version: 66.09
glider: 181
mission: 6
dive: 199
start: 7 18 111 13 9 39
data:
$ID,181
$MISSION,6
$DIVE,199
$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,-40769.664
$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,70
$R_STBD_OVSHOOT,35
$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
$GPS1,180711,130236,1906.850,12036.203,38,1.6,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-53.5
$GPS2,180711,130914,1906.964,12036.324,13,2.0,13,-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,189.7,60657,-15.3,-11.000
$D_GRID,2979
$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,-71.10,0.000,2,0.000,0.000,163,2563,2498,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.8,-4.8,10,131,8.10,1.92,-23.38,0.000,4,0.230,0.054,2133,3790,3764,0,0,0,0,0,0
$GC,197,-0.52,-219.0,59.5,-67.1,27,205,0.00,1.80,0.00,0.000,6,0.000,0.028,2134,2604,3765,0,0,0,0,0,0
$GC,331,-0.52,-219.0,107.1,-18.9,52,339,0.00,1.85,0.00,0.000,4,0.000,0.042,2127,3776,3767,0,0,0,0,0,0
$GC,367,-0.52,-219.0,113.7,-17.8,58,376,0.00,1.75,0.00,0.000,6,0.000,0.024,2126,2603,3767,0,0,0,0,0,0
$GC,501,-0.52,-219.0,141.5,-23.9,83,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2600,3766,0,0,0,0,0,0
$GC,635,-0.52,-219.0,169.5,-18.3,108,643,0.00,1.88,0.00,0.000,4,0.000,0.042,2118,3780,3769,0,0,0,0,0,0
$GC,657,-0.52,-219.0,173.5,-17.8,111,665,0.08,1.75,0.00,0.000,6,0.135,0.024,2143,2605,3769,0,0,0,0,0,0
$GC,794,-0.52,-219.0,194.6,-15.3,136,802,0.00,2.08,0.00,0.000,4,0.000,0.028,2143,1210,3769,0,0,0,0,0,0
$GC,843,-0.52,-219.0,202.3,-12.9,143,850,0.00,2.10,0.00,0.000,6,0.000,0.035,2138,2593,3772,0,0,0,0,0,0
$GC,1169,-0.52,-219.0,251.6,-15.1,174,1172,0.00,1.80,0.00,0.000,4,0.000,0.044,2138,3780,3769,0,0,0,0,0,0
$GC,1239,-0.52,-219.0,261.1,-11.3,180,1248,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2581,3768,0,0,0,0,0,0
$GC,1565,-0.52,-219.0,303.7,-13.8,211,1568,0.00,2.00,0.00,0.000,4,0.000,0.029,2138,1212,3766,0,0,0,0,0,0
$GC,1588,-0.52,-219.0,307.0,-14.2,213,1592,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2599,3766,0,0,0,0,0,0
$GC,1913,-0.52,-219.0,350.0,-13.5,243,1917,0.00,1.83,0.00,0.000,4,0.000,0.047,2137,3792,3763,0,0,0,0,0,0
$GC,1948,-0.52,-219.0,354.4,-12.7,246,1952,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2585,3764,0,0,0,0,0,0
$GC,2279,-0.52,-219.0,396.4,-13.2,277,2282,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1204,3759,0,0,0,0,0,0
$GC,2306,-0.52,-219.0,399.9,-12.8,279,2313,0.00,2.10,0.00,0.000,6,0.000,0.037,2138,2579,3759,0,0,0,0,0,0
$GC,2631,-0.52,-219.0,437.8,-12.6,310,2635,0.00,1.85,0.00,0.000,4,0.000,0.048,2141,3786,3755,0,0,0,0,0,0
$GC,2666,-0.52,-219.0,441.9,-12.0,313,2670,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2566,3755,0,0,0,0,0,0
$GC,2997,-0.52,-219.0,481.8,-12.1,344,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2565,3752,0,0,0,0,0,0
$GC,3310,-0.52,-219.0,520.8,-12.4,366,3314,0.00,1.90,0.00,0.000,4,0.000,0.048,2137,3789,3749,0,0,0,0,0,0
$GC,3337,-0.52,-219.0,524.3,-12.5,367,3341,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2585,3749,0,0,0,0,0,0
$GC,3665,-0.52,-219.0,562.8,-12.2,383,3669,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1212,3745,0,0,0,0,0,0
$GC,3698,-0.52,-219.0,566.8,-11.5,384,3702,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2607,3746,0,0,0,0,0,0
$GC,4020,-0.52,-219.0,604.8,-12.4,400,4024,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3777,3743,0,0,0,0,0,0
$GC,4070,-0.52,-219.0,610.3,-10.3,402,4074,0.00,1.75,0.00,0.000,6,0.000,0.028,2137,2582,3742,0,0,0,0,0,0
$GC,4398,-0.52,-219.0,644.5,-10.6,418,4401,0.00,2.03,0.00,0.000,4,0.000,0.032,2138,1212,3740,0,0,0,0,0,0
$GC,4425,-0.52,-219.0,647.4,-10.7,419,4429,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2593,3740,0,0,0,0,0,0
$GC,4753,-0.52,-219.0,673.9,-7.7,435,4757,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1205,3738,0,0,0,0,0,0
$GC,4781,-0.52,-219.0,676.4,-7.7,436,4784,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2588,3737,0,0,0,0,0,0
$GC,5103,-0.52,-219.0,701.4,-8.3,452,5107,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3774,3738,0,0,0,0,0,0
$GC,5149,-0.52,-219.0,705.0,-7.6,454,5153,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2579,3734,0,0,0,0,0,0
$GC,5482,-0.52,-219.0,734.1,-9.0,470,5485,0.00,2.03,0.00,0.000,4,0.000,0.033,2138,1212,3732,0,0,0,0,0,0
$GC,5538,-0.52,-219.0,739.4,-9.1,472,5542,0.00,2.10,0.00,0.000,6,0.000,0.038,2137,2574,3732,0,0,0,0,0,0
$GC,5854,-0.52,-219.0,770.7,-10.3,487,5858,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3774,3731,0,0,0,0,0,0
$GC,5881,-0.52,-219.0,773.3,-9.6,488,5885,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2568,3730,0,0,0,0,0,0
$GC,6209,-0.52,-219.0,802.4,-8.8,504,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2565,3729,0,0,0,0,0,0
$GC,6518,-0.52,-219.0,828.0,-8.3,519,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2566,3727,0,0,0,0,0,0
$GC,6828,-0.52,-219.0,854.3,-8.6,534,6831,0.00,2.03,0.00,0.000,4,0.000,0.033,2137,1207,3726,0,0,0,0,0,0
$GC,6851,-0.52,-219.0,856.2,-8.7,535,6855,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2583,3726,0,0,0,0,0,0
$GC,7179,-0.52,-219.0,882.0,-7.9,551,7183,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3789,3724,0,0,0,0,0,0
$GC,7213,-0.52,-219.0,884.8,-8.0,552,7216,0.00,1.80,0.00,0.000,6,0.000,0.028,2137,2575,3724,0,0,0,0,0,0
$GC,7534,-0.52,-219.0,910.5,-8.2,568,7538,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1200,3722,0,0,0,0,0,0
$GC,7567,-0.52,-219.0,913.4,-8.4,569,7571,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2589,3722,0,0,0,0,0,0
$GC,7890,-0.52,-219.0,940.7,-8.9,585,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2589,3721,0,0,0,0,0,0
$GC,8199,-0.52,-219.0,967.5,-8.7,600,8203,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1201,3720,0,0,0,0,0,0
$GC,8232,-0.52,-219.0,970.8,-8.7,601,8239,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2588,3720,0,0,0,0,0,0
$STATE,8463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8463,begin apogee
$GC,8470,-0.13,0.0,991.6,9.2,613,8639,0.40,0.00,163.43,1.102,4,0.104,0.000,2277,2110,2870,0,0,0,0,0,0
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8642,0.52,219.0,1003.2,0.0,621,8826,0.60,2.25,176.02,1.075,4,0.048,0.040,2506,736,1976,0,0,0,0,0,0
$GC,9039,0.52,219.0,971.4,12.6,638,9043,0.00,2.22,0.00,0.000,6,0.000,0.036,2506,2131,1978,0,0,0,0,0,0
$GC,9361,0.52,219.0,927.5,13.8,654,9365,0.00,2.17,0.00,0.000,4,0.000,0.037,2516,730,1978,0,0,0,0,0,0
$GC,9584,0.52,219.0,898.4,13.3,664,9588,0.00,2.17,0.00,0.000,6,0.000,0.036,2516,2130,1978,0,0,0,0,0,0
$GC,9912,0.52,219.0,855.0,13.3,680,9916,0.00,2.22,0.00,0.000,4,0.000,0.047,2515,3547,1977,0,0,0,0,0,0
$GC,9951,0.52,219.0,849.2,14.2,681,9959,0.15,2.12,0.00,0.000,6,0.182,0.028,2489,2144,1976,0,0,0,0,0,0
$GC,10268,0.52,219.0,811.7,11.7,697,10272,0.00,2.17,0.00,0.000,4,0.000,0.038,2498,712,1976,0,0,0,0,0,0
$GC,10289,0.52,219.0,809.2,11.5,698,10293,0.00,2.20,0.00,0.000,6,0.000,0.034,2498,2150,1976,0,0,0,0,0,0
$GC,10617,0.52,219.0,770.6,11.7,714,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2150,1975,0,0,0,0,0,0
$GC,10926,0.52,219.0,734.0,12.2,729,10930,0.00,2.15,0.00,0.000,4,0.000,0.045,2498,3537,1975,0,0,0,0,0,0
$GC,11011,0.52,219.0,722.5,13.8,733,11015,0.00,2.12,0.00,0.000,6,0.000,0.029,2507,2131,1975,0,0,0,0,0,0
$GC,11338,0.52,219.0,680.7,12.5,749,11342,0.00,2.15,0.00,0.000,4,0.000,0.040,2518,723,1977,0,0,0,0,0,0
$GC,11477,0.52,219.0,663.9,11.7,755,11481,0.00,2.17,0.00,0.000,6,0.000,0.034,2518,2113,1974,0,0,0,0,0,0
$GC,11805,0.52,219.0,623.3,12.3,771,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2114,1974,0,0,0,0,0,0
$GC,12114,0.52,219.0,584.7,12.5,786,12118,0.00,2.20,0.00,0.000,4,0.000,0.046,2518,3535,1974,0,0,0,0,0,0
$GC,12141,0.52,219.0,580.6,13.8,787,12146,0.15,2.15,0.00,0.000,6,0.170,0.029,2489,2107,1974,0,0,0,0,0,0
$GC,12463,0.52,219.0,543.7,11.6,803,12467,0.00,2.10,0.00,0.000,4,0.000,0.039,2498,716,1974,0,0,0,0,0,0
$GC,12518,0.52,219.0,537.1,11.1,805,12526,0.00,2.12,0.00,0.000,6,0.000,0.034,2498,2112,1975,0,0,0,0,0,0
$GC,12835,0.52,219.0,498.4,13.0,821,12839,0.00,2.20,0.00,0.000,4,0.000,0.045,2498,3537,1974,0,0,0,0,0,0
$GC,12858,0.52,219.0,495.4,13.0,822,12864,0.00,2.17,0.00,0.000,6,0.000,0.029,2508,2103,1974,0,0,0,0,0,0
$GC,13183,0.52,219.0,452.4,12.9,853,13187,0.00,2.10,0.00,0.000,4,0.000,0.039,2519,711,1975,0,0,0,0,0,0
$GC,13284,0.52,219.0,439.6,12.2,861,13291,0.00,2.10,0.00,0.000,6,0.000,0.034,2519,2092,1975,0,0,0,0,0,0
$GC,13610,0.52,219.0,397.3,12.8,892,13614,0.00,2.22,0.00,0.000,4,0.000,0.045,2519,3536,1973,0,0,0,0,0,0
$GC,13729,0.52,219.0,381.4,13.0,902,13734,0.15,2.15,0.00,0.000,6,0.169,0.029,2490,2108,1975,0,0,0,0,0,0
$GC,14054,0.59,276.5,352.0,9.0,932,14100,0.00,0.00,43.03,0.698,6,0.000,0.000,2490,2108,1741,0,0,0,0,0,0
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$STATE,17234,end climb,SURFACE_DEPTH_REACHED
$STATE,17234,begin surface coast
$FINISH,0.3,1.020584
$STATE,17253,end surface coast,CONTROL_FINISHED_OK
$STATE,17253,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,1
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$10V_AH,10.0,31.149
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.600,174.800,624.725,0.000,0.000,30.999,41.157,178.392,0.250,0.000,15.847,3317.991,9897.271,668.640,3463.448,365.696,0.000,2128.986,0.000,2414.193,0.000,0.541,0.000
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$MEM,321608
$DATA_FILE_SIZE,93862,1378
$CAP_FILE_SIZE,184318,0
$CFSIZE,260165632,232431616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,175936,1905.166,12035.083,29,1.0,29,-2.1