version: 66.09
glider: 181
mission: 6
dive: 372
start: 8 20 111 2 12 20
data:
$ID,181
$MISSION,6
$DIVE,372
$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,-41004.082
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,200811,020506,2136.228,11957.627,28,1.0,28,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.9
$GPS2,200811,021155,2136.297,11957.542,10,1.4,10,-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,181.7,289494,-16.3,-11.786
$D_GRID,3064
$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,-219.0,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,2,0.000,0.000,195,2661,2276,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.3,10,135,8.38,2.22,-33.33,0.000,4,0.239,0.037,2137,1183,3761,0,0,0,0,0,0
$GC,205,-0.54,-219.0,31.3,-20.4,29,212,0.00,2.17,0.00,0.000,6,0.000,0.035,2128,2598,3761,0,0,0,0,0,0
$GC,343,-0.54,-219.0,72.0,-30.3,54,351,0.00,1.83,0.00,0.000,4,0.000,0.040,2125,3777,3759,0,0,0,0,0,0
$GC,380,-0.54,-219.0,81.4,-24.9,60,388,0.00,1.80,0.00,0.000,6,0.000,0.024,2119,2572,3759,0,0,0,0,0,0
$GC,521,-0.54,-219.0,113.9,-23.6,85,529,0.00,1.90,0.00,0.000,4,0.000,0.041,2111,3777,3759,0,0,0,0,0,0
$GC,583,-0.54,-219.0,126.3,-18.9,96,592,0.08,1.67,0.00,0.000,6,0.142,0.024,2136,2644,3760,0,0,0,0,0,0
$GC,727,-0.54,-219.0,149.4,-15.4,121,734,0.00,2.10,0.00,0.000,4,0.000,0.027,2136,1209,3761,0,0,0,0,0,0
$GC,775,-0.54,-219.0,156.1,-12.7,129,782,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2672,3761,0,0,0,0,0,0
$GC,917,-0.54,-219.0,172.4,-11.7,154,925,0.00,1.70,0.00,0.000,4,0.000,0.042,2130,3777,3762,0,0,0,0,0,0
$GC,965,-0.54,-219.0,177.8,-10.6,162,973,0.00,1.60,0.00,0.000,6,0.000,0.023,2129,2696,3761,0,0,0,0,0,0
$GC,1108,-0.54,-219.0,193.9,-12.5,187,1116,0.00,2.17,0.00,0.000,4,0.000,0.027,2130,1211,3762,0,0,0,0,0,0
$GC,1157,-0.54,-219.0,199.9,-11.6,195,1164,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2675,3761,0,0,0,0,0,0
$GC,1291,-0.54,-219.0,217.3,-14.0,208,1295,0.00,1.67,0.00,0.000,4,0.000,0.042,2117,3781,3761,0,0,0,0,0,0
$GC,1327,-0.54,-219.0,222.2,-14.1,211,1330,0.00,1.62,0.00,0.000,6,0.000,0.024,2117,2686,3761,0,0,0,0,0,0
$GC,1658,-0.54,-219.0,272.6,-14.8,242,1662,0.00,2.15,0.00,0.000,4,0.000,0.028,2117,1212,3759,0,0,0,0,0,0
$GC,1709,-0.54,-219.0,279.3,-12.5,246,1714,0.12,2.22,0.00,0.000,6,0.147,0.034,2147,2678,3759,0,0,0,0,0,0
$GC,2035,-0.54,-219.0,311.0,-9.7,276,2039,0.00,2.17,0.00,0.000,4,0.000,0.028,2147,1212,3757,0,0,0,0,0,0
$GC,2067,-0.54,-219.0,314.4,-9.4,278,2074,0.00,2.20,0.00,0.000,6,0.000,0.034,2143,2664,3756,0,0,0,0,0,0
$GC,2395,-0.54,-219.0,348.0,-10.2,309,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2664,3754,0,0,0,0,0,0
$GC,2713,-0.54,-219.0,380.3,-9.4,339,2717,0.00,2.17,0.00,0.000,4,0.000,0.028,2143,1201,3751,0,0,0,0,0,0
$GC,2769,-0.54,-219.0,385.5,-9.0,343,2777,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2649,3751,0,0,0,0,0,0
$GC,3096,-0.54,-219.0,412.6,-8.3,374,3100,0.00,2.15,0.00,0.000,4,0.000,0.029,2139,1208,3749,0,0,0,0,0,0
$GC,3125,-0.54,-219.0,415.4,-8.3,376,3130,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2614,3749,0,0,0,0,0,0
$GC,3457,-0.54,-219.0,444.1,-9.5,407,3461,0.00,2.10,0.00,0.000,4,0.000,0.030,2139,1205,3745,0,0,0,0,0,0
$GC,3479,-0.54,-219.0,446.6,-9.8,408,3486,0.00,2.15,0.00,0.000,6,0.000,0.036,2139,2601,3745,0,0,0,0,0,0
$GC,3805,-0.54,-219.0,479.9,-10.5,439,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2601,3742,0,0,0,0,0,0
$GC,4131,-0.54,-219.0,513.1,-10.0,464,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2601,3740,0,0,0,0,0,0
$GC,4440,-0.54,-219.0,542.2,-9.0,479,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2602,3738,0,0,0,0,0,0
$GC,4750,-0.54,-219.0,567.2,-7.9,494,4753,0.00,1.80,0.00,0.000,4,0.000,0.048,2137,3776,3736,0,0,0,0,0,0
$GC,4777,-0.54,-219.0,569.4,-7.6,495,4781,0.00,1.73,0.00,0.000,6,0.000,0.026,2135,2598,3734,0,0,0,0,0,0
$GC,5105,-0.54,-219.0,594.2,-7.8,511,5109,0.00,2.08,0.00,0.000,4,0.000,0.031,2135,1197,3731,0,0,0,0,0,0
$GC,5144,-0.54,-219.0,597.6,-8.3,512,5151,0.00,2.17,0.00,0.000,6,0.000,0.036,2129,2605,3731,0,0,0,0,0,0
$GC,5460,-0.54,-219.0,625.9,-9.2,528,5464,0.00,2.10,0.00,0.000,4,0.000,0.032,2129,1208,3729,0,0,0,0,0,0
$GC,5496,-0.54,-219.0,629.0,-9.5,529,5503,0.00,2.10,0.00,0.000,6,0.000,0.037,2126,2567,3727,0,0,0,0,0,0
$GC,5812,-0.54,-219.0,659.2,-9.3,545,5816,0.00,1.88,0.00,0.000,4,0.000,0.050,2125,3777,3727,0,0,0,0,0,0
$GC,5868,-0.54,-219.0,664.5,-9.1,547,5872,0.00,1.83,0.00,0.000,6,0.000,0.027,2125,2570,3727,0,0,0,0,0,0
$GC,6190,-0.54,-219.0,695.4,-9.5,563,6194,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1208,3725,0,0,0,0,0,0
$GC,6236,-0.54,-219.0,699.6,-9.2,565,6240,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2578,3725,0,0,0,0,0,0
$GC,6565,-0.54,-219.0,729.5,-9.2,581,6569,0.00,1.90,0.00,0.000,4,0.000,0.049,2125,3773,3722,0,0,0,0,0,0
$GC,6614,-0.54,-219.0,733.9,-8.6,583,6618,0.00,1.77,0.00,0.000,6,0.000,0.027,2125,2570,3722,0,0,0,0,0,0
$GC,6941,-0.54,-219.0,762.2,-8.7,599,6945,0.00,2.03,0.00,0.000,4,0.000,0.032,2125,1207,3719,0,0,0,0,0,0
$GC,6992,-0.54,-219.0,766.9,-9.1,601,6996,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2577,3720,0,0,0,0,0,0
$GC,7313,-0.54,-219.0,794.0,-8.5,617,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2578,3719,0,0,0,0,0,0
$GC,7623,-0.54,-219.0,819.4,-8.0,632,7626,0.00,1.88,0.00,0.000,4,0.000,0.050,2125,3780,3717,0,0,0,0,0,0
$GC,7647,-0.54,-219.0,821.2,-8.0,633,7651,0.00,1.85,0.00,0.000,6,0.000,0.028,2125,2562,3717,0,0,0,0,0,0
$GC,7980,-0.54,-219.0,846.8,-7.6,649,7983,0.00,2.03,0.00,0.000,4,0.000,0.033,2125,1205,3715,0,0,0,0,0,0
$GC,8019,-0.54,-219.0,849.9,-7.6,650,8026,0.00,2.12,0.00,0.000,6,0.000,0.038,2125,2562,3715,0,0,0,0,0,0
$GC,8335,-0.54,-219.0,874.0,-7.9,666,8339,0.00,1.90,0.00,0.000,4,0.000,0.050,2125,3776,3714,0,0,0,0,0,0
$GC,8374,-0.54,-219.0,877.3,-8.0,667,8381,0.00,1.80,0.00,0.000,6,0.000,0.028,2125,2564,3714,0,0,0,0,0,0
$GC,8691,-0.54,-219.0,905.1,-9.1,683,8695,0.00,2.05,0.00,0.000,4,0.000,0.034,2120,1210,3712,0,0,0,0,0,0
$GC,8737,-0.54,-219.0,909.6,-9.6,685,8741,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2565,3712,0,0,0,0,0,0
$GC,9069,-0.54,-219.0,940.5,-9.5,701,9073,0.00,1.90,0.00,0.000,4,0.000,0.051,2125,3780,3711,0,0,0,0,0,0
$GC,9102,-0.54,-219.0,943.3,-8.6,702,9106,0.00,1.80,0.00,0.000,6,0.000,0.028,2125,2570,3711,0,0,0,0,0,0
$GC,9424,-0.54,-219.0,969.5,-8.1,718,9428,0.00,2.05,0.00,0.000,4,0.000,0.032,2125,1196,3710,0,0,0,0,0,0
$GC,9481,-0.54,-219.0,974.0,-7.7,720,9485,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2556,3710,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9615,-0.13,0.0,984.2,7.9,726,9786,0.45,0.00,165.32,1.087,4,0.113,0.000,2274,2110,2870,0,0,0,0,0,0
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,0.54,219.0,993.4,0.0,734,9977,0.62,2.28,178.88,1.060,4,0.055,0.038,2508,722,1978,0,0,0,0,0,0
$GC,10067,0.54,219.0,972.8,12.6,747,10071,0.00,2.30,0.00,0.000,6,0.000,0.034,2508,2122,1974,0,0,0,0,0,0
$GC,10394,0.54,219.0,931.0,12.6,763,10398,0.00,2.17,0.00,0.000,4,0.000,0.037,2518,712,1971,0,0,0,0,0,0
$GC,10623,0.56,230.3,903.8,11.4,773,10639,0.00,2.17,10.45,0.925,6,0.000,0.034,2518,2126,1929,0,0,0,0,0,0
$GC,10969,0.56,230.3,863.1,12.1,790,10973,0.00,2.20,0.00,0.000,4,0.000,0.044,2518,3539,1927,0,0,0,0,0,0
$GC,11009,0.56,230.3,857.6,13.5,792,11013,0.00,2.15,0.00,0.000,6,0.000,0.028,2527,2122,1927,0,0,0,0,0,0
$GC,11337,0.56,230.3,815.6,12.8,808,11341,0.00,2.12,0.00,0.000,4,0.000,0.037,2538,718,1926,0,0,0,0,0,0
$GC,11377,0.56,230.3,810.4,12.8,810,11382,0.15,2.17,0.00,0.000,6,0.165,0.034,2499,2133,1926,0,0,0,0,0,0
$GC,11705,0.56,237.7,773.2,11.5,826,11719,0.00,2.28,7.10,0.808,4,0.000,0.044,2498,3541,1899,0,0,0,0,0,0
$GC,11776,0.56,237.7,764.0,13.5,829,11780,0.00,2.12,0.00,0.000,6,0.000,0.028,2507,2138,1897,0,0,0,0,0,0
$GC,12097,0.56,237.7,724.0,12.6,845,12101,0.00,2.15,0.00,0.000,4,0.000,0.038,2517,723,1899,0,0,0,0,0,0
$GC,12141,0.56,237.7,718.1,12.9,847,12145,0.00,2.20,0.00,0.000,6,0.000,0.034,2518,2150,1898,0,0,0,0,0,0
$GC,12462,0.56,237.7,675.7,13.2,863,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2150,1898,0,0,0,0,0,0
$GC,12771,0.56,237.7,635.1,12.9,878,12775,0.00,2.20,0.00,0.000,4,0.000,0.037,2527,713,1898,0,0,0,0,0,0
$GC,12815,0.56,237.7,629.1,13.2,880,12819,0.00,2.20,0.00,0.000,6,0.000,0.034,2528,2140,1898,0,0,0,0,0,0
$GC,13136,0.56,237.7,588.3,12.3,896,13140,0.00,2.17,0.00,0.000,4,0.000,0.044,2528,3544,1898,0,0,0,0,0,0
$GC,13225,0.56,237.7,575.7,14.9,900,13230,0.12,2.10,0.00,0.000,6,0.181,0.027,2506,2146,1897,0,0,0,0,0,0
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$STATE,18144,end climb,SURFACE_DEPTH_REACHED
$STATE,18144,begin surface coast
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$STATE,18174,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$MEM,323588
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$CFSIZE,260165632,216268800
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$GPS,200811,071754,2135.561,11957.151,23,1.0,41,-2.6