version: 66.09
glider: 181
mission: 6
dive: 385
start: 8 22 111 20 30 39
data:
$ID,181
$MISSION,6
$DIVE,385
$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,-41020.438
$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,32
$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
$GPS1,220811,202106,2119.478,11947.694,29,0.9,29,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.3
$GPS2,220811,203014,2119.469,11947.521,10,2.0,10,-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,177.7,259220,-16.3,-11.786
$D_GRID,3366
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,84,0.00,0.00,-64.40,0.000,2,0.000,0.000,202,2607,2268,0,0,0,0,0,0
$GC,87,-0.54,-219.0,3.1,-3.2,10,136,8.15,2.15,-32.92,0.000,4,0.232,0.040,2132,1190,3763,0,0,0,0,0,0
$GC,205,-0.54,-219.0,33.0,-20.7,29,213,0.00,2.20,0.00,0.000,6,0.000,0.038,2125,2610,3763,0,0,0,0,0,0
$GC,344,-0.54,-219.0,68.8,-26.6,54,352,0.00,1.85,0.00,0.000,4,0.000,0.045,2116,3786,3762,0,0,0,0,0,0
$GC,409,-0.54,-219.0,84.7,-22.5,65,416,0.00,1.70,0.00,0.000,6,0.000,0.023,2116,2649,3761,0,0,0,0,0,0
$GC,548,-0.54,-219.0,116.1,-25.2,90,556,0.00,2.17,0.00,0.000,4,0.000,0.028,2116,1189,3761,0,0,0,0,0,0
$GC,627,-0.54,-219.0,129.6,-14.2,104,636,0.08,2.20,0.00,0.000,6,0.132,0.033,2138,2606,3761,0,0,0,0,0,0
$GC,770,-0.54,-219.0,150.3,-13.4,129,777,0.00,1.80,0.00,0.000,4,0.000,0.043,2138,3789,3765,0,0,0,0,0,0
$GC,808,-0.54,-219.0,155.2,-12.9,135,815,0.00,1.77,0.00,0.000,6,0.000,0.022,2138,2588,3761,0,0,0,0,0,0
$GC,947,-0.54,-219.0,172.8,-12.3,160,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3762,0,0,0,0,0,0
$GC,1088,-0.54,-219.0,189.7,-12.4,185,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3761,0,0,0,0,0,0
$GC,1231,-0.54,-219.0,208.5,-13.1,205,1235,0.00,1.83,0.00,0.000,4,0.000,0.041,2130,3787,3762,0,0,0,0,0,0
$GC,1248,-0.54,-219.0,211.2,-14.1,206,1255,0.00,1.75,0.00,0.000,6,0.000,0.024,2130,2607,3761,0,0,0,0,0,0
$GC,1573,-0.54,-219.0,254.2,-12.5,237,1577,0.00,1.80,0.00,0.000,4,0.000,0.041,2122,3786,3760,0,0,0,0,0,0
$GC,1611,-0.54,-219.0,259.4,-13.0,240,1619,0.00,1.73,0.00,0.000,6,0.000,0.023,2122,2619,3760,0,0,0,0,0,0
$GC,1938,-0.54,-219.0,300.1,-13.3,271,1942,0.00,2.08,0.00,0.000,4,0.000,0.028,2122,1197,3758,0,0,0,0,0,0
$GC,1960,-0.54,-219.0,303.4,-13.5,272,1968,0.12,2.20,0.00,0.000,6,0.142,0.034,2148,2639,3758,0,0,0,0,0,0
$GC,2286,-0.54,-219.0,335.5,-8.8,303,2290,0.00,2.15,0.00,0.000,4,0.000,0.028,2149,1200,3753,0,0,0,0,0,0
$GC,2337,-0.54,-219.0,339.9,-8.4,307,2344,0.00,2.15,0.00,0.000,6,0.000,0.033,2143,2615,3755,0,0,0,0,0,0
$GC,2662,-0.54,-219.0,367.7,-10.0,338,2666,0.00,1.77,0.00,0.000,4,0.000,0.044,2139,3786,3752,0,0,0,0,0,0
$GC,2687,-0.54,-219.0,370.2,-10.3,340,2690,0.00,1.73,0.00,0.000,6,0.000,0.024,2139,2601,3752,0,0,0,0,0,0
$GC,3018,-0.54,-219.0,405.3,-10.1,371,3021,0.00,2.05,0.00,0.000,4,0.000,0.028,2139,1206,3750,0,0,0,0,0,0
$GC,3046,-0.54,-219.0,408.4,-10.4,373,3053,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2612,3750,0,0,0,0,0,0
$GC,3371,-0.54,-219.0,440.9,-10.2,404,3375,0.00,1.83,0.00,0.000,4,0.000,0.046,2138,3774,3746,0,0,0,0,0,0
$GC,3411,-0.54,-219.0,445.0,-10.2,407,3418,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2612,3745,0,0,0,0,0,0
$GC,3736,-0.54,-219.0,476.4,-9.8,438,3740,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1203,3743,0,0,0,0,0,0
$GC,3792,-0.54,-219.0,481.4,-9.0,442,3798,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2613,3743,0,0,0,0,0,0
$GC,4116,-0.54,-219.0,509.8,-9.1,468,4119,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3774,3740,0,0,0,0,0,0
$GC,4139,-0.54,-219.0,512.2,-8.8,469,4144,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2612,3740,0,0,0,0,0,0
$GC,4474,-0.54,-219.0,545.4,-10.5,485,4478,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1195,3737,0,0,0,0,0,0
$GC,4537,-0.54,-219.0,552.1,-10.0,488,4541,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2597,3737,0,0,0,0,0,0
$GC,4864,-0.54,-219.0,581.6,-8.3,504,4868,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3776,3734,0,0,0,0,0,0
$GC,4925,-0.54,-219.0,586.6,-8.0,506,4932,0.00,1.90,0.00,0.000,6,0.000,0.025,2138,2482,3733,0,0,0,0,0,0
$GC,5241,-0.54,-219.0,609.5,-7.2,522,5245,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3783,3730,0,0,0,0,0,0
$GC,5406,-0.54,-219.0,622.3,-8.8,529,5410,0.00,2.00,0.00,0.000,6,0.000,0.024,2140,2426,3730,0,0,0,0,0,0
$GC,5734,-0.54,-219.0,647.6,-8.1,545,5737,0.00,1.80,0.00,0.000,4,0.000,0.031,2147,1195,3728,0,0,0,0,0,0
$GC,5991,-0.54,-219.0,670.5,-8.6,556,5995,0.00,1.83,0.00,0.000,6,0.000,0.031,2147,2403,3726,0,0,0,0,0,0
$GC,6314,-0.54,-219.0,697.7,-8.9,572,6318,0.00,2.12,0.00,0.000,4,0.000,0.043,2147,3778,3724,0,0,0,0,0,0
$GC,6330,-0.54,-219.0,699.5,-8.7,572,6337,0.00,2.10,0.00,0.000,6,0.000,0.024,2147,2370,3724,0,0,0,0,0,0
$GC,6647,-0.54,-219.0,729.4,-9.7,588,6651,0.00,2.20,0.00,0.000,4,0.000,0.044,2147,3776,3722,0,0,0,0,0,0
$GC,6844,-0.54,-219.0,749.8,-11.0,597,6848,0.00,2.12,0.00,0.000,6,0.000,0.024,2153,2352,3721,0,0,0,0,0,0
$GC,7171,-0.54,-219.0,780.0,-9.1,613,7175,0.00,1.75,0.00,0.000,4,0.000,0.031,2149,1189,3720,0,0,0,0,0,0
$GC,7431,-0.54,-219.0,803.0,-8.3,624,7435,0.00,1.77,0.00,0.000,6,0.000,0.032,2148,2357,3719,0,0,0,0,0,0
$GC,7754,-0.54,-219.0,827.6,-7.7,640,7757,0.00,1.75,0.00,0.000,4,0.000,0.031,2147,1183,3716,0,0,0,0,0,0
$GC,7980,-0.54,-219.0,845.6,-7.7,650,7984,0.00,1.77,0.00,0.000,6,0.000,0.033,2148,2325,3715,0,0,0,0,0,0
$GC,8314,-0.54,-219.0,874.4,-9.5,666,8317,0.00,1.67,0.00,0.000,4,0.000,0.031,2147,1198,3714,0,0,0,0,0,0
$GC,8572,-0.54,-219.0,901.6,-10.8,677,8576,0.00,1.70,0.00,0.000,6,0.000,0.033,2147,2321,3713,0,0,0,0,0,0
$GC,8894,-0.54,-219.0,933.8,-9.4,693,8898,0.00,1.67,0.00,0.000,4,0.000,0.031,2146,1195,3711,0,0,0,0,0,0
$GC,9153,-0.54,-219.0,956.7,-8.2,704,9156,0.00,1.73,0.00,0.000,6,0.000,0.033,2147,2326,3711,0,0,0,0,0,0
$GC,9475,-0.54,-219.0,979.1,-6.7,720,9479,0.00,1.73,0.00,0.000,4,0.000,0.033,2147,1205,3710,0,0,0,0,0,0
$STATE,9608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9608,begin apogee
$GC,9618,-0.13,0.0,989.1,7.3,726,9789,0.32,0.00,165.93,1.089,4,0.057,0.000,2293,2138,2868,0,0,0,0,0,0
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9790,begin climb
$GC,9794,0.54,219.0,997.5,0.0,734,9981,0.55,2.33,177.90,1.063,4,0.048,0.036,2510,726,1975,0,0,0,0,0,0
$GC,9987,0.54,219.0,986.7,12.4,743,9992,0.00,2.30,0.00,0.000,6,0.000,0.032,2510,2116,1975,0,0,0,0,0,0
$GC,10303,0.54,219.0,942.9,13.8,758,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2116,1973,0,0,0,0,0,0
$GC,10614,0.54,219.0,903.0,12.4,773,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2116,1972,0,0,0,0,0,0
$GC,10923,0.56,234.1,867.1,11.2,788,10945,0.00,2.30,13.30,0.936,4,0.000,0.044,2511,3541,1913,0,0,0,0,0,0
$GC,10973,0.56,234.1,860.7,12.4,790,10977,0.00,2.15,0.00,0.000,6,0.000,0.026,2520,2127,1913,0,0,0,0,0,0
$GC,11301,0.56,234.1,821.0,12.3,806,11305,0.00,2.15,0.00,0.000,4,0.000,0.035,2531,720,1912,0,0,0,0,0,0
$GC,11385,0.56,234.1,810.3,12.6,810,11390,0.00,2.15,0.00,0.000,6,0.000,0.033,2531,2120,1912,0,0,0,0,0,0
$GC,11713,0.56,234.1,766.3,13.4,826,11717,0.00,2.20,0.00,0.000,4,0.000,0.043,2531,3540,1911,0,0,0,0,0,0
$GC,11763,0.56,234.1,758.5,14.9,828,11768,0.15,2.12,0.00,0.000,6,0.178,0.027,2504,2126,1911,0,0,0,0,0,0
$GC,12084,0.56,234.1,717.2,13.3,844,12088,0.00,2.12,0.00,0.000,4,0.000,0.037,2513,723,1911,0,0,0,0,0,0
$GC,12217,0.56,234.1,700.4,13.1,850,12221,0.00,2.12,0.00,0.000,6,0.000,0.033,2512,2113,1908,0,0,0,0,0,0
$GC,12544,0.56,234.1,654.7,14.0,866,12548,0.00,2.20,0.00,0.000,4,0.000,0.044,2513,3538,1911,0,0,0,0,0,0
$GC,12594,0.56,234.1,647.1,15.3,868,12598,0.00,2.15,0.00,0.000,6,0.000,0.027,2522,2108,1911,0,0,0,0,0,0
$GC,12910,0.56,234.1,604.1,12.8,883,12913,0.00,2.10,0.00,0.000,4,0.000,0.037,2533,720,1911,0,0,0,0,0,0
$GC,13046,0.58,249.4,588.2,11.2,889,13064,0.00,2.12,12.98,0.789,6,0.000,0.033,2539,2106,1852,0,0,0,0,0,0
$GC,13373,0.58,249.4,549.5,11.9,905,13377,0.00,2.22,0.00,0.000,4,0.000,0.043,2533,3538,1851,0,0,0,0,0,0
$GC,13438,0.58,249.4,541.2,13.3,908,13443,0.15,2.15,0.00,0.000,6,0.171,0.028,2505,2114,1851,0,0,0,0,0,0
$GC,13767,0.62,282.1,506.9,10.6,924,13798,0.00,2.15,26.20,0.770,4,0.000,0.037,2514,724,1717,0,0,0,0,0,0
$GC,13856,0.64,298.1,496.7,11.2,929,13875,0.00,2.15,13.68,0.702,6,0.000,0.031,2514,2114,1653,0,0,0,0,0,0
$GC,14192,0.64,301.3,458.1,11.7,961,14205,0.00,2.22,4.40,0.578,4,0.000,0.044,2514,3537,1639,0,0,0,0,0,0
$GC,14273,0.64,301.3,448.1,12.9,968,14277,0.00,2.15,0.00,0.000,6,0.000,0.028,2524,2126,1639,0,0,0,0,0,0
$GC,14598,0.66,312.1,410.3,11.4,998,14613,0.00,2.17,10.18,0.681,4,0.000,0.039,2534,710,1596,0,0,0,0,0,0
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$STATE,18076,end climb,SURFACE_DEPTH_REACHED
$STATE,18076,begin surface coast
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$STATE,18103,end surface coast,CONTROL_FINISHED_OK
$STATE,18104,begin surface
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$10V_AH,9.8,57.031
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$FG_AHR_10Vo,0.000
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$MEM,323560
$DATA_FILE_SIZE,97206,1462
$CAP_FILE_SIZE,204399,0
$CFSIZE,260165632,214933504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230811,013507,2117.735,11946.978,41,1.0,41,-2.5