version: 66.09
glider: 181
mission: 6
dive: 143
start: 7 7 111 9 51 33
data:
$ID,181
$MISSION,6
$DIVE,143
$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,-40691.668
$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,74
$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
$GPS1,070711,094424,1947.508,11942.296,23,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.0
$GPS2,070711,095108,1947.617,11942.176,9,1.5,9,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1939.981,11950.285
$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,137.2,20000,-15.3,-11.000
$D_GRID,3496
$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,-70.88,0.000,2,0.000,0.000,198,2654,2427,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.3,-4.0,10,131,7.97,1.77,-25.67,0.000,4,0.236,0.060,2133,3753,3766,0,0,0,0,0,0
$GC,242,-0.52,-219.0,72.8,-43.4,36,250,0.00,1.75,0.00,0.000,6,0.000,0.024,2133,2583,3768,0,0,0,0,0,0
$GC,376,-0.52,-219.0,114.9,-31.0,61,384,0.00,2.05,0.00,0.000,4,0.000,0.024,2134,1192,3768,0,0,0,0,0,0
$GC,404,-0.52,-219.0,122.3,-28.7,65,412,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2550,3769,0,0,0,0,0,0
$GC,539,-0.52,-219.0,158.2,-28.3,90,547,0.00,2.03,0.00,0.000,4,0.000,0.027,2124,1197,3769,0,0,0,0,0,0
$GC,567,-0.52,-219.0,166.1,-28.2,94,576,0.10,2.10,0.00,0.000,6,0.147,0.038,2147,2544,3769,0,0,0,0,0,0
$GC,705,-0.52,-219.0,191.8,-16.9,119,713,0.00,1.92,0.00,0.000,4,0.000,0.043,2140,3787,3770,0,0,0,0,0,0
$GC,746,-0.52,-219.0,199.8,-18.5,126,754,0.00,1.88,0.00,0.000,6,0.000,0.024,2140,2517,3770,0,0,0,0,0,0
$GC,882,-0.52,-219.0,222.8,-17.3,139,886,0.00,1.95,0.00,0.000,4,0.000,0.044,2138,3789,3770,0,0,0,0,0,0
$GC,909,-0.52,-219.0,227.8,-16.2,141,916,0.00,1.85,0.00,0.000,6,0.000,0.024,2138,2539,3770,0,0,0,0,0,0
$GC,1235,-0.52,-219.0,279.6,-17.7,172,1238,0.00,1.90,0.00,0.000,4,0.000,0.044,2134,3784,3770,0,0,0,0,0,0
$GC,1328,-0.52,-219.0,293.5,-11.6,180,1336,0.00,1.83,0.00,0.000,6,0.000,0.025,2134,2545,3770,0,0,0,0,0,0
$GC,1653,-0.52,-219.0,341.6,-15.4,211,1657,0.00,1.90,0.00,0.000,4,0.000,0.044,2124,3789,3767,0,0,0,0,0,0
$GC,1692,-0.52,-219.0,348.0,-16.6,214,1699,0.00,1.80,0.00,0.000,6,0.000,0.025,2125,2559,3767,0,0,0,0,0,0
$GC,2018,-0.52,-219.0,402.9,-17.2,245,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2557,3764,0,0,0,0,0,0
$GC,2338,-0.52,-219.0,455.2,-15.9,275,2342,0.00,1.88,0.00,0.000,4,0.000,0.047,2123,3782,3760,0,0,0,0,0,0
$GC,2395,-0.52,-219.0,464.0,-13.3,280,2399,0.00,1.80,0.00,0.000,6,0.000,0.026,2123,2567,3760,0,0,0,0,0,0
$GC,2733,-0.52,-219.0,511.2,-13.5,308,2737,0.00,1.92,0.00,0.000,4,0.000,0.047,2114,3787,3756,0,0,0,0,0,0
$GC,2765,-0.52,-219.0,515.8,-13.5,309,2770,0.10,1.80,0.00,0.000,6,0.124,0.026,2148,2576,3756,0,0,0,0,0,0
$GC,3088,-0.52,-219.0,544.0,-8.5,325,3092,0.00,2.00,0.00,0.000,4,0.000,0.031,2145,1203,3752,0,0,0,0,0,0
$GC,3112,-0.52,-219.0,546.2,-9.0,326,3116,0.00,2.10,0.00,0.000,6,0.000,0.037,2149,2584,3752,0,0,0,0,0,0
$GC,3439,-0.52,-219.0,572.2,-8.3,342,3443,0.00,1.83,0.00,0.000,4,0.000,0.047,2145,3785,3749,0,0,0,0,0,0
$GC,3495,-0.52,-219.0,576.4,-7.5,344,3499,0.00,1.77,0.00,0.000,6,0.000,0.027,2145,2579,3748,0,0,0,0,0,0
$GC,3817,-0.52,-219.0,601.7,-8.0,360,3821,0.00,2.03,0.00,0.000,4,0.000,0.032,2145,1199,3745,0,0,0,0,0,0
$GC,3849,-0.52,-219.0,604.3,-8.0,361,3853,0.00,2.10,0.00,0.000,6,0.000,0.037,2141,2583,3744,0,0,0,0,0,0
$GC,4172,-0.52,-219.0,632.2,-9.3,377,4176,0.00,1.83,0.00,0.000,4,0.000,0.050,2139,3777,3741,0,0,0,0,0,0
$GC,4227,-0.52,-219.0,636.9,-8.0,379,4231,0.00,1.77,0.00,0.000,6,0.000,0.028,2139,2561,3741,0,0,0,0,0,0
$GC,4550,-0.52,-219.0,666.4,-9.8,395,4554,0.00,2.03,0.00,0.000,4,0.000,0.031,2139,1182,3738,0,0,0,0,0,0
$GC,4577,-0.52,-219.0,669.2,-9.9,396,4581,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2606,3737,0,0,0,0,0,0
$GC,4904,-0.52,-219.0,700.3,-9.4,412,4908,0.00,1.80,0.00,0.000,4,0.000,0.049,2138,3786,3735,0,0,0,0,0,0
$GC,4932,-0.52,-219.0,702.7,-9.0,413,4936,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2606,3734,0,0,0,0,0,0
$GC,5259,-0.52,-219.0,731.3,-9.0,429,5263,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1200,3732,0,0,0,0,0,0
$GC,5308,-0.52,-219.0,735.8,-8.8,431,5312,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2588,3732,0,0,0,0,0,0
$GC,5631,-0.52,-219.0,764.2,-9.0,447,5635,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3781,3730,0,0,0,0,0,0
$GC,5677,-0.52,-219.0,768.3,-8.7,449,5681,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2585,3729,0,0,0,0,0,0
$GC,6010,-0.52,-219.0,797.4,-8.7,465,6014,0.00,2.05,0.00,0.000,4,0.000,0.033,2138,1200,3728,0,0,0,0,0,0
$GC,6066,-0.52,-219.0,802.4,-8.6,467,6069,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2583,3728,0,0,0,0,0,0
$GC,6388,-0.52,-219.0,829.2,-8.5,483,6391,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3787,3725,0,0,0,0,0,0
$GC,6427,-0.52,-219.0,832.6,-8.5,484,6435,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2565,3725,0,0,0,0,0,0
$GC,6743,-0.52,-219.0,859.8,-8.9,500,6747,0.00,2.00,0.00,0.000,4,0.000,0.033,2138,1210,3723,0,0,0,0,0,0
$GC,6770,-0.52,-219.0,862.3,-8.8,501,6774,0.00,2.10,0.00,0.000,6,0.000,0.038,2138,2584,3723,0,0,0,0,0,0
$GC,7098,-0.52,-219.0,891.3,-9.2,517,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2584,3720,0,0,0,0,0,0
$GC,7407,-0.52,-219.0,919.7,-9.1,532,7411,0.00,1.88,0.00,0.000,4,0.000,0.051,2138,3773,3720,0,0,0,0,0,0
$GC,7453,-0.52,-219.0,923.8,-8.8,534,7457,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2580,3719,0,0,0,0,0,0
$GC,7786,-0.52,-219.0,951.2,-7.8,550,7789,0.00,2.03,0.00,0.000,4,0.000,0.033,2137,1210,3718,0,0,0,0,0,0
$GC,7855,-0.52,-219.0,956.5,-7.6,553,7858,0.00,2.10,0.00,0.000,6,0.000,0.038,2138,2576,3718,0,0,0,0,0,0
$GC,8188,-0.52,-219.0,980.6,-7.3,569,8192,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3779,3717,0,0,0,0,0,0
$GC,8216,-0.52,-219.0,982.7,-7.3,570,8220,0.00,1.80,0.00,0.000,6,0.000,0.028,2138,2551,3716,0,0,0,0,0,0
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8335,begin apogee
$GC,8341,-0.13,0.0,990.6,6.7,576,8513,0.40,0.00,166.45,1.105,4,0.112,0.000,2274,2109,2870,0,0,0,0,0,0
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8516,0.52,219.0,997.6,0.0,584,8703,0.62,2.40,177.52,1.076,4,0.056,0.044,2506,3548,1977,0,0,0,0,0,0
$GC,8840,0.52,219.0,958.3,17.4,599,8844,0.00,2.22,0.00,0.000,6,0.000,0.028,2515,2134,1976,0,0,0,0,0,0
$GC,9167,0.52,219.0,904.2,16.1,615,9171,0.00,2.22,0.00,0.000,4,0.000,0.043,2516,3542,1973,0,0,0,0,0,0
$GC,9321,0.52,219.0,877.4,17.9,622,9326,0.15,2.20,0.00,0.000,6,0.193,0.028,2490,2109,1976,0,0,0,0,0,0
$GC,9648,0.52,219.0,831.6,13.7,638,9652,0.00,2.12,0.00,0.000,4,0.000,0.038,2500,707,1970,0,0,0,0,0,0
$GC,9720,0.52,219.0,821.4,13.5,641,9724,0.00,2.15,0.00,0.000,6,0.000,0.034,2500,2110,1968,0,0,0,0,0,0
$GC,10042,0.52,219.0,774.1,14.8,657,10046,0.00,2.20,0.00,0.000,4,0.000,0.045,2500,3538,1970,0,0,0,0,0,0
$GC,10082,0.52,219.0,767.8,15.9,659,10086,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2097,1970,0,0,0,0,0,0
$GC,10409,0.52,219.0,717.8,15.4,675,10413,0.00,2.08,0.00,0.000,4,0.000,0.037,2520,719,1969,0,0,0,0,0,0
$GC,10497,0.52,219.0,704.7,14.3,679,10502,0.12,2.15,0.00,0.000,6,0.172,0.035,2490,2096,1969,0,0,0,0,0,0
$GC,10825,0.52,219.0,664.0,12.2,695,10829,0.00,2.22,0.00,0.000,4,0.000,0.045,2489,3542,1968,0,0,0,0,0,0
$GC,10851,0.52,219.0,660.3,12.2,696,10856,0.00,2.22,0.00,0.000,6,0.000,0.028,2497,2097,1969,0,0,0,0,0,0
$GC,11173,0.52,219.0,619.3,12.6,712,11177,0.00,2.08,0.00,0.000,4,0.000,0.040,2508,717,1968,0,0,0,0,0,0
$GC,11245,0.52,219.0,610.0,12.7,715,11249,0.00,2.10,0.00,0.000,6,0.000,0.034,2508,2096,1968,0,0,0,0,0,0
$GC,11561,0.52,219.0,568.1,13.1,730,11565,0.00,2.22,0.00,0.000,4,0.000,0.045,2508,3540,1965,0,0,0,0,0,0
$GC,11593,0.52,219.0,563.1,14.8,731,11600,0.00,2.20,0.00,0.000,6,0.000,0.029,2517,2082,1968,0,0,0,0,0,0
$GC,11910,0.52,219.0,516.9,14.6,747,11913,0.00,2.05,0.00,0.000,4,0.000,0.038,2528,717,1967,0,0,0,0,0,0
$GC,12045,0.52,219.0,497.6,14.1,753,12050,0.15,2.05,0.00,0.000,6,0.163,0.034,2488,2080,1968,0,0,0,0,0,0
$GC,12372,0.52,219.0,460.0,11.5,783,12376,0.00,2.22,0.00,0.000,4,0.000,0.044,2488,3536,1967,0,0,0,0,0,0
$GC,12406,0.52,219.0,455.7,11.8,785,12413,0.00,2.20,0.00,0.000,6,0.000,0.029,2497,2066,1967,0,0,0,0,0,0
$GC,12731,0.52,219.0,415.7,12.2,816,12735,0.00,2.03,0.00,0.000,4,0.000,0.039,2504,711,1967,0,0,0,0,0,0
$GC,12777,0.52,219.0,410.3,12.0,820,12781,0.00,2.05,0.00,0.000,6,0.000,0.034,2507,2074,1967,0,0,0,0,0,0
$GC,13108,0.52,219.0,368.7,12.4,851,13112,0.00,2.05,0.00,0.000,4,0.000,0.037,2516,712,1967,0,0,0,0,0,0
$GC,13147,0.52,219.0,363.7,12.2,854,13154,0.00,2.08,0.00,0.000,6,0.000,0.033,2516,2058,1968,0,0,0,0,0,0
$GC,13472,0.52,219.0,322.5,12.9,885,13476,0.00,2.28,0.00,0.000,4,0.000,0.044,2516,3535,1968,0,0,0,0,0,0
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$STATE,16353,end climb,SURFACE_DEPTH_REACHED
$STATE,16353,begin surface coast
$FINISH,0.1,1.008183
$STATE,16375,end surface coast,CONTROL_FINISHED_OK
$STATE,16375,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.58
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$10V_AH,10.1,22.875
$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,86903,1295
$CAP_FILE_SIZE,184058,0
$CFSIZE,260165632,237797376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,142700,1946.952,11943.172,35,1.2,35,-2.2