version: 66.09
glider: 181
mission: 6
dive: 476
start: 9 10 111 11 17 46
data:
$ID,181
$MISSION,6
$DIVE,476
$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,-41170.863
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,100911,111037,1902.403,12000.559,27,1.3,27,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.3
$GPS2,100911,111650,1902.480,12000.508,14,1.8,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.079,-0.302
$KALMAN_X,552.3,519.8,-464.8,3264.0,552.0
$KALMAN_Y,12022.8,899.2,-156.1,-35158.6,1016.4
$MHEAD_RNG_PITCHd_Wd,193.0,4679,-19.9,-11.786
$D_GRID,3178
$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,-0.52,-151.6,0.0,0.0,0,81,0.00,0.00,-62.38,0.000,2,0.000,0.000,163,2511,2204,0,0,0,0,0,0
$GC,84,-0.57,-194.6,3.2,-3.3,11,132,8.15,2.15,-32.35,0.000,4,0.226,0.037,2107,1069,3663,0,0,0,0,0,0
$GC,167,-0.57,-194.6,22.8,-24.0,25,174,0.00,2.20,0.00,0.000,6,0.000,0.034,2098,2490,3663,0,0,0,0,0,0
$GC,310,-0.57,-194.6,66.0,-25.8,50,317,0.00,1.98,0.00,0.000,4,0.000,0.042,2088,3782,3663,0,0,0,0,0,0
$GC,387,-0.57,-194.6,86.4,-22.5,63,393,0.00,1.50,0.00,0.000,6,0.000,0.023,2088,2768,3662,0,0,0,0,0,0
$GC,529,-0.57,-194.6,117.5,-19.6,88,536,0.00,2.50,0.00,0.000,4,0.000,0.028,2088,1081,3662,0,0,0,0,0,0
$GC,565,-0.57,-194.6,124.2,-18.6,94,573,0.12,2.38,0.00,0.000,6,0.159,0.034,2112,2617,3662,0,0,0,0,0,0
$GC,711,-0.57,-194.6,146.7,-15.2,119,718,0.00,1.77,0.00,0.000,4,0.000,0.043,2111,3786,3662,0,0,0,0,0,0
$GC,809,-0.57,-194.6,160.5,-12.4,136,816,0.00,1.40,0.00,0.000,6,0.000,0.023,2111,2814,3663,0,0,0,0,0,0
$GC,953,-0.57,-194.6,180.1,-13.7,161,960,0.00,2.58,0.00,0.000,4,0.000,0.029,2111,1090,3663,0,0,0,0,0,0
$GC,1024,-0.57,-194.6,190.0,-13.3,173,1031,0.00,2.42,0.00,0.000,6,0.000,0.033,2111,2677,3663,0,0,0,0,0,0
$GC,1169,-0.57,-194.6,211.0,-14.0,192,1173,0.00,1.70,0.00,0.000,4,0.000,0.043,2109,3776,3664,0,0,0,0,0,0
$GC,1207,-0.57,-194.6,216.5,-13.6,195,1214,0.00,1.70,0.00,0.000,6,0.000,0.024,2109,2624,3664,0,0,0,0,0,0
$GC,1532,-0.57,-194.6,257.1,-12.3,226,1537,0.00,2.28,0.00,0.000,4,0.000,0.029,2109,1087,3663,0,0,0,0,0,0
$GC,1577,-0.57,-194.6,262.7,-11.9,229,1585,0.00,2.33,0.00,0.000,6,0.000,0.034,2099,2609,3663,0,0,0,0,0,0
$GC,1902,-0.57,-194.6,304.3,-12.9,260,1906,0.00,1.77,0.00,0.000,4,0.000,0.043,2090,3782,3661,0,0,0,0,0,0
$GC,1964,-0.57,-194.6,312.0,-12.0,265,1971,0.00,1.75,0.00,0.000,6,0.000,0.024,2090,2577,3660,0,0,0,0,0,0
$GC,2289,-0.57,-194.6,353.9,-12.7,296,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2574,3657,0,0,0,0,0,0
$GC,2612,-0.57,-194.6,392.4,-11.3,326,2616,0.00,1.88,0.00,0.000,4,0.000,0.044,2081,3782,3654,0,0,0,0,0,0
$GC,2651,-0.57,-194.6,397.9,-12.3,329,2658,0.12,1.77,0.00,0.000,6,0.147,0.025,2117,2574,3654,0,0,0,0,0,0
$GC,2977,-0.57,-194.6,427.7,-9.0,360,2981,0.00,2.22,0.00,0.000,4,0.000,0.031,2117,1088,3650,0,0,0,0,0,0
$GC,3034,-0.57,-194.6,432.9,-9.0,365,3038,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2579,3650,0,0,0,0,0,0
$GC,3359,-0.57,-194.6,468.2,-11.8,395,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2580,3647,0,0,0,0,0,0
$GC,3689,-0.57,-194.6,504.3,-10.4,424,3693,0.00,1.85,0.00,0.000,4,0.000,0.047,2111,3777,3644,0,0,0,0,0,0
$GC,3736,-0.57,-194.6,509.0,-9.7,426,3739,0.00,1.75,0.00,0.000,6,0.000,0.025,2111,2583,3643,0,0,0,0,0,0
$GC,4069,-0.57,-194.6,543.0,-10.1,442,4073,0.00,2.22,0.00,0.000,4,0.000,0.031,2111,1094,3640,0,0,0,0,0,0
$GC,4113,-0.57,-194.6,547.6,-10.6,444,4117,0.00,2.35,0.00,0.000,6,0.000,0.035,2111,2612,3640,0,0,0,0,0,0
$GC,4435,-0.57,-194.6,580.2,-10.3,460,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2613,3638,0,0,0,0,0,0
$GC,4743,-0.57,-194.6,611.4,-10.4,475,4748,0.00,2.33,0.00,0.000,4,0.000,0.031,2111,1084,3635,0,0,0,0,0,0
$GC,4779,-0.57,-194.6,615.0,-10.4,476,4786,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2574,3635,0,0,0,0,0,0
$GC,5095,-0.57,-194.6,645.7,-9.4,492,5099,0.00,1.88,0.00,0.000,4,0.000,0.047,2111,3779,3632,0,0,0,0,0,0
$GC,5130,-0.57,-194.6,649.1,-9.3,493,5134,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2547,3632,0,0,0,0,0,0
$GC,5452,-0.57,-194.6,677.1,-8.5,509,5456,0.00,2.17,0.00,0.000,4,0.000,0.032,2111,1112,3629,0,0,0,0,0,0
$GC,5513,-0.57,-194.6,682.4,-7.9,511,5520,0.00,2.22,0.00,0.000,6,0.000,0.035,2111,2543,3629,0,0,0,0,0,0
$GC,5830,-0.57,-194.6,707.2,-7.8,527,5834,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3778,3627,0,0,0,0,0,0
$GC,5858,-0.57,-194.6,709.5,-7.7,528,5862,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2565,3627,0,0,0,0,0,0
$GC,6186,-0.57,-194.6,736.1,-8.5,544,6190,0.00,2.20,0.00,0.000,4,0.000,0.032,2111,1104,3625,0,0,0,0,0,0
$GC,6255,-0.57,-194.6,741.9,-8.5,547,6259,0.00,2.15,0.00,0.000,6,0.000,0.035,2111,2493,3624,0,0,0,0,0,0
$GC,6582,-0.57,-194.6,770.0,-8.7,563,6585,0.00,2.03,0.00,0.000,4,0.000,0.047,2111,3786,3623,0,0,0,0,0,0
$GC,6660,-0.57,-194.6,776.8,-8.2,566,6663,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2558,3622,0,0,0,0,0,0
$GC,6983,-0.57,-194.6,804.6,-8.6,582,6987,0.00,2.17,0.00,0.000,4,0.000,0.032,2111,1112,3620,0,0,0,0,0,0
$GC,7023,-0.57,-194.6,807.8,-8.6,584,7027,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2553,3620,0,0,0,0,0,0
$GC,7351,-0.57,-194.6,834.5,-8.1,600,7354,0.00,1.92,0.00,0.000,4,0.000,0.049,2111,3782,3619,0,0,0,0,0,0
$GC,7389,-0.57,-194.6,837.6,-8.1,601,7396,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2572,3619,0,0,0,0,0,0
$GC,7706,-0.57,-194.6,863.3,-8.8,617,7710,0.00,2.20,0.00,0.000,4,0.000,0.032,2111,1113,3618,0,0,0,0,0,0
$GC,7779,-0.57,-194.6,869.9,-8.7,620,7783,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2540,3618,0,0,0,0,0,0
$GC,8095,-0.57,-194.6,899.2,-9.4,635,8098,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3778,3616,0,0,0,0,0,0
$GC,8119,-0.57,-194.6,901.4,-9.6,636,8123,0.00,1.88,0.00,0.000,6,0.000,0.027,2111,2525,3616,0,0,0,0,0,0
$GC,8453,-0.57,-194.6,931.9,-8.8,652,8457,0.00,2.15,0.00,0.000,4,0.000,0.033,2111,1101,3615,0,0,0,0,0,0
$GC,8486,-0.57,-194.6,934.9,-8.3,653,8492,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2540,3615,0,0,0,0,0,0
$GC,8803,-0.57,-194.6,959.4,-7.5,669,8807,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3780,3614,0,0,0,0,0,0
$GC,8849,-0.57,-194.6,962.8,-7.4,671,8853,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2543,3613,0,0,0,0,0,0
$GC,9183,-0.57,-194.6,986.6,-7.1,687,9187,0.00,2.17,0.00,0.000,4,0.000,0.034,2111,1104,3612,0,0,0,0,0,0
$GC,9227,-0.57,-194.6,989.8,-6.8,689,9231,0.00,2.20,0.00,0.000,3,0.000,0.037,2111,2516,3612,0,0,0,0,0,0
$STATE,9232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9232,begin apogee
$GC,9238,-0.13,0.0,990.0,6.7,689,9392,0.43,0.00,149.35,1.076,4,0.115,0.000,2250,2097,2869,0,0,0,0,0,0
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9395,0.57,194.6,996.1,0.0,696,9564,0.68,2.22,158.95,1.057,4,0.062,0.037,2492,728,2075,0,0,0,0,0,0
$GC,9732,0.59,212.0,969.2,10.9,711,9753,0.00,2.17,15.65,0.957,6,0.000,0.033,2492,2120,2004,0,0,0,0,0,0
$GC,10072,0.63,239.3,932.8,10.4,728,10102,0.00,2.28,23.05,0.983,4,0.000,0.036,2502,724,1893,0,0,0,0,0,0
$GC,10254,0.66,263.9,913.7,10.5,736,10280,0.00,2.20,20.73,0.959,6,0.000,0.034,2502,2133,1793,0,0,0,0,0,0
$GC,10598,0.67,278.1,877.0,11.0,753,10621,0.00,2.30,12.62,0.901,4,0.000,0.044,2502,3535,1735,0,0,0,0,0,0
$GC,10690,0.67,278.1,865.4,13.0,757,10694,0.00,2.05,0.00,0.000,6,0.000,0.028,2511,2191,1734,0,0,0,0,0,0
$GC,11017,0.67,278.1,824.1,13.0,773,11021,0.00,2.22,0.00,0.000,4,0.000,0.037,2522,730,1735,0,0,0,0,0,0
$GC,11049,0.67,278.1,820.0,12.0,774,11056,0.00,2.20,0.00,0.000,6,0.000,0.033,2522,2161,1735,0,0,0,0,0,0
$GC,11366,0.67,278.1,777.6,13.1,790,11370,0.00,2.15,0.00,0.000,4,0.000,0.044,2522,3538,1734,0,0,0,0,0,0
$GC,11443,0.67,278.1,766.3,14.4,793,11450,0.00,2.03,0.00,0.000,6,0.000,0.027,2532,2227,1734,0,0,0,0,0,0
$GC,11760,0.67,278.1,723.1,13.6,809,11764,0.00,2.30,0.00,0.000,4,0.000,0.037,2543,722,1734,0,0,0,0,0,0
$GC,11882,0.67,278.1,706.7,13.0,814,11886,0.00,2.20,0.00,0.000,6,0.000,0.034,2543,2149,1734,0,0,0,0,0,0
$GC,12204,0.67,278.1,662.6,13.7,830,12208,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,3536,1733,0,0,0,0,0,0
$GC,12244,0.67,278.1,656.8,15.1,832,12249,0.12,2.10,0.00,0.000,6,0.174,0.028,2521,2148,1734,0,0,0,0,0,0
$GC,12573,0.67,278.1,615.7,12.4,848,12577,0.00,2.17,0.00,0.000,4,0.000,0.037,2531,717,1734,0,0,0,0,0,0
$GC,12646,0.67,278.1,606.4,12.1,851,12650,0.00,2.15,0.00,0.000,6,0.000,0.033,2531,2116,1734,0,0,0,0,0,0
$GC,12962,0.68,284.5,569.1,11.4,866,12973,0.00,2.25,6.40,0.699,4,0.000,0.042,2531,3539,1710,0,0,0,0,0,0
$GC,13087,0.68,284.5,553.4,12.8,871,13094,0.00,2.05,0.00,0.000,6,0.000,0.028,2540,2186,1709,0,0,0,0,0,0
$GC,13403,0.68,284.5,515.2,12.4,887,13408,0.00,2.25,0.00,0.000,4,0.000,0.038,2551,711,1709,0,0,0,0,0,0
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$STATE,17974,end climb,SURFACE_DEPTH_REACHED
$STATE,17974,begin surface coast
$FINISH,0.4,1.020631
$STATE,18002,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,65.504
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$FG_AHR_10Vo,0.000
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$MEM,322256
$DATA_FILE_SIZE,83540,1458
$CAP_FILE_SIZE,203263,0
$CFSIZE,260165632,206778368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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