version: 66.09
glider: 181
mission: 6
dive: 384
start: 8 22 111 15 22 28
data:
$ID,181
$MISSION,6
$DIVE,384
$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,-41019.18
$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,41
$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
$GPS1,220811,151130,2121.290,11948.455,38,1.2,38,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,220811,152202,2121.205,11948.332,11,1.2,11,-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,178.0,262309,-16.3,-11.786
$D_GRID,3350
$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,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,204,2616,2266,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.1,-3.2,10,135,8.23,2.15,-32.47,0.000,4,0.231,0.038,2134,1188,3762,0,0,0,0,0,0
$GC,205,-0.54,-219.0,33.6,-19.6,29,212,0.00,2.17,0.00,0.000,6,0.000,0.037,2126,2592,3762,0,0,0,0,0,0
$GC,343,-0.54,-219.0,71.3,-24.4,54,351,0.00,1.85,0.00,0.000,4,0.000,0.043,2116,3776,3761,0,0,0,0,0,0
$GC,391,-0.54,-219.0,84.5,-27.0,62,399,0.00,1.75,0.00,0.000,6,0.000,0.024,2116,2595,3764,0,0,0,0,0,0
$GC,532,-0.54,-219.0,116.2,-22.0,87,539,0.00,1.85,0.00,0.000,4,0.000,0.041,2108,3790,3760,0,0,0,0,0,0
$GC,584,-0.54,-219.0,129.6,-26.4,96,594,0.10,1.70,0.00,0.000,6,0.160,0.024,2137,2640,3760,0,0,0,0,0,0
$GC,729,-0.54,-219.0,155.6,-16.1,121,735,0.00,2.10,0.00,0.000,4,0.000,0.027,2137,1200,3760,0,0,0,0,0,0
$GC,791,-0.54,-219.0,164.6,-11.6,132,799,0.00,2.25,0.00,0.000,6,0.000,0.033,2137,2660,3761,0,0,0,0,0,0
$GC,934,-0.54,-219.0,181.5,-13.0,157,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2660,3759,0,0,0,0,0,0
$GC,1071,-0.54,-219.0,198.3,-11.4,182,1080,0.00,2.20,0.00,0.000,4,0.000,0.027,2137,1197,3760,0,0,0,0,0,0
$GC,1109,-0.54,-219.0,202.0,-9.9,187,1113,0.00,2.20,0.00,0.000,6,0.000,0.033,2137,2657,3760,0,0,0,0,0,0
$GC,1435,-0.54,-219.0,233.3,-9.4,217,1439,0.00,1.75,0.00,0.000,4,0.000,0.042,2131,3789,3757,0,0,0,0,0,0
$GC,1481,-0.54,-219.0,238.2,-10.5,221,1485,0.00,1.65,0.00,0.000,6,0.000,0.023,2131,2641,3760,0,0,0,0,0,0
$GC,1812,-0.54,-219.0,281.0,-12.8,252,1816,0.00,2.10,0.00,0.000,4,0.000,0.028,2130,1199,3758,0,0,0,0,0,0
$GC,1833,-0.54,-219.0,283.8,-12.3,253,1840,0.00,2.22,0.00,0.000,6,0.000,0.034,2127,2657,3758,0,0,0,0,0,0
$GC,2159,-0.54,-219.0,323.5,-12.7,284,2162,0.00,1.70,0.00,0.000,4,0.000,0.044,2121,3783,3755,0,0,0,0,0,0
$GC,2209,-0.54,-219.0,329.6,-11.3,288,2215,0.00,1.65,0.00,0.000,6,0.000,0.024,2121,2672,3755,0,0,0,0,0,0
$GC,2534,-0.54,-219.0,370.9,-12.0,319,2538,0.00,2.17,0.00,0.000,4,0.000,0.029,2120,1207,3751,0,0,0,0,0,0
$GC,2629,-0.54,-219.0,380.4,-9.6,327,2636,0.12,2.20,0.00,0.000,6,0.143,0.034,2149,2655,3751,0,0,0,0,0,0
$GC,2954,-0.54,-219.0,407.2,-8.4,358,2958,0.00,2.15,0.00,0.000,4,0.000,0.029,2149,1209,3748,0,0,0,0,0,0
$GC,2987,-0.54,-219.0,410.3,-8.8,360,2994,0.00,2.17,0.00,0.000,6,0.000,0.033,2154,2634,3748,0,0,0,0,0,0
$GC,3312,-0.54,-219.0,438.0,-8.8,391,3316,0.00,2.12,0.00,0.000,4,0.000,0.029,2149,1208,3744,0,0,0,0,0,0
$GC,3364,-0.54,-219.0,442.6,-9.0,395,3368,0.00,2.12,0.00,0.000,6,0.000,0.033,2143,2606,3744,0,0,0,0,0,0
$GC,3695,-0.54,-219.0,469.6,-7.7,426,3698,0.00,1.77,0.00,0.000,4,0.000,0.044,2139,3776,3741,0,0,0,0,0,0
$GC,3775,-0.54,-219.0,475.1,-6.8,433,3778,0.00,1.83,0.00,0.000,6,0.000,0.024,2139,2530,3740,0,0,0,0,0,0
$GC,4106,-0.54,-219.0,494.7,-5.5,464,4109,0.00,1.95,0.00,0.000,4,0.000,0.044,2139,3776,3737,0,0,0,0,0,0
$GC,4144,-0.54,-219.0,497.0,-5.7,467,4151,0.00,1.95,0.00,0.000,6,0.000,0.025,2139,2442,3737,0,0,0,0,0,0
$GC,4473,-0.54,-219.0,518.2,-6.9,486,4477,0.00,2.08,0.00,0.000,4,0.000,0.043,2139,3780,3735,0,0,0,0,0,0
$GC,4730,-0.54,-219.0,539.7,-9.0,497,4737,0.00,2.03,0.00,0.000,6,0.000,0.024,2139,2420,3732,0,0,0,0,0,0
$GC,5047,-0.54,-219.0,567.0,-8.7,513,5051,0.00,2.10,0.00,0.000,4,0.000,0.042,2139,3775,3730,0,0,0,0,0,0
$GC,5110,-0.54,-219.0,573.7,-10.5,516,5114,0.00,2.05,0.00,0.000,6,0.000,0.024,2139,2420,3729,0,0,0,0,0,0
$GC,5443,-0.54,-219.0,604.0,-8.9,532,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2417,3727,0,0,0,0,0,0
$GC,5754,-0.54,-219.0,631.8,-8.6,547,5757,0.00,1.77,0.00,0.000,4,0.000,0.030,2145,1204,3725,0,0,0,0,0,0
$GC,6012,-0.54,-219.0,654.0,-8.1,558,6016,0.00,1.80,0.00,0.000,6,0.000,0.031,2141,2366,3723,0,0,0,0,0,0
$GC,6333,-0.54,-219.0,677.9,-7.5,574,6337,0.00,2.17,0.00,0.000,4,0.000,0.044,2145,3774,3722,0,0,0,0,0,0
$GC,6591,-0.54,-219.0,701.6,-10.2,585,6598,0.00,2.12,0.00,0.000,6,0.000,0.024,2147,2344,3720,0,0,0,0,0,0
$GC,6908,-0.54,-219.0,730.7,-9.5,601,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2344,3719,0,0,0,0,0,0
$GC,7218,-0.54,-219.0,760.7,-9.8,616,7221,0.00,1.67,0.00,0.000,4,0.000,0.031,2147,1200,3717,0,0,0,0,0,0
$GC,7475,-0.54,-219.0,786.1,-9.4,627,7479,0.00,1.73,0.00,0.000,6,0.000,0.032,2147,2350,3715,0,0,0,0,0,0
$GC,7798,-0.54,-219.0,812.0,-7.8,643,7802,0.00,1.73,0.00,0.000,4,0.000,0.031,2147,1213,3714,0,0,0,0,0,0
$GC,8056,-0.54,-219.0,834.1,-8.5,654,8059,0.00,1.67,0.00,0.000,6,0.000,0.032,2148,2326,3713,0,0,0,0,0,0
$GC,8378,-0.54,-219.0,859.8,-8.0,670,8381,0.00,1.67,0.00,0.000,4,0.000,0.032,2148,1203,3711,0,0,0,0,0,0
$GC,8635,-0.54,-219.0,881.5,-8.9,681,8640,0.00,1.73,0.00,0.000,6,0.000,0.032,2147,2312,3710,0,0,0,0,0,0
$GC,8958,-0.54,-219.0,907.6,-8.3,697,8961,0.00,1.65,0.00,0.000,4,0.000,0.033,2147,1212,3710,0,0,0,0,0,0
$GC,9161,-0.54,-219.0,925.3,-8.8,706,9165,0.00,1.67,0.00,0.000,6,0.000,0.034,2147,2315,3710,0,0,0,0,0,0
$GC,9494,-0.54,-219.0,952.0,-8.1,722,9498,0.00,1.65,0.00,0.000,4,0.000,0.034,2148,1212,3708,0,0,0,0,0,0
$STATE,9605,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9614,-0.13,0.0,961.7,8.3,727,9783,0.32,0.00,164.50,1.071,4,0.067,0.000,2283,2137,2871,0,0,0,0,0,0
$STATE,9784,end apogee,CONTROL_FINISHED_OK
$STATE,9784,begin climb
$GC,9787,0.54,219.0,972.5,0.0,735,9977,0.60,2.30,177.55,1.051,4,0.047,0.043,2515,3533,1976,0,0,0,0,0,0
$GC,10095,0.54,219.0,944.8,14.3,749,10099,0.00,2.15,0.00,0.000,6,0.000,0.027,2524,2148,1975,0,0,0,0,0,0
$GC,10422,0.54,219.0,899.0,13.9,765,10426,0.00,2.17,0.00,0.000,4,0.000,0.041,2525,3530,1973,0,0,0,0,0,0
$GC,10559,0.54,219.0,878.9,15.3,771,10564,0.15,2.15,0.00,0.000,6,0.186,0.027,2498,2113,1973,0,0,0,0,0,0
$GC,10887,0.54,219.0,837.3,12.9,787,10891,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,723,1972,0,0,0,0,0,0
$GC,10967,0.54,219.0,827.2,12.7,790,10974,0.00,2.12,0.00,0.000,6,0.000,0.031,2508,2104,1972,0,0,0,0,0,0
$GC,11283,0.54,219.0,786.7,12.6,806,11287,0.00,2.20,0.00,0.000,4,0.000,0.043,2508,3534,1971,0,0,0,0,0,0
$GC,11355,0.54,219.0,776.8,13.7,809,11359,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2113,1972,0,0,0,0,0,0
$GC,11671,0.54,219.0,735.9,12.7,824,11675,0.00,2.12,0.00,0.000,4,0.000,0.037,2528,710,1971,0,0,0,0,0,0
$GC,11794,0.54,219.0,719.8,13.0,829,11802,0.12,2.12,0.00,0.000,6,0.168,0.032,2496,2101,1970,0,0,0,0,0,0
$GC,12110,0.57,243.3,684.7,10.9,845,12132,0.00,0.00,19.65,0.871,6,0.000,0.000,2496,2101,1877,0,0,0,0,0,0
$GC,12440,0.62,279.5,649.6,10.5,861,12475,0.00,2.33,28.85,0.860,4,0.000,0.044,2496,3535,1729,0,0,0,0,0,0
$GC,12539,0.62,279.5,638.2,11.8,865,12543,0.00,2.22,0.00,0.000,6,0.000,0.028,2503,2089,1728,0,0,0,0,0,0
$GC,12855,0.63,295.2,602.6,11.2,880,12878,0.00,2.17,14.38,0.797,4,0.000,0.037,2515,717,1664,0,0,0,0,0,0
$GC,12951,0.67,323.5,592.0,10.8,884,12980,0.00,2.12,23.00,0.802,6,0.000,0.032,2515,2093,1550,0,0,0,0,0,0
$GC,13298,0.67,323.5,551.2,12.2,901,13302,0.00,2.25,0.00,0.000,4,0.000,0.044,2516,3538,1552,0,0,0,0,0,0
$GC,13392,0.67,323.5,537.8,13.5,905,13396,0.00,2.17,0.00,0.000,6,0.000,0.027,2525,2103,1552,0,0,0,0,0,0
$GC,13714,0.67,323.5,496.1,12.6,922,13718,0.00,2.12,0.00,0.000,4,0.000,0.037,2535,710,1552,0,0,0,0,0,0
$GC,13753,0.67,323.5,490.7,13.0,925,13760,0.00,2.15,0.00,0.000,6,0.000,0.031,2535,2112,1552,0,0,0,0,0,0
$GC,14078,0.67,323.5,447.8,12.9,956,14082,0.00,2.20,0.00,0.000,4,0.000,0.044,2535,3533,1552,0,0,0,0,0,0
$GC,14134,0.67,323.5,439.9,14.1,960,14141,0.00,2.17,0.00,0.000,6,0.000,0.028,2545,2105,1553,0,0,0,0,0,0
$GC,14459,0.67,323.5,397.2,12.9,991,14463,0.00,2.12,0.00,0.000,4,0.000,0.037,2556,716,1553,0,0,0,0,0,0
$GC,14543,0.67,323.5,386.6,12.2,998,14550,0.00,2.15,0.00,0.000,6,0.000,0.032,2555,2118,1553,0,0,0,0,0,0
$GC,14869,0.67,323.5,343.6,12.9,1029,14873,0.00,2.20,0.00,0.000,4,0.000,0.044,2556,3542,1553,0,0,0,0,0,0
$GC,14902,0.67,323.5,339.0,13.8,1031,14909,0.00,2.17,0.00,0.000,6,0.000,0.027,2566,2095,1553,0,0,0,0,0,0
$GC,15227,0.67,323.5,293.3,14.3,1062,15231,0.00,2.10,0.00,0.000,4,0.000,0.035,2576,713,1553,0,0,0,0,0,0
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$STATE,17741,end climb,SURFACE_DEPTH_REACHED
$STATE,17741,begin surface coast
$FINISH,0.3,1.007592
$STATE,17771,end surface coast,CONTROL_FINISHED_OK
$STATE,17771,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.64
$INTERNAL_PRESSURE,9.32653
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$XPDR_PINGS,0
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$10V_AH,9.8,56.896
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323556
$DATA_FILE_SIZE,97102,1433
$CAP_FILE_SIZE,203422,0
$CFSIZE,260165632,215040000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220811,202106,2119.478,11947.694,29,0.9,29,-2.5