version: 66.09
glider: 181
mission: 6
dive: 250
start: 7 27 111 20 12 15
data:
$ID,181
$MISSION,6
$DIVE,250
$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,-40833.957
$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,46
$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
$GPS1,270711,200337,1917.587,11958.053,30,1.1,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.2
$GPS2,270711,201150,1917.692,11957.812,12,1.1,12,-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,3.7,133969,-15.3,-11.000
$D_GRID,4171
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.52,-219.0,0.0,0.0,0,90,0.00,0.00,-70.57,0.000,2,0.000,0.000,174,2608,2467,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.6,-4.0,10,133,8.07,1.90,-25.80,0.000,4,0.227,0.058,2133,3783,3765,0,0,0,0,0,0
$GC,346,-0.52,-219.0,118.6,-25.1,56,354,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2584,3766,0,0,0,0,0,0
$GC,479,-0.52,-219.0,145.6,-18.6,81,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2583,3767,0,0,0,0,0,0
$GC,613,-0.52,-219.0,170.1,-20.6,106,621,0.00,1.88,0.00,0.000,4,0.000,0.042,2122,3775,3767,0,0,0,0,0,0
$GC,634,-0.52,-219.0,174.8,-20.9,109,642,0.00,1.70,0.00,0.000,6,0.000,0.024,2122,2644,3767,0,0,0,0,0,0
$GC,769,-0.52,-219.0,200.5,-17.8,134,773,0.00,2.15,0.00,0.000,4,0.000,0.028,2122,1183,3768,0,0,0,0,0,0
$GC,824,-0.52,-219.0,210.1,-14.6,138,833,0.10,2.22,0.00,0.000,6,0.117,0.034,2149,2622,3767,0,0,0,0,0,0
$GC,1151,-0.52,-219.0,251.0,-11.9,169,1155,0.00,1.75,0.00,0.000,4,0.000,0.044,2141,3780,3765,0,0,0,0,0,0
$GC,1230,-0.52,-219.0,259.6,-9.6,176,1233,0.00,1.65,0.00,0.000,6,0.000,0.024,2141,2642,3766,0,0,0,0,0,0
$GC,1562,-0.52,-219.0,299.9,-12.3,207,1566,0.00,2.12,0.00,0.000,4,0.000,0.030,2141,1194,3763,0,0,0,0,0,0
$GC,1606,-0.52,-219.0,305.5,-11.3,210,1613,0.00,2.25,0.00,0.000,6,0.000,0.036,2140,2660,3763,0,0,0,0,0,0
$GC,1932,-0.52,-219.0,346.6,-13.1,241,1936,0.00,1.70,0.00,0.000,4,0.000,0.045,2132,3782,3759,0,0,0,0,0,0
$GC,1970,-0.52,-219.0,352.1,-13.5,244,1978,0.00,1.70,0.00,0.000,6,0.000,0.025,2131,2643,3759,0,0,0,0,0,0
$GC,2296,-0.52,-219.0,396.1,-13.1,275,2300,0.00,2.12,0.00,0.000,4,0.000,0.031,2131,1203,3755,0,0,0,0,0,0
$GC,2351,-0.52,-219.0,403.2,-11.1,279,2359,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2629,3755,0,0,0,0,0,0
$GC,2677,-0.52,-219.0,446.2,-13.7,310,2681,0.00,1.75,0.00,0.000,4,0.000,0.047,2125,3772,3751,0,0,0,0,0,0
$GC,2726,-0.52,-219.0,452.5,-11.6,314,2734,0.00,1.73,0.00,0.000,6,0.000,0.025,2125,2625,3751,0,0,0,0,0,0
$GC,3053,-0.52,-219.0,494.1,-12.5,345,3057,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1187,3748,0,0,0,0,0,0
$GC,3109,-0.52,-219.0,500.7,-10.3,349,3116,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2617,3747,0,0,0,0,0,0
$GC,3425,-0.52,-219.0,535.2,-11.2,365,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2617,3744,0,0,0,0,0,0
$GC,3734,-0.52,-219.0,572.1,-12.2,380,3738,0.00,1.83,0.00,0.000,4,0.000,0.048,2120,3774,3738,0,0,0,0,0,0
$GC,3790,-0.52,-219.0,578.5,-10.6,382,3795,0.12,1.73,0.00,0.000,6,0.133,0.026,2157,2583,3740,0,0,0,0,0,0
$GC,4111,-0.52,-219.0,603.5,-7.7,398,4115,0.00,2.05,0.00,0.000,4,0.000,0.031,2157,1205,3744,0,0,0,0,0,0
$GC,4145,-0.52,-219.0,606.2,-7.5,399,4149,0.00,2.15,0.00,0.000,6,0.000,0.036,2156,2600,3742,0,0,0,0,0,0
$GC,4461,-0.52,-219.0,629.3,-7.4,414,4465,0.00,2.10,0.00,0.000,4,0.000,0.031,2156,1202,3734,0,0,0,0,0,0
$GC,4719,-0.52,-219.0,650.6,-9.1,425,4726,0.00,2.08,0.00,0.000,6,0.000,0.035,2155,2558,3731,0,0,0,0,0,0
$GC,5036,-0.52,-219.0,676.6,-8.5,441,5039,0.00,2.03,0.00,0.000,4,0.000,0.031,2161,1212,3730,0,0,0,0,0,0
$GC,5294,-0.52,-219.0,698.5,-8.2,452,5298,0.00,2.08,0.00,0.000,6,0.000,0.036,2161,2535,3729,0,0,0,0,0,0
$GC,5616,-0.52,-219.0,721.6,-7.2,468,5620,0.00,2.00,0.00,0.000,4,0.000,0.034,2161,1211,3726,0,0,0,0,0,0
$GC,5823,-0.52,-219.0,737.8,-8.0,477,5827,0.00,2.05,0.00,0.000,6,0.000,0.037,2161,2547,3728,0,0,0,0,0,0
$GC,6152,-0.52,-219.0,765.3,-9.0,493,6155,0.00,2.03,0.00,0.000,4,0.000,0.034,2161,1207,3722,0,0,0,0,0,0
$GC,6247,-0.52,-219.0,775.0,-10.5,497,6250,0.00,2.05,0.00,0.000,6,0.000,0.036,2161,2543,3722,0,0,0,0,0,0
$GC,6574,-0.52,-219.0,806.6,-10.0,513,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2543,3722,0,0,0,0,0,0
$GC,6884,-0.52,-219.0,836.9,-9.6,528,6888,0.00,2.05,0.00,0.000,4,0.000,0.034,2161,1216,3719,0,0,0,0,0,0
$GC,6932,-0.52,-219.0,841.1,-9.5,530,6936,0.00,2.03,0.00,0.000,6,0.000,0.036,2161,2534,3719,0,0,0,0,0,0
$GC,7266,-0.52,-219.0,870.1,-8.4,546,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2535,3717,0,0,0,0,0,0
$GC,7575,-0.52,-219.0,896.4,-8.9,561,7579,0.00,2.05,0.00,0.000,4,0.000,0.035,2161,1191,3715,0,0,0,0,0,0
$GC,7613,-0.52,-219.0,900.1,-9.1,562,7620,0.00,2.12,0.00,0.000,6,0.000,0.037,2161,2534,3715,0,0,0,0,0,0
$GC,7931,-0.52,-219.0,928.1,-9.0,578,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2534,3714,0,0,0,0,0,0
$GC,8239,-0.52,-219.0,957.3,-9.8,593,8242,0.00,2.03,0.00,0.000,4,0.000,0.035,2161,1208,3712,0,0,0,0,0,0
$GC,8300,-0.52,-219.0,963.4,-10.0,595,8306,0.00,2.08,0.00,0.000,6,0.000,0.038,2161,2546,3712,0,0,0,0,0,0
$STATE,8572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8572,begin apogee
$GC,8579,-0.13,0.0,990.1,9.9,609,8748,0.30,0.00,162.93,1.095,4,0.063,0.000,2296,2126,2868,0,0,0,0,0,0
$STATE,8749,end apogee,CONTROL_FINISHED_OK
$STATE,8749,begin climb
$GC,8752,0.52,219.0,1001.0,0.0,617,8936,0.52,2.33,176.10,1.067,4,0.048,0.040,2503,711,1976,0,0,0,0,0,0
$GC,9162,0.52,219.0,961.1,13.8,635,9167,0.00,2.25,0.00,0.000,6,0.000,0.036,2503,2124,1974,0,0,0,0,0,0
$GC,9490,0.52,219.0,915.0,14.0,651,9494,0.00,2.20,0.00,0.000,4,0.000,0.038,2512,709,1973,0,0,0,0,0,0
$GC,9665,0.52,219.0,890.9,13.7,659,9670,0.00,2.22,0.00,0.000,6,0.000,0.037,2512,2136,1972,0,0,0,0,0,0
$GC,9993,0.52,219.0,844.6,13.9,675,9997,0.00,2.20,0.00,0.000,4,0.000,0.047,2512,3542,1972,0,0,0,0,0,0
$GC,10015,0.52,219.0,841.1,13.5,676,10020,0.12,2.15,0.00,0.000,6,0.189,0.030,2493,2129,1972,0,0,0,0,0,0
$GC,10342,0.52,219.0,803.0,11.2,692,10346,0.00,2.17,0.00,0.000,4,0.000,0.041,2502,717,1971,0,0,0,0,0,0
$GC,10404,0.52,219.0,796.2,11.1,694,10411,0.00,2.20,0.00,0.000,6,0.000,0.036,2502,2131,1971,0,0,0,0,0,0
$GC,10720,0.52,219.0,757.3,13.0,710,10724,0.00,2.20,0.00,0.000,4,0.000,0.047,2502,3542,1970,0,0,0,0,0,0
$GC,10775,0.52,219.0,748.9,15.4,712,10782,0.00,2.15,0.00,0.000,6,0.000,0.029,2511,2133,1970,0,0,0,0,0,0
$GC,11091,0.52,219.0,702.5,14.7,728,11095,0.00,2.15,0.00,0.000,4,0.000,0.040,2522,723,1969,0,0,0,0,0,0
$GC,11225,0.52,219.0,682.4,14.1,734,11230,0.12,2.15,0.00,0.000,6,0.163,0.035,2490,2112,1969,0,0,0,0,0,0
$GC,11553,0.52,219.0,641.5,12.1,750,11557,0.00,2.25,0.00,0.000,4,0.000,0.047,2489,3544,1969,0,0,0,0,0,0
$GC,11607,0.52,219.0,634.3,13.0,752,11611,0.00,2.17,0.00,0.000,6,0.000,0.029,2498,2106,1969,0,0,0,0,0,0
$GC,11929,0.52,219.0,597.1,11.4,768,11933,0.00,2.10,0.00,0.000,4,0.000,0.039,2509,723,1969,0,0,0,0,0,0
$GC,11973,0.52,219.0,591.9,11.7,770,11977,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2120,1969,0,0,0,0,0,0
$GC,12301,0.52,219.0,552.9,12.5,786,12305,0.00,2.20,0.00,0.000,4,0.000,0.046,2509,3537,1969,0,0,0,0,0,0
$GC,12395,0.52,219.0,539.7,13.6,790,12399,0.00,2.15,0.00,0.000,6,0.000,0.028,2518,2113,1969,0,0,0,0,0,0
$GC,12711,0.52,219.0,499.7,12.6,805,12715,0.00,2.12,0.00,0.000,4,0.000,0.038,2529,713,1969,0,0,0,0,0,0
$GC,12823,0.52,219.0,485.8,12.1,814,12831,0.15,2.15,0.00,0.000,6,0.155,0.034,2489,2103,1969,0,0,0,0,0,0
$GC,13151,0.58,261.3,454.3,9.6,845,13187,0.00,2.28,31.62,0.754,4,0.000,0.045,2489,3542,1803,0,0,0,0,0,0
$GC,13244,0.58,261.3,444.2,11.7,853,13251,0.00,2.20,0.00,0.000,6,0.000,0.028,2497,2110,1802,0,0,0,0,0,0
$GC,13570,0.58,263.2,408.9,10.9,884,13574,0.00,2.15,0.00,0.000,4,0.000,0.040,2507,706,1801,0,0,0,0,0,0
$GC,13593,0.59,269.5,406.4,10.8,886,13606,0.00,2.15,7.75,0.662,6,0.000,0.034,2507,2103,1770,0,0,0,0,0,0
$GC,13924,0.59,269.5,368.8,11.2,917,13928,0.00,2.25,0.00,0.000,4,0.000,0.045,2508,3546,1770,0,0,0,0,0,0
$GC,13956,0.59,269.5,364.8,11.5,919,13963,0.00,2.20,0.00,0.000,6,0.000,0.028,2516,2101,1770,0,0,0,0,0,0
$GC,14282,0.59,269.5,327.2,11.9,950,14286,0.00,2.10,0.00,0.000,4,0.000,0.039,2527,720,1769,0,0,0,0,0,0
$GC,14333,0.59,269.5,321.2,11.7,954,14337,0.00,2.12,0.00,0.000,6,0.000,0.034,2527,2093,1770,0,0,0,0,0,0
$GC,14665,0.59,269.5,282.2,11.6,985,14669,0.00,2.25,0.00,0.000,4,0.000,0.044,2532,3545,1770,0,0,0,0,0,0
$GC,14808,0.59,269.5,263.4,12.9,997,14815,0.00,2.15,0.00,0.000,6,0.000,0.028,2537,2125,1770,0,0,0,0,0,0
$GC,15134,0.59,269.5,226.2,11.3,1028,15138,0.00,2.15,0.00,0.000,4,0.000,0.038,2548,720,1770,0,0,0,0,0,0
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$GC,17148,1.22,782.0,20.4,9.8,1356,17158,0.10,2.10,2.83,0.246,4,0.094,0.036,2747,721,439,0,0,0,0,0,0
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$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17273,begin surface coast
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$STATE,17294,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.028462,0.028462
$HUMID,42.00
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,9.9,38.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.750,177.950,628.850,0.000,0.000,23.549,39.209,254.545,0.000,0.000,15.185,3347.725,9708.573,678.962,3694.140,403.797,0.000,2205.105,0.000,2578.856,0.000,0.540,0.000
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$MEM,322756
$DATA_FILE_SIZE,93738,1381
$CAP_FILE_SIZE,188980,0
$CFSIZE,260165632,227700736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,010300,1919.209,11957.215,36,1.3,37,-2.1