version: 66.09
glider: 181
mission: 6
dive: 152
start: 7 9 111 3 40 27
data:
$ID,181
$MISSION,6
$DIVE,152
$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,-40703.082
$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,35
$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
$GPS1,090711,032854,1938.721,11947.361,37,1.3,38,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.1
$GPS2,090711,034001,1938.668,11947.151,9,1.3,9,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1931.032,11955.253
$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,3738
$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,-219.0,0.0,0.0,0,97,0.00,0.00,-78.47,0.000,2,0.000,0.000,155,2607,2683,0,0,0,0,0,0
$GC,100,-0.52,-219.0,3.7,-4.1,11,139,8.12,1.88,-19.62,0.000,4,0.233,0.057,2136,3783,3764,0,0,0,0,0,0
$GC,183,-0.52,-219.0,45.7,-56.1,24,191,0.00,1.83,0.00,0.000,6,0.000,0.028,2135,2591,3765,0,0,0,0,0,0
$GC,317,-0.52,-219.0,87.6,-29.4,49,325,0.00,2.10,0.00,0.000,4,0.000,0.028,2135,1183,3766,0,0,0,0,0,0
$GC,379,-0.52,-219.0,103.7,-20.6,60,387,0.00,2.17,0.00,0.000,6,0.000,0.039,2125,2569,3767,0,0,0,0,0,0
$GC,514,-0.52,-219.0,133.1,-25.4,85,523,0.00,1.88,0.00,0.000,4,0.000,0.044,2116,3776,3766,0,0,0,0,0,0
$GC,531,-0.52,-219.0,138.0,-26.9,87,540,0.10,1.83,0.00,0.000,6,0.157,0.026,2145,2564,3767,0,0,0,0,0,0
$GC,669,-0.52,-219.0,169.5,-23.2,112,677,0.00,2.05,0.00,0.000,4,0.000,0.029,2145,1187,3767,0,0,0,0,0,0
$GC,726,-0.52,-219.0,180.8,-15.6,122,734,0.00,2.15,0.00,0.000,6,0.000,0.036,2139,2573,3768,0,0,0,0,0,0
$GC,865,-0.52,-219.0,204.8,-20.3,146,869,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3787,3768,0,0,0,0,0,0
$GC,946,-0.52,-219.0,219.0,-13.4,153,954,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2582,3768,0,0,0,0,0,0
$GC,1272,-0.52,-219.0,270.1,-15.0,184,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2580,3767,0,0,0,0,0,0
$GC,1593,-0.52,-219.0,321.5,-15.4,214,1596,0.00,2.00,0.00,0.000,4,0.000,0.030,2138,1206,3764,0,0,0,0,0,0
$GC,1621,-0.52,-219.0,326.2,-15.5,216,1628,0.00,2.12,0.00,0.000,6,0.000,0.037,2137,2598,3764,0,0,0,0,0,0
$GC,1946,-0.52,-219.0,373.3,-13.5,247,1950,0.00,1.80,0.00,0.000,4,0.000,0.047,2137,3786,3761,0,0,0,0,0,0
$GC,1981,-0.52,-219.0,377.8,-12.9,250,1985,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2606,3761,0,0,0,0,0,0
$GC,2312,-0.52,-219.0,420.9,-13.8,281,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3757,0,0,0,0,0,0
$GC,2632,-0.52,-219.0,463.7,-13.3,311,2635,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1213,3753,0,0,0,0,0,0
$GC,2659,-0.52,-219.0,467.7,-12.9,313,2666,0.00,2.17,0.00,0.000,6,0.000,0.038,2137,2632,3753,0,0,0,0,0,0
$GC,2995,-0.52,-219.0,508.6,-12.8,342,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2634,3749,0,0,0,0,0,0
$GC,3303,-0.52,-219.0,548.0,-12.8,357,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2632,3746,0,0,0,0,0,0
$GC,3612,-0.52,-219.0,585.4,-12.1,372,3616,0.00,2.15,0.00,0.000,4,0.000,0.033,2138,1202,3742,0,0,0,0,0,0
$GC,3656,-0.52,-219.0,590.4,-11.0,374,3660,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2603,3742,0,0,0,0,0,0
$GC,3983,-0.52,-219.0,629.5,-12.5,390,3986,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3778,3739,0,0,0,0,0,0
$GC,4038,-0.52,-219.0,635.8,-10.2,392,4042,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2616,3738,0,0,0,0,0,0
$GC,4360,-0.52,-219.0,671.4,-11.8,408,4364,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1194,3734,0,0,0,0,0,0
$GC,4410,-0.52,-219.0,676.9,-10.3,410,4414,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2623,3734,0,0,0,0,0,0
$GC,4733,-0.52,-219.0,709.0,-10.0,426,4737,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1205,3733,0,0,0,0,0,0
$GC,4760,-0.52,-219.0,711.7,-9.8,427,4764,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2609,3731,0,0,0,0,0,0
$GC,5081,-0.52,-219.0,738.4,-8.1,443,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3729,0,0,0,0,0,0
$GC,5391,-0.52,-219.0,764.2,-8.8,458,5395,0.00,1.80,0.00,0.000,4,0.000,0.052,2138,3780,3727,0,0,0,0,0,0
$GC,5415,-0.52,-219.0,766.3,-8.9,459,5418,0.00,1.73,0.00,0.000,6,0.000,0.029,2138,2606,3726,0,0,0,0,0,0
$GC,5748,-0.52,-219.0,795.8,-8.9,475,5752,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1207,3724,0,0,0,0,0,0
$GC,5798,-0.52,-219.0,800.3,-8.8,477,5802,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2631,3724,0,0,0,0,0,0
$GC,6120,-0.52,-219.0,826.1,-7.9,493,6124,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1200,3721,0,0,0,0,0,0
$GC,6149,-0.52,-219.0,828.2,-7.5,494,6153,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2593,3721,0,0,0,0,0,0
$GC,6465,-0.52,-219.0,851.7,-7.7,509,6468,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3777,3719,0,0,0,0,0,0
$GC,6490,-0.52,-219.0,853.5,-7.8,510,6494,0.00,1.75,0.00,0.000,6,0.000,0.030,2138,2592,3719,0,0,0,0,0,0
$GC,6824,-0.52,-219.0,881.1,-8.7,526,6827,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1204,3717,0,0,0,0,0,0
$GC,6870,-0.52,-219.0,885.3,-9.1,528,6874,0.00,2.12,0.00,0.000,6,0.000,0.040,2138,2586,3717,0,0,0,0,0,0
$GC,7198,-0.52,-219.0,915.1,-9.4,544,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2588,3715,0,0,0,0,0,0
$GC,7507,-0.52,-219.0,943.7,-9.1,559,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3714,0,0,0,0,0,0
$GC,7816,-0.52,-219.0,970.6,-8.0,574,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3713,0,0,0,0,0,0
$STATE,8061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8061,begin apogee
$GC,8068,-0.13,0.0,990.2,7.7,586,8240,0.40,0.00,165.30,1.105,4,0.109,0.000,2272,2112,2868,0,0,0,0,0,0
$STATE,8240,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8243,0.52,219.0,998.0,0.0,594,8430,0.60,2.40,176.75,1.072,4,0.057,0.045,2497,3547,1979,0,0,0,0,0,0
$GC,8620,0.52,219.0,955.0,15.6,611,8625,0.00,2.20,0.00,0.000,6,0.000,0.029,2507,2138,1975,0,0,0,0,0,0
$GC,8943,0.52,219.0,907.2,14.9,627,8947,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3547,1974,0,0,0,0,0,0
$GC,9082,0.52,219.0,884.0,16.2,633,9086,0.00,2.20,0.00,0.000,6,0.000,0.029,2518,2112,1974,0,0,0,0,0,0
$GC,9398,0.52,219.0,835.3,15.3,648,9402,0.00,2.12,0.00,0.000,4,0.000,0.040,2529,716,1974,0,0,0,0,0,0
$GC,9488,0.52,219.0,821.8,14.7,652,9493,0.15,2.15,0.00,0.000,6,0.171,0.034,2490,2114,1974,0,0,0,0,0,0
$GC,9809,0.52,219.0,782.7,11.8,668,9813,0.00,2.22,0.00,0.000,4,0.000,0.047,2490,3535,1973,0,0,0,0,0,0
$GC,9869,0.52,219.0,774.4,13.4,670,9876,0.00,2.17,0.00,0.000,6,0.000,0.030,2498,2109,1972,0,0,0,0,0,0
$GC,10185,0.52,219.0,733.6,13.1,686,10189,0.00,2.12,0.00,0.000,4,0.000,0.039,2508,717,1972,0,0,0,0,0,0
$GC,10207,0.52,219.0,730.6,12.9,687,10211,0.00,2.15,0.00,0.000,6,0.000,0.034,2509,2122,1972,0,0,0,0,0,0
$GC,10535,0.52,219.0,684.5,14.3,703,10539,0.00,2.20,0.00,0.000,4,0.000,0.046,2509,3542,1972,0,0,0,0,0,0
$GC,10557,0.52,219.0,680.9,14.7,704,10561,0.00,2.15,0.00,0.000,6,0.000,0.030,2519,2113,1972,0,0,0,0,0,0
$GC,10885,0.52,219.0,631.8,14.4,720,10889,0.12,2.12,0.00,0.000,4,0.181,0.039,2497,713,1971,0,0,0,0,0,0
$GC,10928,0.52,219.0,626.0,12.0,722,10932,0.00,2.15,0.00,0.000,6,0.000,0.034,2497,2126,1971,0,0,0,0,0,0
$GC,11256,0.52,219.0,585.3,12.4,738,11260,0.00,2.20,0.00,0.000,4,0.000,0.045,2497,3535,1971,0,0,0,0,0,0
$GC,11294,0.52,219.0,579.7,14.5,739,11301,0.00,2.15,0.00,0.000,6,0.000,0.030,2507,2110,1971,0,0,0,0,0,0
$GC,11611,0.52,219.0,536.8,13.6,755,11615,0.00,2.10,0.00,0.000,4,0.000,0.041,2517,715,1971,0,0,0,0,0,0
$GC,11682,0.52,219.0,526.6,14.0,758,11687,0.00,2.17,0.00,0.000,6,0.000,0.034,2517,2115,1973,0,0,0,0,0,0
$GC,12009,0.52,219.0,479.9,14.3,780,12013,0.00,2.12,0.00,0.000,4,0.000,0.039,2527,717,1971,0,0,0,0,0,0
$GC,12076,0.52,219.0,469.9,13.4,785,12084,0.15,2.15,0.00,0.000,6,0.161,0.035,2487,2129,1971,0,0,0,0,0,0
$GC,12401,0.52,219.0,432.1,11.1,816,12405,0.00,2.17,0.00,0.000,4,0.000,0.046,2487,3542,1971,0,0,0,0,0,0
$GC,12442,0.52,219.0,427.3,12.4,819,12446,0.00,2.17,0.00,0.000,6,0.000,0.030,2495,2098,1971,0,0,0,0,0,0
$GC,12767,0.52,219.0,389.7,12.1,849,12771,0.00,2.10,0.00,0.000,4,0.000,0.041,2505,716,1971,0,0,0,0,0,0
$GC,12812,0.52,219.0,384.2,12.1,853,12817,0.00,2.10,0.00,0.000,6,0.000,0.034,2506,2101,1971,0,0,0,0,0,0
$GC,13138,0.52,219.0,343.8,11.6,883,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2102,1971,0,0,0,0,0,0
$GC,13458,0.54,229.0,308.9,10.7,913,13471,0.00,2.12,8.35,0.659,4,0.000,0.037,2515,714,1936,0,0,0,0,0,0
$GC,13507,0.55,237.3,303.5,10.7,917,13522,0.00,2.10,8.45,0.568,6,0.000,0.034,2515,2097,1900,0,0,0,0,0,0
$GC,13850,0.55,237.3,266.1,11.0,949,13854,0.00,2.22,0.00,0.000,4,0.000,0.045,2515,3543,1900,0,0,0,0,0,0
$GC,13924,0.55,237.3,257.3,12.0,955,13928,0.00,2.17,0.00,0.000,6,0.000,0.029,2525,2102,1901,0,0,0,0,0,0
$GC,14251,0.55,237.3,219.0,11.6,985,14255,0.00,2.08,0.00,0.000,4,0.000,0.039,2535,719,1900,0,0,0,0,0,0
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$STATE,16413,end climb,SURFACE_DEPTH_REACHED
$STATE,16413,begin surface coast
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$10V_AH,10.0,24.191
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.600,165.000,623.925,0.000,0.000,87.811,132.749,178.443,0.000,0.000,12.053,3232.741,9365.196,662.270,3566.084,350.964,0.000,2085.531,0.000,2325.509,0.000,0.542,0.000
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$MEM,322676
$DATA_FILE_SIZE,90258,1352
$CAP_FILE_SIZE,179554,0
$CFSIZE,260165632,236965888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,081706,1937.281,11948.700,38,1.0,38,-2.1