version: 66.09
glider: 181
mission: 6
dive: 381
start: 8 22 111 0 10 22
data:
$ID,181
$MISSION,6
$DIVE,381
$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,-41015.406
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,220811,000331,2125.755,11949.845,40,1.0,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.0
$GPS2,220811,000957,2125.792,11949.778,10,1.5,10,-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,178.7,270599,-16.3,-11.786
$D_GRID,3022
$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,-64.80,0.000,2,0.000,0.000,200,2617,2276,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.2,10,135,8.18,2.15,-32.17,0.000,4,0.231,0.037,2134,1165,3762,0,0,0,0,0,0
$GC,187,-0.54,-219.0,30.6,-22.9,26,195,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2591,3764,0,0,0,0,0,0
$GC,328,-0.54,-219.0,77.0,-31.4,51,335,0.00,1.85,0.00,0.000,4,0.000,0.044,2116,3790,3763,0,0,0,0,0,0
$GC,402,-0.54,-219.0,92.5,-17.8,64,410,0.00,1.70,0.00,0.000,6,0.000,0.023,2117,2646,3763,0,0,0,0,0,0
$GC,544,-0.54,-219.0,123.0,-20.9,89,551,0.00,1.75,0.00,0.000,4,0.000,0.041,2108,3786,3763,0,0,0,0,0,0
$GC,565,-0.54,-219.0,127.1,-19.4,92,573,0.00,1.67,0.00,0.000,6,0.000,0.023,2109,2661,3765,0,0,0,0,0,0
$GC,707,-0.54,-219.0,151.0,-17.1,117,715,0.12,2.15,0.00,0.000,4,0.164,0.028,2141,1206,3763,0,0,0,0,0,0
$GC,749,-0.54,-219.0,157.4,-14.5,124,757,0.00,2.22,0.00,0.000,6,0.000,0.032,2139,2647,3764,0,0,0,0,0,0
$GC,892,-0.54,-219.0,174.2,-11.4,149,899,0.00,1.75,0.00,0.000,4,0.000,0.042,2131,3801,3763,0,0,0,0,0,0
$GC,954,-0.54,-219.0,180.5,-9.0,160,963,0.00,1.67,0.00,0.000,6,0.000,0.023,2131,2675,3764,0,0,0,0,0,0
$GC,1098,-0.54,-219.0,196.0,-12.5,185,1105,0.00,2.15,0.00,0.000,4,0.000,0.028,2130,1204,3763,0,0,0,0,0,0
$GC,1150,-0.54,-219.0,202.1,-10.1,192,1157,0.00,2.25,0.00,0.000,6,0.000,0.032,2126,2689,3763,0,0,0,0,0,0
$GC,1477,-0.54,-219.0,243.3,-13.3,223,1481,0.00,1.65,0.00,0.000,4,0.000,0.042,2118,3776,3762,0,0,0,0,0,0
$GC,1527,-0.54,-219.0,250.0,-12.1,227,1534,0.00,1.60,0.00,0.000,6,0.000,0.023,2118,2693,3762,0,0,0,0,0,0
$GC,1854,-0.54,-219.0,295.0,-14.3,258,1858,0.00,2.17,0.00,0.000,4,0.000,0.028,2118,1203,3760,0,0,0,0,0,0
$GC,1907,-0.54,-219.0,301.8,-11.7,262,1912,0.12,2.25,0.00,0.000,6,0.147,0.032,2147,2686,3760,0,0,0,0,0,0
$GC,2232,-0.54,-219.0,334.9,-8.9,292,2236,0.00,2.20,0.00,0.000,4,0.000,0.028,2147,1200,3758,0,0,0,0,0,0
$GC,2277,-0.54,-219.0,339.0,-8.8,295,2284,0.00,2.22,0.00,0.000,6,0.000,0.032,2147,2659,3757,0,0,0,0,0,0
$GC,2603,-0.54,-219.0,364.3,-7.5,326,2607,0.00,2.17,0.00,0.000,4,0.000,0.028,2147,1193,3754,0,0,0,0,0,0
$GC,2625,-0.54,-219.0,366.0,-7.6,327,2632,0.00,2.22,0.00,0.000,6,0.000,0.034,2147,2654,3754,0,0,0,0,0,0
$GC,2950,-0.54,-219.0,392.0,-9.0,358,2954,0.00,2.15,0.00,0.000,4,0.000,0.029,2147,1206,3751,0,0,0,0,0,0
$GC,2995,-0.54,-219.0,396.2,-9.3,361,3002,0.00,2.17,0.00,0.000,6,0.000,0.032,2147,2641,3751,0,0,0,0,0,0
$GC,3321,-0.54,-219.0,427.0,-9.5,392,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2642,3748,0,0,0,0,0,0
$GC,3643,-0.54,-219.0,457.5,-10.0,422,3647,0.00,2.15,0.00,0.000,4,0.000,0.029,2148,1200,3745,0,0,0,0,0,0
$GC,3684,-0.54,-219.0,461.9,-9.5,425,3688,0.00,2.17,0.00,0.000,6,0.000,0.034,2142,2631,3745,0,0,0,0,0,0
$GC,4009,-0.54,-219.0,491.6,-8.8,455,4013,0.00,1.75,0.00,0.000,4,0.000,0.044,2139,3783,3742,0,0,0,0,0,0
$GC,4078,-0.54,-219.0,497.5,-8.4,461,4082,0.00,1.83,0.00,0.000,6,0.000,0.024,2139,2533,3741,0,0,0,0,0,0
$GC,4402,-0.54,-219.0,519.5,-6.1,478,4405,0.00,1.92,0.00,0.000,4,0.000,0.043,2139,3775,3738,0,0,0,0,0,0
$GC,4496,-0.54,-219.0,525.8,-7.0,482,4500,0.00,1.95,0.00,0.000,6,0.000,0.024,2139,2453,3739,0,0,0,0,0,0
$GC,4824,-0.54,-219.0,549.9,-8.3,498,4828,0.00,2.05,0.00,0.000,4,0.000,0.041,2139,3774,3736,0,0,0,0,0,0
$GC,4952,-0.54,-219.0,562.6,-10.7,503,4959,0.00,1.92,0.00,0.000,6,0.000,0.024,2139,2468,3735,0,0,0,0,0,0
$GC,5268,-0.54,-219.0,589.4,-8.0,519,5272,0.00,2.03,0.00,0.000,4,0.000,0.043,2140,3774,3732,0,0,0,0,0,0
$GC,5387,-0.54,-219.0,599.9,-9.0,524,5390,0.00,1.92,0.00,0.000,6,0.000,0.024,2139,2473,3731,0,0,0,0,0,0
$GC,5714,-0.54,-219.0,622.2,-6.9,540,5718,0.00,1.88,0.00,0.000,4,0.000,0.031,2142,1194,3730,0,0,0,0,0,0
$GC,5943,-0.54,-219.0,640.4,-8.4,550,5947,0.00,1.95,0.00,0.000,6,0.000,0.032,2142,2449,3730,0,0,0,0,0,0
$GC,6271,-0.54,-219.0,666.8,-8.2,566,6274,0.00,1.88,0.00,0.000,4,0.000,0.030,2144,1196,3727,0,0,0,0,0,0
$GC,6461,-0.54,-219.0,684.3,-9.5,574,6465,0.00,1.88,0.00,0.000,6,0.000,0.031,2144,2439,3725,0,0,0,0,0,0
$GC,6783,-0.54,-219.0,711.6,-8.2,590,6787,0.00,1.85,0.00,0.000,4,0.000,0.031,2144,1199,3721,0,0,0,0,0,0
$GC,7040,-0.54,-219.0,734.8,-9.4,601,7044,0.00,1.88,0.00,0.000,6,0.000,0.033,2144,2431,3723,0,0,0,0,0,0
$GC,7363,-0.54,-219.0,760.1,-7.9,617,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2432,3726,0,0,0,0,0,0
$GC,7672,-0.54,-219.0,782.7,-7.2,632,7675,0.00,1.83,0.00,0.000,4,0.000,0.031,2143,1208,3720,0,0,0,0,0,0
$GC,7930,-0.54,-219.0,801.6,-7.1,643,7933,0.00,1.83,0.00,0.000,6,0.000,0.032,2144,2410,3719,0,0,0,0,0,0
$GC,8251,-0.54,-219.0,823.5,-7.1,659,8255,0.00,1.80,0.00,0.000,4,0.000,0.032,2145,1208,3718,0,0,0,0,0,0
$GC,8284,-0.54,-219.0,826.3,-7.3,660,8288,0.00,1.83,0.00,0.000,6,0.000,0.033,2145,2407,3717,0,0,0,0,0,0
$GC,8607,-0.54,-219.0,851.9,-8.5,676,8611,0.00,1.80,0.00,0.000,4,0.000,0.032,2146,1206,3716,0,0,0,0,0,0
$GC,8866,-0.54,-219.0,876.3,-9.9,687,8869,0.00,1.80,0.00,0.000,6,0.000,0.033,2145,2392,3714,0,0,0,0,0,0
$GC,9188,-0.54,-219.0,906.5,-9.5,703,9191,0.00,1.77,0.00,0.000,4,0.000,0.032,2145,1206,3713,0,0,0,0,0,0
$GC,9215,-0.54,-219.0,909.3,-9.5,704,9219,0.00,1.80,0.00,0.000,6,0.000,0.032,2146,2399,3713,0,0,0,0,0,0
$GC,9544,-0.54,-219.0,939.3,-9.1,720,9548,0.00,2.15,0.00,0.000,4,0.000,0.044,2145,3782,3712,0,0,0,0,0,0
$STATE,9604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9604,begin apogee
$GC,9613,-0.13,0.0,945.4,9.9,723,9784,0.32,0.00,165.12,1.064,4,0.060,0.000,2294,2128,2870,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.54,219.0,956.6,0.0,731,9973,0.55,2.30,176.73,1.040,4,0.047,0.037,2515,715,1976,0,0,0,0,0,0
$GC,10095,0.54,219.0,934.0,12.0,745,10100,0.00,2.22,0.00,0.000,6,0.000,0.033,2520,2120,1975,0,0,0,0,0,0
$GC,10418,0.54,219.0,892.2,13.3,761,10422,0.00,2.15,0.00,0.000,4,0.000,0.035,2523,726,1973,0,0,0,0,0,0
$GC,10609,0.54,219.0,867.0,13.0,769,10613,0.00,2.17,0.00,0.000,6,0.000,0.034,2523,2131,1973,0,0,0,0,0,0
$GC,10930,0.54,219.0,822.8,13.9,785,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2133,1972,0,0,0,0,0,0
$GC,11239,0.54,219.0,781.9,12.6,800,11243,0.00,2.15,0.00,0.000,4,0.000,0.036,2533,722,1971,0,0,0,0,0,0
$GC,11279,0.54,219.0,776.7,13.4,802,11284,0.15,2.15,0.00,0.000,6,0.164,0.033,2494,2125,1971,0,0,0,0,0,0
$GC,11610,0.58,250.5,742.0,10.6,818,11640,0.00,2.22,25.33,0.913,4,0.000,0.044,2494,3535,1847,0,0,0,0,0,0
$GC,11676,0.58,250.5,733.9,11.8,821,11680,0.00,2.15,0.00,0.000,6,0.000,0.027,2503,2129,1845,0,0,0,0,0,0
$GC,12003,0.58,250.5,693.9,12.4,837,12007,0.00,2.15,0.00,0.000,4,0.000,0.037,2513,720,1845,0,0,0,0,0,0
$GC,12047,0.58,250.5,688.2,12.3,839,12051,0.00,2.17,0.00,0.000,6,0.000,0.032,2513,2132,1845,0,0,0,0,0,0
$GC,12375,0.58,250.5,647.7,12.1,855,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2132,1844,0,0,0,0,0,0
$GC,12684,0.60,266.7,612.6,11.2,870,12706,0.00,2.25,13.73,0.815,4,0.000,0.043,2513,3539,1781,0,0,0,0,0,0
$GC,12723,0.60,266.7,607.8,12.0,871,12730,0.00,2.15,0.00,0.000,6,0.000,0.028,2522,2125,1781,0,0,0,0,0,0
$GC,13039,0.60,266.7,567.3,13.2,887,13043,0.00,2.17,0.00,0.000,4,0.000,0.037,2532,721,1780,0,0,0,0,0,0
$GC,13134,0.60,266.7,554.5,13.2,891,13138,0.00,2.15,0.00,0.000,6,0.000,0.033,2532,2127,1780,0,0,0,0,0,0
$GC,13457,0.60,266.7,511.2,13.7,907,13461,0.00,2.17,0.00,0.000,4,0.000,0.044,2533,3535,1780,0,0,0,0,0,0
$GC,13497,0.60,266.7,505.5,14.6,909,13501,0.00,2.15,0.00,0.000,6,0.000,0.027,2543,2110,1780,0,0,0,0,0,0
$GC,13821,0.60,266.7,461.2,13.7,937,13825,0.00,2.10,0.00,0.000,4,0.000,0.037,2553,720,1780,0,0,0,0,0,0
$GC,13875,0.60,266.7,453.9,12.9,941,13883,0.15,2.15,0.00,0.000,6,0.157,0.032,2513,2124,1780,0,0,0,0,0,0
$GC,14201,0.63,291.8,418.4,10.9,972,14227,0.00,2.25,20.27,0.725,4,0.000,0.044,2513,3531,1679,0,0,0,0,0,0
$GC,14307,0.63,291.8,405.6,12.4,981,14314,0.00,2.12,0.00,0.000,6,0.000,0.027,2521,2132,1678,0,0,0,0,0,0
$GC,14634,0.64,299.2,367.5,11.5,1012,14647,0.00,2.22,7.93,0.633,4,0.000,0.037,2532,723,1649,0,0,0,0,0,0
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$STATE,17794,end climb,SURFACE_DEPTH_REACHED
$STATE,17794,begin surface coast
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$STATE,17800,end surface coast,CONTROL_FINISHED_OK
$STATE,17800,begin surface
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$10V_AH,9.8,56.502
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$FG_AHR_10Vo,0.000
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$MEM,323556
$DATA_FILE_SIZE,97024,1432
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$CFSIZE,260165632,215347200
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