version: 66.09
glider: 181
mission: 6
dive: 189
start: 7 16 111 13 2 15
data:
$ID,181
$MISSION,6
$DIVE,189
$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,-40757.086
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,160711,125536,1922.615,12034.439,29,1.0,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.6
$GPS2,160711,130150,1922.786,12034.663,9,1.8,9,-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,185.4,89572,-15.3,-11.000
$D_GRID,2924
$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,-70.85,0.000,2,0.000,0.000,192,2623,2462,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.5,-4.2,10,131,7.95,1.88,-24.33,0.000,4,0.230,0.060,2134,3783,3765,0,0,0,0,0,0
$GC,154,-0.52,-219.0,30.9,-48.9,19,162,0.00,1.83,0.00,0.000,6,0.000,0.025,2134,2571,3766,0,0,0,0,0,0
$GC,288,-0.52,-219.0,83.7,-32.9,44,296,0.00,1.92,0.00,0.000,4,0.000,0.046,2124,3775,3767,0,0,0,0,0,0
$GC,350,-0.52,-219.0,99.8,-23.4,55,358,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2608,3768,0,0,0,0,0,0
$GC,485,-0.52,-219.0,128.9,-22.5,80,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2606,3766,0,0,0,0,0,0
$GC,619,-0.52,-219.0,162.0,-23.8,105,627,0.00,2.10,0.00,0.000,4,0.000,0.028,2124,1198,3770,0,0,0,0,0,0
$GC,635,-0.52,-219.0,165.5,-22.3,107,644,0.08,2.25,0.00,0.000,6,0.142,0.037,2143,2637,3768,0,0,0,0,0,0
$GC,772,-0.52,-219.0,187.1,-15.4,132,780,0.00,1.77,0.00,0.000,4,0.000,0.044,2137,3776,3771,0,0,0,0,0,0
$GC,846,-0.52,-219.0,195.5,-8.6,145,855,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2670,3769,0,0,0,0,0,0
$GC,991,-0.52,-219.0,211.5,-14.0,163,995,0.00,2.15,0.00,0.000,4,0.000,0.028,2137,1202,3771,0,0,0,0,0,0
$GC,1023,-0.52,-219.0,217.0,-14.8,165,1030,0.00,2.25,0.00,0.000,6,0.000,0.037,2138,2675,3771,0,0,0,0,0,0
$GC,1348,-0.52,-219.0,260.2,-15.2,196,1352,0.00,1.70,0.00,0.000,4,0.000,0.045,2132,3772,3770,0,0,0,0,0,0
$GC,1385,-0.52,-219.0,266.1,-15.1,199,1393,0.00,1.62,0.00,0.000,6,0.000,0.024,2132,2681,3770,0,0,0,0,0,0
$GC,1711,-0.52,-219.0,314.8,-14.1,230,1715,0.00,2.17,0.00,0.000,4,0.000,0.028,2129,1199,3767,0,0,0,0,0,0
$GC,1767,-0.52,-219.0,320.7,-9.4,234,1774,0.00,2.25,0.00,0.000,6,0.000,0.035,2126,2667,3767,0,0,0,0,0,0
$GC,2092,-0.52,-219.0,357.1,-11.8,265,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2667,3763,0,0,0,0,0,0
$GC,2412,-0.52,-219.0,400.2,-14.0,295,2416,0.00,2.17,0.00,0.000,4,0.000,0.031,2126,1209,3761,0,0,0,0,0,0
$GC,2445,-0.52,-219.0,405.1,-13.7,297,2451,0.00,2.22,0.00,0.000,6,0.000,0.038,2125,2656,3760,0,0,0,0,0,0
$GC,2770,-0.52,-219.0,451.0,-14.5,328,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2657,3756,0,0,0,0,0,0
$GC,3092,-0.52,-219.0,495.3,-14.0,358,3096,0.00,1.73,0.00,0.000,4,0.000,0.050,2124,3783,3754,0,0,0,0,0,0
$GC,3130,-0.52,-219.0,501.0,-12.9,361,3137,0.00,1.67,0.00,0.000,6,0.000,0.027,2124,2666,3751,0,0,0,0,0,0
$GC,3446,-0.52,-219.0,544.9,-14.4,377,3450,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1208,3751,0,0,0,0,0,0
$GC,3513,-0.52,-219.0,553.8,-12.1,380,3517,0.00,2.22,0.00,0.000,6,0.000,0.039,2124,2655,3750,0,0,0,0,0,0
$GC,3835,-0.52,-219.0,600.9,-15.1,396,3838,0.00,1.73,0.00,0.000,4,0.000,0.050,2124,3776,3748,0,0,0,0,0,0
$GC,3890,-0.52,-219.0,608.6,-12.2,398,3894,0.00,1.67,0.00,0.000,6,0.000,0.027,2124,2668,3747,0,0,0,0,0,0
$GC,4212,-0.52,-219.0,650.2,-13.3,414,4216,0.00,2.17,0.00,0.000,4,0.000,0.033,2124,1201,3746,0,0,0,0,0,0
$GC,4285,-0.52,-219.0,659.1,-10.8,417,4289,0.00,2.25,0.00,0.000,6,0.000,0.039,2124,2660,3744,0,0,0,0,0,0
$GC,4601,-0.52,-219.0,700.0,-13.8,432,4605,0.00,2.17,0.00,0.000,4,0.000,0.032,2124,1210,3742,0,0,0,0,0,0
$GC,4634,-0.52,-219.0,704.7,-13.4,433,4641,0.00,2.20,0.00,0.000,6,0.000,0.040,2124,2641,3741,0,0,0,0,0,0
$GC,4951,-0.52,-219.0,746.8,-13.0,449,4955,0.00,2.15,0.00,0.000,4,0.000,0.034,2124,1212,3740,0,0,0,0,0,0
$GC,4995,-0.52,-219.0,752.3,-11.5,451,4999,0.00,2.20,0.00,0.000,6,0.000,0.040,2124,2636,3739,0,0,0,0,0,0
$GC,5316,-0.52,-219.0,792.2,-12.8,467,5320,0.00,2.15,0.00,0.000,4,0.000,0.033,2124,1206,3737,0,0,0,0,0,0
$GC,5350,-0.52,-219.0,796.3,-11.9,468,5357,0.00,2.20,0.00,0.000,6,0.000,0.040,2124,2622,3737,0,0,0,0,0,0
$GC,5666,-0.52,-219.0,832.4,-11.3,484,5670,0.00,2.15,0.00,0.000,4,0.000,0.034,2124,1200,3735,0,0,0,0,0,0
$GC,5693,-0.52,-219.0,835.5,-10.5,485,5697,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2622,3735,0,0,0,0,0,0
$GC,6010,-0.52,-219.0,866.6,-10.3,500,6013,0.00,1.83,0.00,0.000,4,0.000,0.053,2124,3784,3733,0,0,0,0,0,0
$GC,6048,-0.52,-219.0,870.7,-9.9,501,6055,0.00,1.73,0.00,0.000,6,0.000,0.029,2125,2639,3733,0,0,0,0,0,0
$GC,6365,-0.52,-219.0,901.9,-10.1,517,6369,0.00,2.15,0.00,0.000,4,0.000,0.036,2124,1210,3731,0,0,0,0,0,0
$GC,6415,-0.52,-219.0,906.6,-9.2,519,6419,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2627,3731,0,0,0,0,0,0
$GC,6737,-0.52,-219.0,936.4,-8.6,535,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2628,3730,0,0,0,0,0,0
$GC,7045,-0.52,-219.0,959.6,-7.3,550,7049,0.00,2.15,0.00,0.000,4,0.000,0.036,2124,1213,3728,0,0,0,0,0,0
$GC,7086,-0.52,-219.0,962.5,-7.0,552,7090,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2629,3728,0,0,0,0,0,0
$GC,7414,-0.52,-219.0,985.2,-7.3,568,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2630,3727,0,0,0,0,0,0
$STATE,7495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7495,begin apogee
$GC,7502,-0.13,0.0,991.4,7.5,572,7675,0.45,0.00,166.48,1.096,4,0.112,0.000,2276,2125,2868,0,0,0,0,0,0
$STATE,7675,end apogee,CONTROL_FINISHED_OK
$STATE,7675,begin climb
$GC,7678,0.52,219.0,998.3,0.0,580,7862,0.55,0.00,175.30,1.068,6,0.047,0.000,2501,2125,1978,0,0,0,0,0,0
$GC,8171,0.52,219.0,951.6,11.1,604,8175,0.00,2.30,0.00,0.000,4,0.000,0.046,2500,3540,1979,0,0,0,0,0,0
$GC,8203,0.52,219.0,947.5,11.9,605,8207,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2132,1977,0,0,0,0,0,0
$GC,8526,0.54,233.4,912.7,10.5,621,8548,0.00,2.25,13.68,0.971,4,0.000,0.039,2521,714,1918,0,0,0,0,0,0
$GC,8617,0.56,249.7,903.0,10.4,625,8640,0.00,2.20,14.50,0.938,6,0.000,0.035,2521,2122,1848,0,0,0,0,0,0
$GC,8952,0.56,249.7,862.6,12.2,641,8956,0.00,2.22,0.00,0.000,4,0.000,0.047,2521,3540,1848,0,0,0,0,0,0
$GC,9024,0.56,249.7,852.1,13.5,644,9028,0.00,2.17,0.00,0.000,6,0.000,0.028,2531,2115,1847,0,0,0,0,0,0
$GC,9340,0.56,249.7,808.9,14.2,659,9344,0.00,2.12,0.00,0.000,4,0.000,0.037,2542,712,1847,0,0,0,0,0,0
$GC,9434,0.56,249.7,794.4,14.8,663,9439,0.12,2.20,0.00,0.000,6,0.151,0.037,2503,2103,1847,0,0,0,0,0,0
$GC,9761,0.56,249.7,752.5,13.1,679,9765,0.00,2.22,0.00,0.000,4,0.000,0.046,2503,3539,1846,0,0,0,0,0,0
$GC,9810,0.56,249.7,744.7,15.6,681,9814,0.00,2.15,0.00,0.000,6,0.000,0.029,2511,2119,1846,0,0,0,0,0,0
$GC,10133,0.56,249.7,694.6,15.3,697,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2119,1846,0,0,0,0,0,0
$GC,10441,0.56,249.7,654.2,11.9,712,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2119,1846,0,0,0,0,0,0
$GC,10751,0.56,249.7,615.3,13.0,727,10755,0.00,2.12,0.00,0.000,4,0.000,0.037,2521,706,1846,0,0,0,0,0,0
$GC,10774,0.56,249.7,612.3,12.6,728,10778,0.00,2.17,0.00,0.000,6,0.000,0.034,2522,2129,1846,0,0,0,0,0,0
$GC,11102,0.56,249.7,564.8,14.7,744,11106,0.00,2.17,0.00,0.000,4,0.000,0.045,2521,3541,1845,0,0,0,0,0,0
$GC,11173,0.56,249.7,553.2,15.5,747,11178,0.00,2.17,0.00,0.000,6,0.000,0.029,2530,2128,1845,0,0,0,0,0,0
$GC,11496,0.56,249.7,510.2,12.0,763,11500,0.00,2.12,0.00,0.000,4,0.000,0.037,2542,711,1846,0,0,0,0,0,0
$GC,11562,0.56,249.7,502.4,11.1,766,11567,0.12,2.20,0.00,0.000,6,0.146,0.035,2502,2120,1846,0,0,0,0,0,0
$GC,11887,0.65,317.5,475.4,8.7,795,11940,0.00,0.00,50.28,0.778,6,0.000,0.000,2502,2119,1573,0,0,0,0,0,0
$GC,12256,0.65,317.5,437.5,12.3,830,12260,0.00,2.22,0.00,0.000,4,0.000,0.046,2502,3538,1572,0,0,0,0,0,0
$GC,12367,0.65,317.5,421.5,14.2,839,12374,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2111,1575,0,0,0,0,0,0
$GC,12693,0.65,317.5,378.8,12.1,870,12697,0.00,2.15,0.00,0.000,4,0.000,0.039,2520,709,1573,0,0,0,0,0,0
$GC,12744,0.65,317.5,372.8,11.4,874,12748,0.00,2.17,0.00,0.000,6,0.000,0.034,2521,2110,1573,0,0,0,0,0,0
$GC,13075,0.68,345.9,335.2,10.0,905,13102,0.00,2.25,22.42,0.682,4,0.000,0.044,2520,3541,1456,0,0,0,0,0,0
$GC,13197,0.68,345.9,321.8,11.5,915,13203,0.00,2.15,0.00,0.000,6,0.000,0.028,2530,2125,1457,0,0,0,0,0,0
$GC,13522,0.68,345.9,283.8,11.5,946,13526,0.00,2.15,0.00,0.000,4,0.000,0.037,2541,720,1457,0,0,0,0,0,0
$GC,13598,0.69,352.1,275.2,10.8,952,13610,0.00,2.17,6.30,0.594,6,0.000,0.034,2541,2107,1433,0,0,0,0,0,0
$GC,13936,0.69,352.1,229.5,13.9,984,13940,0.00,2.20,0.00,0.000,4,0.000,0.042,2541,3539,1434,0,0,0,0,0,0
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$STATE,15987,end climb,SURFACE_DEPTH_REACHED
$STATE,15987,begin surface coast
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$STATE,16009,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.74
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,2
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$10V_AH,10.0,29.664
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.225,170.200,631.375,0.000,0.000,28.070,17.233,183.344,0.500,0.000,12.199,3180.504,8876.372,704.216,3324.324,360.650,0.000,2101.983,0.000,2287.043,0.000,0.539,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321500
$DATA_FILE_SIZE,90220,1331
$CAP_FILE_SIZE,176200,0
$CFSIZE,260165632,233406464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,173137,1920.395,12034.104,38,1.1,39,-2.1