version: 66.09
glider: 181
mission: 6
dive: 458
start: 9 6 111 15 37 42
data:
$ID,181
$MISSION,6
$DIVE,458
$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,-41140.848
$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,60
$R_STBD_OVSHOOT,41
$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
$GPS1,060911,153137,1931.378,12003.114,23,1.7,23,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.0
$GPS2,060911,153720,1931.281,12003.062,10,1.7,10,-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,187.4,58179,-17.4,-11.786
$D_GRID,4148
$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,-194.6,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,2,0.000,0.000,179,2568,2200,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.0,-3.0,11,133,8.30,2.10,-32.83,0.000,4,0.229,0.041,2143,1199,3664,0,0,0,0,0,0
$GC,181,-0.53,-194.6,27.5,-25.6,27,188,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2593,3664,0,0,0,0,0,0
$GC,324,-0.53,-194.6,71.2,-23.9,52,331,0.00,1.80,0.00,0.000,4,0.000,0.042,2127,3783,3664,0,0,0,0,0,0
$GC,394,-0.53,-194.6,86.1,-19.4,64,401,0.00,1.65,0.00,0.000,6,0.000,0.024,2127,2638,3664,0,0,0,0,0,0
$GC,537,-0.53,-194.6,119.1,-23.0,89,544,0.00,1.77,0.00,0.000,4,0.000,0.041,2118,3784,3663,0,0,0,0,0,0
$GC,562,-0.53,-194.6,124.1,-20.3,93,569,0.08,1.60,0.00,0.000,6,0.136,0.024,2152,2711,3664,0,0,0,0,0,0
$GC,708,-0.53,-194.6,141.7,-10.9,118,714,0.00,2.20,0.00,0.000,4,0.000,0.027,2152,1207,3664,0,0,0,0,0,0
$GC,767,-0.53,-194.6,148.0,-9.5,128,773,0.00,2.20,0.00,0.000,6,0.000,0.033,2152,2665,3664,0,0,0,0,0,0
$GC,912,-0.53,-194.6,163.0,-10.5,153,919,0.00,1.67,0.00,0.000,4,0.000,0.042,2152,3783,3665,0,0,0,0,0,0
$GC,948,-0.53,-194.6,167.4,-11.2,159,955,0.00,1.65,0.00,0.000,6,0.000,0.024,2151,2637,3666,0,0,0,0,0,0
$GC,1093,-0.53,-194.6,184.0,-11.8,184,1100,0.00,2.08,0.00,0.000,4,0.000,0.027,2152,1207,3666,0,0,0,0,0,0
$GC,1141,-0.53,-194.6,189.2,-10.5,192,1148,0.00,2.15,0.00,0.000,6,0.000,0.031,2152,2638,3665,0,0,0,0,0,0
$GC,1291,-0.53,-194.6,201.7,-7.4,216,1295,0.00,2.12,0.00,0.000,4,0.000,0.028,2152,1196,3666,0,0,0,0,0,0
$GC,1332,-0.53,-194.6,204.7,-7.0,219,1336,0.00,2.10,0.00,0.000,6,0.000,0.032,2152,2592,3665,0,0,0,0,0,0
$GC,1663,-0.53,-194.6,233.2,-9.9,250,1666,0.00,1.80,0.00,0.000,4,0.000,0.042,2151,3781,3665,0,0,0,0,0,0
$GC,1721,-0.53,-194.6,238.9,-9.8,255,1725,0.00,1.75,0.00,0.000,6,0.000,0.024,2152,2611,3664,0,0,0,0,0,0
$GC,2052,-0.53,-194.6,271.7,-9.1,286,2055,0.00,1.80,0.00,0.000,4,0.000,0.041,2151,3784,3663,0,0,0,0,0,0
$GC,2080,-0.53,-194.6,274.4,-8.8,288,2088,0.00,1.88,0.00,0.000,6,0.000,0.024,2151,2493,3663,0,0,0,0,0,0
$GC,2405,-0.53,-194.6,299.9,-7.2,319,2409,0.00,1.98,0.00,0.000,4,0.000,0.041,2151,3777,3660,0,0,0,0,0,0
$GC,2452,-0.53,-194.6,303.0,-6.9,323,2456,0.00,1.98,0.00,0.000,6,0.000,0.025,2151,2434,3659,0,0,0,0,0,0
$GC,2784,-0.53,-194.6,330.7,-9.8,354,2788,0.00,2.08,0.00,0.000,4,0.000,0.041,2151,3778,3657,0,0,0,0,0,0
$GC,3003,-0.53,-194.6,352.4,-9.9,373,3007,0.00,2.08,0.00,0.000,6,0.000,0.025,2151,2373,3655,0,0,0,0,0,0
$GC,3330,-0.53,-194.6,381.3,-8.5,403,3334,0.00,1.70,0.00,0.000,4,0.000,0.030,2151,1197,3652,0,0,0,0,0,0
$GC,3589,-0.53,-194.6,401.9,-8.3,426,3592,0.00,1.80,0.00,0.000,6,0.000,0.031,2151,2404,3650,0,0,0,0,0,0
$GC,3920,-0.53,-194.6,425.3,-6.3,457,3924,0.00,1.80,0.00,0.000,4,0.000,0.030,2151,1187,3648,0,0,0,0,0,0
$GC,4180,-0.53,-194.6,444.4,-9.0,480,4184,0.00,1.83,0.00,0.000,6,0.000,0.032,2151,2399,3645,0,0,0,0,0,0
$GC,4511,-0.53,-194.6,472.4,-8.3,511,4515,0.00,1.83,0.00,0.000,4,0.000,0.032,2151,1202,3643,0,0,0,0,0,0
$GC,4772,-0.53,-194.6,495.2,-8.4,534,4776,0.00,1.77,0.00,0.000,6,0.000,0.032,2151,2381,3642,0,0,0,0,0,0
$GC,5106,-0.53,-194.6,520.0,-6.8,553,5110,0.00,1.80,0.00,0.000,4,0.000,0.032,2151,1201,3640,0,0,0,0,0,0
$GC,5168,-0.53,-194.6,524.7,-7.4,555,5174,0.00,1.80,0.00,0.000,6,0.000,0.034,2151,2390,3639,0,0,0,0,0,0
$GC,5484,-0.53,-194.6,547.0,-7.4,571,5488,0.00,2.15,0.00,0.000,4,0.000,0.044,2152,3783,3637,0,0,0,0,0,0
$GC,5741,-0.53,-194.6,568.3,-8.2,582,5748,0.00,2.12,0.00,0.000,6,0.000,0.026,2156,2354,3636,0,0,0,0,0,0
$GC,6058,-0.53,-194.6,591.0,-7.2,598,6062,0.00,2.22,0.00,0.000,4,0.000,0.045,2156,3773,3635,0,0,0,0,0,0
$GC,6085,-0.53,-194.6,593.1,-7.3,599,6089,0.00,2.15,0.00,0.000,6,0.000,0.026,2163,2343,3635,0,0,0,0,0,0
$GC,6406,-0.53,-194.6,617.5,-7.9,615,6410,0.00,1.67,0.00,0.000,4,0.000,0.034,2167,1200,3633,0,0,0,0,0,0
$GC,6664,-0.53,-194.6,638.8,-8.0,626,6668,0.00,1.73,0.00,0.000,6,0.000,0.034,2167,2345,3632,0,0,0,0,0,0
$GC,6986,-0.53,-194.6,664.1,-8.1,642,6990,0.00,1.73,0.00,0.000,4,0.000,0.034,2172,1194,3630,0,0,0,0,0,0
$GC,7081,-0.53,-194.6,672.2,-8.4,646,7085,0.00,1.75,0.00,0.000,6,0.000,0.033,2172,2348,3630,0,0,0,0,0,0
$GC,7409,-0.53,-194.6,697.7,-7.8,662,7412,0.00,1.73,0.00,0.000,4,0.000,0.034,2174,1196,3628,0,0,0,0,0,0
$GC,7666,-0.53,-194.6,720.9,-9.2,673,7670,0.00,1.73,0.00,0.000,6,0.000,0.034,2174,2332,3627,0,0,0,0,0,0
$GC,7989,-0.53,-194.6,752.5,-10.3,689,7993,0.00,1.70,0.00,0.000,4,0.000,0.034,2174,1200,3626,0,0,0,0,0,0
$GC,8035,-0.53,-194.6,757.5,-10.7,691,8039,0.00,1.73,0.00,0.000,6,0.000,0.034,2173,2339,3626,0,0,0,0,0,0
$GC,8368,-0.53,-194.6,791.9,-10.3,707,8372,0.00,2.22,0.00,0.000,4,0.000,0.045,2174,3770,3625,0,0,0,0,0,0
$GC,8434,-0.53,-194.6,798.5,-10.4,710,8438,0.00,2.15,0.00,0.000,6,0.000,0.027,2174,2336,3624,0,0,0,0,0,0
$GC,8761,-0.53,-194.6,829.5,-8.9,726,8764,0.00,1.67,0.00,0.000,4,0.000,0.035,2174,1203,3623,0,0,0,0,0,0
$GC,8817,-0.53,-194.6,834.7,-8.9,728,8821,0.00,1.73,0.00,0.000,6,0.000,0.034,2174,2338,3623,0,0,0,0,0,0
$GC,9140,-0.53,-194.6,859.9,-7.6,744,9144,0.00,2.28,0.00,0.000,4,0.000,0.047,2174,3777,3622,0,0,0,0,0,0
$GC,9287,-0.53,-194.6,871.2,-7.8,750,9294,0.00,2.15,0.00,0.000,6,0.000,0.028,2174,2348,3621,0,0,0,0,0,0
$GC,9604,-0.53,-194.6,892.7,-7.0,766,9608,0.00,2.08,0.00,0.000,3,0.000,0.045,2174,3680,3619,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9617,-0.13,0.0,893.2,7.1,766,9772,0.25,0.00,148.23,1.016,4,0.068,0.000,2286,2132,2868,0,0,0,0,0,0
$STATE,9773,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9775,0.53,194.6,900.6,0.0,773,9941,0.57,2.30,155.80,0.997,4,0.047,0.042,2512,3538,2074,0,0,0,0,0,0
$GC,9963,0.53,194.6,889.8,12.9,782,9971,0.12,2.22,0.00,0.000,6,0.182,0.029,2494,2130,2073,0,0,0,0,0,0
$GC,10280,0.57,225.7,855.4,10.5,798,10311,0.00,2.28,25.23,0.942,4,0.000,0.039,2503,714,1948,0,0,0,0,0,0
$GC,10440,0.61,264.3,838.4,10.2,805,10479,0.00,2.15,31.23,0.936,6,0.000,0.033,2503,2106,1791,0,0,0,0,0,0
$GC,10787,0.67,308.8,803.3,10.0,822,10831,0.00,2.30,35.58,0.931,4,0.000,0.044,2503,3542,1610,0,0,0,0,0,0
$GC,10903,0.69,325.4,790.7,11.1,827,10924,0.00,2.20,14.40,0.850,6,0.000,0.029,2513,2117,1543,0,0,0,0,0,0
$GC,11251,0.74,362.7,754.3,10.3,844,11289,0.12,2.20,31.33,0.902,4,0.091,0.036,2579,708,1390,0,0,0,0,0,0
$GC,11338,0.74,362.7,742.1,13.2,847,11343,0.00,2.25,0.00,0.000,6,0.000,0.035,2579,2113,1390,0,0,0,0,0,0
$GC,11667,0.74,362.7,691.6,15.5,863,11671,0.00,2.22,0.00,0.000,4,0.000,0.046,2579,3538,1391,0,0,0,0,0,0
$GC,11735,0.74,362.7,680.0,16.7,866,11740,0.12,2.15,0.00,0.000,6,0.178,0.030,2559,2127,1391,0,0,0,0,0,0
$GC,12062,0.74,362.7,634.0,13.9,882,12066,0.00,2.15,0.00,0.000,4,0.000,0.039,2567,712,1391,0,0,0,0,0,0
$GC,12117,0.74,362.7,626.0,13.8,884,12125,0.00,2.20,0.00,0.000,6,0.000,0.035,2567,2138,1391,0,0,0,0,0,0
$GC,12435,0.74,362.7,579.4,15.2,900,12439,0.00,2.17,0.00,0.000,4,0.000,0.045,2568,3541,1391,0,0,0,0,0,0
$GC,12512,0.74,362.7,566.0,16.9,903,12520,0.00,2.12,0.00,0.000,6,0.000,0.028,2577,2146,1390,0,0,0,0,0,0
$GC,12829,0.74,362.7,514.2,16.3,919,12833,0.00,2.17,0.00,0.000,4,0.000,0.038,2588,711,1390,0,0,0,0,0,0
$GC,12870,0.74,362.7,507.6,16.3,921,12874,0.12,2.20,0.00,0.000,6,0.156,0.035,2556,2146,1390,0,0,0,0,0,0
$GC,13194,0.74,362.7,461.9,13.2,949,13198,0.00,2.15,0.00,0.000,4,0.000,0.044,2556,3535,1390,0,0,0,0,0,0
$GC,13262,0.74,362.7,452.3,13.9,955,13266,0.00,2.08,0.00,0.000,6,0.000,0.029,2563,2162,1390,0,0,0,0,0,0
$GC,13587,0.74,362.7,409.8,12.8,985,13592,0.00,2.20,0.00,0.000,4,0.000,0.039,2574,716,1390,0,0,0,0,0,0
$GC,13643,0.74,362.7,402.6,12.5,989,13650,0.00,2.25,0.00,0.000,6,0.000,0.033,2574,2186,1390,0,0,0,0,0,0
$GC,13969,0.74,362.7,356.8,14.6,1020,13973,0.00,2.08,0.00,0.000,4,0.000,0.044,2574,3535,1390,0,0,0,0,0,0
$GC,14021,0.74,362.7,348.9,15.3,1024,14025,0.00,2.05,0.00,0.000,6,0.000,0.029,2583,2179,1391,0,0,0,0,0,0
$GC,14346,0.74,362.7,302.1,14.2,1054,14350,0.00,2.22,0.00,0.000,4,0.000,0.039,2594,714,1391,0,0,0,0,0,0
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$STATE,16968,end climb,SURFACE_DEPTH_REACHED
$STATE,16969,begin surface coast
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$STATE,16993,end surface coast,CONTROL_FINISHED_OK
$STATE,16993,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,9.3363
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$XPDR_PINGS,0
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$10V_AH,9.8,63.797
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323064
$DATA_FILE_SIZE,83591,1440
$CAP_FILE_SIZE,198384,0
$CFSIZE,260165632,208441344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060911,202331,1930.073,12001.064,40,1.0,40,-2.1