version: 66.09
glider: 181
mission: 6
dive: 356
start: 8 16 111 17 34 39
data:
$ID,181
$MISSION,6
$DIVE,356
$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,-7
$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,-40983.852
$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,38
$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
$GPS1,160811,172806,2145.536,11959.657,35,0.9,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.2
$GPS2,160811,173414,2145.509,11959.717,11,1.0,11,-2.6
$SPEED_LIMITS,0.204,0.329
$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,182.5,306522,-16.3,-11.786
$D_GRID,2492
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,70,0.00,0.00,-51.58,0.000,2,0.000,0.000,200,2623,2247,0,0,0,0,0,0
$GC,73,-0.54,-219.0,3.2,-4.1,8,122,8.05,2.15,-32.53,0.000,4,0.229,0.038,2136,1184,3763,0,0,0,0,0,0
$GC,147,-0.54,-219.0,24.4,-36.2,19,154,0.00,2.20,0.00,0.000,6,0.000,0.041,2127,2592,3764,0,0,0,0,0,0
$GC,285,-0.54,-219.0,63.0,-25.2,44,293,0.00,1.85,0.00,0.000,4,0.000,0.043,2118,3780,3763,0,0,0,0,0,0
$GC,362,-0.54,-219.0,81.4,-18.8,57,369,0.00,1.67,0.00,0.000,6,0.000,0.024,2117,2645,3763,0,0,0,0,0,0
$GC,500,-0.54,-219.0,116.1,-26.9,82,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2643,3763,0,0,0,0,0,0
$GC,639,-0.54,-219.0,148.2,-21.1,107,646,0.00,2.08,0.00,0.000,4,0.000,0.025,2118,1206,3764,0,0,0,0,0,0
$GC,731,-0.54,-219.0,163.2,-14.9,123,738,0.12,2.33,0.00,0.000,6,0.151,0.034,2146,2725,3765,0,0,0,0,0,0
$GC,874,-0.54,-219.0,180.7,-12.4,148,882,0.00,1.62,0.00,0.000,4,0.000,0.042,2140,3784,3765,0,0,0,0,0,0
$GC,900,-0.54,-219.0,184.7,-13.5,152,908,0.00,1.58,0.00,0.000,6,0.000,0.022,2140,2706,3765,0,0,0,0,0,0
$GC,1047,-0.54,-219.0,201.3,-11.7,177,1051,0.00,2.17,0.00,0.000,4,0.000,0.027,2140,1212,3766,0,0,0,0,0,0
$GC,1093,-0.54,-219.0,206.6,-10.8,181,1098,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2685,3765,0,0,0,0,0,0
$GC,1419,-0.54,-219.0,246.5,-12.0,211,1423,0.00,2.17,0.00,0.000,4,0.000,0.027,2139,1209,3766,0,0,0,0,0,0
$GC,1436,-0.54,-219.0,248.9,-12.3,212,1441,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2679,3764,0,0,0,0,0,0
$GC,1762,-0.54,-219.0,285.6,-10.9,242,1766,0.00,1.67,0.00,0.000,4,0.000,0.044,2138,3792,3763,0,0,0,0,0,0
$GC,1778,-0.54,-219.0,287.4,-10.8,243,1785,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2673,3763,0,0,0,0,0,0
$GC,2104,-0.54,-219.0,321.1,-10.2,274,2108,0.00,2.12,0.00,0.000,4,0.000,0.028,2135,1215,3761,0,0,0,0,0,0
$GC,2170,-0.54,-219.0,327.7,-9.1,279,2177,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2661,3760,0,0,0,0,0,0
$GC,2496,-0.54,-219.0,361.3,-10.6,310,2500,0.00,2.15,0.00,0.000,4,0.000,0.028,2138,1211,3757,0,0,0,0,0,0
$GC,2526,-0.54,-219.0,364.4,-10.4,312,2530,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2638,3758,0,0,0,0,0,0
$GC,2857,-0.54,-219.0,394.7,-9.1,343,2861,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1206,3754,0,0,0,0,0,0
$GC,2886,-0.54,-219.0,397.4,-9.0,345,2890,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2621,3754,0,0,0,0,0,0
$GC,3211,-0.54,-219.0,427.2,-9.2,375,3215,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3774,3751,0,0,0,0,0,0
$GC,3235,-0.54,-219.0,429.3,-9.1,377,3239,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2617,3751,0,0,0,0,0,0
$GC,3566,-0.54,-219.0,462.3,-10.9,408,3570,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1206,3749,0,0,0,0,0,0
$GC,3640,-0.54,-219.0,469.7,-9.2,414,3644,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2591,3748,0,0,0,0,0,0
$GC,3966,-0.54,-219.0,497.3,-7.1,444,3969,0.00,1.80,0.00,0.000,4,0.000,0.045,2130,3777,3745,0,0,0,0,0,0
$GC,3989,-0.54,-219.0,499.1,-7.2,446,3993,0.00,1.75,0.00,0.000,6,0.000,0.024,2129,2572,3745,0,0,0,0,0,0
$GC,4322,-0.54,-219.0,523.5,-8.1,463,4325,0.00,2.03,0.00,0.000,4,0.000,0.030,2130,1203,3743,0,0,0,0,0,0
$GC,4372,-0.54,-219.0,527.8,-8.1,465,4376,0.00,2.10,0.00,0.000,6,0.000,0.034,2127,2578,3743,0,0,0,0,0,0
$GC,4696,-0.54,-219.0,560.6,-11.2,481,4700,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3783,3740,0,0,0,0,0,0
$GC,4747,-0.54,-219.0,566.6,-10.6,483,4750,0.00,1.75,0.00,0.000,6,0.000,0.025,2125,2589,3740,0,0,0,0,0,0
$GC,5076,-0.54,-219.0,606.8,-12.6,499,5079,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1206,3738,0,0,0,0,0,0
$GC,5144,-0.54,-219.0,615.2,-11.5,502,5148,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2584,3737,0,0,0,0,0,0
$GC,5473,-0.54,-219.0,649.1,-9.3,518,5476,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3787,3734,0,0,0,0,0,0
$GC,5506,-0.54,-219.0,652.5,-9.0,519,5510,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2574,3735,0,0,0,0,0,0
$GC,5830,-0.54,-219.0,681.3,-9.5,535,5834,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1206,3732,0,0,0,0,0,0
$GC,5858,-0.54,-219.0,684.5,-9.8,536,5862,0.00,2.15,0.00,0.000,6,0.000,0.036,2125,2572,3732,0,0,0,0,0,0
$GC,6185,-0.54,-219.0,716.8,-10.3,552,6189,0.00,1.88,0.00,0.000,4,0.000,0.048,2125,3786,3730,0,0,0,0,0,0
$GC,6209,-0.54,-219.0,719.2,-10.2,553,6213,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2572,3730,0,0,0,0,0,0
$GC,6544,-0.54,-219.0,753.5,-10.3,569,6548,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1206,3728,0,0,0,0,0,0
$GC,6594,-0.54,-219.0,758.8,-9.8,571,6598,0.00,2.10,0.00,0.000,6,0.000,0.034,2125,2575,3728,0,0,0,0,0,0
$GC,6924,-0.54,-219.0,789.6,-8.8,587,6928,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1211,3726,0,0,0,0,0,0
$GC,6959,-0.54,-219.0,792.9,-8.1,588,6966,0.00,2.10,0.00,0.000,6,0.000,0.036,2125,2562,3726,0,0,0,0,0,0
$GC,7276,-0.54,-219.0,817.0,-7.3,604,7280,0.00,1.90,0.00,0.000,4,0.000,0.049,2125,3786,3724,0,0,0,0,0,0
$GC,7338,-0.54,-219.0,821.2,-6.7,606,7345,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2574,3724,0,0,0,0,0,0
$GC,7654,-0.54,-219.0,842.8,-6.9,622,7658,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1205,3722,0,0,0,0,0,0
$GC,7694,-0.54,-219.0,845.8,-7.3,623,7700,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2573,3722,0,0,0,0,0,0
$GC,8012,-0.54,-219.0,869.0,-7.8,639,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2573,3721,0,0,0,0,0,0
$GC,8319,-0.54,-219.0,894.7,-8.7,654,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2572,3719,0,0,0,0,0,0
$GC,8629,-0.54,-219.0,924.3,-9.9,669,8633,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1200,3716,0,0,0,0,0,0
$GC,8662,-0.54,-219.0,927.9,-10.0,670,8666,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2574,3718,0,0,0,0,0,0
$GC,8985,-0.54,-219.0,961.1,-10.4,686,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2576,3717,0,0,0,0,0,0
$STATE,9270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9270,begin apogee
$GC,9277,-0.13,0.0,991.2,10.1,700,9448,0.45,0.00,165.95,1.089,4,0.112,0.000,2274,2102,2870,0,0,0,0,0,0
$STATE,9449,end apogee,CONTROL_FINISHED_OK
$STATE,9449,begin climb
$GC,9451,0.54,219.0,1002.5,0.0,708,9642,0.62,2.20,177.77,1.066,4,0.054,0.037,2509,748,1976,0,0,0,0,0,0
$GC,9743,0.54,219.0,983.2,12.2,721,9747,0.00,2.20,0.00,0.000,6,0.000,0.032,2509,2137,1975,0,0,0,0,0,0
$GC,10065,0.54,219.0,937.2,15.0,737,10069,0.00,2.15,0.00,0.000,4,0.000,0.035,2518,738,1974,0,0,0,0,0,0
$GC,10255,0.54,219.0,907.6,15.8,745,10262,0.00,2.17,0.00,0.000,6,0.000,0.033,2519,2120,1974,0,0,0,0,0,0
$GC,10572,0.54,219.0,856.4,16.3,761,10576,0.00,2.20,0.00,0.000,4,0.000,0.043,2518,3542,1973,0,0,0,0,0,0
$GC,10594,0.54,219.0,852.0,17.1,762,10599,0.12,2.10,0.00,0.000,6,0.186,0.025,2499,2139,1973,0,0,0,0,0,0
$GC,10915,0.54,219.0,803.1,14.6,778,10919,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,728,1972,0,0,0,0,0,0
$GC,10973,0.54,219.0,795.0,14.2,780,10980,0.00,2.17,0.00,0.000,6,0.000,0.032,2508,2140,1972,0,0,0,0,0,0
$GC,11289,0.54,219.0,751.2,13.2,796,11293,0.00,2.15,0.00,0.000,4,0.000,0.043,2508,3539,1972,0,0,0,0,0,0
$GC,11332,0.54,219.0,744.8,14.1,798,11336,0.00,2.12,0.00,0.000,6,0.000,0.027,2517,2125,1971,0,0,0,0,0,0
$GC,11661,0.58,249.4,707.6,10.7,814,11691,0.00,2.22,24.15,0.890,4,0.000,0.037,2528,716,1852,0,0,0,0,0,0
$GC,11781,0.64,298.4,694.9,10.0,819,11827,0.00,2.17,38.80,0.877,6,0.000,0.032,2528,2121,1651,0,0,0,0,0,0
$GC,12144,0.65,311.5,656.2,11.3,837,12161,0.00,2.22,11.40,0.793,4,0.000,0.041,2528,3537,1600,0,0,0,0,0,0
$GC,12239,0.65,311.5,643.4,14.0,840,12244,0.00,2.12,0.00,0.000,6,0.000,0.027,2537,2139,1599,0,0,0,0,0,0
$GC,12556,0.65,311.5,595.3,16.0,855,12560,0.00,2.15,0.00,0.000,4,0.000,0.037,2548,720,1599,0,0,0,0,0,0
$GC,12650,0.65,311.5,579.8,15.7,859,12654,0.00,2.15,0.00,0.000,6,0.000,0.031,2548,2122,1599,0,0,0,0,0,0
$GC,12975,0.65,311.5,523.7,17.5,875,12979,0.00,2.17,0.00,0.000,4,0.000,0.043,2548,3538,1602,0,0,0,0,0,0
$GC,13041,0.65,311.5,510.8,18.8,878,13045,0.00,2.12,0.00,0.000,6,0.000,0.027,2558,2120,1599,0,0,0,0,0,0
$GC,13365,0.65,311.5,456.0,16.4,905,13369,0.00,2.10,0.00,0.000,4,0.000,0.036,2568,723,1599,0,0,0,0,0,0
$GC,13451,0.65,311.5,443.6,13.8,912,13456,0.15,2.12,0.00,0.000,6,0.155,0.032,2528,2111,1600,0,0,0,0,0,0
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$STATE,17002,end climb,SURFACE_DEPTH_REACHED
$STATE,17003,begin surface coast
$FINISH,0.4,1.009492
$STATE,17031,end surface coast,CONTROL_FINISHED_OK
$STATE,17032,begin surface
$SM_CCo,17109,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,2131.85,11957.35,160811,131329
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.13
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,9.8,53.160
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.250,183.200,647.975,0.000,0.000,22.892,16.136,176.598,0.000,0.000,14.162,3356.144,9828.725,712.148,3172.247,394.268,0.000,2162.260,0.000,2457.997,0.000,0.541,0.000
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$SENSOR_SECS,959.897,2101.634,667.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323560
$DATA_FILE_SIZE,93810,1381
$CAP_FILE_SIZE,190819,0
$CFSIZE,260165632,217911296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160811,222101,2144.409,11959.460,35,1.9,35,-2.6