version: 66.09
glider: 181
mission: 6
dive: 167
start: 7 12 111 3 24 14
data:
$ID,181
$MISSION,6
$DIVE,167
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40729.324
$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,42
$R_STBD_OVSHOOT,35
$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
$GPS1,120711,031736,1920.849,12017.152,25,1.0,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.8
$GPS2,120711,032349,1920.984,12017.236,9,1.0,14,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1913.347,12025.323
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,2836
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,96,0.00,0.00,-77.68,0.000,2,0.000,0.000,187,2620,2612,0,0,0,0,0,0
$GC,99,-0.52,-219.0,3.9,-4.4,11,138,8.00,1.85,-21.00,0.000,4,0.233,0.060,2131,3780,3766,0,0,0,0,0,0
$GC,172,-0.52,-219.0,39.1,-58.2,22,180,0.00,1.83,0.00,0.000,6,0.000,0.024,2130,2568,3767,0,0,0,0,0,0
$GC,306,-0.52,-219.0,94.5,-25.0,47,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2564,3768,0,0,0,0,0,0
$GC,438,-0.52,-219.0,128.1,-26.9,72,446,0.00,1.90,0.00,0.000,4,0.000,0.041,2121,3774,3769,0,0,0,0,0,0
$GC,496,-0.52,-219.0,140.1,-16.0,82,504,0.00,1.70,0.00,0.000,6,0.000,0.024,2121,2619,3770,0,0,0,0,0,0
$GC,631,-0.52,-219.0,168.5,-22.2,107,640,0.00,1.83,0.00,0.000,4,0.000,0.042,2112,3780,3770,0,0,0,0,0,0
$GC,653,-0.52,-219.0,173.8,-22.3,110,662,0.10,1.65,0.00,0.000,6,0.142,0.024,2144,2680,3772,0,0,0,0,0,0
$GC,789,-0.52,-219.0,195.6,-13.9,135,797,0.00,2.17,0.00,0.000,4,0.000,0.028,2144,1219,3771,0,0,0,0,0,0
$GC,821,-0.52,-219.0,200.5,-14.7,140,829,0.00,2.25,0.00,0.000,6,0.000,0.035,2138,2674,3771,0,0,0,0,0,0
$GC,1148,-0.52,-219.0,250.4,-15.0,171,1151,0.00,1.70,0.00,0.000,4,0.000,0.044,2138,3786,3771,0,0,0,0,0,0
$GC,1172,-0.52,-219.0,253.9,-14.0,173,1176,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2639,3771,0,0,0,0,0,0
$GC,1503,-0.52,-219.0,300.2,-15.3,204,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2636,3770,0,0,0,0,0,0
$GC,1825,-0.52,-219.0,348.3,-14.4,234,1829,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1200,3766,0,0,0,0,0,0
$GC,1842,-0.52,-219.0,350.9,-13.7,235,1846,0.00,2.25,0.00,0.000,6,0.000,0.036,2138,2679,3766,0,0,0,0,0,0
$GC,2168,-0.52,-219.0,393.8,-13.7,265,2172,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1212,3763,0,0,0,0,0,0
$GC,2208,-0.52,-219.0,398.9,-12.8,268,2212,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2662,3763,0,0,0,0,0,0
$GC,2533,-0.52,-219.0,440.6,-13.0,298,2537,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1206,3759,0,0,0,0,0,0
$GC,2584,-0.52,-219.0,446.4,-11.2,302,2588,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2652,3760,0,0,0,0,0,0
$GC,2914,-0.52,-219.0,485.8,-12.6,333,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2652,3755,0,0,0,0,0,0
$GC,3238,-0.52,-219.0,524.3,-11.7,354,3242,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1202,3752,0,0,0,0,0,0
$GC,3270,-0.52,-219.0,528.5,-11.8,355,3277,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2639,3752,0,0,0,0,0,0
$GC,3587,-0.52,-219.0,564.3,-12.0,371,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2639,3749,0,0,0,0,0,0
$GC,3897,-0.52,-219.0,596.5,-9.5,386,3901,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1214,3746,0,0,0,0,0,0
$GC,3930,-0.52,-219.0,599.6,-8.9,387,3936,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2634,3746,0,0,0,0,0,0
$GC,4246,-0.52,-219.0,626.7,-8.9,403,4250,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1202,3744,0,0,0,0,0,0
$GC,4279,-0.52,-219.0,629.8,-8.9,404,4283,0.00,2.17,0.00,0.000,6,0.000,0.040,2136,2620,3744,0,0,0,0,0,0
$GC,4595,-0.52,-219.0,660.7,-10.7,419,4599,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3776,3741,0,0,0,0,0,0
$GC,4628,-0.52,-219.0,664.3,-10.7,420,4632,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2633,3740,0,0,0,0,0,0
$GC,4950,-0.52,-219.0,699.1,-11.3,436,4954,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1197,3737,0,0,0,0,0,0
$GC,5005,-0.52,-219.0,704.9,-9.7,438,5012,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2621,3738,0,0,0,0,0,0
$GC,5322,-0.52,-219.0,736.9,-10.2,454,5326,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3779,3736,0,0,0,0,0,0
$GC,5346,-0.52,-219.0,739.2,-10.2,455,5350,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2604,3735,0,0,0,0,0,0
$GC,5679,-0.52,-219.0,767.8,-8.8,471,5683,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1202,3733,0,0,0,0,0,0
$GC,5742,-0.52,-219.0,772.9,-8.0,474,5746,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2602,3733,0,0,0,0,0,0
$GC,6069,-0.52,-219.0,801.3,-9.1,490,6073,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3784,3731,0,0,0,0,0,0
$GC,6093,-0.52,-219.0,803.5,-9.5,491,6097,0.00,1.80,0.00,0.000,6,0.000,0.029,2139,2604,3731,0,0,0,0,0,0
$GC,6426,-0.52,-219.0,837.0,-10.3,507,6430,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1200,3729,0,0,0,0,0,0
$GC,6489,-0.52,-219.0,842.9,-9.1,510,6493,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2596,3729,0,0,0,0,0,0
$GC,6816,-0.52,-219.0,871.8,-8.4,526,6820,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3780,3728,0,0,0,0,0,0
$GC,6855,-0.52,-219.0,875.0,-7.8,527,6862,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2566,3727,0,0,0,0,0,0
$GC,7172,-0.52,-219.0,897.5,-6.9,543,7176,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1202,3726,0,0,0,0,0,0
$GC,7218,-0.52,-219.0,900.7,-6.7,545,7222,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2583,3726,0,0,0,0,0,0
$GC,7546,-0.52,-219.0,922.6,-6.8,561,7550,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3781,3724,0,0,0,0,0,0
$GC,7580,-0.52,-219.0,924.9,-6.8,562,7583,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2576,3724,0,0,0,0,0,0
$GC,7901,-0.52,-219.0,949.1,-8.0,578,7905,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1203,3723,0,0,0,0,0,0
$GC,7929,-0.52,-219.0,951.7,-8.1,579,7933,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2596,3722,0,0,0,0,0,0
$GC,8257,-0.52,-219.0,977.5,-8.6,595,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2596,3721,0,0,0,0,0,0
$STATE,8398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8398,begin apogee
$GC,8405,-0.13,0.0,990.1,8.6,602,8577,0.40,0.00,167.43,1.101,4,0.109,0.000,2275,2115,2871,0,0,0,0,0,0
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8578,begin climb
$GC,8580,0.52,219.0,1000.7,0.0,610,8766,0.57,2.25,177.50,1.073,4,0.050,0.039,2500,745,1978,0,0,0,0,0,0
$GC,8870,0.52,219.0,978.3,13.3,624,8874,0.00,2.25,0.00,0.000,6,0.000,0.035,2499,2132,1978,0,0,0,0,0,0
$GC,9197,0.52,219.0,931.0,14.7,640,9201,0.00,2.22,0.00,0.000,4,0.000,0.045,2495,3543,1978,0,0,0,0,0,0
$GC,9269,0.52,219.0,918.7,16.1,643,9273,0.00,2.15,0.00,0.000,6,0.000,0.029,2509,2143,1977,0,0,0,0,0,0
$GC,9591,0.52,219.0,866.0,16.4,659,9595,0.00,2.17,0.00,0.000,4,0.000,0.038,2520,716,1977,0,0,0,0,0,0
$GC,9617,0.52,219.0,861.3,16.0,660,9622,0.12,2.20,0.00,0.000,6,0.172,0.034,2489,2143,1977,0,0,0,0,0,0
$GC,9939,0.52,219.0,817.6,13.6,676,9943,0.00,2.17,0.00,0.000,4,0.000,0.045,2489,3538,1977,0,0,0,0,0,0
$GC,9994,0.52,219.0,808.9,15.6,678,9998,0.00,2.12,0.00,0.000,6,0.000,0.029,2497,2140,1977,0,0,0,0,0,0
$GC,10315,0.52,219.0,761.7,14.5,694,10319,0.00,2.15,0.00,0.000,4,0.000,0.039,2508,717,1976,0,0,0,0,0,0
$GC,10387,0.52,219.0,751.3,13.6,697,10392,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2158,1976,0,0,0,0,0,0
$GC,10710,0.52,219.0,704.5,14.5,713,10714,0.00,2.20,0.00,0.000,4,0.000,0.037,2518,718,1976,0,0,0,0,0,0
$GC,10750,0.52,219.0,698.8,14.6,715,10754,0.00,2.17,0.00,0.000,6,0.000,0.035,2518,2141,1978,0,0,0,0,0,0
$GC,11077,0.52,219.0,651.9,14.0,731,11081,0.00,2.15,0.00,0.000,4,0.000,0.045,2518,3539,1976,0,0,0,0,0,0
$GC,11127,0.52,219.0,643.8,15.6,733,11132,0.15,2.15,0.00,0.000,6,0.181,0.028,2490,2143,1975,0,0,0,0,0,0
$GC,11449,0.52,219.0,604.5,12.0,749,11453,0.00,2.15,0.00,0.000,4,0.000,0.040,2499,723,1979,0,0,0,0,0,0
$GC,11532,0.52,219.0,594.4,12.0,752,11539,0.00,2.15,0.00,0.000,6,0.000,0.034,2499,2124,1974,0,0,0,0,0,0
$GC,11848,0.52,219.0,555.7,12.0,768,11852,0.00,2.17,0.00,0.000,4,0.000,0.046,2499,3536,1975,0,0,0,0,0,0
$GC,11871,0.52,219.0,552.7,12.4,769,11875,0.00,2.12,0.00,0.000,6,0.000,0.030,2509,2121,1975,0,0,0,0,0,0
$GC,12198,0.52,219.0,508.9,13.7,785,12202,0.00,2.15,0.00,0.000,4,0.000,0.041,2520,715,1975,0,0,0,0,0,0
$GC,12294,0.52,219.0,496.2,13.9,790,12298,0.12,2.12,0.00,0.000,6,0.165,0.034,2488,2116,1976,0,0,0,0,0,0
$GC,12619,0.52,219.0,456.8,12.0,820,12623,0.00,2.20,0.00,0.000,4,0.000,0.045,2487,3544,1975,0,0,0,0,0,0
$GC,12724,0.52,219.0,442.9,12.8,829,12731,0.00,2.12,0.00,0.000,6,0.000,0.029,2495,2129,1975,0,0,0,0,0,0
$GC,13050,0.52,219.0,402.2,12.5,860,13054,0.00,2.12,0.00,0.000,4,0.000,0.040,2506,717,1976,0,0,0,0,0,0
$GC,13139,0.52,219.0,391.7,11.6,867,13146,0.00,2.12,0.00,0.000,6,0.000,0.034,2506,2120,1976,0,0,0,0,0,0
$GC,13464,0.53,221.7,354.8,10.9,898,13477,0.00,2.22,4.05,0.535,4,0.000,0.044,2506,3531,1964,0,0,0,0,0,0
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$STATE,16497,end climb,SURFACE_DEPTH_REACHED
$STATE,16497,begin surface coast
$FINISH,0.1,1.009199
$STATE,16519,end surface coast,CONTROL_FINISHED_OK
$STATE,16519,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,42.43
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.80
$XPDR_PINGS,3
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$10V_AH,10.1,26.424
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.375,180.975,632.150,0.000,0.000,27.836,16.682,181.731,0.750,0.000,17.250,3182.995,9416.545,686.205,3314.062,355.702,0.000,2107.583,0.000,2316.992,0.000,0.540,0.000
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$SENSOR_SECS,922.765,1338.973,1430.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,90389,1321
$CAP_FILE_SIZE,182305,0
$CFSIZE,260165632,235507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,080206,1921.124,12020.781,37,1.0,37,-2.1