version: 66.09
glider: 181
mission: 6
dive: 718
start: 10 26 111 22 8 27
data:
$ID,181
$MISSION,6
$DIVE,718
$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,-41509.875
$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,61
$R_STBD_OVSHOOT,60
$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
$GPS1,261011,220130,2144.859,12007.171,37,1.0,42,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.5
$GPS2,261011,220802,2145.060,12007.197,9,1.4,9,-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,185.0,305951,-14.3,-10.312
$D_GRID,1970
$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,-67.57,0.000,2,0.000,0.000,125,2554,2350,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.4,-3.1,12,137,8.57,0.80,-31.92,0.000,4,0.223,0.056,2171,1953,3760,0,0,0,0,0,0
$GC,259,-0.48,-219.0,37.9,-19.6,41,266,0.15,0.80,0.00,0.000,6,0.135,0.034,2215,2486,3760,0,0,0,0,0,0
$GC,605,-0.40,-219.0,95.7,-15.3,102,612,0.00,0.73,0.00,0.000,4,0.000,0.023,2215,1942,3758,0,0,0,0,0,0
$GC,731,-0.37,-219.0,110.8,-11.2,124,739,0.10,0.82,0.00,0.000,6,0.114,0.033,2249,2497,3758,0,0,0,0,0,0
$GC,1081,-0.53,-219.0,142.9,-10.3,185,1088,0.15,0.80,0.00,0.000,4,0.077,0.037,2190,3030,3758,0,0,0,0,0,0
$GC,1125,-0.65,-219.0,147.5,-10.2,192,1132,0.00,0.77,0.00,0.000,6,0.000,0.023,2190,2465,3758,0,0,0,0,0,0
$GC,1474,-0.71,-219.0,178.7,-9.5,253,1481,0.15,0.65,0.00,0.000,4,0.067,0.026,2101,1970,3758,0,0,0,0,0,0
$GC,1586,-0.59,-219.0,196.6,-18.2,272,1593,0.25,0.80,0.00,0.000,6,0.123,0.036,2177,2504,3758,0,0,0,0,0,0
$GC,1915,-0.56,-219.0,234.5,-10.0,304,1919,0.00,0.77,0.00,0.000,4,0.000,0.037,2175,3034,3758,0,0,0,0,0,0
$GC,2006,-0.54,-219.0,243.1,-9.0,312,2010,0.00,0.73,0.00,0.000,6,0.000,0.024,2175,2500,3758,0,0,0,0,0,0
$GC,2338,-0.52,-219.0,273.7,-10.7,343,2342,0.12,0.82,0.00,0.000,4,0.137,0.037,2210,3030,3758,0,0,0,0,0,0
$GC,2397,-0.59,-219.0,279.2,-9.4,348,2401,0.00,0.73,0.00,0.000,6,0.000,0.025,2210,2502,3758,0,0,0,0,0,0
$GC,2729,-0.74,-219.0,310.8,-9.1,379,2733,0.20,0.70,0.00,0.000,4,0.066,0.021,2124,1968,3756,0,0,0,0,0,0
$GC,2798,-0.71,-219.0,318.0,-10.9,385,2802,0.00,0.80,0.00,0.000,6,0.000,0.034,2121,2504,3755,0,0,0,0,0,0
$GC,3130,-0.71,-219.0,350.2,-9.2,416,3133,0.00,0.70,0.00,0.000,4,0.000,0.024,2121,1978,3753,0,0,0,0,0,0
$GC,3193,-0.68,-219.0,356.1,-9.7,421,3200,0.10,0.77,0.00,0.000,6,0.116,0.034,2153,2498,3752,0,0,0,0,0,0
$GC,3519,-0.73,-219.0,382.9,-8.8,452,3522,0.00,0.77,0.00,0.000,4,0.000,0.040,2152,3019,3750,0,0,0,0,0,0
$GC,3593,-0.76,-219.0,389.9,-9.4,458,3600,0.00,0.73,0.00,0.000,6,0.000,0.025,2153,2499,3749,0,0,0,0,0,0
$GC,3919,-0.82,-219.0,423.8,-11.2,489,3923,0.12,0.80,0.00,0.000,4,0.080,0.038,2078,3014,3746,0,0,0,0,0,0
$GC,3989,-0.70,-219.0,433.9,-17.1,495,3993,0.20,0.73,0.00,0.000,6,0.129,0.027,2141,2502,3745,0,0,0,0,0,0
$GC,4322,-0.66,-219.0,470.3,-9.6,526,4326,0.00,0.80,0.00,0.000,4,0.000,0.040,2139,3022,3743,0,0,0,0,0,0
$GC,4409,-0.62,-219.0,478.8,-9.8,533,4417,0.10,0.75,0.00,0.000,6,0.119,0.026,2173,2491,3742,0,0,0,0,0,0
$GC,4735,-0.71,-219.0,503.8,-8.1,562,4739,0.00,0.80,0.00,0.000,4,0.000,0.040,2172,3012,3739,0,0,0,0,0,0
$GC,4820,-0.77,-219.0,511.2,-8.5,565,4827,0.10,0.73,0.00,0.000,6,0.049,0.027,2108,2500,3738,0,0,0,0,0,0
$GC,5136,-0.77,-219.0,547.0,-11.7,581,5139,0.00,0.82,0.00,0.000,4,0.000,0.041,2104,3018,3736,0,0,0,0,0,0
$GC,5221,-0.72,-219.0,557.5,-12.7,584,5228,0.10,0.73,0.00,0.000,6,0.121,0.027,2138,2512,3735,0,0,0,0,0,0
$GC,5537,-0.69,-219.0,595.8,-11.6,600,5541,0.00,0.77,0.00,0.000,4,0.000,0.041,2135,3017,3732,0,0,0,0,0,0
$GC,5578,-0.65,-219.0,601.1,-12.8,601,5585,0.00,0.75,0.00,0.000,6,0.000,0.027,2135,2491,3732,0,0,0,0,0,0
$GC,5894,-0.62,-219.0,640.3,-11.9,617,5899,0.15,0.73,0.00,0.000,4,0.143,0.028,2179,1969,3730,0,0,0,0,0,0
$GC,5927,-0.62,-219.0,644.0,-11.4,618,5931,0.00,0.80,0.00,0.000,6,0.000,0.035,2179,2499,3730,0,0,0,0,0,0
$GC,6251,-0.72,-219.0,669.9,-7.7,634,6255,0.10,0.75,0.00,0.000,4,0.097,0.028,2126,1971,3728,0,0,0,0,0,0
$GC,6357,-0.72,-219.0,679.1,-8.9,638,6364,0.00,0.80,0.00,0.000,6,0.000,0.037,2125,2497,3727,0,0,0,0,0,0
$GC,6675,-0.74,-219.0,705.5,-8.4,654,6679,0.00,0.73,0.00,0.000,4,0.000,0.027,2125,1972,3725,0,0,0,0,0,0
$GC,6714,-0.76,-219.0,709.3,-8.8,655,6721,0.00,0.80,0.00,0.000,6,0.000,0.038,2125,2492,3725,0,0,0,0,0,0
$GC,7032,-0.79,-219.0,738.5,-9.6,671,7036,0.00,0.73,0.00,0.000,4,0.000,0.028,2125,1968,3723,0,0,0,0,0,0
$GC,7078,-0.81,-219.0,743.3,-10.3,673,7082,0.00,0.82,0.00,0.000,6,0.000,0.039,2125,2503,3723,0,0,0,0,0,0
$GC,7412,-0.85,-219.0,778.4,-10.9,689,7415,0.00,0.73,0.00,0.000,4,0.000,0.028,2125,1979,3721,0,0,0,0,0,0
$GC,7463,-0.85,-219.0,784.4,-11.8,691,7466,0.00,0.80,0.00,0.000,6,0.000,0.039,2125,2499,3720,0,0,0,0,0,0
$GC,7791,-0.88,-219.0,821.9,-11.5,707,7794,0.00,0.80,0.00,0.000,4,0.000,0.045,2125,3023,3719,0,0,0,0,0,0
$GC,7898,-0.90,-219.0,834.7,-11.8,711,7905,0.08,0.75,0.00,0.000,6,0.059,0.028,2075,2501,3718,0,0,0,0,0,0
$GC,8215,-0.80,-219.0,886.1,-16.4,727,8219,0.15,0.85,0.00,0.000,4,0.152,0.044,2114,3025,3717,0,0,0,0,0,0
$GC,8253,-0.74,-219.0,892.1,-13.9,728,8260,0.00,0.75,0.00,0.000,6,0.000,0.028,2114,2504,3716,0,0,0,0,0,0
$GC,8571,-0.68,-219.0,929.5,-11.3,744,8575,0.15,0.85,0.00,0.000,4,0.144,0.044,2154,3027,3715,0,0,0,0,0,0
$GC,8690,-0.68,-219.0,939.6,-7.8,749,8694,0.00,0.77,0.00,0.000,6,0.000,0.028,2154,2496,3715,0,0,0,0,0,0
$GC,9019,-0.68,-219.0,962.9,-6.6,765,9023,0.00,0.82,0.00,0.000,4,0.000,0.044,2152,3021,3713,0,0,0,0,0,0
$GC,9127,-0.68,-219.0,970.1,-6.6,769,9134,0.00,0.75,0.00,0.000,6,0.000,0.029,2152,2500,3712,0,0,0,0,0,0
$GC,9444,-0.68,-219.0,988.0,-5.7,785,9448,0.00,0.85,0.00,0.000,4,0.000,0.045,2152,3023,3711,0,0,0,0,0,0
$STATE,9475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9475,begin apogee
$GC,9483,-0.19,0.0,990.2,5.8,786,9653,0.47,0.00,165.45,1.067,6,0.109,0.000,2308,2105,2869,0,0,0,0,0,0
$STATE,9654,end apogee,CONTROL_FINISHED_OK
$STATE,9654,begin climb
$GC,9657,0.61,219.0,996.6,0.0,794,9840,0.70,0.82,174.62,1.049,4,0.046,0.031,2587,1573,1975,0,0,0,0,0,0
$GC,9988,0.50,219.0,964.0,15.4,810,9992,0.15,0.82,0.00,0.000,6,0.148,0.031,2543,2121,1974,0,0,0,0,0,0
$GC,10324,0.44,223.2,926.1,10.2,826,10333,0.00,0.75,4.78,0.714,4,0.000,0.037,2543,2614,1958,0,0,0,0,0,0
$GC,10469,0.40,247.8,911.2,9.5,832,10495,0.12,0.75,20.75,0.950,6,0.149,0.028,2506,2098,1860,0,0,0,0,0,0
$GC,10812,0.54,373.5,887.7,6.3,849,10921,0.12,0.85,99.18,0.994,4,0.090,0.034,2559,2618,1346,0,0,0,0,0,0
$GC,11045,0.51,373.5,864.5,10.4,859,11049,0.00,0.77,0.00,0.000,6,0.000,0.028,2562,2093,1348,0,0,0,0,0,0
$GC,11368,0.49,373.5,831.1,10.4,875,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2094,1351,0,0,0,0,0,0
$GC,11677,0.47,373.5,798.3,10.5,890,11681,0.12,0.80,0.00,0.000,4,0.154,0.036,2528,2613,1351,0,0,0,0,0,0
$GC,11754,0.49,387.4,790.6,9.9,893,11774,0.00,0.75,13.75,0.866,6,0.000,0.030,2529,2102,1289,0,0,0,0,0,0
$GC,12099,0.55,387.4,757.7,10.4,910,12103,0.00,0.77,0.00,0.000,4,0.000,0.034,2529,2622,1287,0,0,0,0,0,0
$GC,12168,0.59,391.1,750.3,10.2,913,12178,0.08,0.77,4.68,0.634,6,0.063,0.030,2577,2094,1272,0,0,0,0,0,0
$GC,12504,0.57,391.1,708.7,12.8,929,12507,0.00,0.77,0.00,0.000,4,0.000,0.034,2577,2613,1272,0,0,0,0,0,0
$GC,12573,0.53,391.1,699.1,13.7,932,12577,0.10,0.75,0.00,0.000,6,0.125,0.029,2547,2103,1272,0,0,0,0,0,0
$GC,12909,0.60,414.2,665.1,9.6,948,12932,0.00,0.82,19.42,0.825,4,0.000,0.035,2550,1572,1180,0,0,0,0,0,0
$GC,12983,0.62,414.2,657.2,10.4,951,12987,0.00,0.80,0.00,0.000,6,0.000,0.030,2549,2103,1180,0,0,0,0,0,0
$GC,13312,0.70,442.3,626.1,9.4,967,13342,0.15,0.82,23.98,0.806,4,0.080,0.035,2621,2634,1065,0,0,0,0,0,0
$GC,13536,0.64,442.3,594.3,14.4,977,13541,0.12,0.80,0.00,0.000,6,0.140,0.029,2585,2092,1065,0,0,0,0,0,0
$GC,13869,0.64,442.3,554.1,11.4,993,13872,0.00,0.80,0.00,0.000,4,0.000,0.033,2585,2630,1065,0,0,0,0,0,0
$GC,13954,0.61,442.3,544.5,11.1,996,13961,0.00,0.77,0.00,0.000,6,0.000,0.030,2586,2107,1065,0,0,0,0,0,0
$GC,14271,0.69,481.1,514.3,9.1,1012,14306,0.00,0.80,31.12,0.752,4,0.000,0.029,2586,2625,907,0,0,0,0,0,0
$GC,14390,0.78,526.7,503.7,8.9,1017,14432,0.08,0.80,37.22,0.734,6,0.060,0.031,2636,2092,721,0,0,0,0,0,0
$GC,14760,0.80,526.7,467.1,10.7,1050,14763,0.00,0.75,0.00,0.000,4,0.000,0.035,2640,1574,730,0,0,0,0,0,0
$GC,14819,0.78,526.7,460.1,12.2,1055,14831,0.00,0.77,3.78,0.487,6,0.000,0.028,2640,2100,721,0,0,0,0,0,0
$GC,15151,0.76,526.7,412.6,14.1,1086,15154,0.00,0.77,0.00,0.000,4,0.000,0.031,2643,1570,721,0,0,0,0,0,0
$GC,15197,0.72,526.7,405.8,14.9,1090,15201,0.10,0.80,0.00,0.000,6,0.125,0.031,2609,2104,720,0,0,0,0,0,0
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$STATE,18834,end climb,SURFACE_DEPTH_REACHED
$STATE,18834,begin surface coast
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$STATE,18865,end surface coast,CONTROL_FINISHED_OK
$STATE,18865,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,47.00
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,2
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$10V_AH,9.7,86.559
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.275,69.725,665.175,0.000,0.000,28.364,41.616,157.790,0.500,0.000,13.693,3858.797,11052.645,732.692,3177.239,495.915,0.000,2338.251,0.000,2913.211,0.000,0.541,0.000
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$MEM,322768
$DATA_FILE_SIZE,90266,1578
$CAP_FILE_SIZE,216677,0
$CFSIZE,260165632,186638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271011,032531,2144.565,12007.616,42,1.0,42,-2.6