version: 66.09
glider: 181
mission: 6
dive: 379
start: 8 21 111 13 57 47
data:
$ID,181
$MISSION,6
$DIVE,379
$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,-41012.891
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,210811,134537,2129.206,11952.027,34,1.1,34,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.8
$GPS2,210811,135720,2129.178,11951.865,11,2.0,11,-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,179.5,276645,-16.3,-11.786
$D_GRID,3034
$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,-219.0,0.0,0.0,0,84,0.00,0.00,-65.25,0.000,2,0.000,0.000,206,2618,2296,0,0,0,0,0,0
$GC,87,-0.54,-219.0,3.3,-3.3,10,136,8.15,2.17,-31.42,0.000,4,0.231,0.041,2136,1195,3763,0,0,0,0,0,0
$GC,195,-0.54,-219.0,31.9,-20.6,27,202,0.00,2.17,0.00,0.000,6,0.000,0.037,2128,2593,3763,0,0,0,0,0,0
$GC,333,-0.54,-219.0,69.8,-24.0,52,342,0.00,1.85,0.00,0.000,4,0.000,0.044,2118,3775,3763,0,0,0,0,0,0
$GC,431,-0.54,-219.0,97.3,-23.0,69,438,0.00,1.73,0.00,0.000,6,0.000,0.023,2118,2616,3763,0,0,0,0,0,0
$GC,573,-0.54,-219.0,126.1,-20.4,94,581,0.00,2.10,0.00,0.000,4,0.000,0.028,2118,1200,3763,0,0,0,0,0,0
$GC,605,-0.54,-219.0,132.6,-19.2,99,613,0.12,2.20,0.00,0.000,6,0.155,0.034,2145,2638,3763,0,0,0,0,0,0
$GC,746,-0.54,-219.0,151.1,-11.4,124,754,0.00,1.77,0.00,0.000,4,0.000,0.042,2139,3785,3763,0,0,0,0,0,0
$GC,849,-0.54,-219.0,163.8,-10.7,142,857,0.00,1.62,0.00,0.000,6,0.000,0.022,2139,2682,3763,0,0,0,0,0,0
$GC,991,-0.54,-219.0,181.9,-13.7,167,998,0.00,1.73,0.00,0.000,4,0.000,0.041,2131,3780,3763,0,0,0,0,0,0
$GC,1010,-0.54,-219.0,184.7,-12.9,170,1018,0.00,1.60,0.00,0.000,6,0.000,0.024,2128,2698,3763,0,0,0,0,0,0
$GC,1150,-0.54,-219.0,203.5,-13.8,193,1154,0.00,2.20,0.00,0.000,4,0.000,0.028,2131,1193,3763,0,0,0,0,0,0
$GC,1194,-0.54,-219.0,209.2,-11.3,196,1201,0.00,2.28,0.00,0.000,6,0.000,0.033,2126,2682,3762,0,0,0,0,0,0
$GC,1520,-0.54,-219.0,248.4,-11.8,227,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2682,3761,0,0,0,0,0,0
$GC,1840,-0.54,-219.0,286.2,-12.3,257,1844,0.00,2.20,0.00,0.000,4,0.000,0.028,2126,1200,3758,0,0,0,0,0,0
$GC,1861,-0.54,-219.0,289.6,-12.9,258,1868,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2668,3759,0,0,0,0,0,0
$GC,2188,-0.54,-219.0,330.7,-12.7,289,2192,0.00,2.17,0.00,0.000,4,0.000,0.029,2131,1204,3755,0,0,0,0,0,0
$GC,2221,-0.54,-219.0,335.2,-12.2,291,2228,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2663,3755,0,0,0,0,0,0
$GC,2547,-0.54,-219.0,372.6,-11.3,322,2551,0.00,2.17,0.00,0.000,4,0.000,0.029,2125,1201,3752,0,0,0,0,0,0
$GC,2570,-0.54,-219.0,375.1,-11.1,323,2577,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2658,3752,0,0,0,0,0,0
$GC,2895,-0.54,-219.0,412.2,-11.5,354,2899,0.00,2.17,0.00,0.000,4,0.000,0.030,2125,1203,3749,0,0,0,0,0,0
$GC,2925,-0.54,-219.0,415.4,-11.4,356,2929,0.00,2.20,0.00,0.000,6,0.000,0.035,2125,2644,3747,0,0,0,0,0,0
$GC,3251,-0.54,-219.0,453.5,-12.4,386,3255,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1195,3746,0,0,0,0,0,0
$GC,3307,-0.54,-219.0,460.2,-11.2,390,3313,0.00,2.17,0.00,0.000,6,0.000,0.035,2125,2614,3748,0,0,0,0,0,0
$GC,3633,-0.54,-219.0,496.2,-10.5,421,3637,0.00,1.77,0.00,0.000,4,0.000,0.046,2125,3777,3742,0,0,0,0,0,0
$GC,3672,-0.54,-219.0,500.4,-10.2,424,3679,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2605,3742,0,0,0,0,0,0
$GC,3988,-0.54,-219.0,532.2,-10.0,440,3992,0.00,2.08,0.00,0.000,4,0.000,0.030,2125,1206,3739,0,0,0,0,0,0
$GC,4057,-0.54,-219.0,538.2,-8.2,443,4061,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2614,3739,0,0,0,0,0,0
$GC,4384,-0.54,-219.0,566.7,-9.0,459,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2615,3736,0,0,0,0,0,0
$GC,4694,-0.54,-219.0,594.2,-9.2,474,4698,0.00,1.83,0.00,0.000,4,0.000,0.047,2123,3774,3733,0,0,0,0,0,0
$GC,4721,-0.54,-219.0,596.8,-9.7,475,4725,0.00,1.73,0.00,0.000,6,0.000,0.025,2123,2591,3732,0,0,0,0,0,0
$GC,5049,-0.54,-219.0,627.4,-9.3,491,5052,0.00,2.05,0.00,0.000,4,0.000,0.030,2123,1206,3730,0,0,0,0,0,0
$GC,5099,-0.54,-219.0,632.1,-9.0,493,5103,0.00,2.15,0.00,0.000,6,0.000,0.034,2116,2604,3730,0,0,0,0,0,0
$GC,5421,-0.54,-219.0,665.2,-10.2,509,5425,0.00,1.85,0.00,0.000,4,0.000,0.047,2112,3774,3728,0,0,0,0,0,0
$GC,5467,-0.54,-219.0,669.8,-9.7,511,5472,0.08,1.75,0.00,0.000,6,0.109,0.026,2140,2608,3727,0,0,0,0,0,0
$GC,5803,-0.54,-219.0,695.6,-7.6,527,5807,0.00,2.08,0.00,0.000,4,0.000,0.031,2141,1208,3724,0,0,0,0,0,0
$GC,5869,-0.54,-219.0,701.1,-7.4,530,5873,0.00,2.12,0.00,0.000,6,0.000,0.033,2140,2595,3724,0,0,0,0,0,0
$GC,6198,-0.54,-219.0,724.0,-6.8,546,6202,0.00,1.80,0.00,0.000,4,0.000,0.045,2139,3777,3722,0,0,0,0,0,0
$GC,6455,-0.54,-219.0,746.5,-10.5,557,6459,0.00,1.88,0.00,0.000,6,0.000,0.025,2136,2504,3720,0,0,0,0,0,0
$GC,6778,-0.54,-219.0,772.8,-8.2,573,6781,0.00,1.92,0.00,0.000,4,0.000,0.032,2142,1205,3719,0,0,0,0,0,0
$GC,7036,-0.54,-219.0,795.9,-9.4,584,7040,0.00,2.00,0.00,0.000,6,0.000,0.033,2142,2480,3717,0,0,0,0,0,0
$GC,7358,-0.54,-219.0,826.0,-9.7,600,7362,0.00,1.92,0.00,0.000,4,0.000,0.031,2143,1196,3715,0,0,0,0,0,0
$GC,7616,-0.54,-219.0,852.7,-9.5,611,7619,0.00,1.92,0.00,0.000,6,0.000,0.032,2142,2459,3714,0,0,0,0,0,0
$GC,7938,-0.54,-219.0,882.0,-9.1,627,7941,0.00,1.88,0.00,0.000,4,0.000,0.031,2147,1207,3712,0,0,0,0,0,0
$GC,8052,-0.54,-219.0,892.0,-8.8,632,8056,0.00,1.92,0.00,0.000,6,0.000,0.033,2143,2464,3712,0,0,0,0,0,0
$GC,8385,-0.54,-219.0,920.3,-8.3,648,8389,0.00,1.90,0.00,0.000,4,0.000,0.032,2149,1200,3710,0,0,0,0,0,0
$GC,8424,-0.54,-219.0,923.9,-8.7,649,8431,0.00,1.90,0.00,0.000,6,0.000,0.033,2147,2443,3710,0,0,0,0,0,0
$GC,8741,-0.54,-219.0,950.9,-8.8,665,8745,0.00,1.85,0.00,0.000,4,0.000,0.032,2148,1207,3710,0,0,0,0,0,0
$GC,8802,-0.54,-219.0,956.7,-9.1,667,8809,0.00,1.90,0.00,0.000,6,0.000,0.034,2147,2448,3710,0,0,0,0,0,0
$GC,9119,-0.54,-219.0,983.5,-8.9,683,9123,0.00,2.08,0.00,0.000,4,0.000,0.046,2147,3783,3708,0,0,0,0,0,0
$STATE,9184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9184,begin apogee
$GC,9192,-0.13,0.0,990.2,9.7,686,9364,0.32,0.00,165.30,1.090,4,0.060,0.000,2298,2130,2869,0,0,0,0,0,0
$STATE,9365,end apogee,CONTROL_FINISHED_OK
$STATE,9365,begin climb
$GC,9367,0.54,219.0,1000.6,0.0,694,9553,0.55,2.35,177.90,1.067,4,0.048,0.041,2510,3541,1978,0,0,0,0,0,0
$GC,9605,0.54,219.0,982.8,14.2,705,9612,0.00,2.25,0.00,0.000,6,0.000,0.028,2520,2136,1977,0,0,0,0,0,0
$GC,9922,0.54,219.0,940.2,13.4,721,9926,0.00,2.17,0.00,0.000,4,0.000,0.037,2531,716,1974,0,0,0,0,0,0
$GC,10016,0.54,219.0,927.8,12.4,725,10021,0.12,2.15,0.00,0.000,6,0.164,0.032,2499,2111,1975,0,0,0,0,0,0
$GC,10338,0.57,241.7,892.3,11.0,741,10363,0.00,2.30,19.42,0.982,4,0.000,0.044,2499,3533,1883,0,0,0,0,0,0
$GC,10409,0.57,241.7,883.9,12.9,744,10413,0.00,2.17,0.00,0.000,6,0.000,0.028,2507,2116,1882,0,0,0,0,0,0
$GC,10736,0.58,252.6,845.6,11.4,760,10751,0.00,2.15,10.00,0.889,4,0.000,0.037,2518,718,1839,0,0,0,0,0,0
$GC,10802,0.60,266.7,838.0,11.3,762,10820,0.00,2.20,12.65,0.885,6,0.000,0.033,2518,2137,1781,0,0,0,0,0,0
$GC,11131,0.60,266.7,799.0,12.4,778,11135,0.00,2.17,0.00,0.000,4,0.000,0.044,2518,3535,1779,0,0,0,0,0,0
$GC,11194,0.60,266.7,789.7,15.3,781,11198,0.00,2.12,0.00,0.000,6,0.000,0.027,2527,2126,1779,0,0,0,0,0,0
$GC,11520,0.60,266.7,744.6,13.7,797,11524,0.00,2.12,0.00,0.000,4,0.000,0.036,2538,724,1778,0,0,0,0,0,0
$GC,11607,0.60,266.7,732.5,14.3,801,11611,0.00,2.17,0.00,0.000,6,0.000,0.032,2538,2138,1778,0,0,0,0,0,0
$GC,11934,0.60,266.7,687.5,13.3,817,11938,0.00,2.17,0.00,0.000,4,0.000,0.044,2538,3542,1778,0,0,0,0,0,0
$GC,11955,0.60,266.7,684.1,13.7,818,11960,0.12,2.12,0.00,0.000,6,0.181,0.027,2517,2134,1778,0,0,0,0,0,0
$GC,12285,0.61,273.3,645.6,11.5,834,12296,0.00,2.22,6.53,0.745,4,0.000,0.035,2527,717,1756,0,0,0,0,0,0
$GC,12357,0.62,283.7,636.5,11.4,837,12373,0.00,2.17,9.65,0.754,6,0.000,0.032,2527,2138,1712,0,0,0,0,0,0
$GC,12703,0.62,283.7,592.7,12.9,854,12707,0.00,2.17,0.00,0.000,4,0.000,0.043,2526,3541,1711,0,0,0,0,0,0
$GC,12758,0.62,283.7,584.6,14.2,856,12766,0.00,2.15,0.00,0.000,6,0.000,0.027,2536,2145,1712,0,0,0,0,0,0
$GC,13076,0.62,283.7,543.5,13.0,872,13080,0.00,2.17,0.00,0.000,4,0.000,0.041,2536,3539,1712,0,0,0,0,0,0
$GC,13097,0.62,283.7,540.3,12.7,873,13101,0.00,2.15,0.00,0.000,6,0.000,0.026,2546,2144,1715,0,0,0,0,0,0
$GC,13415,0.62,283.7,498.0,13.1,889,13419,0.00,2.15,0.00,0.000,4,0.000,0.036,2557,724,1710,0,0,0,0,0,0
$GC,13493,0.62,283.7,487.8,13.0,895,13501,0.15,2.17,0.00,0.000,6,0.159,0.032,2517,2142,1713,0,0,0,0,0,0
$GC,13819,0.62,285.9,451.6,11.7,926,13831,0.00,2.22,3.58,0.505,4,0.000,0.043,2516,3536,1705,0,0,0,0,0,0
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$STATE,17661,end climb,SURFACE_DEPTH_REACHED
$STATE,17661,begin surface coast
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$STATE,17690,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,56.237
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$FG_AHR_10Vo,0.000
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$MEM,323560
$DATA_FILE_SIZE,97190,1423
$CAP_FILE_SIZE,204777,0
$CFSIZE,260165632,215552000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210811,185507,2127.484,11950.798,34,0.9,34,-2.5