version: 66.09
glider: 181
mission: 6
dive: 508
start: 9 16 111 17 0 45
data:
$ID,181
$MISSION,6
$DIVE,508
$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,-5
$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,-41225.422
$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,61
$R_STBD_OVSHOOT,37
$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
$GPS1,160911,165137,1841.305,12029.242,27,2.0,27,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.5
$GPS2,160911,165949,1841.500,12029.369,9,1.9,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.303,0.075
$KALMAN_X,30423.2,321.8,163.1,23431.4,-553.0
$KALMAN_Y,83273.0,-1107.1,-596.4,-142806.8,2499.0
$MHEAD_RNG_PITCHd_Wd,286.0,61796,-17.4,-11.786
$D_GRID,2010
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
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$GC,2195,-0.53,-194.6,336.6,-13.2,297,2199,0.00,0.73,0.00,0.000,4,0.000,0.027,2104,2089,3658,0,0,0,0,0,0
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$GC,2938,-0.53,-194.6,417.9,-10.7,366,2942,0.00,0.70,0.00,0.000,4,0.000,0.028,2123,2091,3651,0,0,0,0,0,0
$GC,3044,-0.53,-194.6,429.1,-10.5,375,3051,0.00,0.77,0.00,0.000,6,0.000,0.040,2121,2603,3651,0,0,0,0,0,0
$GC,3370,-0.53,-194.6,463.0,-11.0,406,3374,0.00,0.70,0.00,0.000,4,0.000,0.028,2121,2090,3648,0,0,0,0,0,0
$GC,3442,-0.53,-194.6,471.1,-10.7,412,3449,0.00,0.80,0.00,0.000,6,0.000,0.041,2117,2615,3647,0,0,0,0,0,0
$GC,3781,-0.53,-194.6,506.7,-10.7,441,3784,0.00,0.73,0.00,0.000,4,0.000,0.028,2117,2094,3644,0,0,0,0,0,0
$GC,3864,-0.53,-194.6,516.1,-10.8,444,3872,0.00,0.77,0.00,0.000,6,0.000,0.041,2113,2601,3643,0,0,0,0,0,0
$GC,4181,-0.53,-194.6,551.3,-11.2,460,4184,0.00,0.70,0.00,0.000,4,0.000,0.028,2114,2091,3640,0,0,0,0,0,0
$GC,4276,-0.53,-194.6,562.3,-11.5,464,4280,0.00,0.80,0.00,0.000,6,0.000,0.041,2112,2607,3639,0,0,0,0,0,0
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$GC,5050,-0.53,-194.6,631.3,-7.3,501,5054,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2607,3634,0,0,0,0,0,0
$GC,5384,-0.53,-194.6,656.0,-7.2,517,5388,0.00,0.73,0.00,0.000,4,0.000,0.029,2112,2087,3632,0,0,0,0,0,0
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$GC,6324,-0.53,-194.6,726.9,-8.7,561,6328,0.00,0.80,0.00,0.000,6,0.000,0.044,2112,2605,3626,0,0,0,0,0,0
$GC,6657,-0.53,-194.6,755.7,-8.5,577,6661,0.00,0.73,0.00,0.000,4,0.000,0.031,2112,2091,3625,0,0,0,0,0,0
$GC,6758,-0.53,-194.6,763.9,-7.7,581,6762,0.00,0.80,0.00,0.000,6,0.000,0.044,2112,2603,3624,0,0,0,0,0,0
$GC,7079,-0.53,-194.6,789.4,-8.1,597,7083,0.00,0.73,0.00,0.000,4,0.000,0.030,2112,2088,3623,0,0,0,0,0,0
$GC,7193,-0.53,-194.6,798.8,-8.4,602,7197,0.00,0.82,0.00,0.000,6,0.000,0.044,2112,2615,3622,0,0,0,0,0,0
$GC,7526,-0.53,-194.6,828.0,-8.9,618,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2615,3620,0,0,0,0,0,0
$GC,7835,-0.53,-194.6,855.5,-8.8,633,7838,0.00,0.73,0.00,0.000,4,0.000,0.030,2112,2103,3619,0,0,0,0,0,0
$GC,7949,-0.53,-194.6,865.6,-8.9,638,7953,0.00,0.80,0.00,0.000,6,0.000,0.045,2112,2616,3619,0,0,0,0,0,0
$GC,8282,-0.53,-194.6,896.9,-9.7,654,8286,0.00,0.73,0.00,0.000,4,0.000,0.030,2112,2104,3618,0,0,0,0,0,0
$GC,8453,-0.53,-194.6,913.8,-9.6,661,8456,0.00,0.80,0.00,0.000,6,0.000,0.045,2112,2615,3618,0,0,0,0,0,0
$GC,8774,-0.53,-194.6,946.1,-10.4,677,8778,0.00,0.73,0.00,0.000,4,0.000,0.031,2112,2108,3616,0,0,0,0,0,0
$GC,8912,-0.53,-194.6,960.3,-10.0,683,8916,0.00,0.77,0.00,0.000,6,0.000,0.045,2112,2604,3616,0,0,0,0,0,0
$STATE,9242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9242,begin apogee
$GC,9248,-0.13,0.0,991.5,8.8,699,9404,0.43,0.00,149.52,1.074,6,0.112,0.000,2253,2175,2869,0,0,0,0,0,0
$STATE,9405,end apogee,CONTROL_FINISHED_OK
$STATE,9405,begin climb
$GC,9407,0.53,194.6,999.6,0.0,706,9572,0.57,0.82,157.82,1.053,4,0.055,0.037,2478,2705,2078,0,0,0,0,0,0
$GC,9661,0.56,221.6,984.8,10.7,718,9688,0.00,0.85,23.35,0.986,6,0.000,0.031,2482,2143,1965,0,0,0,0,0,0
$GC,10007,0.61,262.5,948.8,10.1,735,10046,0.00,0.93,33.58,1.009,4,0.000,0.041,2482,2705,1798,0,0,0,0,0,0
$GC,10104,0.66,303.2,938.8,10.1,739,10141,0.00,0.82,34.00,0.991,6,0.000,0.031,2485,2159,1632,0,0,0,0,0,0
$GC,10463,0.75,375.8,905.5,8.8,757,10525,0.17,0.00,58.95,1.003,6,0.077,0.000,2557,2158,1336,0,0,0,0,0,0
$GC,10834,0.75,375.8,854.5,14.0,775,10838,0.00,0.82,0.00,0.000,4,0.000,0.041,2558,2696,1337,0,0,0,0,0,0
$GC,10974,0.75,375.8,833.3,15.0,781,10978,0.00,0.77,0.00,0.000,6,0.000,0.030,2561,2175,1337,0,0,0,0,0,0
$GC,11301,0.75,375.8,782.6,16.4,797,11305,0.00,0.80,0.00,0.000,4,0.000,0.043,2562,2695,1337,0,0,0,0,0,0
$GC,11352,0.75,375.8,773.5,18.2,799,11355,0.00,0.80,0.00,0.000,6,0.000,0.031,2565,2153,1337,0,0,0,0,0,0
$GC,11679,0.75,375.8,719.8,15.9,815,11682,0.00,0.82,0.00,0.000,4,0.000,0.041,2566,2693,1336,0,0,0,0,0,0
$GC,11770,0.75,375.8,704.6,16.7,819,11774,0.00,0.77,0.00,0.000,6,0.000,0.031,2570,2158,1336,0,0,0,0,0,0
$GC,12103,0.75,375.8,652.3,15.1,835,12107,0.00,0.73,0.00,0.000,4,0.000,0.036,2573,1646,1336,0,0,0,0,0,0
$GC,12141,0.75,375.8,646.1,15.4,836,12149,0.08,0.80,0.00,0.000,6,0.137,0.036,2548,2175,1336,0,0,0,0,0,0
$GC,12458,0.75,375.8,602.6,13.9,852,12462,0.00,0.75,0.00,0.000,4,0.000,0.043,2549,2684,1336,0,0,0,0,0,0
$GC,12575,0.75,375.8,585.6,14.4,857,12579,0.00,0.75,0.00,0.000,6,0.000,0.030,2550,2162,1336,0,0,0,0,0,0
$GC,12904,0.75,375.8,538.1,15.0,873,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2162,1336,0,0,0,0,0,0
$GC,13213,0.75,375.8,493.0,14.2,890,13217,0.00,0.80,0.00,0.000,4,0.000,0.037,2550,2693,1336,0,0,0,0,0,0
$GC,13270,0.75,375.8,484.8,14.8,895,13275,0.00,0.77,0.00,0.000,6,0.000,0.031,2553,2159,1336,0,0,0,0,0,0
$GC,13601,0.75,375.8,441.3,12.6,926,13605,0.00,0.80,0.00,0.000,4,0.000,0.037,2553,2693,1336,0,0,0,0,0,0
$GC,13658,0.75,375.8,433.6,14.0,931,13662,0.00,0.77,0.00,0.000,6,0.000,0.031,2556,2160,1336,0,0,0,0,0,0
$GC,13989,0.75,375.8,390.6,12.7,962,13992,0.00,0.73,0.00,0.000,4,0.000,0.035,2560,1648,1336,0,0,0,0,0,0
$GC,14102,0.75,375.8,375.4,13.8,972,14105,0.00,0.77,0.00,0.000,6,0.000,0.035,2560,2166,1336,0,0,0,0,0,0
$GC,14432,0.75,375.8,329.4,14.3,1003,14436,0.00,0.77,0.00,0.000,4,0.000,0.041,2560,2691,1336,0,0,0,0,0,0
$GC,14534,0.75,375.8,313.6,15.6,1012,14538,0.00,0.77,0.00,0.000,6,0.000,0.030,2563,2157,1337,0,0,0,0,0,0
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$GC,14944,0.75,375.8,255.3,14.4,1050,14948,0.00,0.77,0.00,0.000,6,0.000,0.034,2567,2165,1337,0,0,0,0,0,0
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$STATE,17317,end climb,SURFACE_DEPTH_REACHED
$STATE,17317,begin surface coast
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$STATE,17346,end surface coast,CONTROL_FINISHED_OK
$STATE,17346,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.81
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,1
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$10V_AH,9.8,68.291
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.675,59.575,633.925,0.000,0.000,58.294,60.665,154.993,0.250,0.000,16.724,3422.725,10476.390,703.570,2926.387,372.556,33.357,2140.357,0.000,2609.752,0.000,0.541,0.000
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$MEM,321176
$DATA_FILE_SIZE,80310,1429
$CAP_FILE_SIZE,184814,0
$CFSIZE,260165632,204087296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,215225,1842.771,12028.404,38,1.4,38,-2.0