version: 66.09
glider: 181
mission: 6
dive: 204
start: 7 19 111 13 41 27
data:
$ID,181
$MISSION,6
$DIVE,204
$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,-5
$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,-40775.957
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,190711,133154,1858.520,12036.537,38,1.0,38,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.6
$GPS2,190711,134102,1858.683,12036.664,11,1.2,11,-2.1
$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,193.0,45610,-15.3,-11.000
$D_GRID,3384
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.52,-219.0,0.0,0.0,0,91,0.00,0.00,-71.15,0.000,2,0.000,0.000,166,2609,2465,0,0,0,0,0,0
$GC,94,-0.52,-219.0,3.4,-3.8,10,133,8.15,1.90,-25.23,0.000,4,0.232,0.056,2133,3786,3763,0,0,0,0,0,0
$GC,152,-0.52,-219.0,26.5,-44.7,18,160,0.00,1.80,0.00,0.000,6,0.000,0.024,2133,2606,3765,0,0,0,0,0,0
$GC,285,-0.52,-219.0,92.1,-27.8,43,293,0.00,1.85,0.00,0.000,4,0.000,0.042,2124,3773,3765,0,0,0,0,0,0
$GC,302,-0.52,-219.0,96.3,-25.8,45,310,0.00,1.83,0.00,0.000,6,0.000,0.024,2124,2545,3765,0,0,0,0,0,0
$GC,436,-0.52,-219.0,126.9,-18.6,70,444,0.00,1.95,0.00,0.000,4,0.000,0.041,2116,3781,3766,0,0,0,0,0,0
$GC,472,-0.52,-219.0,134.0,-19.3,76,481,0.10,1.75,0.00,0.000,6,0.139,0.024,2146,2609,3766,0,0,0,0,0,0
$GC,611,-0.52,-219.0,157.3,-16.1,101,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2609,3765,0,0,0,0,0,0
$GC,743,-0.52,-219.0,179.5,-16.4,126,751,0.00,1.83,0.00,0.000,4,0.000,0.041,2139,3774,3771,0,0,0,0,0,0
$GC,780,-0.52,-219.0,185.7,-16.7,132,788,0.00,1.65,0.00,0.000,6,0.000,0.024,2139,2667,3768,0,0,0,0,0,0
$GC,922,-0.52,-219.0,209.5,-17.6,153,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2666,3768,0,0,0,0,0,0
$GC,1242,-0.52,-219.0,254.4,-14.3,183,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2666,3766,0,0,0,0,0,0
$GC,1568,-0.52,-219.0,299.6,-13.4,214,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2666,3764,0,0,0,0,0,0
$GC,1887,-0.52,-219.0,343.6,-13.7,244,1891,0.00,2.15,0.00,0.000,4,0.000,0.029,2139,1202,3760,0,0,0,0,0,0
$GC,1931,-0.52,-219.0,349.4,-11.7,247,1938,0.00,2.25,0.00,0.000,6,0.000,0.036,2138,2680,3759,0,0,0,0,0,0
$GC,2257,-0.52,-219.0,391.8,-13.5,278,2261,0.00,2.20,0.00,0.000,4,0.000,0.029,2138,1200,3756,0,0,0,0,0,0
$GC,2279,-0.52,-219.0,395.1,-13.5,279,2286,0.00,2.25,0.00,0.000,6,0.000,0.038,2139,2671,3754,0,0,0,0,0,0
$GC,2604,-0.52,-219.0,435.8,-12.8,310,2608,0.00,2.17,0.00,0.000,4,0.000,0.030,2138,1207,3752,0,0,0,0,0,0
$GC,2645,-0.52,-219.0,440.4,-11.6,313,2649,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2662,3752,0,0,0,0,0,0
$GC,2970,-0.52,-219.0,478.3,-11.7,343,2974,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3776,3748,0,0,0,0,0,0
$GC,3021,-0.52,-219.0,483.5,-9.6,347,3027,0.00,1.65,0.00,0.000,6,0.000,0.026,2138,2649,3748,0,0,0,0,0,0
$GC,3353,-0.52,-219.0,520.4,-12.0,371,3357,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1196,3745,0,0,0,0,0,0
$GC,3393,-0.52,-219.0,525.0,-11.3,373,3397,0.00,2.25,0.00,0.000,6,0.000,0.037,2138,2662,3745,0,0,0,0,0,0
$GC,3721,-0.52,-219.0,562.1,-11.4,389,3725,0.00,2.20,0.00,0.000,4,0.000,0.031,2138,1193,3742,0,0,0,0,0,0
$GC,3761,-0.52,-219.0,566.3,-10.4,391,3765,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2642,3741,0,0,0,0,0,0
$GC,4089,-0.52,-219.0,599.3,-10.3,407,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2642,3738,0,0,0,0,0,0
$GC,4397,-0.52,-219.0,630.0,-10.1,422,4401,0.00,1.75,0.00,0.000,4,0.000,0.049,2138,3782,3735,0,0,0,0,0,0
$GC,4436,-0.52,-219.0,633.8,-9.3,423,4443,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2637,3735,0,0,0,0,0,0
$GC,4753,-0.52,-219.0,661.4,-8.8,439,4757,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1196,3732,0,0,0,0,0,0
$GC,4804,-0.52,-219.0,666.5,-9.0,441,4808,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2624,3733,0,0,0,0,0,0
$GC,5126,-0.52,-219.0,693.3,-8.2,457,5130,0.00,1.77,0.00,0.000,4,0.000,0.049,2138,3776,3730,0,0,0,0,0,0
$GC,5154,-0.52,-219.0,695.8,-8.1,458,5157,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2585,3730,0,0,0,0,0,0
$GC,5481,-0.52,-219.0,721.6,-8.2,474,5485,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1206,3728,0,0,0,0,0,0
$GC,5537,-0.52,-219.0,726.1,-7.6,476,5541,0.00,2.17,0.00,0.000,6,0.000,0.038,2137,2611,3727,0,0,0,0,0,0
$GC,5859,-0.52,-219.0,753.1,-8.9,492,5863,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1200,3725,0,0,0,0,0,0
$GC,5886,-0.52,-219.0,755.7,-8.8,493,5890,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2606,3723,0,0,0,0,0,0
$GC,6208,-0.52,-219.0,784.7,-9.2,509,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2606,3724,0,0,0,0,0,0
$GC,6517,-0.52,-219.0,814.0,-9.5,524,6521,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1207,3722,0,0,0,0,0,0
$GC,6539,-0.52,-219.0,816.2,-9.2,525,6543,0.00,2.15,0.00,0.000,6,0.000,0.039,2139,2600,3722,0,0,0,0,0,0
$GC,6860,-0.52,-219.0,844.5,-8.7,541,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3720,0,0,0,0,0,0
$GC,7169,-0.52,-219.0,868.2,-7.1,556,7173,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1196,3718,0,0,0,0,0,0
$GC,7213,-0.52,-219.0,871.4,-6.7,558,7218,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2599,3718,0,0,0,0,0,0
$GC,7535,-0.52,-219.0,891.3,-6.3,574,7539,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3780,3717,0,0,0,0,0,0
$GC,7569,-0.52,-219.0,893.3,-5.6,575,7572,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2594,3717,0,0,0,0,0,0
$GC,7891,-0.52,-219.0,914.9,-7.4,591,7895,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1202,3715,0,0,0,0,0,0
$GC,7935,-0.52,-219.0,918.2,-7.4,593,7939,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2596,3715,0,0,0,0,0,0
$GC,8264,-0.52,-219.0,943.5,-7.9,609,8267,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3789,3714,0,0,0,0,0,0
$GC,8302,-0.52,-219.0,946.6,-7.6,610,8309,0.00,1.83,0.00,0.000,6,0.000,0.028,2138,2583,3714,0,0,0,0,0,0
$GC,8619,-0.52,-219.0,970.7,-7.6,626,8622,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1213,3711,0,0,0,0,0,0
$GC,8652,-0.52,-219.0,973.4,-7.9,627,8656,0.00,2.15,0.00,0.000,6,0.000,0.039,2134,2595,3713,0,0,0,0,0,0
$STATE,8883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8883,begin apogee
$GC,8890,-0.13,0.0,990.4,7.5,638,9059,0.40,0.00,162.68,1.099,4,0.103,0.000,2276,2112,2866,0,0,0,0,0,0
$STATE,9060,end apogee,CONTROL_FINISHED_OK
$STATE,9060,begin climb
$GC,9062,0.52,219.0,999.6,0.0,646,9246,0.60,2.25,175.82,1.070,4,0.049,0.038,2507,739,1976,0,0,0,0,0,0
$GC,9352,0.52,219.0,977.1,12.4,658,9359,0.00,2.25,0.00,0.000,6,0.000,0.034,2507,2127,1975,0,0,0,0,0,0
$GC,9669,0.52,219.0,933.6,14.2,674,9673,0.00,2.25,0.00,0.000,4,0.000,0.045,2507,3550,1973,0,0,0,0,0,0
$GC,9866,0.52,219.0,901.4,16.7,683,9870,0.00,2.15,0.00,0.000,6,0.000,0.029,2516,2140,1973,0,0,0,0,0,0
$GC,10200,0.52,219.0,847.8,15.6,699,10204,0.00,2.17,0.00,0.000,4,0.000,0.039,2528,716,1973,0,0,0,0,0,0
$GC,10263,0.52,219.0,838.4,14.7,702,10268,0.15,2.15,0.00,0.000,6,0.167,0.034,2489,2112,1973,0,0,0,0,0,0
$GC,10592,0.52,219.0,798.1,11.6,718,10596,0.00,2.22,0.00,0.000,4,0.000,0.045,2488,3543,1971,0,0,0,0,0,0
$GC,10658,0.52,219.0,789.5,12.4,721,10662,0.00,2.17,0.00,0.000,6,0.000,0.029,2496,2113,1971,0,0,0,0,0,0
$GC,10986,0.52,219.0,751.1,11.5,737,10990,0.00,2.15,0.00,0.000,4,0.000,0.039,2507,709,1971,0,0,0,0,0,0
$GC,11095,0.52,219.0,738.7,11.4,742,11099,0.00,2.12,0.00,0.000,6,0.000,0.034,2508,2102,1971,0,0,0,0,0,0
$GC,11422,0.52,219.0,700.2,11.6,758,11427,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3542,1973,0,0,0,0,0,0
$GC,11489,0.52,219.0,691.5,13.0,761,11493,0.00,2.17,0.00,0.000,6,0.000,0.029,2517,2108,1970,0,0,0,0,0,0
$GC,11812,0.52,219.0,648.2,14.2,777,11816,0.00,2.12,0.00,0.000,4,0.000,0.039,2528,718,1970,0,0,0,0,0,0
$GC,11839,0.52,219.0,643.9,14.1,778,11844,0.15,2.15,0.00,0.000,6,0.160,0.034,2488,2124,1970,0,0,0,0,0,0
$GC,12161,0.52,219.0,605.1,11.8,794,12165,0.00,2.20,0.00,0.000,4,0.000,0.044,2488,3539,1970,0,0,0,0,0,0
$GC,12245,0.52,219.0,594.1,13.4,797,12252,0.00,2.15,0.00,0.000,6,0.000,0.029,2496,2114,1970,0,0,0,0,0,0
$GC,12562,0.52,219.0,552.4,13.4,813,12566,0.00,2.12,0.00,0.000,4,0.000,0.039,2507,719,1970,0,0,0,0,0,0
$GC,12662,0.52,219.0,538.6,14.3,817,12666,0.00,2.12,0.00,0.000,6,0.000,0.034,2507,2115,1970,0,0,0,0,0,0
$GC,12985,0.52,219.0,492.6,13.9,835,12989,0.00,2.20,0.00,0.000,4,0.000,0.044,2506,3535,1970,0,0,0,0,0,0
$GC,13054,0.52,219.0,483.0,14.2,841,13058,0.00,2.15,0.00,0.000,6,0.000,0.029,2516,2111,1970,0,0,0,0,0,0
$GC,13380,0.52,219.0,442.6,11.7,871,13384,0.00,2.10,0.00,0.000,4,0.000,0.039,2527,720,1970,0,0,0,0,0,0
$GC,13468,0.52,219.0,432.2,11.2,878,13476,0.08,2.15,0.00,0.000,6,0.146,0.033,2491,2107,1970,0,0,0,0,0,0
$GC,13796,0.55,236.5,401.2,10.4,909,13819,0.00,2.28,14.00,0.716,4,0.000,0.044,2491,3541,1904,0,0,0,0,0,0
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$STATE,17401,end climb,SURFACE_DEPTH_REACHED
$STATE,17401,begin surface coast
$FINISH,0.4,1.020774
$STATE,17421,end surface coast,CONTROL_FINISHED_OK
$STATE,17422,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.21
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$TCM_TEMP,25.40
$XPDR_PINGS,2
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$10V_AH,10.0,31.904
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.575,177.500,626.775,0.000,0.000,57.300,101.545,181.478,0.500,0.000,14.208,3363.088,9996.470,678.342,3625.888,368.575,0.000,2166.026,0.000,2464.107,0.000,0.542,0.000
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$MEM,321504
$DATA_FILE_SIZE,93702,1396
$CAP_FILE_SIZE,188678,0
$CFSIZE,260165632,231931904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,183425,1856.809,12035.780,41,1.7,41,-2.0