version: 66.09
glider: 181
mission: 6
dive: 413
start: 8 28 111 17 55 44
data:
$ID,181
$MISSION,6
$DIVE,413
$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,-4
$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,-41071.789
$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,48
$R_STBD_OVSHOOT,36
$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
$GPS1,280811,174937,2037.618,12004.588,38,1.3,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.5
$GPS2,280811,175519,2037.502,12004.614,7,1.1,13,-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,185.0,180754,-16.3,-11.786
$D_GRID,3647
$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,-219.0,0.0,0.0,0,93,0.00,0.00,-73.38,0.000,2,0.000,0.000,143,2616,2464,0,0,0,0,0,0
$GC,96,-0.54,-219.0,3.3,-3.3,13,139,8.48,1.90,-27.70,0.000,4,0.234,0.057,2129,3779,3764,0,0,0,0,0,0
$GC,209,-0.54,-219.0,36.7,-32.9,32,216,0.00,1.75,0.00,0.000,6,0.000,0.024,2128,2570,3765,0,0,0,0,0,0
$GC,352,-0.54,-219.0,85.6,-20.5,57,359,0.00,2.00,0.00,0.000,4,0.000,0.026,2128,1211,3765,0,0,0,0,0,0
$GC,389,-0.54,-219.0,92.3,-18.7,63,395,0.00,2.03,0.00,0.000,6,0.000,0.034,2125,2535,3765,0,0,0,0,0,0
$GC,532,-0.54,-219.0,118.9,-16.9,88,538,0.00,1.90,0.00,0.000,4,0.000,0.041,2114,3786,3765,0,0,0,0,0,0
$GC,641,-0.54,-219.0,135.5,-13.2,107,648,0.10,1.65,0.00,0.000,6,0.154,0.023,2141,2637,3765,0,0,0,0,0,0
$GC,786,-0.54,-219.0,151.9,-12.7,132,793,0.00,2.08,0.00,0.000,4,0.000,0.027,2141,1206,3765,0,0,0,0,0,0
$GC,822,-0.54,-219.0,156.7,-12.6,138,829,0.00,2.15,0.00,0.000,6,0.000,0.033,2139,2625,3765,0,0,0,0,0,0
$GC,967,-0.54,-219.0,175.7,-13.9,163,974,0.00,1.75,0.00,0.000,4,0.000,0.042,2138,3783,3766,0,0,0,0,0,0
$GC,1020,-0.54,-219.0,182.9,-12.6,172,1028,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2634,3766,0,0,0,0,0,0
$GC,1167,-0.54,-219.0,199.3,-11.0,197,1174,0.00,2.10,0.00,0.000,4,0.000,0.027,2138,1202,3766,0,0,0,0,0,0
$GC,1214,-0.54,-219.0,204.4,-9.9,202,1219,0.00,2.17,0.00,0.000,6,0.000,0.032,2138,2641,3766,0,0,0,0,0,0
$GC,1541,-0.54,-219.0,241.5,-12.3,232,1545,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1203,3765,0,0,0,0,0,0
$GC,1592,-0.54,-219.0,248.0,-12.5,236,1596,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2621,3765,0,0,0,0,0,0
$GC,1918,-0.54,-219.0,281.3,-8.2,266,1922,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3776,3763,0,0,0,0,0,0
$GC,1952,-0.54,-219.0,284.1,-8.1,269,1956,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2603,3763,0,0,0,0,0,0
$GC,2284,-0.54,-219.0,315.2,-10.3,300,2287,0.00,2.05,0.00,0.000,4,0.000,0.029,2138,1206,3761,0,0,0,0,0,0
$GC,2331,-0.54,-219.0,319.9,-10.3,304,2335,0.00,2.12,0.00,0.000,6,0.000,0.033,2138,2603,3761,0,0,0,0,0,0
$GC,2656,-0.54,-219.0,359.1,-12.0,334,2660,0.00,1.80,0.00,0.000,4,0.000,0.045,2137,3783,3758,0,0,0,0,0,0
$GC,2680,-0.54,-219.0,361.7,-11.4,336,2684,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2609,3758,0,0,0,0,0,0
$GC,3012,-0.54,-219.0,397.1,-9.5,367,3015,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1197,3755,0,0,0,0,0,0
$GC,3076,-0.54,-219.0,402.6,-8.5,372,3080,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2590,3754,0,0,0,0,0,0
$GC,3401,-0.54,-219.0,429.6,-8.8,402,3405,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1200,3752,0,0,0,0,0,0
$GC,3430,-0.54,-219.0,432.3,-8.9,404,3436,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2587,3752,0,0,0,0,0,0
$GC,3755,-0.54,-219.0,463.6,-10.5,435,3759,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3776,3749,0,0,0,0,0,0
$GC,3783,-0.54,-219.0,466.5,-10.5,437,3789,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2586,3749,0,0,0,0,0,0
$GC,4108,-0.54,-219.0,500.7,-9.8,468,4112,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1207,3747,0,0,0,0,0,0
$GC,4147,-0.54,-219.0,504.5,-9.2,469,4154,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2590,3746,0,0,0,0,0,0
$GC,4464,-0.54,-219.0,528.7,-7.3,485,4468,0.00,1.88,0.00,0.000,4,0.000,0.046,2137,3780,3744,0,0,0,0,0,0
$GC,4638,-0.54,-219.0,544.5,-10.3,492,4645,0.00,1.90,0.00,0.000,6,0.000,0.027,2138,2495,3742,0,0,0,0,0,0
$GC,4955,-0.54,-219.0,576.3,-10.3,508,4959,0.00,1.92,0.00,0.000,4,0.000,0.034,2138,1200,3740,0,0,0,0,0,0
$GC,4990,-0.54,-219.0,580.3,-11.0,509,4994,0.00,1.98,0.00,0.000,6,0.000,0.034,2138,2491,3740,0,0,0,0,0,0
$GC,5314,-0.54,-219.0,609.7,-7.9,525,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2492,3737,0,0,0,0,0,0
$GC,5621,-0.54,-219.0,629.2,-6.5,540,5625,0.00,2.00,0.00,0.000,4,0.000,0.045,2138,3787,3736,0,0,0,0,0,0
$GC,5807,-0.54,-219.0,643.5,-8.8,548,5810,0.00,1.92,0.00,0.000,6,0.000,0.026,2142,2490,3735,0,0,0,0,0,0
$GC,6134,-0.54,-219.0,669.6,-8.8,564,6138,0.00,1.90,0.00,0.000,4,0.000,0.034,2146,1212,3732,0,0,0,0,0,0
$GC,6282,-0.54,-219.0,684.2,-9.9,570,6285,0.00,1.95,0.00,0.000,6,0.000,0.034,2147,2483,3732,0,0,0,0,0,0
$GC,6604,-0.54,-219.0,715.1,-9.6,586,6607,0.00,1.92,0.00,0.000,4,0.000,0.032,2147,1199,3730,0,0,0,0,0,0
$GC,6704,-0.54,-219.0,725.4,-10.0,590,6708,0.00,1.95,0.00,0.000,6,0.000,0.034,2146,2473,3730,0,0,0,0,0,0
$GC,7027,-0.54,-219.0,753.2,-8.2,606,7031,0.00,1.90,0.00,0.000,4,0.000,0.032,2147,1206,3728,0,0,0,0,0,0
$GC,7285,-0.54,-219.0,774.7,-8.5,617,7289,0.00,1.92,0.00,0.000,6,0.000,0.034,2147,2459,3727,0,0,0,0,0,0
$GC,7607,-0.54,-219.0,800.1,-8.3,633,7611,0.00,1.88,0.00,0.000,4,0.000,0.032,2147,1210,3725,0,0,0,0,0,0
$GC,7842,-0.54,-219.0,820.8,-9.3,643,7846,0.00,1.92,0.00,0.000,6,0.000,0.035,2147,2436,3724,0,0,0,0,0,0
$GC,8163,-0.54,-219.0,848.3,-8.7,659,8167,0.00,1.85,0.00,0.000,4,0.000,0.033,2148,1209,3723,0,0,0,0,0,0
$GC,8277,-0.54,-219.0,859.0,-9.4,664,8281,0.00,1.92,0.00,0.000,6,0.000,0.034,2147,2435,3722,0,0,0,0,0,0
$GC,8610,-0.54,-219.0,890.0,-9.3,680,8614,0.00,1.90,0.00,0.000,4,0.000,0.034,2147,1211,3721,0,0,0,0,0,0
$GC,8867,-0.54,-219.0,914.5,-9.3,691,8871,0.00,1.92,0.00,0.000,6,0.000,0.035,2147,2429,3721,0,0,0,0,0,0
$GC,9189,-0.54,-219.0,940.9,-7.9,707,9193,0.00,1.85,0.00,0.000,4,0.000,0.034,2154,1207,3720,0,0,0,0,0,0
$GC,9447,-0.54,-219.0,963.7,-8.9,718,9451,0.00,1.83,0.00,0.000,6,0.000,0.034,2154,2402,3719,0,0,0,0,0,0
$STATE,9622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9622,begin apogee
$GC,9629,-0.13,0.0,979.0,8.8,727,9805,0.30,0.00,168.77,1.068,4,0.067,0.000,2290,2112,2869,0,0,0,0,0,0
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9808,0.54,219.0,990.0,0.0,735,9994,0.57,2.22,178.25,1.049,4,0.047,0.037,2513,742,1976,0,0,0,0,0,0
$GC,10197,0.58,247.6,959.6,10.7,753,10230,0.00,2.17,24.60,0.991,6,0.000,0.034,2514,2127,1858,0,0,0,0,0,0
$GC,10540,0.58,251.3,920.0,11.7,770,10549,0.00,2.17,4.35,0.707,4,0.000,0.038,2523,733,1844,0,0,0,0,0,0
$GC,10658,0.59,257.1,906.1,11.6,775,10670,0.00,2.20,6.60,0.780,6,0.000,0.034,2523,2140,1820,0,0,0,0,0,0
$GC,10979,0.59,257.1,865.6,12.6,790,10983,0.00,2.17,0.00,0.000,4,0.000,0.045,2523,3535,1818,0,0,0,0,0,0
$GC,11024,0.59,257.1,859.2,14.2,792,11028,0.00,2.08,0.00,0.000,6,0.000,0.028,2532,2165,1818,0,0,0,0,0,0
$GC,11345,0.59,257.1,814.7,14.2,808,11349,0.00,2.20,0.00,0.000,4,0.000,0.037,2544,717,1817,0,0,0,0,0,0
$GC,11372,0.59,257.1,810.5,14.9,809,11377,0.12,2.22,0.00,0.000,6,0.174,0.034,2512,2162,1817,0,0,0,0,0,0
$GC,11688,0.59,257.1,767.9,13.4,824,11692,0.00,2.15,0.00,0.000,4,0.000,0.045,2512,3542,1817,0,0,0,0,0,0
$GC,11765,0.59,257.1,756.6,14.2,827,11772,0.00,2.12,0.00,0.000,6,0.000,0.028,2520,2166,1817,0,0,0,0,0,0
$GC,12082,0.59,257.1,715.8,12.8,843,12086,0.00,2.22,0.00,0.000,4,0.000,0.037,2532,713,1816,0,0,0,0,0,0
$GC,12199,0.59,257.1,700.2,13.0,848,12203,0.00,2.20,0.00,0.000,6,0.000,0.034,2531,2137,1816,0,0,0,0,0,0
$GC,12528,0.59,257.1,658.0,13.0,864,12532,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3538,1816,0,0,0,0,0,0
$GC,12622,0.59,257.1,644.1,14.8,868,12626,0.00,2.10,0.00,0.000,6,0.000,0.027,2541,2145,1816,0,0,0,0,0,0
$GC,12945,0.59,257.1,597.6,14.6,884,12950,0.12,2.17,0.00,0.000,4,0.180,0.037,2518,723,1816,0,0,0,0,0,0
$GC,13000,0.59,257.1,589.7,13.3,886,13007,0.00,2.20,0.00,0.000,6,0.000,0.033,2518,2157,1816,0,0,0,0,0,0
$GC,13316,0.59,257.1,544.6,14.6,902,13320,0.00,2.15,0.00,0.000,4,0.000,0.045,2518,3539,1816,0,0,0,0,0,0
$GC,13402,0.59,257.1,531.8,15.3,906,13405,0.00,2.08,0.00,0.000,6,0.000,0.028,2528,2163,1816,0,0,0,0,0,0
$GC,13721,0.59,257.1,488.4,13.1,925,13725,0.00,2.20,0.00,0.000,4,0.000,0.037,2538,713,1816,0,0,0,0,0,0
$GC,13806,0.59,257.1,477.4,12.8,932,13811,0.00,2.25,0.00,0.000,6,0.000,0.034,2539,2178,1816,0,0,0,0,0,0
$GC,14132,0.64,295.9,438.1,10.4,962,14168,0.00,2.20,30.15,0.731,4,0.000,0.044,2539,3534,1662,0,0,0,0,0,0
$GC,14255,0.64,298.8,423.9,11.7,973,14267,0.00,2.08,4.15,0.472,6,0.000,0.028,2548,2184,1650,0,0,0,0,0,0
$GC,14586,0.64,298.8,382.7,13.4,1004,14590,0.00,2.22,0.00,0.000,4,0.000,0.037,2559,723,1652,0,0,0,0,0,0
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$STATE,17530,end climb,SURFACE_DEPTH_REACHED
$STATE,17530,begin surface coast
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$STATE,17559,end surface coast,CONTROL_FINISHED_OK
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$HUMID,47.91
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$XPDR_PINGS,1
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$10V_AH,9.8,59.731
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$FG_AHR_10Vo,0.000
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$MEM,323048
$DATA_FILE_SIZE,80288,1396
$CAP_FILE_SIZE,199841,0
$CFSIZE,260165632,212385792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,225055,2034.851,12005.806,37,1.4,37,-2.4