version: 66.09
glider: 181
mission: 6
dive: 478
start: 9 10 111 21 35 21
data:
$ID,181
$MISSION,6
$DIVE,478
$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,-41173.375
$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,71
$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
$GPS1,100911,212837,1859.499,12002.358,41,1.3,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.3
$GPS2,100911,213425,1859.491,12002.404,9,2.0,9,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.173,-0.260
$KALMAN_X,1782.5,-368.4,-328.7,6114.3,107.0
$KALMAN_Y,16224.2,-560.6,-211.7,-43371.1,1649.3
$MHEAD_RNG_PITCHd_Wd,133.9,69255,-17.4,-11.786
$D_GRID,2935
$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,-62.15,0.000,2,0.000,0.000,190,2531,2205,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.2,-3.4,11,132,8.18,2.15,-32.05,0.000,4,0.229,0.037,2120,1082,3663,0,0,0,0,0,0
$GC,161,-0.53,-194.6,24.6,-32.6,24,168,0.00,2.12,0.00,0.000,6,0.000,0.036,2112,2461,3663,0,0,0,0,0,0
$GC,305,-0.53,-194.6,65.0,-25.5,49,311,0.00,2.03,0.00,0.000,4,0.000,0.023,2112,1065,3662,0,0,0,0,0,0
$GC,392,-0.53,-194.6,82.6,-18.9,64,399,0.00,2.55,0.00,0.000,6,0.000,0.036,2111,2715,3662,0,0,0,0,0,0
$GC,535,-0.53,-194.6,111.3,-18.8,89,541,0.00,1.62,0.00,0.000,4,0.000,0.041,2103,3801,3661,0,0,0,0,0,0
$GC,616,-0.53,-194.6,125.7,-17.8,103,622,0.00,1.55,0.00,0.000,6,0.000,0.022,2103,2763,3662,0,0,0,0,0,0
$GC,759,-0.53,-194.6,151.3,-18.9,128,766,0.00,2.45,0.00,0.000,4,0.000,0.026,2103,1089,3662,0,0,0,0,0,0
$GC,823,-0.53,-194.6,161.0,-11.7,139,831,0.12,2.40,0.00,0.000,6,0.160,0.033,2127,2670,3663,0,0,0,0,0,0
$GC,970,-0.53,-194.6,177.7,-11.2,164,976,0.00,1.67,0.00,0.000,4,0.000,0.041,2125,3790,3663,0,0,0,0,0,0
$GC,1017,-0.53,-194.6,183.2,-11.1,172,1025,0.00,1.70,0.00,0.000,6,0.000,0.023,2125,2594,3664,0,0,0,0,0,0
$GC,1161,-0.53,-194.6,201.3,-12.3,196,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2594,3663,0,0,0,0,0,0
$GC,1481,-0.53,-194.6,236.6,-11.4,226,1485,0.00,2.20,0.00,0.000,4,0.000,0.028,2125,1090,3663,0,0,0,0,0,0
$GC,1510,-0.53,-194.6,240.2,-11.9,228,1515,0.00,2.53,0.00,0.000,6,0.000,0.033,2124,2744,3663,0,0,0,0,0,0
$GC,1836,-0.53,-194.6,279.7,-9.6,258,1840,0.00,2.47,0.00,0.000,4,0.000,0.028,2125,1088,3662,0,0,0,0,0,0
$GC,1914,-0.53,-194.6,285.7,-7.3,264,1921,0.00,2.30,0.00,0.000,6,0.000,0.033,2125,2596,3661,0,0,0,0,0,0
$GC,2240,-0.53,-194.6,312.1,-9.2,295,2244,0.00,1.80,0.00,0.000,4,0.000,0.043,2117,3784,3658,0,0,0,0,0,0
$GC,2290,-0.53,-194.6,317.2,-9.8,299,2297,0.00,1.73,0.00,0.000,6,0.000,0.024,2117,2585,3657,0,0,0,0,0,0
$GC,2615,-0.53,-194.6,349.6,-9.6,330,2619,0.00,2.22,0.00,0.000,4,0.000,0.030,2117,1085,3655,0,0,0,0,0,0
$GC,2656,-0.53,-194.6,353.4,-9.6,333,2660,0.00,2.35,0.00,0.000,6,0.000,0.034,2112,2618,3655,0,0,0,0,0,0
$GC,2982,-0.53,-194.6,385.9,-10.2,363,2986,0.00,1.83,0.00,0.000,4,0.000,0.045,2111,3783,3651,0,0,0,0,0,0
$GC,3016,-0.53,-194.6,389.5,-10.5,366,3020,0.00,1.67,0.00,0.000,6,0.000,0.024,2111,2629,3651,0,0,0,0,0,0
$GC,3347,-0.53,-194.6,428.1,-12.2,397,3351,0.00,2.30,0.00,0.000,4,0.000,0.031,2111,1084,3648,0,0,0,0,0,0
$GC,3421,-0.53,-194.6,436.9,-11.3,403,3426,0.00,2.33,0.00,0.000,6,0.000,0.036,2111,2593,3647,0,0,0,0,0,0
$GC,3747,-0.53,-194.6,474.7,-11.5,433,3751,0.00,1.83,0.00,0.000,4,0.000,0.046,2111,3783,3644,0,0,0,0,0,0
$GC,3796,-0.53,-194.6,480.6,-11.1,437,3803,0.00,1.73,0.00,0.000,6,0.000,0.025,2111,2596,3643,0,0,0,0,0,0
$GC,4121,-0.53,-194.6,513.0,-9.6,462,4125,0.00,1.85,0.00,0.000,4,0.000,0.046,2111,3780,3641,0,0,0,0,0,0
$GC,4145,-0.53,-194.6,515.5,-9.0,463,4148,0.00,1.67,0.00,0.000,6,0.000,0.025,2111,2634,3641,0,0,0,0,0,0
$GC,4479,-0.53,-194.6,545.3,-9.0,479,4483,0.00,2.30,0.00,0.000,4,0.000,0.031,2111,1093,3638,0,0,0,0,0,0
$GC,4551,-0.53,-194.6,551.7,-8.3,482,4555,0.00,2.33,0.00,0.000,6,0.000,0.034,2111,2599,3638,0,0,0,0,0,0
$GC,4867,-0.53,-194.6,580.5,-9.1,497,4871,0.00,2.28,0.00,0.000,4,0.000,0.031,2111,1094,3635,0,0,0,0,0,0
$GC,4906,-0.53,-194.6,584.1,-9.0,498,4913,0.00,2.25,0.00,0.000,6,0.000,0.035,2111,2551,3634,0,0,0,0,0,0
$GC,5222,-0.53,-194.6,612.9,-9.2,514,5226,0.00,1.90,0.00,0.000,4,0.000,0.047,2111,3780,3633,0,0,0,0,0,0
$GC,5283,-0.53,-194.6,618.9,-8.9,516,5290,0.00,1.85,0.00,0.000,6,0.000,0.026,2111,2556,3633,0,0,0,0,0,0
$GC,5601,-0.53,-194.6,650.4,-10.4,532,5605,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1087,3630,0,0,0,0,0,0
$GC,5669,-0.53,-194.6,657.5,-9.9,535,5673,0.00,2.22,0.00,0.000,6,0.000,0.035,2111,2527,3630,0,0,0,0,0,0
$GC,5997,-0.53,-194.6,690.4,-9.9,551,6000,0.00,1.98,0.00,0.000,4,0.000,0.047,2111,3783,3628,0,0,0,0,0,0
$GC,6058,-0.53,-194.6,696.4,-9.2,553,6065,0.00,1.85,0.00,0.000,6,0.000,0.026,2111,2530,3627,0,0,0,0,0,0
$GC,6375,-0.53,-194.6,725.6,-8.9,569,6379,0.00,2.12,0.00,0.000,4,0.000,0.032,2111,1111,3626,0,0,0,0,0,0
$GC,6403,-0.53,-194.6,728.3,-8.9,570,6407,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2546,3625,0,0,0,0,0,0
$GC,6719,-0.53,-194.6,755.7,-8.5,585,6723,0.00,1.92,0.00,0.000,4,0.000,0.048,2111,3783,3624,0,0,0,0,0,0
$GC,6781,-0.53,-194.6,760.7,-8.0,587,6787,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2545,3623,0,0,0,0,0,0
$GC,7097,-0.53,-194.6,782.7,-6.5,603,7101,0.00,2.15,0.00,0.000,4,0.000,0.032,2111,1111,3622,0,0,0,0,0,0
$GC,7124,-0.53,-194.6,784.9,-6.6,604,7128,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2558,3622,0,0,0,0,0,0
$GC,7442,-0.53,-194.6,808.7,-8.3,619,7446,0.00,1.95,0.00,0.000,4,0.000,0.049,2111,3775,3620,0,0,0,0,0,0
$GC,7469,-0.53,-194.6,811.4,-8.5,620,7473,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2529,3620,0,0,0,0,0,0
$GC,7797,-0.53,-194.6,843.8,-10.4,636,7801,0.00,2.12,0.00,0.000,4,0.000,0.033,2111,1106,3619,0,0,0,0,0,0
$GC,7847,-0.53,-194.6,849.2,-10.1,638,7851,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2539,3619,0,0,0,0,0,0
$GC,8168,-0.53,-194.6,882.3,-10.2,654,8172,0.00,1.95,0.00,0.000,4,0.000,0.049,2111,3785,3618,0,0,0,0,0,0
$GC,8238,-0.53,-194.6,889.0,-9.5,657,8241,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2554,3617,0,0,0,0,0,0
$GC,8571,-0.53,-194.6,918.7,-8.3,673,8575,0.00,2.17,0.00,0.000,4,0.000,0.033,2110,1107,3616,0,0,0,0,0,0
$GC,8620,-0.53,-194.6,923.1,-8.5,675,8624,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2562,3616,0,0,0,0,0,0
$GC,8938,-0.53,-194.6,948.9,-8.1,690,8941,0.00,1.90,0.00,0.000,4,0.000,0.050,2110,3779,3615,0,0,0,0,0,0
$GC,8971,-0.53,-194.6,951.5,-7.7,691,8975,0.00,1.80,0.00,0.000,6,0.000,0.027,2110,2569,3614,0,0,0,0,0,0
$GC,9294,-0.53,-194.6,973.1,-6.1,707,9298,0.00,2.20,0.00,0.000,4,0.000,0.033,2110,1106,3613,0,0,0,0,0,0
$GC,9356,-0.53,-194.6,976.6,-5.5,710,9360,0.00,2.22,0.00,0.000,6,0.000,0.036,2110,2537,3613,0,0,0,0,0,0
$STATE,9619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9619,begin apogee
$GC,9626,-0.13,0.0,990.2,5.2,723,9782,0.43,0.00,149.32,1.075,4,0.112,0.000,2251,2100,2869,0,0,0,0,0,0
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9785,0.53,194.6,994.1,0.0,730,9952,0.62,2.22,158.45,1.053,4,0.059,0.037,2480,726,2075,0,0,0,0,0,0
$GC,10123,0.59,243.9,969.8,9.8,746,10168,0.00,2.20,40.53,1.015,6,0.000,0.032,2479,2138,1874,0,0,0,0,0,0
$GC,10497,0.63,279.8,931.0,10.3,764,10532,0.00,2.30,29.62,0.994,4,0.000,0.037,2489,724,1728,0,0,0,0,0,0
$GC,10621,0.68,315.7,917.7,10.3,769,10658,0.00,2.25,30.17,0.978,6,0.000,0.031,2489,2165,1581,0,0,0,0,0,0
$GC,10981,0.72,346.7,880.3,10.5,787,11013,0.12,2.20,25.62,0.961,4,0.090,0.043,2545,3541,1455,0,0,0,0,0,0
$GC,11109,0.72,346.7,861.1,15.4,793,11113,0.00,2.03,0.00,0.000,6,0.000,0.027,2553,2249,1453,0,0,0,0,0,0
$GC,11445,0.72,346.7,809.1,15.7,809,11449,0.00,2.33,0.00,0.000,4,0.000,0.035,2565,719,1456,0,0,0,0,0,0
$GC,11574,0.72,346.7,788.7,15.4,815,11579,0.12,2.25,0.00,0.000,6,0.169,0.034,2533,2184,1457,0,0,0,0,0,0
$GC,11902,0.72,346.7,744.0,13.8,831,11906,0.00,2.10,0.00,0.000,4,0.000,0.044,2534,3537,1459,0,0,0,0,0,0
$GC,11968,0.72,346.7,733.3,15.6,834,11972,0.00,1.95,0.00,0.000,6,0.000,0.028,2542,2245,1459,0,0,0,0,0,0
$GC,12295,0.72,346.7,684.5,14.5,850,12299,0.00,2.30,0.00,0.000,4,0.000,0.037,2552,725,1458,0,0,0,0,0,0
$GC,12391,0.72,346.7,670.5,14.9,854,12395,0.00,2.25,0.00,0.000,6,0.000,0.034,2552,2191,1458,0,0,0,0,0,0
$GC,12707,0.72,346.7,626.4,13.4,869,12711,0.00,2.10,0.00,0.000,4,0.000,0.044,2552,3541,1458,0,0,0,0,0,0
$GC,12757,0.72,346.7,618.9,14.7,871,12761,0.00,2.03,0.00,0.000,6,0.000,0.028,2561,2195,1459,0,0,0,0,0,0
$GC,13085,0.72,346.7,572.0,14.8,887,13089,0.00,2.22,0.00,0.000,4,0.000,0.037,2573,724,1458,0,0,0,0,0,0
$GC,13202,0.72,346.7,556.1,12.6,892,13207,0.15,2.15,0.00,0.000,6,0.154,0.033,2533,2123,1458,0,0,0,0,0,0
$GC,13518,0.72,346.7,516.6,13.3,907,13522,0.00,2.20,0.00,0.000,4,0.000,0.044,2533,3541,1458,0,0,0,0,0,0
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$STATE,17812,end climb,SURFACE_DEPTH_REACHED
$STATE,17813,begin surface coast
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$STATE,17836,end surface coast,CONTROL_FINISHED_OK
$STATE,17836,begin surface
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$XPDR_PINGS,2
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$10V_AH,9.8,65.693
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$FG_AHR_10Vo,0.000
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$MEM,322272
$DATA_FILE_SIZE,83505,1437
$CAP_FILE_SIZE,204429,0
$CFSIZE,260165632,206594048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,023507,1858.647,12003.359,34,1.1,34,-2.0