version: 66.09
glider: 181
mission: 6
dive: 211
start: 7 20 111 23 57 45
data:
$ID,181
$MISSION,6
$DIVE,211
$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,-5
$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,-40784.758
$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,37
$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
$GPS1,200711,235024,1846.118,12034.958,26,1.5,44,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.9
$GPS2,200711,235720,1846.215,12035.031,9,1.4,9,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,196.9,22447,-15.3,-11.000
$D_GRID,1739
$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,-63.80,0.000,2,0.000,0.000,191,2612,2268,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.1,-3.5,9,131,7.95,1.83,-30.30,0.000,4,0.227,0.055,2135,3785,3762,0,0,0,0,0,0
$GC,186,-0.52,-219.0,47.8,-61.0,25,194,0.00,1.83,0.00,0.000,6,0.000,0.025,2135,2568,3761,0,0,0,0,0,0
$GC,320,-0.52,-219.0,107.6,-30.6,50,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2567,3763,0,0,0,0,0,0
$GC,452,-0.52,-219.0,146.6,-29.4,75,460,0.00,1.92,0.00,0.000,4,0.000,0.045,2126,3774,3764,0,0,0,0,0,0
$GC,474,-0.52,-219.0,153.3,-30.2,78,482,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2629,3765,0,0,0,0,0,0
$GC,610,-0.52,-219.0,183.9,-20.3,103,618,0.00,2.12,0.00,0.000,4,0.000,0.026,2126,1195,3766,0,0,0,0,0,0
$GC,632,-0.52,-219.0,188.1,-18.8,106,641,0.00,2.25,0.00,0.000,6,0.000,0.036,2125,2633,3766,0,0,0,0,0,0
$GC,768,-0.52,-219.0,205.6,-13.1,127,772,0.00,1.75,0.00,0.000,4,0.000,0.044,2124,3789,3767,0,0,0,0,0,0
$GC,851,-0.52,-219.0,216.4,-11.4,134,859,0.00,1.65,0.00,0.000,6,0.000,0.023,2124,2668,3767,0,0,0,0,0,0
$GC,1178,-0.52,-219.0,266.0,-16.0,165,1182,0.00,2.17,0.00,0.000,4,0.000,0.028,2124,1194,3769,0,0,0,0,0,0
$GC,1233,-0.52,-219.0,274.5,-13.2,169,1240,0.00,2.25,0.00,0.000,6,0.000,0.036,2124,2669,3766,0,0,0,0,0,0
$GC,1558,-0.52,-219.0,323.1,-15.0,200,1562,0.00,1.70,0.00,0.000,4,0.000,0.046,2124,3785,3763,0,0,0,0,0,0
$GC,1593,-0.52,-219.0,328.3,-14.7,203,1597,0.00,1.65,0.00,0.000,6,0.000,0.024,2124,2647,3763,0,0,0,0,0,0
$GC,1924,-0.52,-219.0,376.7,-15.7,234,1927,0.00,1.75,0.00,0.000,4,0.000,0.046,2124,3784,3759,0,0,0,0,0,0
$GC,1995,-0.52,-219.0,386.5,-11.7,240,2002,0.00,1.62,0.00,0.000,6,0.000,0.024,2124,2691,3759,0,0,0,0,0,0
$GC,2321,-0.52,-219.0,435.1,-14.8,271,2325,0.00,2.20,0.00,0.000,4,0.000,0.030,2124,1196,3755,0,0,0,0,0,0
$GC,2394,-0.52,-219.0,444.6,-10.9,277,2399,0.00,2.28,0.00,0.000,6,0.000,0.036,2124,2681,3754,0,0,0,0,0,0
$GC,2720,-0.52,-219.0,488.5,-13.6,307,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2681,3751,0,0,0,0,0,0
$GC,3031,-0.52,-219.0,529.2,-12.9,326,3035,0.00,2.20,0.00,0.000,4,0.000,0.030,2124,1204,3748,0,0,0,0,0,0
$GC,3072,-0.52,-219.0,534.2,-12.6,328,3076,0.00,2.28,0.00,0.000,6,0.000,0.037,2124,2682,3748,0,0,0,0,0,0
$GC,3399,-0.52,-219.0,574.7,-12.7,344,3403,0.00,2.22,0.00,0.000,4,0.000,0.031,2124,1203,3745,0,0,0,0,0,0
$GC,3422,-0.52,-219.0,577.6,-12.4,345,3426,0.00,2.28,0.00,0.000,6,0.000,0.039,2124,2674,3745,0,0,0,0,0,0
$GC,3749,-0.52,-219.0,621.2,-13.6,361,3753,0.00,1.70,0.00,0.000,4,0.000,0.049,2124,3783,3741,0,0,0,0,0,0
$GC,3783,-0.52,-219.0,625.7,-13.1,362,3786,0.00,1.65,0.00,0.000,6,0.000,0.027,2124,2661,3742,0,0,0,0,0,0
$GC,4104,-0.52,-219.0,665.6,-12.5,378,4108,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1209,3739,0,0,0,0,0,0
$GC,4172,-0.52,-219.0,672.4,-9.1,381,4176,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2667,3738,0,0,0,0,0,0
$GC,4493,-0.52,-219.0,708.5,-11.8,397,4497,0.00,1.70,0.00,0.000,4,0.000,0.050,2123,3775,3735,0,0,0,0,0,0
$GC,4544,-0.52,-219.0,713.9,-10.2,399,4547,0.00,1.65,0.00,0.000,6,0.000,0.027,2124,2656,3735,0,0,0,0,0,0
$GC,4871,-0.52,-219.0,751.9,-11.8,415,4875,0.00,2.15,0.00,0.000,4,0.000,0.032,2121,1207,3732,0,0,0,0,0,0
$GC,4933,-0.52,-219.0,758.3,-9.4,418,4937,0.00,2.22,0.00,0.000,6,0.000,0.038,2124,2655,3732,0,0,0,0,0,0
$GC,5260,-0.52,-219.0,793.8,-11.4,434,5264,0.00,2.17,0.00,0.000,4,0.000,0.033,2124,1210,3729,0,0,0,0,0,0
$GC,5281,-0.52,-219.0,796.3,-11.3,435,5286,0.00,2.28,0.00,0.000,6,0.000,0.040,2123,2646,3729,0,0,0,0,0,0
$GC,5610,-0.52,-219.0,828.5,-9.6,451,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2646,3728,0,0,0,0,0,0
$GC,5918,-0.52,-219.0,858.5,-10.5,466,5922,0.00,2.17,0.00,0.000,4,0.000,0.032,2124,1205,3725,0,0,0,0,0,0
$GC,5974,-0.52,-219.0,864.5,-10.0,468,5981,0.00,2.25,0.00,0.000,6,0.000,0.038,2124,2653,3725,0,0,0,0,0,0
$GC,6291,-0.52,-219.0,895.1,-9.9,484,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2653,3723,0,0,0,0,0,0
$GC,6599,-0.52,-219.0,924.5,-9.1,499,6603,0.00,2.20,0.00,0.000,4,0.000,0.034,2124,1210,3722,0,0,0,0,0,0
$GC,6623,-0.52,-219.0,926.6,-9.1,500,6627,0.00,2.22,0.00,0.000,6,0.000,0.039,2124,2649,3722,0,0,0,0,0,0
$GC,6950,-0.52,-219.0,954.6,-9.0,516,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2649,3721,0,0,0,0,0,0
$GC,7259,-0.52,-219.0,979.9,-8.0,531,7263,0.00,2.17,0.00,0.000,4,0.000,0.034,2124,1211,3718,0,0,0,0,0,0
$GC,7304,-0.52,-219.0,983.5,-7.8,533,7308,0.00,2.22,0.00,0.000,6,0.000,0.040,2124,2641,3718,0,0,0,0,0,0
$STATE,7402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7402,begin apogee
$GC,7408,-0.13,0.0,990.9,7.6,538,7578,0.45,0.00,162.88,1.096,4,0.108,0.000,2277,2123,2870,0,0,0,0,0,0
$STATE,7579,end apogee,CONTROL_FINISHED_OK
$STATE,7579,begin climb
$GC,7582,0.52,219.0,997.9,0.0,546,7765,0.57,2.28,174.75,1.069,4,0.047,0.038,2503,732,1977,0,0,0,0,0,0
$GC,7800,0.52,219.0,984.0,13.3,555,7804,0.00,2.30,0.00,0.000,6,0.000,0.034,2503,2127,1976,0,0,0,0,0,0
$GC,8115,0.52,219.0,939.7,14.1,570,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2128,1973,0,0,0,0,0,0
$GC,8425,0.52,219.0,896.7,13.8,585,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2127,1973,0,0,0,0,0,0
$GC,8734,0.52,219.0,855.8,13.0,600,8738,0.00,2.20,0.00,0.000,4,0.000,0.045,2503,3539,1973,0,0,0,0,0,0
$GC,8772,0.52,219.0,850.2,14.6,601,8779,0.00,2.12,0.00,0.000,6,0.000,0.028,2513,2135,1973,0,0,0,0,0,0
$GC,9089,0.52,219.0,806.2,14.0,617,9093,0.00,2.15,0.00,0.000,4,0.000,0.037,2523,716,1972,0,0,0,0,0,0
$GC,9144,0.52,219.0,798.6,13.0,619,9152,0.12,2.17,0.00,0.000,6,0.173,0.033,2492,2132,1972,0,0,0,0,0,0
$GC,9460,0.52,219.5,763.1,11.0,635,9464,0.00,2.17,0.00,0.000,4,0.000,0.044,2493,3536,1971,0,0,0,0,0,0
$GC,9516,0.52,219.5,756.4,11.9,637,9520,0.00,2.12,0.00,0.000,6,0.000,0.027,2501,2125,1971,0,0,0,0,0,0
$GC,9832,0.52,219.5,719.5,12.0,652,9836,0.00,2.15,0.00,0.000,4,0.000,0.039,2511,719,1970,0,0,0,0,0,0
$GC,9871,0.52,219.5,714.6,12.1,654,9876,0.00,2.17,0.00,0.000,6,0.000,0.034,2512,2140,1970,0,0,0,0,0,0
$GC,10199,0.52,219.5,672.3,13.0,670,10203,0.00,2.15,0.00,0.000,4,0.000,0.044,2512,3536,1970,0,0,0,0,0,0
$GC,10232,0.52,219.5,667.2,14.3,671,10237,0.12,2.17,0.00,0.000,6,0.184,0.027,2491,2091,1970,0,0,0,0,0,0
$GC,10555,0.52,219.5,629.5,11.3,687,10559,0.00,2.08,0.00,0.000,4,0.000,0.037,2500,710,1970,0,0,0,0,0,0
$GC,10587,0.52,219.5,625.5,11.4,688,10595,0.00,2.17,0.00,0.000,6,0.000,0.032,2500,2129,1968,0,0,0,0,0,0
$GC,10904,0.52,219.5,587.6,11.6,704,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2134,1974,0,0,0,0,0,0
$GC,11213,0.52,219.5,552.5,11.4,719,11218,0.00,2.17,0.00,0.000,4,0.000,0.044,2500,3541,1970,0,0,0,0,0,0
$GC,11257,0.52,219.5,546.3,13.4,721,11261,0.00,2.12,0.00,0.000,6,0.000,0.027,2510,2122,1969,0,0,0,0,0,0
$GC,11586,0.52,219.5,501.5,14.2,737,11590,0.00,2.10,0.00,0.000,4,0.000,0.038,2520,723,1969,0,0,0,0,0,0
$GC,11764,0.52,219.5,476.2,13.6,752,11772,0.08,2.15,0.00,0.000,6,0.144,0.034,2495,2103,1970,0,0,0,0,0,0
$GC,12091,0.52,219.5,435.3,11.8,783,12096,0.00,2.22,0.00,0.000,4,0.000,0.044,2495,3545,1970,0,0,0,0,0,0
$GC,12191,0.52,219.5,422.6,11.7,791,12199,0.00,2.15,0.00,0.000,6,0.000,0.028,2504,2116,1970,0,0,0,0,0,0
$GC,12518,0.58,265.5,389.7,9.4,822,12562,0.00,2.22,34.08,0.728,4,0.000,0.038,2514,716,1785,0,0,0,0,0,0
$GC,12645,0.61,290.6,376.8,10.1,833,12674,0.00,2.15,19.88,0.672,6,0.000,0.032,2514,2111,1684,0,0,0,0,0,0
$GC,12993,0.61,290.6,337.8,11.9,866,12997,0.00,2.22,0.00,0.000,4,0.000,0.044,2514,3536,1686,0,0,0,0,0,0
$GC,13048,0.61,290.6,330.5,13.0,870,13055,0.00,2.17,0.00,0.000,6,0.000,0.028,2523,2116,1688,0,0,0,0,0,0
$GC,13375,0.61,290.6,288.7,12.9,901,13379,0.00,2.12,0.00,0.000,4,0.000,0.038,2534,714,1689,0,0,0,0,0,0
$GC,13451,0.61,290.6,278.6,12.8,907,13458,0.00,2.12,0.00,0.000,6,0.000,0.034,2534,2089,1689,0,0,0,0,0,0
$GC,13776,0.61,290.6,232.4,12.9,938,13780,0.00,2.25,0.00,0.000,4,0.000,0.044,2534,3541,1689,0,0,0,0,0,0
$GC,13831,0.61,290.6,225.1,13.1,942,13839,0.00,2.22,0.00,0.000,6,0.000,0.028,2544,2095,1690,0,0,0,0,0,0
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$STATE,15832,end climb,SURFACE_DEPTH_REACHED
$STATE,15832,begin surface coast
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$TT8_MAMPS,0.027713,0.027713
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$TCM_TEMP,25.20
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$10V_AH,9.9,32.942
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$FG_AHR_10Vo,0.000
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$MEM,321788
$DATA_FILE_SIZE,87062,1276
$CAP_FILE_SIZE,171747,0
$CFSIZE,260165632,231264256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,042436,1843.863,12034.247,39,1.0,40,-2.0