version: 66.09
glider: 181
mission: 6
dive: 78
start: 6 24 111 22 4 51
data:
$ID,181
$MISSION,6
$DIVE,78
$N_DIVES,85
$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,400
$T_MISSION,440
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,-39615.535
$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,69
$R_STBD_OVSHOOT,37
$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
$GPS1,240611,215730,2015.390,11955.416,35,1.1,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.4
$GPS2,240611,220426,2015.319,11955.397,14,1.5,14,-2.3
$SPEED_LIMITS,0.143,0.275
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$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,146.7,139724,-12.1,-8.250
$D_GRID,3385
$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,-0.48,-194.6,0.0,0.0,0,101,0.00,0.00,-82.80,0.000,2,0.000,0.000,143,2558,2688,0,0,0,0,0,0
$GC,104,-0.48,-194.6,3.9,-6.0,11,137,8.18,1.90,-17.52,0.000,4,0.239,0.052,2129,3781,3665,0,0,0,0,0,0
$GC,283,-0.48,-194.6,88.6,-30.7,42,292,0.00,1.77,0.00,0.000,6,0.000,0.024,2129,2604,3667,0,0,0,0,0,0
$GC,422,-0.48,-194.6,127.0,-30.2,67,430,0.00,2.08,0.00,0.000,4,0.000,0.026,2129,1202,3668,0,0,0,0,0,0
$GC,465,-0.48,-194.6,136.1,-18.0,74,474,0.00,2.17,0.00,0.000,6,0.000,0.038,2122,2591,3669,0,0,0,0,0,0
$GC,604,-0.48,-194.6,163.0,-19.0,99,612,0.00,1.88,0.00,0.000,4,0.000,0.044,2112,3792,3672,0,0,0,0,0,0
$GC,673,-0.48,-194.6,178.0,-20.5,111,682,0.08,1.77,0.00,0.000,6,0.157,0.025,2140,2599,3670,0,0,0,0,0,0
$GC,811,-0.48,-194.6,204.2,-17.8,134,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2597,3670,0,0,0,0,0,0
$GC,1131,-0.48,-194.6,253.4,-15.4,164,1135,0.00,1.83,0.00,0.000,4,0.000,0.044,2129,3791,3669,0,0,0,0,0,0
$GC,1168,-0.48,-194.6,259.9,-15.3,167,1175,0.00,1.77,0.00,0.000,6,0.000,0.026,2129,2595,3669,0,0,0,0,0,0
$GC,1495,-0.48,-194.6,313.6,-15.9,198,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2592,3667,0,0,0,0,0,0
$GC,1814,-0.48,-194.6,359.5,-13.5,228,1817,0.00,2.03,0.00,0.000,4,0.000,0.030,2129,1211,3664,0,0,0,0,0,0
$GC,1841,-0.48,-194.6,363.8,-14.1,230,1848,0.00,2.17,0.00,0.000,6,0.000,0.039,2125,2601,3665,0,0,0,0,0,0
$GC,2168,-0.48,-194.6,416.7,-17.4,261,2172,0.00,1.80,0.00,0.000,4,0.000,0.047,2116,3787,3661,0,0,0,0,0,0
$GC,2238,-0.48,-194.6,428.5,-14.9,267,2242,0.00,1.73,0.00,0.000,6,0.000,0.027,2116,2594,3661,0,0,0,0,0,0
$GC,2569,-0.48,-194.6,484.4,-16.1,298,2573,0.00,2.03,0.00,0.000,4,0.000,0.031,2116,1209,3657,0,0,0,0,0,0
$GC,2596,-0.48,-194.6,488.8,-15.2,300,2604,0.10,2.17,0.00,0.000,6,0.138,0.040,2145,2602,3656,0,0,0,0,0,0
$GC,2917,-0.48,-194.6,520.2,-10.2,321,2921,0.00,1.80,0.00,0.000,4,0.000,0.048,2139,3787,3654,0,0,0,0,0,0
$GC,2963,-0.48,-194.6,524.9,-10.0,323,2967,0.00,1.73,0.00,0.000,6,0.000,0.028,2139,2605,3654,0,0,0,0,0,0
$GC,3295,-0.48,-194.6,563.6,-11.9,339,3299,0.00,2.05,0.00,0.000,4,0.000,0.032,2139,1212,3651,0,0,0,0,0,0
$GC,3366,-0.48,-194.6,570.9,-9.7,342,3370,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2603,3650,0,0,0,0,0,0
$GC,3694,-0.48,-194.6,604.3,-9.7,358,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2604,3647,0,0,0,0,0,0
$GC,4003,-0.48,-194.6,631.2,-8.0,373,4007,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1202,3644,0,0,0,0,0,0
$GC,4025,-0.48,-194.6,633.2,-8.1,374,4029,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2599,3644,0,0,0,0,0,0
$GC,4347,-0.48,-194.6,661.6,-9.3,390,4350,0.00,1.85,0.00,0.000,4,0.000,0.052,2138,3788,3641,0,0,0,0,0,0
$GC,4396,-0.48,-194.6,665.9,-8.6,392,4401,0.00,1.80,0.00,0.000,6,0.000,0.030,2138,2603,3641,0,0,0,0,0,0
$GC,4724,-0.48,-194.6,697.6,-10.4,408,4728,0.00,2.08,0.00,0.000,4,0.000,0.035,2139,1202,3639,0,0,0,0,0,0
$GC,4809,-0.48,-194.6,706.3,-9.5,412,4813,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2603,3638,0,0,0,0,0,0
$GC,5136,-0.48,-194.6,739.1,-9.5,428,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2602,3636,0,0,0,0,0,0
$GC,5445,-0.48,-194.6,768.6,-9.3,443,5449,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1192,3634,0,0,0,0,0,0
$GC,5508,-0.48,-194.6,774.4,-8.9,446,5512,0.00,2.17,0.00,0.000,6,0.000,0.042,2138,2606,3633,0,0,0,0,0,0
$GC,5836,-0.48,-194.6,806.5,-10.0,462,5840,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1205,3632,0,0,0,0,0,0
$GC,5885,-0.48,-194.6,811.6,-10.0,464,5889,0.00,2.15,0.00,0.000,6,0.000,0.041,2139,2602,3629,0,0,0,0,0,0
$GC,6207,-0.48,-194.6,842.9,-9.6,480,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2603,3630,0,0,0,0,0,0
$GC,6517,-0.48,-194.6,868.9,-8.0,495,6521,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1195,3628,0,0,0,0,0,0
$GC,6561,-0.48,-194.6,872.7,-8.2,497,6565,0.00,2.20,0.00,0.000,6,0.000,0.043,2138,2593,3627,0,0,0,0,0,0
$GC,6888,-0.48,-194.6,900.4,-8.7,513,6892,0.00,1.88,0.00,0.000,4,0.000,0.054,2138,3784,3626,0,0,0,0,0,0
$GC,6914,-0.48,-194.6,902.8,-8.8,514,6918,0.00,1.80,0.00,0.000,6,0.000,0.030,2137,2587,3625,0,0,0,0,0,0
$GC,7242,-0.48,-194.6,927.6,-7.0,530,7246,0.00,2.05,0.00,0.000,4,0.000,0.037,2138,1211,3624,0,0,0,0,0,0
$GC,7300,-0.48,-194.6,931.5,-6.7,532,7304,0.00,2.15,0.00,0.000,6,0.000,0.042,2139,2603,3624,0,0,0,0,0,0
$GC,7616,-0.48,-194.6,950.7,-6.1,547,7620,0.00,2.10,0.00,0.000,4,0.000,0.037,2138,1212,3623,0,0,0,0,0,0
$GC,7643,-0.48,-194.6,952.8,-6.2,548,7646,0.00,2.15,0.00,0.000,6,0.000,0.043,2138,2609,3622,0,0,0,0,0,0
$GC,7965,-0.48,-194.6,973.6,-7.2,564,7969,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1206,3622,0,0,0,0,0,0
$GC,8006,-0.48,-194.6,976.6,-7.2,566,8010,0.00,2.15,0.00,0.000,6,0.000,0.044,2138,2599,3622,0,0,0,0,0,0
$STATE,8186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8186,begin apogee
$GC,8193,-0.16,0.0,991.2,8.4,575,8346,0.32,0.00,148.20,1.115,6,0.119,0.000,2247,2126,2870,0,0,0,0,0,0
$STATE,8347,end apogee,CONTROL_FINISHED_OK
$STATE,8347,begin climb
$GC,8349,0.48,194.6,998.9,0.0,582,8517,0.57,2.35,159.75,1.084,4,0.063,0.043,2468,711,2075,0,0,0,0,0,0
$GC,8538,0.48,194.6,990.4,9.5,591,8542,0.00,2.33,0.00,0.000,6,0.000,0.036,2468,2126,2070,0,0,0,0,0,0
$GC,8867,0.48,194.6,955.2,11.2,607,8871,0.00,2.25,0.00,0.000,4,0.000,0.048,2468,3545,2064,0,0,0,0,0,0
$GC,8921,0.48,194.6,947.7,13.3,609,8929,0.00,2.22,0.00,0.000,6,0.000,0.032,2478,2136,2062,0,0,0,0,0,0
$GC,9238,0.48,194.6,905.8,13.8,625,9242,0.00,2.20,0.00,0.000,4,0.000,0.041,2488,709,2062,0,0,0,0,0,0
$GC,9309,0.48,194.6,895.5,14.5,628,9313,0.00,2.20,0.00,0.000,6,0.000,0.037,2488,2130,2061,0,0,0,0,0,0
$GC,9631,0.48,194.6,847.7,15.1,644,9635,0.00,2.20,0.00,0.000,4,0.000,0.047,2489,3536,2060,0,0,0,0,0,0
$GC,9692,0.48,194.6,837.7,16.0,646,9700,0.15,2.17,0.00,0.000,6,0.194,0.031,2463,2114,2060,0,0,0,0,0,0
$GC,10008,0.48,194.6,800.4,11.3,662,10012,0.00,2.15,0.00,0.000,4,0.000,0.042,2476,707,2059,0,0,0,0,0,0
$GC,10063,0.48,194.6,794.0,11.3,664,10070,0.00,2.22,0.00,0.000,6,0.000,0.036,2472,2129,2059,0,0,0,0,0,0
$GC,10379,0.48,194.6,757.9,11.6,680,10383,0.00,2.17,0.00,0.000,4,0.000,0.047,2471,3536,2058,0,0,0,0,0,0
$GC,10420,0.48,194.6,752.6,13.7,682,10424,0.00,2.15,0.00,0.000,6,0.000,0.031,2481,2117,2058,0,0,0,0,0,0
$GC,10747,0.48,194.6,710.3,13.0,698,10751,0.00,2.15,0.00,0.000,4,0.000,0.043,2492,720,2058,0,0,0,0,0,0
$GC,10920,0.48,194.6,688.0,13.0,706,10925,0.12,2.15,0.00,0.000,6,0.173,0.037,2461,2130,2058,0,0,0,0,0,0
$GC,11247,0.48,194.6,653.5,9.9,722,11251,0.00,2.17,0.00,0.000,4,0.000,0.047,2461,3542,2057,0,0,0,0,0,0
$GC,11369,0.48,194.6,640.0,10.6,727,11376,0.00,2.17,0.00,0.000,6,0.000,0.032,2469,2131,2057,0,0,0,0,0,0
$GC,11686,0.48,194.6,610.4,9.3,743,11690,0.00,2.15,0.00,0.000,4,0.000,0.042,2480,716,2057,0,0,0,0,0,0
$GC,11729,0.48,194.6,605.8,9.9,745,11734,0.00,2.17,0.00,0.000,6,0.000,0.036,2480,2150,2057,0,0,0,0,0,0
$GC,12057,0.48,194.6,569.1,11.7,761,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2151,2057,0,0,0,0,0,0
$GC,12367,0.48,194.6,536.3,10.1,776,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2151,2057,0,0,0,0,0,0
$GC,12676,0.48,194.6,508.3,8.8,791,12680,0.00,2.12,0.00,0.000,4,0.000,0.047,2476,3536,2057,0,0,0,0,0,0
$GC,12742,0.48,194.6,501.4,10.5,794,12747,0.12,2.17,0.00,0.000,6,0.181,0.031,2460,2089,2057,0,0,0,0,0,0
$GC,13068,0.48,194.6,473.8,8.9,824,13072,0.00,2.25,0.00,0.000,4,0.000,0.044,2459,3548,2057,0,0,0,0,0,0
$GC,13141,0.48,194.6,466.2,10.7,830,13146,0.00,2.15,0.00,0.000,6,0.000,0.031,2468,2115,2057,0,0,0,0,0,0
$GC,13467,0.48,194.6,434.2,9.8,860,13471,0.00,2.12,0.00,0.000,4,0.000,0.042,2478,716,2057,0,0,0,0,0,0
$GC,13583,0.48,194.6,422.3,10.1,870,13591,0.00,2.15,0.00,0.000,6,0.000,0.035,2478,2125,2057,0,0,0,0,0,0
$GC,13908,0.48,194.6,389.3,9.7,901,13912,0.00,2.17,0.00,0.000,4,0.000,0.045,2478,3546,2057,0,0,0,0,0,0
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$GC,14329,0.48,194.6,347.9,9.4,939,14333,0.00,2.10,0.00,0.000,4,0.000,0.041,2498,720,2057,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$MEM,322680
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$CFSIZE,260165632,243863552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
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