version: 66.09
glider: 181
mission: 6
dive: 435
start: 9 1 111 22 27 26
data:
$ID,181
$MISSION,6
$DIVE,435
$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,-41111.922
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,010911,222107,2004.084,12013.186,36,1.0,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.7
$GPS2,010911,222701,2004.062,12013.347,8,1.0,13,-2.3
$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,193.4,120923,-16.3,-11.786
$D_GRID,3813
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,86,0.00,0.00,-67.47,0.000,2,0.000,0.000,170,2618,2348,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.4,-3.5,12,132,8.32,1.90,-29.20,0.000,4,0.230,0.058,2130,3782,3763,0,0,0,0,0,0
$GC,168,-0.54,-219.0,29.5,-40.8,25,175,0.00,1.83,0.00,0.000,6,0.000,0.025,2130,2588,3764,0,0,0,0,0,0
$GC,311,-0.54,-219.0,71.0,-20.9,50,318,0.00,1.85,0.00,0.000,4,0.000,0.042,2121,3779,3764,0,0,0,0,0,0
$GC,398,-0.54,-219.0,87.8,-19.7,65,405,0.00,1.62,0.00,0.000,6,0.000,0.025,2121,2697,3764,0,0,0,0,0,0
$GC,541,-0.54,-219.0,114.5,-17.0,90,548,0.00,2.22,0.00,0.000,4,0.000,0.030,2121,1190,3764,0,0,0,0,0,0
$GC,582,-0.54,-219.0,121.7,-17.2,97,590,0.12,2.22,0.00,0.000,6,0.155,0.035,2146,2648,3765,0,0,0,0,0,0
$GC,729,-0.54,-219.0,147.0,-17.4,122,735,0.00,2.17,0.00,0.000,4,0.000,0.028,2146,1186,3765,0,0,0,0,0,0
$GC,765,-0.54,-219.0,152.8,-15.1,128,772,0.00,2.22,0.00,0.000,6,0.000,0.034,2140,2637,3766,0,0,0,0,0,0
$GC,910,-0.54,-219.0,169.4,-10.2,153,917,0.00,1.73,0.00,0.000,4,0.000,0.044,2139,3774,3765,0,0,0,0,0,0
$GC,958,-0.54,-219.0,173.6,-8.5,161,965,0.00,1.65,0.00,0.000,6,0.000,0.025,2139,2635,3765,0,0,0,0,0,0
$GC,1103,-0.54,-219.0,183.9,-8.0,186,1110,0.00,2.10,0.00,0.000,4,0.000,0.029,2139,1202,3766,0,0,0,0,0,0
$GC,1145,-0.54,-219.0,187.9,-8.9,193,1152,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2633,3766,0,0,0,0,0,0
$GC,1287,-0.54,-219.0,204.5,-12.3,215,1290,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3784,3766,0,0,0,0,0,0
$GC,1311,-0.54,-219.0,207.2,-11.9,217,1315,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2613,3766,0,0,0,0,0,0
$GC,1642,-0.54,-219.0,239.1,-8.6,248,1645,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3773,3765,0,0,0,0,0,0
$GC,1689,-0.54,-219.0,243.1,-8.6,252,1693,0.00,1.73,0.00,0.000,6,0.000,0.025,2139,2628,3765,0,0,0,0,0,0
$GC,2019,-0.54,-219.0,272.1,-8.6,283,2023,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1188,3763,0,0,0,0,0,0
$GC,2041,-0.54,-219.0,274.0,-8.7,284,2048,0.00,2.22,0.00,0.000,6,0.000,0.036,2138,2626,3763,0,0,0,0,0,0
$GC,2367,-0.54,-219.0,306.3,-11.2,315,2371,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1191,3759,0,0,0,0,0,0
$GC,2399,-0.54,-219.0,310.4,-11.8,317,2406,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2611,3759,0,0,0,0,0,0
$GC,2725,-0.54,-219.0,346.1,-10.4,348,2729,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1194,3756,0,0,0,0,0,0
$GC,2746,-0.54,-219.0,348.7,-10.3,349,2753,0.00,2.17,0.00,0.000,6,0.000,0.036,2138,2608,3756,0,0,0,0,0,0
$GC,3072,-0.54,-219.0,378.0,-8.4,380,3076,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3776,3753,0,0,0,0,0,0
$GC,3107,-0.54,-219.0,380.6,-7.7,383,3110,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2612,3753,0,0,0,0,0,0
$GC,3438,-0.54,-219.0,405.2,-6.8,414,3442,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1197,3750,0,0,0,0,0,0
$GC,3493,-0.54,-219.0,409.5,-7.5,418,3500,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2600,3749,0,0,0,0,0,0
$GC,3819,-0.54,-219.0,434.2,-8.8,449,3822,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3786,3747,0,0,0,0,0,0
$GC,3943,-0.54,-219.0,446.2,-10.1,460,3947,0.00,1.90,0.00,0.000,6,0.000,0.027,2138,2505,3747,0,0,0,0,0,0
$GC,4275,-0.54,-219.0,475.9,-7.9,491,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3744,0,0,0,0,0,0
$GC,4594,-0.54,-219.0,502.4,-8.4,520,4598,0.00,2.00,0.00,0.000,4,0.000,0.045,2138,3779,3742,0,0,0,0,0,0
$GC,4641,-0.54,-219.0,506.6,-9.1,522,4645,0.00,1.90,0.00,0.000,6,0.000,0.028,2138,2502,3741,0,0,0,0,0,0
$GC,4974,-0.54,-219.0,535.4,-9.1,538,4978,0.00,2.00,0.00,0.000,4,0.000,0.045,2138,3780,3739,0,0,0,0,0,0
$GC,5089,-0.54,-219.0,547.3,-11.4,543,5093,0.00,1.92,0.00,0.000,6,0.000,0.028,2138,2516,3738,0,0,0,0,0,0
$GC,5422,-0.54,-219.0,581.8,-10.5,559,5426,0.00,2.03,0.00,0.000,4,0.000,0.047,2138,3771,3737,0,0,0,0,0,0
$GC,5611,-0.54,-219.0,603.7,-11.9,567,5615,0.00,1.85,0.00,0.000,6,0.000,0.028,2138,2562,3736,0,0,0,0,0,0
$GC,5934,-0.54,-219.0,635.5,-9.5,583,5937,0.00,1.92,0.00,0.000,4,0.000,0.046,2138,3787,3734,0,0,0,0,0,0
$GC,5989,-0.54,-219.0,641.2,-10.1,585,5993,0.00,1.85,0.00,0.000,6,0.000,0.028,2138,2570,3733,0,0,0,0,0,0
$GC,6311,-0.54,-219.0,671.9,-9.7,601,6314,0.00,1.90,0.00,0.000,4,0.000,0.045,2138,3783,3731,0,0,0,0,0,0
$GC,6458,-0.54,-219.0,687.0,-9.5,607,6462,0.00,1.77,0.00,0.000,6,0.000,0.027,2139,2588,3731,0,0,0,0,0,0
$GC,6780,-0.54,-219.0,712.3,-6.8,623,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2585,3730,0,0,0,0,0,0
$GC,7089,-0.54,-219.0,732.9,-6.4,638,7093,0.00,1.88,0.00,0.000,4,0.000,0.047,2139,3779,3729,0,0,0,0,0,0
$GC,7163,-0.54,-219.0,739.0,-9.2,641,7167,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2595,3728,0,0,0,0,0,0
$GC,7490,-0.54,-219.0,767.8,-9.5,657,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2592,3727,0,0,0,0,0,0
$GC,7800,-0.54,-219.0,799.6,-10.6,672,7804,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3777,3726,0,0,0,0,0,0
$GC,7846,-0.54,-219.0,804.9,-11.3,674,7850,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2595,3725,0,0,0,0,0,0
$GC,8179,-0.54,-219.0,842.1,-11.4,690,8183,0.00,1.88,0.00,0.000,4,0.000,0.047,2138,3785,3724,0,0,0,0,0,0
$GC,8191,-0.54,-219.0,843.6,-11.3,690,8195,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2609,3724,0,0,0,0,0,0
$GC,8512,-0.54,-219.0,875.6,-8.9,706,8516,0.00,1.90,0.00,0.000,4,0.000,0.047,2138,3783,3723,0,0,0,0,0,0
$GC,8590,-0.54,-219.0,882.2,-8.3,709,8594,0.00,1.75,0.00,0.000,6,0.000,0.028,2143,2605,3723,0,0,0,0,0,0
$GC,8913,-0.54,-219.0,900.4,-4.5,725,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2604,3722,0,0,0,0,0,0
$GC,9222,-0.54,-219.0,911.2,-3.4,740,9225,0.00,1.85,0.00,0.000,4,0.000,0.048,2144,3776,3721,0,0,0,0,0,0
$GC,9269,-0.54,-219.0,913.0,-3.6,742,9273,0.00,1.73,0.00,0.000,6,0.000,0.028,2144,2615,3721,0,0,0,0,0,0
$GC,9602,-0.54,-219.0,931.8,-6.8,758,9606,0.00,2.08,0.00,0.000,3,0.000,0.034,2148,1233,3720,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9614,-0.13,0.0,932.4,7.0,758,9789,0.32,0.00,168.48,1.040,4,0.063,0.000,2289,2140,2869,0,0,0,0,0,0
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9790,begin climb
$GC,9792,0.54,219.0,942.0,0.0,766,9980,0.57,2.28,177.27,1.020,4,0.044,0.043,2512,3529,1976,0,0,0,0,0,0
$GC,10077,0.55,225.7,922.5,11.5,780,10091,0.00,2.17,6.97,0.786,6,0.000,0.031,2523,2141,1948,0,0,0,0,0,0
$GC,10411,0.65,304.5,890.1,8.9,796,10479,0.00,2.28,62.90,0.991,4,0.000,0.041,2524,3528,1627,0,0,0,0,0,0
$GC,10540,0.65,307.2,876.1,11.7,802,10550,0.00,2.22,4.20,0.600,6,0.000,0.031,2532,2109,1617,0,0,0,0,0,0
$GC,10868,0.65,307.2,838.8,11.9,818,10872,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,708,1616,0,0,0,0,0,0
$GC,10933,0.65,307.2,830.9,12.7,821,10937,0.00,2.15,0.00,0.000,6,0.000,0.034,2544,2099,1616,0,0,0,0,0,0
$GC,11260,0.65,307.2,786.1,14.1,837,11264,0.00,2.25,0.00,0.000,4,0.000,0.044,2544,3541,1615,0,0,0,0,0,0
$GC,11344,0.65,307.2,773.0,15.6,841,11348,0.00,2.20,0.00,0.000,6,0.000,0.031,2554,2116,1615,0,0,0,0,0,0
$GC,11678,0.65,307.2,723.1,14.8,857,11682,0.00,2.15,0.00,0.000,4,0.000,0.040,2565,713,1615,0,0,0,0,0,0
$GC,11791,0.65,307.2,706.4,14.6,862,11796,0.12,2.15,0.00,0.000,6,0.168,0.035,2533,2106,1615,0,0,0,0,0,0
$GC,12120,0.65,307.2,666.0,12.1,878,12124,0.00,2.22,0.00,0.000,4,0.000,0.046,2533,3536,1614,0,0,0,0,0,0
$GC,12182,0.65,307.2,657.5,13.8,881,12186,0.00,2.17,0.00,0.000,6,0.000,0.031,2542,2114,1614,0,0,0,0,0,0
$GC,12509,0.65,307.2,617.0,12.0,897,12513,0.00,2.12,0.00,0.000,4,0.000,0.040,2552,716,1614,0,0,0,0,0,0
$GC,12576,0.65,307.2,608.9,12.0,900,12580,0.00,2.12,0.00,0.000,6,0.000,0.034,2552,2105,1614,0,0,0,0,0,0
$GC,12898,0.65,307.2,569.5,11.9,916,12902,0.00,2.25,0.00,0.000,4,0.000,0.045,2552,3541,1614,0,0,0,0,0,0
$GC,12966,0.65,307.2,560.4,13.4,919,12971,0.12,2.20,0.00,0.000,6,0.174,0.031,2531,2111,1613,0,0,0,0,0,0
$GC,13295,0.73,372.3,528.4,9.4,935,13350,0.00,2.20,50.75,0.787,4,0.000,0.041,2540,720,1350,0,0,0,0,0,0
$GC,13392,0.83,452.6,519.4,8.9,939,13461,0.15,2.17,62.92,0.763,6,0.083,0.033,2604,2110,1023,0,0,0,0,0,0
$GC,13778,0.83,452.6,460.1,19.0,968,13782,0.00,2.28,0.00,0.000,4,0.000,0.045,2604,3542,1027,0,0,0,0,0,0
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$STATE,16823,end climb,SURFACE_DEPTH_REACHED
$STATE,16823,begin surface coast
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$STATE,16854,end surface coast,CONTROL_FINISHED_OK
$STATE,16854,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.66
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$XPDR_PINGS,2
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$10V_AH,9.8,61.642
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$FG_AHR_10Vo,0.000
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$MEM,323076
$DATA_FILE_SIZE,80325,1374
$CAP_FILE_SIZE,189432,0
$CFSIZE,260165632,210538496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,031100,2003.013,12013.260,39,1.0,44,-2.2