version: 66.09
glider: 181
mission: 6
dive: 230
start: 7 23 111 10 58 3
data:
$ID,181
$MISSION,6
$DIVE,230
$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,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,-40808.809
$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,25
$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
$GPS1,230711,105100,1842.627,12019.396,38,1.5,39,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.3
$GPS2,230711,105738,1842.715,12019.353,13,1.6,13,-2.0
$SPEED_LIMITS,0.191,0.321
$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,315.4,46617,-15.3,-11.000
$D_GRID,3103
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.83,0.000,2,0.000,0.000,204,2602,2280,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.4,-4.2,9,131,7.85,1.90,-28.92,0.000,4,0.225,0.059,2134,3792,3764,0,0,0,0,0,0
$GC,222,-0.52,-219.0,77.5,-58.6,32,231,0.00,1.83,0.00,0.000,6,0.000,0.025,2134,2590,3765,0,0,0,0,0,0
$GC,356,-0.52,-219.0,123.8,-29.6,57,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2588,3767,0,0,0,0,0,0
$GC,489,-0.52,-219.0,152.5,-22.4,82,498,0.00,1.90,0.00,0.000,4,0.000,0.043,2124,3789,3767,0,0,0,0,0,0
$GC,573,-0.52,-219.0,169.5,-16.3,97,581,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2607,3768,0,0,0,0,0,0
$GC,708,-0.52,-219.0,197.8,-20.8,122,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2605,3769,0,0,0,0,0,0
$GC,850,-0.52,-219.0,226.4,-19.2,136,854,0.00,1.83,0.00,0.000,4,0.000,0.042,2116,3796,3768,0,0,0,0,0,0
$GC,899,-0.52,-219.0,234.8,-16.1,140,908,0.10,1.70,0.00,0.000,6,0.123,0.024,2150,2655,3768,0,0,0,0,0,0
$GC,1226,-0.52,-219.0,273.6,-12.4,171,1230,0.00,2.12,0.00,0.000,4,0.000,0.028,2150,1199,3767,0,0,0,0,0,0
$GC,1301,-0.52,-219.0,281.2,-9.0,177,1305,0.00,2.22,0.00,0.000,6,0.000,0.034,2150,2667,3768,0,0,0,0,0,0
$GC,1626,-0.52,-219.0,316.7,-10.4,207,1630,0.00,1.70,0.00,0.000,4,0.000,0.046,2150,3790,3767,0,0,0,0,0,0
$GC,1661,-0.52,-219.0,320.3,-10.3,210,1664,0.00,1.65,0.00,0.000,6,0.000,0.024,2150,2651,3765,0,0,0,0,0,0
$GC,1992,-0.52,-219.0,353.2,-10.2,241,1996,0.00,2.10,0.00,0.000,4,0.000,0.029,2150,1212,3761,0,0,0,0,0,0
$GC,2026,-0.52,-219.0,356.3,-9.4,244,2030,0.00,2.22,0.00,0.000,6,0.000,0.035,2150,2662,3761,0,0,0,0,0,0
$GC,2351,-0.52,-219.0,388.3,-11.6,274,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2663,3757,0,0,0,0,0,0
$GC,2671,-0.52,-219.0,425.2,-11.1,304,2675,0.00,2.17,0.00,0.000,4,0.000,0.029,2150,1201,3755,0,0,0,0,0,0
$GC,2704,-0.52,-219.0,429.2,-11.1,306,2711,0.00,2.25,0.00,0.000,6,0.000,0.036,2150,2663,3755,0,0,0,0,0,0
$GC,3029,-0.52,-219.0,462.7,-10.1,337,3033,0.00,2.17,0.00,0.000,4,0.000,0.030,2150,1207,3751,0,0,0,0,0,0
$GC,3052,-0.52,-219.0,465.0,-9.9,339,3057,0.00,2.22,0.00,0.000,6,0.000,0.036,2150,2658,3751,0,0,0,0,0,0
$GC,3378,-0.52,-219.0,491.0,-7.8,369,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2658,3748,0,0,0,0,0,0
$GC,3702,-0.52,-219.0,517.2,-8.1,390,3706,0.00,2.17,0.00,0.000,4,0.000,0.031,2150,1206,3745,0,0,0,0,0,0
$GC,3757,-0.52,-219.0,521.9,-8.0,392,3764,0.00,2.22,0.00,0.000,6,0.000,0.036,2150,2648,3745,0,0,0,0,0,0
$GC,4073,-0.52,-219.0,547.9,-8.5,408,4077,0.00,1.77,0.00,0.000,4,0.000,0.048,2150,3774,3742,0,0,0,0,0,0
$GC,4098,-0.52,-219.0,549.9,-8.4,409,4101,0.00,1.67,0.00,0.000,6,0.000,0.026,2150,2635,3742,0,0,0,0,0,0
$GC,4431,-0.52,-219.0,577.6,-8.2,425,4435,0.00,2.12,0.00,0.000,4,0.000,0.031,2150,1196,3740,0,0,0,0,0,0
$GC,4497,-0.52,-219.0,582.9,-7.5,428,4501,0.00,2.15,0.00,0.000,6,0.000,0.036,2151,2601,3739,0,0,0,0,0,0
$GC,4825,-0.52,-219.0,608.2,-8.0,444,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2601,3737,0,0,0,0,0,0
$GC,5134,-0.52,-219.0,633.3,-8.3,459,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2601,3735,0,0,0,0,0,0
$GC,5444,-0.52,-219.0,659.5,-8.4,474,5448,0.00,2.12,0.00,0.000,4,0.000,0.033,2150,1195,3732,0,0,0,0,0,0
$GC,5477,-0.52,-219.0,662.4,-8.1,475,5484,0.00,2.17,0.00,0.000,6,0.000,0.037,2151,2601,3731,0,0,0,0,0,0
$GC,5793,-0.52,-219.0,686.6,-7.7,491,5797,0.00,1.83,0.00,0.000,4,0.000,0.050,2150,3784,3730,0,0,0,0,0,0
$GC,5822,-0.52,-219.0,688.8,-7.5,492,5825,0.00,1.77,0.00,0.000,6,0.000,0.027,2150,2594,3730,0,0,0,0,0,0
$GC,6149,-0.52,-219.0,711.9,-7.3,508,6153,0.00,2.08,0.00,0.000,4,0.000,0.031,2151,1194,3729,0,0,0,0,0,0
$GC,6193,-0.52,-219.0,715.3,-7.8,510,6197,0.00,2.15,0.00,0.000,6,0.000,0.037,2150,2592,3729,0,0,0,0,0,0
$GC,6521,-0.52,-219.0,741.2,-8.5,526,6524,0.00,1.85,0.00,0.000,4,0.000,0.048,2150,3790,3727,0,0,0,0,0,0
$GC,6545,-0.52,-219.0,743.3,-8.7,527,6549,0.00,1.83,0.00,0.000,6,0.000,0.027,2150,2584,3727,0,0,0,0,0,0
$GC,6878,-0.52,-219.0,773.3,-9.1,543,6882,0.00,2.05,0.00,0.000,4,0.000,0.032,2150,1209,3725,0,0,0,0,0,0
$GC,7136,-0.52,-219.0,797.6,-9.0,554,7140,0.00,2.12,0.00,0.000,6,0.000,0.035,2151,2584,3724,0,0,0,0,0,0
$GC,7459,-0.52,-219.0,824.5,-8.4,570,7463,0.00,2.10,0.00,0.000,4,0.000,0.033,2150,1199,3722,0,0,0,0,0,0
$GC,7469,-0.52,-219.0,825.8,-8.4,570,7476,0.00,2.10,0.00,0.000,6,0.000,0.037,2151,2555,3720,0,0,0,0,0,0
$GC,7786,-0.52,-219.0,851.4,-8.3,586,7790,0.00,1.92,0.00,0.000,4,0.000,0.047,2150,3774,3721,0,0,0,0,0,0
$GC,8043,-0.52,-219.0,873.4,-8.6,597,8047,0.00,1.80,0.00,0.000,6,0.000,0.026,2150,2555,3720,0,0,0,0,0,0
$GC,8366,-0.52,-219.0,898.0,-8.2,613,8370,0.00,1.92,0.00,0.000,4,0.000,0.047,2150,3781,3719,0,0,0,0,0,0
$GC,8535,-0.52,-219.0,912.9,-9.2,620,8539,0.00,1.80,0.00,0.000,6,0.000,0.027,2150,2564,3721,0,0,0,0,0,0
$GC,8858,-0.52,-219.0,944.0,-10.0,636,8861,0.00,2.03,0.00,0.000,4,0.000,0.033,2158,1202,3718,0,0,0,0,0,0
$GC,9116,-0.52,-219.0,971.6,-10.8,647,9121,0.00,2.10,0.00,0.000,6,0.000,0.037,2158,2557,3720,0,0,0,0,0,0
$STATE,9312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9312,begin apogee
$GC,9318,-0.13,0.0,991.3,10.2,657,9487,0.30,0.00,162.73,1.107,4,0.067,0.000,2288,2109,2870,0,0,0,0,0,0
$STATE,9488,end apogee,CONTROL_FINISHED_OK
$STATE,9488,begin climb
$GC,9490,0.52,219.0,1002.9,0.0,665,9679,0.55,2.28,176.12,1.074,4,0.048,0.038,2504,716,1976,0,0,0,0,0,0
$GC,9705,0.52,219.0,990.4,12.9,675,9709,0.00,2.33,0.00,0.000,6,0.000,0.033,2504,2123,1976,0,0,0,0,0,0
$GC,10031,0.52,219.0,943.9,14.3,691,10035,0.00,2.25,0.00,0.000,4,0.000,0.045,2505,3547,1973,0,0,0,0,0,0
$GC,10065,0.52,219.0,938.6,15.3,692,10072,0.00,2.22,0.00,0.000,6,0.000,0.028,2514,2113,1973,0,0,0,0,0,0
$GC,10381,0.52,219.0,890.9,15.5,708,10385,0.00,2.12,0.00,0.000,4,0.000,0.038,2525,721,1973,0,0,0,0,0,0
$GC,10475,0.52,219.0,876.4,13.9,712,10480,0.15,2.17,0.00,0.000,6,0.165,0.034,2487,2123,1973,0,0,0,0,0,0
$GC,10797,0.52,219.0,838.1,11.8,728,10801,0.00,2.20,0.00,0.000,4,0.000,0.044,2487,3537,1970,0,0,0,0,0,0
$GC,10885,0.52,219.0,826.3,13.3,732,10890,0.00,2.17,0.00,0.000,6,0.000,0.028,2495,2106,1972,0,0,0,0,0,0
$GC,11213,0.52,219.0,787.4,11.7,748,11217,0.00,2.10,0.00,0.000,4,0.000,0.039,2506,723,1971,0,0,0,0,0,0
$GC,11280,0.52,219.0,779.5,11.4,751,11284,0.00,2.15,0.00,0.000,6,0.000,0.034,2505,2120,1972,0,0,0,0,0,0
$GC,11608,0.52,219.0,737.8,13.3,767,11612,0.00,2.15,0.00,0.000,4,0.000,0.037,2515,714,1970,0,0,0,0,0,0
$GC,11629,0.52,219.0,734.9,13.1,768,11633,0.00,2.17,0.00,0.000,6,0.000,0.034,2515,2119,1971,0,0,0,0,0,0
$GC,11956,0.52,219.0,691.1,13.4,784,11960,0.00,2.20,0.00,0.000,4,0.000,0.044,2515,3535,1970,0,0,0,0,0,0
$GC,12012,0.52,219.0,682.7,14.9,786,12017,0.12,2.12,0.00,0.000,6,0.179,0.028,2494,2123,1970,0,0,0,0,0,0
$GC,12328,0.52,219.0,643.3,12.9,801,12332,0.00,2.12,0.00,0.000,4,0.000,0.039,2509,723,1970,0,0,0,0,0,0
$GC,12417,0.52,219.0,631.8,12.5,805,12421,0.00,2.12,0.00,0.000,6,0.000,0.033,2504,2115,1970,0,0,0,0,0,0
$GC,12739,0.52,219.0,589.7,13.0,821,12743,0.00,2.22,0.00,0.000,4,0.000,0.045,2503,3541,1970,0,0,0,0,0,0
$GC,12784,0.52,219.0,583.3,14.6,823,12788,0.00,2.17,0.00,0.000,6,0.000,0.028,2513,2106,1970,0,0,0,0,0,0
$GC,13118,0.52,219.0,540.6,12.3,839,13122,0.00,2.10,0.00,0.000,4,0.000,0.039,2523,719,1970,0,0,0,0,0,0
$GC,13145,0.52,219.0,537.2,11.8,840,13150,0.12,2.15,0.00,0.000,6,0.164,0.034,2491,2125,1970,0,0,0,0,0,0
$GC,13462,0.53,221.8,502.9,10.9,855,13466,0.00,2.20,0.00,0.000,4,0.000,0.045,2491,3535,1970,0,0,0,0,0,0
$GC,13488,0.53,221.8,499.7,11.4,856,13493,0.00,2.15,0.00,0.000,6,0.000,0.028,2499,2107,1970,0,0,0,0,0,0
$GC,13820,0.53,223.9,462.3,10.9,887,13832,0.00,2.12,4.43,0.604,4,0.000,0.040,2509,717,1958,0,0,0,0,0,0
$GC,13906,0.53,225.3,452.9,11.0,894,13912,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2115,1957,0,0,0,0,0,0
$GC,14232,0.54,229.9,417.1,10.8,925,14245,0.00,2.28,6.55,0.674,4,0.000,0.045,2510,3536,1932,0,0,0,0,0,0
$GC,14295,0.54,229.9,409.2,12.2,930,14302,0.00,2.15,0.00,0.000,6,0.000,0.028,2519,2119,1932,0,0,0,0,0,0
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$STATE,18096,end climb,SURFACE_DEPTH_REACHED
$STATE,18096,begin surface coast
$FINISH,0.2,1.019719
$STATE,18123,end surface coast,CONTROL_FINISHED_OK
$STATE,18123,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,41.77
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,9.9,35.345
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1001.121,1437.105,1481.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,322792
$DATA_FILE_SIZE,97084,1436
$CAP_FILE_SIZE,200757,0
$CFSIZE,260165632,229789696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,160237,1843.822,12017.705,36,0.9,36,-2.0