version: 66.09
glider: 181
mission: 6
dive: 490
start: 9 13 111 10 12 33
data:
$ID,181
$MISSION,6
$DIVE,490
$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,1
$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,-41202.602
$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,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,130911,050613,1853.606,12020.998,11,1.1,16,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.9
$GPS2,130911,101137,1853.050,12022.641,32,1.0,32,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.208,-0.233
$KALMAN_X,12886.3,-582.2,1364.6,28945.7,-2156.7
$KALMAN_Y,52193.5,302.3,681.7,-93021.1,1026.1
$MHEAD_RNG_PITCHd_Wd,140.3,37894,-17.4,-11.786
$D_GRID,2507
$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,-62.55,0.000,2,0.000,0.000,177,2545,2253,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.5,-4.0,11,132,8.23,2.25,-29.25,0.000,4,0.228,0.041,2122,1084,3663,0,0,0,0,0,0
$GC,191,-0.53,-194.6,31.9,-19.5,29,198,0.00,2.15,0.00,0.000,6,0.000,0.035,2113,2483,3664,0,0,0,0,0,0
$GC,334,-0.53,-194.6,71.5,-27.9,54,341,0.00,2.08,0.00,0.000,4,0.000,0.026,2113,1087,3662,0,0,0,0,0,0
$GC,444,-0.53,-194.6,90.8,-15.7,73,451,0.00,2.17,0.00,0.000,6,0.000,0.034,2109,2511,3662,0,0,0,0,0,0
$GC,587,-0.53,-194.6,117.9,-21.8,98,593,0.00,1.92,0.00,0.000,4,0.000,0.041,2098,3780,3662,0,0,0,0,0,0
$GC,674,-0.53,-194.6,134.0,-18.3,113,682,0.00,1.90,0.00,0.000,6,0.000,0.023,2099,2478,3662,0,0,0,0,0,0
$GC,818,-0.53,-194.6,157.1,-14.9,138,825,0.10,0.00,0.00,0.000,6,0.164,0.000,2125,2475,3662,0,0,0,0,0,0
$GC,962,-0.53,-194.6,174.7,-12.0,163,969,0.00,2.00,0.00,0.000,4,0.000,0.040,2116,3783,3663,0,0,0,0,0,0
$GC,992,-0.53,-194.6,178.5,-12.4,168,999,0.00,1.88,0.00,0.000,6,0.000,0.023,2116,2492,3663,0,0,0,0,0,0
$GC,1136,-0.53,-194.6,195.6,-11.9,193,1143,0.00,2.03,0.00,0.000,4,0.000,0.028,2116,1102,3663,0,0,0,0,0,0
$GC,1173,-0.53,-194.6,199.9,-11.5,199,1180,0.00,2.12,0.00,0.000,6,0.000,0.032,2112,2502,3663,0,0,0,0,0,0
$GC,1309,-0.53,-194.6,216.4,-12.6,212,1313,0.00,1.95,0.00,0.000,4,0.000,0.041,2102,3789,3663,0,0,0,0,0,0
$GC,1366,-0.53,-194.6,223.9,-12.7,217,1370,0.00,1.88,0.00,0.000,6,0.000,0.024,2102,2499,3662,0,0,0,0,0,0
$GC,1697,-0.53,-194.6,270.7,-14.9,248,1700,0.00,1.98,0.00,0.000,4,0.000,0.041,2093,3780,3660,0,0,0,0,0,0
$GC,1724,-0.53,-194.6,275.0,-14.9,250,1732,0.12,1.88,0.00,0.000,6,0.142,0.024,2129,2493,3660,0,0,0,0,0,0
$GC,2051,-0.53,-194.6,311.7,-10.2,281,2055,0.00,2.00,0.00,0.000,4,0.000,0.042,2122,3786,3657,0,0,0,0,0,0
$GC,2088,-0.53,-194.6,315.3,-9.7,284,2092,0.00,1.88,0.00,0.000,6,0.000,0.024,2122,2498,3657,0,0,0,0,0,0
$GC,2419,-0.53,-194.6,344.3,-8.3,315,2423,0.00,1.98,0.00,0.000,4,0.000,0.041,2113,3779,3654,0,0,0,0,0,0
$GC,2435,-0.53,-194.6,346.0,-8.5,316,2442,0.00,1.88,0.00,0.000,6,0.000,0.025,2113,2495,3654,0,0,0,0,0,0
$GC,2762,-0.53,-194.6,375.9,-9.4,347,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3650,0,0,0,0,0,0
$GC,3081,-0.53,-194.6,405.2,-8.8,377,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2493,3647,0,0,0,0,0,0
$GC,3400,-0.53,-194.6,437.8,-11.4,407,3404,0.00,2.00,0.00,0.000,4,0.000,0.044,2112,3776,3644,0,0,0,0,0,0
$GC,3438,-0.53,-194.6,442.5,-11.5,410,3445,0.00,1.88,0.00,0.000,6,0.000,0.026,2112,2502,3643,0,0,0,0,0,0
$GC,3765,-0.53,-194.6,477.9,-10.8,441,3768,0.00,2.00,0.00,0.000,4,0.000,0.045,2111,3776,3641,0,0,0,0,0,0
$GC,3792,-0.53,-194.6,481.1,-11.2,443,3799,0.00,1.90,0.00,0.000,6,0.000,0.026,2111,2502,3640,0,0,0,0,0,0
$GC,4117,-0.53,-194.6,512.3,-9.4,468,4121,0.00,2.08,0.00,0.000,4,0.000,0.032,2111,1110,3638,0,0,0,0,0,0
$GC,4136,-0.53,-194.6,514.1,-9.6,469,4140,0.00,2.15,0.00,0.000,6,0.000,0.036,2111,2495,3638,0,0,0,0,0,0
$GC,4468,-0.53,-194.6,544.7,-9.4,485,4472,0.00,2.05,0.00,0.000,4,0.000,0.047,2110,3783,3635,0,0,0,0,0,0
$GC,4605,-0.53,-194.6,557.6,-9.1,491,4609,0.00,1.90,0.00,0.000,6,0.000,0.026,2110,2499,3633,0,0,0,0,0,0
$GC,4938,-0.53,-194.6,592.9,-11.3,507,4942,0.00,2.03,0.00,0.000,4,0.000,0.044,2100,3790,3631,0,0,0,0,0,0
$GC,4966,-0.53,-194.6,596.4,-11.5,508,4969,0.00,1.90,0.00,0.000,6,0.000,0.026,2101,2501,3630,0,0,0,0,0,0
$GC,5294,-0.53,-194.6,635.4,-12.0,524,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3629,0,0,0,0,0,0
$GC,5603,-0.53,-194.6,672.1,-11.6,539,5606,0.00,2.05,0.00,0.000,4,0.000,0.046,2093,3788,3627,0,0,0,0,0,0
$GC,5665,-0.53,-194.6,679.1,-10.5,541,5672,0.12,1.92,0.00,0.000,6,0.141,0.026,2128,2495,3626,0,0,0,0,0,0
$GC,5981,-0.53,-194.6,706.2,-8.5,557,5985,0.00,2.08,0.00,0.000,4,0.000,0.031,2129,1104,3624,0,0,0,0,0,0
$GC,6003,-0.53,-194.6,708.2,-8.4,558,6007,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2500,3624,0,0,0,0,0,0
$GC,6325,-0.53,-194.6,737.6,-9.6,574,6329,0.00,2.05,0.00,0.000,4,0.000,0.047,2124,3769,3622,0,0,0,0,0,0
$GC,6397,-0.53,-194.6,745.0,-9.8,577,6401,0.00,1.90,0.00,0.000,6,0.000,0.027,2124,2492,3622,0,0,0,0,0,0
$GC,6725,-0.53,-194.6,775.7,-8.8,593,6729,0.00,2.05,0.00,0.000,4,0.000,0.046,2115,3789,3620,0,0,0,0,0,0
$GC,6758,-0.53,-194.6,778.9,-8.4,594,6762,0.00,1.92,0.00,0.000,6,0.000,0.027,2115,2498,3620,0,0,0,0,0,0
$GC,7080,-0.53,-194.6,805.7,-8.4,610,7083,0.00,2.05,0.00,0.000,4,0.000,0.047,2112,3785,3618,0,0,0,0,0,0
$GC,7127,-0.53,-194.6,809.5,-8.1,612,7131,0.00,1.92,0.00,0.000,6,0.000,0.026,2111,2495,3618,0,0,0,0,0,0
$GC,7460,-0.53,-194.6,838.2,-8.4,628,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2494,3617,0,0,0,0,0,0
$GC,7771,-0.53,-194.6,863.5,-8.5,643,7774,0.00,2.05,0.00,0.000,4,0.000,0.047,2111,3788,3615,0,0,0,0,0,0
$GC,7818,-0.53,-194.6,867.5,-8.3,645,7821,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2499,3615,0,0,0,0,0,0
$GC,8151,-0.53,-194.6,893.9,-7.4,661,8155,0.00,2.10,0.00,0.000,4,0.000,0.033,2111,1102,3614,0,0,0,0,0,0
$GC,8169,-0.53,-194.6,895.4,-7.5,662,8173,0.00,2.17,0.00,0.000,6,0.000,0.036,2111,2500,3613,0,0,0,0,0,0
$GC,8497,-0.53,-194.6,921.3,-8.2,678,8501,0.00,2.03,0.00,0.000,4,0.000,0.048,2111,3777,3611,0,0,0,0,0,0
$GC,8552,-0.53,-194.6,925.9,-7.8,680,8556,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2490,3612,0,0,0,0,0,0
$GC,8875,-0.53,-194.6,952.7,-8.7,696,8878,0.00,2.05,0.00,0.000,4,0.000,0.049,2111,3777,3610,0,0,0,0,0,0
$GC,8902,-0.53,-194.6,955.3,-8.5,697,8906,0.00,1.92,0.00,0.000,6,0.000,0.028,2111,2495,3610,0,0,0,0,0,0
$GC,9230,-0.53,-194.6,979.6,-7.7,713,9234,0.00,2.10,0.00,0.000,4,0.000,0.034,2111,1104,3609,0,0,0,0,0,0
$GC,9263,-0.53,-194.6,982.5,-8.1,714,9270,0.00,2.17,0.00,0.000,6,0.000,0.037,2111,2502,3609,0,0,0,0,0,0
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9371,begin apogee
$GC,9377,-0.13,0.0,991.4,8.3,720,9532,0.43,0.00,148.57,1.078,6,0.115,0.000,2252,2095,2869,0,0,0,0,0,0
$STATE,9532,end apogee,CONTROL_FINISHED_OK
$STATE,9533,begin climb
$GC,9535,0.53,194.6,999.9,0.0,727,9703,0.60,2.28,158.60,1.056,4,0.054,0.037,2495,739,2075,0,0,0,0,0,0
$GC,9765,0.57,230.3,989.4,10.3,738,9800,0.00,2.17,29.48,1.004,6,0.000,0.032,2495,2134,1932,0,0,0,0,0,0
$GC,10118,0.60,251.0,953.5,10.9,755,10143,0.00,2.30,18.40,0.979,4,0.000,0.044,2495,3540,1845,0,0,0,0,0,0
$GC,10194,0.60,251.0,943.9,12.1,758,10198,0.00,2.20,0.00,0.000,6,0.000,0.029,2505,2141,1844,0,0,0,0,0,0
$GC,10515,0.60,251.0,904.3,12.7,774,10519,0.00,2.17,0.00,0.000,4,0.000,0.039,2516,714,1844,0,0,0,0,0,0
$GC,10600,0.60,251.0,893.2,13.7,778,10605,0.00,2.15,0.00,0.000,6,0.000,0.033,2516,2123,1843,0,0,0,0,0,0
$GC,10927,0.60,251.0,848.1,13.7,794,10931,0.00,2.20,0.00,0.000,4,0.000,0.044,2516,3544,1843,0,0,0,0,0,0
$GC,10978,0.60,251.0,840.6,14.2,796,10983,0.12,2.15,0.00,0.000,6,0.178,0.029,2495,2124,1843,0,0,0,0,0,0
$GC,11294,0.63,280.2,805.5,10.6,811,11324,0.00,2.22,24.05,0.932,4,0.000,0.039,2505,724,1725,0,0,0,0,0,0
$GC,11375,0.68,315.7,797.1,10.3,814,11411,0.00,2.17,29.38,0.919,6,0.000,0.032,2505,2138,1582,0,0,0,0,0,0
$GC,11734,0.73,359.8,761.4,10.0,832,11777,0.00,2.25,35.53,0.911,4,0.000,0.043,2505,3541,1403,0,0,0,0,0,0
$GC,11837,0.79,405.4,751.6,9.9,836,11882,0.12,2.20,37.62,0.896,6,0.094,0.028,2567,2116,1215,0,0,0,0,0,0
$GC,12198,0.79,405.4,700.9,14.8,854,12202,0.00,2.15,0.00,0.000,4,0.000,0.038,2577,711,1218,0,0,0,0,0,0
$GC,12239,0.79,405.4,695.1,14.8,856,12244,0.00,2.17,0.00,0.000,6,0.000,0.034,2578,2126,1218,0,0,0,0,0,0
$GC,12566,0.79,405.4,639.7,17.4,872,12570,0.00,2.20,0.00,0.000,4,0.000,0.044,2577,3542,1218,0,0,0,0,0,0
$GC,12634,0.79,405.4,627.0,18.9,875,12639,0.12,2.15,0.00,0.000,6,0.177,0.029,2557,2125,1218,0,0,0,0,0,0
$GC,12955,0.79,405.4,577.1,14.9,891,12959,0.00,2.15,0.00,0.000,4,0.000,0.038,2565,712,1218,0,0,0,0,0,0
$GC,12998,0.79,405.4,570.4,14.8,893,13002,0.00,2.17,0.00,0.000,6,0.000,0.032,2565,2137,1218,0,0,0,0,0,0
$GC,13327,0.79,405.4,522.4,14.2,909,13331,0.00,2.17,0.00,0.000,4,0.000,0.044,2565,3541,1217,0,0,0,0,0,0
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$STATE,17615,end climb,SURFACE_DEPTH_REACHED
$STATE,17615,begin surface coast
$FINISH,0.3,1.020073
$STATE,17650,end surface coast,CONTROL_FINISHED_OK
$STATE,17650,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.20
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,2
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$10V_AH,9.8,66.808
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$FG_AHR_10Vo,0.000
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$MEM,322260
$DATA_FILE_SIZE,83632,1448
$CAP_FILE_SIZE,197464,0
$CFSIZE,260165632,205504512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,150907,1852.096,12024.146,28,1.0,28,-2.0