version: 66.09
glider: 181
mission: 6
dive: 253
start: 7 28 111 11 30 26
data:
$ID,181
$MISSION,6
$DIVE,253
$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,-40837.73
$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,43
$R_STBD_OVSHOOT,36
$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
$GPS1,280711,112306,1924.781,11957.628,26,1.2,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.2
$GPS2,280711,113001,1924.755,11957.712,10,1.3,10,-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,4.0,120899,-15.3,-11.000
$D_GRID,4176
$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,-70.57,0.000,2,0.000,0.000,154,2605,2463,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.6,-4.0,10,131,8.18,1.92,-24.45,0.000,4,0.228,0.060,2131,3783,3765,0,0,0,0,0,0
$GC,227,-0.52,-219.0,73.4,-41.7,33,235,0.00,1.83,0.00,0.000,6,0.000,0.024,2130,2575,3767,0,0,0,0,0,0
$GC,361,-0.52,-219.0,110.7,-30.3,58,369,0.00,2.05,0.00,0.000,4,0.000,0.026,2130,1200,3767,0,0,0,0,0,0
$GC,474,-0.52,-219.0,130.2,-13.9,79,482,0.00,2.08,0.00,0.000,6,0.000,0.034,2126,2529,3768,0,0,0,0,0,0
$GC,608,-0.52,-219.0,153.3,-20.1,104,616,0.00,1.98,0.00,0.000,4,0.000,0.044,2121,3782,3768,0,0,0,0,0,0
$GC,670,-0.52,-219.0,163.8,-15.4,115,678,0.00,1.88,0.00,0.000,6,0.000,0.024,2121,2529,3769,0,0,0,0,0,0
$GC,804,-0.52,-219.0,185.2,-17.0,140,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2527,3769,0,0,0,0,0,0
$GC,937,-0.52,-219.0,210.0,-18.2,160,941,0.00,1.92,0.00,0.000,4,0.000,0.042,2111,3777,3769,0,0,0,0,0,0
$GC,964,-0.52,-219.0,214.5,-15.8,162,973,0.10,1.88,0.00,0.000,6,0.124,0.024,2145,2526,3771,0,0,0,0,0,0
$GC,1291,-0.52,-219.0,255.0,-12.0,193,1295,0.00,1.92,0.00,0.000,4,0.000,0.042,2139,3777,3768,0,0,0,0,0,0
$GC,1352,-0.52,-219.0,262.6,-11.1,198,1360,0.00,1.83,0.00,0.000,6,0.000,0.024,2139,2548,3767,0,0,0,0,0,0
$GC,1677,-0.52,-219.0,303.5,-12.3,229,1681,0.00,1.90,0.00,0.000,4,0.000,0.044,2133,3781,3764,0,0,0,0,0,0
$GC,1704,-0.52,-219.0,307.0,-12.4,231,1711,0.00,1.77,0.00,0.000,6,0.000,0.025,2133,2557,3764,0,0,0,0,0,0
$GC,2029,-0.52,-219.0,346.8,-12.8,262,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2554,3761,0,0,0,0,0,0
$GC,2350,-0.52,-219.0,388.0,-13.0,292,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2554,3758,0,0,0,0,0,0
$GC,2667,-0.52,-219.0,426.5,-11.8,322,2671,0.00,1.90,0.00,0.000,4,0.000,0.045,2125,3776,3755,0,0,0,0,0,0
$GC,2736,-0.52,-219.0,433.8,-9.5,328,2740,0.00,1.75,0.00,0.000,6,0.000,0.026,2124,2581,3754,0,0,0,0,0,0
$GC,3068,-0.52,-219.0,472.8,-11.8,359,3071,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1212,3751,0,0,0,0,0,0
$GC,3106,-0.52,-219.0,477.3,-11.3,362,3113,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2581,3751,0,0,0,0,0,0
$GC,3430,-0.52,-219.0,516.3,-12.7,387,3434,0.00,1.85,0.00,0.000,4,0.000,0.048,2125,3776,3747,0,0,0,0,0,0
$GC,3456,-0.52,-219.0,520.2,-12.3,388,3460,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2583,3747,0,0,0,0,0,0
$GC,3785,-0.52,-219.0,559.0,-11.7,404,3789,0.00,2.08,0.00,0.000,4,0.000,0.032,2125,1215,3745,0,0,0,0,0,0
$GC,3823,-0.52,-219.0,563.4,-10.9,405,3830,0.00,2.15,0.00,0.000,6,0.000,0.038,2125,2582,3744,0,0,0,0,0,0
$GC,4140,-0.52,-219.0,597.1,-11.3,421,4143,0.00,1.85,0.00,0.000,4,0.000,0.049,2125,3775,3741,0,0,0,0,0,0
$GC,4179,-0.52,-219.0,601.3,-10.1,422,4186,0.00,1.77,0.00,0.000,6,0.000,0.028,2125,2579,3741,0,0,0,0,0,0
$GC,4495,-0.52,-219.0,635.0,-11.2,438,4498,0.00,2.05,0.00,0.000,4,0.000,0.032,2125,1209,3739,0,0,0,0,0,0
$GC,4522,-0.52,-219.0,638.2,-11.4,439,4526,0.00,2.15,0.00,0.000,6,0.000,0.038,2124,2595,3739,0,0,0,0,0,0
$GC,4851,-0.52,-219.0,671.7,-10.4,455,4855,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3771,3735,0,0,0,0,0,0
$GC,4889,-0.52,-219.0,675.9,-10.0,456,4897,0.00,1.80,0.00,0.000,6,0.000,0.028,2124,2585,3735,0,0,0,0,0,0
$GC,5206,-0.52,-219.0,707.9,-10.8,472,5210,0.00,2.08,0.00,0.000,4,0.000,0.033,2125,1198,3733,0,0,0,0,0,0
$GC,5241,-0.52,-219.0,711.4,-10.6,473,5248,0.00,2.15,0.00,0.000,6,0.000,0.039,2125,2584,3733,0,0,0,0,0,0
$GC,5557,-0.52,-219.0,742.7,-10.5,489,5561,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3786,3731,0,0,0,0,0,0
$GC,5604,-0.52,-219.0,746.9,-9.5,491,5608,0.00,1.77,0.00,0.000,6,0.000,0.028,2124,2585,3730,0,0,0,0,0,0
$GC,5937,-0.52,-219.0,779.8,-10.3,507,5941,0.00,2.08,0.00,0.000,4,0.000,0.033,2125,1200,3729,0,0,0,0,0,0
$GC,5978,-0.52,-219.0,783.9,-10.2,509,5982,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2596,3728,0,0,0,0,0,0
$GC,6306,-0.52,-219.0,816.4,-10.2,525,6310,0.00,1.90,0.00,0.000,4,0.000,0.050,2124,3780,3724,0,0,0,0,0,0
$GC,6361,-0.52,-219.0,821.7,-8.9,527,6365,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2602,3727,0,0,0,0,0,0
$GC,6684,-0.52,-219.0,851.3,-9.3,543,6688,0.00,2.10,0.00,0.000,4,0.000,0.034,2122,1206,3725,0,0,0,0,0,0
$GC,6748,-0.52,-219.0,857.1,-8.5,546,6752,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2598,3725,0,0,0,0,0,0
$GC,7075,-0.52,-219.0,887.1,-9.3,562,7079,0.00,1.85,0.00,0.000,4,0.000,0.051,2121,3781,3723,0,0,0,0,0,0
$GC,7131,-0.52,-219.0,891.9,-8.4,564,7135,0.00,1.80,0.00,0.000,6,0.000,0.029,2124,2603,3722,0,0,0,0,0,0
$GC,7452,-0.52,-219.0,920.3,-9.0,580,7456,0.00,2.10,0.00,0.000,4,0.000,0.034,2125,1203,3721,0,0,0,0,0,0
$GC,7508,-0.52,-219.0,925.1,-8.3,582,7515,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2593,3721,0,0,0,0,0,0
$GC,7825,-0.52,-219.0,951.3,-8.4,598,7829,0.00,1.90,0.00,0.000,4,0.000,0.050,2124,3775,3719,0,0,0,0,0,0
$GC,7863,-0.52,-219.0,954.7,-8.6,599,7870,0.00,1.77,0.00,0.000,6,0.000,0.029,2124,2584,3719,0,0,0,0,0,0
$GC,8181,-0.52,-219.0,980.8,-8.4,615,8184,0.00,2.08,0.00,0.000,4,0.000,0.034,2124,1208,3718,0,0,0,0,0,0
$GC,8236,-0.52,-219.0,985.6,-8.0,617,8243,0.00,2.15,0.00,0.000,6,0.000,0.039,2124,2587,3718,0,0,0,0,0,0
$STATE,8302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8302,begin apogee
$GC,8309,-0.13,0.0,990.5,7.5,621,8479,0.45,0.00,164.12,1.098,4,0.110,0.000,2275,2111,2869,0,0,0,0,0,0
$STATE,8479,end apogee,CONTROL_FINISHED_OK
$STATE,8479,begin climb
$GC,8482,0.52,219.0,999.1,0.0,629,8664,0.57,0.00,176.70,1.069,6,0.049,0.000,2503,2110,1977,0,0,0,0,0,0
$GC,8981,0.52,219.0,948.1,12.7,653,8985,0.00,2.30,0.00,0.000,4,0.000,0.044,2503,3544,1975,0,0,0,0,0,0
$GC,9075,0.52,219.0,934.7,13.6,657,9079,0.00,2.17,0.00,0.000,6,0.000,0.030,2512,2144,1976,0,0,0,0,0,0
$GC,9391,0.52,219.0,891.4,13.6,672,9395,0.00,2.20,0.00,0.000,4,0.000,0.039,2523,716,1974,0,0,0,0,0,0
$GC,9431,0.52,219.0,885.9,14.0,674,9436,0.12,2.20,0.00,0.000,6,0.171,0.034,2492,2133,1974,0,0,0,0,0,0
$GC,9758,0.52,219.0,845.7,12.0,690,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2134,1974,0,0,0,0,0,0
$GC,10067,0.52,219.0,808.8,11.9,705,10071,0.00,2.20,0.00,0.000,4,0.000,0.044,2492,3541,1973,0,0,0,0,0,0
$GC,10130,0.52,219.0,800.6,13.5,708,10135,0.00,2.17,0.00,0.000,6,0.000,0.029,2500,2120,1972,0,0,0,0,0,0
$GC,10457,0.52,219.0,760.0,12.1,724,10461,0.00,2.15,0.00,0.000,4,0.000,0.040,2511,714,1972,0,0,0,0,0,0
$GC,10537,0.52,219.0,750.6,11.6,727,10543,0.00,2.15,0.00,0.000,6,0.000,0.034,2511,2110,1971,0,0,0,0,0,0
$GC,10853,0.52,219.0,711.6,12.2,743,10857,0.00,2.22,0.00,0.000,4,0.000,0.045,2511,3538,1971,0,0,0,0,0,0
$GC,10896,0.52,219.0,705.3,13.9,745,10901,0.12,2.17,0.00,0.000,6,0.181,0.029,2490,2108,1971,0,0,0,0,0,0
$GC,11224,0.52,219.0,667.7,11.7,761,11228,0.00,2.12,0.00,0.000,4,0.000,0.040,2500,717,1971,0,0,0,0,0,0
$GC,11318,0.52,219.0,656.5,11.3,765,11322,0.00,2.12,0.00,0.000,6,0.000,0.034,2499,2101,1971,0,0,0,0,0,0
$GC,11641,0.52,219.0,617.5,12.2,781,11645,0.00,2.22,0.00,0.000,4,0.000,0.045,2500,3536,1971,0,0,0,0,0,0
$GC,11707,0.52,219.0,608.5,13.1,784,11711,0.00,2.17,0.00,0.000,6,0.000,0.030,2509,2106,1971,0,0,0,0,0,0
$GC,12034,0.52,219.0,566.4,12.9,800,12038,0.00,2.10,0.00,0.000,4,0.000,0.040,2520,722,1971,0,0,0,0,0,0
$GC,12146,0.52,219.0,552.0,12.1,805,12151,0.12,2.10,0.00,0.000,6,0.160,0.035,2488,2091,1971,0,0,0,0,0,0
$GC,12469,0.56,251.5,518.9,9.9,821,12500,0.00,2.30,24.92,0.791,4,0.000,0.047,2488,3543,1844,0,0,0,0,0,0
$GC,12575,0.56,251.5,507.2,11.4,825,12582,0.00,2.22,0.00,0.000,6,0.000,0.029,2500,2094,1843,0,0,0,0,0,0
$GC,12901,0.57,253.7,472.1,10.9,853,12905,0.00,2.10,0.00,0.000,4,0.000,0.040,2506,721,1842,0,0,0,0,0,0
$GC,12967,0.57,254.9,464.3,11.0,858,12978,0.00,2.15,4.38,0.593,6,0.000,0.034,2506,2108,1829,0,0,0,0,0,0
$GC,13305,0.57,259.6,425.8,10.8,890,13318,0.00,2.25,5.30,0.636,4,0.000,0.044,2507,3536,1810,0,0,0,0,0,0
$GC,13387,0.57,259.6,415.8,12.1,897,13391,0.00,2.20,0.00,0.000,6,0.000,0.029,2516,2095,1810,0,0,0,0,0,0
$GC,13712,0.57,259.6,379.1,11.5,927,13716,0.00,2.10,0.00,0.000,4,0.000,0.040,2527,717,1810,0,0,0,0,0,0
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$STATE,17165,end climb,SURFACE_DEPTH_REACHED
$STATE,17165,begin surface coast
$FINISH,0.1,1.020395
$STATE,17195,end surface coast,CONTROL_FINISHED_OK
$STATE,17195,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.59
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.9,39.127
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322796
$DATA_FILE_SIZE,96865,1404
$CAP_FILE_SIZE,191298,0
$CFSIZE,260165632,227389440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,161930,1926.941,11957.603,34,1.4,34,-2.1