version: 66.09
glider: 181
mission: 6
dive: 72
start: 6 23 111 18 20 53
data:
$ID,181
$MISSION,6
$DIVE,72
$N_DIVES,75
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,350
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-39607.984
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,42
$R_STBD_OVSHOOT,33
$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,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
$GPS1,230611,181337,2023.724,11956.453,36,0.9,36,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-63.1
$GPS2,230611,182026,2023.684,11956.444,13,1.2,13,-2.3
$SPEED_LIMITS,0.191,0.305
$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,177.5,155108,-16.3,-11.000
$D_GRID,3280
$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,-0.57,-194.6,0.0,0.0,0,100,0.00,0.00,-81.35,0.000,2,0.000,0.000,143,2611,2637,0,0,0,0,0,0
$GC,103,-0.57,-194.6,3.7,-5.1,11,136,8.07,2.20,-18.75,0.000,4,0.239,0.042,2108,1182,3667,0,0,0,0,0,0
$GC,229,-0.57,-194.6,49.8,-31.6,32,238,0.00,2.28,0.00,0.000,6,0.000,0.045,2099,2597,3668,0,0,0,0,0,0
$GC,367,-0.57,-194.6,100.5,-32.4,57,376,0.00,1.88,0.00,0.000,4,0.000,0.045,2089,3789,3669,0,0,0,0,0,0
$GC,470,-0.57,-194.6,129.1,-26.2,75,478,0.00,1.83,0.00,0.000,6,0.000,0.025,2089,2578,3670,0,0,0,0,0,0
$GC,608,-0.57,-194.6,169.0,-26.8,100,616,0.00,2.08,0.00,0.000,4,0.000,0.029,2089,1189,3671,0,0,0,0,0,0
$GC,661,-0.57,-194.6,181.8,-22.7,109,671,0.10,2.22,0.00,0.000,6,0.152,0.042,2110,2603,3671,0,0,0,0,0,0
$GC,801,-0.57,-194.6,216.7,-22.1,134,810,0.00,1.85,0.00,0.000,4,0.000,0.046,2110,3786,3672,0,0,0,0,0,0
$GC,839,-0.57,-194.6,224.8,-20.4,140,848,0.00,1.77,0.00,0.000,6,0.000,0.026,2110,2596,3672,0,0,0,0,0,0
$GC,982,-0.57,-194.6,254.3,-19.8,164,986,0.00,2.03,0.00,0.000,4,0.000,0.029,2110,1212,3672,0,0,0,0,0,0
$GC,1027,-0.57,-194.6,262.3,-16.6,168,1031,0.00,2.15,0.00,0.000,6,0.000,0.039,2110,2609,3672,0,0,0,0,0,0
$GC,1225,-0.57,-194.6,293.7,-14.8,186,1229,0.00,2.08,0.00,0.000,4,0.000,0.030,2110,1203,3672,0,0,0,0,0,0
$GC,1288,-0.57,-194.6,302.0,-11.9,191,1292,0.00,2.15,0.00,0.000,6,0.000,0.039,2110,2612,3672,0,0,0,0,0,0
$GC,1486,-0.57,-194.6,334.2,-17.8,209,1490,0.00,1.83,0.00,0.000,4,0.000,0.047,2109,3782,3670,0,0,0,0,0,0
$GC,1554,-0.57,-194.6,345.6,-15.8,215,1558,0.00,1.73,0.00,0.000,6,0.000,0.026,2110,2589,3670,0,0,0,0,0,0
$GC,1758,-0.57,-194.6,382.6,-19.4,234,1762,0.00,2.00,0.00,0.000,4,0.000,0.031,2110,1210,3668,0,0,0,0,0,0
$GC,1785,-0.57,-194.6,388.3,-19.3,236,1792,0.00,2.17,0.00,0.000,6,0.000,0.041,2110,2597,3668,0,0,0,0,0,0
$GC,1984,-0.57,-194.6,423.5,-17.7,255,1987,0.00,1.83,0.00,0.000,4,0.000,0.049,2110,3790,3665,0,0,0,0,0,0
$GC,2064,-0.57,-194.6,437.1,-15.1,262,2068,0.00,1.73,0.00,0.000,6,0.000,0.028,2110,2603,3665,0,0,0,0,0,0
$GC,2267,-0.57,-194.6,474.9,-18.4,281,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2599,3664,0,0,0,0,0,0
$GC,2458,-0.57,-194.6,508.1,-16.7,299,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2599,3661,0,0,0,0,0,0
$GC,2649,-0.57,-194.6,537.7,-15.3,317,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2599,3659,0,0,0,0,0,0
$GC,2841,-0.57,-194.6,566.4,-14.5,335,2845,0.00,1.88,0.00,0.000,4,0.000,0.049,2103,3786,3656,0,0,0,0,0,0
$GC,2867,-0.57,-194.6,570.4,-13.6,337,2876,0.00,1.77,0.00,0.000,6,0.000,0.029,2103,2610,3656,0,0,0,0,0,0
$GC,3066,-0.57,-194.6,597.7,-14.0,356,3070,0.00,2.08,0.00,0.000,4,0.000,0.034,2103,1201,3654,0,0,0,0,0,0
$GC,3087,-0.57,-194.6,601.0,-13.9,357,3091,0.00,2.17,0.00,0.000,6,0.000,0.042,2095,2618,3652,0,0,0,0,0,0
$GC,3414,-0.57,-194.6,646.2,-13.7,373,3418,0.00,2.12,0.00,0.000,4,0.000,0.034,2095,1199,3650,0,0,0,0,0,0
$GC,3464,-0.57,-194.6,653.1,-12.8,375,3469,0.12,2.15,0.00,0.000,6,0.164,0.042,2119,2599,3651,0,0,0,0,0,0
$GC,3781,-0.57,-194.6,688.9,-11.6,390,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2599,3648,0,0,0,0,0,0
$GC,4090,-0.57,-194.6,723.3,-10.8,405,4093,0.00,1.83,0.00,0.000,4,0.000,0.051,2112,3789,3644,0,0,0,0,0,0
$GC,4117,-0.57,-194.6,726.7,-10.6,406,4121,0.00,1.77,0.00,0.000,6,0.000,0.029,2112,2583,3645,0,0,0,0,0,0
$GC,4445,-0.57,-194.6,768.8,-13.9,422,4449,0.00,2.05,0.00,0.000,4,0.000,0.034,2112,1200,3642,0,0,0,0,0,0
$GC,4472,-0.57,-194.6,772.8,-13.5,423,4476,0.00,2.17,0.00,0.000,6,0.000,0.043,2112,2607,3641,0,0,0,0,0,0
$GC,4800,-0.57,-194.6,817.4,-13.8,439,4804,0.00,1.85,0.00,0.000,4,0.000,0.053,2112,3777,3639,0,0,0,0,0,0
$GC,4854,-0.57,-194.6,824.8,-12.2,441,4859,0.00,1.77,0.00,0.000,6,0.000,0.030,2111,2605,3638,0,0,0,0,0,0
$GC,5177,-0.57,-194.6,865.3,-12.6,457,5181,0.00,2.10,0.00,0.000,4,0.000,0.036,2112,1194,3634,0,0,0,0,0,0
$GC,5215,-0.57,-194.6,870.3,-12.3,458,5222,0.00,2.22,0.00,0.000,6,0.000,0.043,2111,2605,3636,0,0,0,0,0,0
$GC,5532,-0.57,-194.6,907.6,-12.0,474,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2606,3632,0,0,0,0,0,0
$GC,5841,-0.57,-194.6,943.9,-11.7,489,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3632,0,0,0,0,0,0
$GC,6150,-0.57,-194.6,981.2,-12.3,504,6154,0.00,2.12,0.00,0.000,4,0.000,0.037,2111,1197,3630,0,0,0,0,0,0
$GC,6171,-0.57,-194.6,984.0,-12.4,505,6175,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2601,3630,0,0,0,0,0,0
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6235,-0.16,0.0,990.9,12.1,508,6389,0.40,0.00,149.43,1.109,6,0.130,0.000,2243,2113,2870,0,0,0,0,0,0
$STATE,6390,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6392,0.57,194.6,999.4,0.0,515,6560,0.68,2.33,159.27,1.076,4,0.076,0.040,2488,732,2076,0,0,0,0,0,0
$GC,6588,0.57,194.6,987.2,11.4,524,6592,0.00,2.25,0.00,0.000,6,0.000,0.035,2489,2125,2073,0,0,0,0,0,0
$GC,6910,0.57,194.6,946.8,12.7,540,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2126,2067,0,0,0,0,0,0
$GC,7219,0.57,194.6,908.5,12.8,555,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2125,2065,0,0,0,0,0,0
$GC,7529,0.57,194.6,865.7,14.3,570,7533,0.00,2.20,0.00,0.000,4,0.000,0.047,2489,3542,2063,0,0,0,0,0,0
$GC,7562,0.57,194.6,860.5,15.9,571,7569,0.00,2.15,0.00,0.000,6,0.000,0.031,2498,2137,2061,0,0,0,0,0,0
$GC,7877,0.57,194.6,814.7,14.3,587,7881,0.00,2.17,0.00,0.000,4,0.000,0.041,2509,718,2061,0,0,0,0,0,0
$GC,7991,0.57,194.6,799.0,13.8,592,7995,0.00,2.17,0.00,0.000,6,0.000,0.037,2509,2139,2061,0,0,0,0,0,0
$GC,8318,0.57,194.6,752.4,14.0,608,8322,0.00,2.15,0.00,0.000,4,0.000,0.047,2509,3535,2060,0,0,0,0,0,0
$GC,8358,0.57,194.6,746.4,15.6,610,8363,0.12,2.15,0.00,0.000,6,0.192,0.032,2489,2116,2060,0,0,0,0,0,0
$GC,8686,0.57,194.6,704.3,13.0,626,8690,0.00,2.12,0.00,0.000,4,0.000,0.041,2499,710,2059,0,0,0,0,0,0
$GC,8808,0.57,194.6,688.1,12.9,631,8815,0.00,2.17,0.00,0.000,6,0.000,0.037,2499,2132,2059,0,0,0,0,0,0
$GC,9125,0.57,194.6,644.6,13.5,647,9129,0.00,2.17,0.00,0.000,4,0.000,0.041,2508,716,2059,0,0,0,0,0,0
$GC,9202,0.57,194.6,634.0,13.0,650,9206,0.00,2.17,0.00,0.000,6,0.000,0.037,2508,2150,2058,0,0,0,0,0,0
$GC,9526,0.57,194.6,590.1,13.2,669,9530,0.00,2.12,0.00,0.000,4,0.000,0.047,2508,3536,2058,0,0,0,0,0,0
$GC,9583,0.57,194.6,582.1,14.2,674,9587,0.00,2.12,0.00,0.000,6,0.000,0.032,2517,2124,2058,0,0,0,0,0,0
$GC,9780,0.57,194.6,555.4,13.6,692,9785,0.12,2.12,0.00,0.000,4,0.183,0.041,2496,709,2060,0,0,0,0,0,0
$GC,9869,0.58,204.9,545.0,10.6,699,9881,0.00,2.15,6.78,0.762,6,0.000,0.037,2496,2125,2033,0,0,0,0,0,0
$GC,10075,0.58,204.9,521.5,11.5,718,10079,0.00,2.20,0.00,0.000,4,0.000,0.045,2495,3542,2032,0,0,0,0,0,0
$GC,10118,0.58,204.9,515.2,13.4,721,10126,0.00,2.17,0.00,0.000,6,0.000,0.031,2505,2131,2033,0,0,0,0,0,0
$GC,10317,0.58,204.9,490.1,12.9,740,10321,0.00,2.12,0.00,0.000,4,0.000,0.041,2516,721,2033,0,0,0,0,0,0
$GC,10354,0.58,204.9,485.1,12.6,743,10361,0.00,2.15,0.00,0.000,6,0.000,0.036,2516,2133,2032,0,0,0,0,0,0
$GC,10553,0.58,204.9,457.9,13.5,762,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2133,2032,0,0,0,0,0,0
$GC,10743,0.58,204.9,431.8,13.8,780,10747,0.00,2.17,0.00,0.000,4,0.000,0.039,2525,712,2030,0,0,0,0,0,0
$GC,10770,0.58,204.9,427.8,13.7,782,10778,0.08,2.20,0.00,0.000,6,0.154,0.036,2491,2129,2033,0,0,0,0,0,0
$GC,10969,0.58,204.9,403.9,11.7,801,10973,0.00,2.15,0.00,0.000,4,0.000,0.046,2491,3537,2032,0,0,0,0,0,0
$GC,11055,0.58,204.9,392.9,13.1,808,11059,0.00,2.12,0.00,0.000,6,0.000,0.031,2499,2124,2032,0,0,0,0,0,0
$GC,11253,0.58,204.9,368.2,12.0,826,11257,0.00,2.12,0.00,0.000,4,0.000,0.042,2510,723,2033,0,0,0,0,0,0
$GC,11321,0.58,204.9,359.6,12.9,832,11325,0.00,2.12,0.00,0.000,6,0.000,0.035,2510,2128,2031,0,0,0,0,0,0
$GC,11519,0.58,204.9,334.1,11.9,850,11523,0.00,2.15,0.00,0.000,4,0.000,0.045,2510,3539,2032,0,0,0,0,0,0
$GC,11573,0.58,204.9,327.5,12.9,854,11577,0.00,2.12,0.00,0.000,6,0.000,0.030,2519,2121,2031,0,0,0,0,0,0
$GC,11771,0.59,210.3,304.8,10.8,872,11781,0.00,0.00,5.72,0.618,6,0.000,0.000,2519,2121,2011,0,0,0,0,0,0
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$STATE,14712,end climb,SURFACE_DEPTH_REACHED
$STATE,14713,begin surface coast
$FINISH,0.2,1.021157
$STATE,14741,end surface coast,CONTROL_FINISHED_OK
$STATE,14741,begin surface
$SM_CCo,14820,0.00,0.000,0,0,435,596.81
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.52
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.1,11.742
$10V_AH,10.2,12.078
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.725,178.425,619.900,0.000,0.000,27.967,44.041,194.172,0.000,0.000,15.723,3374.013,7347.793,685.262,3475.834,333.117,0.000,2091.740,0.000,2261.050,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,52.785,1109.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,929.570,2034.043,1709.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322680
$DATA_FILE_SIZE,90300,1336
$CAP_FILE_SIZE,176873,0
$CFSIZE,260165632,244457472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,308.8,1
$GPS,230611,222906,2022.123,11955.602,35,1.0,36,-2.3