427.4,-9.5,371,3062,0.00,2.08,0.00,0.000,4,0.000,0.029,2140,1206,3748,0,0,0,0,0,0
$GC,3097,-0.54,-219.0,431.1,-9.2,374,3104,0.00,2.15,0.00,0.000,6,0.000,0.033,2140,2614,3748,0,0,0,0,0,0
$GC,3422,-0.54,-219.0,460.8,-9.3,405,3426,0.00,2.10,0.00,0.000,4,0.000,0.028,2139,1200,3745,0,0,0,0,0,0
$GC,3453,-0.54,-219.0,463.6,-9.3,407,3457,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2591,3744,0,0,0,0,0,0
$GC,3778,-0.54,-219.0,492.8,-8.5,437,3782,0.00,1.85,0.00,0.000,4,0.000,0.046,2139,3776,3742,0,0,0,0,0,0
$GC,3824,-0.54,-219.0,496.3,-7.9,441,3828,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2603,3741,0,0,0,0,0,0
$GC,4147,-0.54,-219.0,522.0,-8.7,459,4151,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1199,3739,0,0,0,0,0,0
$GC,4197,-0.54,-219.0,526.7,-9.0,461,4201,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2587,3739,0,0,0,0,0,0
$GC,4520,-0.54,-219.0,557.5,-9.9,477,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2589,3739,0,0,0,0,0,0
$GC,4828,-0.54,-219.0,587.9,-9.4,492,4832,0.00,1.85,0.00,0.000,4,0.000,0.047,2138,3775,3733,0,0,0,0,0,0
$GC,4856,-0.54,-219.0,590.6,-9.4,493,4860,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2578,3733,0,0,0,0,0,0
$GC,5184,-0.54,-219.0,620.8,-9.2,509,5188,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1200,3731,0,0,0,0,0,0
$GC,5230,-0.54,-219.0,624.7,-8.5,511,5234,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2575,3731,0,0,0,0,0,0
$GC,5564,-0.54,-219.0,654.2,-9.2,527,5567,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1209,3729,0,0,0,0,0,0
$GC,5602,-0.54,-219.0,658.0,-9.0,528,5609,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2562,3729,0,0,0,0,0,0
$GC,5919,-0.54,-219.0,685.0,-8.6,544,5923,0.00,1.92,0.00,0.000,4,0.000,0.047,2138,3775,3727,0,0,0,0,0,0
$GC,5965,-0.54,-219.0,688.7,-7.8,546,5969,0.00,1.83,0.00,0.000,6,0.000,0.026,2138,2562,3726,0,0,0,0,0,0
$GC,6298,-0.54,-219.0,713.6,-7.3,562,6302,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1207,3724,0,0,0,0,0,0
$GC,6338,-0.54,-219.0,716.6,-7.6,563,6345,0.00,1.92,0.00,0.000,6,0.000,0.034,2138,2469,3724,0,0,0,0,0,0
$GC,6654,-0.54,-219.0,741.4,-8.2,579,6658,0.00,1.92,0.00,0.000,4,0.000,0.031,2144,1208,3722,0,0,0,0,0,0
$GC,6722,-0.54,-219.0,747.4,-8.9,582,6726,0.00,2.03,0.00,0.000,6,0.000,0.034,2138,2527,3721,0,0,0,0,0,0
$GC,7056,-0.54,-219.0,777.1,-8.9,598,7060,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1206,3720,0,0,0,0,0,0
$GC,7129,-0.54,-219.0,784.0,-8.9,601,7132,0.00,1.90,0.00,0.000,6,0.000,0.034,2138,2455,3720,0,0,0,0,0,0
$GC,7457,-0.54,-219.0,811.7,-8.4,617,7461,0.00,1.88,0.00,0.000,4,0.000,0.031,2138,1203,3719,0,0,0,0,0,0
$GC,7507,-0.54,-219.0,815.9,-8.3,619,7511,0.00,2.03,0.00,0.000,6,0.000,0.033,2138,2528,3719,0,0,0,0,0,0
$GC,7836,-0.54,-219.0,839.9,-6.9,635,7839,0.00,2.00,0.00,0.000,4,0.000,0.032,2138,1206,3716,0,0,0,0,0,0
$GC,7942,-0.54,-219.0,847.5,-6.8,639,7948,0.00,1.92,0.00,0.000,6,0.000,0.032,2138,2467,3717,0,0,0,0,0,0
$GC,8258,-0.54,-219.0,868.0,-6.6,655,8262,0.00,1.90,0.00,0.000,4,0.000,0.033,2138,1201,3715,0,0,0,0,0,0
$GC,8292,-0.54,-219.0,870.4,-6.7,656,8296,0.00,1.85,0.00,0.000,6,0.000,0.033,2138,2415,3714,0,0,0,0,0,0
$GC,8614,-0.54,-219.0,894.0,-7.9,672,8618,0.00,2.12,0.00,0.000,4,0.000,0.046,2138,3780,3713,0,0,0,0,0,0
$GC,8871,-0.54,-219.0,918.0,-10.0,683,8875,0.00,2.03,0.00,0.000,6,0.000,0.025,2138,2415,3712,0,0,0,0,0,0
$GC,9193,-0.54,-219.0,947.6,-9.3,699,9197,0.00,1.80,0.00,0.000,4,0.000,0.032,2144,1195,3711,0,0,0,0,0,0
$GC,9451,-0.54,-219.0,973.0,-10.0,710,9455,0.00,1.85,0.00,0.000,6,0.000,0.034,2144,2402,3710,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9612,-0.13,0.0,987.6,9.6,718,9784,0.35,0.00,165.30,1.087,4,0.058,0.000,2300,2104,2870,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.54,219.0,999.3,0.0,726,9974,0.52,2.20,178.48,1.066,4,0.047,0.037,2512,747,1976,0,0,0,0,0,0
$GC,10126,0.54,219.0,972.3,12.3,741,10133,0.00,2.20,0.00,0.000,6,0.000,0.032,2511,2141,1975,0,0,0,0,0,0
$GC,10442,0.54,219.0,927.9,14.1,757,10446,0.00,2.15,0.00,0.000,4,0.000,0.035,2521,742,1974,0,0,0,0,0,0
$GC,10671,0.54,219.0,895.5,13.6,767,10675,0.00,2.17,0.00,0.000,6,0.000,0.033,2521,2150,1972,0,0,0,0,0,0
$GC,10993,0.54,219.0,849.7,13.8,783,10997,0.00,2.15,0.00,0.000,4,0.000,0.044,2521,3541,1973,0,0,0,0,0,0
$GC,11016,0.54,219.0,846.2,14.0,784,11021,0.15,2.10,0.00,0.000,6,0.181,0.027,2494,2154,1973,0,0,0,0,0,0
$GC,11339,0.54,221.2,808.0,11.7,800,11343,0.00,2.20,0.00,0.000,4,0.000,0.038,2503,720,1972,0,0,0,0,0,0
$GC,11411,0.56,235.5,799.3,11.3,803,11432,0.00,2.15,14.43,0.910,6,0.000,0.033,2503,2123,1908,0,0,0,0,0,0
$GC,11756,0.56,235.5,758.5,12.1,820,11760,0.00,2.20,0.00,0.000,4,0.000,0.044,2503,3540,1906,0,0,0,0,0,0
$GC,11841,0.56,235.5,746.4,14.1,824,11845,0.00,2.15,0.00,0.000,6,0.000,0.029,2513,2123,1905,0,0,0,0,0,0
$GC,12169,0.56,235.5,702.2,13.1,840,12173,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,707,1905,0,0,0,0,0,0
$GC,12324,0.56,235.5,682.4,12.9,847,12329,0.00,2.15,0.00,0.000,6,0.000,0.033,2524,2112,1905,0,0,0,0,0,0
$GC,12652,0.56,235.5,641.6,11.8,863,12656,0.00,2.20,0.00,0.000,4,0.000,0.044,2523,3534,1904,0,0,0,0,0,0
$GC,12707,0.56,235.5,634.4,12.7,865,12715,0.12,2.15,0.00,0.000,6,0.179,0.028,2503,2110,1904,0,0,0,0,0,0
$GC,13025,0.61,278.4,602.1,10.2,881,13068,0.00,2.22,33.33,0.838,4,0.000,0.039,2512,717,1733,0,0,0,0,0,0
$GC,13175,0.68,328.8,586.1,10.0,887,13224,0.00,2.15,39.15,0.814,6,0.000,0.032,2517,2102,1528,0,0,0,0,0,0
$GC,13534,0.68,328.8,543.4,13.0,905,13538,0.00,2.25,0.00,0.000,4,0.000,0.044,2512,3539,1530,0,0,0,0,0,0
$GC,13600,0.68,328.8,533.4,13.8,908,13604,0.00,2.20,0.00,0.000,6,0.000,0.029,2522,2103,1532,0,0,0,0,0,0
$GC,13919,0.68,328.8,491.9,12.1,926,13923,0.00,2.10,0.00,0.000,4,0.000,0.038,2532,720,1534,0,0,0,0,0,0
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$STATE,17927,begin surface coast
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$STATE,17961,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,54.793
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$FG_AHR_10Vo,0.000
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$MEM,323560
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$CAP_FILE_SIZE,203703,0
$CFSIZE,260165632,216678400
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