version: 66.09
glider: 181
mission: 6
dive: 382
start: 8 22 111 5 16 33
data:
$ID,181
$MISSION,6
$DIVE,382
$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,-41016.664
$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,45
$R_STBD_OVSHOOT,38
$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
$GPS1,220811,050937,2124.798,11949.347,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,220811,051608,2124.841,11949.323,12,1.3,12,-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,178.5,268895,-16.3,-11.786
$D_GRID,3065
$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,-64.80,0.000,2,0.000,0.000,209,2592,2291,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.4,-3.6,10,135,8.27,2.10,-31.58,0.000,4,0.236,0.037,2135,1182,3763,0,0,0,0,0,0
$GC,181,-0.54,-219.0,29.4,-25.5,25,188,0.00,2.20,0.00,0.000,6,0.000,0.036,2126,2600,3763,0,0,0,0,0,0
$GC,320,-0.54,-219.0,75.1,-33.9,50,328,0.00,1.85,0.00,0.000,4,0.000,0.047,2117,3776,3762,0,0,0,0,0,0
$GC,389,-0.54,-219.0,91.9,-21.2,62,397,0.00,1.80,0.00,0.000,6,0.000,0.024,2117,2564,3762,0,0,0,0,0,0
$GC,530,-0.54,-219.0,119.5,-17.8,87,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2562,3762,0,0,0,0,0,0
$GC,668,-0.54,-219.0,146.0,-17.5,112,677,0.00,1.90,0.00,0.000,4,0.000,0.041,2112,3776,3762,0,0,0,0,0,0
$GC,712,-0.54,-219.0,153.7,-17.8,119,720,0.08,1.67,0.00,0.000,6,0.137,0.023,2146,2653,3766,0,0,0,0,0,0
$GC,853,-0.54,-219.0,174.4,-14.2,144,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2649,3763,0,0,0,0,0,0
$GC,994,-0.54,-219.0,192.6,-12.8,169,1001,0.00,2.12,0.00,0.000,4,0.000,0.027,2146,1200,3763,0,0,0,0,0,0
$GC,1046,-0.54,-219.0,199.2,-11.7,178,1054,0.00,2.22,0.00,0.000,6,0.000,0.031,2140,2646,3763,0,0,0,0,0,0
$GC,1189,-0.54,-219.0,217.1,-12.2,192,1193,0.00,1.70,0.00,0.000,4,0.000,0.042,2138,3779,3763,0,0,0,0,0,0
$GC,1224,-0.54,-219.0,221.3,-11.8,195,1228,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2637,3763,0,0,0,0,0,0
$GC,1557,-0.54,-219.0,255.6,-9.7,226,1561,0.00,2.10,0.00,0.000,4,0.000,0.027,2138,1195,3761,0,0,0,0,0,0
$GC,1610,-0.54,-219.0,260.5,-8.9,230,1614,0.00,2.20,0.00,0.000,6,0.000,0.032,2138,2648,3762,0,0,0,0,0,0
$GC,1937,-0.54,-219.0,290.6,-9.4,260,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2649,3759,0,0,0,0,0,0
$GC,2256,-0.54,-219.0,323.7,-11.1,290,2260,0.00,2.15,0.00,0.000,4,0.000,0.028,2143,1201,3757,0,0,0,0,0,0
$GC,2285,-0.54,-219.0,327.1,-11.1,292,2289,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2636,3757,0,0,0,0,0,0
$GC,2610,-0.54,-219.0,365.0,-12.3,322,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3754,0,0,0,0,0,0
$GC,2931,-0.54,-219.0,397.3,-8.8,352,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3751,0,0,0,0,0,0
$GC,3252,-0.54,-219.0,427.3,-9.3,382,3256,0.00,1.75,0.00,0.000,4,0.000,0.046,2138,3780,3748,0,0,0,0,0,0
$GC,3276,-0.54,-219.0,429.7,-9.0,384,3279,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2643,3748,0,0,0,0,0,0
$GC,3607,-0.54,-219.0,458.1,-8.7,415,3611,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1200,3746,0,0,0,0,0,0
$GC,3685,-0.54,-219.0,464.9,-8.3,421,3692,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2624,3744,0,0,0,0,0,0
$GC,4011,-0.54,-219.0,495.5,-9.8,452,4015,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1208,3741,0,0,0,0,0,0
$GC,4052,-0.54,-219.0,499.6,-10.0,455,4056,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2611,3741,0,0,0,0,0,0
$GC,4369,-0.54,-219.0,528.9,-8.9,470,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3739,0,0,0,0,0,0
$GC,4678,-0.54,-219.0,556.3,-8.9,485,4682,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1202,3736,0,0,0,0,0,0
$GC,4722,-0.54,-219.0,560.3,-8.6,487,4726,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2604,3737,0,0,0,0,0,0
$GC,5045,-0.54,-219.0,584.9,-6.9,503,5048,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3777,3734,0,0,0,0,0,0
$GC,5061,-0.54,-219.0,586.2,-6.8,503,5067,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2587,3734,0,0,0,0,0,0
$GC,5378,-0.54,-219.0,607.6,-7.1,519,5382,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1192,3731,0,0,0,0,0,0
$GC,5439,-0.54,-219.0,612.2,-7.3,521,5445,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2574,3731,0,0,0,0,0,0
$GC,5755,-0.54,-219.0,634.0,-7.0,537,5759,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3778,3730,0,0,0,0,0,0
$GC,6012,-0.54,-219.0,656.3,-9.6,548,6016,0.00,1.98,0.00,0.000,6,0.000,0.024,2138,2473,3728,0,0,0,0,0,0
$GC,6335,-0.54,-219.0,680.5,-7.8,564,6339,0.00,1.88,0.00,0.000,4,0.000,0.031,2142,1201,3726,0,0,0,0,0,0
$GC,6530,-0.54,-219.0,697.9,-8.8,572,6537,0.00,1.95,0.00,0.000,6,0.000,0.034,2142,2470,3725,0,0,0,0,0,0
$GC,6848,-0.54,-219.0,724.3,-8.5,588,6852,0.00,1.95,0.00,0.000,4,0.000,0.031,2142,1201,3723,0,0,0,0,0,0
$GC,7105,-0.54,-219.0,749.2,-9.2,599,7109,0.00,1.90,0.00,0.000,6,0.000,0.032,2142,2449,3725,0,0,0,0,0,0
$GC,7428,-0.54,-219.0,779.3,-9.6,615,7432,0.00,1.88,0.00,0.000,4,0.000,0.031,2142,1200,3720,0,0,0,0,0,0
$GC,7439,-0.54,-219.0,780.7,-9.5,615,7443,0.00,1.85,0.00,0.000,6,0.000,0.033,2142,2418,3720,0,0,0,0,0,0
$GC,7762,-0.54,-219.0,810.3,-9.1,631,7766,0.00,2.12,0.00,0.000,4,0.000,0.047,2142,3781,3720,0,0,0,0,0,0
$GC,8020,-0.54,-219.0,837.2,-11.0,642,8027,0.00,2.08,0.00,0.000,6,0.000,0.025,2145,2402,3717,0,0,0,0,0,0
$GC,8337,-0.54,-219.0,867.4,-9.6,658,8341,0.00,1.77,0.00,0.000,4,0.000,0.033,2146,1201,3716,0,0,0,0,0,0
$GC,8478,-0.54,-219.0,880.8,-9.3,664,8482,0.00,1.83,0.00,0.000,6,0.000,0.034,2145,2399,3715,0,0,0,0,0,0
$GC,8806,-0.54,-219.0,909.4,-9.0,680,8810,0.00,1.85,0.00,0.000,4,0.000,0.033,2146,1200,3714,0,0,0,0,0,0
$GC,9064,-0.54,-219.0,935.7,-10.3,691,9068,0.00,1.80,0.00,0.000,6,0.000,0.034,2145,2380,3714,0,0,0,0,0,0
$GC,9387,-0.54,-219.0,966.4,-9.6,707,9391,0.00,1.77,0.00,0.000,4,0.000,0.034,2146,1199,3712,0,0,0,0,0,0
$STATE,9603,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9603,begin apogee
$GC,9611,-0.13,0.0,988.0,9.9,716,9786,0.35,0.00,166.07,1.089,4,0.073,0.000,2281,2137,2869,0,0,0,0,0,0
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9790,0.54,219.0,999.9,0.0,725,9979,0.60,2.28,178.43,1.068,4,0.051,0.042,2508,3530,1976,0,0,0,0,0,0
$GC,9986,0.54,219.0,990.2,12.4,734,9990,0.00,2.28,0.00,0.000,6,0.000,0.027,2518,2143,1976,0,0,0,0,0,0
$GC,10306,0.54,219.0,948.4,12.8,750,10311,0.00,2.20,0.00,0.000,4,0.000,0.038,2529,713,1974,0,0,0,0,0,0
$GC,10482,0.54,219.0,927.0,12.0,758,10487,0.12,2.15,0.00,0.000,6,0.168,0.034,2497,2101,1974,0,0,0,0,0,0
$GC,10812,0.55,228.2,890.8,11.5,774,10828,0.00,0.00,8.88,0.902,6,0.000,0.000,2497,2101,1937,0,0,0,0,0,0
$GC,11138,0.57,240.5,853.3,11.3,790,11159,0.00,2.33,11.50,0.902,4,0.000,0.044,2497,3540,1887,0,0,0,0,0,0
$GC,11184,0.57,240.5,847.7,11.9,792,11188,0.00,2.22,0.00,0.000,6,0.000,0.028,2506,2085,1886,0,0,0,0,0,0
$GC,11511,0.58,247.6,809.2,11.5,808,11525,0.00,2.17,7.00,0.803,4,0.000,0.039,2517,720,1859,0,0,0,0,0,0
$GC,11617,0.59,262.3,796.8,11.3,812,11637,0.00,2.12,13.02,0.871,6,0.000,0.033,2517,2092,1799,0,0,0,0,0,0
$GC,11956,0.59,262.3,752.7,13.6,829,11960,0.00,2.25,0.00,0.000,4,0.000,0.044,2517,3534,1797,0,0,0,0,0,0
$GC,12005,0.59,262.3,745.3,14.4,831,12009,0.00,2.22,0.00,0.000,6,0.000,0.029,2526,2078,1798,0,0,0,0,0,0
$GC,12327,0.59,262.3,700.1,14.2,847,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2078,1797,0,0,0,0,0,0
$GC,12637,0.59,262.3,657.6,13.8,862,12641,0.00,2.08,0.00,0.000,4,0.000,0.038,2537,716,1797,0,0,0,0,0,0
$GC,12675,0.59,262.3,652.1,13.4,863,12682,0.00,2.12,0.00,0.000,6,0.000,0.033,2537,2098,1797,0,0,0,0,0,0
$GC,12991,0.59,262.3,607.2,13.9,879,12996,0.10,2.25,0.00,0.000,4,0.185,0.044,2513,3539,1797,0,0,0,0,0,0
$GC,13032,0.59,262.3,601.7,13.8,881,13036,0.00,2.20,0.00,0.000,6,0.000,0.028,2522,2087,1797,0,0,0,0,0,0
$GC,13359,0.60,263.9,562.1,11.7,897,13363,0.00,2.08,0.00,0.000,4,0.000,0.039,2532,719,1797,0,0,0,0,0,0
$GC,13460,0.62,284.6,550.9,11.0,901,13488,0.00,2.08,18.25,0.796,6,0.000,0.033,2532,2079,1708,0,0,0,0,0,0
$GC,13800,0.65,303.7,512.4,11.1,918,13822,0.00,2.33,15.82,0.754,4,0.000,0.042,2532,3544,1631,0,0,0,0,0,0
$GC,13879,0.65,303.7,502.3,12.3,921,13883,0.00,2.22,0.00,0.000,6,0.000,0.029,2542,2092,1632,0,0,0,0,0,0
$GC,14203,0.65,303.7,461.1,13.6,950,14207,0.00,2.10,0.00,0.000,4,0.000,0.038,2552,713,1632,0,0,0,0,0,0
$GC,14304,0.65,303.7,447.7,13.2,958,14311,0.00,2.10,0.00,0.000,6,0.000,0.033,2552,2080,1632,0,0,0,0,0,0
$GC,14631,0.65,303.7,405.3,12.6,989,14635,0.00,2.25,0.00,0.000,4,0.000,0.044,2553,3535,1632,0,0,0,0,0,0
$GC,14695,0.65,303.7,396.1,14.8,994,14699,0.12,2.20,0.00,0.000,6,0.174,0.029,2531,2082,1635,0,0,0,0,0,0
$GC,15020,0.67,323.5,358.6,11.1,1024,15043,0.00,2.10,16.85,0.680,4,0.000,0.037,2540,713,1550,0,0,0,0,0,0
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$STATE,17995,end climb,SURFACE_DEPTH_REACHED
$STATE,17995,begin surface coast
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$STATE,18025,end surface coast,CONTROL_FINISHED_OK
$STATE,18025,begin surface
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$10V_AH,9.7,56.634
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$FG_AHR_10Vo,0.000
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$MEM,323560
$DATA_FILE_SIZE,97147,1426
$CAP_FILE_SIZE,199601,0
$CFSIZE,260165632,215244800
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$GPS,220811,101930,2123.348,11949.029,37,1.3,37,-2.5