version: 66.09
glider: 181
mission: 6
dive: 462
start: 9 7 111 11 29 36
data:
$ID,181
$MISSION,6
$DIVE,462
$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,-41145.879
$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,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
$GPS1,070911,112331,1928.584,12000.996,40,1.9,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.1
$GPS2,070911,112914,1928.534,12001.053,12,1.3,12,-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,184.1,52876,-17.4,-11.786
$D_GRID,4192
$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,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.55,0.000,2,0.000,0.000,201,2619,2215,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.5,11,133,8.15,2.15,-31.92,0.000,4,0.226,0.039,2142,1179,3663,0,0,0,0,0,0
$GC,181,-0.53,-194.6,28.6,-26.0,27,188,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2606,3663,0,0,0,0,0,0
$GC,324,-0.53,-194.6,66.8,-24.8,52,330,0.00,1.83,0.00,0.000,4,0.000,0.045,2129,3781,3663,0,0,0,0,0,0
$GC,405,-0.53,-194.6,83.0,-16.8,66,412,0.00,1.75,0.00,0.000,6,0.000,0.024,2129,2579,3663,0,0,0,0,0,0
$GC,548,-0.53,-194.6,106.2,-14.8,91,555,0.00,1.88,0.00,0.000,4,0.000,0.042,2121,3792,3662,0,0,0,0,0,0
$GC,624,-0.53,-194.6,116.2,-12.9,104,630,0.00,1.65,0.00,0.000,6,0.000,0.024,2120,2661,3662,0,0,0,0,0,0
$GC,768,-0.53,-194.6,133.7,-10.7,129,775,0.00,2.12,0.00,0.000,4,0.000,0.028,2120,1207,3663,0,0,0,0,0,0
$GC,805,-0.53,-194.6,137.7,-10.3,135,812,0.12,2.22,0.00,0.000,6,0.153,0.034,2146,2667,3663,0,0,0,0,0,0
$GC,951,-0.53,-194.6,151.9,-10.7,160,958,0.00,1.67,0.00,0.000,4,0.000,0.043,2139,3786,3664,0,0,0,0,0,0
$GC,993,-0.53,-194.6,156.8,-11.0,167,1000,0.00,1.65,0.00,0.000,6,0.000,0.024,2139,2647,3664,0,0,0,0,0,0
$GC,1138,-0.53,-194.6,173.5,-11.9,192,1145,0.00,2.12,0.00,0.000,4,0.000,0.029,2139,1197,3664,0,0,0,0,0,0
$GC,1191,-0.53,-194.6,179.6,-10.8,201,1198,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2629,3664,0,0,0,0,0,0
$GC,1337,-0.53,-194.6,195.4,-10.9,226,1344,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3784,3663,0,0,0,0,0,0
$GC,1362,-0.53,-194.6,198.4,-11.0,230,1369,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2625,3664,0,0,0,0,0,0
$GC,1499,-0.53,-194.6,212.4,-10.2,244,1503,0.00,2.08,0.00,0.000,4,0.000,0.029,2138,1209,3663,0,0,0,0,0,0
$GC,1521,-0.53,-194.6,214.8,-10.1,245,1528,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2606,3663,0,0,0,0,0,0
$GC,1847,-0.53,-194.6,245.6,-8.7,276,1851,0.00,2.08,0.00,0.000,4,0.000,0.029,2138,1209,3662,0,0,0,0,0,0
$GC,1881,-0.53,-194.6,248.7,-8.6,278,1888,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2584,3662,0,0,0,0,0,0
$GC,2207,-0.53,-194.6,276.0,-8.1,309,2210,0.00,1.83,0.00,0.000,4,0.000,0.044,2138,3786,3659,0,0,0,0,0,0
$GC,2234,-0.53,-194.6,278.5,-8.0,311,2241,0.00,1.77,0.00,0.000,6,0.000,0.025,2138,2564,3659,0,0,0,0,0,0
$GC,2560,-0.53,-194.6,305.3,-8.2,342,2563,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1207,3656,0,0,0,0,0,0
$GC,2587,-0.53,-194.6,307.7,-8.7,344,2594,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2581,3656,0,0,0,0,0,0
$GC,2913,-0.53,-194.6,335.1,-9.1,375,2916,0.00,2.05,0.00,0.000,4,0.000,0.031,2137,1217,3654,0,0,0,0,0,0
$GC,2936,-0.53,-194.6,337.3,-9.1,377,2940,0.00,2.08,0.00,0.000,6,0.000,0.036,2137,2565,3654,0,0,0,0,0,0
$GC,3268,-0.53,-194.6,368.3,-9.3,408,3271,0.00,1.88,0.00,0.000,4,0.000,0.047,2138,3784,3650,0,0,0,0,0,0
$GC,3314,-0.53,-194.6,372.6,-9.3,412,3318,0.00,1.83,0.00,0.000,6,0.000,0.027,2138,2576,3650,0,0,0,0,0,0
$GC,3645,-0.53,-194.6,400.5,-8.1,443,3648,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1209,3647,0,0,0,0,0,0
$GC,3683,-0.53,-194.6,403.9,-8.2,446,3690,0.00,2.08,0.00,0.000,6,0.000,0.036,2138,2558,3647,0,0,0,0,0,0
$GC,4010,-0.53,-194.6,429.3,-8.3,477,4014,0.00,1.88,0.00,0.000,4,0.000,0.047,2138,3777,3644,0,0,0,0,0,0
$GC,4034,-0.53,-194.6,431.2,-8.2,479,4037,0.00,1.83,0.00,0.000,6,0.000,0.027,2138,2540,3645,0,0,0,0,0,0
$GC,4365,-0.53,-194.6,458.9,-8.2,510,4368,0.00,1.98,0.00,0.000,4,0.000,0.032,2138,1205,3642,0,0,0,0,0,0
$GC,4402,-0.53,-194.6,461.9,-8.2,513,4406,0.00,2.08,0.00,0.000,6,0.000,0.035,2138,2558,3642,0,0,0,0,0,0
$GC,4728,-0.53,-194.6,487.0,-7.8,543,4731,0.00,1.92,0.00,0.000,4,0.000,0.047,2138,3776,3639,0,0,0,0,0,0
$GC,4801,-0.53,-194.6,492.8,-7.9,549,4808,0.00,1.98,0.00,0.000,6,0.000,0.026,2138,2445,3639,0,0,0,0,0,0
$GC,5130,-0.53,-194.6,518.7,-7.9,570,5134,0.00,2.10,0.00,0.000,4,0.000,0.045,2138,3786,3636,0,0,0,0,0,0
$GC,5209,-0.53,-194.6,524.6,-7.3,573,5216,0.00,2.10,0.00,0.000,6,0.000,0.026,2138,2372,3636,0,0,0,0,0,0
$GC,5525,-0.53,-194.6,547.3,-7.0,589,5529,0.00,2.22,0.00,0.000,4,0.000,0.046,2138,3777,3635,0,0,0,0,0,0
$GC,5536,-0.53,-194.6,548.2,-6.9,589,5540,0.00,1.95,0.00,0.000,6,0.000,0.027,2137,2467,3634,0,0,0,0,0,0
$GC,5859,-0.53,-194.6,571.0,-7.2,605,5863,0.00,1.88,0.00,0.000,4,0.000,0.033,2138,1201,3632,0,0,0,0,0,0
$GC,5965,-0.53,-194.6,579.3,-7.4,609,5972,0.00,1.85,0.00,0.000,6,0.000,0.034,2138,2412,3632,0,0,0,0,0,0
$GC,6282,-0.53,-194.6,603.0,-7.7,625,6286,0.00,1.83,0.00,0.000,4,0.000,0.032,2138,1196,3631,0,0,0,0,0,0
$GC,6315,-0.53,-194.6,605.9,-8.0,626,6319,0.00,1.98,0.00,0.000,6,0.000,0.035,2138,2476,3630,0,0,0,0,0,0
$GC,6637,-0.53,-194.6,630.1,-7.6,642,6641,0.00,1.92,0.00,0.000,4,0.000,0.033,2138,1200,3629,0,0,0,0,0,0
$GC,6688,-0.53,-194.6,634.2,-8.2,644,6692,0.00,2.08,0.00,0.000,6,0.000,0.037,2138,2536,3629,0,0,0,0,0,0
$GC,7015,-0.53,-194.6,658.2,-7.3,660,7019,0.00,1.92,0.00,0.000,4,0.000,0.048,2138,3776,3627,0,0,0,0,0,0
$GC,7272,-0.53,-194.6,677.4,-8.0,671,7276,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2581,3625,0,0,0,0,0,0
$GC,7594,-0.53,-194.6,698.8,-6.9,687,7598,0.00,1.90,0.00,0.000,4,0.000,0.046,2138,3786,3625,0,0,0,0,0,0
$GC,7807,-0.53,-194.6,716.1,-8.7,696,7811,0.00,1.90,0.00,0.000,6,0.000,0.027,2138,2506,3624,0,0,0,0,0,0
$GC,8129,-0.53,-194.6,742.5,-8.4,712,8133,0.00,2.00,0.00,0.000,4,0.000,0.046,2138,3777,3622,0,0,0,0,0,0
$GC,8163,-0.53,-194.6,745.5,-8.4,713,8167,0.00,1.92,0.00,0.000,6,0.000,0.027,2138,2488,3623,0,0,0,0,0,0
$GC,8485,-0.53,-194.6,772.1,-8.1,729,8489,0.00,1.92,0.00,0.000,4,0.000,0.034,2138,1200,3621,0,0,0,0,0,0
$GC,8737,-0.53,-194.6,792.1,-7.4,740,8741,0.00,1.92,0.00,0.000,6,0.000,0.034,2138,2459,3621,0,0,0,0,0,0
$GC,9065,-0.53,-194.6,815.6,-7.0,756,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2459,3619,0,0,0,0,0,0
$GC,9375,-0.53,-194.6,836.3,-6.7,771,9379,0.00,2.05,0.00,0.000,4,0.000,0.047,2138,3776,3619,0,0,0,0,0,0
$STATE,9602,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9603,begin apogee
$GC,9612,-0.13,0.0,855.2,8.5,781,9766,0.35,0.00,147.45,0.993,4,0.063,0.000,2286,2137,2869,0,0,0,0,0,0
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9767,begin climb
$GC,9769,0.53,194.6,865.8,0.0,788,9932,0.57,2.30,155.60,0.975,4,0.054,0.042,2505,3538,2075,0,0,0,0,0,0
$GC,10012,0.53,194.6,852.9,12.1,800,10016,0.00,2.20,0.00,0.000,6,0.000,0.028,2515,2126,2074,0,0,0,0,0,0
$GC,10334,0.55,213.7,818.3,11.0,816,10357,0.00,2.20,16.25,0.902,4,0.000,0.037,2526,711,1996,0,0,0,0,0,0
$GC,10418,0.56,222.0,808.5,11.4,819,10433,0.00,2.20,8.12,0.773,6,0.000,0.033,2526,2127,1962,0,0,0,0,0,0
$GC,10758,0.56,222.0,768.1,12.1,836,10762,0.00,2.20,0.00,0.000,4,0.000,0.044,2526,3543,1961,0,0,0,0,0,0
$GC,10824,0.56,222.0,759.0,13.0,839,10829,0.12,2.15,0.00,0.000,6,0.186,0.029,2506,2132,1961,0,0,0,0,0,0
$GC,11148,0.62,267.8,726.4,9.9,855,11191,0.00,2.22,36.35,0.897,4,0.000,0.038,2516,720,1777,0,0,0,0,0,0
$GC,11215,0.68,319.7,719.3,9.7,858,11262,0.00,2.22,41.47,0.877,6,0.000,0.034,2516,2138,1564,0,0,0,0,0,0
$GC,11584,0.72,346.9,679.3,10.7,876,11615,0.10,2.30,23.15,0.842,4,0.105,0.045,2562,3535,1453,0,0,0,0,0,0
$GC,11696,0.72,346.9,663.3,15.3,881,11700,0.00,2.15,0.00,0.000,6,0.000,0.030,2571,2142,1454,0,0,0,0,0,0
$GC,12023,0.72,346.9,616.3,14.4,897,12027,0.00,2.17,0.00,0.000,4,0.000,0.038,2582,720,1454,0,0,0,0,0,0
$GC,12117,0.72,346.9,602.9,14.1,901,12122,0.12,2.17,0.00,0.000,6,0.158,0.036,2551,2124,1454,0,0,0,0,0,0
$GC,12440,0.72,346.9,561.7,13.1,917,12444,0.00,2.20,0.00,0.000,4,0.000,0.046,2550,3536,1454,0,0,0,0,0,0
$GC,12533,0.72,346.9,548.1,14.3,921,12537,0.00,2.10,0.00,0.000,6,0.000,0.030,2558,2153,1454,0,0,0,0,0,0
$GC,12856,0.72,346.9,507.0,12.7,937,12860,0.00,2.17,0.00,0.000,4,0.000,0.040,2569,724,1453,0,0,0,0,0,0
$GC,12918,0.72,346.9,498.9,13.1,940,12922,0.00,2.20,0.00,0.000,6,0.000,0.035,2568,2152,1453,0,0,0,0,0,0
$GC,13243,0.72,346.9,457.2,12.3,970,13247,0.00,2.15,0.00,0.000,4,0.000,0.045,2569,3540,1453,0,0,0,0,0,0
$GC,13328,0.72,346.9,445.9,13.0,977,13332,0.00,2.08,0.00,0.000,6,0.000,0.030,2578,2170,1454,0,0,0,0,0,0
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$STATE,17103,end climb,SURFACE_DEPTH_REACHED
$STATE,17103,begin surface coast
$FINISH,0.2,1.009071
$STATE,17132,end surface coast,CONTROL_FINISHED_OK
$STATE,17132,begin surface
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$HUMID,46.02
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$XPDR_PINGS,0
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$10V_AH,9.8,64.184
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323032
$DATA_FILE_SIZE,83585,1474
$CAP_FILE_SIZE,202020,0
$CFSIZE,260165632,208064512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070911,161737,1926.096,12000.687,33,0.9,33,-2.1