version: 66.09
glider: 181
mission: 6
dive: 282
start: 8 2 111 19 32 23
data:
$ID,181
$MISSION,6
$DIVE,282
$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,280
$T_MISSION,320
$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,250
$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,-40874.383
$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,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,1
$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,1.0
$TM_XMITPROFILE,1.0
$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
$GPS1,020811,192537,2029.813,12000.430,38,1.0,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.2
$GPS2,020811,193155,2029.774,12000.588,12,1.2,17,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$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,357.2,11575,-15.4,-11.786
$D_GRID,3379
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-58.83,0.000,2,0.000,0.000,198,2611,2458,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.8,-4.8,9,127,7.90,0.00,-26.00,0.000,6,0.229,0.000,2130,2611,3863,0,0,0,0,0,0
$GC,254,-0.56,-243.3,77.3,-44.4,39,262,0.00,2.15,0.00,0.000,4,0.000,0.026,2130,1183,3863,0,0,0,0,0,0
$GC,280,-0.56,-243.3,85.8,-34.4,43,287,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2595,3863,0,0,0,0,0,0
$GC,413,-0.56,-243.3,112.5,-18.3,68,420,0.00,1.85,0.00,0.000,4,0.000,0.042,2115,3783,3864,0,0,0,0,0,0
$GC,459,-0.56,-243.3,121.1,-18.7,76,466,0.00,1.80,0.00,0.000,6,0.000,0.024,2115,2571,3863,0,0,0,0,0,0
$GC,593,-0.56,-243.3,154.5,-33.4,101,600,0.00,1.92,0.00,0.000,4,0.000,0.046,2109,3777,3864,0,0,0,0,0,0
$GC,654,-0.56,-243.3,173.0,-28.0,112,663,0.08,1.67,0.00,0.000,6,0.135,0.024,2135,2656,3865,0,0,0,0,0,0
$GC,791,-0.56,-243.3,197.8,-17.5,137,798,0.00,2.15,0.00,0.000,4,0.000,0.027,2135,1211,3866,0,0,0,0,0,0
$GC,855,-0.56,-243.3,207.4,-12.3,142,862,0.00,2.20,0.00,0.000,6,0.000,0.034,2128,2638,3866,0,0,0,0,0,0
$GC,1183,-0.56,-243.3,242.6,-6.6,173,1186,0.00,1.73,0.00,0.000,4,0.000,0.043,2125,3783,3866,0,0,0,0,0,0
$GC,1210,-0.56,-243.3,245.1,-7.5,175,1217,0.00,1.65,0.00,0.000,6,0.000,0.022,2124,2635,3866,0,0,0,0,0,0
$GC,1535,-0.56,-243.3,282.5,-11.9,206,1539,0.00,2.10,0.00,0.000,4,0.000,0.027,2125,1195,3864,0,0,0,0,0,0
$GC,1592,-0.56,-243.3,288.7,-10.1,210,1600,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2650,3864,0,0,0,0,0,0
$GC,1917,-0.56,-243.3,330.0,-12.0,241,1921,0.00,1.75,0.00,0.000,4,0.000,0.044,2124,3774,3862,0,0,0,0,0,0
$GC,1978,-0.56,-243.3,336.3,-9.3,246,1985,0.00,1.67,0.00,0.000,6,0.000,0.023,2125,2644,3861,0,0,0,0,0,0
$GC,2303,-0.56,-243.3,366.5,-10.3,277,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2641,3858,0,0,0,0,0,0
$GC,2624,-0.56,-243.3,415.7,-17.5,307,2628,0.00,2.12,0.00,0.000,4,0.000,0.028,2124,1196,3855,0,0,0,0,0,0
$GC,2652,-0.56,-243.3,420.8,-17.0,309,2656,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2651,3855,0,0,0,0,0,0
$GC,2978,-0.56,-243.3,465.7,-10.0,339,2981,0.00,1.73,0.00,0.000,4,0.000,0.046,2124,3783,3852,0,0,0,0,0,0
$GC,3036,-0.56,-243.3,469.3,-6.3,344,3039,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2651,3852,0,0,0,0,0,0
$GC,3367,-0.56,-243.3,493.5,-9.8,375,3371,0.00,2.12,0.00,0.000,4,0.000,0.028,2124,1208,3849,0,0,0,0,0,0
$GC,3419,-0.56,-243.3,498.4,-9.2,379,3423,0.00,2.20,0.00,0.000,6,0.000,0.034,2124,2651,3849,0,0,0,0,0,0
$GC,3745,-0.56,-243.3,539.7,-14.1,395,3749,0.00,1.73,0.00,0.000,4,0.000,0.047,2124,3776,3845,0,0,0,0,0,0
$GC,3794,-0.56,-243.3,546.4,-12.7,397,3798,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2674,3845,0,0,0,0,0,0
$GC,4122,-0.56,-243.3,585.8,-10.9,413,4126,0.00,2.20,0.00,0.000,4,0.000,0.030,2124,1199,3842,0,0,0,0,0,0
$GC,4191,-0.56,-243.3,591.9,-8.2,416,4195,0.00,2.25,0.00,0.000,6,0.000,0.035,2116,2663,3842,0,0,0,0,0,0
$GC,4519,-0.56,-243.3,621.6,-8.8,432,4522,0.00,1.70,0.00,0.000,4,0.000,0.047,2112,3771,3838,0,0,0,0,0,0
$GC,4546,-0.56,-243.3,624.2,-8.8,433,4550,0.00,1.65,0.00,0.000,6,0.000,0.024,2112,2650,3839,0,0,0,0,0,0
$GC,4874,-0.56,-243.3,651.6,-9.1,449,4878,0.00,2.15,0.00,0.000,4,0.000,0.030,2112,1200,3836,0,0,0,0,0,0
$GC,4937,-0.56,-243.3,656.7,-7.5,452,4942,0.00,2.22,0.00,0.000,6,0.000,0.036,2112,2650,3836,0,0,0,0,0,0
$GC,5265,-0.56,-243.3,695.0,-13.4,468,5268,0.00,1.75,0.00,0.000,4,0.000,0.049,2112,3782,3832,0,0,0,0,0,0
$GC,5311,-0.56,-243.3,700.9,-12.8,470,5315,0.00,1.67,0.00,0.000,6,0.000,0.026,2111,2645,3832,0,0,0,0,0,0
$GC,5644,-0.56,-243.3,745.7,-13.4,486,5648,0.00,2.15,0.00,0.000,4,0.000,0.030,2111,1200,3830,0,0,0,0,0,0
$GC,5716,-0.56,-243.3,754.0,-9.8,489,5720,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2644,3830,0,0,0,0,0,0
$GC,6033,-0.56,-243.3,790.3,-12.0,504,6037,0.00,1.80,0.00,0.000,4,0.000,0.049,2111,3774,3829,0,0,0,0,0,0
$GC,6060,-0.56,-243.3,793.8,-11.8,505,6064,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2640,3828,0,0,0,0,0,0
$GC,6388,-0.56,-243.3,833.4,-13.0,521,6392,0.00,2.15,0.00,0.000,4,0.000,0.031,2112,1200,3826,0,0,0,0,0,0
$GC,6460,-0.56,-243.3,842.3,-11.2,524,6464,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2628,3826,0,0,0,0,0,0
$GC,6776,-0.56,-243.3,885.3,-14.5,539,6780,0.00,1.83,0.00,0.000,4,0.000,0.050,2111,3773,3824,0,0,0,0,0,0
$GC,6822,-0.56,-243.3,891.7,-13.5,541,6826,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2621,3824,0,0,0,0,0,0
$GC,7154,-0.56,-243.3,935.4,-12.3,557,7158,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1203,3823,0,0,0,0,0,0
$GC,7206,-0.56,-243.3,941.2,-11.0,559,7210,0.00,2.22,0.00,0.000,6,0.000,0.037,2112,2638,3823,0,0,0,0,0,0
$GC,7528,-0.56,-243.3,967.3,-6.5,575,7532,0.00,1.77,0.00,0.000,4,0.000,0.049,2111,3776,3820,0,0,0,0,0,0
$GC,7552,-0.56,-243.3,968.6,-6.3,576,7555,0.00,1.73,0.00,0.000,6,0.000,0.026,2111,2612,3820,0,0,0,0,0,0
$GC,7885,-0.56,-243.3,984.7,-4.8,592,7889,0.00,2.12,0.00,0.000,4,0.000,0.031,2111,1196,3819,0,0,0,0,0,0
$GC,7954,-0.56,-243.3,987.2,-4.4,595,7958,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2615,3818,0,0,0,0,0,0
$STATE,8036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8037,begin apogee
$GC,8043,-0.13,0.0,990.4,3.8,599,8234,0.47,0.00,183.98,1.089,4,0.114,0.000,2269,2111,2869,0,0,0,0,0,0
$STATE,8235,end apogee,CONTROL_FINISHED_OK
$STATE,8235,begin climb
$GC,8237,0.56,243.3,993.6,0.0,608,8440,0.60,0.00,196.68,1.059,6,0.047,0.000,2510,2111,1877,0,0,0,0,0,0
$GC,8751,0.56,243.3,938.1,12.3,632,8755,0.00,2.28,0.00,0.000,4,0.000,0.042,2510,3538,1875,0,0,0,0,0,0
$GC,8850,0.56,243.3,924.4,13.6,636,8858,0.00,2.12,0.00,0.000,6,0.000,0.027,2520,2151,1874,0,0,0,0,0,0
$GC,9167,0.56,243.3,886.3,12.0,652,9171,0.00,2.20,0.00,0.000,4,0.000,0.037,2531,711,1873,0,0,0,0,0,0
$GC,9233,0.56,249.3,878.3,11.6,655,9245,0.00,2.20,6.18,0.834,6,0.000,0.033,2531,2126,1852,0,0,0,0,0,0
$GC,9554,0.56,249.3,836.7,13.4,670,9559,0.00,2.20,0.00,0.000,4,0.000,0.044,2531,3541,1850,0,0,0,0,0,0
$GC,9595,0.56,249.3,830.6,15.6,672,9600,0.15,2.17,0.00,0.000,6,0.185,0.027,2505,2109,1850,0,0,0,0,0,0
$GC,9922,0.56,249.3,788.9,13.4,688,9926,0.00,2.12,0.00,0.000,4,0.000,0.038,2514,713,1849,0,0,0,0,0,0
$GC,9999,0.56,249.3,778.1,13.8,691,10006,0.00,2.15,0.00,0.000,6,0.000,0.032,2514,2118,1849,0,0,0,0,0,0
$GC,10316,0.56,249.3,727.8,16.8,707,10320,0.00,2.20,0.00,0.000,4,0.000,0.044,2514,3540,1848,0,0,0,0,0,0
$GC,10406,0.56,249.3,710.8,19.1,711,10410,0.00,2.15,0.00,0.000,6,0.000,0.027,2524,2117,1848,0,0,0,0,0,0
$GC,10733,0.56,249.3,656.7,15.1,727,10737,0.00,2.12,0.00,0.000,4,0.000,0.037,2533,714,1848,0,0,0,0,0,0
$GC,10818,0.56,249.3,645.1,13.1,731,10823,0.12,2.12,0.00,0.000,6,0.164,0.033,2501,2103,1848,0,0,0,0,0,0
$GC,11148,0.69,348.9,615.0,8.5,747,11234,0.12,2.38,74.70,0.861,4,0.096,0.043,2554,3538,1445,0,0,0,0,0,0
$GC,11262,0.69,348.9,599.0,15.4,752,11266,0.00,2.25,0.00,0.000,6,0.000,0.026,2564,2103,1445,0,0,0,0,0,0
$GC,11590,0.69,348.9,541.6,19.5,768,11594,0.00,2.12,0.00,0.000,4,0.000,0.037,2575,714,1445,0,0,0,0,0,0
$GC,11630,0.69,348.9,533.4,20.2,770,11634,0.12,2.15,0.00,0.000,6,0.161,0.033,2543,2103,1445,0,0,0,0,0,0
$GC,11950,0.69,348.9,476.2,16.0,792,11954,0.00,2.22,0.00,0.000,4,0.000,0.044,2543,3533,1445,0,0,0,0,0,0
$GC,12035,0.69,348.9,462.5,16.0,799,12039,0.00,2.15,0.00,0.000,6,0.000,0.027,2550,2120,1445,0,0,0,0,0,0
$GC,12360,0.69,348.9,413.0,16.2,829,12364,0.00,2.12,0.00,0.000,4,0.000,0.037,2561,720,1445,0,0,0,0,0,0
$GC,12422,0.69,348.9,402.9,15.8,834,12426,0.00,2.17,0.00,0.000,6,0.000,0.034,2562,2135,1446,0,0,0,0,0,0
$GC,12748,0.69,348.9,351.1,14.6,864,12752,0.00,2.17,0.00,0.000,4,0.000,0.044,2562,3541,1447,0,0,0,0,0,0
$GC,12814,0.69,348.9,340.1,16.6,869,12821,0.00,2.15,0.00,0.000,6,0.000,0.026,2571,2119,1447,0,0,0,0,0,0
$GC,13140,0.69,348.9,281.3,18.3,900,13144,0.12,2.22,0.00,0.000,4,0.174,0.043,2540,3535,1447,0,0,0,0,0,0
$GC,13199,0.69,348.9,271.1,16.0,905,13206,0.00,2.08,0.00,0.000,6,0.000,0.027,2548,2158,1448,0,0,0,0,0,0
$GC,13525,0.74,396.5,227.5,10.2,936,13571,0.00,2.25,36.47,0.614,4,0.000,0.036,2558,727,1251,0,0,0,0,0,0
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$STATE,15270,end climb,SURFACE_DEPTH_REACHED
$STATE,15270,begin surface coast
$FINISH,0.1,1.008360
$STATE,15291,end surface coast,CONTROL_FINISHED_OK
$STATE,15291,begin surface
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$IRIDIUM_FIX,2020.26,11959.82,020811,151533
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.69
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,10.0,43.148
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.650,173.725,655.875,0.000,0.000,29.506,19.468,178.408,0.000,0.000,19.782,2981.428,8762.894,699.119,2937.909,359.751,0.000,2042.018,0.000,2665.497,0.000,0.542,0.000
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$SENSOR_SECS,855.843,0.000,1019.069,0.000,0.000,0.000,836.073,0.000,0.000,0.000
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$MEM,323028
$DATA_FILE_SIZE,73632,1231
$CAP_FILE_SIZE,174034,0
$CFSIZE,260165632,224776192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,234936,2031.511,12001.822,25,1.3,25,-2.3