version: 66.09
glider: 181
mission: 6
dive: 474
start: 9 10 111 0 55 58
data:
$ID,181
$MISSION,6
$DIVE,474
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41160.969
$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,47
$R_STBD_OVSHOOT,32
$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,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
$GPS1,100911,004825,1905.185,11958.736,39,1.5,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.5
$GPS2,100911,005502,1905.164,11958.711,10,1.4,10,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.039,-0.310
$KALMAN_X,-778.1,-234.1,-213.9,1971.2,171.8
$KALMAN_Y,7761.8,-377.6,16.2,-24808.6,1686.8
$MHEAD_RNG_PITCHd_Wd,168.7,9826,-17.4,-11.786
$D_GRID,3407
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.20,0.000,2,0.000,0.000,187,2509,2220,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.4,-3.7,11,132,8.15,2.15,-30.98,0.000,4,0.226,0.042,2123,1084,3664,0,0,0,0,0,0
$GC,161,-0.53,-194.6,25.3,-33.2,24,168,0.00,2.20,0.00,0.000,6,0.000,0.037,2114,2503,3665,0,0,0,0,0,0
$GC,304,-0.53,-194.6,70.7,-25.4,49,311,0.00,1.98,0.00,0.000,4,0.000,0.042,2103,3790,3664,0,0,0,0,0,0
$GC,375,-0.53,-194.6,87.7,-22.8,61,381,0.00,1.42,0.00,0.000,6,0.000,0.023,2103,2839,3664,0,0,0,0,0,0
$GC,517,-0.53,-194.6,116.8,-19.2,86,524,0.00,2.60,0.00,0.000,4,0.000,0.028,2103,1090,3664,0,0,0,0,0,0
$GC,604,-0.53,-194.6,132.3,-15.9,101,611,0.12,2.33,0.00,0.000,6,0.162,0.034,2126,2611,3664,0,0,0,0,0,0
$GC,750,-0.53,-194.6,155.0,-14.3,126,756,0.00,1.77,0.00,0.000,4,0.000,0.041,2121,3788,3665,0,0,0,0,0,0
$GC,819,-0.53,-194.6,165.5,-14.8,138,826,0.00,1.55,0.00,0.000,6,0.000,0.023,2121,2740,3665,0,0,0,0,0,0
$GC,963,-0.53,-194.6,184.1,-13.2,163,970,0.00,2.45,0.00,0.000,4,0.000,0.029,2121,1085,3665,0,0,0,0,0,0
$GC,1049,-0.53,-194.6,194.1,-10.9,178,1056,0.00,2.25,0.00,0.000,6,0.000,0.033,2112,2566,3665,0,0,0,0,0,0
$GC,1194,-0.53,-194.6,210.8,-12.1,196,1197,0.00,1.85,0.00,0.000,4,0.000,0.043,2111,3785,3665,0,0,0,0,0,0
$GC,1232,-0.53,-194.6,215.7,-12.0,199,1239,0.00,1.83,0.00,0.000,6,0.000,0.024,2111,2558,3665,0,0,0,0,0,0
$GC,1559,-0.53,-194.6,255.1,-11.7,230,1563,0.00,2.17,0.00,0.000,4,0.000,0.030,2111,1093,3665,0,0,0,0,0,0
$GC,1587,-0.53,-194.6,258.7,-11.9,232,1591,0.00,2.28,0.00,0.000,6,0.000,0.034,2111,2580,3665,0,0,0,0,0,0
$GC,1912,-0.53,-194.6,294.5,-10.8,262,1916,0.00,1.83,0.00,0.000,4,0.000,0.044,2111,3782,3662,0,0,0,0,0,0
$GC,1974,-0.53,-194.6,301.0,-10.2,267,1981,0.00,1.77,0.00,0.000,6,0.000,0.025,2111,2575,3661,0,0,0,0,0,0
$GC,2300,-0.53,-194.6,334.6,-11.1,298,2304,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1096,3658,0,0,0,0,0,0
$GC,2335,-0.53,-194.6,338.3,-10.8,300,2342,0.00,2.30,0.00,0.000,6,0.000,0.035,2111,2583,3658,0,0,0,0,0,0
$GC,2660,-0.53,-194.6,374.0,-11.3,331,2664,0.00,1.88,0.00,0.000,4,0.000,0.047,2111,3776,3655,0,0,0,0,0,0
$GC,2700,-0.53,-194.6,378.4,-10.9,334,2707,0.00,1.77,0.00,0.000,6,0.000,0.026,2111,2570,3654,0,0,0,0,0,0
$GC,3025,-0.53,-194.6,415.1,-11.0,365,3029,0.00,2.20,0.00,0.000,4,0.000,0.032,2111,1098,3651,0,0,0,0,0,0
$GC,3044,-0.53,-194.6,417.1,-11.1,366,3048,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2597,3651,0,0,0,0,0,0
$GC,3370,-0.53,-194.6,449.2,-9.4,396,3374,0.00,2.30,0.00,0.000,4,0.000,0.032,2111,1087,3647,0,0,0,0,0,0
$GC,3393,-0.53,-194.6,451.4,-9.6,398,3397,0.00,2.30,0.00,0.000,6,0.000,0.037,2111,2567,3647,0,0,0,0,0,0
$GC,3719,-0.53,-194.6,481.9,-9.4,428,3723,0.00,2.25,0.00,0.000,4,0.000,0.032,2111,1089,3644,0,0,0,0,0,0
$GC,3740,-0.53,-194.6,484.3,-9.6,429,3747,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2520,3644,0,0,0,0,0,0
$GC,4066,-0.53,-194.6,514.8,-9.6,453,4069,0.00,1.95,0.00,0.000,4,0.000,0.048,2111,3780,3640,0,0,0,0,0,0
$GC,4106,-0.53,-194.6,519.1,-9.9,454,4113,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2523,3640,0,0,0,0,0,0
$GC,4425,-0.53,-194.6,550.7,-9.9,470,4429,0.00,2.12,0.00,0.000,4,0.000,0.034,2111,1106,3638,0,0,0,0,0,0
$GC,4458,-0.53,-194.6,554.4,-10.1,471,4465,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2538,3638,0,0,0,0,0,0
$GC,4774,-0.53,-194.6,586.0,-10.3,487,4778,0.00,1.95,0.00,0.000,4,0.000,0.049,2111,3786,3635,0,0,0,0,0,0
$GC,4808,-0.53,-194.6,589.7,-10.4,488,4812,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2526,3634,0,0,0,0,0,0
$GC,5130,-0.53,-194.6,623.2,-10.5,504,5134,0.00,2.12,0.00,0.000,4,0.000,0.034,2111,1109,3633,0,0,0,0,0,0
$GC,5179,-0.53,-194.6,628.5,-10.1,506,5183,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2510,3633,0,0,0,0,0,0
$GC,5497,-0.53,-194.6,661.0,-10.3,521,5500,0.00,2.00,0.00,0.000,4,0.000,0.050,2109,3789,3631,0,0,0,0,0,0
$GC,5574,-0.53,-194.6,668.8,-9.4,524,5578,0.00,1.83,0.00,0.000,6,0.000,0.028,2109,2563,3630,0,0,0,0,0,0
$GC,5897,-0.53,-194.6,698.8,-9.2,540,5901,0.00,2.20,0.00,0.000,4,0.000,0.035,2110,1110,3628,0,0,0,0,0,0
$GC,5963,-0.53,-194.6,704.8,-8.4,543,5967,0.00,2.20,0.00,0.000,6,0.000,0.037,2101,2518,3628,0,0,0,0,0,0
$GC,6285,-0.53,-194.6,734.4,-9.4,559,6289,0.00,1.98,0.00,0.000,4,0.000,0.049,2095,3780,3625,0,0,0,0,0,0
$GC,6358,-0.53,-194.6,741.2,-8.9,562,6362,0.12,1.83,0.00,0.000,6,0.138,0.028,2131,2563,3625,0,0,0,0,0,0
$GC,6685,-0.53,-194.6,764.7,-7.2,578,6689,0.00,2.20,0.00,0.000,4,0.000,0.036,2132,1110,3624,0,0,0,0,0,0
$GC,6748,-0.53,-194.6,769.4,-7.6,581,6752,0.00,2.20,0.00,0.000,6,0.000,0.037,2126,2520,3623,0,0,0,0,0,0
$GC,7075,-0.53,-194.6,793.9,-7.7,597,7078,0.00,1.98,0.00,0.000,4,0.000,0.049,2126,3783,3622,0,0,0,0,0,0
$GC,7189,-0.53,-194.6,802.9,-8.0,602,7193,0.00,2.25,0.00,0.000,6,0.000,0.029,2126,2311,3621,0,0,0,0,0,0
$GC,7522,-0.53,-194.6,830.6,-8.3,618,7526,0.00,1.85,0.00,0.000,4,0.000,0.037,2126,1110,3619,0,0,0,0,0,0
$GC,7547,-0.53,-194.6,832.8,-8.3,619,7551,0.00,2.38,0.00,0.000,6,0.000,0.038,2125,2625,3619,0,0,0,0,0,0
$GC,7874,-0.53,-194.6,860.2,-8.2,635,7877,0.00,1.80,0.00,0.000,4,0.000,0.050,2125,3779,3618,0,0,0,0,0,0
$GC,7921,-0.53,-194.6,863.6,-7.4,637,7925,0.00,2.25,0.00,0.000,6,0.000,0.030,2125,2303,3618,0,0,0,0,0,0
$GC,8249,-0.53,-194.6,887.3,-7.0,653,8253,0.00,1.80,0.00,0.000,4,0.000,0.037,2125,1106,3617,0,0,0,0,0,0
$GC,8260,-0.53,-194.6,888.2,-7.0,653,8264,0.00,2.45,0.00,0.000,6,0.000,0.039,2125,2663,3617,0,0,0,0,0,0
$GC,8576,-0.53,-194.6,908.0,-6.2,668,8580,0.00,1.77,0.00,0.000,4,0.000,0.050,2125,3770,3615,0,0,0,0,0,0
$GC,8604,-0.53,-194.6,909.8,-6.0,669,8608,0.00,2.17,0.00,0.000,6,0.000,0.028,2125,2335,3615,0,0,0,0,0,0
$GC,8925,-0.53,-194.6,929.5,-6.4,685,8929,0.00,1.85,0.00,0.000,4,0.000,0.035,2125,1101,3615,0,0,0,0,0,0
$GC,9003,-0.53,-194.6,935.1,-7.1,688,9008,0.00,2.35,0.00,0.000,6,0.000,0.038,2125,2598,3614,0,0,0,0,0,0
$GC,9320,-0.53,-194.6,958.4,-7.3,703,9323,0.00,1.85,0.00,0.000,4,0.000,0.049,2125,3783,3613,0,0,0,0,0,0
$GC,9370,-0.53,-194.6,962.4,-7.5,705,9374,0.00,2.28,0.00,0.000,6,0.000,0.028,2125,2285,3612,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9613,-0.13,0.0,981.0,8.1,717,9768,0.38,0.00,149.52,1.074,4,0.095,0.000,2258,2116,2868,0,0,0,0,0,0
$STATE,9769,end apogee,CONTROL_FINISHED_OK
$STATE,9769,begin climb
$GC,9772,0.53,194.6,992.3,0.0,724,9941,0.60,2.25,158.70,1.058,4,0.061,0.039,2475,730,2075,0,0,0,0,0,0
$GC,10031,0.67,305.8,984.0,7.3,736,10129,0.12,2.22,90.07,1.037,6,0.096,0.035,2521,2133,1622,0,0,0,0,0,0
$GC,10436,0.67,305.8,938.3,12.0,756,10440,0.00,2.22,0.00,0.000,4,0.000,0.047,2521,3542,1620,0,0,0,0,0,0
$GC,10530,0.67,305.8,925.1,13.9,760,10534,0.00,2.10,0.00,0.000,6,0.000,0.029,2531,2169,1620,0,0,0,0,0,0
$GC,10852,0.67,305.8,879.8,14.0,776,10856,0.00,2.20,0.00,0.000,4,0.000,0.039,2542,726,1620,0,0,0,0,0,0
$GC,10915,0.67,305.8,871.3,13.6,779,10919,0.00,2.25,0.00,0.000,6,0.000,0.035,2542,2169,1619,0,0,0,0,0,0
$GC,11247,0.67,305.8,822.8,14.3,795,11251,0.00,2.15,0.00,0.000,4,0.000,0.045,2542,3541,1619,0,0,0,0,0,0
$GC,11309,0.67,305.8,813.2,15.4,797,11316,0.15,2.10,0.00,0.000,6,0.174,0.029,2514,2160,1618,0,0,0,0,0,0
$GC,11625,0.67,305.8,774.5,12.3,813,11629,0.00,2.20,0.00,0.000,4,0.000,0.039,2524,720,1618,0,0,0,0,0,0
$GC,11725,0.67,305.8,762.4,12.1,817,11732,0.00,2.15,0.00,0.000,6,0.000,0.035,2524,2114,1618,0,0,0,0,0,0
$GC,12041,0.67,305.8,723.5,12.3,833,12045,0.00,2.22,0.00,0.000,4,0.000,0.045,2524,3542,1618,0,0,0,0,0,0
$GC,12096,0.67,305.8,716.2,13.3,835,12103,0.00,2.15,0.00,0.000,6,0.000,0.030,2533,2131,1618,0,0,0,0,0,0
$GC,12413,0.67,305.8,677.7,12.1,851,12417,0.00,2.17,0.00,0.000,4,0.000,0.040,2544,708,1618,0,0,0,0,0,0
$GC,12462,0.67,305.8,671.5,12.5,853,12466,0.00,2.20,0.00,0.000,6,0.000,0.034,2544,2138,1618,0,0,0,0,0,0
$GC,12784,0.67,305.8,630.4,12.7,869,12788,0.00,2.17,0.00,0.000,4,0.000,0.045,2544,3533,1619,0,0,0,0,0,0
$GC,12828,0.67,305.8,624.3,13.9,871,12833,0.15,2.08,0.00,0.000,6,0.163,0.029,2514,2169,1618,0,0,0,0,0,0
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$STATE,18226,end climb,SURFACE_DEPTH_REACHED
$STATE,18226,begin surface coast
$FINISH,0.4,1.009196
$STATE,18255,end surface coast,CONTROL_FINISHED_OK
$STATE,18255,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,45.39
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.8,65.314
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322264
$DATA_FILE_SIZE,87064,1478
$CAP_FILE_SIZE,208460,0
$CFSIZE,260165632,206954496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,060237,1904.145,12000.470,28,1.0,28,-2.0