version: 66.09
glider: 181
mission: 6
dive: 481
start: 9 11 111 12 49 58
data:
$ID,181
$MISSION,6
$DIVE,481
$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,-41177.145
$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,54
$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
$GPS1,110911,124254,1857.162,12007.026,28,0.9,45,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.3
$GPS2,110911,124902,1857.240,12007.029,9,1.5,9,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.059,-0.306
$KALMAN_X,2027.3,835.5,-1419.4,13838.8,2154.8
$KALMAN_Y,23646.3,1162.0,-624.6,-56277.8,2081.8
$MHEAD_RNG_PITCHd_Wd,136.1,60473,-17.4,-11.786
$D_GRID,2204
$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,-62.53,0.000,2,0.000,0.000,183,2521,2226,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.4,-3.9,11,131,8.23,2.20,-30.62,0.000,4,0.229,0.042,2121,1081,3665,0,0,0,0,0,0
$GC,156,-0.53,-194.6,24.4,-35.3,23,163,0.00,2.15,0.00,0.000,6,0.000,0.036,2111,2478,3666,0,0,0,0,0,0
$GC,299,-0.53,-194.6,65.3,-23.9,48,305,0.00,2.03,0.00,0.000,4,0.000,0.044,2101,3789,3666,0,0,0,0,0,0
$GC,392,-0.53,-194.6,86.0,-18.8,64,398,0.00,1.58,0.00,0.000,6,0.000,0.024,2101,2728,3666,0,0,0,0,0,0
$GC,534,-0.53,-194.6,115.6,-20.9,89,541,0.00,2.42,0.00,0.000,4,0.000,0.027,2101,1087,3666,0,0,0,0,0,0
$GC,554,-0.53,-194.6,119.5,-20.7,92,561,0.12,2.53,0.00,0.000,6,0.157,0.034,2124,2726,3666,0,0,0,0,0,0
$GC,699,-0.53,-194.6,142.1,-14.8,117,706,0.00,2.45,0.00,0.000,4,0.000,0.028,2125,1087,3666,0,0,0,0,0,0
$GC,718,-0.53,-194.6,145.2,-14.5,120,725,0.00,2.55,0.00,0.000,6,0.000,0.035,2125,2726,3666,0,0,0,0,0,0
$GC,864,-0.53,-194.6,161.0,-10.3,145,870,0.00,1.62,0.00,0.000,4,0.000,0.043,2124,3803,3667,0,0,0,0,0,0
$GC,889,-0.53,-194.6,163.7,-9.9,149,895,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2661,3667,0,0,0,0,0,0
$GC,1031,-0.53,-194.6,180.1,-12.5,174,1038,0.00,2.33,0.00,0.000,4,0.000,0.028,2124,1088,3667,0,0,0,0,0,0
$GC,1068,-0.53,-194.6,184.5,-12.3,180,1075,0.00,2.45,0.00,0.000,6,0.000,0.034,2124,2687,3667,0,0,0,0,0,0
$GC,1210,-0.53,-194.6,203.0,-12.7,203,1214,0.00,1.70,0.00,0.000,4,0.000,0.042,2116,3786,3667,0,0,0,0,0,0
$GC,1244,-0.53,-194.6,207.5,-13.0,206,1248,0.00,1.65,0.00,0.000,6,0.000,0.024,2115,2644,3667,0,0,0,0,0,0
$GC,1575,-0.53,-194.6,248.1,-11.7,237,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2641,3667,0,0,0,0,0,0
$GC,1896,-0.53,-194.6,284.6,-11.4,267,1901,0.00,2.30,0.00,0.000,4,0.000,0.029,2116,1093,3665,0,0,0,0,0,0
$GC,1952,-0.53,-194.6,291.0,-9.9,271,1959,0.00,2.45,0.00,0.000,6,0.000,0.034,2111,2689,3664,0,0,0,0,0,0
$GC,2279,-0.53,-194.6,327.3,-11.6,302,2283,0.00,2.42,0.00,0.000,4,0.000,0.030,2112,1082,3661,0,0,0,0,0,0
$GC,2311,-0.53,-194.6,331.6,-12.1,304,2318,0.00,2.40,0.00,0.000,6,0.000,0.035,2112,2643,3661,0,0,0,0,0,0
$GC,2637,-0.53,-194.6,365.9,-10.2,335,2640,0.00,1.75,0.00,0.000,4,0.000,0.046,2112,3785,3657,0,0,0,0,0,0
$GC,2665,-0.53,-194.6,369.0,-10.1,337,2672,0.00,1.73,0.00,0.000,6,0.000,0.025,2111,2599,3657,0,0,0,0,0,0
$GC,2991,-0.53,-194.6,400.6,-8.8,368,2995,0.00,2.25,0.00,0.000,4,0.000,0.031,2112,1093,3654,0,0,0,0,0,0
$GC,3039,-0.53,-194.6,404.6,-8.7,372,3044,0.00,2.38,0.00,0.000,6,0.000,0.035,2111,2630,3654,0,0,0,0,0,0
$GC,3365,-0.53,-194.6,434.6,-9.3,402,3369,0.00,1.83,0.00,0.000,4,0.000,0.047,2111,3783,3650,0,0,0,0,0,0
$GC,3400,-0.53,-194.6,437.8,-9.3,405,3404,0.00,1.85,0.00,0.000,6,0.000,0.026,2111,2558,3650,0,0,0,0,0,0
$GC,3731,-0.53,-194.6,470.5,-9.5,436,3735,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1085,3648,0,0,0,0,0,0
$GC,3773,-0.53,-194.6,474.2,-9.0,439,3777,0.00,2.33,0.00,0.000,6,0.000,0.036,2111,2585,3648,0,0,0,0,0,0
$GC,4107,-0.53,-194.6,503.8,-8.8,468,4111,0.00,1.85,0.00,0.000,4,0.000,0.047,2111,3781,3644,0,0,0,0,0,0
$GC,4131,-0.53,-194.6,506.1,-8.9,469,4135,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2561,3644,0,0,0,0,0,0
$GC,4465,-0.53,-194.6,540.7,-10.8,485,4469,0.00,1.95,0.00,0.000,4,0.000,0.047,2111,3773,3642,0,0,0,0,0,0
$GC,4488,-0.53,-194.6,543.3,-10.9,486,4491,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2583,3641,0,0,0,0,0,0
$GC,4822,-0.53,-194.6,578.1,-10.1,502,4826,0.00,2.25,0.00,0.000,4,0.000,0.031,2111,1084,3640,0,0,0,0,0,0
$GC,4866,-0.53,-194.6,582.4,-9.5,504,4870,0.00,2.35,0.00,0.000,6,0.000,0.036,2111,2594,3639,0,0,0,0,0,0
$GC,5188,-0.53,-194.6,609.2,-7.9,520,5191,0.00,1.85,0.00,0.000,4,0.000,0.047,2111,3786,3637,0,0,0,0,0,0
$GC,5222,-0.53,-194.6,611.9,-8.0,521,5225,0.00,1.80,0.00,0.000,6,0.000,0.025,2111,2569,3636,0,0,0,0,0,0
$GC,5543,-0.53,-194.6,640.6,-9.6,537,5547,0.00,2.22,0.00,0.000,4,0.000,0.031,2111,1085,3634,0,0,0,0,0,0
$GC,5584,-0.53,-194.6,644.4,-9.3,539,5588,0.00,2.35,0.00,0.000,6,0.000,0.036,2111,2594,3635,0,0,0,0,0,0
$GC,5912,-0.53,-194.6,672.7,-8.8,555,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2595,3632,0,0,0,0,0,0
$GC,6220,-0.53,-194.6,701.0,-9.2,570,6224,0.00,2.30,0.00,0.000,4,0.000,0.031,2111,1092,3630,0,0,0,0,0,0
$GC,6255,-0.53,-194.6,704.0,-8.6,571,6262,0.00,2.30,0.00,0.000,6,0.000,0.037,2111,2567,3630,0,0,0,0,0,0
$GC,6572,-0.53,-194.6,729.2,-8.0,587,6575,0.00,1.90,0.00,0.000,4,0.000,0.049,2111,3784,3629,0,0,0,0,0,0
$GC,6640,-0.53,-194.6,734.7,-8.1,590,6644,0.00,1.77,0.00,0.000,6,0.000,0.026,2111,2582,3629,0,0,0,0,0,0
$GC,6974,-0.53,-194.6,761.8,-8.5,606,6978,0.00,2.25,0.00,0.000,4,0.000,0.033,2111,1090,3627,0,0,0,0,0,0
$GC,6996,-0.53,-194.6,763.9,-8.6,607,7000,0.00,2.40,0.00,0.000,6,0.000,0.037,2111,2625,3627,0,0,0,0,0,0
$GC,7318,-0.53,-194.6,791.2,-8.6,623,7323,0.00,2.35,0.00,0.000,4,0.000,0.033,2111,1092,3625,0,0,0,0,0,0
$GC,7342,-0.53,-194.6,793.7,-8.7,624,7346,0.00,2.35,0.00,0.000,6,0.000,0.039,2110,2588,3625,0,0,0,0,0,0
$GC,7663,-0.53,-194.6,824.5,-10.1,640,7667,0.00,1.88,0.00,0.000,4,0.000,0.050,2110,3783,3623,0,0,0,0,0,0
$GC,7692,-0.53,-194.6,827.6,-10.2,641,7696,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2589,3623,0,0,0,0,0,0
$GC,8019,-0.53,-194.6,860.6,-9.8,657,8023,0.00,2.30,0.00,0.000,4,0.000,0.034,2111,1090,3622,0,0,0,0,0,0
$GC,8052,-0.53,-194.6,863.8,-9.8,658,8056,0.00,2.35,0.00,0.000,6,0.000,0.037,2111,2593,3621,0,0,0,0,0,0
$GC,8369,-0.53,-194.6,891.7,-8.6,673,8373,0.00,1.85,0.00,0.000,4,0.000,0.050,2105,3780,3620,0,0,0,0,0,0
$GC,8393,-0.53,-194.6,893.9,-8.5,674,8397,0.00,1.83,0.00,0.000,6,0.000,0.028,2105,2563,3620,0,0,0,0,0,0
$GC,8727,-0.53,-194.6,924.6,-9.7,690,8731,0.00,2.22,0.00,0.000,4,0.000,0.034,2105,1097,3619,0,0,0,0,0,0
$GC,8755,-0.53,-194.6,927.6,-9.9,691,8760,0.12,2.35,0.00,0.000,6,0.147,0.037,2133,2592,3619,0,0,0,0,0,0
$GC,9071,-0.53,-194.6,949.6,-6.8,706,9075,0.00,2.33,0.00,0.000,4,0.000,0.034,2133,1093,3618,0,0,0,0,0,0
$GC,9096,-0.53,-194.6,951.4,-6.6,707,9100,0.00,2.30,0.00,0.000,6,0.000,0.037,2129,2562,3618,0,0,0,0,0,0
$GC,9423,-0.53,-194.6,973.4,-6.7,723,9426,0.00,1.90,0.00,0.000,4,0.000,0.047,2127,3780,3617,0,0,0,0,0,0
$GC,9565,-0.53,-194.6,983.3,-7.4,729,9569,0.00,2.30,0.00,0.000,6,0.000,0.028,2126,2269,3617,0,0,0,0,0,0
$STATE,9616,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9616,begin apogee
$GC,9622,-0.13,0.0,986.8,6.8,732,9777,0.35,0.00,150.60,1.079,4,0.084,0.000,2256,2104,2868,0,0,0,0,0,0
$STATE,9778,end apogee,CONTROL_FINISHED_OK
$STATE,9778,begin climb
$GC,9780,0.53,194.6,996.3,0.0,739,9948,0.62,2.40,159.38,1.059,4,0.059,0.044,2485,3538,2075,0,0,0,0,0,0
$GC,10008,0.53,194.6,984.3,11.8,749,10012,0.00,2.22,0.00,0.000,6,0.000,0.030,2495,2130,2072,0,0,0,0,0,0
$GC,10324,0.56,216.7,949.4,10.9,764,10349,0.00,2.33,18.88,0.976,4,0.000,0.041,2495,3544,1984,0,0,0,0,0,0
$GC,10413,0.56,216.7,938.6,12.8,768,10417,0.00,2.30,0.00,0.000,6,0.000,0.029,2506,2057,1984,0,0,0,0,0,0
$GC,10740,0.56,216.7,899.5,12.4,784,10744,0.00,2.05,0.00,0.000,4,0.000,0.039,2516,717,1983,0,0,0,0,0,0
$GC,10858,0.56,216.7,884.5,13.0,789,10863,0.15,2.00,0.00,0.000,6,0.161,0.033,2478,2016,1983,0,0,0,0,0,0
$GC,11181,0.58,233.7,849.1,11.1,805,11204,0.00,2.42,14.85,0.920,4,0.000,0.044,2478,3542,1916,0,0,0,0,0,0
$GC,11274,0.58,233.7,837.3,13.1,809,11278,0.00,2.30,0.00,0.000,6,0.000,0.029,2487,2046,1915,0,0,0,0,0,0
$GC,11601,0.58,233.7,797.1,12.0,825,11604,0.00,2.03,0.00,0.000,4,0.000,0.039,2497,718,1914,0,0,0,0,0,0
$GC,11650,0.58,233.7,790.9,12.2,827,11654,0.00,2.08,0.00,0.000,6,0.000,0.032,2497,2072,1914,0,0,0,0,0,0
$GC,11979,0.60,253.9,752.8,11.0,843,12002,0.00,2.40,17.38,0.884,4,0.000,0.044,2497,3541,1833,0,0,0,0,0,0
$GC,12048,0.60,253.9,743.7,13.6,846,12052,0.00,2.33,0.00,0.000,6,0.000,0.029,2507,2032,1832,0,0,0,0,0,0
$GC,12377,0.62,269.4,704.6,11.2,862,12395,0.00,0.00,13.77,0.829,6,0.000,0.000,2507,2031,1769,0,0,0,0,0,0
$GC,12705,0.62,269.4,664.0,12.9,878,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2031,1768,0,0,0,0,0,0
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$STATE,18450,end climb,SURFACE_DEPTH_REACHED
$STATE,18450,begin surface coast
$FINISH,0.3,1.009698
$STATE,18478,end surface coast,CONTROL_FINISHED_OK
$STATE,18478,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.2,78.756
$10V_AH,9.8,65.976
$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,322272
$DATA_FILE_SIZE,86814,1490
$CAP_FILE_SIZE,208158,0
$CFSIZE,260165632,206303232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110911,180031,1856.472,12009.421,39,1.5,39,-2.0