version: 66.09
glider: 181
mission: 6
dive: 396
start: 8 25 111 4 17 15
data:
$ID,181
$MISSION,6
$DIVE,396
$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,-41043.035
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,250811,041106,2102.990,11949.243,37,0.9,42,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.6
$GPS2,250811,041650,2103.169,11949.189,13,0.9,13,-2.4
$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,177.7,228893,-16.3,-11.786
$D_GRID,3306
$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,-219.0,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,2,0.000,0.000,197,2613,2200,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.0,-3.1,11,137,7.97,2.17,-35.42,0.000,4,0.223,0.040,2140,1180,3763,0,0,0,0,0,0
$GC,174,-0.54,-219.0,24.5,-26.7,26,181,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2603,3764,0,0,0,0,0,0
$GC,317,-0.54,-219.0,68.4,-24.7,51,324,0.00,1.80,0.00,0.000,4,0.000,0.042,2128,3788,3764,0,0,0,0,0,0
$GC,365,-0.54,-219.0,79.0,-21.8,59,371,0.00,1.75,0.00,0.000,6,0.000,0.024,2127,2575,3763,0,0,0,0,0,0
$GC,508,-0.54,-219.0,112.6,-21.5,84,514,0.00,2.00,0.00,0.000,4,0.000,0.027,2128,1207,3763,0,0,0,0,0,0
$GC,549,-0.54,-219.0,120.2,-17.3,91,556,0.00,2.10,0.00,0.000,6,0.000,0.035,2125,2585,3763,0,0,0,0,0,0
$GC,694,-0.54,-219.0,143.4,-18.3,116,700,0.00,1.80,0.00,0.000,4,0.000,0.042,2116,3783,3763,0,0,0,0,0,0
$GC,752,-0.54,-219.0,152.1,-13.7,126,759,0.00,1.73,0.00,0.000,6,0.000,0.023,2116,2582,3763,0,0,0,0,0,0
$GC,896,-0.54,-219.0,173.7,-15.7,151,902,0.00,2.00,0.00,0.000,4,0.000,0.028,2116,1201,3764,0,0,0,0,0,0
$GC,937,-0.54,-219.0,179.8,-14.3,158,945,0.12,2.08,0.00,0.000,6,0.153,0.034,2146,2574,3764,0,0,0,0,0,0
$GC,1084,-0.54,-219.0,196.6,-11.4,183,1090,0.00,1.83,0.00,0.000,4,0.000,0.041,2139,3784,3764,0,0,0,0,0,0
$GC,1143,-0.54,-219.0,204.1,-12.1,190,1147,0.00,1.67,0.00,0.000,6,0.000,0.023,2139,2624,3764,0,0,0,0,0,0
$GC,1474,-0.54,-219.0,243.1,-12.1,221,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2621,3763,0,0,0,0,0,0
$GC,1797,-0.54,-219.0,279.5,-10.5,251,1801,0.00,2.08,0.00,0.000,4,0.000,0.028,2139,1203,3761,0,0,0,0,0,0
$GC,1860,-0.54,-219.0,285.8,-8.9,256,1864,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2638,3761,0,0,0,0,0,0
$GC,2185,-0.54,-219.0,316.4,-9.9,286,2189,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1205,3759,0,0,0,0,0,0
$GC,2218,-0.54,-219.0,319.9,-9.8,288,2226,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2602,3758,0,0,0,0,0,0
$GC,2544,-0.54,-219.0,351.8,-9.9,319,2548,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3783,3756,0,0,0,0,0,0
$GC,2583,-0.54,-219.0,355.8,-9.8,322,2590,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2591,3755,0,0,0,0,0,0
$GC,2908,-0.54,-219.0,386.3,-9.1,353,2912,0.00,2.03,0.00,0.000,4,0.000,0.030,2138,1215,3752,0,0,0,0,0,0
$GC,2969,-0.54,-219.0,391.6,-8.2,358,2976,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2604,3752,0,0,0,0,0,0
$GC,3295,-0.54,-219.0,417.3,-7.9,389,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3749,0,0,0,0,0,0
$GC,3617,-0.54,-219.0,443.4,-8.3,419,3620,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3776,3747,0,0,0,0,0,0
$GC,3641,-0.54,-219.0,445.7,-8.4,421,3645,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2594,3747,0,0,0,0,0,0
$GC,3972,-0.54,-219.0,475.1,-9.3,452,3976,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1206,3743,0,0,0,0,0,0
$GC,4019,-0.54,-219.0,479.2,-8.9,456,4023,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2590,3743,0,0,0,0,0,0
$GC,4356,-0.54,-219.0,510.7,-9.6,482,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2591,3740,0,0,0,0,0,0
$GC,4662,-0.54,-219.0,539.5,-9.5,497,4666,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1206,3737,0,0,0,0,0,0
$GC,4703,-0.54,-219.0,543.6,-9.7,499,4707,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2578,3737,0,0,0,0,0,0
$GC,5030,-0.54,-219.0,573.8,-9.1,515,5034,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3783,3735,0,0,0,0,0,0
$GC,5122,-0.54,-219.0,581.8,-8.8,519,5126,0.00,1.92,0.00,0.000,6,0.000,0.024,2138,2477,3734,0,0,0,0,0,0
$GC,5455,-0.54,-219.0,606.1,-6.7,535,5459,0.00,1.88,0.00,0.000,4,0.000,0.031,2138,1201,3732,0,0,0,0,0,0
$GC,5562,-0.54,-219.0,613.6,-7.0,539,5569,0.00,1.92,0.00,0.000,6,0.000,0.031,2138,2471,3731,0,0,0,0,0,0
$GC,5879,-0.54,-219.0,634.6,-6.7,555,5882,0.00,1.90,0.00,0.000,4,0.000,0.031,2138,1200,3729,0,0,0,0,0,0
$GC,5974,-0.54,-219.0,641.7,-7.0,559,5978,0.00,1.92,0.00,0.000,6,0.000,0.032,2138,2464,3730,0,0,0,0,0,0
$GC,6302,-0.54,-219.0,666.0,-7.6,575,6305,0.00,1.90,0.00,0.000,4,0.000,0.031,2137,1196,3727,0,0,0,0,0,0
$GC,6357,-0.54,-219.0,670.6,-8.0,577,6361,0.00,1.95,0.00,0.000,6,0.000,0.033,2138,2447,3727,0,0,0,0,0,0
$GC,6680,-0.54,-219.0,698.0,-8.7,593,6684,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3783,3725,0,0,0,0,0,0
$GC,6691,-0.54,-219.0,699.3,-8.8,593,6694,0.00,1.98,0.00,0.000,6,0.000,0.025,2138,2451,3725,0,0,0,0,0,0
$GC,7013,-0.54,-219.0,725.1,-7.7,609,7017,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3777,3723,0,0,0,0,0,0
$GC,7041,-0.54,-219.0,727.3,-7.5,610,7044,0.00,1.98,0.00,0.000,6,0.000,0.024,2138,2453,3723,0,0,0,0,0,0
$GC,7363,-0.54,-219.0,751.1,-7.3,626,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2450,3722,0,0,0,0,0,0
$GC,7673,-0.54,-219.0,772.2,-6.8,641,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2450,3720,0,0,0,0,0,0
$GC,7981,-0.54,-219.0,793.0,-6.9,656,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2450,3719,0,0,0,0,0,0
$GC,8290,-0.54,-219.0,815.2,-7.6,671,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2450,3718,0,0,0,0,0,0
$GC,8601,-0.54,-219.0,838.3,-7.4,686,8604,0.00,2.10,0.00,0.000,4,0.000,0.047,2137,3779,3717,0,0,0,0,0,0
$GC,8645,-0.54,-219.0,841.8,-7.2,688,8649,0.00,1.98,0.00,0.000,6,0.000,0.025,2138,2458,3716,0,0,0,0,0,0
$GC,8972,-0.54,-219.0,866.5,-7.9,704,8976,0.00,1.88,0.00,0.000,4,0.000,0.034,2138,1198,3716,0,0,0,0,0,0
$GC,9230,-0.54,-219.0,889.3,-8.8,715,9234,0.00,1.90,0.00,0.000,6,0.000,0.033,2138,2448,3714,0,0,0,0,0,0
$GC,9553,-0.54,-219.0,915.0,-8.2,731,9557,0.00,1.88,0.00,0.000,4,0.000,0.031,2138,1201,3713,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9613,-0.13,0.0,920.0,9.0,733,9784,0.38,0.00,165.38,1.038,4,0.062,0.000,2294,2134,2869,0,0,0,0,0,0
$STATE,9784,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.54,219.0,929.5,0.0,741,9971,0.55,2.28,175.88,1.013,4,0.047,0.037,2516,739,1976,0,0,0,0,0,0
$GC,10048,0.54,219.0,910.6,13.3,754,10053,0.00,2.20,0.00,0.000,6,0.000,0.034,2516,2122,1975,0,0,0,0,0,0
$GC,10377,0.54,219.0,868.5,12.8,770,10381,0.00,2.15,0.00,0.000,4,0.000,0.036,2526,737,1974,0,0,0,0,0,0
$GC,10583,0.54,219.0,842.6,12.1,779,10588,0.12,2.15,0.00,0.000,6,0.166,0.033,2494,2134,1974,0,0,0,0,0,0
$GC,10906,0.55,226.4,806.7,11.5,795,10920,0.00,2.28,7.20,0.823,4,0.000,0.043,2494,3542,1946,0,0,0,0,0,0
$GC,10937,0.55,226.4,802.6,12.1,796,10941,0.00,2.12,0.00,0.000,6,0.000,0.027,2503,2144,1945,0,0,0,0,0,0
$GC,11259,0.55,226.4,763.5,12.1,812,11263,0.00,2.17,0.00,0.000,4,0.000,0.038,2513,715,1945,0,0,0,0,0,0
$GC,11382,0.55,226.4,748.5,12.3,817,11388,0.00,2.15,0.00,0.000,6,0.000,0.033,2513,2117,1944,0,0,0,0,0,0
$GC,11698,0.55,226.4,708.9,12.6,833,11702,0.00,2.20,0.00,0.000,4,0.000,0.043,2513,3537,1944,0,0,0,0,0,0
$GC,11763,0.55,226.4,700.3,13.9,836,11767,0.00,2.15,0.00,0.000,6,0.000,0.028,2523,2116,1944,0,0,0,0,0,0
$GC,12090,0.55,226.4,658.3,12.5,852,12094,0.00,2.12,0.00,0.000,4,0.000,0.038,2533,716,1943,0,0,0,0,0,0
$GC,12226,0.57,238.9,642.0,11.3,858,12244,0.12,2.12,11.20,0.806,6,0.165,0.032,2502,2097,1895,0,0,0,0,0,0
$GC,12554,0.61,275.8,608.0,10.4,874,12589,0.00,2.35,29.40,0.828,4,0.000,0.044,2501,3538,1744,0,0,0,0,0,0
$GC,12634,0.61,275.8,598.4,12.2,877,12641,0.00,2.22,0.00,0.000,6,0.000,0.028,2510,2106,1743,0,0,0,0,0,0
$GC,12950,0.61,276.5,561.6,11.8,893,12954,0.00,2.12,0.00,0.000,4,0.000,0.037,2520,713,1742,0,0,0,0,0,0
$GC,12991,0.61,276.5,556.8,12.0,895,12995,0.00,2.15,0.00,0.000,6,0.000,0.032,2520,2112,1742,0,0,0,0,0,0
$GC,13318,0.61,276.5,516.0,12.1,911,13322,0.00,2.20,0.00,0.000,4,0.000,0.043,2520,3534,1742,0,0,0,0,0,0
$GC,13407,0.61,276.5,504.7,12.6,915,13411,0.00,2.12,0.00,0.000,6,0.000,0.027,2530,2126,1743,0,0,0,0,0,0
$GC,13732,0.61,276.6,466.4,11.8,943,13736,0.00,2.12,0.00,0.000,4,0.000,0.037,2541,723,1743,0,0,0,0,0,0
$GC,13839,0.61,276.6,453.8,11.8,952,13843,0.00,2.12,0.00,0.000,6,0.000,0.032,2541,2116,1743,0,0,0,0,0,0
$GC,14164,0.61,276.6,414.3,12.5,982,14168,0.00,2.20,0.00,0.000,4,0.000,0.043,2541,3538,1743,0,0,0,0,0,0
$GC,14230,0.61,276.6,405.0,14.0,987,14238,0.12,2.12,0.00,0.000,6,0.171,0.027,2519,2123,1743,0,0,0,0,0,0
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$STATE,17616,end climb,SURFACE_DEPTH_REACHED
$STATE,17616,begin surface coast
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$STATE,17650,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,213929984
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