version: 66.09
glider: 181
mission: 6
dive: 715
start: 10 26 111 5 51 39
data:
$ID,181
$MISSION,6
$DIVE,715
$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,-41506.102
$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,2375
$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,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,47
$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
$GPS1,261011,054437,2144.521,12004.917,28,1.1,28,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.6
$GPS2,261011,055114,2144.783,12004.857,9,1.5,9,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,184.2,305296,-14.3,-10.312
$D_GRID,2348
$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,-67.75,0.000,2,0.000,0.000,128,2495,2369,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.2,-2.7,12,138,8.50,0.77,-32.50,0.000,4,0.220,0.073,2169,3022,3761,0,0,0,0,0,0
$GC,394,-0.44,-219.0,87.1,-25.1,65,401,0.20,0.75,0.00,0.000,6,0.148,0.025,2228,2484,3760,0,0,0,0,0,0
$GC,743,-0.42,-219.0,134.5,-9.8,126,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2484,3760,0,0,0,0,0,0
$GC,1089,-0.53,-219.0,165.4,-9.6,187,1095,0.00,0.68,0.00,0.000,4,0.000,0.024,2228,1955,3761,0,0,0,0,0,0
$GC,1352,-0.66,-219.0,187.6,-7.1,233,1359,0.17,0.80,0.00,0.000,6,0.042,0.033,2144,2501,3761,0,0,0,0,0,0
$GC,1694,-0.66,-219.0,221.0,-10.1,276,1698,0.00,0.77,0.00,0.000,4,0.000,0.037,2141,3029,3761,0,0,0,0,0,0
$GC,1819,-0.63,-219.0,234.8,-11.1,287,1823,0.00,0.73,0.00,0.000,6,0.000,0.026,2140,2502,3761,0,0,0,0,0,0
$GC,2151,-0.65,-219.0,268.5,-9.5,318,2155,0.00,0.77,0.00,0.000,4,0.000,0.038,2139,3015,3759,0,0,0,0,0,0
$GC,2257,-0.65,-219.0,279.0,-9.9,327,2264,0.00,0.73,0.00,0.000,6,0.000,0.026,2139,2490,3758,0,0,0,0,0,0
$GC,2583,-0.66,-219.0,307.3,-9.3,358,2587,0.00,0.68,0.00,0.000,4,0.000,0.027,2139,1976,3757,0,0,0,0,0,0
$GC,2644,-0.64,-219.0,313.9,-10.8,363,2651,0.00,0.77,0.00,0.000,6,0.000,0.037,2138,2491,3756,0,0,0,0,0,0
$GC,2970,-0.67,-219.0,346.2,-8.6,394,2974,0.00,0.68,0.00,0.000,4,0.000,0.026,2138,1990,3755,0,0,0,0,0,0
$GC,3039,-0.67,-219.0,351.6,-7.6,400,3043,0.00,0.77,0.00,0.000,6,0.000,0.038,2138,2503,3753,0,0,0,0,0,0
$GC,3371,-0.70,-219.0,376.7,-7.8,431,3374,0.00,0.73,0.00,0.000,4,0.000,0.027,2138,1971,3751,0,0,0,0,0,0
$GC,3417,-0.70,-219.0,380.9,-9.1,435,3421,0.00,0.80,0.00,0.000,6,0.000,0.039,2138,2497,3751,0,0,0,0,0,0
$GC,3749,-0.74,-219.0,411.2,-9.9,466,3753,0.00,0.70,0.00,0.000,4,0.000,0.028,2138,1990,3748,0,0,0,0,0,0
$GC,3801,-0.75,-219.0,416.5,-10.2,470,3808,0.00,0.77,0.00,0.000,6,0.000,0.040,2138,2499,3747,0,0,0,0,0,0
$GC,4127,-0.78,-219.0,447.8,-9.0,501,4131,0.00,0.70,0.00,0.000,4,0.000,0.028,2138,1989,3745,0,0,0,0,0,0
$GC,4173,-0.79,-219.0,451.9,-8.7,505,4177,0.00,0.77,0.00,0.000,6,0.000,0.040,2138,2497,3744,0,0,0,0,0,0
$GC,4505,-0.82,-219.0,479.2,-7.7,536,4509,0.00,0.70,0.00,0.000,4,0.000,0.028,2138,1992,3741,0,0,0,0,0,0
$GC,4540,-0.85,-219.0,482.0,-7.8,539,4544,0.08,0.77,0.00,0.000,6,0.054,0.040,2087,2499,3740,0,0,0,0,0,0
$GC,4879,-0.74,-219.0,526.1,-14.0,562,4883,0.17,0.82,0.00,0.000,4,0.143,0.044,2134,3023,3738,0,0,0,0,0,0
$GC,5048,-0.70,-219.0,545.1,-10.8,569,5052,0.00,0.73,0.00,0.000,6,0.000,0.028,2135,2514,3736,0,0,0,0,0,0
$GC,5369,-0.66,-219.0,580.4,-11.1,585,5373,0.00,0.77,0.00,0.000,4,0.000,0.041,2130,3020,3734,0,0,0,0,0,0
$GC,5460,-0.61,-219.0,590.6,-11.0,589,5465,0.12,0.75,0.00,0.000,6,0.119,0.028,2173,2494,3732,0,0,0,0,0,0
$GC,5797,-0.71,-219.0,617.6,-7.7,605,5801,0.00,0.82,0.00,0.000,4,0.000,0.042,2174,3029,3731,0,0,0,0,0,0
$GC,5923,-0.77,-219.0,627.6,-7.3,610,5927,0.12,0.75,0.00,0.000,6,0.044,0.028,2101,2502,3730,0,0,0,0,0,0
$GC,6245,-0.77,-219.0,657.1,-9.1,626,6249,0.00,0.73,0.00,0.000,4,0.000,0.030,2101,1975,3728,0,0,0,0,0,0
$GC,6352,-0.73,-219.0,667.7,-9.7,630,6360,0.10,0.80,0.00,0.000,6,0.125,0.039,2133,2496,3727,0,0,0,0,0,0
$GC,6671,-0.70,-219.0,697.2,-9.2,646,6675,0.00,0.80,0.00,0.000,4,0.000,0.044,2130,3022,3725,0,0,0,0,0,0
$GC,6854,-0.66,-219.0,714.7,-9.6,654,6858,0.08,0.75,0.00,0.000,6,0.132,0.028,2157,2497,3723,0,0,0,0,0,0
$GC,7189,-0.70,-219.0,740.8,-7.6,670,7192,0.00,0.82,0.00,0.000,4,0.000,0.042,2155,3029,3722,0,0,0,0,0,0
$GC,7239,-0.77,-219.0,745.1,-8.0,672,7243,0.00,0.75,0.00,0.000,6,0.000,0.027,2155,2511,3721,0,0,0,0,0,0
$GC,7569,-0.84,-219.0,772.0,-8.3,688,7573,0.15,0.75,0.00,0.000,4,0.075,0.029,2082,1969,3720,0,0,0,0,0,0
$GC,7732,-0.76,-219.0,793.7,-14.8,695,7737,0.15,0.82,0.00,0.000,6,0.128,0.041,2126,2500,3719,0,0,0,0,0,0
$GC,8061,-0.72,-219.0,828.8,-9.9,711,8065,0.00,0.82,0.00,0.000,4,0.000,0.045,2125,3022,3717,0,0,0,0,0,0
$GC,8180,-0.68,-219.0,841.3,-10.3,716,8185,0.08,0.77,0.00,0.000,6,0.132,0.028,2150,2488,3716,0,0,0,0,0,0
$GC,8508,-0.68,-219.0,867.7,-8.0,732,8512,0.00,0.85,0.00,0.000,4,0.000,0.043,2148,3029,3715,0,0,0,0,0,0
$GC,8581,-0.68,-219.0,873.8,-8.4,735,8584,0.00,0.77,0.00,0.000,6,0.000,0.028,2148,2494,3714,0,0,0,0,0,0
$GC,8909,-0.68,-219.0,902.0,-9.0,751,8913,0.00,0.82,0.00,0.000,4,0.000,0.042,2144,3024,3713,0,0,0,0,0,0
$GC,8988,-0.67,-219.0,909.2,-9.2,754,8991,0.00,0.75,0.00,0.000,6,0.000,0.028,2144,2502,3712,0,0,0,0,0,0
$GC,9311,-0.67,-219.0,939.5,-9.4,770,9315,0.00,0.82,0.00,0.000,4,0.000,0.044,2140,3026,3711,0,0,0,0,0,0
$GC,9418,-0.65,-219.0,950.6,-10.3,774,9425,0.00,0.75,0.00,0.000,6,0.000,0.028,2140,2507,3711,0,0,0,0,0,0
$GC,9736,-0.65,-219.0,981.0,-9.5,790,9739,0.00,0.82,0.00,0.000,4,0.000,0.044,2139,3026,3710,0,0,0,0,0,0
$GC,9804,-0.65,-219.0,987.5,-9.6,793,9808,0.00,0.77,0.00,0.000,6,0.000,0.029,2139,2495,3710,0,0,0,0,0,0
$STATE,9846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9846,begin apogee
$GC,9853,-0.19,0.0,991.5,9.1,795,10025,0.52,0.00,165.80,1.069,6,0.112,0.000,2310,2087,2869,0,0,0,0,0,0
$STATE,10026,end apogee,CONTROL_FINISHED_OK
$STATE,10026,begin climb
$GC,10028,0.61,219.0,1000.3,0.0,803,10213,0.70,0.90,175.20,1.052,4,0.050,0.037,2585,2635,1976,0,0,0,0,0,0
$GC,10277,0.50,219.0,982.7,13.4,814,10286,0.17,0.77,0.00,0.000,6,0.153,0.029,2538,2116,1975,0,0,0,0,0,0
$GC,10597,0.47,247.9,950.7,9.4,830,10626,0.00,0.85,24.30,0.983,4,0.000,0.034,2541,1570,1858,0,0,0,0,0,0
$GC,10769,0.42,247.9,933.1,10.4,837,10777,0.08,0.82,0.00,0.000,6,0.148,0.031,2517,2117,1857,0,0,0,0,0,0
$GC,11088,0.46,304.9,906.1,8.5,853,11138,0.00,0.77,45.40,0.991,4,0.000,0.038,2517,2614,1626,0,0,0,0,0,0
$GC,11303,0.49,334.8,885.7,9.4,862,11333,0.00,0.77,25.42,0.947,6,0.000,0.028,2519,2090,1504,0,0,0,0,0,0
$GC,11663,0.55,376.2,853.4,9.0,880,11706,0.00,0.82,34.97,0.952,4,0.000,0.034,2519,2610,1334,0,0,0,0,0,0
$GC,11779,0.58,403.5,842.6,9.4,885,11806,0.08,0.75,22.83,0.917,6,0.060,0.028,2565,2102,1224,0,0,0,0,0,0
$GC,12123,0.58,403.7,807.1,10.3,902,12127,0.00,0.77,0.00,0.000,4,0.000,0.035,2565,2619,1222,0,0,0,0,0,0
$GC,12230,0.56,403.7,795.4,11.2,906,12236,0.00,0.75,0.00,0.000,6,0.000,0.028,2568,2105,1222,0,0,0,0,0,0
$GC,12547,0.55,403.7,760.2,11.8,922,12551,0.00,0.77,0.00,0.000,4,0.000,0.035,2568,2622,1221,0,0,0,0,0,0
$GC,12597,0.53,403.7,753.4,13.2,924,12600,0.00,0.77,0.00,0.000,6,0.000,0.030,2571,2093,1221,0,0,0,0,0,0
$GC,12925,0.51,403.7,710.4,13.3,940,12929,0.12,0.80,0.00,0.000,4,0.146,0.036,2536,2612,1221,0,0,0,0,0,0
$GC,13016,0.51,403.7,699.6,11.7,944,13020,0.00,0.75,0.00,0.000,6,0.000,0.029,2538,2097,1221,0,0,0,0,0,0
$GC,13350,0.57,413.2,664.2,10.0,960,13364,0.00,0.80,8.88,0.758,4,0.000,0.036,2541,1575,1184,0,0,0,0,0,0
$GC,13400,0.64,442.9,659.3,9.4,962,13430,0.08,0.77,24.92,0.826,6,0.067,0.031,2586,2096,1062,0,0,0,0,0,0
$GC,13747,0.64,442.9,619.4,11.4,979,13750,0.00,0.75,0.00,0.000,4,0.000,0.033,2589,1587,1065,0,0,0,0,0,0
$GC,13839,0.61,442.9,608.1,12.9,983,13843,0.00,0.77,0.00,0.000,6,0.000,0.031,2589,2099,1066,0,0,0,0,0,0
$GC,14173,0.59,442.9,569.5,11.7,999,14176,0.00,0.77,0.00,0.000,4,0.000,0.032,2592,1572,1066,0,0,0,0,0,0
$GC,14275,0.56,442.9,557.0,12.0,1003,14279,0.10,0.80,0.00,0.000,6,0.121,0.031,2559,2102,1066,0,0,0,0,0,0
$GC,14598,0.61,442.9,523.2,10.7,1019,14602,0.00,0.77,0.00,0.000,4,0.000,0.037,2559,2630,1065,0,0,0,0,0,0
$GC,14678,0.66,442.9,514.5,10.9,1022,14681,0.00,0.77,0.00,0.000,6,0.000,0.031,2560,2107,1065,0,0,0,0,0,0
$GC,15007,0.76,459.8,481.1,9.8,1046,15030,0.17,0.80,15.57,0.712,4,0.074,0.031,2641,2625,992,0,0,0,0,0,0
$GC,15095,0.69,459.8,469.4,14.9,1053,15103,0.12,0.77,0.00,0.000,6,0.139,0.029,2603,2099,993,0,0,0,0,0,0
$GC,15422,0.68,459.8,431.7,11.1,1084,15426,0.00,0.75,0.00,0.000,4,0.000,0.035,2606,1582,996,0,0,0,0,0,0
$GC,15458,0.66,459.8,427.5,11.6,1087,15462,0.00,0.77,0.00,0.000,6,0.000,0.031,2606,2101,996,0,0,0,0,0,0
$GC,15791,0.64,459.8,388.8,11.3,1118,15795,0.00,0.77,0.00,0.000,4,0.000,0.033,2609,1575,996,0,0,0,0,0,0
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$STATE,19274,end climb,SURFACE_DEPTH_REACHED
$STATE,19274,begin surface coast
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$STATE,19303,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.026215,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.7,86.254
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322768
$DATA_FILE_SIZE,90233,1591
$CAP_FILE_SIZE,217450,0
$CFSIZE,260165632,186929152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261011,111606,2144.356,12005.478,35,1.1,46,-2.6