version: 66.09
glider: 181
mission: 6
dive: 438
start: 9 2 111 12 48 51
data:
$ID,181
$MISSION,6
$DIVE,438
$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,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,-41115.699
$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,42
$R_STBD_OVSHOOT,71
$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
$GPS1,020911,124007,1959.646,12012.867,31,1.3,31,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.2
$GPS2,020911,124826,1959.569,12013.013,12,1.3,12,-2.2
$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,193.9,112650,-16.3,-11.786
$D_GRID,3910
$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,17,-0.54,-219.0,0.0,0.0,0,87,0.00,0.00,-67.18,0.000,2,0.000,0.000,171,2640,2345,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.2,-3.2,12,138,8.32,2.20,-30.70,0.000,4,0.230,0.040,2135,1169,3764,0,0,0,0,0,0
$GC,156,-0.54,-219.0,21.4,-31.6,23,163,0.00,2.17,0.00,0.000,6,0.000,0.041,2126,2561,3765,0,0,0,0,0,0
$GC,299,-0.54,-219.0,61.5,-34.7,48,306,0.00,1.88,0.00,0.000,4,0.000,0.044,2117,3785,3765,0,0,0,0,0,0
$GC,347,-0.54,-219.0,72.4,-21.7,56,354,0.00,1.92,0.00,0.000,6,0.000,0.024,2116,2473,3764,0,0,0,0,0,0
$GC,490,-0.54,-219.0,106.9,-27.7,81,496,0.00,1.88,0.00,0.000,4,0.000,0.026,2117,1170,3765,0,0,0,0,0,0
$GC,571,-0.54,-219.0,122.0,-13.4,95,579,0.12,1.88,0.00,0.000,6,0.150,0.033,2147,2416,3765,0,0,0,0,0,0
$GC,716,-0.54,-219.0,135.5,-8.3,120,723,0.00,2.10,0.00,0.000,4,0.000,0.041,2139,3792,3765,0,0,0,0,0,0
$GC,792,-0.54,-219.0,141.6,-7.8,133,799,0.00,2.00,0.00,0.000,6,0.000,0.024,2139,2438,3766,0,0,0,0,0,0
$GC,938,-0.54,-219.0,152.8,-7.7,158,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2436,3766,0,0,0,0,0,0
$GC,1080,-0.54,-219.0,166.8,-10.2,183,1086,0.00,2.10,0.00,0.000,4,0.000,0.041,2138,3794,3766,0,0,0,0,0,0
$GC,1150,-0.54,-219.0,174.3,-10.5,195,1157,0.00,2.00,0.00,0.000,6,0.000,0.024,2138,2442,3766,0,0,0,0,0,0
$GC,1295,-0.54,-219.0,190.9,-11.5,220,1302,0.00,2.08,0.00,0.000,4,0.000,0.042,2138,3786,3765,0,0,0,0,0,0
$GC,1327,-0.54,-219.0,194.7,-11.4,225,1334,0.00,1.92,0.00,0.000,6,0.000,0.025,2138,2468,3765,0,0,0,0,0,0
$GC,1470,-0.54,-219.0,211.1,-11.7,242,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2465,3765,0,0,0,0,0,0
$GC,1791,-0.54,-219.0,243.9,-8.5,272,1794,0.00,2.05,0.00,0.000,4,0.000,0.042,2138,3789,3764,0,0,0,0,0,0
$GC,1897,-0.54,-219.0,251.7,-7.0,281,1904,0.00,1.88,0.00,0.000,6,0.000,0.025,2138,2496,3763,0,0,0,0,0,0
$GC,2223,-0.54,-219.0,275.6,-8.6,312,2226,0.00,2.00,0.00,0.000,4,0.000,0.043,2138,3788,3761,0,0,0,0,0,0
$GC,2269,-0.54,-219.0,279.7,-8.8,316,2273,0.00,1.85,0.00,0.000,6,0.000,0.026,2138,2520,3760,0,0,0,0,0,0
$GC,2600,-0.54,-219.0,317.6,-12.3,347,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2517,3758,0,0,0,0,0,0
$GC,2921,-0.54,-219.0,355.9,-12.0,377,2925,0.00,1.98,0.00,0.000,4,0.000,0.044,2138,3789,3755,0,0,0,0,0,0
$GC,2971,-0.54,-219.0,362.7,-12.5,381,2978,0.00,1.88,0.00,0.000,6,0.000,0.026,2138,2542,3753,0,0,0,0,0,0
$GC,3297,-0.54,-219.0,396.3,-8.6,412,3301,0.00,1.92,0.00,0.000,4,0.000,0.044,2138,3788,3751,0,0,0,0,0,0
$GC,3388,-0.54,-219.0,403.4,-7.5,420,3391,0.00,1.98,0.00,0.000,6,0.000,0.026,2138,2449,3751,0,0,0,0,0,0
$GC,3719,-0.54,-219.0,428.7,-9.1,451,3723,0.00,2.08,0.00,0.000,4,0.000,0.043,2138,3786,3748,0,0,0,0,0,0
$GC,3748,-0.54,-219.0,431.6,-9.7,453,3752,0.00,1.98,0.00,0.000,6,0.000,0.027,2138,2479,3748,0,0,0,0,0,0
$GC,4079,-0.54,-219.0,465.8,-10.4,484,4082,0.00,1.90,0.00,0.000,4,0.000,0.031,2138,1186,3745,0,0,0,0,0,0
$GC,4129,-0.54,-219.0,471.1,-10.0,488,4135,0.00,2.03,0.00,0.000,6,0.000,0.032,2138,2519,3745,0,0,0,0,0,0
$GC,4464,-0.54,-219.0,501.9,-8.4,519,4468,0.00,1.95,0.00,0.000,4,0.000,0.046,2138,3787,3742,0,0,0,0,0,0
$GC,4487,-0.54,-219.0,504.1,-8.5,520,4491,0.00,1.95,0.00,0.000,6,0.000,0.027,2138,2473,3741,0,0,0,0,0,0
$GC,4821,-0.54,-219.0,528.1,-6.2,536,4825,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3784,3740,0,0,0,0,0,0
$GC,4905,-0.54,-219.0,533.4,-6.2,539,4912,0.00,2.03,0.00,0.000,6,0.000,0.027,2138,2420,3739,0,0,0,0,0,0
$GC,5222,-0.54,-219.0,549.8,-5.0,555,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2420,3737,0,0,0,0,0,0
$GC,5531,-0.54,-219.0,566.0,-5.5,570,5535,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,3792,3734,0,0,0,0,0,0
$GC,5620,-0.54,-219.0,572.5,-7.5,574,5624,0.00,2.03,0.00,0.000,6,0.000,0.028,2138,2437,3735,0,0,0,0,0,0
$GC,5948,-0.54,-219.0,595.7,-7.2,590,5952,0.00,2.12,0.00,0.000,4,0.000,0.044,2138,3792,3732,0,0,0,0,0,0
$GC,5993,-0.54,-219.0,599.4,-7.8,592,5996,0.00,2.00,0.00,0.000,6,0.000,0.028,2138,2461,3732,0,0,0,0,0,0
$GC,6321,-0.54,-219.0,626.2,-8.7,608,6325,0.00,2.08,0.00,0.000,4,0.000,0.045,2138,3784,3731,0,0,0,0,0,0
$GC,6365,-0.54,-219.0,630.3,-9.1,610,6369,0.00,1.98,0.00,0.000,6,0.000,0.028,2138,2464,3730,0,0,0,0,0,0
$GC,6692,-0.54,-219.0,659.9,-8.9,626,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2461,3729,0,0,0,0,0,0
$GC,7003,-0.54,-219.0,687.0,-8.2,641,7006,0.00,1.90,0.00,0.000,4,0.000,0.034,2143,1186,3728,0,0,0,0,0,0
$GC,7013,-0.54,-219.0,688.2,-7.9,641,7016,0.00,2.00,0.00,0.000,6,0.000,0.034,2143,2500,3727,0,0,0,0,0,0
$GC,7335,-0.54,-219.0,710.7,-6.6,657,7338,0.00,1.98,0.00,0.000,4,0.000,0.045,2144,3786,3726,0,0,0,0,0,0
$GC,7386,-0.54,-219.0,714.0,-6.5,659,7390,0.00,1.98,0.00,0.000,6,0.000,0.028,2143,2493,3726,0,0,0,0,0,0
$GC,7713,-0.54,-219.0,731.1,-4.3,675,7717,0.00,2.05,0.00,0.000,4,0.000,0.047,2144,3792,3724,0,0,0,0,0,0
$GC,7860,-0.54,-219.0,738.1,-4.8,681,7865,0.00,1.98,0.00,0.000,6,0.000,0.028,2147,2505,3723,0,0,0,0,0,0
$GC,8182,-0.54,-219.0,754.1,-5.6,697,8186,0.00,2.03,0.00,0.000,4,0.000,0.047,2148,3788,3723,0,0,0,0,0,0
$GC,8229,-0.54,-219.0,756.8,-6.0,699,8232,0.00,1.90,0.00,0.000,6,0.000,0.028,2147,2515,3722,0,0,0,0,0,0
$GC,8562,-0.54,-219.0,779.5,-7.7,715,8566,0.00,2.00,0.00,0.000,4,0.000,0.036,2147,1194,3721,0,0,0,0,0,0
$GC,8704,-0.54,-219.0,792.2,-9.5,721,8707,0.00,2.08,0.00,0.000,6,0.000,0.035,2147,2536,3720,0,0,0,0,0,0
$GC,9032,-0.54,-219.0,824.8,-10.5,737,9036,0.00,1.95,0.00,0.000,4,0.000,0.047,2147,3790,3720,0,0,0,0,0,0
$GC,9104,-0.54,-219.0,833.5,-11.6,740,9108,0.00,1.90,0.00,0.000,6,0.000,0.028,2147,2517,3719,0,0,0,0,0,0
$GC,9432,-0.54,-219.0,871.9,-12.1,756,9435,0.00,2.00,0.00,0.000,4,0.000,0.047,2147,3789,3719,0,0,0,0,0,0
$GC,9477,-0.54,-219.0,877.4,-12.4,758,9481,0.00,1.90,0.00,0.000,6,0.000,0.029,2147,2520,3718,0,0,0,0,0,0
$STATE,9622,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9622,begin apogee
$GC,9629,-0.13,0.0,894.3,11.3,765,9800,0.32,0.00,166.98,1.016,4,0.059,0.000,2290,2110,2869,0,0,0,0,0,0
$STATE,9801,end apogee,CONTROL_FINISHED_OK
$STATE,9801,begin climb
$GC,9804,0.54,219.0,908.8,0.0,773,9989,0.55,2.22,175.43,0.998,4,0.046,0.038,2508,730,1975,0,0,0,0,0,0
$GC,10024,0.56,236.8,899.1,11.1,783,10045,0.00,2.25,15.98,0.897,6,0.000,0.033,2509,2137,1903,0,0,0,0,0,0
$GC,10358,0.56,236.8,855.3,13.6,799,10362,0.00,2.20,0.00,0.000,4,0.000,0.045,2509,3541,1901,0,0,0,0,0,0
$GC,10379,0.56,236.8,851.6,14.0,800,10383,0.00,2.15,0.00,0.000,6,0.000,0.030,2518,2135,1900,0,0,0,0,0,0
$GC,10708,0.56,236.8,807.1,13.0,816,10712,0.00,2.15,0.00,0.000,4,0.000,0.037,2529,719,1900,0,0,0,0,0,0
$GC,10757,0.56,236.8,800.1,13.4,818,10761,0.00,2.17,0.00,0.000,6,0.000,0.034,2530,2138,1901,0,0,0,0,0,0
$GC,11079,0.56,236.8,759.1,12.3,834,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2138,1900,0,0,0,0,0,0
$GC,11389,0.58,247.1,723.7,11.4,849,11404,0.00,2.20,9.45,0.817,4,0.000,0.044,2529,3535,1860,0,0,0,0,0,0
$GC,11466,0.58,247.1,713.2,13.8,852,11471,0.12,2.12,0.00,0.000,6,0.181,0.030,2508,2139,1860,0,0,0,0,0,0
$GC,11789,0.61,271.0,677.9,10.9,868,11814,0.00,2.25,19.80,0.841,4,0.000,0.040,2518,726,1764,0,0,0,0,0,0
$GC,11878,0.62,284.1,667.7,11.3,872,11899,0.00,2.20,11.75,0.771,6,0.000,0.034,2518,2147,1710,0,0,0,0,0,0
$GC,12210,0.62,284.1,626.4,12.3,888,12214,0.00,2.17,0.00,0.000,4,0.000,0.045,2518,3537,1709,0,0,0,0,0,0
$GC,12287,0.62,284.1,615.6,13.6,891,12294,0.00,2.12,0.00,0.000,6,0.000,0.031,2527,2148,1709,0,0,0,0,0,0
$GC,12605,0.65,304.8,579.1,11.0,907,12628,0.00,2.30,17.85,0.786,4,0.000,0.041,2538,713,1625,0,0,0,0,0,0
$GC,12721,0.68,333.3,566.3,10.7,912,12751,0.00,2.22,22.92,0.770,6,0.000,0.035,2539,2142,1510,0,0,0,0,0,0
$GC,13073,0.68,333.3,524.7,12.3,929,13077,0.00,2.20,0.00,0.000,4,0.000,0.045,2538,3540,1512,0,0,0,0,0,0
$GC,13196,0.68,333.3,508.5,12.7,934,13200,0.00,2.08,0.00,0.000,6,0.000,0.029,2548,2174,1513,0,0,0,0,0,0
$GC,13525,0.68,333.3,467.7,13.4,962,13529,0.00,2.22,0.00,0.000,4,0.000,0.039,2559,714,1513,0,0,0,0,0,0
$GC,13599,0.68,333.3,457.1,14.8,968,13603,0.00,2.28,0.00,0.000,6,0.000,0.034,2558,2193,1513,0,0,0,0,0,0
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$STATE,17189,end climb,SURFACE_DEPTH_REACHED
$STATE,17189,begin surface coast
$FINISH,0.4,1.016520
$STATE,17209,end surface coast,CONTROL_FINISHED_OK
$STATE,17210,begin surface
$SM_CCo,17286,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1950.41,12009.44,020911,121220
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.19
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.5,71.623
$10V_AH,9.8,61.914
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.950,188.725,644.625,0.000,0.000,60.210,85.209,148.563,0.000,0.000,14.811,3419.543,10333.440,756.421,2876.618,387.183,0.000,2207.184,0.000,2548.522,0.000,0.539,0.000
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$SENSOR_SECS,985.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323060
$DATA_FILE_SIZE,83530,1425
$CAP_FILE_SIZE,195072,0
$CFSIZE,260165632,210264064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020911,173806,1958.226,12010.920,31,1.0,31,-2.2