version: 66.09
glider: 181
mission: 6
dive: 238
start: 7 25 111 3 13 44
data:
$ID,181
$MISSION,6
$DIVE,238
$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,-40818.871
$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,49
$R_STBD_OVSHOOT,49
$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
$GPS1,250711,030624,1854.198,12006.935,38,1.2,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.6
$GPS2,250711,031319,1854.225,12006.997,15,1.2,32,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,313.1,16264,-15.3,-11.000
$D_GRID,2135
$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,-219.0,0.0,0.0,0,89,0.00,0.00,-71.12,0.000,2,0.000,0.000,202,2612,2506,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.9,-4.5,10,130,8.00,1.80,-22.80,0.000,4,0.230,0.054,2134,3773,3763,0,0,0,0,0,0
$GC,232,-0.52,-219.0,74.7,-43.8,34,240,0.00,1.77,0.00,0.000,6,0.000,0.023,2134,2591,3764,0,0,0,0,0,0
$GC,366,-0.52,-219.0,117.7,-31.8,59,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2588,3764,0,0,0,0,0,0
$GC,499,-0.52,-219.0,150.0,-19.1,84,507,0.00,1.85,0.00,0.000,4,0.000,0.041,2125,3767,3766,0,0,0,0,0,0
$GC,536,-0.52,-219.0,157.7,-20.2,90,544,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2605,3766,0,0,0,0,0,0
$GC,672,-0.52,-219.0,184.8,-20.9,115,680,0.00,2.08,0.00,0.000,4,0.000,0.027,2125,1209,3767,0,0,0,0,0,0
$GC,734,-0.52,-219.0,194.4,-13.3,126,742,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2592,3767,0,0,0,0,0,0
$GC,877,-0.52,-219.0,215.9,-15.6,143,881,0.00,1.80,0.00,0.000,4,0.000,0.042,2117,3785,3767,0,0,0,0,0,0
$GC,947,-0.52,-219.0,226.5,-13.2,149,952,0.10,1.70,0.00,0.000,6,0.119,0.024,2152,2646,3770,0,0,0,0,0,0
$GC,1277,-0.52,-219.0,267.5,-13.3,180,1281,0.00,2.12,0.00,0.000,4,0.000,0.028,2152,1189,3766,0,0,0,0,0,0
$GC,1309,-0.52,-219.0,271.6,-12.2,182,1317,0.00,2.22,0.00,0.000,6,0.000,0.034,2152,2629,3765,0,0,0,0,0,0
$GC,1634,-0.52,-219.0,310.1,-12.1,213,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2629,3763,0,0,0,0,0,0
$GC,1955,-0.52,-219.0,345.0,-9.8,243,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2630,3761,0,0,0,0,0,0
$GC,2273,-0.52,-219.0,374.1,-9.3,273,2277,0.00,1.77,0.00,0.000,4,0.000,0.045,2152,3767,3756,0,0,0,0,0,0
$GC,2300,-0.52,-219.0,376.9,-9.5,275,2307,0.00,1.67,0.00,0.000,6,0.000,0.024,2157,2615,3757,0,0,0,0,0,0
$GC,2626,-0.52,-219.0,404.6,-8.8,306,2630,0.00,2.08,0.00,0.000,4,0.000,0.029,2153,1200,3749,0,0,0,0,0,0
$GC,2689,-0.52,-219.0,409.3,-7.1,311,2694,0.00,2.12,0.00,0.000,6,0.000,0.034,2151,2601,3753,0,0,0,0,0,0
$GC,3015,-0.52,-219.0,436.2,-9.0,341,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2602,3750,0,0,0,0,0,0
$GC,3335,-0.52,-219.0,465.3,-9.5,371,3339,0.00,2.10,0.00,0.000,4,0.000,0.031,2152,1200,3747,0,0,0,0,0,0
$GC,3357,-0.52,-219.0,468.0,-9.6,372,3364,0.00,2.17,0.00,0.000,6,0.000,0.037,2152,2602,3746,0,0,0,0,0,0
$GC,3683,-0.52,-219.0,497.7,-8.3,403,3687,0.00,1.83,0.00,0.000,4,0.000,0.048,2151,3783,3744,0,0,0,0,0,0
$GC,3734,-0.52,-219.0,501.3,-6.9,407,3738,0.00,1.75,0.00,0.000,6,0.000,0.027,2151,2598,3743,0,0,0,0,0,0
$GC,4062,-0.52,-219.0,521.3,-6.1,423,4066,0.00,1.85,0.00,0.000,4,0.000,0.044,2151,3790,3740,0,0,0,0,0,0
$GC,4320,-0.52,-219.0,539.5,-7.9,434,4324,0.00,1.90,0.00,0.000,6,0.000,0.025,2157,2527,3739,0,0,0,0,0,0
$GC,4642,-0.52,-219.0,566.3,-8.9,450,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2524,3736,0,0,0,0,0,0
$GC,4951,-0.52,-219.0,593.5,-8.7,465,4954,0.00,1.98,0.00,0.000,4,0.000,0.034,2160,1198,3734,0,0,0,0,0,0
$GC,5203,-0.52,-219.0,617.1,-9.6,476,5207,0.00,2.05,0.00,0.000,6,0.000,0.036,2160,2509,3732,0,0,0,0,0,0
$GC,5530,-0.52,-219.0,645.6,-9.1,492,5534,0.00,1.98,0.00,0.000,4,0.000,0.033,2167,1195,3730,0,0,0,0,0,0
$GC,5788,-0.52,-219.0,670.3,-9.9,503,5792,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2500,3729,0,0,0,0,0,0
$GC,6110,-0.52,-219.0,700.1,-9.7,519,6113,0.00,1.98,0.00,0.000,4,0.000,0.046,2167,3785,3727,0,0,0,0,0,0
$GC,6183,-0.52,-219.0,707.3,-9.8,522,6187,0.00,1.95,0.00,0.000,6,0.000,0.026,2169,2499,3727,0,0,0,0,0,0
$GC,6510,-0.52,-219.0,739.0,-9.6,538,6514,0.00,1.92,0.00,0.000,4,0.000,0.034,2173,1200,3725,0,0,0,0,0,0
$GC,6680,-0.52,-219.0,756.2,-10.4,545,6684,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2491,3725,0,0,0,0,0,0
$GC,7002,-0.52,-219.0,787.4,-9.6,561,7005,0.00,1.95,0.00,0.000,4,0.000,0.034,2173,1204,3723,0,0,0,0,0,0
$GC,7097,-0.52,-219.0,796.6,-9.4,565,7101,0.00,1.95,0.00,0.000,6,0.000,0.034,2174,2476,3722,0,0,0,0,0,0
$GC,7424,-0.52,-219.0,825.7,-8.7,581,7428,0.00,1.95,0.00,0.000,4,0.000,0.034,2178,1192,3720,0,0,0,0,0,0
$GC,7566,-0.52,-219.0,838.7,-9.1,587,7570,0.00,2.00,0.00,0.000,6,0.000,0.036,2178,2462,3721,0,0,0,0,0,0
$GC,7894,-0.52,-219.0,866.8,-8.5,603,7897,0.00,2.05,0.00,0.000,4,0.000,0.047,2178,3782,3724,0,0,0,0,0,0
$GC,7962,-0.52,-219.0,873.0,-8.9,606,7966,0.00,2.00,0.00,0.000,6,0.000,0.027,2178,2446,3719,0,0,0,0,0,0
$GC,8296,-0.52,-219.0,904.0,-9.9,622,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2444,3718,0,0,0,0,0,0
$GC,8605,-0.52,-219.0,936.5,-10.6,637,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2446,3717,0,0,0,0,0,0
$GC,8915,-0.52,-219.0,969.0,-10.5,652,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2444,3716,0,0,0,0,0,0
$STATE,9138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9139,begin apogee
$GC,9145,-0.13,0.0,991.8,10.1,663,9314,0.25,0.00,163.50,1.095,4,0.072,0.000,2289,2110,2867,0,0,0,0,0,0
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9317,0.52,219.0,1003.0,0.0,671,9501,0.55,2.25,175.80,1.073,4,0.055,0.038,2500,739,1976,0,0,0,0,0,0
$GC,9525,0.52,219.0,990.6,12.3,680,9529,0.00,2.30,0.00,0.000,6,0.000,0.034,2500,2123,1976,0,0,0,0,0,0
$GC,9851,0.52,219.0,945.1,13.9,696,9855,0.00,2.28,0.00,0.000,4,0.000,0.045,2500,3548,1973,0,0,0,0,0,0
$GC,9875,0.52,219.0,941.5,15.0,697,9879,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2137,1973,0,0,0,0,0,0
$GC,10202,0.52,219.0,893.2,14.7,713,10206,0.00,2.17,0.00,0.000,4,0.000,0.037,2520,720,1972,0,0,0,0,0,0
$GC,10269,0.52,219.0,884.1,13.3,716,10274,0.12,2.17,0.00,0.000,6,0.169,0.035,2489,2120,1972,0,0,0,0,0,0
$GC,10596,0.52,219.0,845.3,11.8,732,10601,0.00,2.20,0.00,0.000,4,0.000,0.045,2489,3536,1972,0,0,0,0,0,0
$GC,10646,0.52,219.0,838.3,14.0,734,10650,0.00,2.17,0.00,0.000,6,0.000,0.028,2497,2104,1972,0,0,0,0,0,0
$GC,10969,0.52,219.0,794.6,14.0,750,10973,0.00,2.10,0.00,0.000,4,0.000,0.039,2508,724,1971,0,0,0,0,0,0
$GC,11069,0.52,219.0,781.3,12.8,754,11076,0.00,2.15,0.00,0.000,6,0.000,0.034,2508,2091,1971,0,0,0,0,0,0
$GC,11386,0.52,219.0,738.5,13.3,770,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2091,1971,0,0,0,0,0,0
$GC,11694,0.52,219.0,698.0,12.7,785,11699,0.00,2.25,0.00,0.000,4,0.000,0.044,2508,3542,1970,0,0,0,0,0,0
$GC,11749,0.52,219.0,690.2,13.7,787,11757,0.00,2.20,0.00,0.000,6,0.000,0.029,2517,2088,1970,0,0,0,0,0,0
$GC,12067,0.52,219.0,646.9,14.2,803,12071,0.00,2.08,0.00,0.000,4,0.000,0.038,2527,719,1969,0,0,0,0,0,0
$GC,12178,0.52,219.0,631.2,13.7,808,12183,0.15,2.15,0.00,0.000,6,0.161,0.034,2488,2089,1969,0,0,0,0,0,0
$GC,12506,0.52,219.0,592.9,11.9,824,12510,0.00,2.25,0.00,0.000,4,0.000,0.044,2487,3547,1971,0,0,0,0,0,0
$GC,12560,0.52,219.0,585.3,13.5,826,12567,0.00,2.22,0.00,0.000,6,0.000,0.028,2497,2098,1969,0,0,0,0,0,0
$GC,12877,0.52,219.0,543.7,13.0,842,12881,0.00,2.10,0.00,0.000,4,0.000,0.039,2507,715,1969,0,0,0,0,0,0
$GC,12938,0.52,219.0,535.7,12.8,844,12945,0.00,2.10,0.00,0.000,6,0.000,0.033,2507,2086,1970,0,0,0,0,0,0
$GC,13255,0.52,219.0,495.9,12.4,861,13259,0.00,2.25,0.00,0.000,4,0.000,0.046,2507,3541,1970,0,0,0,0,0,0
$GC,13289,0.52,219.0,491.2,13.4,864,13293,0.00,2.22,0.00,0.000,6,0.000,0.028,2517,2076,1969,0,0,0,0,0,0
$GC,13619,0.52,219.0,448.1,13.3,895,13623,0.00,2.05,0.00,0.000,4,0.000,0.038,2527,722,1970,0,0,0,0,0,0
$GC,13686,0.52,219.0,439.1,12.8,900,13694,0.10,2.12,0.00,0.000,6,0.139,0.034,2494,2077,1974,0,0,0,0,0,0
$GC,14013,0.52,219.0,401.9,11.0,931,14017,0.00,2.28,0.00,0.000,4,0.000,0.044,2494,3544,1970,0,0,0,0,0,0
$GC,14120,0.52,219.0,388.8,12.0,940,14125,0.00,2.17,0.00,0.000,6,0.000,0.028,2503,2105,1970,0,0,0,0,0,0
$GC,14446,0.52,219.0,350.4,11.7,970,14450,0.00,2.10,0.00,0.000,4,0.000,0.039,2513,717,1971,0,0,0,0,0,0
$GC,14554,0.52,219.0,338.0,11.6,979,14558,0.00,2.10,0.00,0.000,6,0.000,0.032,2512,2097,1971,0,0,0,0,0,0
$GC,14880,0.52,219.0,299.8,11.4,1009,14884,0.00,2.22,0.00,0.000,4,0.000,0.044,2513,3541,1971,0,0,0,0,0,0
$GC,14911,0.52,219.0,296.2,11.3,1011,14916,0.12,2.20,0.00,0.000,6,0.174,0.029,2492,2084,1969,0,0,0,0,0,0
$GC,15238,0.62,299.1,268.1,8.3,1041,15308,0.00,2.20,58.25,0.636,4,0.000,0.037,2501,714,1647,0,0,0,0,0,0
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$STATE,17574,end climb,SURFACE_DEPTH_REACHED
$STATE,17574,begin surface coast
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$STATE,17604,end surface coast,CONTROL_FINISHED_OK
$STATE,17604,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,41.84
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,1
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$10V_AH,9.9,36.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322820
$DATA_FILE_SIZE,96952,1407
$CAP_FILE_SIZE,191064,0
$CFSIZE,260165632,228990976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,080936,1855.779,12006.001,33,0.9,33,-2.0