version: 66.09
glider: 181
mission: 6
dive: 251
start: 7 28 111 1 10 3
data:
$ID,181
$MISSION,6
$DIVE,251
$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,-40835.215
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,280711,010300,1919.209,11957.215,36,1.3,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.8
$GPS2,280711,010938,1919.302,11957.183,10,1.4,10,-2.1
$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,4.2,131024,-15.3,-11.000
$D_GRID,4179
$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,-219.0,0.0,0.0,0,89,0.00,0.00,-70.75,0.000,2,0.000,0.000,161,2617,2441,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.3,-3.6,10,137,8.15,1.85,-26.80,0.000,4,0.228,0.059,2133,3770,3765,0,0,0,0,0,0
$GC,279,-0.52,-219.0,96.0,-46.9,43,288,0.00,1.80,0.00,0.000,6,0.000,0.024,2133,2587,3766,0,0,0,0,0,0
$GC,414,-0.52,-219.0,134.6,-20.6,68,423,0.00,2.08,0.00,0.000,4,0.000,0.026,2132,1192,3766,0,0,0,0,0,0
$GC,436,-0.52,-219.0,139.1,-19.8,71,445,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2609,3767,0,0,0,0,0,0
$GC,573,-0.52,-219.0,161.9,-21.2,96,581,0.00,1.83,0.00,0.000,4,0.000,0.044,2116,3776,3767,0,0,0,0,0,0
$GC,635,-0.52,-219.0,174.8,-17.6,107,644,0.10,1.73,0.00,0.000,6,0.122,0.024,2149,2610,3768,0,0,0,0,0,0
$GC,771,-0.52,-219.0,194.3,-14.7,132,779,0.00,2.10,0.00,0.000,4,0.000,0.028,2150,1203,3768,0,0,0,0,0,0
$GC,817,-0.52,-219.0,200.5,-12.3,140,821,0.00,2.15,0.00,0.000,6,0.000,0.034,2149,2619,3768,0,0,0,0,0,0
$GC,1142,-0.52,-219.0,238.6,-11.8,170,1146,0.00,1.75,0.00,0.000,4,0.000,0.044,2148,3777,3767,0,0,0,0,0,0
$GC,1224,-0.52,-219.0,246.8,-8.9,177,1230,0.00,1.73,0.00,0.000,6,0.000,0.024,2148,2583,3767,0,0,0,0,0,0
$GC,1549,-0.52,-219.0,282.1,-11.0,208,1553,0.00,2.00,0.00,0.000,4,0.000,0.029,2148,1215,3765,0,0,0,0,0,0
$GC,1565,-0.52,-219.0,284.0,-11.0,209,1572,0.00,2.15,0.00,0.000,6,0.000,0.035,2139,2628,3765,0,0,0,0,0,0
$GC,1891,-0.52,-219.0,321.5,-11.8,240,1894,0.00,1.75,0.00,0.000,4,0.000,0.046,2138,3776,3762,0,0,0,0,0,0
$GC,1952,-0.52,-219.0,328.2,-10.0,245,1958,0.00,1.67,0.00,0.000,6,0.000,0.025,2137,2655,3759,0,0,0,0,0,0
$GC,2277,-0.52,-219.0,366.1,-11.3,276,2281,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1212,3759,0,0,0,0,0,0
$GC,2366,-0.52,-219.0,374.8,-8.6,283,2372,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2636,3758,0,0,0,0,0,0
$GC,2691,-0.52,-219.0,409.0,-10.3,314,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2637,3754,0,0,0,0,0,0
$GC,3011,-0.52,-219.0,441.9,-10.4,344,3015,0.00,1.75,0.00,0.000,4,0.000,0.049,2138,3776,3752,0,0,0,0,0,0
$GC,3050,-0.52,-219.0,445.9,-9.7,347,3056,0.00,1.67,0.00,0.000,6,0.000,0.027,2138,2636,3751,0,0,0,0,0,0
$GC,3375,-0.52,-219.0,478.9,-11.0,378,3379,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1202,3748,0,0,0,0,0,0
$GC,3430,-0.52,-219.0,484.2,-8.9,382,3437,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2626,3748,0,0,0,0,0,0
$GC,3764,-0.52,-219.0,517.5,-10.5,406,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2626,3745,0,0,0,0,0,0
$GC,4071,-0.52,-219.0,549.1,-10.4,421,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3741,0,0,0,0,0,0
$GC,4381,-0.52,-219.0,582.7,-10.8,436,4384,0.00,1.77,0.00,0.000,4,0.000,0.049,2138,3774,3740,0,0,0,0,0,0
$GC,4414,-0.52,-219.0,586.2,-10.8,437,4417,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2608,3740,0,0,0,0,0,0
$GC,4736,-0.52,-219.0,618.3,-9.9,453,4740,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1199,3738,0,0,0,0,0,0
$GC,4799,-0.52,-219.0,623.9,-8.6,456,4804,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2606,3737,0,0,0,0,0,0
$GC,5127,-0.52,-219.0,653.6,-9.2,472,5130,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3783,3734,0,0,0,0,0,0
$GC,5173,-0.52,-219.0,657.4,-8.4,474,5177,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2597,3734,0,0,0,0,0,0
$GC,5506,-0.52,-219.0,685.3,-8.2,490,5510,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1196,3731,0,0,0,0,0,0
$GC,5557,-0.52,-219.0,689.2,-7.6,492,5561,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2595,3732,0,0,0,0,0,0
$GC,5879,-0.52,-219.0,715.9,-8.5,508,5882,0.00,1.85,0.00,0.000,4,0.000,0.049,2138,3786,3729,0,0,0,0,0,0
$GC,5917,-0.52,-219.0,719.0,-8.5,509,5924,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2578,3729,0,0,0,0,0,0
$GC,6234,-0.52,-219.0,744.3,-8.2,525,6238,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1210,3728,0,0,0,0,0,0
$GC,6284,-0.52,-219.0,748.8,-8.6,527,6288,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2595,3728,0,0,0,0,0,0
$GC,6612,-0.52,-219.0,775.2,-8.4,543,6616,0.00,1.85,0.00,0.000,4,0.000,0.050,2137,3783,3725,0,0,0,0,0,0
$GC,6640,-0.52,-219.0,777.4,-8.2,544,6644,0.00,1.80,0.00,0.000,6,0.000,0.028,2139,2602,3725,0,0,0,0,0,0
$GC,6967,-0.52,-219.0,803.0,-7.9,560,6971,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1196,3723,0,0,0,0,0,0
$GC,7011,-0.52,-219.0,806.6,-7.8,562,7016,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2583,3724,0,0,0,0,0,0
$GC,7333,-0.52,-219.0,831.8,-8.1,578,7337,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3773,3722,0,0,0,0,0,0
$GC,7366,-0.52,-219.0,834.3,-7.9,579,7370,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2561,3722,0,0,0,0,0,0
$GC,7688,-0.52,-219.0,859.2,-7.9,595,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2559,3719,0,0,0,0,0,0
$GC,7997,-0.52,-219.0,882.4,-7.3,610,8000,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1210,3719,0,0,0,0,0,0
$GC,8035,-0.52,-219.0,885.4,-7.3,611,8042,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2592,3719,0,0,0,0,0,0
$GC,8352,-0.52,-219.0,906.7,-6.9,627,8356,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3780,3718,0,0,0,0,0,0
$GC,8385,-0.52,-219.0,909.3,-6.8,628,8389,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2583,3718,0,0,0,0,0,0
$GC,8708,-0.52,-219.0,931.1,-6.9,644,8712,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1210,3717,0,0,0,0,0,0
$GC,8752,-0.52,-219.0,934.5,-7.0,646,8755,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2593,3717,0,0,0,0,0,0
$GC,9079,-0.52,-219.0,958.2,-7.5,662,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3715,0,0,0,0,0,0
$GC,9389,-0.52,-219.0,981.6,-7.4,677,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3714,0,0,0,0,0,0
$STATE,9510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9510,begin apogee
$GC,9516,-0.13,0.0,991.2,7.7,683,9686,0.40,0.00,163.80,1.098,4,0.103,0.000,2275,2113,2872,0,0,0,0,0,0
$STATE,9687,end apogee,CONTROL_FINISHED_OK
$STATE,9687,begin climb
$GC,9690,0.52,219.0,1000.7,0.0,691,9879,0.60,2.40,176.55,1.070,4,0.055,0.044,2498,3548,1977,0,0,0,0,0,0
$GC,10083,0.52,219.0,959.5,15.5,709,10087,0.00,2.20,0.00,0.000,6,0.000,0.030,2508,2143,1975,0,0,0,0,0,0
$GC,10410,0.52,219.0,910.6,15.0,725,10414,0.00,2.20,0.00,0.000,4,0.000,0.043,2508,3538,1975,0,0,0,0,0,0
$GC,10601,0.52,219.0,880.1,15.1,733,10608,0.00,2.20,0.00,0.000,6,0.000,0.030,2519,2106,1974,0,0,0,0,0,0
$GC,10918,0.52,219.0,834.2,14.7,749,10922,0.00,2.12,0.00,0.000,4,0.000,0.040,2529,720,1973,0,0,0,0,0,0
$GC,11012,0.52,219.0,820.4,13.7,753,11017,0.12,2.20,0.00,0.000,6,0.143,0.035,2490,2112,1973,0,0,0,0,0,0
$GC,11340,0.52,219.0,780.1,12.1,769,11344,0.00,2.22,0.00,0.000,4,0.000,0.046,2490,3537,1972,0,0,0,0,0,0
$GC,11417,0.52,219.0,769.0,14.5,772,11424,0.00,2.20,0.00,0.000,6,0.000,0.030,2498,2127,1973,0,0,0,0,0,0
$GC,11734,0.52,219.0,728.4,12.9,788,11738,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,710,1972,0,0,0,0,0,0
$GC,11805,0.52,219.0,718.9,12.8,791,11810,0.00,2.17,0.00,0.000,6,0.000,0.034,2509,2119,1972,0,0,0,0,0,0
$GC,12128,0.52,219.0,675.2,13.7,807,12132,0.00,2.20,0.00,0.000,4,0.000,0.045,2509,3535,1972,0,0,0,0,0,0
$GC,12178,0.52,219.0,667.5,15.4,809,12182,0.00,2.17,0.00,0.000,6,0.000,0.029,2518,2116,1971,0,0,0,0,0,0
$GC,12499,0.52,219.0,622.0,13.9,825,12503,0.00,2.12,0.00,0.000,4,0.000,0.040,2529,720,1971,0,0,0,0,0,0
$GC,12585,0.52,219.0,610.6,13.5,829,12590,0.15,2.15,0.00,0.000,6,0.160,0.034,2490,2124,1971,0,0,0,0,0,0
$GC,12912,0.52,219.0,573.9,11.1,845,12916,0.00,2.20,0.00,0.000,4,0.000,0.044,2494,3541,1971,0,0,0,0,0,0
$GC,12966,0.52,219.0,567.1,12.5,847,12974,0.00,2.15,0.00,0.000,6,0.000,0.029,2498,2125,1971,0,0,0,0,0,0
$GC,13283,0.52,219.0,531.5,11.5,863,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2125,1972,0,0,0,0,0,0
$GC,13593,0.52,219.0,495.4,11.7,879,13597,0.00,2.17,0.00,0.000,4,0.000,0.039,2508,714,1971,0,0,0,0,0,0
$GC,13689,0.52,219.0,484.0,12.0,887,13693,0.00,2.15,0.00,0.000,6,0.000,0.034,2509,2118,1971,0,0,0,0,0,0
$GC,14015,0.52,219.0,445.3,11.6,917,14019,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,3539,1969,0,0,0,0,0,0
$GC,14081,0.52,219.0,436.6,12.8,922,14088,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2126,1972,0,0,0,0,0,0
$GC,14406,0.52,219.0,397.5,12.0,953,14410,0.00,2.15,0.00,0.000,4,0.000,0.038,2528,708,1972,0,0,0,0,0,0
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$STATE,17884,end climb,SURFACE_DEPTH_REACHED
$STATE,17884,begin surface coast
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$STATE,17908,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,38.807
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$FG_AHR_10Vo,0.000
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$MEM,322820
$DATA_FILE_SIZE,97039,1432
$CAP_FILE_SIZE,192523,0
$CFSIZE,260165632,227590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,061107,1922.016,11957.369,40,0.9,40,-2.1