version: 66.09
glider: 181
mission: 6
dive: 157
start: 7 10 111 3 48 38
data:
$ID,181
$MISSION,6
$DIVE,157
$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,-40709.371
$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,45
$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
$GPS1,100711,034106,1930.584,11954.212,35,0.9,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.7
$GPS2,100711,034813,1930.569,11954.230,16,0.9,33,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1922.933,12002.325
$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,4040
$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,-219.0,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,2,0.000,0.000,195,2622,2627,0,0,0,0,0,0
$GC,99,-0.52,-219.0,3.9,-4.1,11,138,7.93,1.83,-21.55,0.000,4,0.231,0.060,2135,3768,3764,0,0,0,0,0,0
$GC,250,-0.52,-219.0,72.1,-41.7,37,258,0.00,1.77,0.00,0.000,6,0.000,0.024,2136,2579,3766,0,0,0,0,0,0
$GC,383,-0.52,-219.0,111.0,-25.5,62,391,0.00,2.03,0.00,0.000,4,0.000,0.025,2135,1201,3766,0,0,0,0,0,0
$GC,446,-0.52,-219.0,123.7,-15.2,73,454,0.00,2.08,0.00,0.000,6,0.000,0.037,2126,2536,3767,0,0,0,0,0,0
$GC,579,-0.52,-219.0,151.3,-19.5,98,587,0.00,1.92,0.00,0.000,4,0.000,0.044,2117,3767,3768,0,0,0,0,0,0
$GC,627,-0.52,-219.0,161.4,-22.4,106,636,0.10,1.77,0.00,0.000,6,0.142,0.024,2147,2576,3768,0,0,0,0,0,0
$GC,762,-0.52,-219.0,188.6,-20.5,131,771,0.00,2.03,0.00,0.000,4,0.000,0.028,2148,1209,3768,0,0,0,0,0,0
$GC,825,-0.52,-219.0,197.9,-11.9,142,833,0.00,2.00,0.00,0.000,6,0.000,0.033,2141,2505,3769,0,0,0,0,0,0
$GC,962,-0.52,-219.0,218.8,-16.0,156,966,0.00,1.92,0.00,0.000,4,0.000,0.044,2138,3775,3768,0,0,0,0,0,0
$GC,1033,-0.52,-219.0,229.7,-14.8,162,1042,0.00,1.80,0.00,0.000,6,0.000,0.024,2138,2551,3769,0,0,0,0,0,0
$GC,1361,-0.52,-219.0,279.0,-15.5,193,1364,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3771,3768,0,0,0,0,0,0
$GC,1385,-0.52,-219.0,282.8,-15.4,195,1389,0.00,1.73,0.00,0.000,6,0.000,0.025,2138,2571,3768,0,0,0,0,0,0
$GC,1716,-0.52,-219.0,332.7,-14.8,226,1720,0.00,1.85,0.00,0.000,4,0.000,0.045,2138,3771,3766,0,0,0,0,0,0
$GC,1743,-0.52,-219.0,336.7,-13.9,228,1751,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2590,3766,0,0,0,0,0,0
$GC,2069,-0.52,-219.0,380.9,-13.9,259,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2587,3763,0,0,0,0,0,0
$GC,2390,-0.52,-219.0,424.1,-12.8,289,2393,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3771,3760,0,0,0,0,0,0
$GC,2424,-0.52,-219.0,428.4,-11.6,292,2428,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2579,3759,0,0,0,0,0,0
$GC,2755,-0.52,-219.0,467.3,-12.9,323,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3756,0,0,0,0,0,0
$GC,3071,-0.52,-219.0,508.3,-12.9,350,3075,0.00,1.85,0.00,0.000,4,0.000,0.047,2138,3774,3752,0,0,0,0,0,0
$GC,3127,-0.52,-219.0,514.5,-10.1,352,3131,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2598,3752,0,0,0,0,0,0
$GC,3449,-0.52,-219.0,554.1,-12.6,368,3452,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1205,3749,0,0,0,0,0,0
$GC,3487,-0.52,-219.0,558.9,-12.5,369,3494,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2605,3749,0,0,0,0,0,0
$GC,3804,-0.52,-219.0,595.3,-12.3,385,3808,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3781,3746,0,0,0,0,0,0
$GC,3842,-0.52,-219.0,599.9,-11.6,386,3849,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2610,3745,0,0,0,0,0,0
$GC,4158,-0.52,-219.0,635.4,-11.4,402,4162,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1202,3742,0,0,0,0,0,0
$GC,4199,-0.52,-219.0,639.9,-10.9,404,4203,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2607,3742,0,0,0,0,0,0
$GC,4526,-0.52,-219.0,674.3,-10.5,420,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3739,0,0,0,0,0,0
$GC,4836,-0.52,-219.0,705.7,-9.9,435,4840,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1205,3736,0,0,0,0,0,0
$GC,4869,-0.52,-219.0,709.2,-9.6,436,4876,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2598,3734,0,0,0,0,0,0
$GC,5185,-0.52,-219.0,738.3,-9.0,452,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2598,3734,0,0,0,0,0,0
$GC,5495,-0.52,-219.0,766.2,-9.1,467,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2598,3732,0,0,0,0,0,0
$GC,5803,-0.52,-219.0,792.8,-8.2,482,5807,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1196,3730,0,0,0,0,0,0
$GC,5836,-0.52,-219.0,795.7,-8.0,483,5840,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2592,3730,0,0,0,0,0,0
$GC,6159,-0.52,-219.0,819.3,-7.2,499,6163,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3777,3728,0,0,0,0,0,0
$GC,6209,-0.52,-219.0,822.5,-6.7,501,6213,0.00,1.77,0.00,0.000,6,0.000,0.028,2137,2568,3728,0,0,0,0,0,0
$GC,6537,-0.52,-219.0,844.6,-7.4,517,6541,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1209,3726,0,0,0,0,0,0
$GC,6560,-0.52,-219.0,846.5,-7.4,518,6564,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2606,3726,0,0,0,0,0,0
$GC,6887,-0.52,-219.0,871.4,-8.0,534,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2606,3724,0,0,0,0,0,0
$GC,7197,-0.52,-219.0,898.2,-9.0,549,7201,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1212,3723,0,0,0,0,0,0
$GC,7224,-0.52,-219.0,900.9,-8.7,550,7228,0.00,2.17,0.00,0.000,6,0.000,0.041,2138,2609,3723,0,0,0,0,0,0
$GC,7545,-0.52,-219.0,928.0,-8.2,566,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3721,0,0,0,0,0,0
$GC,7854,-0.52,-219.0,951.1,-6.9,581,7858,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1205,3720,0,0,0,0,0,0
$GC,7899,-0.52,-219.0,954.2,-7.0,583,7902,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2593,3723,0,0,0,0,0,0
$GC,8227,-0.52,-219.0,973.0,-5.7,599,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2595,3719,0,0,0,0,0,0
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8540,-0.13,0.0,990.6,6.0,614,8712,0.40,0.00,167.12,1.106,4,0.112,0.000,2275,2111,2869,0,0,0,0,0,0
$STATE,8712,end apogee,CONTROL_FINISHED_OK
$STATE,8713,begin climb
$GC,8715,0.52,219.0,996.8,0.0,622,8900,0.60,2.40,176.80,1.073,4,0.047,0.044,2504,3542,1978,0,0,0,0,0,0
$GC,9017,0.52,219.0,962.0,16.2,636,9021,0.00,2.20,0.00,0.000,6,0.000,0.026,2513,2146,1975,0,0,0,0,0,0
$GC,9345,0.52,219.0,911.0,15.3,652,9349,0.00,2.20,0.00,0.000,4,0.000,0.041,2513,3541,1978,0,0,0,0,0,0
$GC,9475,0.52,219.0,889.8,16.1,658,9479,0.00,2.20,0.00,0.000,6,0.000,0.028,2523,2101,1978,0,0,0,0,0,0
$GC,9802,0.52,219.0,837.4,15.8,674,9807,0.12,2.12,0.00,0.000,4,0.189,0.037,2502,720,1977,0,0,0,0,0,0
$GC,9902,0.52,219.0,824.3,11.9,678,9906,0.00,2.12,0.00,0.000,6,0.000,0.034,2502,2104,1977,0,0,0,0,0,0
$GC,10223,0.52,219.0,781.7,13.4,694,10228,0.00,2.22,0.00,0.000,4,0.000,0.044,2503,3544,1977,0,0,0,0,0,0
$GC,10263,0.52,219.0,775.5,15.8,696,10268,0.00,2.22,0.00,0.000,6,0.000,0.028,2512,2072,1976,0,0,0,0,0,0
$GC,10591,0.52,219.0,727.6,14.8,712,10594,0.00,2.05,0.00,0.000,4,0.000,0.037,2523,715,1976,0,0,0,0,0,0
$GC,10646,0.52,219.0,719.2,14.7,714,10651,0.12,2.08,0.00,0.000,6,0.174,0.033,2491,2077,1977,0,0,0,0,0,0
$GC,10962,0.52,219.0,679.4,12.4,729,10966,0.00,2.28,0.00,0.000,4,0.000,0.044,2491,3541,1976,0,0,0,0,0,0
$GC,10995,0.52,219.0,674.8,13.8,730,11003,0.00,2.25,0.00,0.000,6,0.000,0.028,2500,2078,1976,0,0,0,0,0,0
$GC,11312,0.52,219.0,632.1,13.6,746,11316,0.00,2.08,0.00,0.000,4,0.000,0.038,2510,712,1975,0,0,0,0,0,0
$GC,11384,0.52,219.0,621.7,14.1,749,11388,0.00,2.10,0.00,0.000,6,0.000,0.032,2510,2065,1975,0,0,0,0,0,0
$GC,11712,0.52,219.0,575.2,13.6,765,11716,0.00,2.25,0.00,0.000,4,0.000,0.044,2510,3536,1975,0,0,0,0,0,0
$GC,11778,0.52,219.0,565.1,15.4,768,11782,0.12,2.20,0.00,0.000,6,0.184,0.028,2490,2068,1975,0,0,0,0,0,0
$GC,12105,0.52,219.0,525.9,11.9,784,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2068,1975,0,0,0,0,0,0
$GC,12417,0.52,219.0,489.2,11.9,803,12421,0.00,2.03,0.00,0.000,4,0.000,0.037,2499,715,1975,0,0,0,0,0,0
$GC,12485,0.52,219.0,481.3,11.8,809,12489,0.00,2.05,0.00,0.000,6,0.000,0.033,2499,2072,1975,0,0,0,0,0,0
$GC,12816,0.52,219.0,436.7,14.4,840,12820,0.00,2.28,0.00,0.000,4,0.000,0.044,2499,3545,1975,0,0,0,0,0,0
$GC,12895,0.52,219.0,424.4,16.1,847,12899,0.00,2.22,0.00,0.000,6,0.000,0.028,2509,2069,1975,0,0,0,0,0,0
$GC,13225,0.52,219.0,377.1,13.0,878,13229,0.00,2.03,0.00,0.000,4,0.000,0.037,2519,717,1976,0,0,0,0,0,0
$GC,13274,0.52,219.0,370.8,12.2,882,13283,0.08,2.08,0.00,0.000,6,0.145,0.033,2494,2058,1975,0,0,0,0,0,0
$GC,13600,0.52,219.0,333.7,11.7,913,13605,0.00,2.28,0.00,0.000,4,0.000,0.044,2494,3542,1976,0,0,0,0,0,0
$GC,13655,0.52,219.0,326.2,13.3,917,13663,0.00,2.22,0.00,0.000,6,0.000,0.028,2501,2061,1976,0,0,0,0,0,0
$GC,13981,0.52,219.0,286.0,11.7,948,13985,0.00,2.03,0.00,0.000,4,0.000,0.038,2514,707,1978,0,0,0,0,0,0
$GC,14030,0.52,219.0,280.2,11.4,952,14038,0.00,2.10,0.00,0.000,6,0.000,0.032,2514,2070,1977,0,0,0,0,0,0
$GC,14357,0.52,219.0,242.2,11.8,983,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2071,1977,0,0,0,0,0,0
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$STATE,16588,end climb,SURFACE_DEPTH_REACHED
$STATE,16588,begin surface coast
$FINISH,-0.1,1.020754
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$TT8_MAMPS,0.027713,0.027713
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$XPDR_PINGS,1
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$10V_AH,10.1,24.933
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.325,157.775,626.000,0.000,0.000,31.336,39.299,191.869,0.250,0.000,36.353,3193.308,9540.271,649.796,3380.143,338.512,0.000,2049.876,0.000,2290.950,0.000,0.543,0.000
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$MEM,322720
$DATA_FILE_SIZE,90334,1346
$CAP_FILE_SIZE,173062,0
$CFSIZE,260165632,236482560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,082806,1929.745,11956.987,36,1.0,42,-2.1