version: 66.09
glider: 181
mission: 6
dive: 491
start: 9 13 111 15 16 34
data:
$ID,181
$MISSION,6
$DIVE,491
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41203.859
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,130911,150907,1852.096,12024.146,28,1.0,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.8
$GPS2,130911,151538,1852.211,12024.217,11,1.8,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.253,-0.183
$KALMAN_X,14123.1,422.5,-1688.2,32463.9,3991.6
$KALMAN_Y,55770.5,355.0,-629.6,-96908.1,3718.1
$MHEAD_RNG_PITCHd_Wd,236.2,35366,-17.4,-11.786
$D_GRID,2781
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.45,0.000,2,0.000,0.000,162,2534,2240,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.4,-4.1,11,132,8.30,1.95,-29.67,0.000,4,0.227,0.055,2112,3753,3665,0,0,0,0,0,0
$GC,228,-0.53,-194.6,55.0,-30.4,36,235,0.00,1.90,0.00,0.000,6,0.000,0.024,2112,2471,3665,0,0,0,0,0,0
$GC,371,-0.53,-194.6,86.6,-21.6,61,378,0.00,1.95,0.00,0.000,4,0.000,0.038,2102,3749,3664,0,0,0,0,0,0
$GC,447,-0.53,-194.6,103.6,-22.0,74,454,0.00,1.83,0.00,0.000,6,0.000,0.024,2102,2495,3664,0,0,0,0,0,0
$GC,590,-0.53,-194.6,129.1,-18.1,99,597,0.00,1.92,0.00,0.000,4,0.000,0.038,2093,3750,3664,0,0,0,0,0,0
$GC,654,-0.53,-194.6,139.9,-16.8,110,662,0.12,1.83,0.00,0.000,6,0.147,0.024,2127,2490,3664,0,0,0,0,0,0
$GC,802,-0.53,-194.6,159.5,-13.4,135,809,0.00,2.03,0.00,0.000,4,0.000,0.028,2128,1098,3665,0,0,0,0,0,0
$GC,827,-0.53,-194.6,163.4,-13.8,139,833,0.00,2.08,0.00,0.000,6,0.000,0.031,2125,2477,3664,0,0,0,0,0,0
$GC,971,-0.53,-194.6,181.6,-12.0,164,977,0.00,1.98,0.00,0.000,4,0.000,0.041,2115,3783,3665,0,0,0,0,0,0
$GC,1051,-0.53,-194.6,190.4,-10.8,178,1058,0.00,1.88,0.00,0.000,6,0.000,0.024,2114,2491,3665,0,0,0,0,0,0
$GC,1198,-0.53,-194.6,205.8,-10.8,199,1202,0.00,2.03,0.00,0.000,4,0.000,0.028,2115,1106,3664,0,0,0,0,0,0
$GC,1222,-0.53,-194.6,208.5,-10.7,201,1226,0.00,2.12,0.00,0.000,6,0.000,0.033,2111,2500,3665,0,0,0,0,0,0
$GC,1553,-0.53,-194.6,249.2,-11.8,232,1557,0.00,1.95,0.00,0.000,4,0.000,0.042,2101,3786,3663,0,0,0,0,0,0
$GC,1659,-0.53,-194.6,262.1,-11.6,241,1666,0.00,1.88,0.00,0.000,6,0.000,0.024,2101,2494,3662,0,0,0,0,0,0
$GC,1985,-0.53,-194.6,302.8,-12.2,272,1989,0.00,2.05,0.00,0.000,4,0.000,0.030,2102,1108,3660,0,0,0,0,0,0
$GC,2000,-0.53,-194.6,305.0,-12.3,273,2008,0.12,2.15,0.00,0.000,6,0.152,0.033,2132,2524,3660,0,0,0,0,0,0
$GC,2326,-0.53,-194.6,335.7,-8.8,304,2330,0.00,1.92,0.00,0.000,4,0.000,0.043,2125,3789,3657,0,0,0,0,0,0
$GC,2366,-0.53,-194.6,339.4,-9.0,307,2372,0.00,1.90,0.00,0.000,6,0.000,0.024,2124,2488,3657,0,0,0,0,0,0
$GC,2691,-0.53,-194.6,367.0,-8.4,338,2695,0.00,2.03,0.00,0.000,4,0.000,0.031,2124,1119,3654,0,0,0,0,0,0
$GC,2716,-0.53,-194.6,369.1,-8.6,340,2720,0.00,2.12,0.00,0.000,6,0.000,0.034,2124,2505,3654,0,0,0,0,0,0
$GC,3047,-0.53,-194.6,399.5,-10.0,371,3050,0.00,1.98,0.00,0.000,4,0.000,0.045,2121,3787,3650,0,0,0,0,0,0
$GC,3139,-0.53,-194.6,409.0,-10.4,379,3142,0.00,1.90,0.00,0.000,6,0.000,0.025,2121,2492,3649,0,0,0,0,0,0
$GC,3471,-0.53,-194.6,445.9,-11.1,410,3475,0.00,2.00,0.00,0.000,4,0.000,0.044,2112,3779,3647,0,0,0,0,0,0
$GC,3510,-0.53,-194.6,450.6,-11.3,413,3517,0.00,1.88,0.00,0.000,6,0.000,0.026,2112,2504,3646,0,0,0,0,0,0
$GC,3836,-0.53,-194.6,487.9,-11.4,444,3840,0.00,2.03,0.00,0.000,4,0.000,0.044,2111,3785,3643,0,0,0,0,0,0
$GC,3854,-0.53,-194.6,490.0,-11.5,445,3860,0.00,1.90,0.00,0.000,6,0.000,0.026,2111,2498,3643,0,0,0,0,0,0
$GC,4173,-0.53,-194.6,527.7,-12.3,465,4177,0.00,2.08,0.00,0.000,4,0.000,0.031,2111,1101,3640,0,0,0,0,0,0
$GC,4217,-0.53,-194.6,533.3,-11.6,467,4221,0.00,2.17,0.00,0.000,6,0.000,0.034,2111,2505,3640,0,0,0,0,0,0
$GC,4539,-0.53,-194.6,570.7,-10.9,483,4543,0.00,1.98,0.00,0.000,4,0.000,0.046,2108,3786,3638,0,0,0,0,0,0
$GC,4631,-0.53,-194.6,579.8,-9.3,487,4634,0.00,1.90,0.00,0.000,6,0.000,0.026,2108,2499,3637,0,0,0,0,0,0
$GC,4964,-0.53,-194.6,609.9,-8.5,503,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2498,3635,0,0,0,0,0,0
$GC,5273,-0.53,-194.6,635.5,-8.2,518,5277,0.00,2.08,0.00,0.000,4,0.000,0.031,2108,1106,3633,0,0,0,0,0,0
$GC,5295,-0.53,-194.6,637.5,-8.1,519,5299,0.00,2.15,0.00,0.000,6,0.000,0.034,2099,2502,3632,0,0,0,0,0,0
$GC,5617,-0.53,-194.6,668.3,-10.5,535,5621,0.00,1.98,0.00,0.000,4,0.000,0.047,2093,3778,3631,0,0,0,0,0,0
$GC,5695,-0.53,-194.6,677.4,-11.4,538,5700,0.12,1.90,0.00,0.000,6,0.140,0.026,2129,2499,3631,0,0,0,0,0,0
$GC,6018,-0.53,-194.6,711.5,-11.3,554,6021,0.00,2.08,0.00,0.000,4,0.000,0.031,2129,1106,3629,0,0,0,0,0,0
$GC,6041,-0.53,-194.6,714.4,-11.6,555,6045,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2499,3628,0,0,0,0,0,0
$GC,6362,-0.53,-194.6,752.4,-12.0,571,6366,0.00,2.05,0.00,0.000,4,0.000,0.047,2125,3771,3626,0,0,0,0,0,0
$GC,6430,-0.53,-194.6,760.5,-12.1,574,6434,0.00,1.90,0.00,0.000,6,0.000,0.026,2125,2489,3626,0,0,0,0,0,0
$GC,6763,-0.53,-194.6,797.8,-10.7,590,6767,0.00,2.03,0.00,0.000,4,0.000,0.045,2124,3779,3625,0,0,0,0,0,0
$GC,6801,-0.53,-194.6,801.8,-9.9,591,6808,0.00,1.90,0.00,0.000,6,0.000,0.027,2125,2499,3624,0,0,0,0,0,0
$GC,7119,-0.53,-194.6,829.8,-8.1,607,7122,0.00,2.00,0.00,0.000,4,0.000,0.045,2125,3777,3623,0,0,0,0,0,0
$GC,7129,-0.53,-194.6,830.8,-8.2,607,7133,0.00,1.90,0.00,0.000,6,0.000,0.027,2125,2504,3623,0,0,0,0,0,0
$GC,7451,-0.53,-194.6,853.7,-6.5,623,7455,0.00,2.00,0.00,0.000,4,0.000,0.046,2124,3777,3621,0,0,0,0,0,0
$GC,7498,-0.53,-194.6,856.4,-6.7,625,7502,0.00,1.92,0.00,0.000,6,0.000,0.027,2125,2486,3621,0,0,0,0,0,0
$GC,7831,-0.53,-194.6,876.7,-6.1,641,7835,0.00,2.10,0.00,0.000,4,0.000,0.047,2124,3811,3620,0,0,0,0,0,0
$GC,7842,-0.53,-194.6,877.5,-6.2,641,7846,0.00,1.95,0.00,0.000,6,0.000,0.026,2125,2505,3619,0,0,0,0,0,0
$GC,8165,-0.53,-194.6,897.6,-6.0,657,8168,0.00,2.00,0.00,0.000,4,0.000,0.046,2124,3779,3618,0,0,0,0,0,0
$GC,8181,-0.53,-194.6,898.7,-6.0,657,8188,0.00,1.92,0.00,0.000,6,0.000,0.027,2124,2492,3618,0,0,0,0,0,0
$GC,8498,-0.53,-194.6,920.3,-7.2,673,8502,0.00,2.05,0.00,0.000,4,0.000,0.047,2124,3785,3617,0,0,0,0,0,0
$GC,8548,-0.53,-194.6,924.1,-7.1,675,8552,0.00,1.92,0.00,0.000,6,0.000,0.027,2125,2493,3617,0,0,0,0,0,0
$GC,8875,-0.53,-194.6,948.1,-7.6,691,8879,0.00,2.03,0.00,0.000,4,0.000,0.047,2124,3779,3616,0,0,0,0,0,0
$GC,8911,-0.53,-194.6,950.6,-7.4,692,8915,0.00,1.90,0.00,0.000,6,0.000,0.027,2124,2504,3616,0,0,0,0,0,0
$GC,9233,-0.53,-194.6,974.3,-7.5,708,9236,0.00,2.03,0.00,0.000,4,0.000,0.047,2124,3785,3615,0,0,0,0,0,0
$GC,9249,-0.53,-194.6,975.6,-7.4,708,9256,0.00,1.92,0.00,0.000,6,0.000,0.028,2124,2486,3615,0,0,0,0,0,0
$STATE,9459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9459,begin apogee
$GC,9466,-0.13,0.0,991.5,7.3,719,9621,0.38,0.00,149.95,1.074,6,0.086,0.000,2262,2119,2868,0,0,0,0,0,0
$STATE,9622,end apogee,CONTROL_FINISHED_OK
$STATE,9622,begin climb
$GC,9625,0.53,194.6,1001.8,0.0,726,9794,0.55,2.30,158.55,1.056,4,0.054,0.037,2490,743,2075,0,0,0,0,0,0
$GC,9839,0.61,256.5,993.7,9.3,736,9896,0.00,2.20,51.17,1.026,6,0.000,0.032,2490,2137,1822,0,0,0,0,0,0
$GC,10224,0.69,328.2,957.8,8.9,755,10288,0.00,2.33,57.75,1.026,4,0.000,0.042,2490,3533,1530,0,0,0,0,0,0
$GC,10350,0.77,391.8,946.1,9.2,760,10408,0.15,2.15,52.33,1.004,6,0.084,0.029,2559,2148,1271,0,0,0,0,0,0
$GC,10726,0.78,396.7,902.0,11.6,779,10734,0.00,0.00,6.55,0.806,6,0.000,0.000,2559,2148,1251,0,0,0,0,0,0
$GC,11034,0.78,396.7,864.7,12.0,794,11038,0.00,2.17,0.00,0.000,4,0.000,0.044,2559,3535,1251,0,0,0,0,0,0
$GC,11060,0.78,396.7,860.9,13.7,795,11065,0.00,2.15,0.00,0.000,6,0.000,0.028,2569,2118,1251,0,0,0,0,0,0
$GC,11383,0.78,396.7,817.7,13.3,811,11387,0.00,2.20,0.00,0.000,4,0.000,0.042,2570,3535,1249,0,0,0,0,0,0
$GC,11400,0.78,396.7,815.1,13.3,812,11404,0.00,2.15,0.00,0.000,6,0.000,0.028,2579,2115,1249,0,0,0,0,0,0
$GC,11727,0.78,396.7,767.8,14.6,828,11731,0.00,2.12,0.00,0.000,4,0.000,0.038,2590,712,1249,0,0,0,0,0,0
$GC,11783,0.78,396.7,759.3,15.2,830,11790,0.15,2.17,0.00,0.000,6,0.157,0.033,2551,2135,1249,0,0,0,0,0,0
$GC,12099,0.78,396.7,718.9,12.8,846,12103,0.00,2.17,0.00,0.000,4,0.000,0.044,2551,3537,1249,0,0,0,0,0,0
$GC,12188,0.78,396.7,706.1,13.9,850,12192,0.00,2.15,0.00,0.000,6,0.000,0.029,2558,2122,1249,0,0,0,0,0,0
$GC,12509,0.78,396.7,659.7,14.7,866,12513,0.00,2.12,0.00,0.000,4,0.000,0.037,2569,717,1248,0,0,0,0,0,0
$GC,12572,0.78,396.7,650.6,14.6,869,12576,0.00,2.17,0.00,0.000,6,0.000,0.034,2569,2127,1249,0,0,0,0,0,0
$GC,12904,0.78,396.7,601.1,14.6,885,12908,0.00,2.20,0.00,0.000,4,0.000,0.044,2569,3536,1249,0,0,0,0,0,0
$GC,12975,0.78,396.7,589.7,15.5,888,12979,0.00,2.15,0.00,0.000,6,0.000,0.029,2578,2118,1249,0,0,0,0,0,0
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$STATE,17715,end climb,SURFACE_DEPTH_REACHED
$STATE,17718,begin surface coast
$FINISH,0.2,1.020230
$STATE,17746,end surface coast,CONTROL_FINISHED_OK
$STATE,17746,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.16
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$XPDR_PINGS,0
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$10V_AH,9.8,66.899
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.125,199.525,640.400,0.000,0.000,29.314,47.364,157.559,0.000,0.000,14.470,3441.889,10832.000,746.163,2777.955,400.034,33.368,2185.151,0.000,2503.259,0.000,0.539,0.000
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$SENSOR_SECS,999.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,83557,1438
$CAP_FILE_SIZE,196437,0
$CFSIZE,260165632,205418496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,201455,1852.411,12023.395,40,1.1,40,-2.0