version: 66.09
glider: 181
mission: 6
dive: 775
start: 11 6 111 19 27 21
data:
$ID,181
$MISSION,6
$DIVE,775
$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,320
$T_MISSION,350
$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,0
$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,1
$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,-41826.684
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,55
$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
$GPS1,061111,192001,2130.335,12030.261,43,1.5,43,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.6
$GPS2,061111,192656,2130.282,12030.180,14,1.5,14,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,300.3,58635,-14.3,-10.312
$D_GRID,1427
$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,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-73.20,0.000,2,0.000,0.000,130,2519,2496,0,0,0,0,0,0
$GC,95,-0.61,-219.0,3.4,-3.2,13,138,8.50,0.82,-28.05,0.000,4,0.223,0.074,2172,3026,3765,0,0,0,0,0,0
$GC,377,-0.46,-219.0,64.5,-22.2,62,384,0.15,0.77,0.00,0.000,6,0.142,0.024,2217,2473,3764,0,0,0,0,0,0
$GC,725,-0.53,-219.0,115.4,-9.2,123,732,0.00,0.82,0.00,0.000,4,0.000,0.037,2217,3016,3764,0,0,0,0,0,0
$GC,819,-0.55,-219.0,123.7,-8.8,139,826,0.00,0.73,0.00,0.000,6,0.000,0.024,2217,2490,3763,0,0,0,0,0,0
$GC,1167,-0.63,-219.0,157.2,-8.3,200,1174,0.15,0.68,0.00,0.000,4,0.067,0.027,2125,1979,3763,0,0,0,0,0,0
$GC,1334,-0.52,-219.0,179.0,-14.6,229,1341,0.25,0.75,0.00,0.000,6,0.123,0.034,2201,2486,3763,0,0,0,0,0,0
$GC,1679,-0.59,-219.0,215.5,-10.3,277,1682,0.00,0.80,0.00,0.000,4,0.000,0.035,2199,3028,3764,0,0,0,0,0,0
$GC,1731,-0.65,-219.0,220.5,-9.4,281,1738,0.08,0.73,0.00,0.000,6,0.047,0.024,2136,2500,3764,0,0,0,0,0,0
$GC,2057,-0.67,-219.0,252.3,-9.8,312,2060,0.00,0.70,0.00,0.000,4,0.000,0.027,2136,1973,3764,0,0,0,0,0,0
$GC,2172,-0.67,-219.0,264.5,-10.7,322,2176,0.00,0.77,0.00,0.000,6,0.000,0.032,2132,2498,3764,0,0,0,0,0,0
$GC,2503,-0.67,-219.0,300.9,-11.3,353,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2498,3763,0,0,0,0,0,0
$GC,2825,-0.69,-219.0,335.5,-9.7,383,2829,0.00,0.70,0.00,0.000,4,0.000,0.025,2132,1976,3760,0,0,0,0,0,0
$GC,2850,-0.70,-219.0,338.1,-9.5,385,2854,0.00,0.77,0.00,0.000,6,0.000,0.033,2129,2495,3760,0,0,0,0,0,0
$GC,3182,-0.71,-219.0,366.5,-8.6,416,3185,0.00,0.70,0.00,0.000,4,0.000,0.026,2128,1976,3758,0,0,0,0,0,0
$GC,3273,-0.68,-219.0,375.8,-10.3,424,3277,0.00,0.77,0.00,0.000,6,0.000,0.035,2125,2490,3757,0,0,0,0,0,0
$GC,3605,-0.70,-219.0,409.0,-10.1,455,3609,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,1975,3755,0,0,0,0,0,0
$GC,3719,-0.70,-219.0,420.5,-10.2,465,3723,0.00,0.80,0.00,0.000,6,0.000,0.036,2125,2499,3754,0,0,0,0,0,0
$GC,4051,-0.72,-219.0,453.7,-9.4,496,4055,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,1984,3751,0,0,0,0,0,0
$GC,4121,-0.71,-219.0,460.1,-8.9,502,4124,0.00,0.77,0.00,0.000,6,0.000,0.036,2125,2496,3750,0,0,0,0,0,0
$GC,4453,-0.72,-219.0,490.4,-9.3,533,4456,0.00,0.80,0.00,0.000,4,0.000,0.041,2125,3027,3748,0,0,0,0,0,0
$GC,4481,-0.72,-219.0,493.2,-9.4,535,4488,0.00,0.73,0.00,0.000,6,0.000,0.027,2125,2516,3748,0,0,0,0,0,0
$GC,4813,-0.73,-219.0,525.4,-10.2,555,4817,0.00,0.80,0.00,0.000,4,0.000,0.040,2124,3036,3746,0,0,0,0,0,0
$GC,4897,-0.68,-219.0,535.4,-11.7,558,4905,0.08,0.77,0.00,0.000,6,0.134,0.026,2150,2493,3744,0,0,0,0,0,0
$GC,5218,-0.74,-219.0,567.5,-9.9,574,5221,0.00,0.70,0.00,0.000,4,0.000,0.028,2150,1973,3742,0,0,0,0,0,0
$GC,5296,-0.78,-219.0,575.9,-9.7,577,5301,0.00,0.80,0.00,0.000,6,0.000,0.035,2150,2499,3741,0,0,0,0,0,0
$GC,5620,-0.85,-219.0,605.8,-9.4,593,5625,0.15,0.82,0.00,0.000,4,0.072,0.041,2071,3028,3739,0,0,0,0,0,0
$GC,5751,-0.73,-219.0,625.0,-16.7,598,5758,0.20,0.75,0.00,0.000,6,0.145,0.026,2132,2504,3737,0,0,0,0,0,0
$GC,6069,-0.75,-219.0,661.5,-10.8,614,6072,0.00,0.73,0.00,0.000,4,0.000,0.028,2132,1972,3735,0,0,0,0,0,0
$GC,6161,-0.76,-219.0,671.2,-10.2,618,6164,0.00,0.80,0.00,0.000,6,0.000,0.037,2129,2495,3735,0,0,0,0,0,0
$GC,6496,-0.80,-219.0,702.8,-9.1,634,6499,0.00,0.73,0.00,0.000,4,0.000,0.028,2129,1975,3733,0,0,0,0,0,0
$GC,6574,-0.80,-219.0,710.4,-9.2,637,6578,0.00,0.80,0.00,0.000,6,0.000,0.037,2127,2492,3732,0,0,0,0,0,0
$GC,6897,-0.83,-219.0,741.2,-9.8,653,6901,0.00,0.80,0.00,0.000,4,0.000,0.041,2125,3019,3730,0,0,0,0,0,0
$GC,6959,-0.83,-219.0,748.0,-10.5,655,6965,0.00,0.75,0.00,0.000,6,0.000,0.027,2125,2503,3729,0,0,0,0,0,0
$GC,7276,-0.85,-219.0,778.2,-9.7,671,7279,0.00,0.82,0.00,0.000,4,0.000,0.042,2124,3026,3728,0,0,0,0,0,0
$GC,7324,-0.85,-219.0,782.7,-10.0,673,7327,0.00,0.75,0.00,0.000,6,0.000,0.028,2125,2505,3727,0,0,0,0,0,0
$GC,7657,-0.88,-219.0,813.2,-8.8,689,7661,0.00,0.82,0.00,0.000,4,0.000,0.041,2125,3025,3726,0,0,0,0,0,0
$GC,7765,-0.88,-219.0,823.2,-9.6,693,7772,0.00,0.77,0.00,0.000,6,0.000,0.026,2124,2491,3725,0,0,0,0,0,0
$GC,8082,-0.91,-219.0,851.9,-9.1,709,8087,0.12,0.88,0.00,0.000,4,0.085,0.041,2059,3032,3723,0,0,0,0,0,0
$GC,8266,-0.79,-219.0,879.5,-15.7,717,8271,0.17,0.77,0.00,0.000,6,0.153,0.027,2112,2499,3722,0,0,0,0,0,0
$GC,8594,-0.73,-219.0,919.2,-12.6,733,8598,0.00,0.82,0.00,0.000,4,0.000,0.042,2109,3022,3721,0,0,0,0,0,0
$GC,8687,-0.67,-219.0,931.4,-13.7,737,8691,0.15,0.75,0.00,0.000,6,0.126,0.026,2158,2500,3720,0,0,0,0,0,0
$GC,9022,-0.75,-219.0,960.7,-8.3,753,9025,0.00,0.85,0.00,0.000,4,0.000,0.043,2156,3024,3719,0,0,0,0,0,0
$GC,9078,-0.81,-219.0,966.2,-9.3,755,9083,0.08,0.75,0.00,0.000,6,0.059,0.026,2105,2500,3719,0,0,0,0,0,0
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9300,-0.19,0.0,992.6,12.7,766,9473,0.65,0.00,167.88,1.064,6,0.125,0.000,2305,2089,2869,0,0,0,0,0,0
$STATE,9474,end apogee,CONTROL_FINISHED_OK
$STATE,9474,begin climb
$GC,9477,0.61,219.0,1004.9,0.0,774,9668,0.75,0.85,184.00,1.045,4,0.047,0.029,2594,1590,1976,0,0,0,0,0,0
$GC,9765,0.49,219.0,988.7,11.2,788,9770,0.20,0.82,0.00,0.000,6,0.150,0.029,2540,2118,1974,0,0,0,0,0,0
$GC,10101,0.53,301.2,962.2,7.7,804,10173,0.00,0.80,65.28,1.021,4,0.000,0.035,2540,2618,1639,0,0,0,0,0,0
$GC,10310,0.54,343.9,943.4,9.0,813,10350,0.00,0.75,34.85,0.987,6,0.000,0.027,2542,2110,1467,0,0,0,0,0,0
$GC,10673,0.60,391.2,912.5,8.8,831,10717,0.00,0.85,38.60,0.981,4,0.000,0.034,2545,1566,1274,0,0,0,0,0,0
$GC,10748,0.65,418.2,905.5,9.5,834,10776,0.08,0.80,23.08,0.937,6,0.062,0.028,2590,2097,1164,0,0,0,0,0,0
$GC,11093,0.60,418.2,863.7,12.2,851,11096,0.00,0.77,0.00,0.000,4,0.000,0.031,2593,1572,1167,0,0,0,0,0,0
$GC,11167,0.57,418.2,854.1,12.9,854,11171,0.10,0.80,0.00,0.000,6,0.131,0.030,2562,2106,1168,0,0,0,0,0,0
$GC,11495,0.61,418.2,817.1,11.0,870,11498,0.00,0.75,0.00,0.000,4,0.000,0.037,2561,2615,1167,0,0,0,0,0,0
$GC,11565,0.63,418.2,809.3,11.7,873,11569,0.00,0.77,0.00,0.000,6,0.000,0.029,2563,2091,1166,0,0,0,0,0,0
$GC,11899,0.68,427.5,774.3,10.0,889,11913,0.00,0.77,9.45,0.812,4,0.000,0.034,2566,1574,1126,0,0,0,0,0,0
$GC,11971,0.70,427.5,766.7,10.5,892,11975,0.08,0.80,0.00,0.000,6,0.060,0.029,2617,2107,1125,0,0,0,0,0,0
$GC,12301,0.65,427.5,722.8,13.6,908,12305,0.12,0.80,0.00,0.000,4,0.164,0.032,2585,1575,1125,0,0,0,0,0,0
$GC,12427,0.63,427.5,707.2,12.4,913,12431,0.00,0.80,0.00,0.000,6,0.000,0.029,2585,2108,1124,0,0,0,0,0,0
$GC,12748,0.63,427.5,667.4,12.1,929,12752,0.00,0.77,0.00,0.000,4,0.000,0.033,2588,1585,1124,0,0,0,0,0,0
$GC,12856,0.60,427.5,654.2,12.0,933,12863,0.00,0.77,0.00,0.000,6,0.000,0.030,2588,2101,1124,0,0,0,0,0,0
$GC,13173,0.61,427.5,618.9,10.4,949,13176,0.00,0.77,0.00,0.000,4,0.000,0.033,2591,1577,1124,0,0,0,0,0,0
$GC,13189,0.61,428.6,617.1,10.3,949,13196,0.00,0.77,0.00,0.000,6,0.000,0.029,2591,2097,1124,0,0,0,0,0,0
$GC,13507,0.62,433.6,585.0,10.2,965,13516,0.00,0.75,6.18,0.652,4,0.000,0.032,2591,2619,1101,0,0,0,0,0,0
$GC,13579,0.60,433.6,576.9,11.1,968,13583,0.00,0.77,0.00,0.000,6,0.000,0.031,2594,2107,1101,0,0,0,0,0,0
$GC,13908,0.63,433.6,541.6,10.8,984,13911,0.00,0.77,0.00,0.000,4,0.000,0.033,2594,2628,1101,0,0,0,0,0,0
$GC,13924,0.65,433.6,539.6,10.7,984,13931,0.00,0.80,0.00,0.000,6,0.000,0.030,2596,2092,1101,0,0,0,0,0,0
$GC,14241,0.67,433.6,506.0,10.5,1000,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2092,1101,0,0,0,0,0,0
$GC,14561,0.68,433.6,471.9,10.9,1027,14565,0.00,0.80,0.00,0.000,4,0.000,0.033,2596,2622,1101,0,0,0,0,0,0
$GC,14585,0.68,433.6,468.7,11.2,1029,14588,0.00,0.77,0.00,0.000,6,0.000,0.031,2599,2101,1101,0,0,0,0,0,0
$GC,14916,0.71,433.6,432.2,10.6,1060,14920,0.00,0.75,0.00,0.000,4,0.000,0.034,2603,1585,1101,0,0,0,0,0,0
$GC,14963,0.73,433.6,427.3,10.9,1064,14967,0.00,0.77,0.00,0.000,6,0.000,0.029,2603,2105,1101,0,0,0,0,0,0
$GC,15295,0.78,433.6,390.0,10.7,1095,15298,0.00,0.77,0.00,0.000,4,0.000,0.032,2606,1579,1102,0,0,0,0,0,0
$GC,15341,0.82,433.6,385.1,10.4,1099,15345,0.00,0.77,0.00,0.000,6,0.000,0.029,2606,2098,1102,0,0,0,0,0,0
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$STATE,18987,end climb,SURFACE_DEPTH_REACHED
$STATE,18987,begin surface coast
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$STATE,19017,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,48.66
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.5,91.781
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.775,67.725,658.450,0.000,0.000,27.287,38.900,173.673,0.000,0.000,17.371,3861.895,11244.679,704.305,3171.962,505.939,0.000,2296.958,0.000,2900.257,0.000,0.541,0.000
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$SENSOR_SECS,1102.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,322792
$DATA_FILE_SIZE,93563,1597
$CAP_FILE_SIZE,210991,0
$CFSIZE,260165632,181645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071111,004700,2130.726,12030.678,40,1.5,45,-2.6