version: 66.09
glider: 181
mission: 6
dive: 151
start: 7 8 111 22 47 8
data:
$ID,181
$MISSION,6
$DIVE,151
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40701.73
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,080711,224037,1940.026,11946.173,36,0.9,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.0
$GPS2,080711,224643,1939.968,11946.078,10,1.0,15,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1932.332,11954.181
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,3714
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.60,0.000,2,0.000,0.000,171,2615,2405,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.4,10,137,8.02,1.85,-27.30,0.000,4,0.233,0.058,2133,3783,3766,0,0,0,0,0,0
$GC,156,-0.52,-219.0,27.9,-46.4,19,164,0.00,1.80,0.00,0.000,6,0.000,0.025,2132,2585,3767,0,0,0,0,0,0
$GC,289,-0.52,-219.0,91.6,-39.7,44,297,0.00,2.08,0.00,0.000,4,0.000,0.026,2132,1189,3767,0,0,0,0,0,0
$GC,326,-0.52,-219.0,105.1,-35.4,50,334,0.00,2.20,0.00,0.000,6,0.000,0.041,2124,2574,3768,0,0,0,0,0,0
$GC,461,-0.52,-219.0,141.4,-28.7,75,470,0.00,1.88,0.00,0.000,4,0.000,0.041,2115,3785,3768,0,0,0,0,0,0
$GC,483,-0.52,-219.0,148.5,-30.4,78,492,0.10,1.88,0.00,0.000,6,0.157,0.024,2145,2525,3769,0,0,0,0,0,0
$GC,621,-0.52,-219.0,177.2,-19.4,103,629,0.00,1.98,0.00,0.000,4,0.000,0.028,2145,1193,3769,0,0,0,0,0,0
$GC,683,-0.52,-219.0,186.9,-11.4,114,691,0.00,2.05,0.00,0.000,6,0.000,0.034,2138,2517,3768,0,0,0,0,0,0
$GC,819,-0.52,-219.0,208.0,-18.7,135,823,0.00,1.92,0.00,0.000,4,0.000,0.044,2138,3788,3769,0,0,0,0,0,0
$GC,890,-0.52,-219.0,220.7,-14.3,141,897,0.00,1.88,0.00,0.000,6,0.000,0.023,2138,2514,3770,0,0,0,0,0,0
$GC,1215,-0.52,-219.0,273.2,-17.2,172,1219,0.00,1.95,0.00,0.000,4,0.000,0.044,2138,3789,3770,0,0,0,0,0,0
$GC,1275,-0.52,-219.0,282.1,-13.2,177,1282,0.00,1.83,0.00,0.000,6,0.000,0.024,2138,2527,3770,0,0,0,0,0,0
$GC,1600,-0.52,-219.0,327.5,-14.5,208,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2524,3768,0,0,0,0,0,0
$GC,1922,-0.52,-219.0,373.9,-13.5,238,1926,0.00,1.95,0.00,0.000,4,0.000,0.044,2138,3793,3766,0,0,0,0,0,0
$GC,2005,-0.52,-219.0,383.9,-10.0,245,2012,0.00,1.88,0.00,0.000,6,0.000,0.025,2138,2522,3765,0,0,0,0,0,0
$GC,2330,-0.52,-219.0,423.2,-13.1,276,2334,0.00,1.95,0.00,0.000,4,0.000,0.045,2138,3784,3761,0,0,0,0,0,0
$GC,2369,-0.52,-219.0,428.0,-11.7,279,2376,0.00,1.88,0.00,0.000,6,0.000,0.027,2138,2529,3760,0,0,0,0,0,0
$GC,2694,-0.52,-219.0,464.2,-11.1,310,2698,0.00,1.95,0.00,0.000,4,0.000,0.047,2137,3790,3756,0,0,0,0,0,0
$GC,2717,-0.52,-219.0,466.8,-11.2,312,2721,0.00,1.88,0.00,0.000,6,0.000,0.027,2138,2542,3756,0,0,0,0,0,0
$GC,3057,-0.52,-219.0,509.4,-14.1,341,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2539,3753,0,0,0,0,0,0
$GC,3366,-0.52,-219.0,550.4,-13.2,356,3370,0.00,1.92,0.00,0.000,4,0.000,0.047,2138,3790,3750,0,0,0,0,0,0
$GC,3412,-0.52,-219.0,555.8,-11.7,358,3416,0.00,1.83,0.00,0.000,6,0.000,0.028,2138,2539,3749,0,0,0,0,0,0
$GC,3745,-0.52,-219.0,596.2,-11.8,374,3749,0.00,1.92,0.00,0.000,4,0.000,0.048,2138,3783,3746,0,0,0,0,0,0
$GC,3783,-0.52,-219.0,600.4,-10.4,375,3790,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2549,3745,0,0,0,0,0,0
$GC,4099,-0.52,-219.0,634.2,-10.5,391,4103,0.00,1.98,0.00,0.000,4,0.000,0.049,2138,3787,3742,0,0,0,0,0,0
$GC,4123,-0.52,-219.0,636.5,-10.3,392,4127,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2560,3742,0,0,0,0,0,0
$GC,4457,-0.52,-219.0,669.4,-9.9,408,4460,0.00,2.00,0.00,0.000,4,0.000,0.031,2138,1197,3737,0,0,0,0,0,0
$GC,4512,-0.52,-219.0,674.2,-7.9,410,4516,0.00,2.10,0.00,0.000,6,0.000,0.037,2138,2570,3739,0,0,0,0,0,0
$GC,4834,-0.52,-219.0,700.9,-8.5,426,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2571,3736,0,0,0,0,0,0
$GC,5144,-0.52,-219.0,724.9,-7.9,441,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2571,3733,0,0,0,0,0,0
$GC,5453,-0.52,-219.0,749.7,-8.1,456,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2571,3732,0,0,0,0,0,0
$GC,5762,-0.52,-219.0,777.4,-9.4,471,5766,0.00,1.90,0.00,0.000,4,0.000,0.050,2138,3772,3730,0,0,0,0,0,0
$GC,5801,-0.52,-219.0,781.1,-9.1,472,5808,0.00,1.83,0.00,0.000,6,0.000,0.029,2138,2561,3730,0,0,0,0,0,0
$GC,6118,-0.52,-219.0,811.2,-10.0,488,6121,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1208,3728,0,0,0,0,0,0
$GC,6173,-0.52,-219.0,816.8,-9.8,490,6177,0.00,2.08,0.00,0.000,6,0.000,0.038,2138,2562,3728,0,0,0,0,0,0
$GC,6495,-0.52,-219.0,850.9,-10.8,506,6499,0.00,1.92,0.00,0.000,4,0.000,0.050,2138,3777,3725,0,0,0,0,0,0
$GC,6527,-0.52,-219.0,854.5,-10.9,507,6531,0.00,1.80,0.00,0.000,6,0.000,0.028,2137,2554,3725,0,0,0,0,0,0
$GC,6849,-0.52,-219.0,886.1,-9.9,523,6853,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1200,3724,0,0,0,0,0,0
$GC,6884,-0.52,-219.0,889.6,-9.7,524,6888,0.00,2.10,0.00,0.000,6,0.000,0.039,2138,2564,3724,0,0,0,0,0,0
$GC,7201,-0.52,-219.0,919.1,-9.2,539,7205,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3778,3722,0,0,0,0,0,0
$GC,7234,-0.52,-219.0,922.1,-9.0,540,7238,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2551,3722,0,0,0,0,0,0
$GC,7557,-0.52,-219.0,947.3,-7.5,556,7561,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1199,3720,0,0,0,0,0,0
$GC,7607,-0.52,-219.0,951.2,-7.4,558,7611,0.00,2.10,0.00,0.000,6,0.000,0.038,2137,2564,3720,0,0,0,0,0,0
$GC,7934,-0.52,-219.0,973.2,-6.6,574,7938,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3778,3718,0,0,0,0,0,0
$GC,7958,-0.52,-219.0,974.7,-6.6,575,7962,0.00,1.83,0.00,0.000,6,0.000,0.028,2138,2538,3718,0,0,0,0,0,0
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8212,-0.13,0.0,990.8,6.4,587,8385,0.40,0.00,166.95,1.104,4,0.108,0.000,2275,2112,2869,0,0,0,0,0,0
$STATE,8385,end apogee,CONTROL_FINISHED_OK
$STATE,8385,begin climb
$GC,8388,0.52,219.0,997.7,0.0,595,8572,0.55,0.00,177.40,1.073,6,0.047,0.000,2498,2112,1977,0,0,0,0,0,0
$GC,8882,0.52,219.0,938.7,14.3,619,8886,0.00,2.28,0.00,0.000,4,0.000,0.044,2498,3539,1976,0,0,0,0,0,0
$GC,8909,0.52,219.0,934.2,15.0,620,8913,0.00,2.17,0.00,0.000,6,0.000,0.028,2508,2138,1976,0,0,0,0,0,0
$GC,9230,0.52,219.0,888.1,14.4,636,9234,0.00,2.17,0.00,0.000,4,0.000,0.037,2519,713,1975,0,0,0,0,0,0
$GC,9329,0.52,219.0,873.8,13.7,640,9337,0.00,2.20,0.00,0.000,6,0.000,0.034,2519,2112,1975,0,0,0,0,0,0
$GC,9646,0.52,219.0,826.3,15.2,656,9650,0.00,2.22,0.00,0.000,4,0.000,0.045,2519,3539,1974,0,0,0,0,0,0
$GC,9691,0.52,219.0,818.7,16.7,658,9696,0.15,2.17,0.00,0.000,6,0.192,0.028,2493,2116,1973,0,0,0,0,0,0
$GC,10024,0.52,219.0,773.6,13.1,674,10028,0.00,2.10,0.00,0.000,4,0.000,0.037,2502,722,1973,0,0,0,0,0,0
$GC,10109,0.52,219.0,762.3,13.1,678,10113,0.00,2.12,0.00,0.000,6,0.000,0.034,2501,2115,1975,0,0,0,0,0,0
$GC,10436,0.52,219.0,717.1,13.6,694,10440,0.00,2.20,0.00,0.000,4,0.000,0.044,2502,3541,1972,0,0,0,0,0,0
$GC,10485,0.52,219.0,709.5,14.7,696,10489,0.00,2.17,0.00,0.000,6,0.000,0.028,2511,2101,1972,0,0,0,0,0,0
$GC,10807,0.52,219.0,663.2,14.5,712,10811,0.00,2.10,0.00,0.000,4,0.000,0.039,2522,710,1974,0,0,0,0,0,0
$GC,10924,0.52,219.0,647.0,13.5,717,10929,0.12,2.10,0.00,0.000,6,0.165,0.034,2490,2093,1972,0,0,0,0,0,0
$GC,11240,0.52,219.0,609.6,11.7,732,11244,0.00,2.22,0.00,0.000,4,0.000,0.044,2490,3539,1971,0,0,0,0,0,0
$GC,11295,0.52,219.0,602.3,13.3,734,11302,0.00,2.20,0.00,0.000,6,0.000,0.028,2498,2088,1971,0,0,0,0,0,0
$GC,11611,0.52,219.0,560.7,13.4,750,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2088,1971,0,0,0,0,0,0
$GC,11920,0.52,219.0,521.1,12.4,765,11924,0.00,2.25,0.00,0.000,4,0.000,0.042,2498,3544,1971,0,0,0,0,0,0
$GC,11948,0.52,219.0,517.2,13.5,766,11952,0.00,2.17,0.00,0.000,6,0.000,0.029,2509,2098,1971,0,0,0,0,0,0
$GC,12270,0.52,219.0,478.8,11.6,789,12274,0.00,2.08,0.00,0.000,4,0.000,0.038,2519,716,1971,0,0,0,0,0,0
$GC,12367,0.52,219.0,467.5,11.7,797,12371,0.00,2.10,0.00,0.000,6,0.000,0.034,2520,2101,1971,0,0,0,0,0,0
$GC,12697,0.52,219.0,428.1,11.2,828,12701,0.00,2.10,0.00,0.000,4,0.000,0.037,2529,714,1971,0,0,0,0,0,0
$GC,12730,0.52,219.0,424.0,11.8,830,12738,0.10,2.15,0.00,0.000,6,0.145,0.034,2487,2100,1972,0,0,0,0,0,0
$GC,13057,0.52,219.0,388.4,11.6,861,13061,0.00,2.20,0.00,0.000,4,0.000,0.044,2486,3538,1972,0,0,0,0,0,0
$GC,13142,0.52,219.0,377.6,12.7,868,13146,0.00,2.15,0.00,0.000,6,0.000,0.029,2495,2104,1971,0,0,0,0,0,0
$GC,13467,0.52,219.0,339.1,11.5,898,13471,0.00,2.08,0.00,0.000,4,0.000,0.039,2505,720,1971,0,0,0,0,0,0
$GC,13541,0.52,219.0,330.5,11.7,904,13545,0.00,2.08,0.00,0.000,6,0.000,0.034,2505,2092,1971,0,0,0,0,0,0
$GC,13866,0.52,219.0,294.4,11.2,934,13870,0.00,2.08,0.00,0.000,4,0.000,0.037,2514,719,1972,0,0,0,0,0,0
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$STATE,16720,end climb,SURFACE_DEPTH_REACHED
$STATE,16720,begin surface coast
$FINISH,0.1,1.020794
$STATE,16754,end surface coast,CONTROL_FINISHED_OK
$STATE,16754,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,40.11
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,1
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$10V_AH,10.0,24.037
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,93856,1368
$CAP_FILE_SIZE,181571,0
$CFSIZE,260165632,237060096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,032854,1938.721,11947.361,37,1.3,38,-2.1