version: 66.09
glider: 181
mission: 6
dive: 701
start: 10 23 111 1 54 4
data:
$ID,181
$MISSION,6
$DIVE,701
$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,320
$T_MISSION,350
$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,0
$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,-41487.824
$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,2365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,43
$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
$GPS1,231011,014730,2138.893,12005.888,39,0.9,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.5
$GPS2,231011,015337,2139.022,12005.792,13,1.1,18,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,320.6,14894,-14.3,-10.312
$D_GRID,2713
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.72,0.000,2,0.000,0.000,147,2585,2332,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-3.0,12,137,8.40,0.82,-31.60,0.000,4,0.220,0.070,2159,3115,3763,0,0,0,0,0,0
$GC,259,-0.37,-219.0,51.3,-30.9,41,266,0.28,0.75,0.00,0.000,6,0.163,0.027,2237,2581,3762,0,0,0,0,0,0
$GC,606,-0.30,-219.0,116.2,-16.5,102,613,0.10,0.70,0.00,0.000,4,0.163,0.025,2265,2052,3760,0,0,0,0,0,0
$GC,768,-0.42,-219.0,134.6,-8.6,130,775,0.08,0.80,0.00,0.000,6,0.051,0.034,2215,2594,3760,0,0,0,0,0,0
$GC,1117,-0.46,-219.0,168.1,-8.6,191,1124,0.00,0.73,0.00,0.000,4,0.000,0.024,2215,2044,3760,0,0,0,0,0,0
$GC,1199,-0.54,-219.0,175.3,-8.4,205,1206,0.00,0.80,0.00,0.000,6,0.000,0.034,2213,2585,3760,0,0,0,0,0,0
$GC,1547,-0.62,-219.0,207.4,-9.7,260,1551,0.15,0.73,0.00,0.000,4,0.068,0.026,2120,2057,3760,0,0,0,0,0,0
$GC,1717,-0.53,-219.0,231.1,-15.0,275,1722,0.22,0.80,0.00,0.000,6,0.119,0.037,2188,2584,3761,0,0,0,0,0,0
$GC,2049,-0.61,-219.0,260.9,-8.6,306,2053,0.00,0.70,0.00,0.000,4,0.000,0.024,2189,2066,3761,0,0,0,0,0,0
$GC,2177,-0.68,-219.0,271.3,-8.2,317,2182,0.10,0.80,0.00,0.000,6,0.040,0.036,2112,2598,3761,0,0,0,0,0,0
$GC,2509,-0.58,-219.0,317.6,-15.1,348,2513,0.22,0.77,0.00,0.000,4,0.138,0.036,2176,3108,3758,0,0,0,0,0,0
$GC,2636,-0.58,-219.0,331.1,-10.2,359,2640,0.00,0.73,0.00,0.000,6,0.000,0.027,2176,2583,3758,0,0,0,0,0,0
$GC,2969,-0.67,-219.0,360.7,-8.4,390,2973,0.00,0.80,0.00,0.000,4,0.000,0.039,2176,3108,3755,0,0,0,0,0,0
$GC,3016,-0.74,-219.0,364.8,-8.6,394,3020,0.10,0.73,0.00,0.000,6,0.044,0.027,2105,2588,3755,0,0,0,0,0,0
$GC,3347,-0.64,-219.0,405.2,-13.6,425,3351,0.17,0.73,0.00,0.000,4,0.142,0.028,2155,2063,3752,0,0,0,0,0,0
$GC,3466,-0.62,-219.0,416.9,-9.0,435,3473,0.00,0.80,0.00,0.000,6,0.000,0.037,2153,2586,3751,0,0,0,0,0,0
$GC,3792,-0.59,-219.0,447.7,-9.4,466,3796,0.00,0.73,0.00,0.000,4,0.000,0.028,2153,2069,3748,0,0,0,0,0,0
$GC,3820,-0.57,-219.0,450.4,-9.2,468,3827,0.00,0.80,0.00,0.000,6,0.000,0.039,2152,2587,3748,0,0,0,0,0,0
$GC,4146,-0.62,-219.0,477.7,-8.7,499,4150,0.00,0.80,0.00,0.000,4,0.000,0.042,2153,3119,3745,0,0,0,0,0,0
$GC,4182,-0.66,-219.0,480.9,-8.7,502,4185,0.00,0.75,0.00,0.000,6,0.000,0.028,2152,2591,3744,0,0,0,0,0,0
$GC,4512,-0.70,-219.0,509.9,-9.1,528,4516,0.00,0.73,0.00,0.000,4,0.000,0.028,2152,2081,3741,0,0,0,0,0,0
$GC,4596,-0.74,-219.0,518.2,-9.6,531,4603,0.00,0.77,0.00,0.000,6,0.000,0.041,2152,2584,3740,0,0,0,0,0,0
$GC,4914,-0.79,-219.0,548.3,-9.6,547,4919,0.12,0.82,0.00,0.000,4,0.083,0.043,2084,3114,3737,0,0,0,0,0,0
$GC,4976,-0.68,-219.0,556.7,-14.9,549,4983,0.17,0.75,0.00,0.000,6,0.126,0.030,2140,2595,3736,0,0,0,0,0,0
$GC,5294,-0.65,-219.0,592.7,-11.0,565,5297,0.00,0.73,0.00,0.000,4,0.000,0.028,2140,2071,3733,0,0,0,0,0,0
$GC,5349,-0.62,-219.0,599.1,-10.8,567,5353,0.00,0.80,0.00,0.000,6,0.000,0.041,2138,2584,3733,0,0,0,0,0,0
$GC,5672,-0.59,-219.0,631.0,-9.8,583,5676,0.12,0.82,0.00,0.000,4,0.151,0.045,2172,3108,3731,0,0,0,0,0,0
$GC,5711,-0.59,-219.0,634.4,-9.2,584,5718,0.00,0.75,0.00,0.000,6,0.000,0.030,2172,2585,3731,0,0,0,0,0,0
$GC,6028,-0.68,-219.0,657.9,-7.6,600,6032,0.00,0.70,0.00,0.000,4,0.000,0.028,2172,2067,3728,0,0,0,0,0,0
$GC,6130,-0.76,-219.0,666.1,-8.1,604,6135,0.12,0.82,0.00,0.000,6,0.044,0.040,2097,2597,3728,0,0,0,0,0,0
$GC,6452,-0.76,-219.0,701.1,-11.2,620,6455,0.00,0.75,0.00,0.000,4,0.000,0.028,2097,2068,3725,0,0,0,0,0,0
$GC,6582,-0.68,-219.0,716.5,-13.3,625,6589,0.15,0.82,0.00,0.000,6,0.125,0.042,2141,2590,3724,0,0,0,0,0,0
$GC,6902,-0.66,-219.0,748.3,-9.7,641,6906,0.00,0.82,0.00,0.000,4,0.000,0.046,2139,3111,3722,0,0,0,0,0,0
$GC,6959,-0.64,-219.0,754.6,-10.1,643,6962,0.00,0.75,0.00,0.000,6,0.000,0.029,2139,2593,3722,0,0,0,0,0,0
$GC,7282,-0.62,-219.0,786.6,-10.3,659,7285,0.00,0.73,0.00,0.000,4,0.000,0.028,2139,2064,3721,0,0,0,0,0,0
$GC,7328,-0.59,-219.0,791.8,-11.0,661,7333,0.10,0.82,0.00,0.000,6,0.125,0.041,2173,2590,3720,0,0,0,0,0,0
$GC,7665,-0.69,-219.0,819.6,-8.3,677,7669,0.00,0.80,0.00,0.000,4,0.000,0.044,2171,3114,3718,0,0,0,0,0,0
$GC,7736,-0.76,-219.0,825.5,-8.2,680,7740,0.12,0.75,0.00,0.000,6,0.047,0.028,2097,2592,3718,0,0,0,0,0,0
$GC,8072,-0.69,-219.0,868.2,-12.9,696,8076,0.15,0.75,0.00,0.000,4,0.145,0.028,2140,2055,3716,0,0,0,0,0,0
$GC,8197,-0.68,-219.0,881.6,-10.2,701,8201,0.00,0.85,0.00,0.000,6,0.000,0.041,2138,2595,3716,0,0,0,0,0,0
$GC,8520,-0.66,-219.0,912.2,-9.3,717,8524,0.00,0.80,0.00,0.000,4,0.000,0.046,2137,3117,3713,0,0,0,0,0,0
$GC,8576,-0.64,-219.0,918.1,-9.9,719,8580,0.00,0.77,0.00,0.000,6,0.000,0.028,2137,2581,3713,0,0,0,0,0,0
$GC,8900,-0.62,-219.0,949.8,-9.8,735,8904,0.00,0.70,0.00,0.000,4,0.000,0.028,2137,2061,3712,0,0,0,0,0,0
$GC,8995,-0.60,-219.0,959.6,-9.7,739,8999,0.10,0.85,0.00,0.000,6,0.125,0.042,2167,2599,3711,0,0,0,0,0,0
$GC,9324,-0.69,-219.0,986.3,-8.3,755,9328,0.00,0.80,0.00,0.000,4,0.000,0.044,2166,3122,3711,0,0,0,0,0,0
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9368,begin apogee
$GC,9376,-0.19,0.0,990.2,8.1,757,9547,0.38,0.00,165.85,1.069,6,0.091,0.000,2300,2180,2868,0,0,0,0,0,0
$STATE,9548,end apogee,CONTROL_FINISHED_OK
$STATE,9548,begin climb
$GC,9551,0.61,219.0,1002.8,0.0,765,9735,0.70,0.82,174.62,1.053,4,0.044,0.028,2582,1611,1976,0,0,0,0,0,0
$GC,9827,0.51,219.0,985.1,11.8,778,9831,0.17,0.88,0.00,0.000,6,0.148,0.032,2531,2189,1973,0,0,0,0,0,0
$GC,10162,0.49,245.6,953.5,9.5,794,10188,0.00,0.80,22.35,0.979,4,0.000,0.039,2530,2692,1867,0,0,0,0,0,0
$GC,10250,0.44,245.6,944.6,11.1,798,10254,0.00,0.77,0.00,0.000,6,0.000,0.029,2532,2163,1866,0,0,0,0,0,0
$GC,10585,0.43,269.9,911.9,9.5,814,10610,0.00,0.77,20.38,0.952,4,0.000,0.034,2536,1645,1768,0,0,0,0,0,0
$GC,10633,0.41,283.4,906.6,9.9,816,10651,0.10,0.77,12.38,0.884,6,0.138,0.033,2504,2157,1713,0,0,0,0,0,0
$GC,10963,0.46,307.7,877.1,9.5,832,10988,0.00,0.73,21.48,0.943,4,0.000,0.028,2505,1650,1613,0,0,0,0,0,0
$GC,11054,0.47,307.7,868.0,10.4,836,11058,0.00,0.77,0.00,0.000,6,0.000,0.032,2505,2164,1613,0,0,0,0,0,0
$GC,11389,0.55,340.3,836.2,9.3,852,11420,0.12,0.77,26.67,0.936,4,0.091,0.034,2559,2696,1483,0,0,0,0,0,0
$GC,11527,0.51,340.3,819.3,12.7,858,11531,0.10,0.77,0.00,0.000,6,0.137,0.028,2531,2170,1482,0,0,0,0,0,0
$GC,11849,0.51,340.3,785.9,10.4,874,11853,0.00,0.75,0.00,0.000,4,0.000,0.035,2533,1651,1482,0,0,0,0,0,0
$GC,11877,0.51,340.3,782.8,10.5,875,11880,0.00,0.77,0.00,0.000,6,0.000,0.033,2533,2168,1482,0,0,0,0,0,0
$GC,12205,0.56,381.0,751.4,9.0,891,12248,0.00,0.82,33.55,0.897,4,0.000,0.039,2533,2687,1314,0,0,0,0,0,0
$GC,12388,0.58,396.3,733.5,9.8,899,12406,0.00,0.77,13.88,0.817,6,0.000,0.029,2536,2163,1253,0,0,0,0,0,0
$GC,12718,0.65,412.6,702.8,9.8,915,12741,0.12,0.77,14.27,0.812,4,0.089,0.037,2598,1654,1185,0,0,0,0,0,0
$GC,12916,0.61,412.6,675.5,14.0,923,12923,0.10,0.77,0.00,0.000,6,0.125,0.034,2565,2164,1185,0,0,0,0,0,0
$GC,13232,0.61,412.6,639.1,11.0,939,13235,0.00,0.77,0.00,0.000,4,0.000,0.039,2565,2687,1184,0,0,0,0,0,0
$GC,13248,0.61,412.6,637.3,10.9,939,13254,0.00,0.77,0.00,0.000,6,0.000,0.028,2566,2156,1184,0,0,0,0,0,0
$GC,13565,0.61,412.6,603.8,10.6,955,13569,0.00,0.80,0.00,0.000,4,0.000,0.034,2566,2692,1184,0,0,0,0,0,0
$GC,13679,0.59,412.6,590.6,11.8,960,13683,0.00,0.77,0.00,0.000,6,0.000,0.029,2569,2159,1184,0,0,0,0,0,0
$GC,14013,0.59,412.6,555.4,10.7,976,14017,0.00,0.73,0.00,0.000,4,0.000,0.034,2573,1652,1184,0,0,0,0,0,0
$GC,14051,0.58,412.6,551.1,10.8,977,14058,0.00,0.77,0.00,0.000,6,0.000,0.031,2573,2169,1184,0,0,0,0,0,0
$GC,14367,0.58,412.6,515.1,11.5,993,14371,0.00,0.75,0.00,0.000,4,0.000,0.037,2573,2683,1184,0,0,0,0,0,0
$GC,14438,0.55,412.6,506.5,12.9,996,14442,0.10,0.75,0.00,0.000,6,0.124,0.028,2543,2169,1184,0,0,0,0,0,0
$GC,14768,0.66,438.3,473.2,9.5,1024,14794,0.00,0.80,20.95,0.721,4,0.000,0.035,2543,2682,1082,0,0,0,0,0,0
$GC,14848,0.77,472.3,466.0,9.2,1031,14882,0.17,0.77,27.88,0.700,6,0.045,0.030,2632,2158,943,0,0,0,0,0,0
$GC,15201,0.76,472.3,425.2,11.3,1064,15205,0.00,0.80,0.00,0.000,4,0.000,0.034,2631,2691,949,0,0,0,0,0,0
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$STATE,19213,end climb,SURFACE_DEPTH_REACHED
$STATE,19214,begin surface coast
$FINISH,0.6,1.021421
$STATE,19247,end surface coast,CONTROL_FINISHED_OK
$STATE,19247,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,2
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$10V_AH,9.8,84.830
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.550,72.475,661.350,0.000,0.000,30.372,18.932,149.524,0.500,0.000,20.652,3916.660,11343.768,718.782,3203.216,496.168,0.000,2344.837,0.000,2959.899,0.000,0.541,0.000
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$MEM,322748
$DATA_FILE_SIZE,93408,1603
$CAP_FILE_SIZE,219911,0
$CFSIZE,260165632,188293120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231011,071724,2139.818,12005.682,36,1.8,36,-2.6