version: 66.09
glider: 181
mission: 6
dive: 246
start: 7 26 111 18 54 39
data:
$ID,181
$MISSION,6
$DIVE,246
$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,-40828.93
$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,24
$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
$GPS1,260711,184707,1910.041,12000.086,25,1.2,25,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-56.3
$GPS2,260711,185414,1910.121,11959.885,12,1.2,12,-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,2.2,147936,-15.3,-11.000
$D_GRID,3892
$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,-63.55,0.000,2,0.000,0.000,178,2609,2240,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.0,-3.7,9,131,8.10,1.88,-30.12,0.000,4,0.230,0.054,2133,3792,3764,0,0,0,0,0,0
$GC,233,-0.52,-219.0,71.9,-50.2,34,241,0.00,1.83,0.00,0.000,6,0.000,0.024,2133,2586,3765,0,0,0,0,0,0
$GC,366,-0.52,-219.0,112.3,-25.8,59,374,0.00,1.90,0.00,0.000,4,0.000,0.043,2123,3783,3766,0,0,0,0,0,0
$GC,408,-0.52,-219.0,123.8,-28.1,66,417,0.00,1.83,0.00,0.000,6,0.000,0.024,2124,2564,3766,0,0,0,0,0,0
$GC,543,-0.52,-219.0,154.4,-20.4,91,551,0.00,2.03,0.00,0.000,4,0.000,0.028,2124,1206,3767,0,0,0,0,0,0
$GC,576,-0.52,-219.0,161.3,-20.7,96,584,0.10,2.17,0.00,0.000,6,0.133,0.035,2146,2598,3767,0,0,0,0,0,0
$GC,713,-0.52,-219.0,181.8,-14.9,121,721,0.00,1.85,0.00,0.000,4,0.000,0.043,2140,3785,3768,0,0,0,0,0,0
$GC,765,-0.52,-219.0,189.4,-13.1,130,773,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2604,3768,0,0,0,0,0,0
$GC,907,-0.52,-219.0,207.8,-13.7,151,911,0.00,2.05,0.00,0.000,4,0.000,0.028,2140,1201,3768,0,0,0,0,0,0
$GC,950,-0.52,-219.0,214.0,-12.3,154,959,0.00,2.12,0.00,0.000,6,0.000,0.033,2139,2570,3768,0,0,0,0,0,0
$GC,1278,-0.52,-219.0,260.5,-15.3,185,1281,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3784,3768,0,0,0,0,0,0
$GC,1369,-0.52,-219.0,271.3,-9.6,193,1373,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2587,3763,0,0,0,0,0,0
$GC,1700,-0.52,-219.0,312.4,-12.1,224,1703,0.00,2.03,0.00,0.000,4,0.000,0.029,2138,1203,3763,0,0,0,0,0,0
$GC,1745,-0.52,-219.0,317.8,-11.4,228,1750,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2596,3763,0,0,0,0,0,0
$GC,2071,-0.52,-219.0,355.7,-12.7,258,2075,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3776,3759,0,0,0,0,0,0
$GC,2143,-0.52,-219.0,363.8,-9.4,264,2150,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2599,3759,0,0,0,0,0,0
$GC,2469,-0.52,-219.0,400.9,-11.2,295,2472,0.00,2.05,0.00,0.000,4,0.000,0.030,2137,1209,3756,0,0,0,0,0,0
$GC,2519,-0.52,-219.0,406.2,-9.6,299,2526,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2599,3755,0,0,0,0,0,0
$GC,2844,-0.52,-219.0,438.4,-11.0,330,2848,0.00,1.85,0.00,0.000,4,0.000,0.046,2130,3777,3752,0,0,0,0,0,0
$GC,2925,-0.52,-219.0,446.6,-9.5,337,2929,0.00,1.75,0.00,0.000,6,0.000,0.026,2130,2613,3753,0,0,0,0,0,0
$GC,3255,-0.52,-219.0,487.1,-12.9,368,3259,0.00,2.08,0.00,0.000,4,0.000,0.030,2130,1203,3749,0,0,0,0,0,0
$GC,3334,-0.52,-219.0,495.6,-9.5,374,3341,0.00,2.15,0.00,0.000,6,0.000,0.035,2125,2600,3748,0,0,0,0,0,0
$GC,3651,-0.52,-219.0,532.9,-12.1,392,3655,0.00,1.85,0.00,0.000,4,0.000,0.048,2125,3786,3745,0,0,0,0,0,0
$GC,3701,-0.52,-219.0,538.2,-10.0,394,3705,0.00,1.75,0.00,0.000,6,0.000,0.026,2125,2591,3745,0,0,0,0,0,0
$GC,4028,-0.52,-219.0,577.9,-13.0,410,4032,0.00,2.05,0.00,0.000,4,0.000,0.031,2125,1209,3742,0,0,0,0,0,0
$GC,4052,-0.52,-219.0,580.9,-13.2,411,4056,0.00,2.15,0.00,0.000,6,0.000,0.038,2125,2596,3743,0,0,0,0,0,0
$GC,4379,-0.52,-219.0,619.3,-11.9,427,4383,0.00,1.88,0.00,0.000,4,0.000,0.048,2120,3783,3740,0,0,0,0,0,0
$GC,4411,-0.52,-219.0,623.4,-11.8,428,4416,0.08,1.77,0.00,0.000,6,0.116,0.027,2147,2600,3739,0,0,0,0,0,0
$GC,4733,-0.52,-219.0,648.8,-7.9,444,4737,0.00,2.08,0.00,0.000,4,0.000,0.031,2146,1200,3737,0,0,0,0,0,0
$GC,4783,-0.52,-219.0,652.9,-8.2,446,4787,0.00,2.15,0.00,0.000,6,0.000,0.036,2143,2596,3737,0,0,0,0,0,0
$GC,5099,-0.52,-219.0,681.0,-9.2,461,5103,0.00,1.83,0.00,0.000,4,0.000,0.048,2139,3779,3735,0,0,0,0,0,0
$GC,5132,-0.52,-219.0,684.3,-9.3,462,5136,0.00,1.75,0.00,0.000,6,0.000,0.027,2139,2587,3734,0,0,0,0,0,0
$GC,5455,-0.52,-219.0,713.4,-9.1,478,5458,0.00,2.05,0.00,0.000,4,0.000,0.032,2139,1209,3731,0,0,0,0,0,0
$GC,5501,-0.52,-219.0,717.5,-8.7,480,5505,0.00,2.12,0.00,0.000,6,0.000,0.037,2139,2586,3731,0,0,0,0,0,0
$GC,5828,-0.52,-219.0,745.1,-8.6,496,5832,0.00,1.85,0.00,0.000,4,0.000,0.049,2139,3780,3729,0,0,0,0,0,0
$GC,5856,-0.52,-219.0,747.6,-8.4,497,5860,0.00,1.80,0.00,0.000,6,0.000,0.027,2139,2590,3729,0,0,0,0,0,0
$GC,6183,-0.52,-219.0,773.6,-7.8,513,6186,0.00,2.05,0.00,0.000,4,0.000,0.032,2139,1213,3728,0,0,0,0,0,0
$GC,6245,-0.52,-219.0,778.6,-8.0,515,6251,0.00,2.12,0.00,0.000,6,0.000,0.037,2139,2584,3727,0,0,0,0,0,0
$GC,6561,-0.52,-219.0,803.1,-8.2,531,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2585,3726,0,0,0,0,0,0
$GC,6871,-0.52,-219.0,828.5,-8.1,546,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2584,3724,0,0,0,0,0,0
$GC,7180,-0.52,-219.0,853.5,-8.1,561,7184,0.00,2.10,0.00,0.000,4,0.000,0.034,2139,1204,3726,0,0,0,0,0,0
$GC,7207,-0.52,-219.0,855.9,-8.2,562,7211,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2577,3723,0,0,0,0,0,0
$GC,7535,-0.52,-219.0,881.1,-7.8,578,7539,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3778,3721,0,0,0,0,0,0
$GC,7581,-0.52,-219.0,884.8,-8.0,580,7585,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2564,3721,0,0,0,0,0,0
$GC,7914,-0.52,-219.0,911.6,-8.2,596,7918,0.00,1.95,0.00,0.000,4,0.000,0.047,2139,3776,3720,0,0,0,0,0,0
$GC,8127,-0.52,-219.0,931.2,-9.9,605,8131,0.00,1.90,0.00,0.000,6,0.000,0.027,2139,2501,3718,0,0,0,0,0,0
$GC,8450,-0.52,-219.0,958.6,-8.6,621,8454,0.00,1.92,0.00,0.000,4,0.000,0.034,2144,1206,3718,0,0,0,0,0,0
$GC,8709,-0.52,-219.0,981.1,-8.5,632,8713,0.00,1.95,0.00,0.000,6,0.000,0.036,2144,2479,3717,0,0,0,0,0,0
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8829,-0.13,0.0,990.6,8.0,638,8998,0.35,0.00,163.70,1.095,4,0.067,0.000,2288,2106,2872,0,0,0,0,0,0
$STATE,8998,end apogee,CONTROL_FINISHED_OK
$STATE,8999,begin climb
$GC,9001,0.52,219.0,1000.6,0.0,646,9191,0.55,2.22,176.32,1.068,4,0.049,0.037,2504,742,1976,0,0,0,0,0,0
$GC,9217,0.52,219.0,986.5,12.6,656,9221,0.00,2.30,0.00,0.000,6,0.000,0.034,2504,2129,1975,0,0,0,0,0,0
$GC,9544,0.52,219.0,939.6,14.3,672,9548,0.00,2.25,0.00,0.000,4,0.000,0.044,2504,3539,1975,0,0,0,0,0,0
$GC,9582,0.52,219.0,933.5,15.3,673,9589,0.00,2.17,0.00,0.000,6,0.000,0.028,2514,2132,1973,0,0,0,0,0,0
$GC,9899,0.52,219.0,885.8,15.0,689,9903,0.00,2.17,0.00,0.000,4,0.000,0.037,2525,712,1972,0,0,0,0,0,0
$GC,10006,0.52,219.0,870.7,13.9,694,10011,0.12,2.17,0.00,0.000,6,0.170,0.034,2493,2116,1972,0,0,0,0,0,0
$GC,10335,0.52,219.0,833.0,11.2,710,10339,0.00,2.22,0.00,0.000,4,0.000,0.045,2493,3541,1972,0,0,0,0,0,0
$GC,10419,0.52,219.0,822.3,12.4,714,10423,0.00,2.17,0.00,0.000,6,0.000,0.028,2502,2113,1972,0,0,0,0,0,0
$GC,10747,0.52,219.0,783.9,11.7,730,10751,0.00,2.12,0.00,0.000,4,0.000,0.038,2512,716,1971,0,0,0,0,0,0
$GC,10846,0.52,219.0,772.1,11.4,734,10854,0.00,2.17,0.00,0.000,6,0.000,0.033,2513,2105,1971,0,0,0,0,0,0
$GC,11163,0.52,219.0,731.8,13.2,750,11167,0.00,2.22,0.00,0.000,4,0.000,0.045,2512,3536,1970,0,0,0,0,0,0
$GC,11203,0.52,219.0,725.7,15.3,752,11208,0.12,2.17,0.00,0.000,6,0.183,0.028,2492,2101,1971,0,0,0,0,0,0
$GC,11530,0.52,219.0,681.5,13.9,768,11534,0.00,2.12,0.00,0.000,4,0.000,0.039,2501,715,1970,0,0,0,0,0,0
$GC,11553,0.52,219.0,678.2,13.7,769,11557,0.00,2.12,0.00,0.000,6,0.000,0.034,2501,2109,1970,0,0,0,0,0,0
$GC,11880,0.52,219.0,630.7,14.1,785,11884,0.00,2.22,0.00,0.000,4,0.000,0.044,2502,3542,1970,0,0,0,0,0,0
$GC,11947,0.52,219.0,620.3,15.2,788,11951,0.00,2.15,0.00,0.000,6,0.000,0.028,2511,2120,1967,0,0,0,0,0,0
$GC,12275,0.52,219.0,576.0,13.1,804,12279,0.00,2.15,0.00,0.000,4,0.000,0.039,2522,710,1970,0,0,0,0,0,0
$GC,12382,0.52,219.0,563.4,11.6,809,12387,0.12,2.15,0.00,0.000,6,0.161,0.034,2489,2112,1970,0,0,0,0,0,0
$GC,12711,0.58,267.0,532.7,9.4,825,12755,0.00,2.28,35.83,0.804,4,0.000,0.044,2489,3533,1780,0,0,0,0,0,0
$GC,12846,0.58,267.0,517.8,11.8,831,12850,0.00,2.20,0.00,0.000,6,0.000,0.029,2497,2110,1780,0,0,0,0,0,0
$GC,13169,0.58,267.0,481.3,11.8,854,13173,0.00,2.12,0.00,0.000,4,0.000,0.039,2508,720,1779,0,0,0,0,0,0
$GC,13190,0.58,267.0,478.6,11.4,855,13197,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2115,1780,0,0,0,0,0,0
$GC,13515,0.58,267.0,437.5,12.7,886,13520,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3542,1779,0,0,0,0,0,0
$GC,13556,0.58,267.0,432.0,13.8,889,13560,0.00,2.20,0.00,0.000,6,0.000,0.028,2517,2097,1780,0,0,0,0,0,0
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$STATE,17352,end climb,SURFACE_DEPTH_REACHED
$STATE,17352,begin surface coast
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$STATE,17370,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.9,37.835
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$FG_AHR_10Vo,0.000
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$MEM,322832
$DATA_FILE_SIZE,96846,1392
$CAP_FILE_SIZE,195503,0
$CFSIZE,260165632,228188160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,234656,1912.188,11959.208,32,2.1,51,-2.1