version: 66.09
glider: 181
mission: 6
dive: 401
start: 8 26 111 5 41 3
data:
$ID,181
$MISSION,6
$DIVE,401
$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,-41049.32
$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,61
$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
$GPS1,260811,053431,2056.811,11952.350,37,1.4,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.2
$GPS2,260811,054038,2056.898,11952.420,13,0.9,13,-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,178.9,216902,-16.3,-11.786
$D_GRID,3357
$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,-219.0,0.0,0.0,0,88,0.00,0.00,-68.53,0.000,2,0.000,0.000,178,2634,2379,0,0,0,0,0,0
$GC,91,-0.54,-219.0,3.6,-3.9,12,133,8.18,2.22,-28.67,0.000,4,0.228,0.038,2138,1178,3764,0,0,0,0,0,0
$GC,204,-0.54,-219.0,33.4,-16.5,31,211,0.00,2.15,0.00,0.000,6,0.000,0.037,2129,2573,3765,0,0,0,0,0,0
$GC,347,-0.54,-219.0,70.1,-24.4,56,354,0.00,1.88,0.00,0.000,4,0.000,0.044,2120,3781,3764,0,0,0,0,0,0
$GC,412,-0.54,-219.0,85.8,-24.7,67,418,0.00,1.77,0.00,0.000,6,0.000,0.023,2120,2551,3764,0,0,0,0,0,0
$GC,555,-0.54,-219.0,118.6,-26.7,92,561,0.00,1.92,0.00,0.000,4,0.000,0.025,2120,1210,3764,0,0,0,0,0,0
$GC,579,-0.54,-219.0,123.6,-21.2,96,587,0.12,2.12,0.00,0.000,6,0.161,0.034,2145,2604,3764,0,0,0,0,0,0
$GC,725,-0.54,-219.0,142.2,-13.2,121,731,0.00,1.77,0.00,0.000,4,0.000,0.042,2138,3777,3765,0,0,0,0,0,0
$GC,783,-0.54,-219.0,150.1,-12.6,131,790,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2636,3765,0,0,0,0,0,0
$GC,929,-0.54,-219.0,170.3,-14.0,156,935,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1195,3766,0,0,0,0,0,0
$GC,965,-0.54,-219.0,175.1,-12.4,162,971,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2615,3766,0,0,0,0,0,0
$GC,1110,-0.54,-219.0,191.8,-11.0,187,1116,0.00,1.75,0.00,0.000,4,0.000,0.042,2133,3777,3766,0,0,0,0,0,0
$GC,1157,-0.54,-219.0,197.3,-11.0,195,1164,0.00,1.67,0.00,0.000,6,0.000,0.023,2133,2611,3766,0,0,0,0,0,0
$GC,1296,-0.54,-219.0,212.4,-11.2,210,1300,0.00,2.05,0.00,0.000,4,0.000,0.028,2133,1208,3766,0,0,0,0,0,0
$GC,1336,-0.54,-219.0,216.6,-10.0,213,1343,0.00,2.12,0.00,0.000,6,0.000,0.032,2125,2610,3766,0,0,0,0,0,0
$GC,1663,-0.54,-219.0,253.4,-11.9,244,1666,0.00,1.77,0.00,0.000,4,0.000,0.042,2117,3785,3764,0,0,0,0,0,0
$GC,1713,-0.54,-219.0,259.9,-11.8,248,1720,0.00,1.70,0.00,0.000,6,0.000,0.024,2117,2602,3764,0,0,0,0,0,0
$GC,2039,-0.54,-219.0,299.6,-11.7,279,2042,0.00,2.03,0.00,0.000,4,0.000,0.028,2117,1219,3761,0,0,0,0,0,0
$GC,2096,-0.54,-219.0,305.2,-9.2,284,2101,0.12,2.12,0.00,0.000,6,0.148,0.034,2147,2611,3761,0,0,0,0,0,0
$GC,2422,-0.54,-219.0,331.7,-8.3,314,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2612,3758,0,0,0,0,0,0
$GC,2744,-0.54,-219.0,361.1,-9.4,344,2748,0.00,1.77,0.00,0.000,4,0.000,0.044,2140,3779,3755,0,0,0,0,0,0
$GC,2768,-0.54,-219.0,363.8,-9.5,346,2772,0.00,1.73,0.00,0.000,6,0.000,0.025,2140,2617,3755,0,0,0,0,0,0
$GC,3100,-0.54,-219.0,394.8,-8.8,377,3104,0.00,2.10,0.00,0.000,4,0.000,0.030,2140,1191,3752,0,0,0,0,0,0
$GC,3166,-0.54,-219.0,400.8,-8.5,382,3173,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2586,3752,0,0,0,0,0,0
$GC,3492,-0.54,-219.0,428.9,-8.8,413,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2586,3750,0,0,0,0,0,0
$GC,3812,-0.54,-219.0,458.3,-9.5,443,3816,0.00,2.08,0.00,0.000,4,0.000,0.030,2139,1199,3747,0,0,0,0,0,0
$GC,3845,-0.54,-219.0,461.7,-9.4,445,3852,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2575,3746,0,0,0,0,0,0
$GC,4170,-0.54,-219.0,490.7,-8.5,476,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2576,3743,0,0,0,0,0,0
$GC,4494,-0.54,-219.0,517.2,-7.7,497,4498,0.00,2.05,0.00,0.000,4,0.000,0.031,2139,1210,3741,0,0,0,0,0,0
$GC,4533,-0.54,-219.0,520.2,-7.7,498,4540,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2570,3741,0,0,0,0,0,0
$GC,4849,-0.54,-219.0,542.3,-6.7,514,4853,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1201,3738,0,0,0,0,0,0
$GC,4872,-0.54,-219.0,544.0,-6.7,515,4876,0.00,2.12,0.00,0.000,6,0.000,0.036,2138,2564,3738,0,0,0,0,0,0
$GC,5201,-0.54,-219.0,565.4,-6.7,531,5205,0.00,1.88,0.00,0.000,4,0.000,0.048,2138,3777,3736,0,0,0,0,0,0
$GC,5241,-0.54,-219.0,568.2,-6.5,532,5248,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2565,3736,0,0,0,0,0,0
$GC,5558,-0.54,-219.0,588.9,-6.9,548,5562,0.00,1.95,0.00,0.000,4,0.000,0.047,2138,3777,3733,0,0,0,0,0,0
$GC,5627,-0.54,-219.0,594.0,-7.6,551,5631,0.00,1.95,0.00,0.000,6,0.000,0.027,2138,2467,3732,0,0,0,0,0,0
$GC,5961,-0.54,-219.0,620.1,-8.3,567,5965,0.00,1.88,0.00,0.000,4,0.000,0.033,2138,1200,3731,0,0,0,0,0,0
$GC,6168,-0.54,-219.0,638.2,-9.0,576,6171,0.00,1.92,0.00,0.000,6,0.000,0.034,2138,2461,3730,0,0,0,0,0,0
$GC,6496,-0.54,-219.0,665.1,-8.2,592,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2462,3728,0,0,0,0,0,0
$GC,6804,-0.54,-219.0,692.0,-9.2,607,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2462,3727,0,0,0,0,0,0
$GC,7114,-0.54,-219.0,719.7,-8.8,622,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2462,3725,0,0,0,0,0,0
$GC,7424,-0.54,-219.0,744.9,-8.0,637,7428,0.00,1.90,0.00,0.000,4,0.000,0.032,2139,1197,3723,0,0,0,0,0,0
$GC,7584,-0.54,-219.0,758.3,-8.5,644,7588,0.00,1.95,0.00,0.000,6,0.000,0.035,2139,2467,3723,0,0,0,0,0,0
$GC,7918,-0.54,-219.0,784.8,-7.6,660,7922,0.00,1.95,0.00,0.000,4,0.000,0.033,2141,1203,3721,0,0,0,0,0,0
$GC,8035,-0.54,-219.0,794.0,-7.7,665,8038,0.00,1.92,0.00,0.000,6,0.000,0.035,2141,2458,3721,0,0,0,0,0,0
$GC,8363,-0.54,-219.0,816.5,-7.1,681,8367,0.00,1.90,0.00,0.000,4,0.000,0.033,2142,1198,3720,0,0,0,0,0,0
$GC,8621,-0.54,-219.0,836.5,-7.8,692,8625,0.00,1.88,0.00,0.000,6,0.000,0.034,2142,2427,3719,0,0,0,0,0,0
$GC,8944,-0.54,-219.0,862.7,-8.7,708,8947,0.00,1.85,0.00,0.000,4,0.000,0.034,2147,1201,3717,0,0,0,0,0,0
$GC,9202,-0.54,-219.0,888.4,-10.5,719,9206,0.00,1.85,0.00,0.000,6,0.000,0.034,2147,2409,3716,0,0,0,0,0,0
$GC,9524,-0.54,-219.0,919.7,-9.7,735,9528,0.00,1.83,0.00,0.000,4,0.000,0.034,2147,1199,3715,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9614,-0.13,0.0,928.0,9.7,738,9788,0.35,0.00,166.40,1.043,4,0.066,0.000,2293,2138,2869,0,0,0,0,0,0
$STATE,9788,end apogee,CONTROL_FINISHED_OK
$STATE,9788,begin climb
$GC,9792,0.54,219.0,939.6,0.0,747,9981,0.57,2.30,176.48,1.021,4,0.047,0.044,2517,3534,1976,0,0,0,0,0,0
$GC,9987,0.54,219.0,928.7,13.1,756,9992,0.12,2.28,0.00,0.000,6,0.190,0.028,2500,2134,1976,0,0,0,0,0,0
$GC,10309,0.54,219.0,888.2,12.4,772,10313,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,719,1973,0,0,0,0,0,0
$GC,10431,0.54,219.0,872.7,12.4,777,10438,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2106,1974,0,0,0,0,0,0
$GC,10748,0.54,219.0,832.5,12.6,793,10752,0.00,2.22,0.00,0.000,4,0.000,0.045,2509,3536,1973,0,0,0,0,0,0
$GC,10791,0.54,219.0,826.0,13.9,795,10796,0.00,2.17,0.00,0.000,6,0.000,0.029,2519,2112,1972,0,0,0,0,0,0
$GC,11120,0.54,219.0,782.3,13.3,811,11124,0.00,2.12,0.00,0.000,4,0.000,0.040,2530,717,1972,0,0,0,0,0,0
$GC,11266,0.54,219.0,763.0,13.1,817,11273,0.12,2.12,0.00,0.000,6,0.168,0.034,2498,2097,1971,0,0,0,0,0,0
$GC,11583,0.57,238.9,727.1,11.1,833,11606,0.00,2.35,16.65,0.872,4,0.000,0.045,2498,3540,1894,0,0,0,0,0,0
$GC,11652,0.57,238.9,718.7,12.5,836,11656,0.00,2.20,0.00,0.000,6,0.000,0.028,2507,2097,1894,0,0,0,0,0,0
$GC,11979,0.57,238.9,680.2,11.9,852,11983,0.00,2.10,0.00,0.000,4,0.000,0.040,2517,720,1892,0,0,0,0,0,0
$GC,12067,0.57,238.9,669.3,12.1,856,12071,0.00,2.10,0.00,0.000,6,0.000,0.034,2517,2085,1893,0,0,0,0,0,0
$GC,12395,0.57,238.9,628.3,12.8,872,12399,0.00,2.28,0.00,0.000,4,0.000,0.044,2517,3542,1893,0,0,0,0,0,0
$GC,12445,0.57,238.9,621.4,13.6,874,12449,0.00,2.22,0.00,0.000,6,0.000,0.028,2527,2076,1893,0,0,0,0,0,0
$GC,12761,0.57,238.9,580.1,12.7,889,12764,0.00,2.05,0.00,0.000,4,0.000,0.039,2538,726,1892,0,0,0,0,0,0
$GC,12852,0.57,238.9,569.0,11.9,893,12857,0.12,2.08,0.00,0.000,6,0.168,0.034,2506,2077,1892,0,0,0,0,0,0
$GC,13181,0.66,316.5,537.6,9.0,909,13248,0.00,2.40,59.55,0.796,4,0.000,0.044,2506,3529,1578,0,0,0,0,0,0
$GC,13332,0.72,364.8,523.3,10.0,916,13377,0.12,2.20,38.12,0.757,6,0.092,0.028,2565,2103,1381,0,0,0,0,0,0
$GC,13690,0.72,364.8,473.5,14.8,941,13694,0.00,2.12,0.00,0.000,4,0.000,0.037,2575,711,1384,0,0,0,0,0,0
$GC,13722,0.72,364.8,468.2,15.1,943,13730,0.00,2.15,0.00,0.000,6,0.000,0.034,2575,2098,1384,0,0,0,0,0,0
$GC,14048,0.72,364.8,417.9,15.4,974,14052,0.00,2.25,0.00,0.000,4,0.000,0.044,2575,3537,1385,0,0,0,0,0,0
$GC,14126,0.72,364.8,404.7,16.3,980,14133,0.12,2.15,0.00,0.000,6,0.174,0.028,2554,2124,1385,0,0,0,0,0,0
$GC,14453,0.72,364.8,361.6,13.0,1011,14457,0.00,2.12,0.00,0.000,4,0.000,0.037,2563,720,1385,0,0,0,0,0,0
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$STATE,17417,end climb,SURFACE_DEPTH_REACHED
$STATE,17417,begin surface coast
$FINISH,0.6,1.020929
$STATE,17448,end surface coast,CONTROL_FINISHED_OK
$STATE,17448,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,45.47
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$XPDR_PINGS,1
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$10V_AH,9.8,58.601
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$FG_AHR_10Vo,0.000
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$MEM,323576
$DATA_FILE_SIZE,83594,1423
$CAP_FILE_SIZE,197100,0
$CFSIZE,260165632,213471232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260811,103424,2056.366,11954.206,38,1.9,38,-2.4