version: 66.09
glider: 181
mission: 6
dive: 468
start: 9 8 111 17 53 53
data:
$ID,181
$MISSION,6
$DIVE,468
$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,-41153.422
$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,46
$R_STBD_OVSHOOT,61
$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
$GPS1,080911,174730,1917.090,11959.165,37,1.0,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.4
$GPS2,080911,175331,1917.015,11959.155,9,1.0,14,-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,179.4,31547,-17.4,-11.786
$D_GRID,4145
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-61.88,0.000,2,0.000,0.000,176,2525,2179,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.1,-3.1,11,133,8.18,2.22,-33.62,0.000,4,0.226,0.040,2124,1088,3664,0,0,0,0,0,0
$GC,186,-0.53,-194.6,28.0,-21.4,28,193,0.00,2.15,0.00,0.000,6,0.000,0.036,2124,2479,3665,0,0,0,0,0,0
$GC,329,-0.53,-194.6,73.3,-26.6,53,336,0.00,2.03,0.00,0.000,4,0.000,0.044,2114,3787,3665,0,0,0,0,0,0
$GC,484,-0.53,-194.6,104.1,-15.8,80,491,0.00,1.65,0.00,0.000,6,0.000,0.023,2114,2637,3665,0,0,0,0,0,0
$GC,627,-0.53,-194.6,129.5,-17.6,105,634,0.00,2.28,0.00,0.000,4,0.000,0.027,2114,1087,3666,0,0,0,0,0,0
$GC,653,-0.53,-194.6,133.7,-17.1,109,659,0.00,2.50,0.00,0.000,6,0.000,0.034,2111,2714,3665,0,0,0,0,0,0
$GC,795,-0.53,-194.6,157.5,-16.6,134,802,0.00,1.62,0.00,0.000,4,0.000,0.042,2111,3796,3666,0,0,0,0,0,0
$GC,820,-0.53,-194.6,161.5,-15.6,138,826,0.00,1.62,0.00,0.000,6,0.000,0.023,2111,2706,3667,0,0,0,0,0,0
$GC,963,-0.53,-194.6,182.8,-14.1,163,970,0.00,2.38,0.00,0.000,4,0.000,0.028,2111,1092,3667,0,0,0,0,0,0
$GC,1050,-0.53,-194.6,193.6,-11.3,178,1057,0.00,2.28,0.00,0.000,6,0.000,0.032,2111,2590,3667,0,0,0,0,0,0
$GC,1194,-0.53,-194.6,211.3,-12.8,196,1198,0.00,1.80,0.00,0.000,4,0.000,0.041,2103,3783,3667,0,0,0,0,0,0
$GC,1251,-0.53,-194.6,219.1,-13.2,201,1255,0.00,1.75,0.00,0.000,6,0.000,0.024,2103,2576,3667,0,0,0,0,0,0
$GC,1582,-0.53,-194.6,263.3,-13.0,232,1586,0.00,2.17,0.00,0.000,4,0.000,0.028,2103,1092,3666,0,0,0,0,0,0
$GC,1611,-0.53,-194.6,267.0,-12.6,234,1616,0.00,2.33,0.00,0.000,6,0.000,0.033,2099,2621,3666,0,0,0,0,0,0
$GC,1937,-0.53,-194.6,310.8,-14.3,264,1941,0.00,2.30,0.00,0.000,4,0.000,0.028,2099,1093,3664,0,0,0,0,0,0
$GC,1959,-0.53,-194.6,314.2,-14.6,265,1966,0.12,2.33,0.00,0.000,6,0.145,0.034,2134,2608,3664,0,0,0,0,0,0
$GC,2284,-0.53,-194.6,349.0,-10.1,296,2288,0.00,1.77,0.00,0.000,4,0.000,0.044,2126,3782,3661,0,0,0,0,0,0
$GC,2313,-0.53,-194.6,351.8,-9.9,298,2320,0.00,1.80,0.00,0.000,6,0.000,0.024,2126,2547,3660,0,0,0,0,0,0
$GC,2638,-0.53,-194.6,383.5,-9.7,329,2642,0.00,2.12,0.00,0.000,4,0.000,0.029,2126,1116,3657,0,0,0,0,0,0
$GC,2695,-0.53,-194.6,389.2,-10.0,333,2702,0.00,2.20,0.00,0.000,6,0.000,0.032,2125,2553,3657,0,0,0,0,0,0
$GC,3020,-0.53,-194.6,421.4,-9.8,364,3024,0.00,1.90,0.00,0.000,4,0.000,0.045,2124,3787,3654,0,0,0,0,0,0
$GC,3048,-0.53,-194.6,424.5,-10.2,366,3055,0.00,1.88,0.00,0.000,6,0.000,0.025,2124,2513,3653,0,0,0,0,0,0
$GC,3374,-0.53,-194.6,457.4,-10.0,397,3378,0.00,2.03,0.00,0.000,4,0.000,0.044,2122,3793,3650,0,0,0,0,0,0
$GC,3409,-0.53,-194.6,460.8,-9.9,400,3412,0.00,1.83,0.00,0.000,6,0.000,0.025,2122,2553,3650,0,0,0,0,0,0
$GC,3740,-0.53,-194.6,492.5,-9.6,431,3744,0.00,2.15,0.00,0.000,4,0.000,0.030,2122,1109,3647,0,0,0,0,0,0
$GC,3773,-0.53,-194.6,495.9,-9.8,433,3779,0.00,2.25,0.00,0.000,6,0.000,0.034,2114,2569,3646,0,0,0,0,0,0
$GC,4091,-0.53,-194.6,525.6,-9.4,451,4095,0.00,1.92,0.00,0.000,4,0.000,0.047,2112,3783,3644,0,0,0,0,0,0
$GC,4137,-0.53,-194.6,530.0,-9.4,453,4141,0.00,1.83,0.00,0.000,6,0.000,0.026,2112,2574,3644,0,0,0,0,0,0
$GC,4473,-0.53,-194.6,561.0,-9.6,469,4477,0.00,2.20,0.00,0.000,4,0.000,0.031,2112,1102,3641,0,0,0,0,0,0
$GC,4505,-0.53,-194.6,564.5,-9.5,470,4512,0.00,2.33,0.00,0.000,6,0.000,0.036,2112,2588,3641,0,0,0,0,0,0
$GC,4822,-0.53,-194.6,594.9,-9.7,486,4826,0.00,1.85,0.00,0.000,4,0.000,0.047,2112,3782,3639,0,0,0,0,0,0
$GC,4846,-0.53,-194.6,597.3,-9.7,487,4850,0.00,1.77,0.00,0.000,6,0.000,0.026,2111,2578,3639,0,0,0,0,0,0
$GC,5180,-0.53,-194.6,631.7,-11.0,503,5184,0.00,2.20,0.00,0.000,4,0.000,0.031,2112,1109,3637,0,0,0,0,0,0
$GC,5254,-0.53,-194.6,639.8,-11.0,506,5258,0.00,2.22,0.00,0.000,6,0.000,0.035,2111,2542,3637,0,0,0,0,0,0
$GC,5571,-0.53,-194.6,674.2,-10.5,521,5575,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3802,3634,0,0,0,0,0,0
$GC,5648,-0.53,-194.6,682.0,-9.2,524,5652,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2572,3633,0,0,0,0,0,0
$GC,5971,-0.53,-194.6,711.7,-8.9,540,5975,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1110,3632,0,0,0,0,0,0
$GC,6020,-0.53,-194.6,716.2,-8.8,542,6024,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2556,3632,0,0,0,0,0,0
$GC,6337,-0.53,-194.6,743.3,-8.6,557,6340,0.00,1.90,0.00,0.000,4,0.000,0.048,2111,3777,3630,0,0,0,0,0,0
$GC,6388,-0.53,-194.6,747.6,-8.2,559,6391,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2593,3630,0,0,0,0,0,0
$GC,6715,-0.53,-194.6,774.1,-8.1,575,6719,0.00,2.22,0.00,0.000,4,0.000,0.032,2111,1114,3628,0,0,0,0,0,0
$GC,6780,-0.53,-194.6,778.8,-7.1,578,6784,0.00,2.25,0.00,0.000,6,0.000,0.036,2112,2561,3628,0,0,0,0,0,0
$GC,7108,-0.53,-194.6,803.9,-8.0,594,7111,0.00,1.90,0.00,0.000,4,0.000,0.049,2111,3776,3626,0,0,0,0,0,0
$GC,7180,-0.53,-194.6,809.7,-7.5,597,7184,0.00,1.77,0.00,0.000,6,0.000,0.027,2111,2607,3626,0,0,0,0,0,0
$GC,7509,-0.53,-194.6,837.2,-8.8,613,7513,0.00,2.28,0.00,0.000,4,0.000,0.034,2111,1112,3624,0,0,0,0,0,0
$GC,7592,-0.53,-194.6,844.7,-8.6,616,7599,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2540,3624,0,0,0,0,0,0
$GC,7909,-0.53,-194.6,873.6,-9.3,632,7913,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3785,3623,0,0,0,0,0,0
$GC,7942,-0.53,-194.6,876.9,-9.1,633,7946,0.00,1.85,0.00,0.000,6,0.000,0.026,2111,2543,3623,0,0,0,0,0,0
$GC,8265,-0.53,-194.6,905.9,-9.3,649,8269,0.00,2.17,0.00,0.000,4,0.000,0.033,2111,1098,3621,0,0,0,0,0,0
$GC,8305,-0.53,-194.6,909.5,-8.6,651,8309,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2539,3621,0,0,0,0,0,0
$GC,8632,-0.53,-194.6,938.3,-8.7,667,8636,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3778,3620,0,0,0,0,0,0
$GC,8672,-0.53,-194.6,941.9,-8.8,668,8678,0.00,1.88,0.00,0.000,6,0.000,0.027,2111,2526,3620,0,0,0,0,0,0
$GC,8988,-0.53,-194.6,968.6,-8.4,684,8992,0.00,2.15,0.00,0.000,4,0.000,0.034,2111,1103,3619,0,0,0,0,0,0
$GC,9037,-0.53,-194.6,972.9,-8.6,686,9041,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2526,3618,0,0,0,0,0,0
$STATE,9248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9248,begin apogee
$GC,9255,-0.13,0.0,990.8,8.6,696,9410,0.43,0.00,150.23,1.077,4,0.111,0.000,2253,2105,2869,0,0,0,0,0,0
$STATE,9411,end apogee,CONTROL_FINISHED_OK
$STATE,9411,begin climb
$GC,9414,0.53,194.6,999.4,0.0,703,9582,0.62,2.22,158.82,1.058,4,0.060,0.037,2480,726,2074,0,0,0,0,0,0
$GC,9589,0.63,278.0,994.6,8.4,711,9665,0.00,2.30,69.03,1.032,6,0.000,0.033,2480,2132,1735,0,0,0,0,0,0
$GC,9989,0.65,295.9,951.5,11.1,731,10011,0.00,2.25,16.23,0.965,4,0.000,0.043,2481,3538,1661,0,0,0,0,0,0
$GC,10081,0.65,295.9,940.5,12.5,735,10085,0.00,2.08,0.00,0.000,6,0.000,0.028,2490,2185,1660,0,0,0,0,0,0
$GC,10408,0.67,309.6,904.1,11.2,751,10430,0.00,2.33,12.40,0.919,4,0.000,0.038,2501,731,1606,0,0,0,0,0,0
$GC,10464,0.71,337.9,897.5,10.6,753,10497,0.00,2.25,23.38,0.955,6,0.000,0.033,2501,2181,1491,0,0,0,0,0,0
$GC,10808,0.73,354.7,858.0,11.1,770,10830,0.00,2.15,15.48,0.917,4,0.000,0.044,2501,3537,1423,0,0,0,0,0,0
$GC,10893,0.73,354.7,847.3,12.6,773,10899,0.00,2.03,0.00,0.000,6,0.000,0.028,2510,2220,1424,0,0,0,0,0,0
$GC,11209,0.73,354.7,809.2,12.0,789,11213,0.00,2.30,0.00,0.000,4,0.000,0.038,2521,730,1424,0,0,0,0,0,0
$GC,11258,0.73,354.7,802.9,11.9,791,11263,0.00,2.28,0.00,0.000,6,0.000,0.033,2521,2202,1424,0,0,0,0,0,0
$GC,11583,0.73,354.7,761.9,12.8,807,11587,0.00,2.08,0.00,0.000,4,0.000,0.045,2521,3538,1424,0,0,0,0,0,0
$GC,11623,0.73,354.7,756.2,13.6,809,11626,0.00,2.03,0.00,0.000,6,0.000,0.028,2530,2200,1423,0,0,0,0,0,0
$GC,11956,0.73,354.7,711.0,13.4,825,11961,0.00,2.25,0.00,0.000,4,0.000,0.038,2541,726,1423,0,0,0,0,0,0
$GC,12036,0.73,354.7,700.3,13.6,828,12043,0.00,2.20,0.00,0.000,6,0.000,0.033,2541,2159,1424,0,0,0,0,0,0
$GC,12352,0.73,354.7,655.9,13.8,844,12356,0.00,2.17,0.00,0.000,4,0.000,0.045,2541,3542,1423,0,0,0,0,0,0
$GC,12424,0.73,354.7,645.2,14.0,847,12428,0.00,2.03,0.00,0.000,6,0.000,0.029,2550,2237,1423,0,0,0,0,0,0
$GC,12752,0.73,354.7,599.3,14.0,863,12756,0.00,2.30,0.00,0.000,4,0.000,0.038,2561,730,1423,0,0,0,0,0,0
$GC,12841,0.73,354.7,586.9,13.4,867,12845,0.00,2.25,0.00,0.000,6,0.000,0.034,2561,2188,1423,0,0,0,0,0,0
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$STATE,17697,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
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$STATE,17721,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,64.742
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$FG_AHR_10Vo,0.000
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$MEM,323032
$DATA_FILE_SIZE,83502,1434
$CAP_FILE_SIZE,200045,0
$CFSIZE,260165632,207523840
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$GPS,080911,225137,1914.578,11958.310,28,0.9,28,-2.1