version: 66.09
glider: 181
mission: 6
dive: 80
start: 6 25 111 8 31 26
data:
$ID,181
$MISSION,6
$DIVE,80
$N_DIVES,85
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-39618.051
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,41
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,250611,082436,2013.962,11956.659,26,1.2,26,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.0
$GPS2,250611,083101,2014.061,11956.632,11,1.8,16,-2.3
$SPEED_LIMITS,0.143,0.275
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,174.8,137287,-12.1,-8.250
$D_GRID,3402
$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,-0.48,-194.6,0.0,0.0,0,101,0.00,0.00,-82.82,0.000,2,0.000,0.000,157,2618,2781,0,0,0,0,0,0
$GC,104,-0.48,-194.6,3.7,-3.8,11,137,8.12,1.83,-15.50,0.000,4,0.240,0.054,2127,3774,3663,0,0,0,0,0,0
$GC,163,-0.48,-194.6,34.3,-57.0,19,171,0.00,1.80,0.00,0.000,6,0.000,0.028,2127,2595,3664,0,0,0,0,0,0
$GC,300,-0.48,-194.6,90.9,-33.9,44,308,0.00,2.10,0.00,0.000,4,0.000,0.027,2127,1180,3665,0,0,0,0,0,0
$GC,338,-0.48,-194.6,100.4,-24.9,50,346,0.00,2.22,0.00,0.000,6,0.000,0.041,2121,2587,3666,0,0,0,0,0,0
$GC,476,-0.48,-194.6,136.9,-30.5,75,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2589,3666,0,0,0,0,0,0
$GC,613,-0.48,-194.6,175.0,-29.7,100,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2588,3667,0,0,0,0,0,0
$GC,750,-0.48,-194.6,210.8,-25.0,121,754,0.00,1.83,0.00,0.000,4,0.000,0.044,2112,3790,3668,0,0,0,0,0,0
$GC,798,-0.48,-194.6,222.8,-20.6,125,808,0.08,1.80,0.00,0.000,6,0.144,0.025,2136,2579,3668,0,0,0,0,0,0
$GC,1124,-0.48,-194.6,275.3,-14.2,156,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2578,3668,0,0,0,0,0,0
$GC,1445,-0.48,-194.6,314.0,-11.1,186,1448,0.00,1.85,0.00,0.000,4,0.000,0.045,2129,3787,3666,0,0,0,0,0,0
$GC,1491,-0.48,-194.6,319.1,-10.2,190,1495,0.00,1.73,0.00,0.000,6,0.000,0.027,2135,2596,3665,0,0,0,0,0,0
$GC,1822,-0.48,-194.6,362.3,-15.1,221,1826,0.00,2.03,0.00,0.000,4,0.000,0.031,2129,1214,3662,0,0,0,0,0,0
$GC,1845,-0.48,-194.6,365.9,-15.4,223,1849,0.00,2.15,0.00,0.000,6,0.000,0.041,2125,2609,3662,0,0,0,0,0,0
$GC,2177,-0.48,-194.6,415.4,-15.3,254,2180,0.00,1.77,0.00,0.000,4,0.000,0.049,2116,3780,3658,0,0,0,0,0,0
$GC,2225,-0.48,-194.6,423.4,-14.4,258,2233,0.00,1.75,0.00,0.000,6,0.000,0.028,2117,2613,3658,0,0,0,0,0,0
$GC,2551,-0.48,-194.6,472.9,-15.0,289,2555,0.00,2.08,0.00,0.000,4,0.000,0.034,2116,1201,3655,0,0,0,0,0,0
$GC,2602,-0.48,-194.6,479.9,-13.3,293,2607,0.12,2.15,0.00,0.000,6,0.162,0.041,2145,2607,3654,0,0,0,0,0,0
$GC,2923,-0.48,-194.6,513.9,-10.3,317,2927,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3777,3651,0,0,0,0,0,0
$GC,2972,-0.48,-194.6,518.8,-10.0,319,2976,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2597,3650,0,0,0,0,0,0
$GC,3300,-0.48,-194.6,552.1,-10.2,335,3304,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1196,3647,0,0,0,0,0,0
$GC,3361,-0.48,-194.6,557.7,-8.4,337,3369,0.00,2.17,0.00,0.000,6,0.000,0.041,2138,2608,3647,0,0,0,0,0,0
$GC,3677,-0.48,-194.6,585.4,-8.9,353,3681,0.00,1.80,0.00,0.000,4,0.000,0.051,2135,3787,3644,0,0,0,0,0,0
$GC,3715,-0.48,-194.6,588.9,-8.6,354,3722,0.00,1.77,0.00,0.000,6,0.000,0.030,2134,2604,3643,0,0,0,0,0,0
$GC,4032,-0.48,-194.6,619.4,-10.2,370,4036,0.00,2.08,0.00,0.000,4,0.000,0.035,2136,1202,3641,0,0,0,0,0,0
$GC,4081,-0.48,-194.6,624.4,-9.4,372,4085,0.00,2.15,0.00,0.000,6,0.000,0.041,2126,2605,3641,0,0,0,0,0,0
$GC,4403,-0.48,-194.6,658.7,-10.7,388,4407,0.00,1.85,0.00,0.000,4,0.000,0.051,2124,3781,3638,0,0,0,0,0,0
$GC,4441,-0.48,-194.6,662.9,-10.3,389,4450,0.00,1.80,0.00,0.000,6,0.000,0.030,2124,2592,3637,0,0,0,0,0,0
$GC,4758,-0.48,-194.6,694.9,-10.2,405,4761,0.00,2.05,0.00,0.000,4,0.000,0.035,2124,1210,3635,0,0,0,0,0,0
$GC,4785,-0.48,-194.6,698.0,-10.1,406,4789,0.00,2.15,0.00,0.000,6,0.000,0.042,2124,2608,3635,0,0,0,0,0,0
$GC,5112,-0.48,-194.6,730.0,-10.1,422,5116,0.00,1.80,0.00,0.000,4,0.000,0.052,2124,3784,3633,0,0,0,0,0,0
$GC,5145,-0.48,-194.6,733.5,-10.6,423,5149,0.00,1.80,0.00,0.000,6,0.000,0.030,2121,2593,3632,0,0,0,0,0,0
$GC,5467,-0.48,-194.6,768.5,-11.6,439,5471,0.00,2.08,0.00,0.000,4,0.000,0.035,2124,1199,3630,0,0,0,0,0,0
$GC,5515,-0.48,-194.6,773.8,-11.2,441,5519,0.00,2.17,0.00,0.000,6,0.000,0.042,2124,2612,3630,0,0,0,0,0,0
$GC,5842,-0.48,-194.6,809.5,-10.8,457,5845,0.00,1.80,0.00,0.000,4,0.000,0.053,2122,3787,3628,0,0,0,0,0,0
$GC,5881,-0.48,-194.6,813.5,-9.7,458,5888,0.00,1.77,0.00,0.000,6,0.000,0.031,2122,2594,3627,0,0,0,0,0,0
$GC,6197,-0.48,-194.6,845.4,-10.3,474,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2591,3626,0,0,0,0,0,0
$GC,6506,-0.48,-194.6,876.2,-10.1,489,6510,0.00,2.08,0.00,0.000,4,0.000,0.036,2122,1199,3624,0,0,0,0,0,0
$GC,6584,-0.48,-194.6,883.7,-9.0,492,6591,0.12,2.17,0.00,0.000,6,0.161,0.041,2146,2601,3624,0,0,0,0,0,0
$GC,6900,-0.48,-194.6,908.1,-8.1,508,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2601,3622,0,0,0,0,0,0
$GC,7210,-0.48,-194.6,933.7,-8.2,523,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2601,3621,0,0,0,0,0,0
$GC,7519,-0.48,-194.6,958.5,-7.8,538,7523,0.00,2.12,0.00,0.000,4,0.000,0.037,2148,1195,3620,0,0,0,0,0,0
$GC,7566,-0.48,-194.6,962.1,-7.6,540,7570,0.00,2.17,0.00,0.000,6,0.000,0.041,2147,2605,3620,0,0,0,0,0,0
$GC,7894,-0.48,-194.6,985.8,-7.0,556,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2605,3618,0,0,0,0,0,0
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7973,begin apogee
$GC,7979,-0.16,0.0,991.4,6.7,560,8132,0.30,0.00,147.02,1.111,6,0.116,0.000,2249,2112,2872,0,0,0,0,0,0
$STATE,8133,end apogee,CONTROL_FINISHED_OK
$STATE,8133,begin climb
$GC,8136,0.48,194.6,997.1,0.0,567,8307,0.57,2.50,160.43,1.079,4,0.063,0.046,2462,3542,2075,0,0,0,0,0,0
$GC,8380,0.48,194.6,975.6,15.0,578,8384,0.00,2.22,0.00,0.000,6,0.000,0.030,2468,2136,2069,0,0,0,0,0,0
$GC,8702,0.48,194.6,931.0,13.8,594,8706,0.00,2.20,0.00,0.000,4,0.000,0.041,2482,715,2065,0,0,0,0,0,0
$GC,8795,0.48,194.6,918.3,12.8,598,8799,0.00,2.20,0.00,0.000,6,0.000,0.036,2482,2129,2064,0,0,0,0,0,0
$GC,9118,0.48,194.6,872.7,14.3,614,9122,0.00,2.20,0.00,0.000,4,0.000,0.046,2482,3546,2061,0,0,0,0,0,0
$GC,9167,0.48,194.6,864.8,15.6,616,9172,0.12,2.17,0.00,0.000,6,0.192,0.031,2463,2117,2061,0,0,0,0,0,0
$GC,9489,0.48,194.6,825.4,11.9,632,9493,0.00,2.12,0.00,0.000,4,0.000,0.041,2472,721,2060,0,0,0,0,0,0
$GC,9565,0.48,194.6,816.4,11.3,635,9573,0.00,2.20,0.00,0.000,6,0.000,0.037,2472,2126,2060,0,0,0,0,0,0
$GC,9882,0.48,194.6,778.7,12.3,651,9886,0.00,2.17,0.00,0.000,4,0.000,0.046,2471,3538,2059,0,0,0,0,0,0
$GC,9926,0.48,194.6,772.4,13.7,653,9930,0.00,2.20,0.00,0.000,6,0.000,0.031,2481,2119,2059,0,0,0,0,0,0
$GC,10254,0.48,194.6,731.1,12.4,669,10258,0.00,2.12,0.00,0.000,4,0.000,0.040,2492,713,2059,0,0,0,0,0,0
$GC,10348,0.48,194.6,719.3,12.2,673,10353,0.12,2.20,0.00,0.000,6,0.171,0.036,2462,2152,2059,0,0,0,0,0,0
$GC,10669,0.48,194.6,684.9,10.2,689,10673,0.00,2.12,0.00,0.000,4,0.000,0.046,2461,3535,2058,0,0,0,0,0,0
$GC,10755,0.48,194.6,674.8,11.9,693,10759,0.00,2.12,0.00,0.000,6,0.000,0.031,2468,2125,2058,0,0,0,0,0,0
$GC,11082,0.48,194.6,637.9,11.3,709,11086,0.00,2.12,0.00,0.000,4,0.000,0.041,2479,718,2058,0,0,0,0,0,0
$GC,11148,0.48,194.6,630.0,11.7,712,11152,0.00,2.15,0.00,0.000,6,0.000,0.036,2479,2129,2058,0,0,0,0,0,0
$GC,11475,0.48,194.6,589.2,12.8,728,11479,0.00,2.17,0.00,0.000,4,0.000,0.046,2479,3545,2055,0,0,0,0,0,0
$GC,11547,0.48,194.6,578.8,14.6,731,11552,0.08,2.20,0.00,0.000,6,0.164,0.031,2466,2120,2057,0,0,0,0,0,0
$GC,11868,0.48,194.6,541.3,11.3,747,11872,0.00,2.12,0.00,0.000,4,0.000,0.042,2475,718,2057,0,0,0,0,0,0
$GC,11924,0.48,194.6,535.1,11.2,749,11933,0.00,2.17,0.00,0.000,6,0.000,0.037,2475,2139,2057,0,0,0,0,0,0
$GC,12241,0.48,194.6,500.0,10.8,765,12245,0.00,2.15,0.00,0.000,4,0.000,0.047,2475,3536,2058,0,0,0,0,0,0
$GC,12265,0.48,194.6,497.3,10.8,766,12269,0.00,2.12,0.00,0.000,6,0.000,0.031,2485,2122,2057,0,0,0,0,0,0
$GC,12590,0.48,194.6,459.5,12.0,796,12594,0.00,2.12,0.00,0.000,4,0.000,0.041,2496,710,2057,0,0,0,0,0,0
$GC,12841,0.48,194.6,429.3,11.3,818,12849,0.08,2.20,0.00,0.000,6,0.155,0.035,2462,2128,2058,0,0,0,0,0,0
$GC,13169,0.48,194.6,399.4,8.5,849,13173,0.00,2.15,0.00,0.000,4,0.000,0.047,2462,3536,2057,0,0,0,0,0,0
$GC,13197,0.48,194.6,396.5,8.8,851,13201,0.00,2.12,0.00,0.000,6,0.000,0.031,2470,2124,2057,0,0,0,0,0,0
$GC,13528,0.48,194.6,366.2,9.9,882,13532,0.00,2.12,0.00,0.000,4,0.000,0.042,2481,712,2057,0,0,0,0,0,0
$GC,13560,0.48,194.6,362.8,9.9,884,13567,0.00,2.20,0.00,0.000,6,0.000,0.036,2481,2131,2058,0,0,0,0,0,0
$GC,13886,0.48,194.6,326.4,11.3,915,13890,0.00,2.17,0.00,0.000,4,0.000,0.047,2481,3546,2057,0,0,0,0,0,0
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$STATE,17562,end climb,SURFACE_DEPTH_REACHED
$STATE,17562,begin surface coast
$FINISH,-0.0,1.003511
$STATE,17592,end surface coast,CONTROL_FINISHED_OK
$STATE,17592,begin surface
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$TT8_MAMPS,0.027713,0.027713
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$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,10.1,13.413
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322628
$DATA_FILE_SIZE,97124,1444
$CAP_FILE_SIZE,187601,0
$CFSIZE,260165632,243662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,  9.2,1
$GPS,250611,132706,2012.889,11957.186,34,1.1,34,-2.3