version: 66.09
glider: 181
mission: 6
dive: 386
start: 8 23 111 1 46 46
data:
$ID,181
$MISSION,6
$DIVE,386
$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,-41030.465
$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,46
$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
$GPS1,230811,013507,2117.735,11946.978,41,1.0,41,-2.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.2
$GPS2,230811,014620,2117.840,11946.887,10,1.8,10,-2.5
$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,177.4,256310,-16.3,-11.786
$D_GRID,3386
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.50,0.000,2,0.000,0.000,205,2615,2270,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.1,10,135,8.10,1.80,-32.97,0.000,4,0.229,0.055,2127,3770,3761,0,0,0,0,0,0
$GC,226,-0.54,-219.0,53.0,-31.9,33,233,0.00,1.77,0.00,0.000,6,0.000,0.024,2127,2555,3760,0,0,0,0,0,0
$GC,364,-0.54,-219.0,92.9,-28.5,58,373,0.00,1.92,0.00,0.000,4,0.000,0.044,2117,3766,3758,0,0,0,0,0,0
$GC,423,-0.54,-219.0,105.1,-18.6,68,431,0.00,1.65,0.00,0.000,6,0.000,0.023,2117,2659,3759,0,0,0,0,0,0
$GC,564,-0.54,-219.0,130.7,-20.1,93,571,0.00,2.12,0.00,0.000,4,0.000,0.028,2117,1208,3759,0,0,0,0,0,0
$GC,626,-0.54,-219.0,140.6,-12.7,104,635,0.10,2.17,0.00,0.000,6,0.125,0.033,2146,2611,3758,0,0,0,0,0,0
$GC,770,-0.54,-219.0,160.7,-16.3,129,777,0.00,1.77,0.00,0.000,4,0.000,0.042,2139,3780,3759,0,0,0,0,0,0
$GC,843,-0.54,-219.0,171.9,-14.4,142,851,0.00,1.62,0.00,0.000,6,0.000,0.023,2139,2674,3759,0,0,0,0,0,0
$GC,984,-0.54,-219.0,191.9,-12.4,167,991,0.00,1.73,0.00,0.000,4,0.000,0.041,2131,3777,3759,0,0,0,0,0,0
$GC,1001,-0.54,-219.0,193.9,-12.7,169,1008,0.00,1.58,0.00,0.000,6,0.000,0.023,2131,2698,3759,0,0,0,0,0,0
$GC,1138,-0.54,-219.0,211.6,-12.9,186,1142,0.00,2.17,0.00,0.000,4,0.000,0.028,2131,1205,3759,0,0,0,0,0,0
$GC,1182,-0.54,-219.0,217.5,-12.4,189,1189,0.00,2.20,0.00,0.000,6,0.000,0.032,2125,2668,3759,0,0,0,0,0,0
$GC,1508,-0.54,-219.0,257.7,-11.7,220,1512,0.00,2.15,0.00,0.000,4,0.000,0.028,2125,1209,3758,0,0,0,0,0,0
$GC,1571,-0.54,-219.0,264.7,-10.6,225,1575,0.00,2.17,0.00,0.000,6,0.000,0.034,2125,2644,3758,0,0,0,0,0,0
$GC,1896,-0.54,-219.0,302.8,-12.2,255,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2646,3755,0,0,0,0,0,0
$GC,2217,-0.54,-219.0,336.7,-9.3,285,2220,0.00,1.73,0.00,0.000,4,0.000,0.045,2125,3779,3752,0,0,0,0,0,0
$GC,2234,-0.54,-219.0,338.7,-9.5,286,2241,0.00,1.67,0.00,0.000,6,0.000,0.024,2125,2631,3752,0,0,0,0,0,0
$GC,2559,-0.54,-219.0,371.7,-10.1,317,2563,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1199,3749,0,0,0,0,0,0
$GC,2621,-0.54,-219.0,377.2,-8.4,322,2628,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2620,3748,0,0,0,0,0,0
$GC,2947,-0.54,-219.0,407.2,-8.9,353,2950,0.00,1.77,0.00,0.000,4,0.000,0.045,2117,3789,3744,0,0,0,0,0,0
$GC,2982,-0.54,-219.0,410.5,-9.1,356,2985,0.00,1.73,0.00,0.000,6,0.000,0.025,2117,2606,3744,0,0,0,0,0,0
$GC,3314,-0.54,-219.0,447.5,-12.2,387,3318,0.00,2.10,0.00,0.000,4,0.000,0.031,2118,1200,3740,0,0,0,0,0,0
$GC,3360,-0.54,-219.0,452.9,-11.2,391,3365,0.12,2.17,0.00,0.000,6,0.145,0.036,2149,2615,3740,0,0,0,0,0,0
$GC,3686,-0.54,-219.0,477.7,-6.6,421,3690,0.00,2.10,0.00,0.000,4,0.000,0.030,2149,1206,3739,0,0,0,0,0,0
$GC,3707,-0.54,-219.0,479.2,-6.5,422,3714,0.00,2.12,0.00,0.000,6,0.000,0.034,2149,2600,3737,0,0,0,0,0,0
$GC,4033,-0.54,-219.0,500.3,-7.2,453,4037,0.00,2.12,0.00,0.000,4,0.000,0.031,2149,1206,3734,0,0,0,0,0,0
$GC,4073,-0.54,-219.0,503.4,-7.5,455,4077,0.00,2.10,0.00,0.000,6,0.000,0.034,2149,2582,3734,0,0,0,0,0,0
$GC,4407,-0.54,-219.0,529.8,-8.2,471,4411,0.00,1.88,0.00,0.000,4,0.000,0.045,2149,3776,3731,0,0,0,0,0,0
$GC,4666,-0.54,-219.0,554.7,-10.6,482,4669,0.00,1.85,0.00,0.000,6,0.000,0.024,2154,2516,3729,0,0,0,0,0,0
$GC,4987,-0.54,-219.0,583.0,-9.2,498,4991,0.00,1.98,0.00,0.000,4,0.000,0.044,2155,3785,3726,0,0,0,0,0,0
$GC,5110,-0.54,-219.0,595.3,-10.1,503,5114,0.00,1.92,0.00,0.000,6,0.000,0.025,2156,2509,3725,0,0,0,0,0,0
$GC,5433,-0.54,-219.0,624.3,-9.1,519,5437,0.00,2.00,0.00,0.000,4,0.000,0.044,2156,3770,3723,0,0,0,0,0,0
$GC,5570,-0.54,-219.0,638.1,-10.3,525,5573,0.00,1.85,0.00,0.000,6,0.000,0.025,2156,2512,3722,0,0,0,0,0,0
$GC,5904,-0.54,-219.0,671.4,-10.1,541,5908,0.00,2.00,0.00,0.000,4,0.000,0.044,2161,3787,3720,0,0,0,0,0,0
$GC,5982,-0.54,-219.0,679.8,-10.1,544,5985,0.00,1.88,0.00,0.000,6,0.000,0.025,2157,2517,3719,0,0,0,0,0,0
$GC,6304,-0.54,-219.0,708.5,-8.6,560,6308,0.00,1.95,0.00,0.000,4,0.000,0.032,2160,1202,3718,0,0,0,0,0,0
$GC,6382,-0.54,-219.0,715.4,-8.8,563,6386,0.00,2.00,0.00,0.000,6,0.000,0.033,2161,2511,3718,0,0,0,0,0,0
$GC,6705,-0.54,-219.0,740.7,-7.8,579,6709,0.00,1.95,0.00,0.000,4,0.000,0.045,2164,3780,3715,0,0,0,0,0,0
$GC,6732,-0.54,-219.0,743.1,-7.9,580,6736,0.00,1.88,0.00,0.000,6,0.000,0.025,2160,2519,3715,0,0,0,0,0,0
$GC,7060,-0.54,-219.0,772.4,-10.0,596,7063,0.00,1.95,0.00,0.000,4,0.000,0.033,2167,1200,3713,0,0,0,0,0,0
$GC,7220,-0.54,-219.0,789.3,-11.0,603,7223,0.00,2.00,0.00,0.000,6,0.000,0.034,2167,2506,3713,0,0,0,0,0,0
$GC,7555,-0.54,-219.0,824.0,-9.8,619,7558,0.00,1.95,0.00,0.000,4,0.000,0.031,2172,1207,3711,0,0,0,0,0,0
$GC,7648,-0.54,-219.0,833.0,-9.0,623,7652,0.00,1.95,0.00,0.000,6,0.000,0.033,2172,2489,3711,0,0,0,0,0,0
$GC,7981,-0.54,-219.0,860.5,-7.7,639,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2490,3710,0,0,0,0,0,0
$GC,8291,-0.54,-219.0,884.4,-8.1,654,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2490,3709,0,0,0,0,0,0
$GC,8600,-0.54,-219.0,910.4,-8.5,669,8603,0.00,1.95,0.00,0.000,4,0.000,0.032,2174,1196,3708,0,0,0,0,0,0
$GC,8655,-0.54,-219.0,915.5,-8.9,671,8659,0.00,1.98,0.00,0.000,6,0.000,0.034,2174,2488,3707,0,0,0,0,0,0
$GC,8978,-0.54,-219.0,944.5,-9.3,687,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2488,3706,0,0,0,0,0,0
$GC,9287,-0.54,-219.0,974.3,-9.9,702,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2488,3704,0,0,0,0,0,0
$STATE,9450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9450,begin apogee
$GC,9456,-0.13,0.0,990.8,10.2,710,9627,0.25,0.00,164.77,1.089,4,0.068,0.000,2287,2116,2869,0,0,0,0,0,0
$STATE,9628,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9630,0.54,219.0,1002.9,0.0,718,9818,0.55,2.25,178.20,1.066,4,0.046,0.037,2507,735,1975,0,0,0,0,0,0
$GC,9987,0.54,219.0,975.1,11.9,734,9994,0.00,2.20,0.00,0.000,6,0.000,0.034,2507,2127,1974,0,0,0,0,0,0
$GC,10303,0.54,219.0,933.5,13.1,750,10307,0.00,2.15,0.00,0.000,4,0.000,0.037,2516,733,1973,0,0,0,0,0,0
$GC,10478,0.54,219.0,911.0,12.8,758,10482,0.00,2.20,0.00,0.000,6,0.000,0.035,2516,2146,1972,0,0,0,0,0,0
$GC,10810,0.54,219.0,865.4,13.8,774,10814,0.00,2.17,0.00,0.000,4,0.000,0.044,2516,3544,1971,0,0,0,0,0,0
$GC,10843,0.54,219.0,860.7,14.0,775,10850,0.00,2.10,0.00,0.000,6,0.000,0.029,2526,2159,1971,0,0,0,0,0,0
$GC,11160,0.54,219.0,817.0,13.7,791,11165,0.12,2.20,0.00,0.000,4,0.188,0.038,2506,725,1970,0,0,0,0,0,0
$GC,11245,0.54,219.0,806.5,12.0,795,11249,0.00,2.17,0.00,0.000,6,0.000,0.034,2506,2138,1971,0,0,0,0,0,0
$GC,11573,0.56,235.0,768.6,11.2,811,11595,0.00,2.25,13.27,0.886,4,0.000,0.044,2506,3540,1911,0,0,0,0,0,0
$GC,11606,0.57,241.9,764.4,11.5,812,11619,0.00,2.12,7.50,0.760,6,0.000,0.026,2515,2136,1882,0,0,0,0,0,0
$GC,11928,0.57,241.9,724.8,12.5,828,11932,0.00,2.15,0.00,0.000,4,0.000,0.038,2526,726,1881,0,0,0,0,0,0
$GC,12038,0.57,241.9,711.1,12.2,833,12042,0.00,2.15,0.00,0.000,6,0.000,0.033,2526,2126,1881,0,0,0,0,0,0
$GC,12366,0.57,241.9,667.9,13.1,849,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2127,1883,0,0,0,0,0,0
$GC,12674,0.57,241.9,630.4,11.9,864,12678,0.00,2.20,0.00,0.000,4,0.000,0.044,2526,3541,1880,0,0,0,0,0,0
$GC,12706,0.57,241.9,626.0,12.4,865,12714,0.12,2.15,0.00,0.000,6,0.178,0.027,2505,2112,1880,0,0,0,0,0,0
$GC,13024,0.59,258.5,591.2,11.2,881,13046,0.00,2.17,13.98,0.801,4,0.000,0.038,2514,729,1815,0,0,0,0,0,0
$GC,13108,0.60,268.8,581.1,11.4,884,13124,0.00,2.12,9.77,0.719,6,0.000,0.033,2514,2105,1772,0,0,0,0,0,0
$GC,13450,0.61,277.4,541.6,11.5,901,13464,0.00,2.30,7.88,0.703,4,0.000,0.044,2514,3537,1738,0,0,0,0,0,0
$GC,13527,0.62,286.4,532.1,11.5,904,13542,0.00,2.15,8.85,0.678,6,0.000,0.027,2524,2122,1702,0,0,0,0,0,0
$GC,13863,0.70,350.2,496.7,9.5,922,13919,0.00,2.22,49.25,0.769,4,0.000,0.034,2534,713,1440,0,0,0,0,0,0
$GC,13977,0.79,418.8,485.4,9.3,932,14037,0.12,2.17,54.25,0.746,6,0.093,0.033,2588,2108,1161,0,0,0,0,0,0
$GC,14356,0.79,418.8,426.9,16.9,967,14360,0.00,2.25,0.00,0.000,4,0.000,0.044,2588,3539,1161,0,0,0,0,0,0
$GC,14447,0.79,418.8,409.4,19.6,975,14451,0.00,2.15,0.00,0.000,6,0.000,0.028,2598,2127,1162,0,0,0,0,0,0
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$STATE,17568,end climb,SURFACE_DEPTH_REACHED
$STATE,17568,begin surface coast
$FINISH,0.2,1.009231
$STATE,17599,end surface coast,CONTROL_FINISHED_OK
$STATE,17599,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.29
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.8,57.160
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.825,182.800,648.900,0.000,0.000,86.846,110.844,194.014,0.000,0.000,14.239,3406.276,10365.602,730.502,3432.702,398.775,0.000,2237.382,0.000,2593.461,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,93686,1403
$CAP_FILE_SIZE,196698,0
$CFSIZE,260165632,214839296
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230811,064236,2116.814,11947.126,33,1.1,33,-2.5