version: 66.09
glider: 181
mission: 6
dive: 721
start: 10 27 111 16 30 39
data:
$ID,181
$MISSION,6
$DIVE,721
$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,595.83368
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-41751.023
$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,60
$R_STBD_OVSHOOT,33
$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
$GPS1,271011,155825,2147.908,12007.872,40,1.3,40,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.2
$GPS2,271011,163014,2149.010,12008.042,12,1.9,12,-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,185.2,313324,-14.3,-10.312
$D_GRID,1196
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-66.65,0.000,2,0.000,0.000,126,2490,2331,0,0,0,0,0,0
$GC,92,-0.61,-219.0,3.4,-3.0,12,140,8.52,0.77,-32.95,0.000,4,0.221,0.064,2171,1952,3763,0,0,0,0,0,0
$GC,265,-0.48,-219.0,39.4,-20.3,42,272,0.15,0.82,0.00,0.000,6,0.135,0.036,2215,2501,3763,0,0,0,0,0,0
$GC,613,-0.41,-219.0,95.3,-15.6,103,619,0.00,0.77,0.00,0.000,4,0.000,0.038,2213,3027,3760,0,0,0,0,0,0
$GC,790,-0.34,-219.0,124.1,-14.4,134,798,0.15,0.77,0.00,0.000,6,0.119,0.026,2264,2469,3760,0,0,0,0,0,0
$GC,1140,-0.49,-219.0,152.9,-9.2,195,1147,0.15,0.85,0.00,0.000,4,0.074,0.037,2199,3026,3760,0,0,0,0,0,0
$GC,1270,-0.53,-219.0,165.6,-10.3,217,1278,0.00,0.73,0.00,0.000,6,0.000,0.026,2199,2496,3759,0,0,0,0,0,0
$GC,1618,-0.60,-219.0,196.9,-8.0,278,1625,0.00,0.68,0.00,0.000,4,0.000,0.025,2200,1975,3759,0,0,0,0,0,0
$GC,1659,-0.65,-219.0,200.6,-8.3,284,1666,0.00,0.77,0.00,0.000,6,0.000,0.034,2198,2502,3759,0,0,0,0,0,0
$GC,1986,-0.74,-219.0,226.6,-9.1,315,1990,0.17,0.77,0.00,0.000,4,0.061,0.037,2096,3024,3758,0,0,0,0,0,0
$GC,2128,-0.60,-219.0,250.4,-19.8,327,2135,0.25,0.73,0.00,0.000,6,0.134,0.026,2174,2498,3757,0,0,0,0,0,0
$GC,2454,-0.65,-219.0,287.5,-9.1,358,2457,0.00,0.77,0.00,0.000,4,0.000,0.037,2172,3020,3756,0,0,0,0,0,0
$GC,2482,-0.69,-219.0,290.0,-8.6,360,2489,0.00,0.73,0.00,0.000,6,0.000,0.026,2172,2497,3755,0,0,0,0,0,0
$GC,2808,-0.72,-219.0,319.9,-10.4,391,2812,0.00,0.80,0.00,0.000,4,0.000,0.037,2169,3029,3753,0,0,0,0,0,0
$GC,2888,-0.76,-219.0,328.9,-11.5,398,2892,0.08,0.73,0.00,0.000,6,0.045,0.028,2106,2503,3752,0,0,0,0,0,0
$GC,3219,-0.68,-219.0,369.0,-11.9,429,3223,0.17,0.82,0.00,0.000,4,0.140,0.041,2155,3026,3749,0,0,0,0,0,0
$GC,3291,-0.64,-219.0,376.6,-9.6,435,3298,0.00,0.73,0.00,0.000,6,0.000,0.028,2155,2506,3749,0,0,0,0,0,0
$GC,3618,-0.63,-219.0,404.1,-8.8,466,3621,0.00,0.77,0.00,0.000,4,0.000,0.041,2152,3015,3747,0,0,0,0,0,0
$GC,3668,-0.61,-219.0,409.1,-9.6,470,3674,0.00,0.73,0.00,0.000,6,0.000,0.028,2152,2504,3746,0,0,0,0,0,0
$GC,3993,-0.66,-219.0,442.6,-10.5,501,3997,0.00,0.70,0.00,0.000,4,0.000,0.028,2152,1983,3742,0,0,0,0,0,0
$GC,4078,-0.68,-219.0,451.6,-10.2,508,4085,0.00,0.77,0.00,0.000,6,0.000,0.039,2153,2493,3742,0,0,0,0,0,0
$GC,4404,-0.73,-219.0,478.7,-7.6,539,4408,0.00,0.70,0.00,0.000,4,0.000,0.028,2152,1985,3739,0,0,0,0,0,0
$GC,4421,-0.78,-219.0,480.3,-7.8,540,4428,0.00,0.77,0.00,0.000,6,0.000,0.039,2152,2496,3738,0,0,0,0,0,0
$GC,4758,-0.82,-219.0,506.8,-8.0,568,4762,0.12,0.73,0.00,0.000,4,0.080,0.030,2083,1982,3735,0,0,0,0,0,0
$GC,4769,-0.86,-219.0,508.1,-8.0,568,4773,0.00,0.80,0.00,0.000,6,0.000,0.040,2080,2504,3735,0,0,0,0,0,0
$GC,5093,-0.75,-219.0,552.1,-14.1,584,5098,0.17,0.75,0.00,0.000,4,0.147,0.030,2130,1979,3731,0,0,0,0,0,0
$GC,5139,-0.71,-219.0,557.8,-11.5,586,5143,0.00,0.80,0.00,0.000,6,0.000,0.040,2127,2502,3731,0,0,0,0,0,0
$GC,5473,-0.66,-219.0,595.1,-11.1,602,5478,0.12,0.82,0.00,0.000,4,0.152,0.044,2160,3029,3730,0,0,0,0,0,0
$GC,5556,-0.66,-219.0,603.6,-10.0,605,5563,0.00,0.75,0.00,0.000,6,0.000,0.030,2161,2509,3729,0,0,0,0,0,0
$GC,5873,-0.69,-219.0,632.1,-9.3,621,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2509,3726,0,0,0,0,0,0
$GC,6184,-0.75,-219.0,663.4,-9.9,636,6187,0.00,0.80,0.00,0.000,4,0.000,0.044,2157,3024,3723,0,0,0,0,0,0
$GC,6231,-0.80,-219.0,667.9,-9.6,638,6235,0.08,0.75,0.00,0.000,6,0.053,0.029,2100,2504,3723,0,0,0,0,0,0
$GC,6566,-0.72,-219.0,711.7,-13.1,654,6571,0.15,0.85,0.00,0.000,4,0.145,0.045,2139,3024,3720,0,0,0,0,0,0
$GC,6639,-0.70,-219.0,719.9,-9.5,657,6643,0.00,0.77,0.00,0.000,6,0.000,0.030,2139,2493,3720,0,0,0,0,0,0
$GC,6969,-0.67,-219.0,745.4,-7.2,673,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2493,3717,0,0,0,0,0,0
$GC,7277,-0.64,-219.0,766.9,-7.0,688,7280,0.00,0.82,0.00,0.000,4,0.000,0.044,2138,3020,3715,0,0,0,0,0,0
$GC,7350,-0.61,-219.0,772.7,-8.1,691,7354,0.10,0.75,0.00,0.000,6,0.119,0.031,2173,2508,3715,0,0,0,0,0,0
$GC,7680,-0.72,-219.0,793.2,-6.7,707,7684,0.00,0.75,0.00,0.000,4,0.000,0.030,2173,1968,3712,0,0,0,0,0,0
$GC,7782,-0.80,-219.0,800.6,-7.3,711,7786,0.12,0.82,0.00,0.000,6,0.046,0.040,2098,2501,3712,0,0,0,0,0,0
$GC,8104,-0.80,-219.0,831.8,-9.7,727,8108,0.00,0.80,0.00,0.000,4,0.000,0.046,2097,3022,3710,0,0,0,0,0,0
$GC,8188,-0.72,-219.0,841.3,-12.0,730,8195,0.12,0.77,0.00,0.000,6,0.125,0.030,2138,2497,3710,0,0,0,0,0,0
$GC,8506,-0.70,-219.0,874.0,-10.6,746,8510,0.00,0.82,0.00,0.000,4,0.000,0.044,2136,3023,3708,0,0,0,0,0,0
$GC,8601,-0.67,-219.0,884.7,-10.5,750,8604,0.00,0.77,0.00,0.000,6,0.000,0.031,2136,2494,3708,0,0,0,0,0,0
$GC,8930,-0.65,-219.0,919.3,-10.4,766,8933,0.00,0.82,0.00,0.000,4,0.000,0.045,2132,3021,3706,0,0,0,0,0,0
$GC,8980,-0.62,-219.0,924.9,-10.2,768,8985,0.10,0.75,0.00,0.000,6,0.122,0.031,2166,2513,3706,0,0,0,0,0,0
$GC,9311,-0.73,-219.0,946.9,-5.9,784,9315,0.00,0.80,0.00,0.000,4,0.000,0.045,2166,3024,3705,0,0,0,0,0,0
$GC,9362,-0.82,-219.0,949.9,-5.7,786,9366,0.12,0.77,0.00,0.000,6,0.048,0.029,2096,2499,3704,0,0,0,0,0,0
$GC,9689,-0.75,-219.0,979.7,-10.9,802,9693,0.12,0.85,0.00,0.000,4,0.155,0.044,2128,3022,3702,0,0,0,0,0,0
$GC,9753,-0.72,-219.0,985.8,-9.1,804,9760,0.00,0.77,0.00,0.000,6,0.000,0.030,2128,2493,3702,0,0,0,0,0,0
$STATE,9798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9799,begin apogee
$GC,9805,-0.19,0.0,990.3,9.2,807,9976,0.55,0.00,163.75,1.064,6,0.116,0.000,2306,2093,2868,0,0,0,0,0,0
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9977,begin climb
$GC,9980,0.61,219.0,999.5,0.0,815,10162,0.73,0.82,173.77,1.051,4,0.050,0.034,2594,1574,1976,0,0,0,0,0,0
$GC,10314,0.50,219.0,972.3,12.7,830,10319,0.17,0.82,0.00,0.000,6,0.153,0.034,2542,2113,1974,0,0,0,0,0,0
$GC,10639,0.45,233.9,938.9,9.8,846,10661,0.00,0.80,13.20,0.930,4,0.000,0.040,2542,2622,1915,0,0,0,0,0,0
$GC,10772,0.38,233.9,925.2,10.3,851,10780,0.15,0.77,0.00,0.000,6,0.146,0.031,2499,2104,1914,0,0,0,0,0,0
$GC,11091,0.41,274.8,895.8,9.0,867,11129,0.00,0.85,33.45,0.979,4,0.000,0.037,2498,2629,1748,0,0,0,0,0,0
$GC,11157,0.44,295.1,889.0,9.7,870,11178,0.00,0.80,17.83,0.914,6,0.000,0.032,2500,2101,1665,0,0,0,0,0,0
$GC,11503,0.47,295.1,853.6,10.5,887,11507,0.00,0.77,0.00,0.000,4,0.000,0.036,2500,2619,1665,0,0,0,0,0,0
$GC,11543,0.50,295.1,848.9,10.7,888,11550,0.08,0.77,0.00,0.000,6,0.063,0.033,2550,2101,1665,0,0,0,0,0,0
$GC,11860,0.47,295.1,811.3,11.8,904,11864,0.00,0.77,0.00,0.000,4,0.000,0.035,2553,1568,1665,0,0,0,0,0,0
$GC,12013,0.42,295.1,794.1,10.7,910,12020,0.12,0.80,0.00,0.000,6,0.129,0.034,2513,2096,1665,0,0,0,0,0,0
$GC,12330,0.52,363.0,767.9,8.1,926,12387,0.00,0.85,53.70,0.920,4,0.000,0.035,2515,1570,1388,0,0,0,0,0,0
$GC,12419,0.65,428.9,760.2,8.2,929,12479,0.17,0.82,52.75,0.895,6,0.053,0.033,2597,2101,1119,0,0,0,0,0,0
$GC,12787,0.62,428.9,712.1,12.9,947,12791,0.00,0.77,0.00,0.000,4,0.000,0.034,2600,1575,1125,0,0,0,0,0,0
$GC,12895,0.58,428.9,698.2,13.0,951,12902,0.10,0.80,0.00,0.000,6,0.125,0.034,2567,2098,1124,0,0,0,0,0,0
$GC,13211,0.58,428.9,664.0,10.7,967,13214,0.00,0.77,0.00,0.000,4,0.000,0.035,2568,1574,1124,0,0,0,0,0,0
$GC,13281,0.58,428.9,656.2,11.5,970,13285,0.00,0.80,0.00,0.000,6,0.000,0.032,2568,2106,1124,0,0,0,0,0,0
$GC,13614,0.58,428.9,617.9,12.5,986,13618,0.00,0.80,0.00,0.000,4,0.000,0.036,2571,1572,1124,0,0,0,0,0,0
$GC,13683,0.57,428.9,608.7,13.9,989,13686,0.00,0.80,0.00,0.000,6,0.000,0.033,2571,2100,1124,0,0,0,0,0,0
$GC,14017,0.59,428.9,563.8,13.3,1005,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2100,1124,0,0,0,0,0,0
$GC,14325,0.62,428.9,526.2,11.4,1020,14329,0.00,0.80,0.00,0.000,4,0.000,0.041,2571,2622,1124,0,0,0,0,0,0
$GC,14420,0.65,428.9,516.3,11.0,1024,14423,0.00,0.77,0.00,0.000,6,0.000,0.032,2573,2099,1124,0,0,0,0,0,0
$GC,14749,0.70,440.8,483.9,9.9,1047,14765,0.00,0.77,11.85,0.693,4,0.000,0.032,2573,2630,1073,0,0,0,0,0,0
$GC,14779,0.74,452.0,480.8,10.0,1049,14795,0.08,0.80,10.62,0.649,6,0.060,0.033,2628,2096,1025,0,0,0,0,0,0
$GC,15122,0.70,452.0,436.5,13.8,1081,15125,0.00,0.75,0.00,0.000,4,0.000,0.036,2632,1579,1028,0,0,0,0,0,0
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$STATE,18959,end climb,SURFACE_DEPTH_REACHED
$STATE,18961,begin surface coast
$FINISH,0.6,1.010376
$STATE,18989,end surface coast,CONTROL_FINISHED_OK
$STATE,18989,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,51.41
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.7,86.925
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323028
$DATA_FILE_SIZE,90227,1590
$CAP_FILE_SIZE,229859,0
$CFSIZE,260165632,186228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271011,214854,2148.929,12010.086,26,0.9,43,-2.6