version: 66.09
glider: 181
mission: 6
dive: 252
start: 7 28 111 6 18 14
data:
$ID,181
$MISSION,6
$DIVE,252
$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,-40836.473
$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,33
$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
$GPS1,280711,061107,1922.016,11957.369,40,0.9,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.6
$GPS2,280711,061749,1922.088,11957.447,13,1.2,18,-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,4.1,125850,-15.3,-11.000
$D_GRID,4166
$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,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,184,2609,2461,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.7,-4.3,10,131,8.10,1.90,-24.12,0.000,4,0.230,0.059,2137,3782,3765,0,0,0,0,0,0
$GC,190,-0.52,-219.0,58.4,-68.8,26,199,0.00,1.83,0.00,0.000,6,0.000,0.025,2137,2569,3769,0,0,0,0,0,0
$GC,324,-0.52,-219.0,106.8,-21.5,51,332,0.00,2.03,0.00,0.000,4,0.000,0.027,2137,1212,3765,0,0,0,0,0,0
$GC,353,-0.52,-219.0,112.5,-21.4,55,361,0.00,2.22,0.00,0.000,6,0.000,0.038,2137,2625,3767,0,0,0,0,0,0
$GC,486,-0.52,-219.0,133.4,-16.9,80,494,0.00,1.80,0.00,0.000,4,0.000,0.043,2128,3774,3768,0,0,0,0,0,0
$GC,569,-0.52,-219.0,145.9,-13.6,95,578,0.00,1.65,0.00,0.000,6,0.000,0.024,2128,2675,3768,0,0,0,0,0,0
$GC,704,-0.52,-219.0,168.6,-17.8,120,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2674,3769,0,0,0,0,0,0
$GC,837,-0.52,-219.0,192.5,-18.2,145,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2674,3769,0,0,0,0,0,0
$GC,978,-0.52,-219.0,217.0,-16.9,162,982,0.00,1.70,0.00,0.000,4,0.000,0.042,2120,3786,3769,0,0,0,0,0,0
$GC,1001,-0.52,-219.0,220.9,-16.8,164,1005,0.12,1.62,0.00,0.000,6,0.158,0.024,2153,2704,3769,0,0,0,0,0,0
$GC,1333,-0.52,-219.0,261.1,-12.5,195,1338,0.00,2.20,0.00,0.000,4,0.000,0.028,2153,1206,3768,0,0,0,0,0,0
$GC,1430,-0.52,-219.0,271.0,-9.0,203,1434,0.00,2.25,0.00,0.000,6,0.000,0.033,2152,2687,3769,0,0,0,0,0,0
$GC,1756,-0.52,-219.0,305.6,-10.0,233,1760,0.00,1.65,0.00,0.000,4,0.000,0.044,2144,3781,3766,0,0,0,0,0,0
$GC,1784,-0.52,-219.0,308.4,-9.8,235,1791,0.00,1.65,0.00,0.000,6,0.000,0.024,2144,2649,3764,0,0,0,0,0,0
$GC,2110,-0.52,-219.0,340.9,-10.3,266,2114,0.00,2.15,0.00,0.000,4,0.000,0.030,2144,1196,3762,0,0,0,0,0,0
$GC,2184,-0.52,-219.0,347.2,-7.7,272,2188,0.00,2.22,0.00,0.000,6,0.000,0.034,2139,2657,3758,0,0,0,0,0,0
$GC,2509,-0.52,-219.0,382.6,-11.8,302,2513,0.00,2.17,0.00,0.000,4,0.000,0.030,2139,1208,3756,0,0,0,0,0,0
$GC,2533,-0.52,-219.0,385.3,-11.7,304,2537,0.00,2.22,0.00,0.000,6,0.000,0.037,2139,2654,3757,0,0,0,0,0,0
$GC,2859,-0.52,-219.0,420.0,-10.1,334,2862,0.00,1.73,0.00,0.000,4,0.000,0.047,2135,3780,3754,0,0,0,0,0,0
$GC,2904,-0.52,-219.0,424.0,-8.8,338,2908,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2639,3753,0,0,0,0,0,0
$GC,3236,-0.52,-219.0,455.0,-9.5,369,3240,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1201,3750,0,0,0,0,0,0
$GC,3291,-0.52,-219.0,460.2,-8.8,373,3298,0.00,2.22,0.00,0.000,6,0.000,0.036,2137,2654,3748,0,0,0,0,0,0
$GC,3617,-0.52,-219.0,492.1,-10.2,404,3621,0.00,2.20,0.00,0.000,4,0.000,0.032,2138,1196,3747,0,0,0,0,0,0
$GC,3658,-0.52,-219.0,496.1,-10.0,407,3662,0.00,2.20,0.00,0.000,6,0.000,0.037,2137,2624,3746,0,0,0,0,0,0
$GC,3975,-0.52,-219.0,528.8,-10.7,424,3979,0.00,1.77,0.00,0.000,4,0.000,0.049,2138,3776,3744,0,0,0,0,0,0
$GC,4025,-0.52,-219.0,533.6,-9.2,426,4029,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2627,3744,0,0,0,0,0,0
$GC,4353,-0.52,-219.0,563.3,-9.1,442,4357,0.00,2.12,0.00,0.000,4,0.000,0.031,2135,1199,3741,0,0,0,0,0,0
$GC,4408,-0.52,-219.0,568.0,-7.8,444,4415,0.00,2.20,0.00,0.000,6,0.000,0.037,2140,2624,3740,0,0,0,0,0,0
$GC,4725,-0.52,-219.0,594.4,-8.8,460,4729,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1194,3739,0,0,0,0,0,0
$GC,4752,-0.52,-219.0,597.1,-9.0,461,4756,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2603,3739,0,0,0,0,0,0
$GC,5074,-0.52,-219.0,625.7,-9.3,477,5077,0.00,1.83,0.00,0.000,4,0.000,0.050,2139,3783,3736,0,0,0,0,0,0
$GC,5109,-0.52,-219.0,629.0,-9.4,478,5113,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2599,3735,0,0,0,0,0,0
$GC,5431,-0.52,-219.0,659.7,-9.5,494,5435,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1203,3734,0,0,0,0,0,0
$GC,5475,-0.52,-219.0,663.9,-9.1,496,5479,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2600,3734,0,0,0,0,0,0
$GC,5803,-0.52,-219.0,691.2,-8.3,512,5807,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3777,3731,0,0,0,0,0,0
$GC,5837,-0.52,-219.0,694.0,-8.1,513,5840,0.00,1.75,0.00,0.000,6,0.000,0.028,2139,2594,3731,0,0,0,0,0,0
$GC,6159,-0.52,-219.0,719.8,-8.5,529,6163,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1203,3730,0,0,0,0,0,0
$GC,6203,-0.52,-219.0,723.5,-8.1,531,6207,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2606,3729,0,0,0,0,0,0
$GC,6530,-0.52,-219.0,751.2,-8.9,547,6534,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3783,3728,0,0,0,0,0,0
$GC,6558,-0.52,-219.0,753.7,-8.8,548,6563,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2617,3728,0,0,0,0,0,0
$GC,6885,-0.52,-219.0,782.4,-9.3,564,6889,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1196,3726,0,0,0,0,0,0
$GC,6942,-0.52,-219.0,787.7,-8.9,566,6949,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2595,3726,0,0,0,0,0,0
$GC,7258,-0.52,-219.0,815.1,-8.5,582,7262,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3785,3725,0,0,0,0,0,0
$GC,7291,-0.52,-219.0,817.9,-8.4,583,7295,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2583,3722,0,0,0,0,0,0
$GC,7613,-0.52,-219.0,842.7,-7.5,599,7617,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1213,3723,0,0,0,0,0,0
$GC,7652,-0.52,-219.0,846.0,-7.4,600,7659,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2603,3723,0,0,0,0,0,0
$GC,7968,-0.52,-219.0,868.8,-7.3,616,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3722,0,0,0,0,0,0
$GC,8278,-0.52,-219.0,891.0,-7.2,631,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3721,0,0,0,0,0,0
$GC,8587,-0.52,-219.0,913.9,-7.7,646,8590,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3787,3720,0,0,0,0,0,0
$GC,8611,-0.52,-219.0,915.5,-7.7,647,8614,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2590,3719,0,0,0,0,0,0
$GC,8944,-0.52,-219.0,942.2,-8.3,663,8948,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1206,3718,0,0,0,0,0,0
$GC,8995,-0.52,-219.0,946.4,-8.9,665,8999,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2590,3719,0,0,0,0,0,0
$GC,9317,-0.52,-219.0,972.4,-8.0,681,9321,0.00,1.88,0.00,0.000,4,0.000,0.051,2138,3786,3717,0,0,0,0,0,0
$GC,9345,-0.52,-219.0,974.8,-7.7,682,9348,0.00,1.80,0.00,0.000,6,0.000,0.028,2140,2576,3717,0,0,0,0,0,0
$STATE,9546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9546,begin apogee
$GC,9552,-0.13,0.0,990.5,7.8,692,9723,0.40,0.00,164.43,1.099,4,0.104,0.000,2275,2111,2869,0,0,0,0,0,0
$STATE,9724,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin climb
$GC,9726,0.52,219.0,1000.3,0.0,700,9912,0.60,2.40,176.73,1.071,4,0.053,0.044,2500,3538,1978,0,0,0,0,0,0
$GC,10117,0.52,219.0,958.9,15.6,718,10122,0.00,2.22,0.00,0.000,6,0.000,0.028,2510,2122,1975,0,0,0,0,0,0
$GC,10445,0.52,219.0,908.9,15.3,734,10449,0.00,2.25,0.00,0.000,4,0.000,0.043,2511,3541,1974,0,0,0,0,0,0
$GC,10629,0.52,219.0,878.1,16.4,742,10634,0.12,2.20,0.00,0.000,6,0.191,0.028,2492,2106,1974,0,0,0,0,0,0
$GC,10951,0.52,219.0,835.9,13.0,758,10955,0.00,2.12,0.00,0.000,4,0.000,0.040,2501,721,1973,0,0,0,0,0,0
$GC,11006,0.52,219.0,828.5,13.0,760,11013,0.00,2.17,0.00,0.000,6,0.000,0.034,2501,2117,1973,0,0,0,0,0,0
$GC,11322,0.52,219.0,787.5,12.8,776,11326,0.00,2.20,0.00,0.000,4,0.000,0.045,2501,3536,1972,0,0,0,0,0,0
$GC,11405,0.52,219.0,776.3,13.6,779,11412,0.00,2.17,0.00,0.000,6,0.000,0.029,2511,2112,1972,0,0,0,0,0,0
$GC,11722,0.52,219.0,736.7,12.5,795,11726,0.00,2.15,0.00,0.000,4,0.000,0.039,2521,712,1972,0,0,0,0,0,0
$GC,11767,0.52,219.0,731.2,11.9,797,11772,0.12,2.20,0.00,0.000,6,0.166,0.034,2491,2127,1971,0,0,0,0,0,0
$GC,12100,0.52,219.0,693.3,11.5,813,12104,0.00,2.20,0.00,0.000,4,0.000,0.045,2490,3535,1971,0,0,0,0,0,0
$GC,12166,0.52,219.0,684.4,13.5,816,12170,0.00,2.15,0.00,0.000,6,0.000,0.028,2498,2117,1971,0,0,0,0,0,0
$GC,12493,0.52,219.0,645.3,11.8,832,12497,0.00,2.15,0.00,0.000,4,0.000,0.039,2508,708,1971,0,0,0,0,0,0
$GC,12521,0.52,219.0,642.0,11.5,833,12525,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2138,1971,0,0,0,0,0,0
$GC,12837,0.52,219.0,602.5,12.9,848,12841,0.00,2.17,0.00,0.000,4,0.000,0.045,2509,3541,1971,0,0,0,0,0,0
$GC,12880,0.52,219.0,596.0,14.8,850,12885,0.00,2.12,0.00,0.000,6,0.000,0.028,2517,2138,1971,0,0,0,0,0,0
$GC,13209,0.52,219.0,550.2,14.0,866,13213,0.00,2.15,0.00,0.000,4,0.000,0.038,2529,723,1971,0,0,0,0,0,0
$GC,13375,0.52,219.0,527.3,13.5,873,13383,0.10,2.17,0.00,0.000,6,0.139,0.034,2489,2108,1970,0,0,0,0,0,0
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$STATE,18115,end climb,SURFACE_DEPTH_REACHED
$STATE,18115,begin surface coast
$FINISH,0.2,1.003572
$STATE,18151,end surface coast,CONTROL_FINISHED_OK
$STATE,18151,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.9,38.969
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322856
$DATA_FILE_SIZE,100352,1455
$CAP_FILE_SIZE,200077,0
$CFSIZE,260165632,227479552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,112306,1924.781,11957.628,26,1.2,26,-2.1