version: 66.09
glider: 181
mission: 6
dive: 483
start: 9 11 111 22 58 40
data:
$ID,181
$MISSION,6
$DIVE,483
$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,-41179.66
$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,57
$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
$GPS1,110911,225207,1855.384,12010.637,38,0.8,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,110911,225744,1855.356,12010.694,12,1.1,12,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.155,-0.271
$KALMAN_X,2923.2,-492.4,-375.0,19635.9,-688.7
$KALMAN_Y,29089.4,-711.1,-455.7,-63504.1,2530.1
$MHEAD_RNG_PITCHd_Wd,138.3,53463,-17.4,-11.786
$D_GRID,1974
$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,-194.6,0.0,0.0,0,75,0.00,0.00,-56.72,0.000,2,0.000,0.000,196,2522,2060,0,0,0,0,0,0
$GC,78,-0.53,-194.6,3.0,-3.5,10,131,8.10,2.20,-35.90,0.000,4,0.226,0.041,2120,1092,3664,0,0,0,0,0,0
$GC,161,-0.53,-194.6,25.6,-34.3,24,168,0.00,2.15,0.00,0.000,6,0.000,0.037,2111,2484,3664,0,0,0,0,0,0
$GC,304,-0.53,-194.6,64.7,-24.4,49,311,0.00,2.03,0.00,0.000,4,0.000,0.041,2101,3790,3664,0,0,0,0,0,0
$GC,425,-0.53,-194.6,95.8,-22.7,70,432,0.00,1.73,0.00,0.000,6,0.000,0.023,2101,2599,3664,0,0,0,0,0,0
$GC,568,-0.53,-194.6,124.9,-17.3,95,575,0.00,1.83,0.00,0.000,4,0.000,0.039,2092,3787,3665,0,0,0,0,0,0
$GC,644,-0.53,-194.6,138.2,-16.2,108,652,0.12,1.65,0.00,0.000,6,0.151,0.023,2125,2634,3664,0,0,0,0,0,0
$GC,789,-0.53,-194.6,156.5,-13.2,133,796,0.00,2.28,0.00,0.000,4,0.000,0.028,2126,1082,3665,0,0,0,0,0,0
$GC,836,-0.53,-194.6,162.7,-12.5,141,843,0.00,2.35,0.00,0.000,6,0.000,0.032,2125,2626,3665,0,0,0,0,0,0
$GC,980,-0.53,-194.6,180.0,-12.1,166,987,0.00,1.77,0.00,0.000,4,0.000,0.042,2124,3786,3665,0,0,0,0,0,0
$GC,1005,-0.53,-194.6,183.2,-12.3,170,1012,0.00,1.65,0.00,0.000,6,0.000,0.023,2124,2678,3666,0,0,0,0,0,0
$GC,1155,-0.53,-194.6,201.4,-11.6,195,1159,0.00,2.35,0.00,0.000,4,0.000,0.028,2124,1085,3666,0,0,0,0,0,0
$GC,1172,-0.53,-194.6,203.7,-11.5,196,1177,0.00,2.50,0.00,0.000,6,0.000,0.034,2124,2716,3665,0,0,0,0,0,0
$GC,1499,-0.53,-194.6,237.3,-11.1,226,1503,0.00,2.42,0.00,0.000,4,0.000,0.028,2124,1093,3664,0,0,0,0,0,0
$GC,1576,-0.53,-194.6,246.3,-11.3,232,1584,0.00,2.33,0.00,0.000,6,0.000,0.033,2124,2617,3664,0,0,0,0,0,0
$GC,1903,-0.53,-194.6,282.8,-9.9,263,1907,0.00,1.77,0.00,0.000,4,0.000,0.043,2115,3789,3662,0,0,0,0,0,0
$GC,1927,-0.53,-194.6,285.0,-9.1,265,1931,0.00,1.80,0.00,0.000,6,0.000,0.024,2116,2575,3662,0,0,0,0,0,0
$GC,2258,-0.53,-194.6,313.6,-7.9,296,2262,0.00,2.20,0.00,0.000,4,0.000,0.028,2115,1094,3658,0,0,0,0,0,0
$GC,2321,-0.53,-194.6,318.8,-8.2,301,2325,0.00,2.22,0.00,0.000,6,0.000,0.033,2112,2548,3658,0,0,0,0,0,0
$GC,2647,-0.53,-194.6,349.0,-9.6,331,2651,0.00,1.92,0.00,0.000,4,0.000,0.044,2111,3770,3655,0,0,0,0,0,0
$GC,2731,-0.53,-194.6,357.2,-9.5,338,2738,0.00,1.83,0.00,0.000,6,0.000,0.024,2111,2541,3655,0,0,0,0,0,0
$GC,3056,-0.53,-194.6,387.8,-8.9,369,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2540,3651,0,0,0,0,0,0
$GC,3379,-0.53,-194.6,419.6,-10.1,399,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2540,3648,0,0,0,0,0,0
$GC,3709,-0.53,-194.6,453.0,-9.7,430,3712,0.00,1.95,0.00,0.000,4,0.000,0.044,2111,3786,3645,0,0,0,0,0,0
$GC,3748,-0.53,-194.6,457.3,-9.4,433,3754,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2564,3645,0,0,0,0,0,0
$GC,4074,-0.53,-194.6,485.3,-8.4,464,4078,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1106,3643,0,0,0,0,0,0
$GC,4107,-0.53,-194.6,488.3,-8.6,466,4113,0.00,2.30,0.00,0.000,6,0.000,0.035,2111,2591,3642,0,0,0,0,0,0
$GC,4439,-0.53,-194.6,518.4,-9.6,489,4442,0.00,1.85,0.00,0.000,4,0.000,0.045,2103,3780,3640,0,0,0,0,0,0
$GC,4501,-0.53,-194.6,524.7,-9.7,491,4508,0.00,1.67,0.00,0.000,6,0.000,0.026,2103,2638,3639,0,0,0,0,0,0
$GC,4817,-0.53,-194.6,557.6,-10.4,507,4821,0.00,2.30,0.00,0.000,4,0.000,0.031,2103,1107,3637,0,0,0,0,0,0
$GC,4903,-0.53,-194.6,566.4,-10.1,511,4908,0.10,2.25,0.00,0.000,6,0.161,0.035,2125,2557,3637,0,0,0,0,0,0
$GC,5230,-0.53,-194.6,595.0,-8.4,527,5234,0.00,1.90,0.00,0.000,4,0.000,0.046,2125,3779,3634,0,0,0,0,0,0
$GC,5276,-0.53,-194.6,598.7,-8.2,529,5279,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2563,3633,0,0,0,0,0,0
$GC,5610,-0.53,-194.6,626.1,-7.7,545,5614,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1112,3632,0,0,0,0,0,0
$GC,5660,-0.53,-194.6,630.4,-8.4,547,5664,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2563,3631,0,0,0,0,0,0
$GC,5977,-0.53,-194.6,652.9,-7.1,562,5980,0.00,1.90,0.00,0.000,4,0.000,0.047,2125,3785,3630,0,0,0,0,0,0
$GC,6000,-0.53,-194.6,654.8,-7.2,563,6004,0.00,1.85,0.00,0.000,6,0.000,0.027,2124,2544,3630,0,0,0,0,0,0
$GC,6334,-0.53,-194.6,678.1,-6.9,579,6338,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1106,3628,0,0,0,0,0,0
$GC,6390,-0.53,-194.6,682.0,-7.0,581,6397,0.00,2.17,0.00,0.000,6,0.000,0.034,2125,2508,3628,0,0,0,0,0,0
$GC,6706,-0.53,-194.6,704.1,-7.2,597,6710,0.00,1.98,0.00,0.000,4,0.000,0.048,2123,3779,3626,0,0,0,0,0,0
$GC,6762,-0.53,-194.6,708.4,-7.4,599,6766,0.00,1.88,0.00,0.000,6,0.000,0.026,2123,2523,3625,0,0,0,0,0,0
$GC,7084,-0.53,-194.6,734.0,-8.9,615,7088,0.00,2.12,0.00,0.000,4,0.000,0.032,2123,1106,3624,0,0,0,0,0,0
$GC,7117,-0.53,-194.6,737.4,-9.2,616,7124,0.00,2.20,0.00,0.000,6,0.000,0.035,2115,2530,3624,0,0,0,0,0,0
$GC,7434,-0.53,-194.6,768.9,-10.0,632,7438,0.00,1.95,0.00,0.000,4,0.000,0.048,2112,3778,3623,0,0,0,0,0,0
$GC,7481,-0.53,-194.6,773.5,-9.8,634,7484,0.00,1.88,0.00,0.000,6,0.000,0.028,2112,2527,3622,0,0,0,0,0,0
$GC,7814,-0.53,-194.6,803.8,-8.2,650,7818,0.00,2.15,0.00,0.000,4,0.000,0.033,2112,1100,3621,0,0,0,0,0,0
$GC,7879,-0.53,-194.6,808.4,-7.1,653,7883,0.00,2.15,0.00,0.000,6,0.000,0.036,2112,2483,3621,0,0,0,0,0,0
$GC,8207,-0.53,-194.6,829.5,-5.8,669,8210,0.00,2.05,0.00,0.000,4,0.000,0.049,2111,3789,3619,0,0,0,0,0,0
$GC,8301,-0.53,-194.6,834.2,-4.9,673,8305,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2547,3620,0,0,0,0,0,0
$GC,8634,-0.53,-194.6,851.7,-5.5,689,8638,0.00,2.17,0.00,0.000,4,0.000,0.033,2111,1106,3618,0,0,0,0,0,0
$GC,8666,-0.53,-194.6,853.7,-5.6,690,8673,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2549,3618,0,0,0,0,0,0
$GC,8984,-0.53,-194.6,873.5,-6.7,706,8987,0.00,1.92,0.00,0.000,4,0.000,0.049,2111,3777,3617,0,0,0,0,0,0
$GC,9045,-0.53,-194.6,877.7,-6.6,708,9052,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2564,3617,0,0,0,0,0,0
$GC,9362,-0.53,-194.6,902.9,-9.0,724,9366,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1109,3616,0,0,0,0,0,0
$GC,9412,-0.53,-194.6,907.9,-9.2,726,9416,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2551,3616,0,0,0,0,0,0
$STATE,9623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9623,begin apogee
$GC,9629,-0.13,0.0,927.4,9.3,736,9784,0.43,0.00,149.25,1.036,4,0.113,0.000,2253,2101,2868,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.53,194.6,937.2,0.0,743,9953,0.62,2.22,157.45,1.016,4,0.063,0.037,2476,718,2075,0,0,0,0,0,0
$GC,10127,0.59,247.1,918.0,9.6,759,10177,0.00,2.22,43.00,0.987,6,0.000,0.033,2476,2138,1860,0,0,0,0,0,0
$GC,10494,0.64,283.9,879.6,10.3,777,10529,0.00,2.28,30.12,0.964,4,0.000,0.037,2486,714,1711,0,0,0,0,0,0
$GC,10616,0.66,300.3,866.4,11.1,782,10636,0.00,2.28,14.20,0.887,6,0.000,0.033,2486,2167,1646,0,0,0,0,0,0
$GC,10960,0.66,300.3,823.9,12.9,799,10964,0.00,2.15,0.00,0.000,4,0.000,0.045,2486,3538,1644,0,0,0,0,0,0
$GC,11025,0.66,300.3,814.9,14.6,802,11029,0.00,2.00,0.00,0.000,6,0.000,0.028,2495,2222,1644,0,0,0,0,0,0
$GC,11358,0.66,300.3,771.2,12.3,818,11362,0.00,2.30,0.00,0.000,4,0.000,0.037,2506,718,1645,0,0,0,0,0,0
$GC,11401,0.66,300.3,765.9,11.9,820,11405,0.00,2.35,0.00,0.000,6,0.000,0.034,2507,2236,1645,0,0,0,0,0,0
$GC,11730,0.72,348.5,731.1,9.8,836,11776,0.00,2.45,38.97,0.903,4,0.000,0.037,2516,727,1448,0,0,0,0,0,0
$GC,11795,0.79,409.4,724.6,9.3,839,11851,0.12,2.28,48.90,0.886,6,0.094,0.034,2573,2177,1198,0,0,0,0,0,0
$GC,12167,0.79,409.4,672.5,14.4,857,12171,0.00,2.15,0.00,0.000,4,0.000,0.046,2572,3541,1204,0,0,0,0,0,0
$GC,12234,0.79,409.4,661.7,15.8,860,12238,0.00,2.00,0.00,0.000,6,0.000,0.028,2582,2229,1204,0,0,0,0,0,0
$GC,12562,0.79,409.4,610.6,15.4,876,12566,0.00,2.30,0.00,0.000,4,0.000,0.036,2594,714,1204,0,0,0,0,0,0
$GC,12634,0.79,409.4,599.3,15.5,879,12638,0.15,2.30,0.00,0.000,6,0.149,0.034,2553,2204,1204,0,0,0,0,0,0
$GC,12956,0.79,409.4,554.6,14.5,895,12960,0.00,2.08,0.00,0.000,4,0.000,0.044,2554,3541,1203,0,0,0,0,0,0
$GC,13005,0.79,409.4,546.1,16.4,897,13009,0.00,2.03,0.00,0.000,6,0.000,0.028,2560,2229,1203,0,0,0,0,0,0
$GC,13328,0.79,409.4,494.9,15.9,914,13332,0.00,2.30,0.00,0.000,4,0.000,0.037,2572,717,1203,0,0,0,0,0,0
$GC,13385,0.79,409.4,485.9,15.6,918,13392,0.00,2.33,0.00,0.000,6,0.000,0.033,2572,2228,1204,0,0,0,0,0,0
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$STATE,17269,end climb,SURFACE_DEPTH_REACHED
$STATE,17269,begin surface coast
$FINISH,0.4,1.000136
$STATE,17298,end surface coast,CONTROL_FINISHED_OK
$STATE,17298,begin surface
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$HUMID,45.47
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.8,66.159
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$FG_AHR_10Vo,0.000
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$MEM,322264
$DATA_FILE_SIZE,80363,1418
$CAP_FILE_SIZE,197453,0
$CFSIZE,260165632,206139392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,034936,1854.794,12012.496,35,0.9,40,-2.0