version: 66.09
glider: 181
mission: 6
dive: 456
start: 9 6 111 5 40 17
data:
$ID,181
$MISSION,6
$DIVE,456
$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,-41138.332
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,060911,053407,1935.707,12004.077,38,0.8,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.4
$GPS2,060911,053955,1935.735,12004.082,7,1.0,12,-2.1
$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,188.3,66567,-17.4,-11.786
$D_GRID,4137
$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,18,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.65,0.000,2,0.000,0.000,201,2589,2224,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.2,-3.6,11,133,8.18,0.00,-31.70,0.000,6,0.228,0.000,2142,2589,3664,0,0,0,0,0,0
$GC,269,-0.53,-194.6,61.8,-22.3,43,276,0.00,1.85,0.00,0.000,4,0.000,0.041,2135,3785,3664,0,0,0,0,0,0
$GC,305,-0.53,-194.6,69.1,-20.3,49,311,0.00,1.75,0.00,0.000,6,0.000,0.024,2135,2577,3664,0,0,0,0,0,0
$GC,449,-0.53,-194.6,92.6,-16.7,74,455,0.00,1.85,0.00,0.000,4,0.000,0.041,2126,3781,3664,0,0,0,0,0,0
$GC,479,-0.53,-194.6,97.9,-16.9,79,486,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2600,3664,0,0,0,0,0,0
$GC,623,-0.53,-194.6,125.5,-22.3,104,630,0.00,1.80,0.00,0.000,4,0.000,0.042,2117,3774,3664,0,0,0,0,0,0
$GC,649,-0.53,-194.6,131.1,-21.5,108,656,0.12,1.65,0.00,0.000,6,0.151,0.025,2150,2632,3664,0,0,0,0,0,0
$GC,795,-0.53,-194.6,149.2,-11.3,133,802,0.00,2.08,0.00,0.000,4,0.000,0.028,2150,1204,3665,0,0,0,0,0,0
$GC,838,-0.53,-194.6,153.7,-10.0,140,845,0.00,2.15,0.00,0.000,6,0.000,0.033,2150,2628,3665,0,0,0,0,0,0
$GC,983,-0.53,-194.6,168.6,-10.7,165,990,0.00,1.73,0.00,0.000,4,0.000,0.041,2144,3779,3665,0,0,0,0,0,0
$GC,1014,-0.53,-194.6,172.2,-10.6,170,1021,0.00,1.65,0.00,0.000,6,0.000,0.024,2144,2636,3665,0,0,0,0,0,0
$GC,1161,-0.53,-194.6,188.0,-10.7,195,1167,0.00,2.10,0.00,0.000,4,0.000,0.028,2144,1194,3665,0,0,0,0,0,0
$GC,1208,-0.53,-194.6,193.2,-10.1,203,1215,0.00,2.17,0.00,0.000,6,0.000,0.033,2139,2634,3665,0,0,0,0,0,0
$GC,1354,-0.53,-194.6,207.5,-9.9,222,1358,0.00,1.73,0.00,0.000,4,0.000,0.044,2139,3776,3665,0,0,0,0,0,0
$GC,1423,-0.53,-194.6,213.9,-8.7,228,1427,0.00,1.65,0.00,0.000,6,0.000,0.024,2139,2635,3665,0,0,0,0,0,0
$GC,1754,-0.53,-194.6,246.7,-8.3,259,1758,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1196,3663,0,0,0,0,0,0
$GC,1828,-0.53,-194.6,252.0,-6.7,265,1832,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2651,3664,0,0,0,0,0,0
$GC,2153,-0.53,-194.6,276.0,-8.7,295,2157,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1206,3661,0,0,0,0,0,0
$GC,2176,-0.53,-194.6,278.3,-9.3,296,2182,0.00,2.15,0.00,0.000,6,0.000,0.034,2137,2620,3661,0,0,0,0,0,0
$GC,2501,-0.53,-194.6,307.5,-9.0,327,2505,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1200,3659,0,0,0,0,0,0
$GC,2551,-0.53,-194.6,312.4,-9.6,331,2558,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2597,3659,0,0,0,0,0,0
$GC,2877,-0.53,-194.6,342.9,-9.3,362,2881,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3779,3655,0,0,0,0,0,0
$GC,2900,-0.53,-194.6,345.3,-9.6,364,2904,0.00,1.73,0.00,0.000,6,0.000,0.026,2138,2595,3655,0,0,0,0,0,0
$GC,3231,-0.53,-194.6,372.8,-7.9,395,3234,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1209,3651,0,0,0,0,0,0
$GC,3311,-0.53,-194.6,379.3,-8.0,402,3315,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2580,3651,0,0,0,0,0,0
$GC,3638,-0.53,-194.6,408.0,-9.4,432,3642,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3777,3649,0,0,0,0,0,0
$GC,3676,-0.53,-194.6,412.0,-9.6,435,3683,0.00,1.75,0.00,0.000,6,0.000,0.026,2137,2581,3648,0,0,0,0,0,0
$GC,4002,-0.53,-194.6,441.8,-8.7,466,4005,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1213,3645,0,0,0,0,0,0
$GC,4041,-0.53,-194.6,445.3,-9.0,469,4048,0.00,2.10,0.00,0.000,6,0.000,0.036,2138,2578,3644,0,0,0,0,0,0
$GC,4367,-0.53,-194.6,470.1,-7.0,500,4371,0.00,1.88,0.00,0.000,4,0.000,0.046,2138,3770,3643,0,0,0,0,0,0
$GC,4440,-0.53,-194.6,475.5,-7.2,506,4446,0.00,1.90,0.00,0.000,6,0.000,0.027,2138,2478,3642,0,0,0,0,0,0
$GC,4765,-0.53,-194.6,500.7,-8.0,537,4769,0.00,2.05,0.00,0.000,4,0.000,0.045,2138,3787,3640,0,0,0,0,0,0
$GC,4827,-0.53,-194.6,505.9,-8.2,539,4834,0.00,2.05,0.00,0.000,6,0.000,0.028,2138,2410,3639,0,0,0,0,0,0
$GC,5144,-0.53,-194.6,530.5,-7.5,555,5148,0.00,2.15,0.00,0.000,4,0.000,0.045,2138,3781,3637,0,0,0,0,0,0
$GC,5401,-0.53,-194.6,550.3,-8.4,566,5408,0.00,1.92,0.00,0.000,6,0.000,0.027,2138,2476,3635,0,0,0,0,0,0
$GC,5717,-0.53,-194.6,573.0,-7.3,582,5721,0.00,1.88,0.00,0.000,4,0.000,0.032,2138,1206,3634,0,0,0,0,0,0
$GC,5975,-0.53,-194.6,591.6,-7.2,593,5978,0.00,1.92,0.00,0.000,6,0.000,0.033,2138,2473,3632,0,0,0,0,0,0
$GC,6298,-0.53,-194.6,614.1,-7.1,609,6301,0.00,1.90,0.00,0.000,4,0.000,0.033,2138,1208,3631,0,0,0,0,0,0
$GC,6344,-0.53,-194.6,617.4,-7.2,611,6347,0.00,1.88,0.00,0.000,6,0.000,0.032,2138,2447,3631,0,0,0,0,0,0
$GC,6677,-0.53,-194.6,640.6,-7.0,627,6680,0.00,2.05,0.00,0.000,4,0.000,0.046,2138,3776,3629,0,0,0,0,0,0
$GC,6934,-0.53,-194.6,661.0,-8.6,638,6937,0.00,1.92,0.00,0.000,6,0.000,0.027,2138,2481,3628,0,0,0,0,0,0
$GC,7256,-0.53,-194.6,687.2,-8.3,654,7259,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3777,3627,0,0,0,0,0,0
$GC,7513,-0.53,-194.6,711.4,-10.4,665,7517,0.00,1.92,0.00,0.000,6,0.000,0.026,2144,2479,3625,0,0,0,0,0,0
$GC,7836,-0.53,-194.6,739.7,-8.4,681,7840,0.00,1.88,0.00,0.000,4,0.000,0.032,2145,1208,3624,0,0,0,0,0,0
$GC,8094,-0.53,-194.6,761.9,-8.2,692,8098,0.00,1.90,0.00,0.000,6,0.000,0.035,2145,2447,3623,0,0,0,0,0,0
$GC,8417,-0.53,-194.6,785.1,-7.3,708,8421,0.00,1.88,0.00,0.000,4,0.000,0.034,2145,1202,3623,0,0,0,0,0,0
$GC,8676,-0.53,-194.6,805.9,-8.4,719,8680,0.00,1.88,0.00,0.000,6,0.000,0.034,2145,2429,3621,0,0,0,0,0,0
$GC,8998,-0.53,-194.6,829.8,-7.4,735,9002,0.00,2.10,0.00,0.000,4,0.000,0.046,2145,3784,3620,0,0,0,0,0,0
$GC,9255,-0.53,-194.6,851.7,-8.1,746,9262,0.00,2.08,0.00,0.000,6,0.000,0.028,2148,2402,3619,0,0,0,0,0,0
$GC,9571,-0.53,-194.6,874.8,-7.2,762,9575,0.00,2.17,0.00,0.000,4,0.000,0.047,2147,3777,3619,0,0,0,0,0,0
$STATE,9602,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9602,begin apogee
$GC,9611,-0.13,0.0,877.3,7.1,763,9765,0.35,0.00,147.95,1.008,4,0.076,0.000,2282,2133,2869,0,0,0,0,0,0
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9769,0.53,194.6,886.2,0.0,771,9937,0.57,2.28,155.70,0.988,4,0.045,0.038,2506,716,2075,0,0,0,0,0,0
$GC,9971,0.56,216.6,876.8,10.9,780,9996,0.00,2.25,18.65,0.903,6,0.000,0.033,2505,2127,1987,0,0,0,0,0,0
$GC,10315,0.56,216.7,836.3,11.8,797,10319,0.00,2.20,0.00,0.000,4,0.000,0.044,2506,3544,1985,0,0,0,0,0,0
$GC,10379,0.56,216.7,827.8,13.6,800,10384,0.00,2.15,0.00,0.000,6,0.000,0.029,2515,2131,1985,0,0,0,0,0,0
$GC,10707,0.56,216.7,787.1,12.3,816,10711,0.00,2.15,0.00,0.000,4,0.000,0.040,2526,719,1985,0,0,0,0,0,0
$GC,10757,0.56,216.7,780.7,12.2,818,10761,0.00,2.15,0.00,0.000,6,0.000,0.034,2526,2125,1985,0,0,0,0,0,0
$GC,11080,0.56,216.7,740.2,12.4,834,11084,0.00,2.20,0.00,0.000,4,0.000,0.044,2526,3537,1984,0,0,0,0,0,0
$GC,11119,0.56,216.7,734.5,14.1,836,11124,0.15,2.12,0.00,0.000,6,0.181,0.030,2498,2135,1984,0,0,0,0,0,0
$GC,11449,0.59,241.0,698.6,10.8,852,11474,0.00,2.20,20.55,0.865,4,0.000,0.040,2508,718,1886,0,0,0,0,0,0
$GC,11570,0.61,263.6,684.6,10.9,857,11598,0.00,2.17,18.85,0.832,6,0.000,0.034,2508,2126,1794,0,0,0,0,0,0
$GC,11909,0.61,263.6,645.6,11.8,874,11913,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,3541,1792,0,0,0,0,0,0
$GC,11971,0.61,263.6,637.5,13.2,877,11975,0.00,2.17,0.00,0.000,6,0.000,0.030,2518,2128,1792,0,0,0,0,0,0
$GC,12303,0.62,268.7,597.5,11.6,893,12314,0.00,2.17,5.72,0.676,4,0.000,0.038,2529,717,1773,0,0,0,0,0,0
$GC,12367,0.62,268.7,590.0,11.9,896,12371,0.00,2.17,0.00,0.000,6,0.000,0.034,2529,2125,1773,0,0,0,0,0,0
$GC,12700,0.63,273.5,550.7,11.6,912,12710,0.00,2.20,5.45,0.635,4,0.000,0.043,2529,3536,1753,0,0,0,0,0,0
$GC,12755,0.63,273.5,543.6,12.9,914,12762,0.00,2.15,0.00,0.000,6,0.000,0.029,2537,2123,1753,0,0,0,0,0,0
$GC,13071,0.63,273.5,505.5,12.2,930,13075,0.00,2.15,0.00,0.000,4,0.000,0.040,2549,713,1753,0,0,0,0,0,0
$GC,13135,0.63,273.5,497.9,12.2,933,13140,0.00,2.17,0.00,0.000,6,0.000,0.035,2549,2126,1753,0,0,0,0,0,0
$GC,13461,0.63,273.5,457.2,12.5,963,13465,0.00,2.17,0.00,0.000,4,0.000,0.044,2549,3536,1753,0,0,0,0,0,0
$GC,13562,0.63,273.5,443.5,13.3,971,13569,0.15,2.12,0.00,0.000,6,0.166,0.030,2519,2136,1753,0,0,0,0,0,0
$GC,13887,0.66,298.8,408.7,10.8,1002,13913,0.00,2.20,20.90,0.701,4,0.000,0.039,2529,714,1649,0,0,0,0,0,0
$GC,13947,0.69,326.4,402.1,10.7,1007,13976,0.00,2.20,22.05,0.670,6,0.000,0.032,2529,2142,1537,0,0,0,0,0,0
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$STATE,17492,end climb,SURFACE_DEPTH_REACHED
$STATE,17492,begin surface coast
$FINISH,0.2,0.997307
$STATE,17527,end surface coast,CONTROL_FINISHED_OK
$STATE,17527,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.81
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,9.8,63.605
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.400,190.325,638.200,0.000,0.000,31.427,20.189,147.506,0.000,0.000,17.113,3583.884,10099.313,769.772,3064.941,417.052,0.000,2339.216,0.000,2830.286,0.000,0.539,0.000
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$MEM,323032
$DATA_FILE_SIZE,86854,1483
$CAP_FILE_SIZE,205925,0
$CFSIZE,260165632,208617472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060911,103501,1933.839,12004.200,42,1.1,42,-2.1