version: 66.09
glider: 181
mission: 6
dive: 258
start: 7 29 111 10 47 20
data:
$ID,181
$MISSION,6
$DIVE,258
$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,280
$T_MISSION,320
$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,250
$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,-40844.016
$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,42
$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
$GPS1,290711,104006,1937.573,11955.064,36,0.9,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.6
$GPS2,290711,104656,1937.711,11955.053,11,1.2,11,-2.1
$SPEED_LIMITS,0.204,0.344
$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,7.2,97220,-15.4,-11.786
$D_GRID,3879
$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,-0.56,-243.3,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,189,2631,2484,0,0,0,0,0,0
$GC,92,-0.56,-243.3,3.7,-4.3,10,131,8.02,2.22,-25.15,0.000,4,0.229,0.038,2133,1183,3863,0,0,0,0,0,0
$GC,238,-0.56,-243.3,48.5,-25.1,35,246,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2591,3865,0,0,0,0,0,0
$GC,371,-0.56,-243.3,88.6,-32.1,60,379,0.00,1.88,0.00,0.000,4,0.000,0.045,2115,3780,3867,0,0,0,0,0,0
$GC,484,-0.56,-243.3,119.4,-22.6,81,493,0.00,1.73,0.00,0.000,6,0.000,0.024,2116,2627,3865,0,0,0,0,0,0
$GC,619,-0.56,-243.3,154.8,-24.5,106,627,0.00,1.83,0.00,0.000,4,0.000,0.043,2112,3776,3865,0,0,0,0,0,0
$GC,706,-0.56,-243.3,171.2,-17.4,122,715,0.00,1.55,0.00,0.000,6,0.000,0.023,2111,2730,3866,0,0,0,0,0,0
$GC,841,-0.56,-243.3,197.4,-18.6,147,849,0.00,2.28,0.00,0.000,4,0.000,0.026,2112,1205,3867,0,0,0,0,0,0
$GC,893,-0.56,-243.3,206.5,-13.7,152,901,0.00,2.33,0.00,0.000,6,0.000,0.034,2111,2704,3867,0,0,0,0,0,0
$GC,1224,-0.56,-243.3,263.1,-16.8,183,1228,0.00,2.22,0.00,0.000,4,0.000,0.026,2111,1200,3866,0,0,0,0,0,0
$GC,1254,-0.56,-243.3,268.6,-16.1,185,1258,0.00,2.33,0.00,0.000,6,0.000,0.035,2111,2717,3868,0,0,0,0,0,0
$GC,1579,-0.56,-243.3,320.8,-16.8,215,1583,0.00,1.65,0.00,0.000,4,0.000,0.044,2104,3784,3865,0,0,0,0,0,0
$GC,1595,-0.56,-243.3,323.8,-16.7,216,1603,0.10,1.60,0.00,0.000,6,0.133,0.024,2138,2697,3865,0,0,0,0,0,0
$GC,1921,-0.56,-243.3,363.5,-11.5,247,1925,0.00,2.22,0.00,0.000,4,0.000,0.029,2138,1198,3861,0,0,0,0,0,0
$GC,1994,-0.56,-243.3,370.8,-8.8,253,2001,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2690,3860,0,0,0,0,0,0
$GC,2319,-0.56,-243.3,405.0,-11.1,284,2323,0.00,2.22,0.00,0.000,4,0.000,0.029,2138,1205,3857,0,0,0,0,0,0
$GC,2364,-0.56,-243.3,409.7,-10.4,287,2370,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2662,3856,0,0,0,0,0,0
$GC,2689,-0.56,-243.3,443.0,-10.5,318,2693,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3777,3853,0,0,0,0,0,0
$GC,2712,-0.56,-243.3,445.5,-10.1,320,2716,0.00,1.65,0.00,0.000,6,0.000,0.025,2138,2652,3854,0,0,0,0,0,0
$GC,3043,-0.56,-243.3,477.2,-9.2,351,3047,0.00,2.15,0.00,0.000,4,0.000,0.029,2134,1199,3850,0,0,0,0,0,0
$GC,3088,-0.56,-243.3,480.9,-8.0,354,3095,0.00,2.25,0.00,0.000,6,0.000,0.035,2138,2660,3850,0,0,0,0,0,0
$GC,3413,-0.56,-243.3,508.2,-9.1,381,3417,0.00,1.73,0.00,0.000,4,0.000,0.047,2138,3786,3846,0,0,0,0,0,0
$GC,3468,-0.56,-243.3,513.1,-8.2,383,3472,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2656,3845,0,0,0,0,0,0
$GC,3791,-0.56,-243.3,543.2,-10.2,399,3795,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1209,3843,0,0,0,0,0,0
$GC,3832,-0.56,-243.3,547.3,-10.1,401,3836,0.00,2.25,0.00,0.000,6,0.000,0.035,2138,2672,3841,0,0,0,0,0,0
$GC,4159,-0.56,-243.3,578.8,-9.5,417,4163,0.00,2.22,0.00,0.000,4,0.000,0.031,2138,1201,3839,0,0,0,0,0,0
$GC,4191,-0.56,-243.3,581.9,-9.5,418,4196,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2649,3839,0,0,0,0,0,0
$GC,4508,-0.56,-243.3,609.0,-8.7,433,4512,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1208,3836,0,0,0,0,0,0
$GC,4536,-0.56,-243.3,611.5,-8.7,434,4540,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2635,3836,0,0,0,0,0,0
$GC,4858,-0.56,-243.3,637.4,-8.3,450,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2635,3834,0,0,0,0,0,0
$GC,5167,-0.56,-243.3,662.5,-7.9,465,5171,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1212,3831,0,0,0,0,0,0
$GC,5194,-0.56,-243.3,665.0,-7.8,466,5198,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2619,3831,0,0,0,0,0,0
$GC,5516,-0.56,-243.3,690.5,-8.5,482,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2620,3830,0,0,0,0,0,0
$GC,5825,-0.56,-243.3,717.1,-8.5,497,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2620,3828,0,0,0,0,0,0
$GC,6134,-0.56,-243.3,743.7,-8.6,512,6138,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1208,3826,0,0,0,0,0,0
$GC,6167,-0.56,-243.3,746.6,-8.6,513,6174,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2624,3825,0,0,0,0,0,0
$GC,6483,-0.56,-243.3,770.5,-7.7,529,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3824,0,0,0,0,0,0
$GC,6793,-0.56,-243.3,794.9,-7.9,544,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3823,0,0,0,0,0,0
$GC,7102,-0.56,-243.3,819.8,-8.0,559,7106,0.00,2.17,0.00,0.000,4,0.000,0.034,2138,1202,3822,0,0,0,0,0,0
$GC,7140,-0.56,-243.3,823.0,-8.0,560,7147,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2624,3822,0,0,0,0,0,0
$GC,7457,-0.56,-243.3,846.8,-7.6,576,7461,0.00,2.17,0.00,0.000,4,0.000,0.035,2138,1202,3820,0,0,0,0,0,0
$GC,7485,-0.56,-243.3,849.3,-7.9,577,7490,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2608,3820,0,0,0,0,0,0
$GC,7802,-0.56,-243.3,874.1,-8.2,592,7806,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1200,3819,0,0,0,0,0,0
$GC,7960,-0.56,-243.3,887.3,-7.8,599,7965,0.00,2.17,0.00,0.000,6,0.000,0.040,2140,2594,3818,0,0,0,0,0,0
$GC,8288,-0.56,-243.3,915.6,-8.9,615,8292,0.00,2.12,0.00,0.000,4,0.000,0.035,2145,1202,3817,0,0,0,0,0,0
$GC,8489,-0.56,-243.3,934.8,-9.5,624,8493,0.00,2.17,0.00,0.000,6,0.000,0.039,2145,2597,3816,0,0,0,0,0,0
$GC,8817,-0.56,-243.3,964.2,-9.3,640,8821,0.00,2.12,0.00,0.000,4,0.000,0.035,2147,1206,3815,0,0,0,0,0,0
$GC,8940,-0.56,-243.3,976.1,-9.6,645,8947,0.00,2.15,0.00,0.000,6,0.000,0.038,2149,2588,3815,0,0,0,0,0,0
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9096,-0.13,0.0,990.4,9.6,653,9286,0.32,0.00,182.98,1.098,4,0.063,0.000,2289,2114,2870,0,0,0,0,0,0
$STATE,9286,end apogee,CONTROL_FINISHED_OK
$STATE,9286,begin climb
$GC,9289,0.56,243.3,1003.6,0.0,662,9500,0.57,2.28,197.68,1.072,4,0.047,0.040,2513,736,1878,0,0,0,0,0,0
$GC,9659,0.56,243.3,971.0,13.5,679,9663,0.00,2.25,0.00,0.000,6,0.000,0.036,2513,2131,1877,0,0,0,0,0,0
$GC,9986,0.56,243.3,923.6,14.5,695,9990,0.00,2.17,0.00,0.000,4,0.000,0.037,2522,738,1875,0,0,0,0,0,0
$GC,10161,0.56,243.3,899.3,13.6,703,10165,0.00,2.17,0.00,0.000,6,0.000,0.037,2522,2131,1876,0,0,0,0,0,0
$GC,10488,0.56,243.3,849.2,14.9,719,10492,0.00,2.20,0.00,0.000,4,0.000,0.047,2522,3541,1876,0,0,0,0,0,0
$GC,10520,0.56,243.3,843.6,16.6,720,10525,0.12,2.12,0.00,0.000,6,0.190,0.028,2502,2145,1876,0,0,0,0,0,0
$GC,10837,0.56,243.3,801.1,13.0,735,10841,0.00,2.20,0.00,0.000,4,0.000,0.040,2512,720,1875,0,0,0,0,0,0
$GC,10909,0.56,243.3,791.7,12.6,738,10913,0.00,2.17,0.00,0.000,6,0.000,0.035,2512,2129,1875,0,0,0,0,0,0
$GC,11237,0.56,243.3,748.2,13.6,754,11241,0.00,2.22,0.00,0.000,4,0.000,0.046,2512,3542,1874,0,0,0,0,0,0
$GC,11372,0.56,243.3,727.8,15.8,760,11376,0.00,2.12,0.00,0.000,6,0.000,0.029,2522,2143,1874,0,0,0,0,0,0
$GC,11700,0.56,243.3,679.4,15.0,776,11704,0.00,2.17,0.00,0.000,4,0.000,0.039,2532,716,1874,0,0,0,0,0,0
$GC,11788,0.56,243.3,666.2,14.6,780,11793,0.12,2.17,0.00,0.000,6,0.166,0.035,2500,2133,1874,0,0,0,0,0,0
$GC,12116,0.56,243.3,625.4,12.3,796,12120,0.00,2.17,0.00,0.000,4,0.000,0.046,2500,3535,1874,0,0,0,0,0,0
$GC,12182,0.56,243.3,616.3,14.0,799,12186,0.00,2.15,0.00,0.000,6,0.000,0.029,2508,2120,1873,0,0,0,0,0,0
$GC,12510,0.56,243.3,574.6,12.7,815,12514,0.00,2.15,0.00,0.000,4,0.000,0.040,2519,710,1874,0,0,0,0,0,0
$GC,12599,0.56,243.3,563.6,12.0,819,12603,0.00,2.17,0.00,0.000,6,0.000,0.035,2519,2125,1874,0,0,0,0,0,0
$GC,12920,0.56,243.3,521.8,13.2,835,12924,0.00,2.22,0.00,0.000,4,0.000,0.046,2519,3541,1874,0,0,0,0,0,0
$GC,12975,0.56,243.3,513.6,14.9,837,12982,0.00,2.12,0.00,0.000,6,0.000,0.029,2528,2140,1873,0,0,0,0,0,0
$GC,13299,0.56,243.3,469.6,13.5,863,13303,0.00,2.17,0.00,0.000,4,0.000,0.038,2539,713,1874,0,0,0,0,0,0
$GC,13339,0.56,243.3,463.9,13.8,866,13344,0.15,2.20,0.00,0.000,6,0.158,0.034,2500,2141,1874,0,0,0,0,0,0
$GC,13664,0.57,258.4,426.9,11.3,896,13687,0.00,2.25,12.43,0.721,4,0.000,0.045,2498,3541,1815,0,0,0,0,0,0
$GC,13748,0.57,258.4,416.3,12.8,903,13755,0.00,2.12,0.00,0.000,6,0.000,0.028,2507,2138,1815,0,0,0,0,0,0
$GC,14074,0.58,261.8,377.4,11.7,934,14086,0.00,2.22,4.35,0.560,4,0.000,0.038,2518,720,1802,0,0,0,0,0,0
$GC,14160,0.59,267.4,367.5,11.6,941,14171,0.00,2.17,6.03,0.604,6,0.000,0.034,2517,2136,1779,0,0,0,0,0,0
$GC,14491,0.61,286.5,329.9,11.2,972,14514,0.00,2.20,15.73,0.658,4,0.000,0.045,2518,3541,1700,0,0,0,0,0,0
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$STATE,17341,end climb,SURFACE_DEPTH_REACHED
$STATE,17341,begin surface coast
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$STATE,17368,end surface coast,CONTROL_FINISHED_OK
$STATE,17369,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.51
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$XPDR_PINGS,1
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$10V_AH,10.0,39.860
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322832
$DATA_FILE_SIZE,93649,1384
$CAP_FILE_SIZE,188277,0
$CFSIZE,260165632,226918400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,153924,1940.294,11954.901,23,1.1,41,-2.2