version: 66.09
glider: 181
mission: 6
dive: 231
start: 7 23 111 16 9 50
data:
$ID,181
$MISSION,6
$DIVE,231
$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,-4
$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,-40810.066
$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,40
$R_STBD_OVSHOOT,39
$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
$GPS1,230711,160237,1843.822,12017.705,36,0.9,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.8
$GPS2,230711,160925,1843.896,12017.628,15,1.1,15,-2.0
$SPEED_LIMITS,0.191,0.321
$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,316.0,42923,-15.3,-11.000
$D_GRID,2877
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-63.67,0.000,2,0.000,0.000,208,2604,2265,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.3,-3.8,9,131,7.88,1.85,-30.00,0.000,4,0.226,0.058,2133,3780,3764,0,0,0,0,0,0
$GC,288,-0.52,-219.0,100.1,-30.7,45,296,0.00,1.80,0.00,0.000,6,0.000,0.024,2132,2579,3766,0,0,0,0,0,0
$GC,424,-0.52,-219.0,133.4,-21.8,70,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2578,3766,0,0,0,0,0,0
$GC,560,-0.52,-219.0,165.7,-22.0,95,568,0.00,2.05,0.00,0.000,4,0.000,0.027,2131,1201,3767,0,0,0,0,0,0
$GC,588,-0.52,-219.0,172.3,-22.4,99,596,0.00,2.25,0.00,0.000,6,0.000,0.038,2124,2637,3767,0,0,0,0,0,0
$GC,723,-0.52,-219.0,198.0,-18.5,124,731,0.00,1.77,0.00,0.000,4,0.000,0.044,2117,3780,3768,0,0,0,0,0,0
$GC,765,-0.52,-219.0,205.8,-16.6,128,774,0.10,1.65,0.00,0.000,6,0.125,0.023,2151,2674,3768,0,0,0,0,0,0
$GC,1092,-0.52,-219.0,247.4,-11.6,159,1096,0.00,2.15,0.00,0.000,4,0.000,0.028,2151,1204,3768,0,0,0,0,0,0
$GC,1145,-0.52,-219.0,252.9,-10.0,163,1149,0.00,2.25,0.00,0.000,6,0.000,0.034,2150,2671,3768,0,0,0,0,0,0
$GC,1476,-0.52,-219.0,290.5,-11.4,194,1480,0.00,2.17,0.00,0.000,4,0.000,0.028,2150,1202,3765,0,0,0,0,0,0
$GC,1505,-0.52,-219.0,293.7,-11.3,196,1509,0.00,2.25,0.00,0.000,6,0.000,0.036,2150,2679,3765,0,0,0,0,0,0
$GC,1830,-0.52,-219.0,329.2,-10.7,226,1834,0.00,1.67,0.00,0.000,4,0.000,0.047,2150,3784,3762,0,0,0,0,0,0
$GC,1877,-0.52,-219.0,333.6,-9.2,230,1880,0.00,1.65,0.00,0.000,6,0.000,0.025,2151,2645,3762,0,0,0,0,0,0
$GC,2208,-0.52,-219.0,364.3,-9.6,261,2212,0.00,2.12,0.00,0.000,4,0.000,0.031,2150,1200,3759,0,0,0,0,0,0
$GC,2264,-0.52,-219.0,369.3,-8.3,265,2271,0.00,2.25,0.00,0.000,6,0.000,0.036,2150,2673,3759,0,0,0,0,0,0
$GC,2590,-0.52,-219.0,399.2,-9.6,296,2594,0.00,2.20,0.00,0.000,4,0.000,0.031,2150,1202,3755,0,0,0,0,0,0
$GC,2642,-0.52,-219.0,403.6,-8.4,300,2646,0.00,2.22,0.00,0.000,6,0.000,0.036,2150,2660,3752,0,0,0,0,0,0
$GC,2967,-0.52,-219.0,431.9,-9.0,330,2971,0.00,1.75,0.00,0.000,4,0.000,0.047,2150,3777,3752,0,0,0,0,0,0
$GC,2994,-0.52,-219.0,434.6,-9.1,332,3001,0.00,1.70,0.00,0.000,6,0.000,0.026,2151,2647,3751,0,0,0,0,0,0
$GC,3320,-0.52,-219.0,464.6,-9.5,363,3324,0.00,2.15,0.00,0.000,4,0.000,0.031,2150,1194,3748,0,0,0,0,0,0
$GC,3384,-0.52,-219.0,470.3,-8.9,368,3388,0.00,2.22,0.00,0.000,6,0.000,0.036,2150,2646,3748,0,0,0,0,0,0
$GC,3709,-0.52,-219.0,500.4,-9.2,398,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2646,3744,0,0,0,0,0,0
$GC,4020,-0.52,-219.0,523.9,-6.8,413,4024,0.00,2.17,0.00,0.000,4,0.000,0.032,2151,1200,3742,0,0,0,0,0,0
$GC,4054,-0.52,-219.0,526.4,-6.7,414,4061,0.00,2.22,0.00,0.000,6,0.000,0.038,2155,2637,3742,0,0,0,0,0,0
$GC,4371,-0.52,-219.0,547.6,-7.5,430,4374,0.00,2.15,0.00,0.000,4,0.000,0.032,2151,1204,3740,0,0,0,0,0,0
$GC,4415,-0.52,-219.0,551.1,-7.3,432,4419,0.00,2.17,0.00,0.000,6,0.000,0.037,2151,2617,3739,0,0,0,0,0,0
$GC,4737,-0.52,-219.0,577.2,-8.7,448,4741,0.00,1.77,0.00,0.000,4,0.000,0.049,2150,3776,3737,0,0,0,0,0,0
$GC,4775,-0.52,-219.0,580.4,-8.5,449,4782,0.00,1.73,0.00,0.000,6,0.000,0.026,2150,2599,3737,0,0,0,0,0,0
$GC,5092,-0.52,-219.0,605.6,-7.9,465,5096,0.00,1.83,0.00,0.000,4,0.000,0.044,2151,3778,3734,0,0,0,0,0,0
$GC,5351,-0.52,-219.0,628.3,-9.0,476,5354,0.00,1.80,0.00,0.000,6,0.000,0.025,2157,2552,3733,0,0,0,0,0,0
$GC,5673,-0.52,-219.0,656.8,-9.1,492,5676,0.00,2.00,0.00,0.000,4,0.000,0.032,2158,1200,3730,0,0,0,0,0,0
$GC,5930,-0.52,-219.0,681.7,-9.7,503,5934,0.00,2.00,0.00,0.000,6,0.000,0.035,2158,2514,3729,0,0,0,0,0,0
$GC,6252,-0.52,-219.0,710.4,-8.9,519,6256,0.00,1.98,0.00,0.000,4,0.000,0.033,2158,1201,3728,0,0,0,0,0,0
$GC,6510,-0.52,-219.0,735.1,-9.9,530,6514,0.00,1.98,0.00,0.000,6,0.000,0.035,2159,2495,3727,0,0,0,0,0,0
$GC,6832,-0.52,-219.0,763.8,-9.0,546,6836,0.00,1.92,0.00,0.000,4,0.000,0.031,2159,1206,3725,0,0,0,0,0,0
$GC,6969,-0.52,-219.0,777.1,-9.8,552,6973,0.00,1.95,0.00,0.000,6,0.000,0.034,2159,2482,3724,0,0,0,0,0,0
$GC,7302,-0.52,-219.0,807.8,-9.3,568,7306,0.00,1.92,0.00,0.000,4,0.000,0.034,2160,1200,3723,0,0,0,0,0,0
$GC,7472,-0.52,-219.0,824.0,-9.6,575,7476,0.00,1.98,0.00,0.000,6,0.000,0.035,2160,2459,3722,0,0,0,0,0,0
$GC,7793,-0.52,-219.0,854.4,-9.7,591,7797,0.00,1.90,0.00,0.000,4,0.000,0.034,2161,1199,3722,0,0,0,0,0,0
$GC,8042,-0.52,-219.0,879.0,-9.7,602,8045,0.00,1.92,0.00,0.000,6,0.000,0.035,2161,2457,3720,0,0,0,0,0,0
$GC,8375,-0.52,-219.0,910.0,-9.3,618,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2457,3719,0,0,0,0,0,0
$GC,8684,-0.52,-219.0,937.6,-8.8,633,8687,0.00,2.05,0.00,0.000,4,0.000,0.047,2160,3782,3718,0,0,0,0,0,0
$GC,8807,-0.52,-219.0,948.1,-8.4,638,8811,0.00,2.00,0.00,0.000,6,0.000,0.025,2161,2453,3717,0,0,0,0,0,0
$GC,9128,-0.52,-219.0,972.9,-7.9,654,9132,0.00,1.85,0.00,0.000,4,0.000,0.034,2161,1207,3717,0,0,0,0,0,0
$GC,9229,-0.52,-219.0,980.9,-7.9,658,9233,0.00,1.90,0.00,0.000,6,0.000,0.035,2161,2452,3716,0,0,0,0,0,0
$STATE,9363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9363,begin apogee
$GC,9369,-0.13,0.0,991.2,7.8,665,9538,0.30,0.00,163.18,1.101,4,0.063,0.000,2295,2114,2869,0,0,0,0,0,0
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin climb
$GC,9542,0.52,219.0,999.7,0.0,673,9726,0.55,2.38,175.60,1.073,4,0.049,0.043,2504,3539,1974,0,0,0,0,0,0
$GC,9755,0.52,219.0,982.6,15.3,682,9760,0.00,2.28,0.00,0.000,6,0.000,0.026,2514,2141,1975,0,0,0,0,0,0
$GC,10077,0.52,219.0,932.6,15.6,698,10081,0.00,2.20,0.00,0.000,4,0.000,0.036,2525,714,1973,0,0,0,0,0,0
$GC,10137,0.52,219.0,923.3,14.5,700,10145,0.08,2.22,0.00,0.000,6,0.130,0.034,2492,2107,1973,0,0,0,0,0,0
$GC,10454,0.52,219.0,882.3,12.9,716,10458,0.00,2.25,0.00,0.000,4,0.000,0.045,2491,3545,1972,0,0,0,0,0,0
$GC,10503,0.52,219.0,874.8,15.1,718,10507,0.00,2.22,0.00,0.000,6,0.000,0.028,2500,2119,1973,0,0,0,0,0,0
$GC,10825,0.52,219.0,832.9,12.6,734,10829,0.00,2.15,0.00,0.000,4,0.000,0.039,2511,710,1972,0,0,0,0,0,0
$GC,10847,0.52,219.0,829.8,12.4,735,10851,0.00,2.17,0.00,0.000,6,0.000,0.034,2511,2125,1975,0,0,0,0,0,0
$GC,11174,0.52,219.0,786.8,13.1,751,11178,0.00,2.22,0.00,0.000,4,0.000,0.045,2511,3544,1971,0,0,0,0,0,0
$GC,11282,0.52,219.0,771.2,14.4,756,11287,0.12,2.15,0.00,0.000,6,0.185,0.028,2491,2133,1971,0,0,0,0,0,0
$GC,11616,0.52,219.0,729.1,13.1,772,11620,0.00,2.15,0.00,0.000,4,0.000,0.038,2500,719,1971,0,0,0,0,0,0
$GC,11711,0.52,219.0,716.1,13.3,776,11715,0.00,2.17,0.00,0.000,6,0.000,0.033,2500,2137,1970,0,0,0,0,0,0
$GC,12027,0.52,219.0,673.4,13.5,791,12031,0.00,2.17,0.00,0.000,4,0.000,0.045,2500,3535,1970,0,0,0,0,0,0
$GC,12077,0.52,219.0,665.8,15.2,793,12081,0.00,2.12,0.00,0.000,6,0.000,0.028,2505,2127,1970,0,0,0,0,0,0
$GC,12398,0.52,219.0,620.0,13.7,809,12402,0.00,2.12,0.00,0.000,4,0.000,0.039,2520,722,1970,0,0,0,0,0,0
$GC,12465,0.52,219.0,611.0,13.0,812,12470,0.12,2.15,0.00,0.000,6,0.161,0.035,2488,2124,1970,0,0,0,0,0,0
$GC,12787,0.52,219.0,574.9,11.1,828,12791,0.00,2.22,0.00,0.000,4,0.000,0.046,2488,3542,1973,0,0,0,0,0,0
$GC,12841,0.52,219.0,567.9,12.7,830,12849,0.00,2.17,0.00,0.000,6,0.000,0.029,2496,2135,1972,0,0,0,0,0,0
$GC,13158,0.52,219.0,531.3,11.6,846,13162,0.00,2.15,0.00,0.000,4,0.000,0.040,2508,717,1970,0,0,0,0,0,0
$GC,13282,0.54,235.0,517.5,10.5,851,13301,0.00,2.12,13.07,0.776,6,0.000,0.034,2506,2105,1910,0,0,0,0,0,0
$GC,13623,0.55,240.8,479.9,10.8,876,13636,0.00,2.25,6.20,0.655,4,0.000,0.044,2507,3541,1886,0,0,0,0,0,0
$GC,13740,0.55,240.8,466.2,11.3,886,13744,0.00,2.17,0.00,0.000,6,0.000,0.029,2516,2112,1886,0,0,0,0,0,0
$GC,14065,0.55,240.8,427.3,12.3,916,14069,0.00,2.12,0.00,0.000,4,0.000,0.039,2532,714,1886,0,0,0,0,0,0
$GC,14149,0.55,240.8,417.1,11.8,923,14154,0.00,2.12,0.00,0.000,6,0.000,0.034,2527,2103,1885,0,0,0,0,0,0
$GC,14475,0.55,240.8,371.9,14.3,953,14479,0.00,2.12,0.00,0.000,4,0.000,0.037,2536,716,1886,0,0,0,0,0,0
$GC,14526,0.55,240.8,364.2,15.2,957,14531,0.15,2.10,0.00,0.000,6,0.158,0.034,2495,2090,1886,0,0,0,0,0,0
$GC,14851,0.55,240.8,324.0,11.3,987,14855,0.00,2.22,0.00,0.000,4,0.000,0.044,2495,3535,1886,0,0,0,0,0,0
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$STATE,17711,end climb,SURFACE_DEPTH_REACHED
$STATE,17711,begin surface coast
$FINISH,0.1,1.009186
$STATE,17737,end surface coast,CONTROL_FINISHED_OK
$STATE,17737,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.91
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,0
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$10V_AH,10.0,35.501
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.525,181.125,632.750,0.000,0.000,28.380,38.452,187.068,0.000,0.000,17.870,3440.639,9999.910,662.572,3710.261,390.799,0.000,2231.196,0.000,2679.077,0.000,0.541,0.000
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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,322844
$DATA_FILE_SIZE,96933,1395
$CAP_FILE_SIZE,196863,0
$CFSIZE,260165632,229691392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,210801,1844.652,12015.670,39,1.4,39,-2.0