version: 66.09
glider: 181
mission: 6
dive: 466
start: 9 8 111 7 49 12
data:
$ID,181
$MISSION,6
$DIVE,466
$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,-41150.91
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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,1
$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
$GPS1,080911,074007,1920.694,11959.226,33,0.9,33,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.3
$GPS2,080911,074850,1920.786,11959.260,11,1.2,11,-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,180.2,38518,-17.4,-11.786
$D_GRID,4171
$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,16,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,87,0.00,0.00,-66.85,0.000,2,0.000,0.000,194,2511,2345,0,0,0,0,0,0
$GC,91,-0.53,-194.6,3.4,-3.3,12,138,8.05,2.22,-29.15,0.000,4,0.223,0.041,2123,1078,3663,0,0,0,0,0,0
$GC,162,-0.53,-194.6,21.5,-28.4,24,169,0.00,2.22,0.00,0.000,6,0.000,0.035,2115,2503,3663,0,0,0,0,0,0
$GC,305,-0.53,-194.6,62.2,-26.0,49,312,0.00,1.98,0.00,0.000,4,0.000,0.044,2111,3779,3662,0,0,0,0,0,0
$GC,421,-0.53,-194.6,89.3,-16.4,69,427,0.00,1.65,0.00,0.000,6,0.000,0.023,2111,2632,3662,0,0,0,0,0,0
$GC,563,-0.53,-194.6,115.3,-19.2,94,570,0.00,2.28,0.00,0.000,4,0.000,0.028,2111,1084,3662,0,0,0,0,0,0
$GC,606,-0.53,-194.6,122.4,-16.0,101,613,0.00,2.33,0.00,0.000,6,0.000,0.035,2111,2598,3662,0,0,0,0,0,0
$GC,749,-0.53,-194.6,146.8,-17.6,126,755,0.00,1.80,0.00,0.000,4,0.000,0.042,2102,3787,3662,0,0,0,0,0,0
$GC,841,-0.53,-194.6,160.6,-12.2,142,848,0.00,1.67,0.00,0.000,6,0.000,0.023,2103,2614,3662,0,0,0,0,0,0
$GC,985,-0.53,-194.6,181.3,-13.8,167,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2611,3663,0,0,0,0,0,0
$GC,1131,-0.53,-194.6,202.3,-14.7,192,1135,0.00,2.25,0.00,0.000,4,0.000,0.028,2102,1080,3663,0,0,0,0,0,0
$GC,1171,-0.53,-194.6,207.8,-13.8,195,1177,0.12,2.67,0.00,0.000,6,0.151,0.034,2131,2819,3663,0,0,0,0,0,0
$GC,1497,-0.53,-194.6,242.5,-9.6,225,1501,0.00,2.60,0.00,0.000,4,0.000,0.028,2132,1088,3663,0,0,0,0,0,0
$GC,1585,-0.53,-194.6,250.4,-8.3,232,1592,0.00,2.42,0.00,0.000,6,0.000,0.032,2125,2677,3662,0,0,0,0,0,0
$GC,1911,-0.53,-194.6,280.9,-10.3,263,1915,0.00,2.38,0.00,0.000,4,0.000,0.030,2125,1094,3660,0,0,0,0,0,0
$GC,1952,-0.53,-194.6,285.1,-10.4,266,1956,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2613,3660,0,0,0,0,0,0
$GC,2277,-0.53,-194.6,321.8,-10.8,296,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2614,3656,0,0,0,0,0,0
$GC,2598,-0.53,-194.6,356.2,-10.5,326,2602,0.00,2.30,0.00,0.000,4,0.000,0.031,2125,1088,3653,0,0,0,0,0,0
$GC,2631,-0.53,-194.6,360.1,-10.3,328,2638,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2564,3652,0,0,0,0,0,0
$GC,2957,-0.53,-194.6,391.2,-9.7,359,2961,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3784,3649,0,0,0,0,0,0
$GC,2985,-0.53,-194.6,394.1,-9.6,361,2992,0.00,1.85,0.00,0.000,6,0.000,0.026,2124,2527,3648,0,0,0,0,0,0
$GC,3310,-0.53,-194.6,423.4,-8.8,392,3314,0.00,2.12,0.00,0.000,4,0.000,0.032,2124,1101,3645,0,0,0,0,0,0
$GC,3340,-0.53,-194.6,426.0,-8.9,394,3344,0.00,2.25,0.00,0.000,6,0.000,0.035,2125,2558,3645,0,0,0,0,0,0
$GC,3665,-0.53,-194.6,454.6,-9.1,424,3669,0.00,1.88,0.00,0.000,4,0.000,0.047,2125,3777,3642,0,0,0,0,0,0
$GC,3693,-0.53,-194.6,457.3,-9.3,426,3700,0.00,1.88,0.00,0.000,6,0.000,0.027,2124,2511,3641,0,0,0,0,0,0
$GC,4019,-0.53,-194.6,487.8,-9.1,457,4023,0.00,2.10,0.00,0.000,4,0.000,0.033,2124,1109,3639,0,0,0,0,0,0
$GC,4040,-0.53,-194.6,490.2,-9.3,458,4047,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2527,3639,0,0,0,0,0,0
$GC,4360,-0.53,-194.6,519.1,-9.1,479,4363,0.00,1.95,0.00,0.000,4,0.000,0.048,2124,3782,3636,0,0,0,0,0,0
$GC,4410,-0.53,-194.6,523.8,-9.2,481,4414,0.00,1.88,0.00,0.000,6,0.000,0.027,2124,2519,3635,0,0,0,0,0,0
$GC,4738,-0.53,-194.6,552.2,-8.7,497,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2516,3633,0,0,0,0,0,0
$GC,5048,-0.53,-194.6,578.6,-8.5,512,5052,0.00,2.03,0.00,0.000,4,0.000,0.047,2125,3776,3631,0,0,0,0,0,0
$GC,5080,-0.53,-194.6,581.6,-8.8,513,5084,0.00,1.83,0.00,0.000,6,0.000,0.026,2124,2543,3631,0,0,0,0,0,0
$GC,5402,-0.53,-194.6,608.5,-8.1,529,5406,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1106,3628,0,0,0,0,0,0
$GC,5436,-0.53,-194.6,611.5,-8.0,530,5443,0.00,2.25,0.00,0.000,6,0.000,0.036,2124,2555,3629,0,0,0,0,0,0
$GC,5752,-0.53,-194.6,636.1,-7.9,546,5756,0.00,1.90,0.00,0.000,4,0.000,0.047,2124,3777,3627,0,0,0,0,0,0
$GC,5780,-0.53,-194.6,638.4,-7.8,547,5784,0.00,1.83,0.00,0.000,6,0.000,0.026,2124,2545,3626,0,0,0,0,0,0
$GC,6108,-0.53,-194.6,663.8,-8.0,563,6112,0.00,2.15,0.00,0.000,4,0.000,0.033,2124,1107,3624,0,0,0,0,0,0
$GC,6164,-0.53,-194.6,668.8,-8.4,565,6171,0.00,2.15,0.00,0.000,6,0.000,0.035,2124,2495,3624,0,0,0,0,0,0
$GC,6481,-0.53,-194.6,696.2,-9.0,581,6485,0.00,2.00,0.00,0.000,4,0.000,0.048,2124,3777,3623,0,0,0,0,0,0
$GC,6564,-0.53,-194.6,704.0,-9.4,584,6570,0.00,1.80,0.00,0.000,6,0.000,0.028,2124,2564,3622,0,0,0,0,0,0
$GC,6880,-0.53,-194.6,730.8,-8.4,600,6884,0.00,2.20,0.00,0.000,4,0.000,0.034,2125,1106,3621,0,0,0,0,0,0
$GC,6925,-0.53,-194.6,734.9,-9.1,602,6929,0.00,2.30,0.00,0.000,6,0.000,0.037,2124,2578,3620,0,0,0,0,0,0
$GC,7246,-0.53,-194.6,760.0,-7.5,618,7250,0.00,2.25,0.00,0.000,4,0.000,0.034,2124,1109,3619,0,0,0,0,0,0
$GC,7268,-0.53,-194.6,761.9,-7.4,619,7272,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2533,3619,0,0,0,0,0,0
$GC,7590,-0.53,-194.6,783.8,-6.8,635,7594,0.00,2.00,0.00,0.000,4,0.000,0.050,2124,3798,3617,0,0,0,0,0,0
$GC,7641,-0.53,-194.6,787.4,-6.8,637,7644,0.00,1.90,0.00,0.000,6,0.000,0.028,2124,2531,3618,0,0,0,0,0,0
$GC,7969,-0.53,-194.6,809.8,-7.0,653,7973,0.00,2.15,0.00,0.000,4,0.000,0.034,2124,1106,3616,0,0,0,0,0,0
$GC,8013,-0.53,-194.6,813.2,-7.2,655,8017,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2534,3616,0,0,0,0,0,0
$GC,8335,-0.53,-194.6,835.6,-7.2,671,8338,0.00,1.95,0.00,0.000,4,0.000,0.048,2124,3786,3615,0,0,0,0,0,0
$GC,8449,-0.53,-194.6,844.3,-7.8,676,8453,0.00,2.28,0.00,0.000,6,0.000,0.028,2124,2286,3614,0,0,0,0,0,0
$GC,8777,-0.53,-194.6,869.7,-7.5,692,8780,0.00,1.77,0.00,0.000,4,0.000,0.035,2124,1099,3613,0,0,0,0,0,0
$GC,8794,-0.53,-194.6,871.2,-7.7,692,8801,0.00,2.40,0.00,0.000,6,0.000,0.037,2124,2640,3612,0,0,0,0,0,0
$GC,9110,-0.53,-194.6,893.0,-6.9,708,9114,0.00,1.80,0.00,0.000,4,0.000,0.047,2124,3784,3611,0,0,0,0,0,0
$GC,9160,-0.53,-194.6,896.5,-6.7,710,9164,0.00,2.20,0.00,0.000,6,0.000,0.028,2124,2327,3611,0,0,0,0,0,0
$GC,9482,-0.53,-194.6,917.6,-6.5,726,9487,0.00,2.33,0.00,0.000,4,0.000,0.047,2124,3785,3610,0,0,0,0,0,0
$GC,9601,-0.53,-194.6,925.5,-6.6,731,9605,0.00,1.85,0.00,0.000,6,0.000,0.027,2124,2547,3610,0,0,0,0,0,0
$STATE,9611,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9611,begin apogee
$GC,9618,-0.13,0.0,926.4,6.7,732,9773,0.38,0.00,147.82,1.036,4,0.106,0.000,2252,2114,2869,0,0,0,0,0,0
$STATE,9774,end apogee,CONTROL_FINISHED_OK
$STATE,9774,begin climb
$GC,9777,0.53,194.6,934.9,0.0,739,9944,0.62,2.38,157.68,1.018,4,0.061,0.044,2479,3546,2075,0,0,0,0,0,0
$GC,10040,0.53,198.0,918.0,11.6,751,10050,0.00,2.20,4.75,0.667,6,0.000,0.029,2488,2133,2061,0,0,0,0,0,0
$GC,10380,0.58,235.1,882.3,10.3,768,10415,0.00,2.28,30.23,0.971,4,0.000,0.041,2488,3541,1910,0,0,0,0,0,0
$GC,10510,0.58,235.1,866.4,12.2,773,10515,0.00,2.25,0.00,0.000,6,0.000,0.029,2498,2079,1910,0,0,0,0,0,0
$GC,10838,0.58,235.1,827.6,12.0,789,10842,0.00,2.08,0.00,0.000,4,0.000,0.040,2509,721,1908,0,0,0,0,0,0
$GC,10923,0.58,235.1,817.4,12.0,793,10928,0.00,2.10,0.00,0.000,6,0.000,0.034,2509,2081,1908,0,0,0,0,0,0
$GC,11251,0.58,235.1,777.4,12.2,809,11255,0.00,2.28,0.00,0.000,4,0.000,0.044,2509,3540,1907,0,0,0,0,0,0
$GC,11346,0.58,235.1,763.7,14.6,813,11351,0.12,2.15,0.00,0.000,6,0.174,0.029,2489,2129,1907,0,0,0,0,0,0
$GC,11662,0.62,272.1,729.6,10.3,828,11697,0.00,2.22,29.80,0.900,4,0.000,0.041,2497,717,1758,0,0,0,0,0,0
$GC,11720,0.68,318.9,723.5,9.9,830,11762,0.00,2.20,37.58,0.884,6,0.000,0.034,2498,2124,1569,0,0,0,0,0,0
$GC,12073,0.76,382.6,689.8,9.2,847,12130,0.15,2.30,51.15,0.879,4,0.086,0.043,2562,3541,1307,0,0,0,0,0,0
$GC,12207,0.76,382.6,671.0,14.8,852,12211,0.00,2.15,0.00,0.000,6,0.000,0.029,2572,2157,1309,0,0,0,0,0,0
$GC,12530,0.76,382.6,625.4,14.3,868,12534,0.00,2.20,0.00,0.000,4,0.000,0.038,2583,720,1309,0,0,0,0,0,0
$GC,12604,0.76,382.6,614.8,14.3,871,12609,0.15,2.20,0.00,0.000,6,0.148,0.034,2542,2142,1309,0,0,0,0,0,0
$GC,12920,0.76,382.6,574.3,13.0,886,12924,0.00,2.17,0.00,0.000,4,0.000,0.044,2542,3537,1309,0,0,0,0,0,0
$GC,13003,0.76,382.6,562.1,14.6,889,13010,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2218,1309,0,0,0,0,0,0
$GC,13320,0.76,382.6,518.0,13.8,905,13324,0.00,2.28,0.00,0.000,4,0.000,0.038,2561,721,1309,0,0,0,0,0,0
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$STATE,17395,end climb,SURFACE_DEPTH_REACHED
$STATE,17395,begin surface coast
$FINISH,0.2,1.020820
$STATE,17418,end surface coast,CONTROL_FINISHED_OK
$STATE,17418,begin surface
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$IRIDIUM_FIX,1909.23,12001.41,080911,070726
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.79
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,23.4,76.185
$10V_AH,9.7,64.556
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,986.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323040
$DATA_FILE_SIZE,80028,1418
$CAP_FILE_SIZE,199671,0
$CFSIZE,260165632,207708160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,124207,1919.233,11959.249,40,1.0,40,-2.1