version: 66.09
glider: 181
mission: 6
dive: 511
start: 9 17 111 7 55 40
data:
$ID,181
$MISSION,6
$DIVE,511
$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,-5
$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,-41229.195
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,48
$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
$GPS1,170911,074724,1844.935,12025.819,23,1.0,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.5
$GPS2,170911,075444,1844.934,12025.900,11,1.4,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.305,0.067
$KALMAN_X,39868.9,405.3,-571.7,8555.5,2567.9
$KALMAN_Y,83335.6,699.9,-329.3,-138581.8,446.1
$MHEAD_RNG_PITCHd_Wd,284.4,53249,-17.4,-11.786
$D_GRID,3345
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.15,0.000,2,0.000,0.000,170,2620,2209,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.3,-3.6,11,132,8.20,0.77,-31.80,0.000,4,0.225,0.060,2120,2055,3663,0,0,0,0,0,0
$GC,162,-0.53,-194.6,24.6,-33.5,24,169,0.00,0.85,0.00,0.000,6,0.000,0.042,2118,2606,3663,0,0,0,0,0,0
$GC,305,-0.53,-194.6,67.0,-24.7,49,311,0.00,0.80,0.00,0.000,4,0.000,0.041,2114,3146,3662,0,0,0,0,0,0
$GC,532,-0.53,-194.6,119.4,-18.9,89,539,0.00,0.77,0.00,0.000,6,0.000,0.025,2113,2584,3662,0,0,0,0,0,0
$GC,676,-0.53,-194.6,143.7,-16.6,114,684,0.00,0.85,0.00,0.000,4,0.000,0.040,2109,3145,3662,0,0,0,0,0,0
$GC,775,-0.53,-194.6,158.3,-13.6,131,781,0.00,0.73,0.00,0.000,6,0.000,0.026,2109,2614,3662,0,0,0,0,0,0
$GC,918,-0.53,-194.6,179.0,-14.2,156,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2612,3662,0,0,0,0,0,0
$GC,1062,-0.53,-194.6,198.0,-12.4,181,1068,0.00,0.80,0.00,0.000,4,0.000,0.039,2105,3146,3662,0,0,0,0,0,0
$GC,1124,-0.53,-194.6,205.5,-11.2,188,1131,0.00,0.73,0.00,0.000,6,0.000,0.027,2105,2611,3662,0,0,0,0,0,0
$GC,1449,-0.53,-194.6,244.1,-12.3,219,1453,0.00,0.68,0.00,0.000,4,0.000,0.026,2105,2089,3662,0,0,0,0,0,0
$GC,1510,-0.53,-194.6,251.9,-12.0,224,1517,0.00,0.80,0.00,0.000,6,0.000,0.036,2101,2626,3661,0,0,0,0,0,0
$GC,1836,-0.53,-194.6,296.2,-14.2,255,1839,0.00,0.73,0.00,0.000,4,0.000,0.026,2101,2093,3660,0,0,0,0,0,0
$GC,1894,-0.53,-194.6,304.5,-14.1,260,1899,0.08,0.77,0.00,0.000,6,0.128,0.038,2124,2606,3659,0,0,0,0,0,0
$GC,2229,-0.53,-194.6,342.9,-10.9,291,2232,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,2090,3656,0,0,0,0,0,0
$GC,2263,-0.53,-194.6,347.1,-11.0,294,2267,0.00,0.77,0.00,0.000,6,0.000,0.040,2124,2602,3656,0,0,0,0,0,0
$GC,2594,-0.53,-194.6,377.5,-8.8,325,2598,0.00,0.70,0.00,0.000,4,0.000,0.027,2125,2088,3653,0,0,0,0,0,0
$GC,2678,-0.53,-194.6,385.2,-8.9,332,2684,0.00,0.80,0.00,0.000,6,0.000,0.040,2122,2615,3652,0,0,0,0,0,0
$GC,3003,-0.53,-194.6,415.1,-9.8,363,3007,0.00,0.70,0.00,0.000,4,0.000,0.027,2122,2101,3648,0,0,0,0,0,0
$GC,3076,-0.53,-194.6,422.6,-10.3,369,3082,0.00,0.77,0.00,0.000,6,0.000,0.040,2118,2610,3648,0,0,0,0,0,0
$GC,3401,-0.53,-194.6,455.2,-10.3,400,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2611,3645,0,0,0,0,0,0
$GC,3721,-0.53,-194.6,490.1,-10.9,430,3725,0.00,0.70,0.00,0.000,4,0.000,0.028,2118,2100,3642,0,0,0,0,0,0
$GC,3892,-0.53,-194.6,509.5,-11.3,441,3896,0.00,0.77,0.00,0.000,6,0.000,0.042,2114,2604,3640,0,0,0,0,0,0
$GC,4213,-0.53,-194.6,547.3,-12.0,457,4217,0.00,0.70,0.00,0.000,4,0.000,0.028,2114,2096,3638,0,0,0,0,0,0
$GC,4286,-0.53,-194.6,556.2,-11.6,460,4290,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2610,3638,0,0,0,0,0,0
$GC,4614,-0.53,-194.6,595.6,-11.6,476,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2611,3635,0,0,0,0,0,0
$GC,4923,-0.53,-194.6,629.2,-10.1,491,4927,0.00,0.73,0.00,0.000,4,0.000,0.031,2112,2110,3633,0,0,0,0,0,0
$GC,5001,-0.53,-194.6,637.3,-10.0,494,5005,0.00,0.77,0.00,0.000,6,0.000,0.044,2111,2608,3633,0,0,0,0,0,0
$GC,5323,-0.53,-194.6,667.9,-9.4,510,5327,0.00,0.70,0.00,0.000,4,0.000,0.030,2112,2106,3630,0,0,0,0,0,0
$GC,5370,-0.53,-194.6,672.1,-9.2,512,5374,0.00,0.80,0.00,0.000,6,0.000,0.044,2112,2619,3630,0,0,0,0,0,0
$GC,5703,-0.53,-194.6,703.2,-9.5,528,5706,0.00,0.73,0.00,0.000,4,0.000,0.029,2112,2109,3628,0,0,0,0,0,0
$GC,5741,-0.53,-194.6,707.1,-9.8,529,5748,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2608,3628,0,0,0,0,0,0
$GC,6059,-0.53,-194.6,735.2,-8.8,545,6062,0.00,0.70,0.00,0.000,4,0.000,0.031,2112,2110,3625,0,0,0,0,0,0
$GC,6114,-0.53,-194.6,740.2,-8.4,547,6118,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2610,3625,0,0,0,0,0,0
$GC,6436,-0.53,-194.6,767.4,-8.5,563,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2609,3624,0,0,0,0,0,0
$GC,6746,-0.53,-194.6,794.9,-9.1,578,6750,0.00,0.70,0.00,0.000,4,0.000,0.031,2112,2109,3622,0,0,0,0,0,0
$GC,6847,-0.53,-194.6,804.7,-9.4,582,6851,0.00,0.77,0.00,0.000,6,0.000,0.044,2111,2609,3621,0,0,0,0,0,0
$GC,7170,-0.53,-194.6,832.9,-8.5,598,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2609,3620,0,0,0,0,0,0
$GC,7478,-0.53,-194.6,858.6,-8.1,613,7482,0.00,0.70,0.00,0.000,4,0.000,0.031,2112,2110,3618,0,0,0,0,0,0
$GC,7586,-0.53,-194.6,867.4,-7.8,617,7593,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2604,3618,0,0,0,0,0,0
$GC,7902,-0.53,-194.6,892.2,-7.9,633,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2604,3617,0,0,0,0,0,0
$GC,8212,-0.53,-194.6,916.4,-8.0,648,8215,0.00,0.70,0.00,0.000,4,0.000,0.030,2112,2107,3615,0,0,0,0,0,0
$GC,8304,-0.53,-194.6,923.8,-8.5,652,8307,0.00,0.80,0.00,0.000,6,0.000,0.045,2112,2614,3615,0,0,0,0,0,0
$GC,8637,-0.53,-194.6,953.1,-9.3,668,8641,0.00,0.73,0.00,0.000,4,0.000,0.030,2112,2101,3614,0,0,0,0,0,0
$GC,8716,-0.53,-194.6,961.1,-10.2,671,8720,0.00,0.80,0.00,0.000,6,0.000,0.045,2112,2612,3613,0,0,0,0,0,0
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9020,-0.13,0.0,990.8,9.9,686,9175,0.43,0.00,149.50,1.073,6,0.110,0.000,2254,2182,2868,0,0,0,0,0,0
$STATE,9176,end apogee,CONTROL_FINISHED_OK
$STATE,9176,begin climb
$GC,9179,0.53,194.6,1001.1,0.0,693,9343,0.57,0.00,159.15,1.053,6,0.053,0.000,2482,2182,2075,0,0,0,0,0,0
$GC,9643,0.60,253.0,971.0,9.4,716,9693,0.00,0.00,47.65,1.029,6,0.000,0.000,2482,2182,1837,0,0,0,0,0,0
$GC,9991,0.64,288.3,935.3,10.3,733,10026,0.00,0.85,29.45,0.995,4,0.000,0.042,2482,2697,1692,0,0,0,0,0,0
$GC,10134,0.67,305.7,919.5,11.1,739,10154,0.00,0.80,15.75,0.929,6,0.000,0.031,2486,2158,1623,0,0,0,0,0,0
$GC,10478,0.68,320.0,881.6,11.2,756,10501,0.10,0.88,13.60,0.913,4,0.103,0.040,2532,2697,1563,0,0,0,0,0,0
$GC,10563,0.68,320.0,868.9,14.9,759,10570,0.00,0.80,0.00,0.000,6,0.000,0.030,2535,2158,1563,0,0,0,0,0,0
$GC,10879,0.68,320.0,822.8,14.5,775,10883,0.00,0.82,0.00,0.000,4,0.000,0.041,2536,2696,1563,0,0,0,0,0,0
$GC,10963,0.68,320.0,810.4,14.5,778,10969,0.00,0.77,0.00,0.000,6,0.000,0.031,2539,2164,1563,0,0,0,0,0,0
$GC,11278,0.68,320.0,764.9,13.9,794,11282,0.00,0.82,0.00,0.000,4,0.000,0.041,2539,2700,1562,0,0,0,0,0,0
$GC,11317,0.68,320.0,759.1,14.1,795,11324,0.00,0.77,0.00,0.000,6,0.000,0.031,2543,2169,1562,0,0,0,0,0,0
$GC,11634,0.68,320.0,715.3,13.5,811,11637,0.00,0.75,0.00,0.000,4,0.000,0.037,2547,1649,1562,0,0,0,0,0,0
$GC,11711,0.68,320.0,704.4,13.4,814,11716,0.00,0.80,0.00,0.000,6,0.000,0.036,2547,2175,1562,0,0,0,0,0,0
$GC,12034,0.68,320.0,661.6,12.7,830,12038,0.00,0.77,0.00,0.000,4,0.000,0.043,2547,2694,1561,0,0,0,0,0,0
$GC,12072,0.68,320.0,656.2,13.2,831,12079,0.00,0.77,0.00,0.000,6,0.000,0.031,2550,2164,1561,0,0,0,0,0,0
$GC,12389,0.69,324.3,618.3,11.6,847,12398,0.00,0.77,4.93,0.659,4,0.000,0.037,2554,1644,1546,0,0,0,0,0,0
$GC,12472,0.69,326.1,608.5,11.7,850,12479,0.10,0.80,0.00,0.000,6,0.142,0.037,2522,2169,1546,0,0,0,0,0,0
$GC,12788,0.70,333.1,574.4,11.5,866,12802,0.00,0.82,8.48,0.715,4,0.000,0.043,2523,2690,1511,0,0,0,0,0,0
$GC,12917,0.70,333.1,558.2,13.1,871,12924,0.00,0.77,0.00,0.000,6,0.000,0.031,2524,2160,1510,0,0,0,0,0,0
$GC,13233,0.70,333.1,517.3,13.2,887,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2160,1510,0,0,0,0,0,0
$GC,13548,0.70,333.1,474.4,13.6,910,13552,0.00,0.73,0.00,0.000,4,0.000,0.036,2527,1651,1510,0,0,0,0,0,0
$GC,13639,0.70,333.1,461.8,13.5,918,13642,0.00,0.77,0.00,0.000,6,0.000,0.036,2527,2165,1510,0,0,0,0,0,0
$GC,13969,0.70,333.1,417.5,12.5,949,13973,0.00,0.80,0.00,0.000,4,0.000,0.043,2527,2687,1510,0,0,0,0,0,0
$GC,14094,0.71,338.4,402.5,11.6,960,14107,0.00,0.75,6.18,0.636,6,0.000,0.031,2530,2170,1488,0,0,0,0,0,0
$GC,14425,0.79,407.2,371.7,9.0,991,14482,0.00,0.77,52.88,0.679,4,0.000,0.037,2534,1656,1208,0,0,0,0,0,0
$GC,14550,0.84,451.4,359.7,10.0,1002,14591,0.08,0.77,35.53,0.646,6,0.068,0.034,2580,2163,1027,0,0,0,0,0,0
$GC,14908,0.84,451.4,312.2,13.9,1036,14911,0.00,0.77,0.00,0.000,4,0.000,0.041,2580,2686,1031,0,0,0,0,0,0
$GC,15010,0.84,451.4,296.9,15.0,1045,15014,0.00,0.77,0.00,0.000,6,0.000,0.031,2583,2159,1031,0,0,0,0,0,0
$GC,15341,0.84,451.4,249.6,13.6,1076,15345,0.00,0.73,0.00,0.000,4,0.000,0.036,2587,1648,1030,0,0,0,0,0,0
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$STATE,17552,end climb,SURFACE_DEPTH_REACHED
$STATE,17552,begin surface coast
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$STATE,17581,end surface coast,CONTROL_FINISHED_OK
$STATE,17581,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,45.94
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,9.8,68.562
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.325,59.900,639.750,0.000,0.000,48.158,45.703,138.217,0.000,0.000,14.084,3399.685,10772.217,748.372,2793.519,371.069,33.353,2148.552,0.000,2530.450,0.000,0.540,0.000
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$SENSOR_SECS,990.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,321180
$DATA_FILE_SIZE,80200,1427
$CAP_FILE_SIZE,184218,0
$CFSIZE,260165632,203833344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170911,125107,1845.460,12024.496,31,1.2,31,-2.0