version: 66.09
glider: 181
mission: 6
dive: 477
start: 9 10 111 16 29 10
data:
$ID,181
$MISSION,6
$DIVE,477
$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,-41172.121
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,100911,162024,1901.070,12000.962,23,0.9,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.6
$GPS2,100911,162814,1901.201,12001.099,11,2.0,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.248,-0.190
$KALMAN_X,1816.9,481.9,608.8,1988.3,-747.1
$KALMAN_Y,14503.9,430.3,478.3,-40176.6,47.8
$MHEAD_RNG_PITCHd_Wd,134.6,73081,-17.4,-11.786
$D_GRID,3076
$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,18,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.58,0.000,2,0.000,0.000,150,2520,2236,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.3,-3.4,11,133,8.35,0.00,-31.33,0.000,6,0.228,0.000,2121,2520,3662,0,0,0,0,0,0
$GC,269,-0.53,-194.6,57.7,-26.4,43,275,0.00,1.92,0.00,0.000,4,0.000,0.041,2113,3775,3661,0,0,0,0,0,0
$GC,384,-0.53,-194.6,89.5,-18.8,63,391,0.00,1.90,0.00,0.000,6,0.000,0.022,2112,2471,3661,0,0,0,0,0,0
$GC,527,-0.53,-194.6,115.3,-18.6,88,534,0.00,2.00,0.00,0.000,4,0.000,0.039,2103,3776,3661,0,0,0,0,0,0
$GC,602,-0.53,-194.6,128.4,-15.4,101,609,0.00,1.52,0.00,0.000,6,0.000,0.023,2103,2741,3660,0,0,0,0,0,0
$GC,745,-0.53,-194.6,151.3,-14.4,126,752,0.00,2.40,0.00,0.000,4,0.000,0.027,2103,1114,3662,0,0,0,0,0,0
$GC,815,-0.53,-194.6,160.8,-12.3,138,822,0.12,2.20,0.00,0.000,6,0.151,0.032,2130,2564,3661,0,0,0,0,0,0
$GC,961,-0.53,-194.6,176.5,-10.2,163,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2564,3661,0,0,0,0,0,0
$GC,1103,-0.53,-194.6,192.7,-11.5,188,1110,0.00,1.83,0.00,0.000,4,0.000,0.041,2123,3774,3661,0,0,0,0,0,0
$GC,1168,-0.53,-194.6,200.5,-12.3,199,1175,0.00,1.80,0.00,0.000,6,0.000,0.024,2123,2548,3661,0,0,0,0,0,0
$GC,1494,-0.53,-194.6,239.6,-11.6,230,1497,0.00,1.88,0.00,0.000,4,0.000,0.041,2114,3770,3659,0,0,0,0,0,0
$GC,1517,-0.53,-194.6,242.3,-11.6,232,1521,0.00,1.75,0.00,0.000,6,0.000,0.024,2113,2566,3659,0,0,0,0,0,0
$GC,1849,-0.53,-194.6,280.3,-11.6,263,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2564,3657,0,0,0,0,0,0
$GC,2170,-0.53,-194.6,316.5,-10.8,293,2174,0.00,2.15,0.00,0.000,4,0.000,0.031,2114,1114,3654,0,0,0,0,0,0
$GC,2192,-0.53,-194.6,319.3,-10.7,294,2198,0.00,2.28,0.00,0.000,6,0.000,0.034,2112,2593,3654,0,0,0,0,0,0
$GC,2518,-0.53,-194.6,350.7,-9.0,325,2522,0.00,1.85,0.00,0.000,4,0.000,0.044,2111,3771,3650,0,0,0,0,0,0
$GC,2541,-0.53,-194.6,353.0,-9.1,327,2545,0.00,1.70,0.00,0.000,6,0.000,0.025,2111,2603,3650,0,0,0,0,0,0
$GC,2872,-0.53,-194.6,386.1,-10.8,358,2876,0.00,2.22,0.00,0.000,4,0.000,0.031,2111,1106,3647,0,0,0,0,0,0
$GC,2951,-0.53,-194.6,394.4,-10.0,364,2958,0.00,2.15,0.00,0.000,6,0.000,0.035,2111,2502,3646,0,0,0,0,0,0
$GC,3277,-0.53,-194.6,427.9,-10.6,395,3281,0.00,1.98,0.00,0.000,4,0.000,0.045,2102,3780,3643,0,0,0,0,0,0
$GC,3350,-0.53,-194.6,436.0,-11.1,401,3356,0.00,1.80,0.00,0.000,6,0.000,0.024,2102,2559,3641,0,0,0,0,0,0
$GC,3675,-0.53,-194.6,472.4,-11.0,432,3679,0.00,2.17,0.00,0.000,4,0.000,0.031,2102,1110,3639,0,0,0,0,0,0
$GC,3721,-0.53,-194.6,477.1,-10.5,435,3728,0.10,2.10,0.00,0.000,6,0.161,0.035,2125,2477,3638,0,0,0,0,0,0
$GC,4045,-0.53,-194.6,503.3,-7.9,464,4048,0.00,2.03,0.00,0.000,4,0.000,0.046,2125,3782,3636,0,0,0,0,0,0
$GC,4174,-0.53,-194.6,513.6,-7.7,469,4182,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2590,3634,0,0,0,0,0,0
$GC,4491,-0.53,-194.6,540.0,-8.6,485,4495,0.00,2.22,0.00,0.000,4,0.000,0.032,2124,1109,3632,0,0,0,0,0,0
$GC,4569,-0.53,-194.6,546.9,-8.5,488,4576,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2548,3631,0,0,0,0,0,0
$GC,4886,-0.53,-194.6,575.9,-9.9,504,4890,0.00,1.95,0.00,0.000,4,0.000,0.047,2125,3776,3629,0,0,0,0,0,0
$GC,4924,-0.53,-194.6,580.1,-10.5,505,4931,0.00,1.83,0.00,0.000,6,0.000,0.026,2125,2555,3629,0,0,0,0,0,0
$GC,5242,-0.53,-194.6,614.2,-10.5,521,5246,0.00,2.17,0.00,0.000,4,0.000,0.033,2125,1109,3627,0,0,0,0,0,0
$GC,5292,-0.53,-194.6,619.8,-10.2,523,5296,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2517,3626,0,0,0,0,0,0
$GC,5609,-0.53,-194.6,647.2,-8.2,538,5613,0.00,1.98,0.00,0.000,4,0.000,0.047,2115,3783,3624,0,0,0,0,0,0
$GC,5664,-0.53,-194.6,652.1,-8.3,540,5668,0.00,1.83,0.00,0.000,6,0.000,0.027,2115,2551,3624,0,0,0,0,0,0
$GC,5986,-0.53,-194.6,681.4,-9.4,556,5990,0.00,2.17,0.00,0.000,4,0.000,0.033,2115,1110,3622,0,0,0,0,0,0
$GC,6037,-0.53,-194.6,686.2,-9.3,558,6041,0.00,2.25,0.00,0.000,6,0.000,0.037,2112,2543,3621,0,0,0,0,0,0
$GC,6359,-0.53,-194.6,719.1,-10.6,574,6363,0.00,1.95,0.00,0.000,4,0.000,0.049,2111,3787,3619,0,0,0,0,0,0
$GC,6410,-0.53,-194.6,724.5,-10.1,576,6414,0.00,1.88,0.00,0.000,6,0.000,0.027,2111,2564,3619,0,0,0,0,0,0
$GC,6737,-0.53,-194.6,759.8,-11.1,592,6741,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1113,3618,0,0,0,0,0,0
$GC,6783,-0.53,-194.6,764.6,-10.9,594,6787,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2548,3618,0,0,0,0,0,0
$GC,7117,-0.53,-194.6,799.6,-10.9,610,7121,0.00,1.98,0.00,0.000,4,0.000,0.050,2112,3776,3616,0,0,0,0,0,0
$GC,7144,-0.53,-194.6,802.9,-11.1,611,7147,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2526,3616,0,0,0,0,0,0
$GC,7472,-0.53,-194.6,836.0,-9.9,627,7476,0.00,2.15,0.00,0.000,4,0.000,0.034,2111,1104,3614,0,0,0,0,0,0
$GC,7521,-0.53,-194.6,840.9,-9.6,629,7526,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2512,3614,0,0,0,0,0,0
$GC,7838,-0.53,-194.6,869.3,-9.1,644,7841,0.00,2.00,0.00,0.000,4,0.000,0.050,2111,3782,3612,0,0,0,0,0,0
$GC,7909,-0.53,-194.6,875.2,-8.4,647,7913,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2531,3612,0,0,0,0,0,0
$GC,8242,-0.53,-194.6,905.5,-8.7,663,8246,0.00,2.15,0.00,0.000,4,0.000,0.034,2111,1106,3611,0,0,0,0,0,0
$GC,8298,-0.53,-194.6,910.5,-8.5,665,8305,0.00,2.20,0.00,0.000,6,0.000,0.038,2111,2513,3611,0,0,0,0,0,0
$GC,8614,-0.53,-194.6,935.2,-7.4,681,8618,0.00,2.00,0.00,0.000,4,0.000,0.050,2111,3780,3610,0,0,0,0,0,0
$GC,8647,-0.53,-194.6,937.8,-7.1,682,8651,0.00,1.92,0.00,0.000,6,0.000,0.028,2111,2498,3609,0,0,0,0,0,0
$GC,8970,-0.53,-194.6,964.1,-8.6,698,8974,0.00,2.10,0.00,0.000,4,0.000,0.033,2111,1103,3609,0,0,0,0,0,0
$GC,8997,-0.53,-194.6,967.0,-8.7,699,9001,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2508,3608,0,0,0,0,0,0
$STATE,9249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9249,begin apogee
$GC,9256,-0.13,0.0,991.1,9.7,711,9411,0.43,0.00,148.62,1.079,4,0.112,0.000,2253,2104,2868,0,0,0,0,0,0
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9414,0.53,194.6,1001.3,0.0,718,9583,0.62,2.22,158.82,1.060,4,0.064,0.038,2475,729,2075,0,0,0,0,0,0
$GC,9780,0.61,263.6,981.0,9.0,735,9842,0.00,2.20,55.67,1.034,6,0.000,0.033,2475,2138,1795,0,0,0,0,0,0
$GC,10170,0.69,325.0,945.8,9.3,754,10227,0.15,2.30,50.00,1.021,4,0.083,0.036,2548,739,1543,0,0,0,0,0,0
$GC,10301,0.69,325.0,928.4,13.8,760,10305,0.00,2.28,0.00,0.000,6,0.000,0.035,2548,2185,1542,0,0,0,0,0,0
$GC,10628,0.69,325.0,881.5,14.3,776,10632,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3542,1542,0,0,0,0,0,0
$GC,10668,0.69,325.0,875.1,16.0,778,10673,0.12,2.03,0.00,0.000,6,0.182,0.028,2527,2210,1542,0,0,0,0,0,0
$GC,10995,0.69,325.0,832.9,12.6,794,10999,0.00,2.25,0.00,0.000,4,0.000,0.037,2537,733,1543,0,0,0,0,0,0
$GC,11028,0.69,325.0,828.6,12.4,795,11035,0.00,2.25,0.00,0.000,6,0.000,0.034,2537,2197,1543,0,0,0,0,0,0
$GC,11345,0.69,325.0,788.2,13.0,811,11349,0.00,2.10,0.00,0.000,4,0.000,0.045,2537,3541,1543,0,0,0,0,0,0
$GC,11385,0.69,325.0,782.2,14.9,813,11388,0.00,2.00,0.00,0.000,6,0.000,0.028,2546,2219,1543,0,0,0,0,0,0
$GC,11718,0.69,325.0,732.9,14.8,829,11723,0.00,2.25,0.00,0.000,4,0.000,0.036,2557,736,1542,0,0,0,0,0,0
$GC,11783,0.69,325.0,724.0,13.9,832,11788,0.12,2.25,0.00,0.000,6,0.165,0.034,2526,2195,1542,0,0,0,0,0,0
$GC,12112,0.72,346.3,686.2,10.9,848,12138,0.00,2.20,18.38,0.853,4,0.000,0.044,2526,3538,1456,0,0,0,0,0,0
$GC,12188,0.72,346.3,676.9,12.0,851,12192,0.00,2.00,0.00,0.000,6,0.000,0.028,2533,2253,1456,0,0,0,0,0,0
$GC,12510,0.72,348.8,639.4,11.7,867,12519,0.00,2.40,4.10,0.582,4,0.000,0.036,2544,731,1447,0,0,0,0,0,0
$GC,12547,0.72,348.8,634.6,12.0,868,12554,0.00,2.38,0.00,0.000,6,0.000,0.033,2544,2263,1447,0,0,0,0,0,0
$GC,12864,0.72,348.8,594.0,13.0,884,12867,0.00,1.98,0.00,0.000,4,0.000,0.044,2544,3534,1448,0,0,0,0,0,0
$GC,12891,0.72,348.8,589.9,14.3,885,12895,0.00,1.92,0.00,0.000,6,0.000,0.027,2553,2263,1448,0,0,0,0,0,0
$GC,13219,0.72,348.8,545.7,13.4,901,13223,0.00,2.33,0.00,0.000,4,0.000,0.036,2564,733,1448,0,0,0,0,0,0
$GC,13303,0.72,348.8,534.5,13.4,905,13308,0.12,2.30,0.00,0.000,6,0.163,0.033,2532,2229,1448,0,0,0,0,0,0
$GC,13622,0.72,348.8,495.8,12.5,922,13626,0.00,2.03,0.00,0.000,4,0.000,0.044,2532,3537,1448,0,0,0,0,0,0
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$STATE,17779,end climb,SURFACE_DEPTH_REACHED
$STATE,17780,begin surface coast
$FINISH,0.4,1.020488
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17811,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.02
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.8,65.598
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322264
$DATA_FILE_SIZE,83797,1444
$CAP_FILE_SIZE,201470,0
$CFSIZE,260165632,206684160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,212837,1859.499,12002.358,41,1.3,41,-2.0