version: 66.09
glider: 181
mission: 6
dive: 179
start: 7 14 111 12 28 34
data:
$ID,181
$MISSION,6
$DIVE,179
$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,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,-40744.512
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,140711,122100,1936.304,12028.210,41,1.2,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.3
$GPS2,140711,122807,1936.339,12028.448,11,1.5,16,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,222.0,114673,-15.3,-11.000
$D_GRID,3158
$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,17,-0.52,-219.0,0.0,0.0,0,98,0.00,0.00,-78.88,0.000,2,0.000,0.000,185,2613,2689,0,0,0,0,0,0
$GC,102,-0.52,-219.0,4.0,-4.3,10,134,8.05,2.22,-19.55,0.000,4,0.233,0.043,2142,1187,3762,0,0,0,0,0,0
$GC,171,-0.52,-219.0,34.5,-45.8,20,179,0.00,2.30,0.00,0.000,6,0.000,0.050,2139,2591,3767,0,0,0,0,0,0
$GC,308,-0.52,-219.0,73.5,-29.3,45,316,0.00,1.90,0.00,0.000,4,0.000,0.047,2131,3791,3767,0,0,0,0,0,0
$GC,394,-0.52,-219.0,92.1,-16.1,60,402,0.00,1.75,0.00,0.000,6,0.000,0.024,2131,2616,3768,0,0,0,0,0,0
$GC,531,-0.52,-219.0,114.8,-16.4,85,539,0.00,1.88,0.00,0.000,4,0.000,0.043,2123,3797,3769,0,0,0,0,0,0
$GC,569,-0.52,-219.0,120.5,-15.2,91,577,0.00,1.65,0.00,0.000,6,0.000,0.024,2123,2697,3769,0,0,0,0,0,0
$GC,707,-0.52,-219.0,141.2,-16.2,116,715,0.00,2.22,0.00,0.000,4,0.000,0.027,2124,1206,3770,0,0,0,0,0,0
$GC,734,-0.52,-219.0,145.8,-16.4,120,743,0.10,2.33,0.00,0.000,6,0.131,0.037,2147,2687,3770,0,0,0,0,0,0
$GC,876,-0.52,-219.0,164.3,-15.7,145,884,0.00,1.70,0.00,0.000,4,0.000,0.043,2141,3786,3770,0,0,0,0,0,0
$GC,926,-0.52,-219.0,172.9,-15.5,153,934,0.00,1.62,0.00,0.000,6,0.000,0.024,2141,2698,3770,0,0,0,0,0,0
$GC,1065,-0.52,-219.0,196.0,-19.6,178,1074,0.00,2.22,0.00,0.000,4,0.000,0.028,2140,1206,3770,0,0,0,0,0,0
$GC,1117,-0.52,-219.0,206.2,-15.0,184,1126,0.00,2.30,0.00,0.000,6,0.000,0.034,2140,2694,3770,0,0,0,0,0,0
$GC,1445,-0.52,-219.0,254.8,-14.4,215,1449,0.00,1.67,0.00,0.000,4,0.000,0.045,2138,3799,3769,0,0,0,0,0,0
$GC,1502,-0.52,-219.0,261.9,-11.2,220,1506,0.00,1.65,0.00,0.000,6,0.000,0.024,2134,2660,3769,0,0,0,0,0,0
$GC,1833,-0.52,-219.0,302.8,-11.9,251,1837,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1206,3767,0,0,0,0,0,0
$GC,1851,-0.52,-219.0,305.1,-12.0,252,1855,0.00,2.28,0.00,0.000,6,0.000,0.037,2138,2693,3767,0,0,0,0,0,0
$GC,2176,-0.52,-219.0,346.6,-13.2,282,2180,0.00,2.22,0.00,0.000,4,0.000,0.028,2139,1201,3764,0,0,0,0,0,0
$GC,2219,-0.52,-219.0,351.8,-11.5,285,2226,0.00,2.25,0.00,0.000,6,0.000,0.036,2138,2673,3763,0,0,0,0,0,0
$GC,2545,-0.52,-219.0,393.1,-13.8,316,2549,0.00,2.20,0.00,0.000,4,0.000,0.028,2138,1206,3761,0,0,0,0,0,0
$GC,2568,-0.52,-219.0,396.3,-13.7,318,2572,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2662,3761,0,0,0,0,0,0
$GC,2893,-0.52,-219.0,440.5,-13.8,348,2897,0.00,1.73,0.00,0.000,4,0.000,0.047,2138,3793,3758,0,0,0,0,0,0
$GC,2949,-0.52,-219.0,447.8,-11.8,353,2953,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2643,3757,0,0,0,0,0,0
$GC,3280,-0.52,-219.0,495.8,-14.8,384,3284,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1196,3755,0,0,0,0,0,0
$GC,3321,-0.52,-219.0,501.1,-13.5,387,3325,0.00,2.22,0.00,0.000,6,0.000,0.036,2134,2656,3755,0,0,0,0,0,0
$GC,3649,-0.52,-219.0,545.3,-13.6,403,3653,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1203,3752,0,0,0,0,0,0
$GC,3675,-0.52,-219.0,549.3,-13.3,404,3679,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2640,3751,0,0,0,0,0,0
$GC,4003,-0.52,-219.0,588.7,-11.5,420,4007,0.00,1.75,0.00,0.000,4,0.000,0.049,2138,3783,3748,0,0,0,0,0,0
$GC,4031,-0.52,-219.0,591.7,-11.0,421,4035,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2617,3751,0,0,0,0,0,0
$GC,4358,-0.52,-219.0,624.9,-10.4,437,4362,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1206,3745,0,0,0,0,0,0
$GC,4420,-0.52,-219.0,630.6,-8.6,440,4424,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2630,3745,0,0,0,0,0,0
$GC,4748,-0.52,-219.0,661.5,-9.7,456,4752,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3776,3743,0,0,0,0,0,0
$GC,4798,-0.52,-219.0,665.8,-8.3,458,4802,0.00,1.73,0.00,0.000,6,0.000,0.027,2137,2629,3742,0,0,0,0,0,0
$GC,5126,-0.52,-219.0,693.9,-8.8,474,5130,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1196,3740,0,0,0,0,0,0
$GC,5187,-0.52,-219.0,699.1,-8.0,476,5194,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2607,3740,0,0,0,0,0,0
$GC,5503,-0.52,-219.0,726.2,-9.1,492,5507,0.00,1.80,0.00,0.000,4,0.000,0.049,2138,3782,3737,0,0,0,0,0,0
$GC,5537,-0.52,-219.0,729.0,-9.1,493,5540,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2604,3737,0,0,0,0,0,0
$GC,5859,-0.52,-219.0,754.3,-8.0,509,5863,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1199,3735,0,0,0,0,0,0
$GC,5892,-0.52,-219.0,757.2,-8.0,510,5896,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2609,3735,0,0,0,0,0,0
$GC,6208,-0.52,-219.0,784.8,-9.4,525,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2609,3733,0,0,0,0,0,0
$GC,6517,-0.52,-219.0,816.4,-10.7,540,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3731,0,0,0,0,0,0
$GC,6828,-0.52,-219.0,852.2,-12.1,555,6832,0.00,1.85,0.00,0.000,4,0.000,0.050,2139,3776,3730,0,0,0,0,0,0
$GC,6855,-0.52,-219.0,855.9,-11.8,556,6859,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2602,3730,0,0,0,0,0,0
$GC,7182,-0.52,-219.0,895.3,-12.1,572,7186,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1205,3729,0,0,0,0,0,0
$GC,7246,-0.52,-219.0,902.8,-11.7,575,7250,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2590,3729,0,0,0,0,0,0
$GC,7574,-0.52,-219.0,940.5,-11.1,591,7578,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3787,3727,0,0,0,0,0,0
$GC,7601,-0.52,-219.0,943.4,-11.2,592,7606,0.00,1.83,0.00,0.000,6,0.000,0.028,2134,2581,3727,0,0,0,0,0,0
$GC,7930,-0.52,-219.0,975.0,-9.3,608,7933,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1206,3723,0,0,0,0,0,0
$GC,7976,-0.52,-219.0,979.2,-9.3,610,7980,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2595,3725,0,0,0,0,0,0
$STATE,8115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8115,begin apogee
$GC,8122,-0.13,0.0,990.9,8.2,617,8295,0.40,0.00,167.57,1.099,4,0.108,0.000,2275,2110,2868,0,0,0,0,0,0
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8299,0.52,219.0,1000.5,0.0,625,8487,0.60,2.25,175.65,1.069,4,0.049,0.037,2509,735,1976,0,0,0,0,0,0
$GC,8582,0.52,219.0,977.2,13.0,638,8586,0.00,2.30,0.00,0.000,6,0.000,0.034,2508,2129,1975,0,0,0,0,0,0
$GC,8910,0.52,219.0,930.5,14.3,654,8914,0.00,2.17,0.00,0.000,4,0.000,0.036,2519,733,1974,0,0,0,0,0,0
$GC,9152,0.52,219.0,896.7,14.0,665,9156,0.00,2.17,0.00,0.000,6,0.000,0.034,2519,2136,1974,0,0,0,0,0,0
$GC,9479,0.52,219.0,848.3,14.9,681,9483,0.00,2.20,0.00,0.000,4,0.000,0.044,2519,3541,1974,0,0,0,0,0,0
$GC,9511,0.52,219.0,842.8,15.2,682,9516,0.15,2.10,0.00,0.000,6,0.185,0.027,2492,2153,1974,0,0,0,0,0,0
$GC,9827,0.52,219.0,802.5,12.3,697,9831,0.00,2.17,0.00,0.000,4,0.000,0.038,2501,719,1972,0,0,0,0,0,0
$GC,9895,0.52,219.0,794.5,11.7,700,9899,0.00,2.15,0.00,0.000,6,0.000,0.034,2501,2122,1972,0,0,0,0,0,0
$GC,10222,0.52,219.0,756.2,11.4,716,10226,0.00,2.20,0.00,0.000,4,0.000,0.044,2501,3543,1972,0,0,0,0,0,0
$GC,10316,0.52,219.0,744.3,12.6,720,10320,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2130,1972,0,0,0,0,0,0
$GC,10644,0.52,219.0,704.4,12.9,736,10648,0.00,2.12,0.00,0.000,4,0.000,0.038,2522,719,1971,0,0,0,0,0,0
$GC,10751,0.52,219.0,690.6,13.1,741,10755,0.12,2.15,0.00,0.000,6,0.167,0.034,2489,2131,1971,0,0,0,0,0,0
$GC,11078,0.52,219.0,652.7,11.3,757,11082,0.00,2.17,0.00,0.000,4,0.000,0.044,2491,3542,1971,0,0,0,0,0,0
$GC,11143,0.52,219.0,644.4,12.2,760,11147,0.00,2.15,0.00,0.000,6,0.000,0.028,2497,2110,1970,0,0,0,0,0,0
$GC,11471,0.52,219.0,606.1,11.6,776,11475,0.00,2.12,0.00,0.000,4,0.000,0.038,2508,714,1971,0,0,0,0,0,0
$GC,11593,0.52,219.0,591.8,11.2,781,11600,0.00,2.10,0.00,0.000,6,0.000,0.034,2508,2100,1972,0,0,0,0,0,0
$GC,11909,0.52,219.0,554.8,11.6,797,11913,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3542,1971,0,0,0,0,0,0
$GC,11978,0.52,219.0,545.9,13.4,800,11982,0.00,2.17,0.00,0.000,6,0.000,0.028,2517,2095,1970,0,0,0,0,0,0
$GC,12305,0.52,219.0,504.9,12.7,816,12309,0.00,2.08,0.00,0.000,4,0.000,0.038,2528,720,1971,0,0,0,0,0,0
$GC,12388,0.52,219.0,494.4,12.0,821,12396,0.15,2.10,0.00,0.000,6,0.162,0.033,2488,2105,1970,0,0,0,0,0,0
$GC,12714,0.58,264.7,463.2,9.5,852,12754,0.00,0.00,34.33,0.769,6,0.000,0.000,2487,2105,1789,0,0,0,0,0,0
$GC,13073,0.63,304.0,428.5,9.7,886,13110,0.10,2.35,30.50,0.730,4,0.108,0.044,2530,3538,1627,0,0,0,0,0,0
$GC,13201,0.63,304.0,411.6,14.2,897,13205,0.00,2.20,0.00,0.000,6,0.000,0.028,2539,2108,1629,0,0,0,0,0,0
$GC,13527,0.63,304.0,367.3,12.9,927,13531,0.00,2.12,0.00,0.000,4,0.000,0.038,2549,713,1629,0,0,0,0,0,0
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$STATE,16741,end climb,SURFACE_DEPTH_REACHED
$STATE,16741,begin surface coast
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$STATE,16759,end surface coast,CONTROL_FINISHED_OK
$STATE,16759,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.04
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$TCM_TEMP,24.80
$XPDR_PINGS,1
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$10V_AH,10.1,28.191
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322784
$DATA_FILE_SIZE,93866,1355
$CAP_FILE_SIZE,186330,0
$CFSIZE,260165632,234360832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,219.7,1
$GPS,140711,171030,1933.961,12026.181,39,0.9,39,-2.2