version: 66.09
glider: 181
mission: 6
dive: 244
start: 7 26 111 8 57 2
data:
$ID,181
$MISSION,6
$DIVE,244
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,-40826.414
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,42
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,260711,084937,1905.827,12001.151,38,0.9,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.6
$GPS2,260711,085637,1905.879,12001.107,10,1.0,15,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,MIDPOINT
$TGT_LATLONG,2030.000,12000.000
$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,1.3,155804,-15.3,-11.000
$D_GRID,3414
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.85,0.000,2,0.000,0.000,197,2638,2253,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.0,-3.5,9,131,7.95,1.83,-31.27,0.000,4,0.228,0.061,2133,3763,3765,0,0,0,0,0,0
$GC,176,-0.52,-219.0,40.9,-62.7,23,184,0.00,1.80,0.00,0.000,6,0.000,0.028,2135,2583,3766,0,0,0,0,0,0
$GC,310,-0.52,-219.0,92.8,-23.8,48,318,0.00,1.88,0.00,0.000,4,0.000,0.043,2126,3762,3766,0,0,0,0,0,0
$GC,352,-0.52,-219.0,105.4,-31.2,55,360,0.00,1.73,0.00,0.000,6,0.000,0.024,2127,2604,3767,0,0,0,0,0,0
$GC,485,-0.52,-219.0,134.8,-18.1,80,493,0.00,1.83,0.00,0.000,4,0.000,0.042,2118,3757,3767,0,0,0,0,0,0
$GC,517,-0.52,-219.0,140.6,-18.1,85,525,0.00,1.65,0.00,0.000,6,0.000,0.024,2118,2659,3768,0,0,0,0,0,0
$GC,651,-0.52,-219.0,167.7,-21.2,110,660,0.12,2.20,0.00,0.000,4,0.162,0.029,2150,1209,3768,0,0,0,0,0,0
$GC,699,-0.52,-219.0,176.3,-15.7,118,707,0.00,2.20,0.00,0.000,6,0.000,0.035,2149,2621,3769,0,0,0,0,0,0
$GC,834,-0.52,-219.0,195.8,-14.0,143,842,0.00,1.80,0.00,0.000,4,0.000,0.043,2145,3777,3769,0,0,0,0,0,0
$GC,851,-0.52,-219.0,198.4,-14.2,145,860,0.00,1.73,0.00,0.000,6,0.000,0.024,2142,2622,3769,0,0,0,0,0,0
$GC,997,-0.52,-219.0,219.2,-14.8,159,1001,0.00,2.08,0.00,0.000,4,0.000,0.028,2142,1203,3769,0,0,0,0,0,0
$GC,1028,-0.52,-219.0,223.8,-14.4,161,1032,0.00,2.20,0.00,0.000,6,0.000,0.034,2139,2652,3769,0,0,0,0,0,0
$GC,1354,-0.52,-219.0,264.6,-11.2,191,1358,0.00,1.70,0.00,0.000,4,0.000,0.044,2131,3777,3767,0,0,0,0,0,0
$GC,1436,-0.52,-219.0,273.2,-9.5,198,1444,0.00,1.67,0.00,0.000,6,0.000,0.024,2131,2654,3766,0,0,0,0,0,0
$GC,1762,-0.52,-219.0,317.8,-15.7,229,1766,0.00,2.12,0.00,0.000,4,0.000,0.028,2131,1206,3764,0,0,0,0,0,0
$GC,1813,-0.52,-219.0,325.1,-13.1,233,1817,0.00,2.20,0.00,0.000,6,0.000,0.034,2125,2648,3764,0,0,0,0,0,0
$GC,2143,-0.52,-219.0,371.1,-13.0,264,2147,0.00,1.73,0.00,0.000,4,0.000,0.046,2124,3780,3760,0,0,0,0,0,0
$GC,2181,-0.52,-219.0,375.8,-11.9,267,2189,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2643,3760,0,0,0,0,0,0
$GC,2507,-0.52,-219.0,415.9,-12.7,298,2511,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1188,3757,0,0,0,0,0,0
$GC,2573,-0.52,-219.0,423.0,-9.3,303,2580,0.00,2.22,0.00,0.000,6,0.000,0.036,2124,2640,3755,0,0,0,0,0,0
$GC,2898,-0.52,-219.0,462.9,-13.6,334,2902,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1201,3752,0,0,0,0,0,0
$GC,2931,-0.52,-219.0,467.6,-13.6,336,2939,0.00,2.22,0.00,0.000,6,0.000,0.038,2125,2617,3752,0,0,0,0,0,0
$GC,3256,-0.52,-219.0,511.7,-14.1,363,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2614,3750,0,0,0,0,0,0
$GC,3563,-0.52,-219.0,551.4,-12.6,378,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2617,3746,0,0,0,0,0,0
$GC,3873,-0.52,-219.0,587.6,-11.7,393,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2617,3744,0,0,0,0,0,0
$GC,4183,-0.52,-219.0,623.0,-11.4,408,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2617,3741,0,0,0,0,0,0
$GC,4491,-0.52,-219.0,659.9,-11.9,423,4495,0.00,1.80,0.00,0.000,4,0.000,0.049,2123,3776,3739,0,0,0,0,0,0
$GC,4515,-0.52,-219.0,662.8,-12.0,424,4518,0.00,1.70,0.00,0.000,6,0.000,0.027,2123,2617,3739,0,0,0,0,0,0
$GC,4847,-0.52,-219.0,702.2,-11.6,440,4851,0.00,2.10,0.00,0.000,4,0.000,0.033,2123,1206,3736,0,0,0,0,0,0
$GC,4887,-0.52,-219.0,706.7,-11.4,442,4892,0.12,2.20,0.00,0.000,6,0.146,0.038,2150,2630,3735,0,0,0,0,0,0
$GC,5217,-0.52,-219.0,728.7,-6.4,458,5221,0.00,2.15,0.00,0.000,4,0.000,0.032,2151,1203,3733,0,0,0,0,0,0
$GC,5246,-0.52,-219.0,731.0,-6.6,459,5250,0.00,2.17,0.00,0.000,6,0.000,0.037,2150,2615,3733,0,0,0,0,0,0
$GC,5562,-0.52,-219.0,752.5,-7.4,474,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2617,3731,0,0,0,0,0,0
$GC,5872,-0.52,-219.0,776.8,-7.8,489,5876,0.00,2.12,0.00,0.000,4,0.000,0.031,2151,1203,3729,0,0,0,0,0,0
$GC,5904,-0.52,-219.0,779.7,-8.1,490,5911,0.00,2.17,0.00,0.000,6,0.000,0.037,2151,2607,3729,0,0,0,0,0,0
$GC,6221,-0.52,-219.0,806.8,-9.1,506,6225,0.00,2.12,0.00,0.000,4,0.000,0.032,2152,1200,3727,0,0,0,0,0,0
$GC,6395,-0.52,-219.0,823.8,-9.5,514,6399,0.00,2.15,0.00,0.000,6,0.000,0.037,2153,2592,3726,0,0,0,0,0,0
$GC,6723,-0.52,-219.0,851.6,-8.1,530,6727,0.00,1.88,0.00,0.000,4,0.000,0.047,2152,3779,3724,0,0,0,0,0,0
$GC,6795,-0.52,-219.0,858.3,-9.1,533,6799,0.00,1.77,0.00,0.000,6,0.000,0.024,2152,2574,3724,0,0,0,0,0,0
$GC,7123,-0.52,-219.0,884.8,-8.3,549,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2572,3722,0,0,0,0,0,0
$GC,7433,-0.52,-219.0,911.9,-9.0,564,7436,0.00,2.05,0.00,0.000,4,0.000,0.034,2156,1206,3724,0,0,0,0,0,0
$GC,7505,-0.52,-219.0,918.7,-9.0,567,7509,0.00,2.12,0.00,0.000,6,0.000,0.036,2157,2578,3720,0,0,0,0,0,0
$GC,7827,-0.52,-219.0,947.4,-8.9,583,7831,0.00,1.85,0.00,0.000,4,0.000,0.047,2157,3780,3719,0,0,0,0,0,0
$GC,7993,-0.52,-219.0,962.6,-9.9,590,7997,0.00,1.77,0.00,0.000,6,0.000,0.027,2160,2583,3718,0,0,0,0,0,0
$STATE,8298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8298,begin apogee
$GC,8304,-0.13,0.0,990.1,8.9,605,8473,0.30,0.00,163.80,1.097,4,0.070,0.000,2288,2113,2869,0,0,0,0,0,0
$STATE,8474,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8476,0.52,219.0,1000.2,0.0,613,8665,0.57,2.40,175.93,1.068,4,0.046,0.043,2509,3540,1977,0,0,0,0,0,0
$GC,8757,0.52,219.0,972.8,16.6,626,8761,0.00,2.25,0.00,0.000,6,0.000,0.028,2518,2127,1976,0,0,0,0,0,0
$GC,9084,0.52,219.0,922.9,15.2,642,9088,0.00,2.17,0.00,0.000,4,0.000,0.037,2530,716,1974,0,0,0,0,0,0
$GC,9156,0.52,219.0,912.3,14.3,645,9160,0.15,2.20,0.00,0.000,6,0.167,0.034,2492,2121,1974,0,0,0,0,0,0
$GC,9478,0.52,219.0,874.4,11.9,661,9482,0.00,2.22,0.00,0.000,4,0.000,0.044,2487,3543,1973,0,0,0,0,0,0
$GC,9543,0.52,219.0,865.2,13.7,664,9548,0.00,2.17,0.00,0.000,6,0.000,0.028,2500,2114,1973,0,0,0,0,0,0
$GC,9872,0.52,219.0,822.8,12.9,680,9876,0.00,2.12,0.00,0.000,4,0.000,0.038,2507,719,1972,0,0,0,0,0,0
$GC,9983,0.52,219.0,808.2,12.8,685,9987,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2115,1972,0,0,0,0,0,0
$GC,10311,0.52,219.0,762.7,14.5,701,10315,0.00,2.20,0.00,0.000,4,0.000,0.044,2512,3538,1971,0,0,0,0,0,0
$GC,10333,0.52,219.0,759.1,15.2,702,10338,0.10,2.20,0.00,0.000,6,0.164,0.028,2491,2117,1972,0,0,0,0,0,0
$GC,10660,0.52,219.0,714.6,13.1,718,10664,0.00,2.12,0.00,0.000,4,0.000,0.039,2500,719,1971,0,0,0,0,0,0
$GC,10739,0.52,219.0,704.9,11.8,721,10745,0.00,2.12,0.00,0.000,6,0.000,0.034,2500,2102,1971,0,0,0,0,0,0
$GC,11055,0.52,219.0,667.1,12.1,737,11059,0.00,2.22,0.00,0.000,4,0.000,0.044,2500,3538,1970,0,0,0,0,0,0
$GC,11110,0.52,219.0,659.8,12.9,739,11117,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2103,1970,0,0,0,0,0,0
$GC,11427,0.52,219.0,619.2,13.3,755,11431,0.00,2.10,0.00,0.000,4,0.000,0.039,2520,720,1971,0,0,0,0,0,0
$GC,11467,0.52,219.0,613.8,13.3,757,11471,0.12,2.12,0.00,0.000,6,0.162,0.034,2489,2106,1971,0,0,0,0,0,0
$GC,11793,0.52,219.0,576.2,11.3,773,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2106,1971,0,0,0,0,0,0
$GC,12103,0.55,239.0,542.7,10.3,788,12126,0.00,2.25,16.20,0.798,4,0.000,0.043,2488,3539,1892,0,0,0,0,0,0
$GC,12172,0.55,239.0,534.8,12.0,791,12176,0.00,2.22,0.00,0.000,6,0.000,0.028,2497,2091,1893,0,0,0,0,0,0
$GC,12505,0.55,239.0,498.6,11.0,807,12509,0.00,2.08,0.00,0.000,4,0.000,0.039,2507,723,1892,0,0,0,0,0,0
$GC,12545,0.55,240.8,494.0,10.9,810,12549,0.00,2.12,0.00,0.000,6,0.000,0.033,2507,2107,1892,0,0,0,0,0,0
$GC,12870,0.55,240.8,454.2,12.5,840,12874,0.00,2.22,0.00,0.000,4,0.000,0.044,2507,3542,1892,0,0,0,0,0,0
$GC,12937,0.55,240.8,444.7,14.0,846,12942,0.00,2.17,0.00,0.000,6,0.000,0.028,2516,2107,1893,0,0,0,0,0,0
$GC,13263,0.55,240.8,400.4,13.5,876,13267,0.00,2.10,0.00,0.000,4,0.000,0.039,2527,722,1893,0,0,0,0,0,0
$GC,13303,0.55,240.8,395.1,13.1,879,13307,0.00,2.15,0.00,0.000,6,0.000,0.033,2528,2122,1893,0,0,0,0,0,0
$GC,13628,0.55,240.8,354.5,11.2,909,13632,0.00,2.20,0.00,0.000,4,0.000,0.044,2527,3543,1893,0,0,0,0,0,0
$GC,13639,0.55,240.8,353.2,11.2,909,13646,0.15,2.15,0.00,0.000,6,0.173,0.027,2499,2113,1893,0,0,0,0,0,0
$GC,13965,0.58,266.3,324.2,10.1,940,13991,0.00,2.15,21.35,0.676,4,0.000,0.039,2508,713,1782,0,0,0,0,0,0
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$STATE,16967,end climb,SURFACE_DEPTH_REACHED
$STATE,16967,begin surface coast
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$STATE,16985,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.0,37.517
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$FG_AHR_10Vo,0.000
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$MEM,322780
$DATA_FILE_SIZE,93931,1375
$CAP_FILE_SIZE,186223,0
$CFSIZE,260165632,228401152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,134236,1907.939,12001.095,35,0.9,36,-2.1