version: 66.09
glider: 181
mission: 6
dive: 185
start: 7 15 111 17 55 14
data:
$ID,181
$MISSION,6
$DIVE,185
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,-40752.059
$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,44
$R_STBD_OVSHOOT,56
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,150711,174806,1927.258,12030.081,31,1.1,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.8
$GPS2,150711,175449,1927.373,12030.096,10,1.1,15,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,180.4,97963,-15.3,-11.000
$D_GRID,2918
$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,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,186,2632,2422,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.1,-3.3,10,137,7.95,1.77,-27.75,0.000,4,0.230,0.054,2133,3761,3764,0,0,0,0,0,0
$GC,166,-0.52,-219.0,28.5,-40.9,21,174,0.00,1.77,0.00,0.000,6,0.000,0.024,2129,2573,3765,0,0,0,0,0,0
$GC,299,-0.52,-219.0,81.2,-29.3,46,307,0.00,1.88,0.00,0.000,4,0.000,0.044,2123,3752,3766,0,0,0,0,0,0
$GC,362,-0.52,-219.0,100.8,-30.7,57,370,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2591,3766,0,0,0,0,0,0
$GC,496,-0.52,-219.0,140.4,-33.6,82,504,0.00,1.83,0.00,0.000,4,0.000,0.038,2114,3760,3766,0,0,0,0,0,0
$GC,513,-0.52,-219.0,147.0,-36.5,84,522,0.10,1.73,0.00,0.000,6,0.158,0.025,2143,2606,3767,0,0,0,0,0,0
$GC,651,-0.52,-219.0,183.2,-24.4,109,659,0.00,2.08,0.00,0.000,4,0.000,0.027,2143,1203,3767,0,0,0,0,0,0
$GC,693,-0.52,-219.0,191.4,-16.9,116,701,0.00,2.17,0.00,0.000,6,0.000,0.035,2139,2604,3768,0,0,0,0,0,0
$GC,829,-0.52,-219.0,215.1,-19.4,134,832,0.00,1.83,0.00,0.000,4,0.000,0.042,2131,3784,3768,0,0,0,0,0,0
$GC,899,-0.52,-219.0,227.8,-15.8,140,908,0.00,1.67,0.00,0.000,6,0.000,0.024,2131,2646,3768,0,0,0,0,0,0
$GC,1227,-0.52,-219.0,289.5,-19.5,171,1230,0.00,2.10,0.00,0.000,4,0.000,0.027,2131,1206,3768,0,0,0,0,0,0
$GC,1326,-0.52,-219.0,304.1,-11.7,179,1333,0.00,2.17,0.00,0.000,6,0.000,0.034,2126,2648,3768,0,0,0,0,0,0
$GC,1651,-0.52,-219.0,358.6,-17.5,210,1655,0.00,2.12,0.00,0.000,4,0.000,0.028,2125,1206,3766,0,0,0,0,0,0
$GC,1678,-0.52,-219.0,363.7,-17.2,212,1686,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2622,3766,0,0,0,0,0,0
$GC,2004,-0.52,-219.0,421.5,-18.6,243,2008,0.00,1.75,0.00,0.000,4,0.000,0.046,2121,3781,3763,0,0,0,0,0,0
$GC,2039,-0.52,-219.0,427.8,-17.8,246,2043,0.00,1.65,0.00,0.000,6,0.000,0.025,2121,2636,3760,0,0,0,0,0,0
$GC,2370,-0.52,-219.0,482.9,-16.2,277,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2633,3759,0,0,0,0,0,0
$GC,2694,-0.52,-219.0,530.1,-13.6,298,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2633,3755,0,0,0,0,0,0
$GC,3002,-0.52,-219.0,570.9,-13.0,313,3006,0.00,2.10,0.00,0.000,4,0.000,0.031,2121,1202,3752,0,0,0,0,0,0
$GC,3029,-0.52,-219.0,574.7,-13.2,314,3034,0.12,2.22,0.00,0.000,6,0.153,0.037,2148,2656,3752,0,0,0,0,0,0
$GC,3352,-0.52,-219.0,602.7,-8.7,330,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2656,3750,0,0,0,0,0,0
$GC,3661,-0.52,-219.0,629.3,-8.7,345,3665,0.00,2.17,0.00,0.000,4,0.000,0.031,2148,1200,3745,0,0,0,0,0,0
$GC,3699,-0.52,-219.0,633.2,-9.5,346,3706,0.00,2.25,0.00,0.000,6,0.000,0.038,2145,2666,3745,0,0,0,0,0,0
$GC,4016,-0.52,-219.0,667.5,-12.2,362,4020,0.00,2.17,0.00,0.000,4,0.000,0.032,2145,1212,3743,0,0,0,0,0,0
$GC,4056,-0.52,-219.0,672.4,-12.2,364,4060,0.00,2.20,0.00,0.000,6,0.000,0.039,2142,2648,3742,0,0,0,0,0,0
$GC,4383,-0.52,-219.0,711.4,-11.5,380,4387,0.00,2.17,0.00,0.000,4,0.000,0.033,2142,1200,3739,0,0,0,0,0,0
$GC,4409,-0.52,-219.0,714.6,-11.5,381,4413,0.00,2.17,0.00,0.000,6,0.000,0.039,2139,2621,3740,0,0,0,0,0,0
$GC,4732,-0.52,-219.0,749.0,-10.7,397,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2621,3736,0,0,0,0,0,0
$GC,5041,-0.52,-219.0,777.6,-8.9,412,5045,0.00,2.15,0.00,0.000,4,0.000,0.034,2139,1202,3734,0,0,0,0,0,0
$GC,5080,-0.52,-219.0,781.3,-8.9,413,5087,0.00,2.17,0.00,0.000,6,0.000,0.039,2139,2619,3734,0,0,0,0,0,0
$GC,5397,-0.52,-219.0,806.8,-8.0,429,5400,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3775,3731,0,0,0,0,0,0
$GC,5421,-0.52,-219.0,808.8,-7.9,430,5425,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2617,3732,0,0,0,0,0,0
$GC,5754,-0.52,-219.0,832.6,-6.7,446,5758,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1199,3729,0,0,0,0,0,0
$GC,5809,-0.52,-219.0,836.5,-7.0,448,5816,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2606,3728,0,0,0,0,0,0
$GC,6126,-0.52,-219.0,856.9,-6.5,464,6130,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3776,3728,0,0,0,0,0,0
$GC,6153,-0.52,-219.0,858.6,-6.3,465,6157,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2618,3728,0,0,0,0,0,0
$GC,6481,-0.52,-219.0,881.6,-7.8,481,6485,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1202,3726,0,0,0,0,0,0
$GC,6544,-0.52,-219.0,886.3,-7.7,484,6548,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2601,3725,0,0,0,0,0,0
$GC,6872,-0.52,-219.0,912.9,-8.2,500,6876,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1203,3724,0,0,0,0,0,0
$GC,6905,-0.52,-219.0,915.9,-8.3,501,6912,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2598,3723,0,0,0,0,0,0
$GC,7221,-0.52,-219.0,942.8,-8.5,517,7225,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1203,3722,0,0,0,0,0,0
$GC,7249,-0.52,-219.0,945.4,-8.8,518,7253,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2580,3722,0,0,0,0,0,0
$GC,7566,-0.52,-219.0,970.2,-7.7,533,7569,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3779,3721,0,0,0,0,0,0
$GC,7589,-0.52,-219.0,972.0,-7.4,534,7593,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2573,3720,0,0,0,0,0,0
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7837,begin apogee
$GC,7843,-0.13,0.0,990.2,7.3,546,8014,0.40,0.00,165.55,1.095,4,0.106,0.000,2276,2119,2869,0,0,0,0,0,0
$STATE,8015,end apogee,CONTROL_FINISHED_OK
$STATE,8015,begin climb
$GC,8018,0.52,219.0,998.7,0.0,554,8205,0.60,2.38,175.82,1.068,4,0.050,0.044,2505,3545,1976,0,0,0,0,0,0
$GC,8245,0.52,219.0,980.3,16.4,564,8252,0.00,2.30,0.00,0.000,6,0.000,0.029,2514,2132,1976,0,0,0,0,0,0
$GC,8561,0.52,219.0,931.4,15.9,580,8565,0.00,2.22,0.00,0.000,4,0.000,0.040,2525,706,1978,0,0,0,0,0,0
$GC,8652,0.52,219.0,917.9,14.7,584,8657,0.15,2.22,0.00,0.000,6,0.171,0.034,2489,2124,1979,0,0,0,0,0,0
$GC,8979,0.52,219.0,875.1,12.8,600,8983,0.00,2.22,0.00,0.000,4,0.000,0.045,2488,3540,1980,0,0,0,0,0,0
$GC,9022,0.52,219.0,868.9,13.9,602,9027,0.00,2.20,0.00,0.000,6,0.000,0.028,2497,2094,1980,0,0,0,0,0,0
$GC,9350,0.52,219.0,827.8,12.5,618,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2094,1981,0,0,0,0,0,0
$GC,9659,0.52,219.0,788.5,12.9,633,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2094,1980,0,0,0,0,0,0
$GC,9969,0.52,219.0,748.1,12.9,648,9973,0.00,2.28,0.00,0.000,4,0.000,0.044,2497,3546,1980,0,0,0,0,0,0
$GC,9992,0.52,219.0,744.8,13.3,649,9996,0.00,2.15,0.00,0.000,6,0.000,0.029,2509,2124,1980,0,0,0,0,0,0
$GC,10319,0.52,219.0,700.8,13.2,665,10323,0.00,2.15,0.00,0.000,4,0.000,0.040,2517,720,1977,0,0,0,0,0,0
$GC,10465,0.52,219.0,682.3,12.5,671,10472,0.00,2.12,0.00,0.000,6,0.000,0.034,2517,2109,1979,0,0,0,0,0,0
$GC,10781,0.52,219.0,640.9,12.7,687,10785,0.00,2.20,0.00,0.000,4,0.000,0.045,2518,3541,1979,0,0,0,0,0,0
$GC,10808,0.52,219.0,637.1,12.9,688,10813,0.15,2.17,0.00,0.000,6,0.170,0.028,2488,2099,1979,0,0,0,0,0,0
$GC,11130,0.54,232.4,603.4,10.5,704,11153,0.00,2.17,12.57,0.822,4,0.000,0.040,2498,721,1920,0,0,0,0,0,0
$GC,11180,0.57,255.8,597.8,10.2,706,11206,0.00,2.12,18.45,0.803,6,0.000,0.034,2498,2107,1828,0,0,0,0,0,0
$GC,11531,0.57,255.8,555.1,12.5,723,11535,0.00,2.22,0.00,0.000,4,0.000,0.045,2498,3537,1826,0,0,0,0,0,0
$GC,11586,0.57,255.8,547.1,14.0,725,11593,0.00,2.20,0.00,0.000,6,0.000,0.029,2508,2103,1827,0,0,0,0,0,0
$GC,11903,0.57,255.8,501.3,15.2,741,11907,0.00,2.12,0.00,0.000,4,0.000,0.038,2518,710,1827,0,0,0,0,0,0
$GC,11952,0.57,255.8,493.5,14.9,744,11959,0.00,2.15,0.00,0.000,6,0.000,0.034,2518,2102,1827,0,0,0,0,0,0
$GC,12279,0.57,255.8,443.2,14.7,775,12283,0.00,2.22,0.00,0.000,4,0.000,0.044,2518,3541,1827,0,0,0,0,0,0
$GC,12390,0.57,255.8,426.2,14.4,784,12397,0.00,2.20,0.00,0.000,6,0.000,0.029,2527,2114,1826,0,0,0,0,0,0
$GC,12716,0.57,255.8,385.6,12.6,815,12720,0.00,2.10,0.00,0.000,4,0.000,0.038,2538,719,1826,0,0,0,0,0,0
$GC,12790,0.57,255.8,376.2,12.9,821,12794,0.12,2.12,0.00,0.000,6,0.166,0.034,2506,2112,1827,0,0,0,0,0,0
$GC,13117,0.57,255.8,328.5,16.3,851,13121,0.00,2.20,0.00,0.000,4,0.000,0.045,2505,3541,1827,0,0,0,0,0,0
$GC,13160,0.57,255.8,320.5,17.3,854,13168,0.00,2.22,0.00,0.000,6,0.000,0.029,2514,2092,1827,0,0,0,0,0,0
$GC,13487,0.57,255.8,269.3,16.2,885,13491,0.00,2.08,0.00,0.000,4,0.000,0.038,2524,708,1827,0,0,0,0,0,0
$GC,13615,0.57,255.8,248.7,14.7,896,13619,0.00,2.08,0.00,0.000,6,0.000,0.032,2524,2077,1827,0,0,0,0,0,0
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$STATE,15856,end climb,SURFACE_DEPTH_REACHED
$STATE,15856,begin surface coast
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$STATE,15880,end surface coast,CONTROL_FINISHED_OK
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$IRIDIUM_FIX,1920.65,12031.18,150711,121249
$TT8_MAMPS,0.028462,0.028462
$HUMID,40.86
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.0,29.078
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.500,173.275,631.075,0.000,0.000,29.261,41.426,183.797,0.000,0.000,17.593,3010.260,9111.767,686.293,3196.776,340.239,0.000,2049.026,0.000,2188.951,0.000,0.541,0.000
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$SENSOR_SECS,875.908,1302.186,1421.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,321588
$DATA_FILE_SIZE,83942,1258
$CAP_FILE_SIZE,174172,0
$CFSIZE,260165632,233799680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,222230,1925.728,12029.798,35,1.0,41,-2.1