version: 66.09
glider: 181
mission: 6
dive: 387
start: 8 23 111 6 49 21
data:
$ID,181
$MISSION,6
$DIVE,387
$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,-7
$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,-41031.723
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,230811,064236,2116.814,11947.126,33,1.1,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.8
$GPS2,230811,064856,2116.873,11947.114,11,1.6,11,-2.5
$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,177.4,254490,-16.3,-11.786
$D_GRID,3400
$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,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.32,0.000,2,0.000,0.000,207,2601,2259,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.1,-3.3,10,135,8.10,2.15,-33.28,0.000,4,0.231,0.037,2133,1176,3761,0,0,0,0,0,0
$GC,228,-0.54,-219.0,37.1,-17.5,34,236,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2600,3761,0,0,0,0,0,0
$GC,369,-0.54,-219.0,73.0,-20.8,59,376,0.00,1.88,0.00,0.000,4,0.000,0.045,2116,3776,3760,0,0,0,0,0,0
$GC,443,-0.54,-219.0,87.3,-16.6,72,451,0.00,1.67,0.00,0.000,6,0.000,0.022,2116,2651,3760,0,0,0,0,0,0
$GC,585,-0.54,-219.0,116.0,-21.8,97,593,0.00,2.15,0.00,0.000,4,0.000,0.027,2116,1183,3757,0,0,0,0,0,0
$GC,623,-0.54,-219.0,124.1,-21.6,103,630,0.12,2.35,0.00,0.000,6,0.156,0.034,2145,2709,3760,0,0,0,0,0,0
$GC,764,-0.54,-219.0,145.7,-14.6,128,772,0.00,1.65,0.00,0.000,4,0.000,0.042,2139,3779,3760,0,0,0,0,0,0
$GC,785,-0.54,-219.0,149.2,-15.2,131,792,0.00,1.60,0.00,0.000,6,0.000,0.023,2139,2699,3761,0,0,0,0,0,0
$GC,925,-0.54,-219.0,167.6,-12.1,156,933,0.00,2.25,0.00,0.000,4,0.000,0.027,2139,1190,3761,0,0,0,0,0,0
$GC,995,-0.54,-219.0,175.3,-9.7,168,1003,0.00,2.33,0.00,0.000,6,0.000,0.034,2138,2689,3761,0,0,0,0,0,0
$GC,1137,-0.54,-219.0,191.8,-13.0,193,1144,0.00,1.67,0.00,0.000,4,0.000,0.042,2130,3780,3760,0,0,0,0,0,0
$GC,1196,-0.54,-219.0,200.3,-13.3,203,1199,0.00,1.62,0.00,0.000,6,0.000,0.022,2130,2675,3761,0,0,0,0,0,0
$GC,1527,-0.54,-219.0,246.6,-12.8,234,1531,0.00,2.17,0.00,0.000,4,0.000,0.027,2131,1182,3760,0,0,0,0,0,0
$GC,1589,-0.54,-219.0,253.0,-9.2,239,1593,0.00,2.30,0.00,0.000,6,0.000,0.032,2125,2698,3760,0,0,0,0,0,0
$GC,1915,-0.54,-219.0,288.9,-12.4,269,1919,0.00,2.25,0.00,0.000,4,0.000,0.028,2125,1183,3758,0,0,0,0,0,0
$GC,1955,-0.54,-219.0,293.7,-11.7,272,1959,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2677,3758,0,0,0,0,0,0
$GC,2280,-0.54,-219.0,333.3,-12.7,302,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2678,3755,0,0,0,0,0,0
$GC,2603,-0.54,-219.0,371.8,-11.0,332,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2678,3753,0,0,0,0,0,0
$GC,2931,-0.54,-219.0,406.4,-9.2,363,2935,0.00,2.22,0.00,0.000,4,0.000,0.029,2125,1192,3750,0,0,0,0,0,0
$GC,2993,-0.54,-219.0,412.0,-8.3,368,2997,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2672,3750,0,0,0,0,0,0
$GC,3319,-0.54,-219.0,444.3,-10.5,398,3323,0.00,2.22,0.00,0.000,4,0.000,0.030,2125,1193,3746,0,0,0,0,0,0
$GC,3349,-0.54,-219.0,447.4,-10.4,400,3353,0.00,2.25,0.00,0.000,6,0.000,0.037,2128,2657,3746,0,0,0,0,0,0
$GC,3674,-0.54,-219.0,476.7,-7.9,430,3678,0.00,2.20,0.00,0.000,4,0.000,0.031,2125,1194,3743,0,0,0,0,0,0
$GC,3707,-0.54,-219.0,479.4,-8.0,432,3714,0.00,2.25,0.00,0.000,6,0.000,0.037,2125,2642,3743,0,0,0,0,0,0
$GC,4043,-0.54,-219.0,508.2,-8.9,460,4047,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1196,3739,0,0,0,0,0,0
$GC,4076,-0.54,-219.0,511.6,-9.1,461,4083,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2635,3739,0,0,0,0,0,0
$GC,4393,-0.54,-219.0,541.1,-9.3,477,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2636,3737,0,0,0,0,0,0
$GC,4703,-0.54,-219.0,572.7,-11.2,492,4707,0.00,2.17,0.00,0.000,4,0.000,0.032,2125,1195,3734,0,0,0,0,0,0
$GC,4747,-0.54,-219.0,578.1,-11.3,494,4751,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2617,3734,0,0,0,0,0,0
$GC,5068,-0.54,-219.0,614.1,-10.9,510,5072,0.00,1.80,0.00,0.000,4,0.000,0.050,2123,3784,3731,0,0,0,0,0,0
$GC,5093,-0.54,-219.0,616.5,-10.7,511,5096,0.00,1.73,0.00,0.000,6,0.000,0.026,2123,2606,3731,0,0,0,0,0,0
$GC,5426,-0.54,-219.0,649.0,-9.2,527,5430,0.00,2.08,0.00,0.000,4,0.000,0.032,2124,1211,3729,0,0,0,0,0,0
$GC,5489,-0.54,-219.0,654.5,-8.8,530,5493,0.00,2.15,0.00,0.000,6,0.000,0.037,2116,2603,3729,0,0,0,0,0,0
$GC,5817,-0.54,-219.0,687.3,-10.7,546,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2604,3727,0,0,0,0,0,0
$GC,6125,-0.54,-219.0,720.3,-10.3,561,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2604,3725,0,0,0,0,0,0
$GC,6435,-0.54,-219.0,750.7,-9.3,576,6439,0.00,2.15,0.00,0.000,4,0.000,0.034,2115,1204,3722,0,0,0,0,0,0
$GC,6459,-0.54,-219.0,753.0,-9.3,577,6464,0.12,2.15,0.00,0.000,6,0.141,0.039,2148,2584,3723,0,0,0,0,0,0
$GC,6788,-0.54,-219.0,775.0,-6.8,593,6792,0.00,2.10,0.00,0.000,4,0.000,0.033,2149,1206,3721,0,0,0,0,0,0
$GC,6827,-0.54,-219.0,777.9,-6.7,594,6834,0.00,2.12,0.00,0.000,6,0.000,0.036,2148,2579,3721,0,0,0,0,0,0
$GC,7143,-0.54,-219.0,801.1,-7.9,610,7147,0.00,2.08,0.00,0.000,4,0.000,0.034,2149,1207,3720,0,0,0,0,0,0
$GC,7400,-0.54,-219.0,822.8,-8.6,621,7407,0.00,2.08,0.00,0.000,6,0.000,0.035,2149,2554,3718,0,0,0,0,0,0
$GC,7716,-0.54,-219.0,850.1,-8.9,637,7720,0.00,2.08,0.00,0.000,4,0.000,0.034,2155,1199,3716,0,0,0,0,0,0
$GC,7755,-0.54,-219.0,853.8,-9.3,638,7762,0.00,2.10,0.00,0.000,6,0.000,0.037,2149,2555,3717,0,0,0,0,0,0
$GC,8071,-0.54,-219.0,880.2,-8.7,654,8075,0.00,2.05,0.00,0.000,4,0.000,0.034,2149,1215,3714,0,0,0,0,0,0
$GC,8185,-0.54,-219.0,890.1,-8.5,659,8189,0.00,2.08,0.00,0.000,6,0.000,0.036,2149,2547,3714,0,0,0,0,0,0
$GC,8518,-0.54,-219.0,915.5,-7.4,675,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2544,3713,0,0,0,0,0,0
$GC,8827,-0.54,-219.0,939.4,-7.7,690,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2547,3711,0,0,0,0,0,0
$GC,9138,-0.54,-219.0,964.6,-8.5,705,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2547,3710,0,0,0,0,0,0
$STATE,9423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9423,begin apogee
$GC,9429,-0.13,0.0,990.1,9.0,719,9600,0.32,0.00,165.95,1.089,4,0.070,0.000,2280,2124,2869,0,0,0,0,0,0
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9603,0.54,219.0,1001.7,0.0,727,9791,0.60,2.38,178.98,1.066,4,0.050,0.043,2511,3544,1976,0,0,0,0,0,0
$GC,9834,0.54,219.0,986.5,13.5,738,9839,0.00,2.33,0.00,0.000,6,0.000,0.028,2517,2133,1975,0,0,0,0,0,0
$GC,10162,0.54,219.0,943.1,13.4,754,10166,0.00,2.20,0.00,0.000,4,0.000,0.038,2532,703,1976,0,0,0,0,0,0
$GC,10297,0.54,219.0,925.3,13.1,760,10302,0.15,2.20,0.00,0.000,6,0.161,0.034,2494,2112,1972,0,0,0,0,0,0
$GC,10625,0.62,287.0,892.4,9.3,776,10689,0.00,2.38,53.62,1.011,4,0.000,0.044,2493,3540,1697,0,0,0,0,0,0
$GC,10741,0.67,326.6,881.0,10.3,781,10780,0.10,2.22,32.42,0.971,6,0.101,0.028,2544,2106,1537,0,0,0,0,0,0
$GC,11087,0.67,326.6,834.5,13.9,798,11091,0.00,2.15,0.00,0.000,4,0.000,0.036,2554,706,1537,0,0,0,0,0,0
$GC,11148,0.67,326.6,826.2,12.5,800,11155,0.00,2.20,0.00,0.000,6,0.000,0.033,2556,2119,1538,0,0,0,0,0,0
$GC,11465,0.67,326.6,777.6,16.1,816,11469,0.00,2.20,0.00,0.000,4,0.000,0.044,2555,3539,1538,0,0,0,0,0,0
$GC,11514,0.67,326.6,768.2,18.6,818,11518,0.00,2.15,0.00,0.000,6,0.000,0.027,2564,2117,1538,0,0,0,0,0,0
$GC,11836,0.67,326.6,710.9,17.9,834,11840,0.00,2.12,0.00,0.000,4,0.000,0.035,2572,709,1538,0,0,0,0,0,0
$GC,11885,0.67,326.6,701.9,17.4,836,11890,0.15,2.17,0.00,0.000,6,0.158,0.033,2535,2127,1538,0,0,0,0,0,0
$GC,12201,0.67,326.6,655.8,13.9,851,12205,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3535,1539,0,0,0,0,0,0
$GC,12257,0.67,326.6,647.4,14.7,853,12264,0.00,2.15,0.00,0.000,6,0.000,0.028,2543,2128,1540,0,0,0,0,0,0
$GC,12573,0.67,326.6,607.2,12.3,869,12577,0.00,2.15,0.00,0.000,4,0.000,0.036,2554,713,1540,0,0,0,0,0,0
$GC,12596,0.67,326.6,604.2,12.1,870,12601,0.00,2.20,0.00,0.000,6,0.000,0.033,2554,2149,1540,0,0,0,0,0,0
$GC,12924,0.67,326.6,561.4,13.6,886,12928,0.00,2.17,0.00,0.000,4,0.000,0.044,2555,3540,1540,0,0,0,0,0,0
$GC,12974,0.67,326.6,553.7,14.9,888,12978,0.00,2.08,0.00,0.000,6,0.000,0.026,2564,2159,1540,0,0,0,0,0,0
$GC,13301,0.67,326.6,505.7,14.7,904,13306,0.00,2.17,0.00,0.000,4,0.000,0.036,2570,719,1540,0,0,0,0,0,0
$GC,13387,0.67,326.6,493.6,13.9,910,13392,0.15,2.20,0.00,0.000,6,0.154,0.033,2534,2154,1540,0,0,0,0,0,0
$GC,13714,0.69,340.2,455.0,11.3,940,13736,0.00,2.22,12.68,0.722,4,0.000,0.043,2534,3538,1482,0,0,0,0,0,0
$GC,13786,0.69,340.2,445.2,13.8,946,13793,0.00,2.08,0.00,0.000,6,0.000,0.027,2542,2163,1482,0,0,0,0,0,0
$GC,14112,0.69,340.2,402.2,13.5,977,14116,0.00,2.17,0.00,0.000,4,0.000,0.037,2553,727,1483,0,0,0,0,0,0
$GC,14212,0.69,340.2,388.6,13.1,985,14220,0.00,2.15,0.00,0.000,6,0.000,0.031,2553,2132,1485,0,0,0,0,0,0
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$STATE,17499,end climb,SURFACE_DEPTH_REACHED
$STATE,17499,begin surface coast
$FINISH,0.3,1.005841
$STATE,17528,end surface coast,CONTROL_FINISHED_OK
$STATE,17528,begin surface
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$HUMID,44.40
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$XPDR_PINGS,1
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$10V_AH,9.7,57.286
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$FG_AHR_10Vo,0.000
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$MEM,323556
$DATA_FILE_SIZE,93636,1425
$CAP_FILE_SIZE,193234,0
$CFSIZE,260165632,214745088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230811,114401,2115.208,11947.285,36,1.2,36,-2.5