version: 66.09
glider: 181
mission: 6
dive: 390
start: 8 23 111 21 58 8
data:
$ID,181
$MISSION,6
$DIVE,390
$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,-41035.488
$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,46
$R_STBD_OVSHOOT,66
$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
$GPS1,230811,215207,2110.734,11946.864,40,1.1,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.5
$GPS2,230811,215743,2110.810,11946.735,8,1.5,8,-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,177.0,243372,-16.3,-11.786
$D_GRID,3293
$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,-219.0,0.0,0.0,0,86,0.00,0.00,-68.07,0.000,2,0.000,0.000,205,2641,2371,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.6,-4.0,12,132,8.07,2.25,-28.98,0.000,4,0.230,0.038,2135,1174,3763,0,0,0,0,0,0
$GC,214,-0.54,-219.0,34.8,-19.1,33,220,0.00,2.15,0.00,0.000,6,0.000,0.035,2126,2571,3763,0,0,0,0,0,0
$GC,357,-0.54,-219.0,70.4,-24.7,58,364,0.00,1.90,0.00,0.000,4,0.000,0.042,2117,3783,3762,0,0,0,0,0,0
$GC,382,-0.54,-219.0,77.8,-28.6,62,389,0.00,1.73,0.00,0.000,6,0.000,0.024,2117,2587,3761,0,0,0,0,0,0
$GC,525,-0.54,-219.0,110.4,-23.8,87,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2585,3761,0,0,0,0,0,0
$GC,667,-0.54,-219.0,137.6,-19.0,112,674,0.00,1.83,0.00,0.000,4,0.000,0.041,2112,3781,3762,0,0,0,0,0,0
$GC,770,-0.54,-219.0,153.9,-13.8,130,777,0.00,1.60,0.00,0.000,6,0.000,0.024,2112,2701,3762,0,0,0,0,0,0
$GC,913,-0.54,-219.0,176.3,-15.0,155,920,0.12,0.00,0.00,0.000,6,0.157,0.000,2145,2699,3763,0,0,0,0,0,0
$GC,1058,-0.54,-219.0,193.5,-11.3,180,1065,0.00,2.17,0.00,0.000,4,0.000,0.027,2145,1211,3763,0,0,0,0,0,0
$GC,1094,-0.54,-219.0,197.6,-10.9,186,1101,0.00,2.33,0.00,0.000,6,0.000,0.033,2138,2741,3763,0,0,0,0,0,0
$GC,1238,-0.54,-219.0,214.4,-12.3,201,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2741,3763,0,0,0,0,0,0
$GC,1556,-0.54,-219.0,248.0,-9.3,231,1560,0.00,2.28,0.00,0.000,4,0.000,0.028,2138,1212,3762,0,0,0,0,0,0
$GC,1611,-0.54,-219.0,252.9,-8.3,235,1618,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2704,3762,0,0,0,0,0,0
$GC,1937,-0.54,-219.0,285.7,-10.1,266,1941,0.00,2.22,0.00,0.000,4,0.000,0.028,2138,1219,3760,0,0,0,0,0,0
$GC,1971,-0.54,-219.0,289.3,-10.4,269,1975,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2707,3761,0,0,0,0,0,0
$GC,2297,-0.54,-219.0,322.3,-10.7,299,2301,0.00,2.22,0.00,0.000,4,0.000,0.028,2138,1212,3758,0,0,0,0,0,0
$GC,2352,-0.54,-219.0,328.4,-10.8,303,2359,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2672,3757,0,0,0,0,0,0
$GC,2677,-0.54,-219.0,363.1,-10.7,334,2681,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1215,3754,0,0,0,0,0,0
$GC,2699,-0.54,-219.0,365.7,-10.4,335,2706,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2659,3754,0,0,0,0,0,0
$GC,3025,-0.54,-219.0,400.5,-10.4,366,3029,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1218,3751,0,0,0,0,0,0
$GC,3065,-0.54,-219.0,404.6,-10.2,369,3069,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2645,3752,0,0,0,0,0,0
$GC,3390,-0.54,-219.0,434.8,-8.7,399,3394,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1208,3750,0,0,0,0,0,0
$GC,3431,-0.54,-219.0,438.1,-8.1,402,3435,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2618,3750,0,0,0,0,0,0
$GC,3756,-0.54,-219.0,463.8,-8.0,432,3760,0.00,1.77,0.00,0.000,4,0.000,0.046,2138,3778,3746,0,0,0,0,0,0
$GC,3780,-0.54,-219.0,465.8,-8.2,434,3784,0.00,1.73,0.00,0.000,6,0.000,0.024,2137,2630,3746,0,0,0,0,0,0
$GC,4112,-0.54,-219.0,492.0,-7.4,465,4116,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1200,3743,0,0,0,0,0,0
$GC,4201,-0.54,-219.0,498.9,-7.4,472,4208,0.00,2.10,0.00,0.000,6,0.000,0.033,2137,2585,3743,0,0,0,0,0,0
$GC,4529,-0.54,-219.0,525.5,-8.9,489,4532,0.00,1.85,0.00,0.000,4,0.000,0.045,2137,3782,3741,0,0,0,0,0,0
$GC,4584,-0.54,-219.0,531.0,-9.1,491,4588,0.00,1.98,0.00,0.000,6,0.000,0.024,2137,2469,3740,0,0,0,0,0,0
$GC,4906,-0.54,-219.0,561.4,-9.2,507,4910,0.00,2.03,0.00,0.000,4,0.000,0.044,2137,3776,3738,0,0,0,0,0,0
$GC,4979,-0.54,-219.0,567.9,-8.8,510,4983,0.00,2.03,0.00,0.000,6,0.000,0.024,2137,2407,3737,0,0,0,0,0,0
$GC,5307,-0.54,-219.0,591.8,-7.0,526,5310,0.00,1.77,0.00,0.000,4,0.000,0.031,2137,1194,3736,0,0,0,0,0,0
$GC,5455,-0.54,-219.0,602.7,-7.3,532,5458,0.00,1.77,0.00,0.000,6,0.000,0.030,2137,2376,3735,0,0,0,0,0,0
$GC,5776,-0.54,-219.0,624.6,-6.8,548,5780,0.00,1.75,0.00,0.000,4,0.000,0.031,2137,1196,3732,0,0,0,0,0,0
$GC,5838,-0.54,-219.0,628.9,-7.1,550,5845,0.00,1.75,0.00,0.000,6,0.000,0.031,2137,2362,3731,0,0,0,0,0,0
$GC,6155,-0.54,-219.0,650.0,-7.0,566,6159,0.00,2.20,0.00,0.000,4,0.000,0.044,2137,3783,3730,0,0,0,0,0,0
$GC,6218,-0.54,-219.0,654.5,-7.4,569,6221,0.00,2.10,0.00,0.000,6,0.000,0.024,2137,2361,3730,0,0,0,0,0,0
$GC,6552,-0.54,-219.0,677.9,-7.1,585,6556,0.00,2.22,0.00,0.000,4,0.000,0.042,2137,3784,3729,0,0,0,0,0,0
$GC,6810,-0.54,-219.0,700.7,-9.0,596,6814,0.00,2.12,0.00,0.000,6,0.000,0.024,2137,2362,3727,0,0,0,0,0,0
$GC,7132,-0.54,-219.0,724.8,-7.1,612,7136,0.00,2.22,0.00,0.000,4,0.000,0.042,2137,3785,3726,0,0,0,0,0,0
$GC,7159,-0.54,-219.0,727.3,-7.2,613,7163,0.00,2.08,0.00,0.000,6,0.000,0.025,2137,2392,3725,0,0,0,0,0,0
$GC,7482,-0.54,-219.0,751.0,-7.4,629,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2391,3724,0,0,0,0,0,0
$GC,7790,-0.54,-219.0,772.0,-6.7,644,7794,0.00,1.80,0.00,0.000,4,0.000,0.031,2143,1196,3722,0,0,0,0,0,0
$GC,7881,-0.54,-219.0,778.7,-7.7,648,7885,0.00,1.83,0.00,0.000,6,0.000,0.031,2143,2405,3722,0,0,0,0,0,0
$GC,8215,-0.54,-219.0,804.3,-8.0,664,8219,0.00,1.85,0.00,0.000,4,0.000,0.030,2143,1196,3721,0,0,0,0,0,0
$GC,8239,-0.54,-219.0,806.3,-8.1,665,8243,0.00,1.83,0.00,0.000,6,0.000,0.031,2143,2403,3721,0,0,0,0,0,0
$GC,8573,-0.54,-219.0,833.8,-8.4,681,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2405,3720,0,0,0,0,0,0
$GC,8881,-0.54,-219.0,861.3,-9.0,696,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2405,3719,0,0,0,0,0,0
$GC,9191,-0.54,-219.0,890.7,-9.4,711,9195,0.00,1.85,0.00,0.000,4,0.000,0.031,2145,1200,3717,0,0,0,0,0,0
$GC,9309,-0.54,-219.0,902.0,-9.1,716,9312,0.00,1.83,0.00,0.000,6,0.000,0.033,2145,2397,3716,0,0,0,0,0,0
$STATE,9613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9613,begin apogee
$GC,9619,-0.13,0.0,928.1,8.3,731,9791,0.32,0.00,165.60,1.045,4,0.056,0.000,2290,2101,2869,0,0,0,0,0,0
$STATE,9791,end apogee,CONTROL_FINISHED_OK
$STATE,9791,begin climb
$GC,9794,0.54,219.0,938.0,0.0,739,9980,0.55,2.20,175.98,1.021,4,0.046,0.037,2511,742,1976,0,0,0,0,0,0
$GC,10154,0.54,219.0,906.8,12.4,755,10161,0.00,2.17,0.00,0.000,6,0.000,0.033,2511,2131,1975,0,0,0,0,0,0
$GC,10470,0.54,219.0,867.0,12.5,771,10474,0.00,2.12,0.00,0.000,4,0.000,0.035,2521,746,1974,0,0,0,0,0,0
$GC,10668,0.54,220.6,843.2,11.7,780,10672,0.00,2.12,0.00,0.000,6,0.000,0.034,2521,2128,1974,0,0,0,0,0,0
$GC,10995,0.56,237.4,804.6,11.2,796,11018,0.00,2.22,15.62,0.913,4,0.000,0.042,2521,3541,1902,0,0,0,0,0,0
$GC,11052,0.57,244.2,797.9,11.5,798,11065,0.00,2.12,7.28,0.757,6,0.000,0.027,2530,2148,1873,0,0,0,0,0,0
$GC,11373,0.57,244.2,758.0,13.3,814,11377,0.00,2.17,0.00,0.000,4,0.000,0.036,2542,717,1872,0,0,0,0,0,0
$GC,11435,0.57,244.2,749.6,13.5,817,11440,0.15,2.15,0.00,0.000,6,0.164,0.032,2503,2118,1872,0,0,0,0,0,0
$GC,11763,0.57,244.2,710.1,12.1,833,11767,0.00,2.20,0.00,0.000,4,0.000,0.044,2502,3535,1871,0,0,0,0,0,0
$GC,11817,0.57,244.2,702.2,13.9,835,11825,0.00,2.12,0.00,0.000,6,0.000,0.028,2510,2129,1871,0,0,0,0,0,0
$GC,12135,0.57,244.2,662.6,12.3,851,12139,0.00,2.12,0.00,0.000,4,0.000,0.037,2521,726,1870,0,0,0,0,0,0
$GC,12229,0.57,244.2,650.8,12.3,855,12234,0.00,2.17,0.00,0.000,6,0.000,0.032,2521,2118,1870,0,0,0,0,0,0
$GC,12557,0.57,244.2,610.9,12.1,871,12561,0.00,2.20,0.00,0.000,4,0.000,0.043,2521,3542,1870,0,0,0,0,0,0
$GC,12618,0.57,244.2,602.9,12.9,873,12625,0.00,2.15,0.00,0.000,6,0.000,0.027,2531,2120,1869,0,0,0,0,0,0
$GC,12935,0.57,244.2,564.2,12.5,889,12939,0.00,2.12,0.00,0.000,4,0.000,0.036,2542,711,1869,0,0,0,0,0,0
$GC,13071,0.57,244.2,547.1,12.5,895,13075,0.15,2.15,0.00,0.000,6,0.160,0.031,2502,2111,1870,0,0,0,0,0,0
$GC,13400,0.67,323.2,515.4,8.9,911,13468,0.10,2.33,60.05,0.786,4,0.106,0.043,2548,3529,1550,0,0,0,0,0,0
$GC,13548,0.67,323.2,496.8,12.6,918,13555,0.00,2.15,0.00,0.000,6,0.000,0.028,2557,2138,1551,0,0,0,0,0,0
$GC,13874,0.67,323.2,455.0,13.4,949,13878,0.00,2.17,0.00,0.000,4,0.000,0.036,2569,708,1556,0,0,0,0,0,0
$GC,13949,0.67,323.2,444.9,13.8,955,13953,0.12,2.17,0.00,0.000,6,0.155,0.031,2536,2129,1556,0,0,0,0,0,0
$GC,14274,0.67,323.2,403.6,13.1,985,14278,0.00,2.17,0.00,0.000,4,0.000,0.043,2535,3535,1556,0,0,0,0,0,0
$GC,14353,0.67,323.2,391.8,15.4,992,14357,0.00,2.12,0.00,0.000,6,0.000,0.027,2544,2130,1556,0,0,0,0,0,0
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$STATE,17648,end climb,SURFACE_DEPTH_REACHED
$STATE,17648,begin surface coast
$FINISH,0.3,0.999577
$STATE,17677,end surface coast,CONTROL_FINISHED_OK
$STATE,17677,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
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$10V_AH,9.8,57.567
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.825,185.200,633.450,0.000,0.000,30.915,18.922,143.662,0.000,0.000,13.013,3453.411,10631.359,745.337,2862.277,384.018,0.000,2231.732,0.000,2639.055,0.000,0.541,0.000
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$SENSOR_SECS,997.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323540
$DATA_FILE_SIZE,83556,1440
$CAP_FILE_SIZE,195766,0
$CFSIZE,260165632,214474752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240811,025507,2109.676,11946.723,27,1.4,27,-2.5