version: 66.09
glider: 181
mission: 6
dive: 501
start: 9 15 111 18 28 14
data:
$ID,181
$MISSION,6
$DIVE,501
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41216.438
$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,2300
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,150911,181401,1839.599,12029.944,40,1.8,40,-2.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.4
$GPS2,150911,182719,1839.840,12030.165,9,1.3,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.086,-0.300
$KALMAN_X,26051.6,822.5,-2672.2,31523.6,6078.9
$KALMAN_Y,74129.6,38.3,-257.2,-138229.7,1604.8
$MHEAD_RNG_PITCHd_Wd,198.0,10273,-17.4,-11.786
$D_GRID,1091
$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,18,-0.53,-194.6,0.0,0.0,0,70,0.00,0.00,-49.78,0.000,2,0.000,0.000,147,2562,1940,0,0,0,0,0,0
$GC,73,-0.53,-194.6,3.6,-4.8,9,121,8.40,0.93,-34.95,0.000,4,0.229,0.070,2116,3141,3664,0,0,0,0,0,0
$GC,297,-0.53,-194.6,77.1,-26.5,48,304,0.00,0.77,0.00,0.000,6,0.000,0.027,2116,2588,3659,0,0,0,0,0,0
$GC,441,-0.53,-194.6,106.3,-18.2,73,447,0.00,0.65,0.00,0.000,4,0.000,0.026,2116,2078,3659,0,0,0,0,0,0
$GC,477,-0.53,-194.6,112.6,-16.9,79,483,0.00,0.80,0.00,0.000,6,0.000,0.037,2113,2609,3659,0,0,0,0,0,0
$GC,620,-0.53,-194.6,137.5,-17.8,104,626,0.00,0.70,0.00,0.000,4,0.000,0.026,2113,2088,3659,0,0,0,0,0,0
$GC,712,-0.53,-194.6,152.2,-15.5,120,719,0.00,0.77,0.00,0.000,6,0.000,0.038,2109,2604,3659,0,0,0,0,0,0
$GC,855,-0.53,-194.6,172.3,-13.5,145,861,0.00,0.77,0.00,0.000,4,0.000,0.040,2105,3131,3659,0,0,0,0,0,0
$GC,908,-0.53,-194.6,179.6,-13.5,154,915,0.00,0.73,0.00,0.000,6,0.000,0.027,2105,2605,3659,0,0,0,0,0,0
$GC,1050,-0.53,-194.6,199.6,-13.9,179,1057,0.00,0.68,0.00,0.000,4,0.000,0.026,2105,2082,3659,0,0,0,0,0,0
$GC,1109,-0.53,-194.6,207.8,-14.4,185,1112,0.00,0.80,0.00,0.000,6,0.000,0.037,2101,2617,3659,0,0,0,0,0,0
$GC,1440,-0.53,-194.6,259.3,-15.8,216,1443,0.00,0.77,0.00,0.000,4,0.000,0.041,2097,3141,3658,0,0,0,0,0,0
$GC,1509,-0.53,-194.6,270.1,-16.3,222,1514,0.08,0.73,0.00,0.000,6,0.130,0.028,2123,2622,3657,0,0,0,0,0,0
$GC,1840,-0.53,-194.6,309.2,-10.3,253,1844,0.00,0.73,0.00,0.000,4,0.000,0.028,2123,2085,3655,0,0,0,0,0,0
$GC,1901,-0.53,-194.6,315.1,-9.4,258,1908,0.00,0.80,0.00,0.000,6,0.000,0.039,2121,2617,3654,0,0,0,0,0,0
$GC,2228,-0.53,-194.6,348.3,-11.0,289,2231,0.00,0.73,0.00,0.000,4,0.000,0.028,2121,2089,3650,0,0,0,0,0,0
$GC,2289,-0.53,-194.6,355.2,-10.6,294,2296,0.00,0.77,0.00,0.000,6,0.000,0.039,2118,2604,3650,0,0,0,0,0,0
$GC,2615,-0.53,-194.6,390.3,-11.0,325,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2604,3647,0,0,0,0,0,0
$GC,2935,-0.53,-194.6,424.9,-10.4,355,2939,0.00,0.73,0.00,0.000,4,0.000,0.028,2118,2085,3643,0,0,0,0,0,0
$GC,3071,-0.53,-194.6,439.3,-11.0,367,3075,0.00,0.80,0.00,0.000,6,0.000,0.041,2114,2610,3642,0,0,0,0,0,0
$GC,3403,-0.53,-194.6,475.8,-10.7,398,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2609,3639,0,0,0,0,0,0
$GC,3729,-0.53,-194.6,511.9,-11.0,424,3732,0.00,0.75,0.00,0.000,4,0.000,0.031,2113,2090,3636,0,0,0,0,0,0
$GC,3858,-0.53,-194.6,525.6,-10.8,429,3865,0.00,0.80,0.00,0.000,6,0.000,0.043,2111,2606,3635,0,0,0,0,0,0
$GC,4175,-0.53,-194.6,558.9,-10.5,445,4179,0.00,0.73,0.00,0.000,4,0.000,0.029,2112,2088,3632,0,0,0,0,0,0
$GC,4221,-0.53,-194.6,563.6,-10.1,447,4225,0.00,0.80,0.00,0.000,6,0.000,0.044,2111,2603,3632,0,0,0,0,0,0
$GC,4555,-0.53,-194.6,593.9,-7.8,463,4559,0.00,0.73,0.00,0.000,4,0.000,0.030,2111,2093,3629,0,0,0,0,0,0
$GC,4645,-0.53,-194.6,600.6,-7.7,467,4649,0.00,0.80,0.00,0.000,6,0.000,0.045,2111,2605,3628,0,0,0,0,0,0
$GC,4979,-0.53,-194.6,626.6,-7.4,483,4983,0.00,0.73,0.00,0.000,4,0.000,0.031,2111,2090,3625,0,0,0,0,0,0
$GC,5086,-0.53,-194.6,634.7,-7.7,487,5093,0.00,0.82,0.00,0.000,6,0.000,0.044,2108,2617,3624,0,0,0,0,0,0
$GC,5402,-0.53,-194.6,663.1,-9.3,503,5406,0.00,0.75,0.00,0.000,4,0.000,0.031,2108,2090,3622,0,0,0,0,0,0
$GC,5476,-0.53,-194.6,670.1,-9.2,506,5479,0.00,0.82,0.00,0.000,6,0.000,0.044,2104,2618,3622,0,0,0,0,0,0
$GC,5804,-0.53,-194.6,697.3,-9.2,522,5808,0.00,0.75,0.00,0.000,4,0.000,0.030,2104,2091,3620,0,0,0,0,0,0
$GC,5861,-0.53,-194.6,703.1,-9.6,524,5864,0.00,0.80,0.00,0.000,6,0.000,0.044,2101,2604,3620,0,0,0,0,0,0
$GC,6182,-0.53,-194.6,735.9,-10.1,540,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2605,3618,0,0,0,0,0,0
$GC,6492,-0.53,-194.6,765.9,-9.6,555,6495,0.00,0.73,0.00,0.000,4,0.000,0.031,2100,2095,3616,0,0,0,0,0,0
$GC,6578,-0.53,-194.6,774.2,-10.0,558,6584,0.00,0.80,0.00,0.000,6,0.000,0.045,2098,2606,3615,0,0,0,0,0,0
$GC,6894,-0.53,-194.6,806.6,-10.4,574,6899,0.12,0.75,0.00,0.000,4,0.158,0.033,2133,2095,3614,0,0,0,0,0,0
$GC,6963,-0.53,-194.6,812.0,-7.4,577,6967,0.00,0.80,0.00,0.000,6,0.000,0.045,2131,2608,3614,0,0,0,0,0,0
$GC,7296,-0.53,-194.6,831.1,-4.9,593,7300,0.00,0.73,0.00,0.000,4,0.000,0.031,2131,2106,3612,0,0,0,0,0,0
$GC,7471,-0.53,-194.6,841.1,-7.1,600,7477,0.00,0.80,0.00,0.000,6,0.000,0.044,2127,2617,3612,0,0,0,0,0,0
$GC,7787,-0.53,-194.6,864.1,-7.2,616,7791,0.00,0.75,0.00,0.000,4,0.000,0.031,2127,2103,3610,0,0,0,0,0,0
$GC,7895,-0.53,-194.6,871.8,-7.0,620,7902,0.00,0.80,0.00,0.000,6,0.000,0.047,2125,2611,3609,0,0,0,0,0,0
$GC,8211,-0.53,-194.6,890.8,-6.5,636,8215,0.00,0.73,0.00,0.000,4,0.000,0.032,2125,2106,3608,0,0,0,0,0,0
$GC,8341,-0.53,-194.6,899.9,-7.7,641,8348,0.00,0.80,0.00,0.000,6,0.000,0.046,2123,2614,3608,0,0,0,0,0,0
$GC,8657,-0.53,-194.6,915.6,-4.4,657,8661,0.00,0.75,0.00,0.000,4,0.000,0.033,2122,2098,3607,0,0,0,0,0,0
$GC,8703,-0.53,-194.6,917.6,-5.3,659,8707,0.00,0.80,0.00,0.000,6,0.000,0.049,2119,2601,3607,0,0,0,0,0,0
$GC,9037,-0.53,-194.6,945.4,-5.9,675,9041,0.00,0.73,0.00,0.000,4,0.000,0.032,2121,2103,3606,0,0,0,0,0,0
$GC,9296,-0.53,-194.6,945.5,-0.1,686,9300,0.00,0.80,0.00,0.000,6,0.000,0.041,2120,2617,3605,0,0,0,0,0,0
$STATE,9307,end dive,NO_VERTICAL_VELOCITY
$STATE,9307,begin apogee
$GC,9313,-0.13,0.0,945.5,0.0,687,9465,0.35,0.00,146.88,1.043,6,0.057,0.000,2272,2181,2869,0,0,0,0,0,0
$STATE,9465,end apogee,CONTROL_FINISHED_OK
$STATE,9465,begin climb
$GC,9469,0.53,194.6,945.3,0.0,694,9633,0.52,0.85,156.85,1.027,4,0.053,0.039,2480,2689,2075,0,0,0,0,0,0
$GC,9847,0.53,194.6,919.3,13.8,711,9854,0.00,0.80,0.00,0.000,6,0.000,0.033,2484,2155,2073,0,0,0,0,0,0
$GC,10163,0.56,220.0,881.2,10.8,727,10186,0.00,0.00,21.27,0.954,6,0.000,0.000,2486,2153,1972,0,0,0,0,0,0
$GC,10509,0.65,290.1,846.7,8.9,744,10573,0.00,0.88,56.00,0.970,4,0.000,0.043,2486,2690,1686,0,0,0,0,0,0
$GC,10651,0.71,341.9,832.8,9.7,750,10698,0.08,0.80,41.90,0.942,6,0.060,0.033,2533,2158,1475,0,0,0,0,0,0
$GC,11014,0.71,341.9,785.0,13.9,768,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2158,1477,0,0,0,0,0,0
$GC,11324,0.71,341.9,740.3,14.6,783,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2158,1479,0,0,0,0,0,0
$GC,11633,0.71,341.9,694.3,15.0,798,11637,0.00,0.82,0.00,0.000,4,0.000,0.043,2533,2691,1479,0,0,0,0,0,0
$GC,11693,0.71,341.9,685.2,14.5,800,11701,0.00,0.77,0.00,0.000,6,0.000,0.031,2536,2161,1479,0,0,0,0,0,0
$GC,12010,0.71,341.9,639.1,14.3,816,12014,0.00,0.82,0.00,0.000,4,0.000,0.044,2537,2696,1479,0,0,0,0,0,0
$GC,12056,0.71,341.9,632.4,14.7,818,12060,0.00,0.77,0.00,0.000,6,0.000,0.033,2540,2168,1479,0,0,0,0,0,0
$GC,12389,0.71,341.9,585.9,13.3,834,12393,0.00,0.75,0.00,0.000,4,0.000,0.038,2544,1648,1478,0,0,0,0,0,0
$GC,12461,0.71,341.9,575.7,13.9,837,12465,0.00,0.80,0.00,0.000,6,0.000,0.037,2544,2173,1478,0,0,0,0,0,0
$GC,12788,0.71,341.9,532.2,13.2,853,12791,0.00,0.77,0.00,0.000,4,0.000,0.043,2544,2692,1479,0,0,0,0,0,0
$GC,12883,0.71,341.9,518.5,14.2,857,12887,0.00,0.77,0.00,0.000,6,0.000,0.033,2548,2165,1479,0,0,0,0,0,0
$GC,13207,0.71,341.9,472.8,14.3,881,13210,0.00,0.77,0.00,0.000,4,0.000,0.037,2551,1641,1479,0,0,0,0,0,0
$GC,13257,0.71,341.9,465.3,14.1,885,13264,0.00,0.80,0.00,0.000,6,0.000,0.037,2551,2165,1479,0,0,0,0,0,0
$GC,13583,0.71,341.9,420.9,12.5,916,13587,0.00,0.80,0.00,0.000,4,0.000,0.044,2551,2687,1479,0,0,0,0,0,0
$GC,13651,0.71,341.9,412.1,13.2,922,13655,0.00,0.77,0.00,0.000,6,0.000,0.031,2554,2156,1479,0,0,0,0,0,0
$GC,13981,0.71,341.9,371.7,12.3,953,13985,0.00,0.73,0.00,0.000,4,0.000,0.036,2557,1650,1479,0,0,0,0,0,0
$GC,14031,0.71,341.9,365.5,12.4,957,14039,0.08,0.77,0.00,0.000,6,0.147,0.037,2534,2165,1479,0,0,0,0,0,0
$GC,14357,0.72,350.5,329.0,11.4,988,14369,0.00,0.82,9.52,0.636,4,0.000,0.041,2533,2687,1440,0,0,0,0,0,0
$GC,14486,0.72,350.5,313.9,11.9,999,14489,0.00,0.77,0.00,0.000,6,0.000,0.031,2536,2158,1439,0,0,0,0,0,0
$GC,14816,0.72,350.5,273.6,12.1,1030,14820,0.00,0.80,0.00,0.000,4,0.000,0.038,2536,2688,1440,0,0,0,0,0,0
$GC,14874,0.72,350.5,266.7,12.4,1035,14878,0.00,0.75,0.00,0.000,6,0.000,0.031,2539,2170,1440,0,0,0,0,0,0
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$GC,17133,1.37,880.7,26.7,10.4,1376,17140,0.00,0.77,0.17,0.094,6,0.000,0.030,2760,2161,440,0,0,0,0,0,0
$GC,17277,1.38,883.6,10.2,11.7,1401,17284,0.00,0.73,0.90,0.083,4,0.000,0.028,2763,1622,441,0,0,0,0,0,0
$STATE,17346,end climb,SURFACE_DEPTH_REACHED
$STATE,17346,begin surface coast
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$STATE,17376,end surface coast,CONTROL_FINISHED_OK
$STATE,17376,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,45.94
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,67.813
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.725,64.925,633.575,0.000,0.000,112.621,75.530,256.817,0.000,0.000,17.680,3419.952,10594.899,699.588,3118.430,403.888,33.369,2159.903,0.000,2637.768,0.000,0.542,0.000
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$MEM,322572
$DATA_FILE_SIZE,80224,1418
$CAP_FILE_SIZE,192411,0
$CFSIZE,260165632,204550144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150911,232025,1839.400,12031.342,39,1.3,39,-2.0