version: 66.09
glider: 181
mission: 6
dive: 343
start: 8 14 111 1 54 50
data:
$ID,181
$MISSION,6
$DIVE,343
$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,250
$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,-40967.508
$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,39
$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
$GPS1,140811,014806,2111.878,12006.771,33,0.9,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.9
$GPS2,140811,015426,2112.005,12006.729,10,1.3,10,-2.5
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,351.8,62193,-15.4,-11.786
$D_GRID,3044
$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,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-64.90,0.000,2,0.000,0.000,188,2621,2286,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.1,-3.2,10,136,8.05,1.83,-33.40,0.000,4,0.227,0.054,2126,3792,3862,0,0,0,0,0,0
$GC,195,-0.56,-243.3,43.5,-51.7,27,202,0.00,1.77,0.00,0.000,6,0.000,0.023,2125,2579,3863,0,0,0,0,0,0
$GC,333,-0.56,-243.3,89.5,-25.6,52,342,0.00,1.90,0.00,0.000,4,0.000,0.046,2116,3767,3862,0,0,0,0,0,0
$GC,399,-0.56,-243.3,101.4,-14.2,63,406,0.00,1.67,0.00,0.000,6,0.000,0.022,2116,2643,3862,0,0,0,0,0,0
$GC,537,-0.56,-243.3,130.4,-22.4,88,545,0.00,2.15,0.00,0.000,4,0.000,0.026,2116,1194,3862,0,0,0,0,0,0
$GC,564,-0.56,-243.3,136.1,-21.4,92,572,0.00,2.25,0.00,0.000,6,0.000,0.035,2112,2638,3862,0,0,0,0,0,0
$GC,706,-0.56,-243.3,163.9,-19.0,117,714,0.00,1.77,0.00,0.000,4,0.000,0.042,2103,3782,3862,0,0,0,0,0,0
$GC,776,-0.56,-243.3,176.1,-15.1,129,783,0.08,1.67,0.00,0.000,6,0.129,0.023,2140,2646,3862,0,0,0,0,0,0
$GC,918,-0.56,-243.3,193.0,-11.4,154,927,0.00,2.15,0.00,0.000,4,0.000,0.027,2140,1202,3863,0,0,0,0,0,0
$GC,956,-0.56,-243.3,197.0,-10.1,160,964,0.00,2.25,0.00,0.000,6,0.000,0.032,2139,2663,3863,0,0,0,0,0,0
$GC,1094,-0.56,-243.3,211.2,-11.9,176,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2663,3863,0,0,0,0,0,0
$GC,1414,-0.56,-243.3,252.0,-12.0,206,1418,0.00,2.17,0.00,0.000,4,0.000,0.028,2139,1200,3861,0,0,0,0,0,0
$GC,1437,-0.56,-243.3,255.1,-11.7,208,1441,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2671,3860,0,0,0,0,0,0
$GC,1763,-0.56,-243.3,295.8,-12.2,238,1767,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3783,3859,0,0,0,0,0,0
$GC,1820,-0.56,-243.3,301.8,-9.8,243,1824,0.00,1.65,0.00,0.000,6,0.000,0.023,2134,2639,3858,0,0,0,0,0,0
$GC,2151,-0.56,-243.3,339.8,-10.5,274,2155,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1200,3855,0,0,0,0,0,0
$GC,2202,-0.56,-243.3,344.8,-9.5,278,2206,0.00,2.22,0.00,0.000,6,0.000,0.033,2136,2667,3855,0,0,0,0,0,0
$GC,2528,-0.56,-243.3,379.8,-10.5,308,2532,0.00,1.70,0.00,0.000,4,0.000,0.046,2136,3786,3852,0,0,0,0,0,0
$GC,2552,-0.56,-243.3,382.4,-10.4,310,2556,0.00,1.67,0.00,0.000,6,0.000,0.024,2136,2665,3850,0,0,0,0,0,0
$GC,2883,-0.56,-243.3,417.8,-10.3,341,2887,0.00,2.15,0.00,0.000,4,0.000,0.028,2132,1199,3849,0,0,0,0,0,0
$GC,2948,-0.56,-243.3,424.0,-8.6,346,2955,0.00,2.22,0.00,0.000,6,0.000,0.033,2130,2657,3849,0,0,0,0,0,0
$GC,3274,-0.56,-243.3,454.9,-9.3,377,3278,0.00,2.17,0.00,0.000,4,0.000,0.029,2130,1203,3845,0,0,0,0,0,0
$GC,3301,-0.56,-243.3,457.6,-9.0,379,3308,0.00,2.20,0.00,0.000,6,0.000,0.035,2127,2638,3845,0,0,0,0,0,0
$GC,3629,-0.56,-243.3,492.0,-10.8,410,3633,0.00,1.75,0.00,0.000,4,0.000,0.047,2125,3783,3843,0,0,0,0,0,0
$GC,3668,-0.56,-243.3,496.3,-10.0,413,3675,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2644,3843,0,0,0,0,0,0
$GC,3986,-0.56,-243.3,526.6,-9.3,431,3990,0.00,2.12,0.00,0.000,4,0.000,0.029,2126,1202,3841,0,0,0,0,0,0
$GC,4076,-0.56,-243.3,534.0,-7.6,435,4080,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2609,3840,0,0,0,0,0,0
$GC,4397,-0.56,-243.3,558.4,-7.2,451,4401,0.00,1.83,0.00,0.000,4,0.000,0.047,2125,3772,3837,0,0,0,0,0,0
$GC,4446,-0.56,-243.3,561.1,-7.0,453,4450,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2606,3837,0,0,0,0,0,0
$GC,4779,-0.56,-243.3,586.7,-8.7,469,4783,0.00,2.08,0.00,0.000,4,0.000,0.030,2125,1208,3835,0,0,0,0,0,0
$GC,4827,-0.56,-243.3,590.8,-8.9,471,4831,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2613,3835,0,0,0,0,0,0
$GC,5155,-0.56,-243.3,623.0,-9.9,487,5159,0.00,1.83,0.00,0.000,4,0.000,0.047,2125,3774,3832,0,0,0,0,0,0
$GC,5187,-0.56,-243.3,626.5,-9.6,488,5191,0.00,1.75,0.00,0.000,6,0.000,0.025,2125,2578,3831,0,0,0,0,0,0
$GC,5510,-0.56,-243.3,654.7,-8.5,504,5514,0.00,2.03,0.00,0.000,4,0.000,0.030,2125,1206,3832,0,0,0,0,0,0
$GC,5579,-0.56,-243.3,659.9,-6.8,507,5583,0.00,2.12,0.00,0.000,6,0.000,0.034,2126,2594,3830,0,0,0,0,0,0
$GC,5907,-0.56,-243.3,681.4,-6.7,523,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2595,3828,0,0,0,0,0,0
$GC,6218,-0.56,-243.3,703.9,-8.0,538,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2595,3825,0,0,0,0,0,0
$GC,6525,-0.56,-243.3,734.3,-10.3,553,6529,0.00,1.83,0.00,0.000,4,0.000,0.048,2125,3775,3824,0,0,0,0,0,0
$GC,6549,-0.56,-243.3,736.9,-10.6,554,6553,0.00,1.75,0.00,0.000,6,0.000,0.026,2125,2584,3824,0,0,0,0,0,0
$GC,6885,-0.56,-243.3,768.2,-8.6,570,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2582,3822,0,0,0,0,0,0
$GC,7191,-0.56,-243.3,788.9,-5.8,585,7195,0.00,1.88,0.00,0.000,4,0.000,0.047,2125,3777,3821,0,0,0,0,0,0
$GC,7215,-0.56,-243.3,790.2,-5.9,586,7219,0.00,1.75,0.00,0.000,6,0.000,0.026,2125,2591,3817,0,0,0,0,0,0
$GC,7549,-0.56,-243.3,810.1,-6.6,602,7553,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1208,3818,0,0,0,0,0,0
$GC,7610,-0.56,-243.3,814.5,-6.7,604,7618,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2579,3818,0,0,0,0,0,0
$GC,7928,-0.56,-243.3,838.2,-8.3,620,7932,0.00,1.90,0.00,0.000,4,0.000,0.048,2125,3774,3817,0,0,0,0,0,0
$GC,7961,-0.56,-243.3,841.3,-8.4,621,7964,0.00,1.77,0.00,0.000,6,0.000,0.027,2125,2569,3816,0,0,0,0,0,0
$GC,8283,-0.56,-243.3,866.4,-7.8,637,8286,0.00,1.90,0.00,0.000,4,0.000,0.045,2125,3783,3815,0,0,0,0,0,0
$GC,8425,-0.56,-243.3,879.0,-9.4,643,8428,0.00,1.90,0.00,0.000,6,0.000,0.026,2125,2500,3814,0,0,0,0,0,0
$GC,8752,-0.56,-243.3,906.7,-8.2,659,8756,0.00,1.92,0.00,0.000,4,0.000,0.031,2125,1200,3812,0,0,0,0,0,0
$GC,9010,-0.56,-243.3,928.9,-8.6,670,9014,0.00,1.95,0.00,0.000,6,0.000,0.031,2125,2488,3811,0,0,0,0,0,0
$GC,9333,-0.56,-243.3,953.6,-7.8,686,9337,0.00,1.92,0.00,0.000,4,0.000,0.032,2125,1206,3810,0,0,0,0,0,0
$GC,9394,-0.56,-243.3,958.9,-8.2,688,9401,0.00,2.00,0.00,0.000,6,0.000,0.034,2124,2505,3810,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9613,-0.13,0.0,974.0,7.1,699,9805,0.40,0.00,183.73,1.076,4,0.065,0.000,2285,2111,2869,0,0,0,0,0,0
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9808,0.56,243.3,982.7,0.0,708,10019,0.57,2.22,198.10,1.048,4,0.047,0.036,2513,742,1876,0,0,0,0,0,0
$GC,10143,0.56,243.3,949.8,14.2,723,10147,0.00,2.20,0.00,0.000,6,0.000,0.033,2512,2128,1875,0,0,0,0,0,0
$GC,10461,0.56,243.3,904.9,13.8,738,10465,0.00,2.12,0.00,0.000,4,0.000,0.035,2522,742,1873,0,0,0,0,0,0
$GC,10615,0.56,243.3,884.4,13.0,745,10619,0.00,2.15,0.00,0.000,6,0.000,0.033,2522,2139,1873,0,0,0,0,0,0
$GC,10943,0.56,243.3,840.8,12.7,761,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2140,1873,0,0,0,0,0,0
$GC,11252,0.56,243.3,803.4,12.0,776,11256,0.00,2.17,0.00,0.000,4,0.000,0.044,2521,3541,1872,0,0,0,0,0,0
$GC,11270,0.56,243.3,801.3,11.9,777,11275,0.12,2.10,0.00,0.000,6,0.185,0.027,2501,2149,1872,0,0,0,0,0,0
$GC,11600,0.56,243.3,763.3,12.1,793,11604,0.00,2.17,0.00,0.000,4,0.000,0.037,2511,713,1872,0,0,0,0,0,0
$GC,11644,0.56,243.3,757.0,12.6,795,11648,0.00,2.20,0.00,0.000,6,0.000,0.034,2517,2146,1872,0,0,0,0,0,0
$GC,11967,0.56,243.3,715.5,12.9,811,11971,0.00,2.15,0.00,0.000,4,0.000,0.044,2514,3538,1871,0,0,0,0,0,0
$GC,12016,0.56,243.3,707.9,15.0,813,12020,0.00,2.12,0.00,0.000,6,0.000,0.028,2521,2125,1870,0,0,0,0,0,0
$GC,12340,0.56,243.3,663.8,13.8,829,12344,0.00,2.15,0.00,0.000,4,0.000,0.037,2531,714,1870,0,0,0,0,0,0
$GC,12390,0.56,243.3,656.4,13.6,831,12395,0.12,2.17,0.00,0.000,6,0.163,0.031,2499,2140,1870,0,0,0,0,0,0
$GC,12715,0.59,267.5,619.3,11.0,847,12736,0.00,0.00,19.15,0.832,6,0.000,0.000,2499,2140,1778,0,0,0,0,0,0
$GC,13041,0.64,312.6,584.5,10.3,863,13085,0.00,2.22,35.35,0.820,4,0.000,0.044,2499,3534,1595,0,0,0,0,0,0
$GC,13143,0.65,320.7,573.2,11.5,867,13156,0.00,2.17,7.88,0.675,6,0.000,0.027,2507,2120,1561,0,0,0,0,0,0
$GC,13467,0.71,369.8,540.5,10.2,883,13514,0.12,2.35,39.05,0.793,4,0.094,0.043,2563,3535,1361,0,0,0,0,0,0
$GC,13533,0.71,369.8,531.2,14.9,886,13537,0.00,2.17,0.00,0.000,6,0.000,0.026,2573,2127,1361,0,0,0,0,0,0
$GC,13855,0.71,369.8,481.1,15.7,907,13859,0.00,2.17,0.00,0.000,4,0.000,0.037,2584,709,1361,0,0,0,0,0,0
$GC,13890,0.71,369.8,475.6,15.2,910,13895,0.12,2.20,0.00,0.000,6,0.158,0.033,2552,2129,1361,0,0,0,0,0,0
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$STATE,17557,end climb,SURFACE_DEPTH_REACHED
$STATE,17558,begin surface coast
$FINISH,0.3,1.006659
$STATE,17580,end surface coast,CONTROL_FINISHED_OK
$STATE,17580,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.89
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.8,51.420
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323556
$DATA_FILE_SIZE,93718,1386
$CAP_FILE_SIZE,194747,0
$CFSIZE,260165632,219201536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140811,065024,2115.520,12006.490,38,1.9,38,-2.5