version: 66.09
glider: 181
mission: 6
dive: 710
start: 10 25 111 2 53 23
data:
$ID,181
$MISSION,6
$DIVE,710
$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,-41499.523
$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,72
$R_STBD_OVSHOOT,57
$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
$GPS1,251011,024607,2144.323,12002.737,27,1.5,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.8
$GPS2,251011,025258,2144.559,12002.592,9,2.6,28,-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,183.5,304796,-14.3,-10.312
$D_GRID,2568
$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,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-67.50,0.000,2,0.000,0.000,145,2482,2337,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.3,-3.1,12,138,8.52,0.68,-32.20,0.000,4,0.224,0.063,2169,1949,3763,0,0,0,0,0,0
$GC,225,-0.48,-219.0,32.9,-22.6,35,233,0.15,0.80,0.00,0.000,6,0.140,0.034,2214,2484,3763,0,0,0,0,0,0
$GC,573,-0.38,-219.0,100.1,-19.0,96,580,0.12,0.82,0.00,0.000,4,0.160,0.038,2247,3022,3762,0,0,0,0,0,0
$GC,666,-0.34,-219.0,114.4,-13.5,112,674,0.00,0.73,0.00,0.000,6,0.000,0.024,2247,2486,3762,0,0,0,0,0,0
$GC,1014,-0.46,-219.0,151.4,-8.0,173,1020,0.00,0.80,0.00,0.000,4,0.000,0.036,2247,3025,3762,0,0,0,0,0,0
$GC,1113,-0.64,-219.0,159.8,-8.9,190,1120,0.17,0.70,0.00,0.000,6,0.055,0.024,2166,2503,3762,0,0,0,0,0,0
$GC,1462,-0.67,-219.0,195.5,-9.5,251,1469,0.00,0.77,0.00,0.000,4,0.000,0.036,2165,3026,3762,0,0,0,0,0,0
$GC,1578,-0.67,-219.0,207.0,-9.3,265,1581,0.00,0.70,0.00,0.000,6,0.000,0.025,2165,2508,3762,0,0,0,0,0,0
$GC,1909,-0.72,-219.0,239.0,-9.5,296,1913,0.00,0.77,0.00,0.000,4,0.000,0.037,2165,3024,3762,0,0,0,0,0,0
$GC,1993,-0.73,-219.0,247.6,-10.5,303,2000,0.00,0.73,0.00,0.000,6,0.000,0.024,2165,2495,3761,0,0,0,0,0,0
$GC,2319,-0.79,-219.0,280.4,-9.5,334,2324,0.12,0.82,0.00,0.000,4,0.076,0.037,2084,3029,3760,0,0,0,0,0,0
$GC,2451,-0.65,-219.0,300.8,-17.0,345,2458,0.22,0.73,0.00,0.000,6,0.130,0.025,2155,2505,3759,0,0,0,0,0,0
$GC,2777,-0.62,-219.0,334.7,-9.9,376,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3757,0,0,0,0,0,0
$GC,3100,-0.58,-219.0,365.9,-10.2,406,3105,0.10,0.80,0.00,0.000,4,0.158,0.041,2183,3020,3755,0,0,0,0,0,0
$GC,3173,-0.58,-219.0,373.4,-9.3,412,3179,0.00,0.73,0.00,0.000,6,0.000,0.026,2183,2500,3755,0,0,0,0,0,0
$GC,3499,-0.67,-219.0,402.5,-8.9,443,3502,0.00,0.82,0.00,0.000,4,0.000,0.040,2180,3024,3751,0,0,0,0,0,0
$GC,3606,-0.73,-219.0,412.3,-9.1,452,3613,0.10,0.73,0.00,0.000,6,0.045,0.026,2111,2501,3750,0,0,0,0,0,0
$GC,3933,-0.73,-219.0,446.2,-10.7,483,3936,0.00,0.70,0.00,0.000,4,0.000,0.027,2111,1970,3747,0,0,0,0,0,0
$GC,3991,-0.70,-219.0,452.5,-11.3,488,3995,0.10,0.80,0.00,0.000,6,0.120,0.036,2144,2499,3747,0,0,0,0,0,0
$GC,4321,-0.66,-219.0,487.4,-11.0,519,4325,0.00,0.80,0.00,0.000,4,0.000,0.042,2141,3030,3744,0,0,0,0,0,0
$GC,4511,-0.62,-219.0,509.9,-11.6,532,4515,0.08,0.75,0.00,0.000,6,0.123,0.027,2168,2505,3742,0,0,0,0,0,0
$GC,4835,-0.70,-219.0,538.4,-8.5,548,4838,0.00,0.80,0.00,0.000,4,0.000,0.041,2167,3022,3739,0,0,0,0,0,0
$GC,4886,-0.77,-219.0,543.1,-8.8,550,4891,0.10,0.75,0.00,0.000,6,0.048,0.026,2101,2499,3739,0,0,0,0,0,0
$GC,5215,-0.69,-219.0,582.9,-12.7,566,5217,0.17,0.00,0.00,0.000,6,0.142,0.000,2150,2495,3737,0,0,0,0,0,0
$GC,5523,-0.68,-219.0,613.1,-9.7,581,5527,0.00,0.82,0.00,0.000,4,0.000,0.041,2148,3024,3734,0,0,0,0,0,0
$GC,5625,-0.66,-219.0,623.3,-10.1,585,5629,0.00,0.75,0.00,0.000,6,0.000,0.028,2148,2497,3733,0,0,0,0,0,0
$GC,5948,-0.64,-219.0,655.1,-9.9,601,5951,0.00,0.82,0.00,0.000,4,0.000,0.041,2144,3030,3731,0,0,0,0,0,0
$GC,6087,-0.61,-219.0,669.7,-10.8,607,6092,0.08,0.75,0.00,0.000,6,0.124,0.028,2171,2505,3730,0,0,0,0,0,0
$GC,6422,-0.69,-219.0,698.9,-8.3,623,6426,0.00,0.80,0.00,0.000,4,0.000,0.041,2170,3024,3728,0,0,0,0,0,0
$GC,6496,-0.77,-219.0,704.8,-7.7,626,6500,0.10,0.75,0.00,0.000,6,0.054,0.027,2103,2501,3727,0,0,0,0,0,0
$GC,6824,-0.70,-219.0,743.3,-12.1,642,6828,0.15,0.75,0.00,0.000,4,0.148,0.028,2145,1972,3725,0,0,0,0,0,0
$GC,6858,-0.66,-219.0,747.0,-12.0,643,6862,0.00,0.80,0.00,0.000,6,0.000,0.037,2142,2491,3725,0,0,0,0,0,0
$GC,7180,-0.64,-219.0,776.0,-8.9,659,7184,0.00,0.82,0.00,0.000,4,0.000,0.042,2139,3032,3723,0,0,0,0,0,0
$GC,7324,-0.62,-219.0,789.1,-9.4,665,7328,0.10,0.77,0.00,0.000,6,0.123,0.028,2173,2497,3722,0,0,0,0,0,0
$GC,7653,-0.73,-219.0,812.8,-7.0,681,7657,0.00,0.70,0.00,0.000,4,0.000,0.028,2173,1975,3721,0,0,0,0,0,0
$GC,7797,-0.82,-219.0,822.0,-6.2,687,7801,0.15,0.80,0.00,0.000,6,0.046,0.038,2091,2494,3720,0,0,0,0,0,0
$GC,8124,-0.75,-219.0,858.2,-11.1,703,8129,0.15,0.85,0.00,0.000,4,0.153,0.045,2130,3028,3718,0,0,0,0,0,0
$GC,8320,-0.71,-219.0,876.2,-9.1,711,8327,0.00,0.77,0.00,0.000,6,0.000,0.029,2130,2498,3718,0,0,0,0,0,0
$GC,8638,-0.69,-219.0,904.2,-8.8,727,8642,0.00,0.82,0.00,0.000,4,0.000,0.044,2126,3021,3716,0,0,0,0,0,0
$GC,8734,-0.65,-219.0,913.7,-9.8,731,8738,0.10,0.75,0.00,0.000,6,0.127,0.028,2160,2505,3715,0,0,0,0,0,0
$GC,9064,-0.74,-219.0,939.2,-7.8,747,9068,0.00,0.73,0.00,0.000,4,0.000,0.030,2160,1976,3713,0,0,0,0,0,0
$GC,9196,-0.80,-219.0,949.7,-8.0,752,9204,0.10,0.80,0.00,0.000,6,0.052,0.039,2099,2493,3713,0,0,0,0,0,0
$GC,9513,-0.80,-219.0,980.5,-9.9,768,9516,0.00,0.82,0.00,0.000,4,0.000,0.044,2096,3030,3711,0,0,0,0,0,0
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9597,-0.19,0.0,990.4,13.5,771,9768,0.70,0.00,165.68,1.073,6,0.131,0.000,2310,2103,2869,0,0,0,0,0,0
$STATE,9769,end apogee,CONTROL_FINISHED_OK
$STATE,9769,begin climb
$GC,9772,0.61,219.0,1001.2,0.0,779,9954,0.70,0.82,174.60,1.054,4,0.049,0.034,2588,1573,1976,0,0,0,0,0,0
$GC,10208,0.50,219.0,963.0,12.2,799,10216,0.15,0.82,0.00,0.000,6,0.148,0.032,2544,2114,1973,0,0,0,0,0,0
$GC,10528,0.45,222.6,930.5,10.2,815,10537,0.00,0.77,4.43,0.704,4,0.000,0.038,2544,2616,1961,0,0,0,0,0,0
$GC,10630,0.37,222.6,919.2,10.8,819,10634,0.15,0.77,0.00,0.000,6,0.152,0.029,2501,2092,1960,0,0,0,0,0,0
$GC,10954,0.40,263.5,890.7,9.0,835,10991,0.00,0.85,33.20,0.978,4,0.000,0.035,2501,2619,1794,0,0,0,0,0,0
$GC,11084,0.40,272.7,877.8,10.0,840,11098,0.00,0.77,8.95,0.827,6,0.000,0.030,2503,2097,1757,0,0,0,0,0,0
$GC,11418,0.44,303.5,846.3,9.3,856,11448,0.00,0.82,25.83,0.939,4,0.000,0.033,2502,2620,1629,0,0,0,0,0,0
$GC,11513,0.46,320.6,837.2,9.8,860,11533,0.00,0.77,14.73,0.877,6,0.000,0.030,2505,2100,1561,0,0,0,0,0,0
$GC,11864,0.57,367.9,805.2,8.8,877,11908,0.15,0.82,39.03,0.933,4,0.082,0.036,2578,1575,1369,0,0,0,0,0,0
$GC,12010,0.54,367.9,787.2,12.4,883,12015,0.08,0.80,0.00,0.000,6,0.129,0.032,2553,2098,1369,0,0,0,0,0,0
$GC,12334,0.52,367.9,753.0,10.8,899,12338,0.00,0.77,0.00,0.000,4,0.000,0.039,2553,2618,1370,0,0,0,0,0,0
$GC,12518,0.50,367.9,731.7,11.4,907,12522,0.00,0.77,0.00,0.000,6,0.000,0.029,2554,2094,1369,0,0,0,0,0,0
$GC,12846,0.49,367.9,696.7,10.7,923,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2094,1369,0,0,0,0,0,0
$GC,13155,0.48,367.9,663.7,10.8,938,13159,0.00,0.80,0.00,0.000,4,0.000,0.034,2554,2628,1369,0,0,0,0,0,0
$GC,13189,0.46,367.9,659.7,11.1,939,13193,0.10,0.77,0.00,0.000,6,0.132,0.030,2524,2108,1369,0,0,0,0,0,0
$GC,13514,0.55,387.3,629.3,9.7,955,13536,0.00,0.82,16.95,0.802,4,0.000,0.034,2525,2629,1289,0,0,0,0,0,0
$GC,13594,0.61,404.1,621.1,9.8,958,13615,0.10,0.80,14.52,0.763,6,0.057,0.031,2584,2093,1221,0,0,0,0,0,0
$GC,13938,0.63,404.1,583.0,10.9,975,13941,0.00,0.80,0.00,0.000,4,0.000,0.034,2583,2629,1223,0,0,0,0,0,0
$GC,13954,0.63,404.1,581.1,10.8,975,13961,0.00,0.80,0.00,0.000,6,0.000,0.031,2586,2093,1222,0,0,0,0,0,0
$GC,14271,0.65,404.1,547.3,10.8,991,14275,0.00,0.80,0.00,0.000,4,0.000,0.034,2586,2630,1223,0,0,0,0,0,0
$GC,14310,0.65,404.1,542.5,11.1,992,14317,0.00,0.77,0.00,0.000,6,0.000,0.031,2590,2106,1223,0,0,0,0,0,0
$GC,14627,0.66,404.1,507.8,11.1,1008,14631,0.00,0.77,0.00,0.000,4,0.000,0.034,2589,2626,1223,0,0,0,0,0,0
$GC,14689,0.61,404.1,500.2,12.7,1010,14696,0.00,0.77,0.00,0.000,6,0.000,0.031,2593,2101,1223,0,0,0,0,0,0
$GC,15015,0.58,404.1,461.7,11.9,1041,15018,0.00,0.77,0.00,0.000,4,0.000,0.036,2597,1568,1223,0,0,0,0,0,0
$GC,15111,0.54,404.1,449.3,13.1,1049,15119,0.12,0.80,0.00,0.000,6,0.121,0.032,2555,2097,1223,0,0,0,0,0,0
$GC,15437,0.59,404.1,413.9,10.8,1080,15441,0.00,0.77,0.00,0.000,4,0.000,0.037,2556,2624,1223,0,0,0,0,0,0
$GC,15489,0.65,412.3,408.6,10.1,1084,15501,0.00,0.77,8.40,0.630,6,0.000,0.031,2556,2096,1188,0,0,0,0,0,0
$GC,15822,0.73,442.2,376.3,9.4,1115,15854,0.15,0.00,24.95,0.657,6,0.080,0.000,2626,2096,1066,0,0,0,0,0,0
$GC,16172,0.73,442.2,336.7,11.4,1148,16176,0.00,0.80,0.00,0.000,4,0.000,0.034,2626,2630,1067,0,0,0,0,0,0
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$STATE,19331,end climb,SURFACE_DEPTH_REACHED
$STATE,19332,begin surface coast
$FINISH,0.6,1.010910
$STATE,19355,end surface coast,CONTROL_FINISHED_OK
$STATE,19356,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,48.58
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.7,85.745
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.550,65.675,662.575,0.000,0.000,31.410,41.601,156.302,0.000,0.000,34.198,3894.769,11415.425,720.603,3300.601,495.830,0.000,2349.331,0.000,3004.113,0.000,0.540,0.000
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$SENSOR_SECS,1104.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,322720
$DATA_FILE_SIZE,93462,1596
$CAP_FILE_SIZE,216057,0
$CFSIZE,260165632,187420672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251011,081836,2144.468,12002.995,40,1.2,40,-2.6