version: 66.09
glider: 181
mission: 6
dive: 421
start: 8 30 111 9 0 2
data:
$ID,181
$MISSION,6
$DIVE,421
$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,-4
$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,-41090.797
$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
$GPS1,300811,085337,2023.925,12009.761,28,1.2,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.3
$GPS2,300811,085937,2023.959,12010.027,9,1.2,14,-2.3
$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,188.7,156481,-16.3,-11.786
$D_GRID,3645
$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,-219.0,0.0,0.0,0,94,0.00,0.00,-74.22,0.000,2,0.000,0.000,164,2616,2520,0,0,0,0,0,0
$GC,97,-0.54,-219.0,3.5,-3.6,13,139,8.38,1.85,-25.35,0.000,4,0.233,0.061,2129,3783,3765,0,0,0,0,0,0
$GC,286,-0.54,-219.0,62.1,-29.4,46,293,0.00,1.77,0.00,0.000,6,0.000,0.024,2128,2572,3765,0,0,0,0,0,0
$GC,429,-0.54,-219.0,88.2,-17.1,71,436,0.00,1.90,0.00,0.000,4,0.000,0.042,2119,3785,3766,0,0,0,0,0,0
$GC,477,-0.54,-219.0,95.2,-14.0,79,484,0.00,1.67,0.00,0.000,6,0.000,0.024,2119,2644,3766,0,0,0,0,0,0
$GC,620,-0.54,-219.0,117.3,-16.9,104,627,0.00,2.10,0.00,0.000,4,0.000,0.027,2119,1211,3766,0,0,0,0,0,0
$GC,657,-0.54,-219.0,123.2,-16.5,110,664,0.12,2.22,0.00,0.000,6,0.152,0.034,2146,2666,3766,0,0,0,0,0,0
$GC,802,-0.54,-219.0,145.4,-15.9,135,808,0.00,1.70,0.00,0.000,4,0.000,0.043,2140,3788,3766,0,0,0,0,0,0
$GC,877,-0.54,-219.0,157.7,-15.8,148,883,0.00,1.60,0.00,0.000,6,0.000,0.024,2140,2707,3766,0,0,0,0,0,0
$GC,1020,-0.54,-219.0,181.1,-15.1,173,1028,0.00,2.17,0.00,0.000,4,0.000,0.028,2140,1220,3767,0,0,0,0,0,0
$GC,1063,-0.54,-219.0,186.8,-12.3,180,1070,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2685,3766,0,0,0,0,0,0
$GC,1209,-0.54,-219.0,197.8,-6.1,205,1215,0.00,1.67,0.00,0.000,4,0.000,0.043,2138,3781,3766,0,0,0,0,0,0
$GC,1245,-0.54,-219.0,199.7,-5.0,211,1252,0.00,1.62,0.00,0.000,6,0.000,0.024,2138,2688,3767,0,0,0,0,0,0
$GC,1386,-0.54,-219.0,207.8,-7.1,225,1390,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1217,3767,0,0,0,0,0,0
$GC,1448,-0.54,-219.0,213.9,-9.7,230,1455,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2637,3766,0,0,0,0,0,0
$GC,1774,-0.54,-219.0,257.0,-12.7,261,1778,0.00,2.10,0.00,0.000,4,0.000,0.028,2137,1221,3765,0,0,0,0,0,0
$GC,1792,-0.54,-219.0,259.1,-12.1,262,1796,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2612,3765,0,0,0,0,0,0
$GC,2118,-0.54,-219.0,289.3,-8.0,292,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2613,3763,0,0,0,0,0,0
$GC,2440,-0.54,-219.0,312.9,-8.0,322,2444,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1223,3760,0,0,0,0,0,0
$GC,2492,-0.54,-219.0,317.4,-8.2,326,2496,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2594,3760,0,0,0,0,0,0
$GC,2818,-0.54,-219.0,343.5,-8.6,356,2821,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1229,3757,0,0,0,0,0,0
$GC,2841,-0.54,-219.0,345.6,-8.7,358,2845,0.00,2.10,0.00,0.000,6,0.000,0.036,2138,2589,3757,0,0,0,0,0,0
$GC,3167,-0.54,-219.0,375.0,-9.1,388,3170,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3777,3753,0,0,0,0,0,0
$GC,3194,-0.54,-219.0,377.5,-9.0,390,3201,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2606,3754,0,0,0,0,0,0
$GC,3520,-0.54,-219.0,406.0,-9.8,421,3524,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1195,3752,0,0,0,0,0,0
$GC,3586,-0.54,-219.0,413.0,-10.3,426,3593,0.00,2.12,0.00,0.000,6,0.000,0.035,2138,2577,3751,0,0,0,0,0,0
$GC,3912,-0.54,-219.0,443.3,-8.6,457,3915,0.00,1.85,0.00,0.000,4,0.000,0.045,2138,3779,3749,0,0,0,0,0,0
$GC,3969,-0.54,-219.0,448.2,-8.9,462,3973,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2468,3748,0,0,0,0,0,0
$GC,4301,-0.54,-219.0,480.0,-10.5,493,4305,0.00,1.88,0.00,0.000,4,0.000,0.033,2138,1201,3746,0,0,0,0,0,0
$GC,4382,-0.54,-219.0,489.0,-11.5,500,4385,0.00,1.92,0.00,0.000,6,0.000,0.034,2138,2468,3745,0,0,0,0,0,0
$GC,4716,-0.54,-219.0,522.3,-8.3,521,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2469,3743,0,0,0,0,0,0
$GC,5027,-0.54,-219.0,538.2,-4.4,536,5030,0.00,2.03,0.00,0.000,4,0.000,0.045,2138,3779,3741,0,0,0,0,0,0
$GC,5077,-0.54,-219.0,540.5,-4.0,538,5081,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2469,3741,0,0,0,0,0,0
$GC,5405,-0.54,-219.0,557.9,-6.7,554,5409,0.00,1.88,0.00,0.000,4,0.000,0.033,2138,1206,3738,0,0,0,0,0,0
$GC,5438,-0.54,-219.0,560.8,-7.5,555,5442,0.00,1.95,0.00,0.000,6,0.000,0.034,2138,2482,3738,0,0,0,0,0,0
$GC,5760,-0.54,-219.0,590.2,-10.4,571,5764,0.00,2.03,0.00,0.000,4,0.000,0.046,2138,3784,3737,0,0,0,0,0,0
$GC,5861,-0.54,-219.0,602.4,-12.6,575,5865,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2473,3736,0,0,0,0,0,0
$GC,6183,-0.54,-219.0,638.4,-11.0,591,6186,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3779,3734,0,0,0,0,0,0
$GC,6301,-0.54,-219.0,652.5,-12.2,596,6304,0.00,1.92,0.00,0.000,6,0.000,0.026,2138,2496,3733,0,0,0,0,0,0
$GC,6628,-0.54,-219.0,684.9,-8.8,612,6632,0.00,1.92,0.00,0.000,4,0.000,0.032,2138,1201,3731,0,0,0,0,0,0
$GC,6824,-0.54,-219.0,700.8,-7.7,620,6830,0.00,1.98,0.00,0.000,6,0.000,0.034,2138,2488,3731,0,0,0,0,0,0
$GC,7140,-0.54,-219.0,721.0,-6.4,636,7144,0.00,1.92,0.00,0.000,4,0.000,0.031,2138,1205,3730,0,0,0,0,0,0
$GC,7264,-0.54,-219.0,730.2,-7.9,641,7267,0.00,1.98,0.00,0.000,6,0.000,0.034,2138,2486,3729,0,0,0,0,0,0
$GC,7586,-0.54,-219.0,756.7,-9.0,657,7589,0.00,1.92,0.00,0.000,4,0.000,0.032,2144,1206,3729,0,0,0,0,0,0
$GC,7843,-0.54,-219.0,783.5,-10.8,668,7847,0.00,1.92,0.00,0.000,6,0.000,0.034,2144,2458,3727,0,0,0,0,0,0
$GC,8165,-0.54,-219.0,816.1,-9.9,684,8169,0.00,1.90,0.00,0.000,4,0.000,0.032,2144,1197,3726,0,0,0,0,0,0
$GC,8423,-0.54,-219.0,841.7,-9.8,695,8426,0.00,1.90,0.00,0.000,6,0.000,0.034,2144,2436,3725,0,0,0,0,0,0
$GC,8745,-0.54,-219.0,869.2,-8.5,711,8748,0.00,1.88,0.00,0.000,4,0.000,0.033,2150,1195,3724,0,0,0,0,0,0
$GC,9002,-0.54,-219.0,892.1,-8.5,722,9006,0.00,1.88,0.00,0.000,6,0.000,0.035,2150,2416,3723,0,0,0,0,0,0
$GC,9325,-0.54,-219.0,920.3,-8.7,738,9329,0.00,1.83,0.00,0.000,4,0.000,0.032,2150,1203,3722,0,0,0,0,0,0
$GC,9582,-0.54,-219.0,944.5,-9.3,749,9586,0.00,1.88,0.00,0.000,6,0.000,0.035,2150,2427,3721,0,0,0,0,0,0
$STATE,9613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9613,begin apogee
$GC,9620,-0.13,0.0,947.3,9.1,751,9796,0.32,0.00,169.15,1.050,4,0.059,0.000,2292,2114,2869,0,0,0,0,0,0
$STATE,9797,end apogee,CONTROL_FINISHED_OK
$STATE,9797,begin climb
$GC,9800,0.54,219.0,959.4,0.0,759,9988,0.57,2.22,177.93,1.030,4,0.047,0.038,2515,748,1976,0,0,0,0,0,0
$GC,10012,0.56,233.4,949.7,11.3,769,10032,0.00,2.25,13.73,0.904,6,0.000,0.032,2516,2125,1916,0,0,0,0,0,0
$GC,10356,0.58,252.0,910.4,11.1,786,10379,0.00,2.25,16.27,0.946,4,0.000,0.042,2516,3537,1840,0,0,0,0,0,0
$GC,10437,0.58,252.0,900.0,13.7,789,10441,0.00,2.12,0.00,0.000,6,0.000,0.028,2526,2157,1840,0,0,0,0,0,0
$GC,10753,0.58,252.0,858.7,13.6,804,10757,0.00,2.20,0.00,0.000,4,0.000,0.037,2536,720,1839,0,0,0,0,0,0
$GC,10829,0.58,252.0,847.5,14.6,807,10834,0.00,2.20,0.00,0.000,6,0.000,0.034,2537,2138,1839,0,0,0,0,0,0
$GC,11151,0.58,252.0,801.4,13.8,823,11155,0.00,2.17,0.00,0.000,4,0.000,0.044,2537,3535,1838,0,0,0,0,0,0
$GC,11201,0.58,252.0,793.7,15.0,825,11206,0.15,2.12,0.00,0.000,6,0.184,0.028,2510,2137,1838,0,0,0,0,0,0
$GC,11524,0.67,325.5,760.8,9.1,841,11588,0.00,2.33,57.60,0.929,4,0.000,0.038,2519,718,1541,0,0,0,0,0,0
$GC,11639,0.79,421.8,750.8,8.3,846,11725,0.17,2.25,75.75,0.907,6,0.082,0.033,2590,2137,1150,0,0,0,0,0,0
$GC,12052,0.79,421.8,692.4,14.4,866,12056,0.00,2.20,0.00,0.000,4,0.000,0.045,2590,3536,1158,0,0,0,0,0,0
$GC,12137,0.79,421.8,679.6,15.3,870,12147,0.00,2.12,4.03,0.610,6,0.000,0.028,2600,2145,1148,0,0,0,0,0,0
$GC,12471,0.80,431.4,635.8,11.4,886,12486,0.00,2.28,9.05,0.772,4,0.000,0.044,2601,3541,1110,0,0,0,0,0,0
$GC,12521,0.83,449.9,630.0,11.1,888,12542,0.00,2.10,16.00,0.781,6,0.000,0.028,2610,2168,1034,0,0,0,0,0,0
$GC,12865,0.84,464.1,593.2,11.3,905,12888,0.00,2.28,12.95,0.764,4,0.000,0.036,2621,725,976,0,0,0,0,0,0
$GC,12912,0.84,464.1,587.1,12.4,907,12916,0.00,2.30,0.00,0.000,6,0.000,0.035,2621,2196,976,0,0,0,0,0,0
$GC,13239,0.84,464.1,529.5,20.1,923,13243,0.00,2.10,0.00,0.000,4,0.000,0.046,2621,3535,975,0,0,0,0,0,0
$GC,13302,0.84,464.1,515.3,22.7,926,13307,0.15,2.05,0.00,0.000,6,0.174,0.029,2592,2188,975,0,0,0,0,0,0
$GC,13625,0.84,464.1,460.1,15.5,952,13629,0.00,2.15,0.00,0.000,4,0.000,0.044,2592,3545,975,0,0,0,0,0,0
$GC,13651,0.84,464.1,455.8,15.3,954,13658,0.00,2.08,0.00,0.000,6,0.000,0.028,2600,2207,975,0,0,0,0,0,0
$GC,13977,0.84,464.1,410.1,13.3,985,13981,0.00,2.25,0.00,0.000,4,0.000,0.037,2612,723,975,0,0,0,0,0,0
$GC,14009,0.84,464.1,405.5,13.3,987,14016,0.00,2.30,0.00,0.000,6,0.000,0.034,2612,2214,975,0,0,0,0,0,0
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$STATE,16748,end climb,SURFACE_DEPTH_REACHED
$STATE,16748,begin surface coast
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$10V_AH,9.8,60.468
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$FG_AHR_10Vo,0.000
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$MEM,323020
$DATA_FILE_SIZE,76884,1357
$CAP_FILE_SIZE,192244,0
$CFSIZE,260165632,211685376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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