version: 66.09
glider: 181
mission: 6
dive: 324
start: 8 10 111 7 20 20
data:
$ID,181
$MISSION,6
$DIVE,324
$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,-40936.133
$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,47
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,100811,071306,2038.922,12003.520,38,1.0,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.1
$GPS2,100811,071956,2039.096,12003.709,12,1.7,12,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,359.4,122221,-15.4,-11.786
$D_GRID,3655
$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,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-64.57,0.000,2,0.000,0.000,207,2603,2272,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.3,-3.8,10,135,7.93,1.83,-32.90,0.000,4,0.226,0.057,2124,3782,3858,0,0,0,0,0,0
$GC,230,-0.56,-243.3,64.2,-39.2,34,238,0.00,1.80,0.00,0.000,6,0.000,0.024,2123,2593,3859,0,0,0,0,0,0
$GC,371,-0.56,-243.3,101.1,-25.8,59,378,0.00,1.88,0.00,0.000,4,0.000,0.044,2114,3771,3859,0,0,0,0,0,0
$GC,441,-0.56,-243.3,120.7,-25.7,71,448,0.00,1.65,0.00,0.000,6,0.000,0.023,2114,2671,3859,0,0,0,0,0,0
$GC,580,-0.56,-243.3,155.1,-22.1,96,588,0.00,2.20,0.00,0.000,4,0.000,0.027,2115,1196,3860,0,0,0,0,0,0
$GC,679,-0.56,-243.3,166.6,-8.4,113,686,0.00,2.20,0.00,0.000,6,0.000,0.034,2112,2635,3859,0,0,0,0,0,0
$GC,819,-0.56,-243.3,185.5,-16.6,138,827,0.00,1.77,0.00,0.000,4,0.000,0.044,2111,3776,3859,0,0,0,0,0,0
$GC,845,-0.56,-243.3,190.1,-16.5,142,853,0.00,1.73,0.00,0.000,6,0.000,0.024,2111,2611,3859,0,0,0,0,0,0
$GC,985,-0.56,-243.3,211.0,-16.6,161,990,0.10,2.08,0.00,0.000,4,0.161,0.028,2138,1201,3859,0,0,0,0,0,0
$GC,1037,-0.56,-243.3,218.7,-13.5,165,1041,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2638,3859,0,0,0,0,0,0
$GC,1364,-0.56,-243.3,262.6,-11.3,195,1367,0.00,1.73,0.00,0.000,4,0.000,0.044,2131,3784,3858,0,0,0,0,0,0
$GC,1411,-0.56,-243.3,267.3,-9.9,199,1415,0.00,1.67,0.00,0.000,6,0.000,0.023,2126,2623,3858,0,0,0,0,0,0
$GC,1742,-0.56,-243.3,303.3,-11.5,230,1746,0.00,2.08,0.00,0.000,4,0.000,0.028,2130,1199,3855,0,0,0,0,0,0
$GC,1793,-0.56,-243.3,309.2,-10.7,234,1798,0.00,2.17,0.00,0.000,6,0.000,0.034,2126,2632,3857,0,0,0,0,0,0
$GC,2119,-0.56,-243.3,356.6,-14.5,264,2122,0.00,1.75,0.00,0.000,4,0.000,0.046,2125,3783,3853,0,0,0,0,0,0
$GC,2187,-0.56,-243.3,364.4,-9.8,270,2191,0.00,1.67,0.00,0.000,6,0.000,0.024,2125,2631,3852,0,0,0,0,0,0
$GC,2519,-0.56,-243.3,400.1,-9.8,301,2523,0.00,2.10,0.00,0.000,4,0.000,0.029,2125,1199,3850,0,0,0,0,0,0
$GC,2559,-0.56,-243.3,403.7,-8.9,304,2563,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2638,3850,0,0,0,0,0,0
$GC,2885,-0.56,-243.3,433.1,-10.3,334,2888,0.00,1.75,0.00,0.000,4,0.000,0.047,2125,3783,3846,0,0,0,0,0,0
$GC,2931,-0.56,-243.3,437.1,-8.7,338,2935,0.00,1.67,0.00,0.000,6,0.000,0.024,2125,2636,3846,0,0,0,0,0,0
$GC,3262,-0.56,-243.3,475.9,-13.6,369,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2630,3843,0,0,0,0,0,0
$GC,3587,-0.56,-243.3,516.6,-11.3,393,3591,0.00,2.12,0.00,0.000,4,0.000,0.030,2125,1202,3840,0,0,0,0,0,0
$GC,3643,-0.56,-243.3,522.2,-9.3,395,3650,0.00,2.17,0.00,0.000,6,0.000,0.035,2125,2618,3840,0,0,0,0,0,0
$GC,3960,-0.56,-243.3,552.1,-9.3,411,3964,0.00,1.77,0.00,0.000,4,0.000,0.047,2125,3775,3837,0,0,0,0,0,0
$GC,3988,-0.56,-243.3,554.8,-9.4,412,3992,0.00,1.73,0.00,0.000,6,0.000,0.025,2125,2598,3836,0,0,0,0,0,0
$GC,4318,-0.56,-243.3,585.2,-10.0,428,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2594,3834,0,0,0,0,0,0
$GC,4625,-0.56,-243.3,618.0,-11.2,443,4629,0.00,2.08,0.00,0.000,4,0.000,0.031,2122,1198,3831,0,0,0,0,0,0
$GC,4646,-0.56,-243.3,620.7,-11.2,444,4651,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2624,3831,0,0,0,0,0,0
$GC,4969,-0.56,-243.3,655.5,-10.3,460,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2624,3830,0,0,0,0,0,0
$GC,5279,-0.56,-243.3,684.0,-8.2,475,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2624,3829,0,0,0,0,0,0
$GC,5587,-0.56,-243.3,706.2,-6.5,490,5591,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1198,3825,0,0,0,0,0,0
$GC,5620,-0.56,-243.3,708.2,-6.3,491,5627,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2615,3825,0,0,0,0,0,0
$GC,5937,-0.56,-243.3,727.6,-6.8,507,5941,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1208,3824,0,0,0,0,0,0
$GC,5960,-0.56,-243.3,729.4,-7.2,508,5965,0.00,2.17,0.00,0.000,6,0.000,0.038,2125,2612,3824,0,0,0,0,0,0
$GC,6289,-0.56,-243.3,756.8,-9.1,524,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2612,3822,0,0,0,0,0,0
$GC,6597,-0.56,-243.3,786.6,-9.8,539,6601,0.00,2.12,0.00,0.000,4,0.000,0.032,2125,1209,3819,0,0,0,0,0,0
$GC,6624,-0.56,-243.3,789.3,-9.9,540,6628,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2598,3819,0,0,0,0,0,0
$GC,6940,-0.56,-243.3,816.8,-8.7,555,6944,0.00,1.83,0.00,0.000,4,0.000,0.050,2125,3776,3818,0,0,0,0,0,0
$GC,6979,-0.56,-243.3,819.9,-8.5,556,6986,0.00,1.77,0.00,0.000,6,0.000,0.027,2125,2607,3817,0,0,0,0,0,0
$GC,7298,-0.56,-243.3,844.2,-8.0,572,7301,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3788,3816,0,0,0,0,0,0
$GC,7321,-0.56,-243.3,846.5,-7.9,573,7325,0.00,1.95,0.00,0.000,6,0.000,0.027,2125,2498,3816,0,0,0,0,0,0
$GC,7654,-0.56,-243.3,873.0,-7.8,589,7658,0.00,2.00,0.00,0.000,4,0.000,0.044,2125,3777,3815,0,0,0,0,0,0
$GC,7912,-0.56,-243.3,895.9,-9.4,600,7915,0.00,1.95,0.00,0.000,6,0.000,0.025,2125,2468,3813,0,0,0,0,0,0
$GC,8235,-0.56,-243.3,924.6,-9.4,616,8238,0.00,1.92,0.00,0.000,4,0.000,0.033,2130,1200,3811,0,0,0,0,0,0
$GC,8426,-0.56,-243.3,944.2,-11.1,624,8430,0.00,1.95,0.00,0.000,6,0.000,0.034,2131,2473,3810,0,0,0,0,0,0
$GC,8749,-0.56,-243.3,975.4,-9.8,640,8753,0.00,1.92,0.00,0.000,4,0.000,0.032,2135,1196,3810,0,0,0,0,0,0
$STATE,8893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8893,begin apogee
$GC,8900,-0.13,0.0,990.6,10.5,646,9090,0.38,0.00,184.25,1.086,4,0.067,0.000,2287,2136,2870,0,0,0,0,0,0
$STATE,9091,end apogee,CONTROL_FINISHED_OK
$STATE,9091,begin climb
$GC,9094,0.56,243.3,1004.1,0.0,655,9302,0.57,2.33,199.77,1.063,4,0.047,0.037,2512,729,1877,0,0,0,0,0,0
$GC,9375,0.56,243.3,984.3,12.5,668,9382,0.00,2.28,0.00,0.000,6,0.000,0.034,2511,2118,1876,0,0,0,0,0,0
$GC,9692,0.56,243.3,939.6,14.7,684,9696,0.00,2.15,0.00,0.000,4,0.000,0.037,2520,729,1876,0,0,0,0,0,0
$GC,9860,0.56,243.3,915.0,14.3,691,9867,0.00,2.20,0.00,0.000,6,0.000,0.034,2521,2140,1875,0,0,0,0,0,0
$GC,10176,0.56,243.3,870.5,13.6,707,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2140,1876,0,0,0,0,0,0
$GC,10485,0.56,243.3,831.1,12.5,722,10489,0.00,2.17,0.00,0.000,4,0.000,0.036,2531,717,1873,0,0,0,0,0,0
$GC,10529,0.56,243.3,825.7,11.8,724,10534,0.12,2.15,0.00,0.000,6,0.167,0.034,2498,2118,1873,0,0,0,0,0,0
$GC,10852,0.64,311.9,794.9,9.5,740,10916,0.00,2.35,53.35,0.960,4,0.000,0.044,2498,3535,1597,0,0,0,0,0,0
$GC,11007,0.68,343.4,778.9,10.8,747,11037,0.00,2.17,25.42,0.903,6,0.000,0.028,2504,2135,1469,0,0,0,0,0,0
$GC,11360,0.69,353.9,741.1,11.4,764,11376,0.10,2.17,10.43,0.825,4,0.108,0.032,2563,711,1426,0,0,0,0,0,0
$GC,11447,0.69,353.9,729.7,14.2,767,11451,0.00,2.20,0.00,0.000,6,0.000,0.035,2563,2124,1425,0,0,0,0,0,0
$GC,11775,0.69,353.9,675.0,17.2,783,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2125,1427,0,0,0,0,0,0
$GC,12083,0.69,353.9,621.1,17.6,798,12087,0.00,2.22,0.00,0.000,4,0.000,0.045,2564,3541,1426,0,0,0,0,0,0
$GC,12115,0.69,353.9,614.7,18.7,799,12123,0.05,2.20,0.00,0.000,6,0.168,0.027,2548,2116,1426,0,0,0,0,0,0
$GC,12434,0.69,353.9,568.0,13.8,815,12438,0.00,2.12,0.00,0.000,4,0.000,0.037,2556,707,1426,0,0,0,0,0,0
$GC,12474,0.69,353.9,562.6,12.9,817,12478,0.00,2.17,0.00,0.000,6,0.000,0.034,2557,2125,1426,0,0,0,0,0,0
$GC,12801,0.69,353.9,517.7,14.1,833,12805,0.00,2.20,0.00,0.000,4,0.000,0.044,2556,3546,1426,0,0,0,0,0,0
$GC,12828,0.69,353.9,513.2,15.8,834,12832,0.00,2.17,0.00,0.000,6,0.000,0.027,2566,2103,1426,0,0,0,0,0,0
$GC,13154,0.69,353.9,461.2,15.5,860,13158,0.00,2.10,0.00,0.000,4,0.000,0.037,2577,710,1426,0,0,0,0,0,0
$GC,13216,0.69,353.9,452.0,13.9,865,13221,0.12,2.15,0.00,0.000,6,0.158,0.034,2545,2116,1427,0,0,0,0,0,0
$GC,13541,0.69,353.9,411.1,13.2,895,13545,0.00,2.20,0.00,0.000,4,0.000,0.044,2545,3538,1427,0,0,0,0,0,0
$GC,13642,0.69,353.9,396.9,13.4,903,13649,0.00,2.12,0.00,0.000,6,0.000,0.027,2552,2131,1426,0,0,0,0,0,0
$GC,13967,0.69,353.9,353.4,12.7,934,13971,0.00,2.12,0.00,0.000,4,0.000,0.035,2563,716,1427,0,0,0,0,0,0
$GC,13996,0.69,353.9,349.4,13.7,936,14000,0.00,2.17,0.00,0.000,6,0.000,0.032,2559,2140,1428,0,0,0,0,0,0
$GC,14322,0.69,353.9,304.6,14.2,966,14326,0.00,2.15,0.00,0.000,4,0.000,0.044,2563,3536,1428,0,0,0,0,0,0
$GC,14351,0.69,353.9,300.2,15.0,968,14355,0.00,2.12,0.00,0.000,6,0.000,0.027,2573,2121,1428,0,0,0,0,0,0
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$STATE,16823,end climb,SURFACE_DEPTH_REACHED
$STATE,16823,begin surface coast
$FINISH,0.2,1.003483
$STATE,16852,end surface coast,CONTROL_FINISHED_OK
$STATE,16852,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.8,48.958
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.225,174.350,666.025,0.000,0.000,29.423,29.928,194.201,0.000,0.000,15.049,3236.979,9749.110,719.860,3236.100,379.791,0.000,2145.795,0.000,2404.808,0.000,0.539,0.000
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$SENSOR_SECS,931.511,2033.254,831.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323012
$DATA_FILE_SIZE,90374,1336
$CAP_FILE_SIZE,184597,0
$CFSIZE,260165632,221011968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100811,120337,2041.270,12005.357,29,1.0,29,-2.4