version: 66.09
glider: 181
mission: 6
dive: 402
start: 8 26 111 10 40 33
data:
$ID,181
$MISSION,6
$DIVE,402
$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,-41050.578
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,260811,103424,2056.366,11954.206,38,1.9,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.0
$GPS2,260811,104008,2056.385,11954.333,10,1.7,10,-2.4
$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,179.8,215773,-16.3,-11.786
$D_GRID,3404
$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,-0.54,-219.0,0.0,0.0,0,86,0.00,0.00,-67.70,0.000,2,0.000,0.000,187,2646,2342,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.1,-3.1,12,137,8.10,2.20,-31.00,0.000,4,0.227,0.041,2138,1184,3764,0,0,0,0,0,0
$GC,223,-0.54,-219.0,34.8,-16.4,35,230,0.00,2.15,0.00,0.000,6,0.000,0.034,2129,2583,3764,0,0,0,0,0,0
$GC,366,-0.54,-219.0,69.2,-22.6,60,372,0.00,1.83,0.00,0.000,4,0.000,0.043,2120,3782,3764,0,0,0,0,0,0
$GC,447,-0.54,-219.0,86.6,-18.6,74,454,0.00,1.65,0.00,0.000,6,0.000,0.024,2120,2649,3764,0,0,0,0,0,0
$GC,590,-0.54,-219.0,118.6,-18.1,99,597,0.00,2.12,0.00,0.000,4,0.000,0.028,2121,1196,3764,0,0,0,0,0,0
$GC,650,-0.54,-219.0,126.2,-11.2,109,657,0.12,2.22,0.00,0.000,6,0.150,0.034,2147,2660,3764,0,0,0,0,0,0
$GC,794,-0.54,-219.0,143.1,-12.6,134,801,0.00,1.70,0.00,0.000,4,0.000,0.041,2139,3789,3765,0,0,0,0,0,0
$GC,836,-0.54,-219.0,148.2,-11.9,141,842,0.00,1.70,0.00,0.000,6,0.000,0.023,2140,2607,3765,0,0,0,0,0,0
$GC,981,-0.54,-219.0,166.4,-12.4,166,988,0.00,2.03,0.00,0.000,4,0.000,0.027,2140,1212,3766,0,0,0,0,0,0
$GC,1012,-0.54,-219.0,170.0,-11.5,171,1020,0.00,2.15,0.00,0.000,6,0.000,0.033,2139,2636,3766,0,0,0,0,0,0
$GC,1158,-0.54,-219.0,184.1,-9.5,196,1165,0.00,1.73,0.00,0.000,4,0.000,0.043,2138,3776,3766,0,0,0,0,0,0
$GC,1189,-0.54,-219.0,187.3,-9.6,201,1196,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2619,3766,0,0,0,0,0,0
$GC,1336,-0.54,-219.0,201.6,-10.8,225,1339,0.00,1.77,0.00,0.000,4,0.000,0.043,2136,3776,3766,0,0,0,0,0,0
$GC,1359,-0.54,-219.0,204.6,-10.6,227,1363,0.00,1.65,0.00,0.000,6,0.000,0.024,2136,2638,3766,0,0,0,0,0,0
$GC,1691,-0.54,-219.0,240.9,-10.7,258,1695,0.00,2.10,0.00,0.000,4,0.000,0.028,2136,1201,3765,0,0,0,0,0,0
$GC,1758,-0.54,-219.0,248.1,-10.0,263,1765,0.00,2.15,0.00,0.000,6,0.000,0.033,2128,2621,3764,0,0,0,0,0,0
$GC,2084,-0.54,-219.0,284.4,-11.0,294,2087,0.00,1.75,0.00,0.000,4,0.000,0.044,2124,3774,3762,0,0,0,0,0,0
$GC,2108,-0.54,-219.0,287.0,-11.1,296,2112,0.00,1.73,0.00,0.000,6,0.000,0.024,2124,2620,3761,0,0,0,0,0,0
$GC,2438,-0.54,-219.0,324.5,-12.0,327,2442,0.00,2.08,0.00,0.000,4,0.000,0.029,2124,1201,3759,0,0,0,0,0,0
$GC,2513,-0.54,-219.0,332.7,-10.4,333,2517,0.00,2.12,0.00,0.000,6,0.000,0.034,2124,2599,3758,0,0,0,0,0,0
$GC,2839,-0.54,-219.0,368.2,-10.0,363,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3755,0,0,0,0,0,0
$GC,3160,-0.54,-219.0,397.5,-8.9,393,3164,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1196,3753,0,0,0,0,0,0
$GC,3200,-0.54,-219.0,401.0,-8.4,396,3204,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2609,3753,0,0,0,0,0,0
$GC,3526,-0.54,-219.0,429.2,-10.0,426,3529,0.00,1.80,0.00,0.000,4,0.000,0.046,2116,3783,3750,0,0,0,0,0,0
$GC,3561,-0.54,-219.0,432.6,-9.6,429,3564,0.00,1.73,0.00,0.000,6,0.000,0.025,2116,2606,3749,0,0,0,0,0,0
$GC,3891,-0.54,-219.0,470.2,-12.1,460,3895,0.00,2.08,0.00,0.000,4,0.000,0.031,2116,1203,3747,0,0,0,0,0,0
$GC,3957,-0.54,-219.0,477.9,-11.2,465,3965,0.12,2.12,0.00,0.000,6,0.146,0.035,2148,2588,3747,0,0,0,0,0,0
$GC,4281,-0.54,-219.0,505.3,-7.9,493,4285,0.00,2.08,0.00,0.000,4,0.000,0.031,2148,1206,3743,0,0,0,0,0,0
$GC,4303,-0.54,-219.0,507.2,-7.7,494,4307,0.00,2.12,0.00,0.000,6,0.000,0.034,2145,2577,3744,0,0,0,0,0,0
$GC,4630,-0.54,-219.0,529.4,-6.3,510,4634,0.00,2.08,0.00,0.000,4,0.000,0.031,2145,1206,3741,0,0,0,0,0,0
$GC,4654,-0.54,-219.0,530.9,-6.1,511,4658,0.00,2.08,0.00,0.000,6,0.000,0.034,2141,2558,3741,0,0,0,0,0,0
$GC,4981,-0.54,-219.0,551.2,-6.4,527,4984,0.00,1.90,0.00,0.000,4,0.000,0.048,2139,3782,3738,0,0,0,0,0,0
$GC,4997,-0.54,-219.0,552.6,-6.5,527,5004,0.00,1.80,0.00,0.000,6,0.000,0.026,2139,2552,3738,0,0,0,0,0,0
$GC,5314,-0.54,-219.0,576.9,-8.2,543,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2551,3737,0,0,0,0,0,0
$GC,5622,-0.54,-219.0,601.2,-7.6,558,5626,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1204,3734,0,0,0,0,0,0
$GC,5673,-0.54,-219.0,605.1,-7.5,560,5677,0.00,2.10,0.00,0.000,6,0.000,0.035,2139,2558,3734,0,0,0,0,0,0
$GC,6000,-0.54,-219.0,628.0,-7.1,576,6004,0.00,1.92,0.00,0.000,4,0.000,0.047,2138,3774,3732,0,0,0,0,0,0
$GC,6160,-0.54,-219.0,641.6,-9.3,583,6164,0.00,1.92,0.00,0.000,6,0.000,0.027,2139,2479,3731,0,0,0,0,0,0
$GC,6493,-0.54,-219.0,672.5,-9.3,599,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2477,3730,0,0,0,0,0,0
$GC,6802,-0.54,-219.0,700.2,-8.6,614,6806,0.00,1.92,0.00,0.000,4,0.000,0.033,2146,1212,3728,0,0,0,0,0,0
$GC,6826,-0.54,-219.0,702.3,-8.3,615,6829,0.00,1.92,0.00,0.000,6,0.000,0.034,2145,2474,3728,0,0,0,0,0,0
$GC,7159,-0.54,-219.0,728.1,-7.4,631,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2474,3727,0,0,0,0,0,0
$GC,7469,-0.54,-219.0,750.5,-7.3,646,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2474,3725,0,0,0,0,0,0
$GC,7777,-0.54,-219.0,774.8,-8.2,661,7781,0.00,1.95,0.00,0.000,4,0.000,0.033,2146,1210,3724,0,0,0,0,0,0
$GC,7801,-0.54,-219.0,776.9,-8.3,662,7805,0.00,1.95,0.00,0.000,6,0.000,0.034,2146,2485,3724,0,0,0,0,0,0
$GC,8135,-0.54,-219.0,808.1,-9.9,678,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2485,3723,0,0,0,0,0,0
$GC,8443,-0.54,-219.0,839.9,-10.2,693,8447,0.00,1.92,0.00,0.000,4,0.000,0.032,2147,1206,3721,0,0,0,0,0,0
$GC,8580,-0.54,-219.0,854.3,-10.6,699,8583,0.00,1.95,0.00,0.000,6,0.000,0.034,2147,2474,3721,0,0,0,0,0,0
$GC,8913,-0.54,-219.0,887.6,-9.8,715,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2475,3720,0,0,0,0,0,0
$GC,9222,-0.54,-219.0,915.5,-8.8,730,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2475,3719,0,0,0,0,0,0
$GC,9532,-0.54,-219.0,942.1,-8.5,745,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2475,3718,0,0,0,0,0,0
$STATE,9611,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9611,begin apogee
$GC,9617,-0.13,0.0,949.3,8.7,749,9790,0.32,0.00,167.35,1.054,4,0.064,0.000,2289,2122,2869,0,0,0,0,0,0
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9790,begin climb
$GC,9793,0.54,219.0,959.0,0.0,757,9980,0.55,2.25,177.10,1.031,4,0.047,0.038,2510,739,1976,0,0,0,0,0,0
$GC,10036,0.54,219.0,942.8,12.5,768,10043,0.00,2.25,0.00,0.000,6,0.000,0.034,2510,2131,1975,0,0,0,0,0,0
$GC,10352,0.54,219.0,902.3,12.9,784,10356,0.00,2.22,0.00,0.000,4,0.000,0.044,2510,3540,1973,0,0,0,0,0,0
$GC,10380,0.54,219.0,898.4,13.4,785,10384,0.00,2.15,0.00,0.000,6,0.000,0.028,2520,2132,1973,0,0,0,0,0,0
$GC,10701,0.54,219.0,854.2,13.8,801,10705,0.00,2.15,0.00,0.000,4,0.000,0.037,2531,717,1972,0,0,0,0,0,0
$GC,10765,0.54,219.0,845.5,14.1,804,10770,0.12,2.15,0.00,0.000,6,0.167,0.034,2499,2118,1972,0,0,0,0,0,0
$GC,11094,0.56,237.4,806.9,11.1,820,11117,0.00,2.22,15.70,0.907,4,0.000,0.043,2499,3532,1900,0,0,0,0,0,0
$GC,11167,0.56,237.4,797.6,12.9,823,11171,0.00,2.20,0.00,0.000,6,0.000,0.029,2507,2125,1900,0,0,0,0,0,0
$GC,11495,0.57,244.0,759.5,11.5,839,11509,0.00,2.25,6.78,0.760,4,0.000,0.039,2518,710,1873,0,0,0,0,0,0
$GC,11599,0.57,244.0,747.2,11.8,843,11606,0.00,2.17,0.00,0.000,6,0.000,0.034,2518,2114,1873,0,0,0,0,0,0
$GC,11916,0.57,244.0,709.9,12.0,859,11920,0.00,2.22,0.00,0.000,4,0.000,0.045,2518,3538,1872,0,0,0,0,0,0
$GC,11982,0.57,244.0,700.8,13.4,862,11986,0.00,2.15,0.00,0.000,6,0.000,0.029,2527,2127,1872,0,0,0,0,0,0
$GC,12310,0.57,244.0,656.9,13.7,878,12314,0.00,2.15,0.00,0.000,4,0.000,0.040,2538,715,1872,0,0,0,0,0,0
$GC,12427,0.57,244.0,640.9,13.4,883,12432,0.12,2.15,0.00,0.000,6,0.164,0.034,2506,2115,1872,0,0,0,0,0,0
$GC,12750,0.57,244.0,601.1,12.5,899,12754,0.00,2.22,0.00,0.000,4,0.000,0.045,2506,3541,1872,0,0,0,0,0,0
$GC,12814,0.57,244.0,592.6,13.6,902,12818,0.00,2.17,0.00,0.000,6,0.000,0.030,2514,2111,1871,0,0,0,0,0,0
$GC,13141,0.58,247.4,552.5,11.7,918,13150,0.00,2.17,4.32,0.607,4,0.000,0.040,2525,704,1860,0,0,0,0,0,0
$GC,13173,0.59,256.7,548.6,11.4,919,13188,0.00,2.20,9.15,0.716,6,0.000,0.034,2525,2135,1821,0,0,0,0,0,0
$GC,13518,0.62,283.7,510.1,10.8,936,13545,0.00,2.22,21.77,0.754,4,0.000,0.044,2525,3539,1711,0,0,0,0,0,0
$GC,13595,0.62,283.7,500.4,12.5,939,13602,0.00,2.15,0.00,0.000,6,0.000,0.028,2535,2134,1710,0,0,0,0,0,0
$GC,13921,0.62,283.7,461.7,12.0,970,13925,0.00,2.17,0.00,0.000,4,0.000,0.038,2546,711,1710,0,0,0,0,0,0
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$STATE,17696,end climb,SURFACE_DEPTH_REACHED
$STATE,17696,begin surface coast
$FINISH,0.7,1.020761
$STATE,17714,end surface coast,CONTROL_FINISHED_OK
$STATE,17714,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.95
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,58.693
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1007.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323524
$DATA_FILE_SIZE,83518,1454
$CAP_FILE_SIZE,196421,0
$CFSIZE,260165632,213385216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260811,153807,2054.450,11955.345,23,1.6,23,-2.4