version: 66.09
glider: 181
mission: 6
dive: 450
start: 9 5 111 0 6 30
data:
$ID,181
$MISSION,6
$DIVE,450
$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,200
$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,-41130.789
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,050911,000007,1943.267,12007.021,32,0.8,32,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.9
$GPS2,050911,000608,1943.352,12007.030,12,1.3,12,-2.2
$SPEED_LIMITS,0.204,0.312
$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,190.9,81226,-17.4,-11.786
$D_GRID,4041
$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,-0.53,-194.6,0.0,0.0,0,80,0.00,0.00,-61.70,0.000,2,0.000,0.000,200,2603,2191,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.0,-3.3,11,132,8.18,2.22,-33.10,0.000,4,0.228,0.041,2142,1172,3664,0,0,0,0,0,0
$GC,186,-0.53,-194.6,27.2,-19.9,28,192,0.00,2.22,0.00,0.000,6,0.000,0.037,2137,2606,3665,0,0,0,0,0,0
$GC,329,-0.53,-194.6,68.6,-29.8,53,335,0.00,1.80,0.00,0.000,4,0.000,0.044,2128,3782,3664,0,0,0,0,0,0
$GC,410,-0.53,-194.6,83.1,-15.1,67,417,0.00,1.80,0.00,0.000,6,0.000,0.024,2128,2545,3664,0,0,0,0,0,0
$GC,553,-0.53,-194.6,110.2,-17.9,92,560,0.00,1.92,0.00,0.000,4,0.000,0.042,2119,3783,3664,0,0,0,0,0,0
$GC,589,-0.53,-194.6,117.0,-18.8,98,596,0.00,1.73,0.00,0.000,6,0.000,0.024,2119,2590,3664,0,0,0,0,0,0
$GC,734,-0.53,-194.6,142.3,-15.9,123,740,0.00,1.85,0.00,0.000,4,0.000,0.043,2111,3789,3664,0,0,0,0,0,0
$GC,775,-0.53,-194.6,148.5,-14.1,130,783,0.12,1.65,0.00,0.000,6,0.148,0.024,2145,2637,3664,0,0,0,0,0,0
$GC,922,-0.53,-194.6,164.6,-10.0,155,928,0.00,2.08,0.00,0.000,4,0.000,0.028,2145,1216,3665,0,0,0,0,0,0
$GC,975,-0.53,-194.6,169.8,-9.1,164,982,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2631,3665,0,0,0,0,0,0
$GC,1121,-0.53,-194.6,184.6,-10.4,189,1128,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3776,3665,0,0,0,0,0,0
$GC,1168,-0.53,-194.6,189.6,-10.2,197,1175,0.00,1.65,0.00,0.000,6,0.000,0.025,2138,2636,3665,0,0,0,0,0,0
$GC,1317,-0.53,-194.6,204.3,-9.8,219,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2635,3665,0,0,0,0,0,0
$GC,1637,-0.53,-194.6,232.8,-8.8,249,1641,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1203,3665,0,0,0,0,0,0
$GC,1726,-0.53,-194.6,241.7,-9.5,256,1733,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2685,3664,0,0,0,0,0,0
$GC,2051,-0.53,-194.6,270.1,-8.1,287,2055,0.00,2.22,0.00,0.000,4,0.000,0.030,2138,1209,3664,0,0,0,0,0,0
$GC,2119,-0.53,-194.6,275.2,-7.3,293,2124,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2652,3663,0,0,0,0,0,0
$GC,2445,-0.53,-194.6,302.0,-9.7,323,2449,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1200,3660,0,0,0,0,0,0
$GC,2489,-0.53,-194.6,306.6,-10.4,326,2496,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2633,3660,0,0,0,0,0,0
$GC,2815,-0.53,-194.6,358.4,-7.6,357,2818,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1196,3656,0,0,0,0,0,0
$GC,2900,-0.53,-194.6,365.2,-6.5,364,2904,0.00,2.15,0.00,0.000,6,0.000,0.042,2137,2577,3656,0,0,0,0,0,0
$GC,3231,-0.53,-194.6,400.0,-8.6,395,3235,0.00,2.08,0.00,0.000,4,0.000,0.032,2133,1205,3653,0,0,0,0,0,0
$GC,3339,-0.53,-194.6,408.7,-7.8,404,3344,0.00,2.10,0.00,0.000,6,0.000,0.037,2126,2567,3652,0,0,0,0,0,0
$GC,3665,-0.53,-194.6,437.0,-8.6,434,3669,0.00,2.05,0.00,0.000,4,0.000,0.032,2126,1204,3649,0,0,0,0,0,0
$GC,3698,-0.53,-194.6,440.0,-8.6,436,3704,0.00,2.08,0.00,0.000,6,0.000,0.038,2125,2549,3648,0,0,0,0,0,0
$GC,4024,-0.53,-194.6,468.7,-9.2,467,4028,0.00,2.03,0.00,0.000,4,0.000,0.033,2125,1209,3645,0,0,0,0,0,0
$GC,4059,-0.53,-194.6,472.4,-9.8,470,4063,0.00,2.05,0.00,0.000,6,0.000,0.038,2125,2530,3645,0,0,0,0,0,0
$GC,4391,-0.53,-194.6,505.2,-10.1,499,4395,0.00,1.98,0.00,0.000,4,0.000,0.050,2125,3770,3643,0,0,0,0,0,0
$GC,4464,-0.53,-194.6,513.2,-10.2,502,4468,0.00,1.83,0.00,0.000,6,0.000,0.028,2125,2539,3642,0,0,0,0,0,0
$GC,4792,-0.53,-194.6,546.0,-9.9,518,4796,0.00,1.98,0.00,0.000,4,0.000,0.034,2125,1213,3639,0,0,0,0,0,0
$GC,4820,-0.53,-194.6,548.9,-10.1,519,4823,0.00,2.08,0.00,0.000,6,0.000,0.040,2125,2545,3639,0,0,0,0,0,0
$GC,5148,-0.53,-194.6,579.7,-9.6,535,5152,0.00,1.92,0.00,0.000,4,0.000,0.050,2125,3779,3637,0,0,0,0,0,0
$GC,5194,-0.53,-194.6,584.0,-9.2,537,5198,0.00,1.83,0.00,0.000,6,0.000,0.029,2125,2553,3637,0,0,0,0,0,0
$GC,5527,-0.53,-194.6,615.0,-9.4,553,5530,0.00,2.03,0.00,0.000,4,0.000,0.035,2125,1204,3635,0,0,0,0,0,0
$GC,5566,-0.53,-194.6,618.8,-9.2,554,5573,0.00,2.10,0.00,0.000,6,0.000,0.040,2125,2549,3634,0,0,0,0,0,0
$GC,5883,-0.53,-194.6,645.8,-8.5,570,5886,0.00,1.92,0.00,0.000,4,0.000,0.050,2125,3777,3632,0,0,0,0,0,0
$GC,5910,-0.53,-194.6,648.3,-8.5,571,5914,0.00,1.85,0.00,0.000,6,0.000,0.029,2125,2544,3631,0,0,0,0,0,0
$GC,6239,-0.53,-194.6,673.4,-7.8,587,6242,0.00,2.00,0.00,0.000,4,0.000,0.035,2125,1211,3630,0,0,0,0,0,0
$GC,6317,-0.53,-194.6,679.2,-6.9,590,6321,0.00,2.05,0.00,0.000,6,0.000,0.039,2125,2524,3630,0,0,0,0,0,0
$GC,6640,-0.53,-194.6,702.9,-7.4,606,6643,0.00,1.98,0.00,0.000,4,0.000,0.051,2125,3780,3628,0,0,0,0,0,0
$GC,6695,-0.53,-194.6,707.3,-7.5,608,6699,0.00,1.92,0.00,0.000,6,0.000,0.030,2125,2530,3627,0,0,0,0,0,0
$GC,7017,-0.53,-194.6,732.4,-8.0,624,7020,0.00,2.00,0.00,0.000,4,0.000,0.035,2125,1200,3626,0,0,0,0,0,0
$GC,7067,-0.53,-194.6,736.7,-8.5,626,7071,0.00,2.08,0.00,0.000,6,0.000,0.040,2125,2514,3626,0,0,0,0,0,0
$GC,7397,-0.53,-194.6,763.4,-8.3,642,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2514,3624,0,0,0,0,0,0
$GC,7705,-0.53,-194.6,789.2,-8.0,657,7708,0.00,2.00,0.00,0.000,4,0.000,0.052,2125,3783,3623,0,0,0,0,0,0
$GC,7732,-0.53,-194.6,791.7,-7.9,658,7736,0.00,1.92,0.00,0.000,6,0.000,0.030,2125,2503,3623,0,0,0,0,0,0
$GC,8060,-0.53,-194.6,814.3,-6.8,674,8063,0.00,1.95,0.00,0.000,4,0.000,0.037,2125,1207,3621,0,0,0,0,0,0
$GC,8088,-0.53,-194.6,816.4,-6.9,675,8092,0.00,2.05,0.00,0.000,6,0.000,0.041,2124,2514,3621,0,0,0,0,0,0
$GC,8415,-0.53,-194.6,838.5,-6.8,691,8419,0.00,2.00,0.00,0.000,4,0.000,0.052,2125,3783,3620,0,0,0,0,0,0
$GC,8461,-0.53,-194.6,841.5,-6.5,693,8465,0.00,1.90,0.00,0.000,6,0.000,0.031,2125,2524,3620,0,0,0,0,0,0
$GC,8795,-0.53,-194.6,863.7,-6.4,709,8799,0.00,2.00,0.00,0.000,4,0.000,0.037,2125,1199,3618,0,0,0,0,0,0
$GC,8845,-0.53,-194.6,867.0,-6.4,711,8849,0.00,2.05,0.00,0.000,6,0.000,0.040,2125,2511,3618,0,0,0,0,0,0
$GC,9173,-0.53,-194.6,888.1,-6.6,727,9177,0.00,2.00,0.00,0.000,4,0.000,0.053,2125,3776,3617,0,0,0,0,0,0
$GC,9206,-0.53,-194.6,890.6,-6.6,728,9210,0.00,1.90,0.00,0.000,6,0.000,0.031,2124,2517,3617,0,0,0,0,0,0
$GC,9529,-0.53,-194.6,914.1,-8.0,744,9532,0.00,1.98,0.00,0.000,4,0.000,0.037,2125,1211,3617,0,0,0,0,0,0
$GC,9579,-0.53,-194.6,918.2,-8.1,746,9583,0.00,2.05,0.00,0.000,6,0.000,0.041,2125,2514,3617,0,0,0,0,0,0
$STATE,9615,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9615,begin apogee
$GC,9622,-0.13,0.0,921.1,8.0,748,9777,0.45,0.00,148.30,1.033,4,0.106,0.000,2277,2125,2869,0,0,0,0,0,0
$STATE,9777,end apogee,CONTROL_FINISHED_OK
$STATE,9777,begin climb
$GC,9781,0.53,194.6,928.9,0.0,755,9945,0.60,2.28,156.85,1.014,4,0.053,0.042,2503,733,2074,0,0,0,0,0,0
$GC,10041,0.54,206.4,913.5,11.3,767,10057,0.00,2.22,10.93,0.870,6,0.000,0.037,2503,2125,2027,0,0,0,0,0,0
$GC,10375,0.54,206.4,874.5,11.9,784,10379,0.00,2.20,0.00,0.000,4,0.000,0.041,2512,730,2026,0,0,0,0,0,0
$GC,10565,0.55,213.9,852.4,11.5,792,10580,0.00,2.20,7.75,0.834,6,0.000,0.037,2513,2138,1996,0,0,0,0,0,0
$GC,10905,0.57,224.2,813.2,11.4,809,10920,0.00,2.22,9.48,0.848,4,0.000,0.047,2513,3537,1954,0,0,0,0,0,0
$GC,10959,0.57,224.2,805.8,13.9,811,10963,0.00,2.15,0.00,0.000,6,0.000,0.031,2522,2137,1954,0,0,0,0,0,0
$GC,11281,0.57,224.2,766.1,12.4,827,11285,0.00,2.17,0.00,0.000,4,0.000,0.042,2533,723,1954,0,0,0,0,0,0
$GC,11359,0.57,224.2,756.1,12.5,830,11366,0.12,2.17,0.00,0.000,6,0.171,0.037,2501,2122,1954,0,0,0,0,0,0
$GC,11675,0.58,235.7,720.2,11.3,846,11688,0.00,0.00,11.00,0.832,6,0.000,0.000,2501,2122,1907,0,0,0,0,0,0
$GC,11985,0.61,256.9,685.8,10.9,861,12008,0.00,2.33,17.75,0.844,4,0.000,0.047,2501,3536,1821,0,0,0,0,0,0
$GC,12054,0.61,256.9,677.3,12.9,864,12058,0.00,2.17,0.00,0.000,6,0.000,0.030,2510,2126,1820,0,0,0,0,0,0
$GC,12381,0.61,256.9,638.6,12.0,880,12385,0.00,2.17,0.00,0.000,4,0.000,0.041,2520,721,1819,0,0,0,0,0,0
$GC,12437,0.61,256.9,631.5,12.4,882,12441,0.00,2.20,0.00,0.000,6,0.000,0.036,2521,2134,1819,0,0,0,0,0,0
$GC,12759,0.62,269.6,593.8,11.3,898,12775,0.00,2.22,11.23,0.765,4,0.000,0.044,2521,3541,1770,0,0,0,0,0,0
$GC,12833,0.62,269.6,584.8,12.5,900,12837,0.00,2.15,0.00,0.000,6,0.000,0.029,2530,2136,1769,0,0,0,0,0,0
$GC,13149,0.62,269.6,546.8,12.1,915,13153,0.00,2.17,0.00,0.000,4,0.000,0.041,2540,720,1768,0,0,0,0,0,0
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$STATE,17667,end climb,SURFACE_DEPTH_REACHED
$STATE,17667,begin surface coast
$FINISH,0.2,1.010804
$STATE,17685,end surface coast,CONTROL_FINISHED_OK
$STATE,17685,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.49
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$XPDR_PINGS,0
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$10V_AH,9.8,63.034
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323032
$DATA_FILE_SIZE,83523,1450
$CAP_FILE_SIZE,202809,0
$CFSIZE,260165632,209174528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050911,050337,1942.105,12007.615,26,1.7,26,-2.2