version: 66.09
glider: 181
mission: 6
dive: 443
start: 9 3 111 13 27 45
data:
$ID,181
$MISSION,6
$DIVE,443
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-41121.98
$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,2320
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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
$GPS1,030911,131837,1952.545,12011.035,38,0.8,38,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.2
$GPS2,030911,132720,1952.537,12011.150,14,0.8,14,-2.2
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,193.5,99238,-16.3,-11.786
$D_GRID,4006
$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,18,-0.54,-219.0,0.0,0.0,0,81,0.00,0.00,-61.42,0.000,2,0.000,0.000,200,2624,2187,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.1,-3.1,11,132,8.12,0.00,-34.78,0.000,6,0.226,0.000,2140,2624,3763,0,0,0,0,0,0
$GC,267,-0.54,-219.0,58.8,-30.8,43,274,0.00,1.77,0.00,0.000,4,0.000,0.041,2133,3779,3762,0,0,0,0,0,0
$GC,298,-0.54,-219.0,65.7,-23.1,48,304,0.00,1.77,0.00,0.000,6,0.000,0.025,2133,2566,3762,0,0,0,0,0,0
$GC,441,-0.54,-219.0,92.8,-15.0,73,448,0.00,1.88,0.00,0.000,4,0.000,0.041,2123,3779,3761,0,0,0,0,0,0
$GC,556,-0.54,-219.0,109.8,-14.2,93,563,0.00,1.58,0.00,0.000,6,0.000,0.024,2124,2729,3761,0,0,0,0,0,0
$GC,700,-0.54,-219.0,132.8,-15.0,118,706,0.00,2.25,0.00,0.000,4,0.000,0.028,2124,1199,3761,0,0,0,0,0,0
$GC,753,-0.54,-219.0,140.4,-13.4,127,760,0.12,2.28,0.00,0.000,6,0.145,0.034,2148,2676,3762,0,0,0,0,0,0
$GC,899,-0.54,-219.0,159.4,-13.3,152,905,0.00,1.65,0.00,0.000,4,0.000,0.042,2142,3774,3762,0,0,0,0,0,0
$GC,929,-0.54,-219.0,163.6,-12.9,157,936,0.00,1.65,0.00,0.000,6,0.000,0.024,2142,2640,3762,0,0,0,0,0,0
$GC,1073,-0.54,-219.0,180.4,-11.0,182,1080,0.00,2.10,0.00,0.000,4,0.000,0.028,2142,1201,3762,0,0,0,0,0,0
$GC,1105,-0.54,-219.0,183.7,-10.2,187,1111,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2660,3762,0,0,0,0,0,0
$GC,1249,-0.54,-219.0,198.9,-11.8,212,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2660,3762,0,0,0,0,0,0
$GC,1390,-0.54,-219.0,216.2,-12.5,226,1394,0.00,1.70,0.00,0.000,4,0.000,0.043,2138,3783,3762,0,0,0,0,0,0
$GC,1418,-0.54,-219.0,219.7,-11.7,228,1424,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2657,3762,0,0,0,0,0,0
$GC,1743,-0.54,-219.0,254.2,-14.6,259,1747,0.00,2.15,0.00,0.000,4,0.000,0.029,2138,1193,3761,0,0,0,0,0,0
$GC,1832,-0.54,-219.0,267.6,-13.9,266,1839,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2626,3760,0,0,0,0,0,0
$GC,2158,-0.54,-219.0,301.2,-8.2,297,2162,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1198,3758,0,0,0,0,0,0
$GC,2206,-0.54,-219.0,305.0,-8.4,301,2210,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2609,3758,0,0,0,0,0,0
$GC,2532,-0.54,-219.0,331.7,-8.5,331,2536,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1204,3755,0,0,0,0,0,0
$GC,2562,-0.54,-219.0,334.4,-8.6,333,2566,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2596,3754,0,0,0,0,0,0
$GC,2888,-0.54,-219.0,362.6,-8.6,363,2891,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3777,3752,0,0,0,0,0,0
$GC,2991,-0.54,-219.0,371.5,-8.5,372,2995,0.00,1.90,0.00,0.000,6,0.000,0.026,2138,2485,3750,0,0,0,0,0,0
$GC,3322,-0.54,-219.0,398.0,-8.0,403,3326,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3786,3747,0,0,0,0,0,0
$GC,3459,-0.54,-219.0,409.8,-8.9,415,3462,0.00,2.00,0.00,0.000,6,0.000,0.026,2138,2432,3746,0,0,0,0,0,0
$GC,3790,-0.54,-219.0,442.6,-11.4,446,3793,0.00,1.83,0.00,0.000,4,0.000,0.032,2137,1194,3744,0,0,0,0,0,0
$GC,3818,-0.54,-219.0,446.2,-11.6,448,3825,0.00,1.90,0.00,0.000,6,0.000,0.033,2138,2447,3743,0,0,0,0,0,0
$GC,4143,-0.54,-219.0,487.7,-13.5,479,4147,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3777,3741,0,0,0,0,0,0
$GC,4319,-0.54,-219.0,512.3,-13.0,490,4325,0.00,1.98,0.00,0.000,6,0.000,0.027,2138,2446,3739,0,0,0,0,0,0
$GC,4635,-0.54,-219.0,544.6,-9.0,506,4639,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3776,3737,0,0,0,0,0,0
$GC,4680,-0.54,-219.0,548.6,-8.8,508,4683,0.00,1.98,0.00,0.000,6,0.000,0.027,2138,2456,3737,0,0,0,0,0,0
$GC,5007,-0.54,-219.0,570.8,-6.1,524,5011,0.00,2.08,0.00,0.000,4,0.000,0.044,2138,3783,3734,0,0,0,0,0,0
$GC,5119,-0.54,-219.0,578.1,-6.9,529,5122,0.00,1.98,0.00,0.000,6,0.000,0.028,2138,2460,3733,0,0,0,0,0,0
$GC,5446,-0.54,-219.0,595.1,-5.2,545,5450,0.00,2.08,0.00,0.000,4,0.000,0.046,2138,3782,3731,0,0,0,0,0,0
$GC,5703,-0.54,-219.0,616.2,-10.5,556,5710,0.00,1.92,0.00,0.000,6,0.000,0.028,2140,2485,3730,0,0,0,0,0,0
$GC,6019,-0.54,-219.0,652.5,-12.6,572,6022,0.00,2.03,0.00,0.000,4,0.000,0.045,2140,3780,3729,0,0,0,0,0,0
$GC,6165,-0.54,-219.0,672.5,-14.0,578,6168,0.00,1.90,0.00,0.000,6,0.000,0.028,2140,2508,3728,0,0,0,0,0,0
$GC,6487,-0.54,-219.0,710.6,-11.0,594,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2505,3727,0,0,0,0,0,0
$GC,6797,-0.54,-219.0,741.3,-9.3,609,6801,0.00,2.05,0.00,0.000,4,0.000,0.047,2140,3774,3724,0,0,0,0,0,0
$GC,6865,-0.54,-219.0,747.5,-9.3,612,6868,0.00,1.88,0.00,0.000,6,0.000,0.028,2145,2518,3724,0,0,0,0,0,0
$GC,7198,-0.54,-219.0,769.6,-5.3,628,7202,0.00,1.98,0.00,0.000,4,0.000,0.047,2146,3774,3722,0,0,0,0,0,0
$GC,7362,-0.54,-219.0,778.0,-4.9,635,7366,0.00,1.88,0.00,0.000,6,0.000,0.028,2145,2523,3722,0,0,0,0,0,0
$GC,7689,-0.54,-219.0,793.7,-5.7,651,7693,0.00,1.98,0.00,0.000,4,0.000,0.047,2145,3775,3721,0,0,0,0,0,0
$GC,7717,-0.54,-219.0,795.6,-5.8,652,7721,0.00,1.85,0.00,0.000,6,0.000,0.028,2145,2531,3720,0,0,0,0,0,0
$GC,8045,-0.54,-219.0,821.0,-8.4,668,8049,0.00,1.98,0.00,0.000,4,0.000,0.034,2145,1206,3720,0,0,0,0,0,0
$GC,8141,-0.54,-219.0,829.4,-8.6,672,8144,0.00,2.03,0.00,0.000,6,0.000,0.034,2145,2522,3719,0,0,0,0,0,0
$GC,8468,-0.54,-219.0,857.7,-8.8,688,8472,0.00,1.98,0.00,0.000,4,0.000,0.047,2145,3780,3718,0,0,0,0,0,0
$GC,8574,-0.54,-219.0,867.7,-9.6,692,8581,0.00,1.90,0.00,0.000,6,0.000,0.028,2145,2536,3717,0,0,0,0,0,0
$GC,8891,-0.54,-219.0,896.3,-9.3,708,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2536,3716,0,0,0,0,0,0
$GC,9199,-0.54,-219.0,926.9,-10.2,723,9203,0.00,1.98,0.00,0.000,4,0.000,0.048,2146,3782,3715,0,0,0,0,0,0
$GC,9353,-0.54,-219.0,943.3,-10.7,729,9360,0.00,1.88,0.00,0.000,6,0.000,0.028,2145,2533,3714,0,0,0,0,0,0
$STATE,9605,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9605,begin apogee
$GC,9611,-0.13,0.0,969.6,10.2,742,9784,0.35,0.00,168.18,1.065,4,0.062,0.000,2300,2117,2869,0,0,0,0,0,0
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9785,begin climb
$GC,9787,0.54,219.0,983.6,0.0,750,9972,0.52,2.25,177.65,1.047,4,0.049,0.038,2511,731,1976,0,0,0,0,0,0
$GC,10015,0.58,251.3,974.6,10.6,761,10050,0.00,2.25,27.95,0.991,6,0.000,0.034,2510,2127,1843,0,0,0,0,0,0
$GC,10366,0.58,251.3,934.4,12.0,778,10370,0.00,2.20,0.00,0.000,4,0.000,0.045,2511,3537,1841,0,0,0,0,0,0
$GC,10421,0.58,251.3,926.5,14.2,780,10429,0.00,2.12,0.00,0.000,6,0.000,0.030,2520,2149,1841,0,0,0,0,0,0
$GC,10739,0.58,251.3,882.3,14.6,796,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2150,1841,0,0,0,0,0,0
$GC,11047,0.58,251.3,836.8,14.5,811,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2149,1840,0,0,0,0,0,0
$GC,11356,0.58,251.3,793.6,13.8,826,11360,0.00,2.17,0.00,0.000,4,0.000,0.039,2531,723,1840,0,0,0,0,0,0
$GC,11397,0.58,251.3,788.1,13.8,828,11401,0.00,2.20,0.00,0.000,6,0.000,0.035,2531,2149,1840,0,0,0,0,0,0
$GC,11724,0.58,251.3,743.1,13.5,844,11728,0.00,2.15,0.00,0.000,4,0.000,0.046,2531,3534,1838,0,0,0,0,0,0
$GC,11764,0.58,251.3,737.4,15.1,846,11769,0.12,2.10,0.00,0.000,6,0.181,0.031,2510,2152,1838,0,0,0,0,0,0
$GC,12093,0.60,268.7,699.6,11.2,862,12112,0.00,0.00,14.55,0.848,6,0.000,0.000,2510,2152,1772,0,0,0,0,0,0
$GC,12421,0.60,268.7,660.6,12.4,878,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2152,1771,0,0,0,0,0,0
$GC,12731,0.62,279.1,624.0,11.4,893,12742,0.00,0.00,9.60,0.769,6,0.000,0.000,2511,2152,1731,0,0,0,0,0,0
$GC,13039,0.62,280.3,587.9,11.7,908,13043,0.00,2.17,0.00,0.000,4,0.000,0.044,2511,3536,1730,0,0,0,0,0,0
$GC,13083,0.62,280.3,582.2,12.6,910,13087,0.00,2.10,0.00,0.000,6,0.000,0.031,2519,2158,1730,0,0,0,0,0,0
$GC,13412,0.66,314.3,544.8,10.5,926,13447,0.00,2.30,28.48,0.793,4,0.000,0.041,2530,724,1587,0,0,0,0,0,0
$GC,13537,0.73,375.5,532.2,9.6,931,13590,0.00,2.20,47.83,0.776,6,0.000,0.034,2530,2141,1337,0,0,0,0,0,0
$GC,13903,0.80,429.1,496.3,9.8,951,13952,0.15,2.25,42.65,0.754,4,0.085,0.043,2593,3541,1120,0,0,0,0,0,0
$GC,14048,0.80,429.1,473.6,16.3,963,14055,0.00,2.15,0.00,0.000,6,0.000,0.030,2603,2154,1122,0,0,0,0,0,0
$GC,14374,0.80,429.1,422.2,15.9,994,14378,0.00,2.20,0.00,0.000,4,0.000,0.037,2614,716,1121,0,0,0,0,0,0
$GC,14402,0.80,429.1,417.6,15.8,996,14409,0.15,2.28,0.00,0.000,6,0.151,0.034,2574,2186,1121,0,0,0,0,0,0
$GC,14727,0.80,429.1,373.7,13.2,1027,14731,0.00,2.10,0.00,0.000,4,0.000,0.044,2573,3539,1121,0,0,0,0,0,0
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$STATE,17597,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.4,1.008325
$STATE,17630,end surface coast,CONTROL_FINISHED_OK
$STATE,17630,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,45.35
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,1
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$10V_AH,9.8,62.383
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323040
$DATA_FILE_SIZE,83569,1431
$CAP_FILE_SIZE,192885,0
$CFSIZE,260165632,209813504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,182406,1950.859,12009.384,35,1.1,35,-2.2