version: 66.09
glider: 181
mission: 6
dive: 64
start: 6 22 111 8 35 5
data:
$ID,181
$MISSION,6
$DIVE,64
$N_DIVES,70
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,350
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-39597.926
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,39
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,220611,082754,2030.766,11951.825,38,1.2,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-63.9
$GPS2,220611,083407,2030.915,11951.861,11,1.2,16,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,-0.238
$KALMAN_X,-43934.2,1422.0,-621.1,32910.1,-3354.3
$KALMAN_Y,18641.9,683.9,-347.7,-90266.1,3270.3
$MHEAD_RNG_PITCHd_Wd,143.5,168976,-16.3,-11.000
$D_GRID,3178
$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,-0.57,-194.6,0.0,0.0,0,96,0.00,0.00,-77.88,0.000,2,0.000,0.000,146,2634,2536,0,0,0,0,0,0
$GC,99,-0.57,-194.6,3.3,-3.7,11,138,8.02,0.00,-21.35,0.000,6,0.238,0.000,2111,2628,3664,0,0,0,0,0,0
$GC,264,-0.57,-194.6,70.6,-31.8,40,272,0.00,1.80,0.00,0.000,4,0.000,0.045,2100,3764,3666,0,0,0,0,0,0
$GC,357,-0.57,-194.6,105.2,-32.8,57,365,0.00,1.77,0.00,0.000,6,0.000,0.026,2101,2581,3667,0,0,0,0,0,0
$GC,491,-0.57,-194.6,145.3,-33.7,82,499,0.00,2.08,0.00,0.000,4,0.000,0.030,2101,1201,3667,0,0,0,0,0,0
$GC,548,-0.57,-194.6,160.6,-21.6,92,556,0.00,2.15,0.00,0.000,6,0.000,0.040,2093,2572,3668,0,0,0,0,0,0
$GC,682,-0.57,-194.6,192.3,-25.1,117,690,0.00,1.88,0.00,0.000,4,0.000,0.044,2084,3776,3669,0,0,0,0,0,0
$GC,739,-0.57,-194.6,206.9,-22.9,127,748,0.10,1.75,0.00,0.000,6,0.142,0.026,2116,2609,3669,0,0,0,0,0,0
$GC,876,-0.57,-194.6,232.9,-18.8,152,884,0.00,2.10,0.00,0.000,4,0.000,0.032,2116,1206,3670,0,0,0,0,0,0
$GC,918,-0.57,-194.6,240.7,-17.2,159,926,0.00,2.17,0.00,0.000,6,0.000,0.039,2109,2601,3668,0,0,0,0,0,0
$GC,1060,-0.57,-194.6,264.7,-15.4,177,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2602,3670,0,0,0,0,0,0
$GC,1252,-0.57,-194.6,294.1,-14.3,195,1255,0.00,1.80,0.00,0.000,4,0.000,0.044,2100,3793,3670,0,0,0,0,0,0
$GC,1278,-0.57,-194.6,298.6,-14.8,197,1286,0.00,1.80,0.00,0.000,6,0.000,0.028,2099,2590,3670,0,0,0,0,0,0
$GC,1477,-0.57,-194.6,332.2,-19.0,216,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2588,3669,0,0,0,0,0,0
$GC,1668,-0.57,-194.6,371.1,-19.8,234,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2588,3666,0,0,0,0,0,0
$GC,1859,-0.57,-194.6,407.5,-18.2,252,1863,0.00,1.88,0.00,0.000,4,0.000,0.047,2090,3785,3664,0,0,0,0,0,0
$GC,1905,-0.57,-194.6,416.1,-18.9,256,1909,0.00,1.75,0.00,0.000,6,0.000,0.029,2090,2590,3664,0,0,0,0,0,0
$GC,2109,-0.57,-194.6,453.0,-18.1,275,2112,0.00,2.05,0.00,0.000,4,0.000,0.033,2090,1199,3661,0,0,0,0,0,0
$GC,2132,-0.57,-194.6,457.2,-17.5,277,2137,0.12,2.17,0.00,0.000,6,0.168,0.041,2114,2603,3661,0,0,0,0,0,0
$GC,2330,-0.57,-194.6,484.2,-13.3,295,2333,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3784,3659,0,0,0,0,0,0
$GC,2364,-0.57,-194.6,488.9,-13.6,298,2368,0.00,1.75,0.00,0.000,6,0.000,0.029,2111,2585,3659,0,0,0,0,0,0
$GC,2568,-0.57,-194.6,515.2,-12.6,317,2571,0.00,2.03,0.00,0.000,4,0.000,0.035,2111,1210,3657,0,0,0,0,0,0
$GC,2652,-0.57,-194.6,525.2,-10.5,324,2659,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2606,3655,0,0,0,0,0,0
$GC,2849,-0.57,-194.6,549.9,-13.5,343,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2607,3658,0,0,0,0,0,0
$GC,3040,-0.57,-194.6,577.2,-14.1,361,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2606,3652,0,0,0,0,0,0
$GC,3241,-0.57,-194.6,606.9,-15.1,378,3245,0.00,2.10,0.00,0.000,4,0.000,0.035,2111,1205,3650,0,0,0,0,0,0
$GC,3291,-0.57,-194.6,614.2,-13.6,380,3295,0.00,2.15,0.00,0.000,6,0.000,0.042,2110,2603,3649,0,0,0,0,0,0
$GC,3618,-0.57,-194.6,659.4,-13.6,396,3622,0.00,1.85,0.00,0.000,4,0.000,0.052,2110,3777,3646,0,0,0,0,0,0
$GC,3687,-0.57,-194.6,667.3,-10.7,399,3691,0.00,1.73,0.00,0.000,6,0.000,0.031,2110,2606,3645,0,0,0,0,0,0
$GC,4020,-0.57,-194.6,706.0,-11.6,415,4024,0.00,2.08,0.00,0.000,4,0.000,0.037,2110,1206,3642,0,0,0,0,0,0
$GC,4083,-0.57,-194.6,712.9,-10.6,418,4087,0.00,2.15,0.00,0.000,6,0.000,0.044,2111,2605,3642,0,0,0,0,0,0
$GC,4409,-0.57,-194.6,751.9,-12.5,434,4413,0.00,1.80,0.00,0.000,4,0.000,0.053,2109,3780,3640,0,0,0,0,0,0
$GC,4433,-0.57,-194.6,754.7,-12.7,435,4437,0.00,1.75,0.00,0.000,6,0.000,0.032,2109,2594,3639,0,0,0,0,0,0
$GC,4766,-0.57,-194.6,797.6,-12.8,451,4770,0.00,2.08,0.00,0.000,4,0.000,0.037,2109,1202,3637,0,0,0,0,0,0
$GC,4821,-0.57,-194.6,804.5,-11.8,453,4825,0.00,2.17,0.00,0.000,6,0.000,0.043,2101,2616,3636,0,0,0,0,0,0
$GC,5143,-0.57,-194.6,844.8,-12.3,469,5146,0.00,1.77,0.00,0.000,4,0.000,0.053,2092,3775,3634,0,0,0,0,0,0
$GC,5175,-0.57,-194.6,848.8,-11.6,470,5179,0.00,1.77,0.00,0.000,6,0.000,0.031,2092,2601,3633,0,0,0,0,0,0
$GC,5499,-0.57,-194.6,888.2,-12.8,486,5503,0.00,2.08,0.00,0.000,4,0.000,0.037,2092,1203,3632,0,0,0,0,0,0
$GC,5554,-0.57,-194.6,895.2,-11.2,488,5562,0.08,2.20,0.00,0.000,6,0.143,0.043,2120,2598,3632,0,0,0,0,0,0
$GC,5871,-0.57,-194.6,921.3,-7.7,504,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2598,3629,0,0,0,0,0,0
$GC,6180,-0.57,-194.6,942.9,-6.9,519,6184,0.00,1.83,0.00,0.000,4,0.000,0.053,2113,3784,3627,0,0,0,0,0,0
$GC,6226,-0.57,-194.6,946.1,-6.9,521,6229,0.00,1.75,0.00,0.000,6,0.000,0.032,2112,2600,3627,0,0,0,0,0,0
$GC,6559,-0.57,-194.6,973.5,-9.4,537,6563,0.00,2.08,0.00,0.000,4,0.000,0.037,2113,1204,3624,0,0,0,0,0,0
$GC,6621,-0.57,-194.6,979.6,-9.5,540,6626,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2607,3625,0,0,0,0,0,0
$STATE,6725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6725,begin apogee
$GC,6732,-0.16,0.0,990.4,10.5,545,6885,0.40,0.00,148.88,1.113,6,0.130,0.000,2243,2121,2869,0,0,0,0,0,0
$STATE,6886,end apogee,CONTROL_FINISHED_OK
$STATE,6886,begin climb
$GC,6889,0.57,194.6,997.2,0.0,552,7055,0.68,0.00,160.32,1.080,6,0.064,0.000,2487,2120,2075,0,0,0,0,0,0
$GC,7355,0.57,194.6,950.5,13.0,575,7359,0.00,2.28,0.00,0.000,4,0.000,0.047,2488,3545,2064,0,0,0,0,0,0
$GC,7399,0.57,194.6,943.8,14.6,577,7403,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2135,2063,0,0,0,0,0,0
$GC,7728,0.57,194.6,895.8,15.1,593,7732,0.00,2.17,0.00,0.000,4,0.000,0.042,2506,718,2061,0,0,0,0,0,0
$GC,7772,0.57,194.6,888.6,15.4,595,7776,0.00,2.17,0.00,0.000,6,0.000,0.037,2508,2129,2058,0,0,0,0,0,0
$GC,8101,0.57,194.6,836.5,16.1,611,8105,0.00,2.17,0.00,0.000,4,0.000,0.047,2508,3536,2059,0,0,0,0,0,0
$GC,8123,0.57,194.6,832.4,16.3,612,8127,0.12,2.20,0.00,0.000,6,0.197,0.032,2489,2125,2059,0,0,0,0,0,0
$GC,8450,0.57,194.6,789.0,12.8,628,8454,0.00,2.12,0.00,0.000,4,0.000,0.041,2498,720,2058,0,0,0,0,0,0
$GC,8523,0.57,194.6,779.6,12.7,631,8527,0.00,2.15,0.00,0.000,6,0.000,0.037,2498,2126,2059,0,0,0,0,0,0
$GC,8845,0.57,194.6,735.5,14.0,647,8849,0.00,2.20,0.00,0.000,4,0.000,0.047,2499,3549,2057,0,0,0,0,0,0
$GC,8888,0.57,194.6,728.4,15.5,649,8892,0.00,2.20,0.00,0.000,6,0.000,0.033,2508,2098,2057,0,0,0,0,0,0
$GC,9216,0.57,194.6,678.7,15.4,665,9220,0.00,2.10,0.00,0.000,4,0.000,0.042,2519,709,2057,0,0,0,0,0,0
$GC,9316,0.57,194.6,663.2,15.1,669,9324,0.12,2.17,0.00,0.000,6,0.176,0.038,2488,2126,2054,0,0,0,0,0,0
$GC,9634,0.57,194.6,619.6,13.6,685,9638,0.00,2.17,0.00,0.000,4,0.000,0.047,2488,3540,2056,0,0,0,0,0,0
$GC,9683,0.57,194.6,611.9,15.2,687,9687,0.00,2.20,0.00,0.000,6,0.000,0.033,2496,2086,2056,0,0,0,0,0,0
$GC,10014,0.57,194.6,565.5,14.2,714,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2086,2059,0,0,0,0,0,0
$GC,10203,0.57,194.6,539.2,13.6,732,10207,0.00,2.10,0.00,0.000,4,0.000,0.044,2507,713,2056,0,0,0,0,0,0
$GC,10252,0.57,194.6,532.5,13.3,736,10259,0.00,2.17,0.00,0.000,6,0.000,0.037,2507,2136,2056,0,0,0,0,0,0
$GC,10450,0.57,194.6,506.6,12.6,755,10454,0.00,2.17,0.00,0.000,4,0.000,0.041,2516,714,2056,0,0,0,0,0,0
$GC,10505,0.57,194.6,499.5,12.8,759,10513,0.10,2.17,0.00,0.000,6,0.151,0.037,2485,2118,2056,0,0,0,0,0,0
$GC,10706,0.57,199.2,477.6,10.8,778,10710,0.00,2.17,0.00,0.000,4,0.000,0.047,2485,3536,2056,0,0,0,0,0,0
$GC,10774,0.57,199.2,469.3,12.0,784,10778,0.00,2.12,0.00,0.000,6,0.000,0.032,2493,2125,2056,0,0,0,0,0,0
$GC,10972,0.57,199.2,446.4,11.5,802,10976,0.00,2.15,0.00,0.000,4,0.000,0.044,2504,719,2056,0,0,0,0,0,0
$GC,11057,0.57,199.2,436.6,11.8,809,11061,0.00,2.15,0.00,0.000,6,0.000,0.037,2504,2125,2056,0,0,0,0,0,0
$GC,11260,0.57,199.2,411.5,12.6,828,11264,0.00,2.17,0.00,0.000,4,0.000,0.047,2504,3536,2056,0,0,0,0,0,0
$GC,11310,0.57,199.2,404.5,13.6,832,11317,0.00,2.17,0.00,0.000,6,0.000,0.031,2513,2122,2056,0,0,0,0,0,0
$GC,11508,0.57,199.2,379.4,12.9,851,11512,0.00,2.12,0.00,0.000,4,0.000,0.042,2524,709,2056,0,0,0,0,0,0
$GC,11582,0.57,199.2,370.3,12.3,857,11587,0.15,2.15,0.00,0.000,6,0.168,0.037,2485,2126,2056,0,0,0,0,0,0
$GC,11781,0.58,202.7,348.9,10.9,875,11794,0.00,2.20,4.62,0.590,4,0.000,0.047,2485,3541,2042,0,0,0,0,0,0
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$STATE,14684,end climb,SURFACE_DEPTH_REACHED
$STATE,14685,begin surface coast
$FINISH,-0.2,1.021047
$STATE,14736,end surface coast,CONTROL_FINISHED_OK
$STATE,14736,begin surface
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$10V_AH,10.2,10.810
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322644
$DATA_FILE_SIZE,87056,1312
$CAP_FILE_SIZE,177958,0
$CFSIZE,260165632,245207040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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