version: 66.09
glider: 181
mission: 6
dive: 486
start: 9 12 111 14 7 10
data:
$ID,181
$MISSION,6
$DIVE,486
$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,-41183.438
$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,44
$R_STBD_OVSHOOT,38
$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
$GPS1,120911,140007,1854.122,12015.981,31,1.3,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.2
$GPS2,120911,140614,1854.192,12016.055,10,1.6,10,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.147,-0.275
$KALMAN_X,7578.9,1493.6,-2077.5,24062.1,3634.1
$KALMAN_Y,37707.7,1159.3,-842.0,-75767.3,3083.1
$MHEAD_RNG_PITCHd_Wd,144.9,45708,-17.4,-11.786
$D_GRID,1582
$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,-62.33,0.000,2,0.000,0.000,209,2512,2243,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.6,-4.2,11,131,8.05,2.20,-29.52,0.000,4,0.226,0.040,2121,1084,3663,0,0,0,0,0,0
$GC,213,-0.53,-194.6,38.7,-18.2,33,220,0.00,2.20,0.00,0.000,6,0.000,0.035,2112,2502,3664,0,0,0,0,0,0
$GC,356,-0.53,-194.6,72.0,-21.3,58,363,0.00,2.00,0.00,0.000,4,0.000,0.043,2111,3774,3663,0,0,0,0,0,0
$GC,427,-0.53,-194.6,84.7,-17.6,70,434,0.00,1.55,0.00,0.000,6,0.000,0.023,2111,2731,3663,0,0,0,0,0,0
$GC,570,-0.53,-194.6,113.1,-19.8,95,577,0.00,2.45,0.00,0.000,4,0.000,0.027,2111,1084,3663,0,0,0,0,0,0
$GC,611,-0.53,-194.6,120.7,-17.1,102,618,0.00,2.58,0.00,0.000,6,0.000,0.035,2110,2751,3663,0,0,0,0,0,0
$GC,755,-0.53,-194.6,144.9,-15.8,127,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2752,3664,0,0,0,0,0,0
$GC,897,-0.53,-194.6,168.0,-16.2,152,903,0.00,1.60,0.00,0.000,4,0.000,0.041,2105,3789,3664,0,0,0,0,0,0
$GC,950,-0.53,-194.6,175.7,-14.5,161,957,0.00,1.70,0.00,0.000,6,0.000,0.023,2105,2600,3664,0,0,0,0,0,0
$GC,1093,-0.53,-194.6,195.0,-12.0,186,1099,0.00,2.22,0.00,0.000,4,0.000,0.027,2105,1081,3665,0,0,0,0,0,0
$GC,1130,-0.53,-194.6,199.1,-11.2,192,1137,0.10,2.30,0.00,0.000,6,0.160,0.032,2125,2590,3665,0,0,0,0,0,0
$GC,1272,-0.53,-194.6,213.5,-10.1,206,1276,0.00,1.85,0.00,0.000,4,0.000,0.042,2118,3784,3665,0,0,0,0,0,0
$GC,1288,-0.53,-194.6,215.3,-10.4,207,1295,0.00,1.90,0.00,0.000,6,0.000,0.023,2118,2474,3666,0,0,0,0,0,0
$GC,1614,-0.53,-194.6,251.3,-10.6,238,1618,0.00,2.03,0.00,0.000,4,0.000,0.041,2111,3789,3665,0,0,0,0,0,0
$GC,1653,-0.53,-194.6,255.8,-11.2,241,1660,0.00,1.85,0.00,0.000,6,0.000,0.024,2111,2528,3664,0,0,0,0,0,0
$GC,1978,-0.53,-194.6,295.8,-12.9,272,1982,0.00,1.95,0.00,0.000,4,0.000,0.042,2111,3790,3662,0,0,0,0,0,0
$GC,2027,-0.53,-194.6,302.0,-12.3,276,2034,0.00,1.75,0.00,0.000,6,0.000,0.024,2111,2611,3661,0,0,0,0,0,0
$GC,2353,-0.53,-194.6,339.8,-11.2,307,2357,0.00,2.22,0.00,0.000,4,0.000,0.029,2111,1111,3658,0,0,0,0,0,0
$GC,2431,-0.53,-194.6,348.4,-10.4,313,2438,0.00,2.22,0.00,0.000,6,0.000,0.034,2111,2560,3657,0,0,0,0,0,0
$GC,2757,-0.53,-194.6,381.7,-10.1,344,2761,0.00,1.88,0.00,0.000,4,0.000,0.044,2102,3785,3655,0,0,0,0,0,0
$GC,2826,-0.53,-194.6,388.4,-9.7,350,2829,0.00,1.77,0.00,0.000,6,0.000,0.024,2102,2569,3654,0,0,0,0,0,0
$GC,3157,-0.53,-194.6,421.1,-9.8,381,3161,0.00,2.15,0.00,0.000,4,0.000,0.029,2102,1117,3651,0,0,0,0,0,0
$GC,3186,-0.53,-194.6,424.0,-9.9,383,3191,0.10,2.25,0.00,0.000,6,0.161,0.034,2125,2577,3650,0,0,0,0,0,0
$GC,3513,-0.53,-194.6,452.4,-9.3,413,3517,0.00,1.90,0.00,0.000,4,0.000,0.044,2125,3783,3647,0,0,0,0,0,0
$GC,3560,-0.53,-194.6,457.0,-10.0,417,3564,0.00,1.70,0.00,0.000,6,0.000,0.026,2125,2629,3647,0,0,0,0,0,0
$GC,3892,-0.53,-194.6,491.6,-10.2,448,3896,0.00,2.28,0.00,0.000,4,0.000,0.031,2125,1106,3644,0,0,0,0,0,0
$GC,3950,-0.53,-194.6,497.8,-10.2,453,3954,0.00,2.33,0.00,0.000,6,0.000,0.034,2125,2611,3644,0,0,0,0,0,0
$GC,4267,-0.53,-194.6,530.7,-10.4,469,4271,0.00,2.28,0.00,0.000,4,0.000,0.031,2125,1109,3641,0,0,0,0,0,0
$GC,4295,-0.53,-194.6,534.0,-10.4,470,4299,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2577,3641,0,0,0,0,0,0
$GC,4616,-0.53,-194.6,564.9,-9.3,486,4620,0.00,1.85,0.00,0.000,4,0.000,0.046,2124,3777,3639,0,0,0,0,0,0
$GC,4672,-0.53,-194.6,570.4,-9.5,488,4676,0.00,1.80,0.00,0.000,6,0.000,0.026,2124,2593,3638,0,0,0,0,0,0
$GC,4994,-0.53,-194.6,599.6,-8.9,504,4998,0.00,2.22,0.00,0.000,4,0.000,0.031,2124,1117,3636,0,0,0,0,0,0
$GC,5046,-0.53,-194.6,604.1,-8.8,506,5050,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2543,3635,0,0,0,0,0,0
$GC,5369,-0.53,-194.6,631.1,-8.2,522,5372,0.00,1.92,0.00,0.000,4,0.000,0.047,2124,3783,3633,0,0,0,0,0,0
$GC,5430,-0.53,-194.6,636.5,-8.3,524,5436,0.00,1.75,0.00,0.000,6,0.000,0.026,2124,2599,3633,0,0,0,0,0,0
$GC,5746,-0.53,-194.6,661.7,-8.1,540,5750,0.00,2.22,0.00,0.000,4,0.000,0.031,2124,1118,3631,0,0,0,0,0,0
$GC,5802,-0.53,-194.6,666.6,-8.8,542,5809,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2567,3631,0,0,0,0,0,0
$GC,6118,-0.53,-194.6,693.7,-8.7,558,6122,0.00,1.88,0.00,0.000,4,0.000,0.047,2124,3776,3629,0,0,0,0,0,0
$GC,6165,-0.53,-194.6,697.7,-8.7,560,6169,0.00,1.75,0.00,0.000,6,0.000,0.027,2124,2599,3629,0,0,0,0,0,0
$GC,6499,-0.53,-194.6,728.6,-9.2,576,6503,0.00,2.22,0.00,0.000,4,0.000,0.032,2124,1119,3627,0,0,0,0,0,0
$GC,6576,-0.53,-194.6,735.8,-9.0,579,6583,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2537,3626,0,0,0,0,0,0
$GC,6893,-0.53,-194.6,764.9,-9.5,595,6897,0.00,1.92,0.00,0.000,4,0.000,0.047,2124,3776,3625,0,0,0,0,0,0
$GC,6971,-0.53,-194.6,772.5,-9.4,598,6975,0.00,1.77,0.00,0.000,6,0.000,0.027,2124,2582,3625,0,0,0,0,0,0
$GC,7294,-0.53,-194.6,798.1,-7.8,614,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2579,3623,0,0,0,0,0,0
$GC,7602,-0.53,-194.6,823.5,-8.7,629,7606,0.00,2.20,0.00,0.000,4,0.000,0.033,2124,1119,3622,0,0,0,0,0,0
$GC,7647,-0.53,-194.6,828.0,-9.5,631,7650,0.00,1.85,0.00,0.000,6,0.000,0.034,2124,2321,3622,0,0,0,0,0,0
$GC,7975,-0.53,-194.6,859.1,-10.0,647,7979,0.00,2.30,0.00,0.000,4,0.000,0.046,2124,3782,3621,0,0,0,0,0,0
$GC,8053,-0.53,-194.6,867.4,-10.4,650,8059,0.00,1.67,0.00,0.000,6,0.000,0.027,2124,2672,3620,0,0,0,0,0,0
$GC,8370,-0.53,-194.6,900.3,-10.5,666,8374,0.00,2.38,0.00,0.000,4,0.000,0.033,2124,1109,3619,0,0,0,0,0,0
$GC,8425,-0.53,-194.6,906.3,-10.3,668,8432,0.00,1.92,0.00,0.000,6,0.000,0.034,2124,2362,3619,0,0,0,0,0,0
$GC,8741,-0.53,-194.6,936.1,-8.9,684,8745,0.00,2.25,0.00,0.000,4,0.000,0.047,2124,3786,3618,0,0,0,0,0,0
$GC,8798,-0.53,-194.6,941.0,-8.6,686,8805,0.00,1.67,0.00,0.000,6,0.000,0.027,2124,2653,3618,0,0,0,0,0,0
$GC,9114,-0.53,-194.6,965.1,-7.2,702,9118,0.00,2.33,0.00,0.000,4,0.000,0.033,2124,1119,3617,0,0,0,0,0,0
$GC,9178,-0.53,-194.6,969.9,-7.6,705,9182,0.00,1.95,0.00,0.000,6,0.000,0.034,2124,2354,3617,0,0,0,0,0,0
$STATE,9487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9487,begin apogee
$GC,9493,-0.13,0.0,991.0,6.8,720,9649,0.38,0.00,150.27,1.079,4,0.088,0.000,2260,2112,2868,0,0,0,0,0,0
$STATE,9649,end apogee,CONTROL_FINISHED_OK
$STATE,9650,begin climb
$GC,9652,0.53,194.6,1001.3,0.0,727,9820,0.60,2.22,158.90,1.060,4,0.055,0.037,2488,739,2074,0,0,0,0,0,0
$GC,10006,0.63,273.7,980.8,8.6,743,10076,0.00,2.20,63.88,1.037,6,0.000,0.033,2488,2126,1753,0,0,0,0,0,0
$GC,10384,0.67,305.6,942.5,10.5,762,10416,0.00,2.20,26.45,0.998,4,0.000,0.036,2498,744,1624,0,0,0,0,0,0
$GC,10497,0.70,336.7,930.9,10.5,767,10528,0.00,2.28,26.27,0.977,6,0.000,0.034,2497,2190,1496,0,0,0,0,0,0
$GC,10838,0.70,336.7,891.7,11.9,783,10842,0.00,2.10,0.00,0.000,4,0.000,0.045,2497,3537,1497,0,0,0,0,0,0
$GC,10917,0.70,336.7,881.1,13.8,786,10924,0.00,1.98,0.00,0.000,6,0.000,0.028,2506,2243,1499,0,0,0,0,0,0
$GC,11233,0.70,336.7,839.2,12.8,802,11237,0.00,2.28,0.00,0.000,4,0.000,0.037,2518,748,1500,0,0,0,0,0,0
$GC,11309,0.70,336.7,829.0,12.8,805,11316,0.00,2.25,0.00,0.000,6,0.000,0.033,2518,2205,1500,0,0,0,0,0,0
$GC,11627,0.73,354.5,790.9,11.1,821,11650,0.00,2.17,16.88,0.899,4,0.000,0.044,2518,3537,1423,0,0,0,0,0,0
$GC,11707,0.74,368.4,781.7,11.2,824,11726,0.00,1.98,12.43,0.839,6,0.000,0.028,2527,2241,1367,0,0,0,0,0,0
$GC,12051,0.80,411.2,746.1,10.0,841,12094,0.00,2.35,34.83,0.907,4,0.000,0.037,2538,747,1191,0,0,0,0,0,0
$GC,12146,0.87,470.2,736.5,9.4,845,12205,0.12,2.30,47.70,0.897,6,0.090,0.032,2593,2203,952,0,0,0,0,0,0
$GC,12513,0.87,470.2,681.6,15.4,863,12517,0.00,2.10,0.00,0.000,4,0.000,0.046,2593,3539,955,0,0,0,0,0,0
$GC,12590,0.87,470.2,667.6,17.5,866,12597,0.00,1.92,0.00,0.000,6,0.000,0.028,2601,2306,956,0,0,0,0,0,0
$GC,12907,0.87,470.2,611.4,17.6,882,12911,0.00,2.38,0.00,0.000,4,0.000,0.036,2613,746,955,0,0,0,0,0,0
$GC,12933,0.87,470.2,606.3,17.4,883,12939,0.12,2.42,0.00,0.000,6,0.151,0.034,2580,2304,955,0,0,0,0,0,0
$GC,13256,0.87,470.2,559.0,14.5,899,13260,0.00,1.95,0.00,0.000,4,0.000,0.045,2580,3529,956,0,0,0,0,0,0
$GC,13283,0.87,470.2,554.3,15.8,900,13287,0.00,1.85,0.00,0.000,6,0.000,0.027,2586,2328,956,0,0,0,0,0,0
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$STATE,17457,begin surface coast
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$STATE,17482,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.69
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,66.441
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322248
$DATA_FILE_SIZE,80089,1412
$CAP_FILE_SIZE,197943,0
$CFSIZE,260165632,205864960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,190107,1854.223,12017.880,39,0.8,39,-2.0