version: 66.09
glider: 181
mission: 6
dive: 87
start: 6 26 111 22 0 41
data:
$ID,181
$MISSION,6
$DIVE,87
$N_DIVES,90
$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,150
$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,-39626.855
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,260611,215325,2007.058,11956.463,36,1.4,36,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-62.6
$GPS2,260611,220014,2007.126,11956.391,14,1.6,14,-2.2
$SPEED_LIMITS,0.143,0.243
$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,146.1,124479,-14.5,-8.250
$D_GRID,3482
$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,-0.47,-146.0,0.0,0.0,0,87,0.00,0.00,-68.65,0.000,2,0.000,0.000,176,2609,2542,0,0,0,0,0,0
$GC,90,-0.47,-146.0,3.1,-3.6,9,123,8.00,1.90,-18.80,0.000,4,0.234,0.057,2136,3790,3468,0,0,0,0,0,0
$GC,163,-0.47,-146.0,33.4,-48.0,20,171,0.00,1.83,0.00,0.000,6,0.000,0.027,2135,2599,3470,0,0,0,0,0,0
$GC,300,-0.47,-146.0,82.1,-27.0,45,309,0.00,1.88,0.00,0.000,4,0.000,0.044,2127,3777,3471,0,0,0,0,0,0
$GC,333,-0.47,-146.0,93.3,-33.7,50,341,0.00,1.80,0.00,0.000,6,0.000,0.026,2123,2584,3470,0,0,0,0,0,0
$GC,471,-0.47,-146.0,132.4,-21.8,75,480,0.00,2.08,0.00,0.000,4,0.000,0.028,2126,1194,3471,0,0,0,0,0,0
$GC,494,-0.47,-146.0,137.0,-20.2,78,503,0.08,2.20,0.00,0.000,6,0.158,0.038,2141,2596,3472,0,0,0,0,0,0
$GC,635,-0.47,-146.0,163.2,-18.2,103,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2597,3472,0,0,0,0,0,0
$GC,771,-0.47,-146.0,186.4,-15.6,128,779,0.00,2.10,0.00,0.000,4,0.000,0.031,2141,1206,3474,0,0,0,0,0,0
$GC,851,-0.47,-146.0,197.1,-12.0,142,860,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2602,3474,0,0,0,0,0,0
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$GC,1004,-0.47,-146.0,222.4,-17.4,157,1012,0.00,1.77,0.00,0.000,6,0.000,0.025,2128,2597,3473,0,0,0,0,0,0
$GC,1330,-0.47,-146.0,276.9,-16.7,188,1333,0.00,1.83,0.00,0.000,4,0.000,0.044,2122,3787,3473,0,0,0,0,0,0
$GC,1364,-0.47,-146.0,282.4,-15.8,191,1368,0.00,1.75,0.00,0.000,6,0.000,0.026,2122,2579,3473,0,0,0,0,0,0
$GC,1696,-0.47,-146.0,338.8,-17.2,222,1699,0.00,2.00,0.00,0.000,4,0.000,0.031,2122,1211,3470,0,0,0,0,0,0
$GC,1802,-0.47,-146.0,355.3,-13.3,231,1810,0.08,2.15,0.00,0.000,6,0.145,0.037,2138,2598,3470,0,0,0,0,0,0
$GC,2128,-0.47,-146.0,399.0,-13.0,262,2132,0.00,1.85,0.00,0.000,4,0.000,0.046,2132,3789,3467,0,0,0,0,0,0
$GC,2151,-0.47,-146.0,401.7,-12.4,264,2155,0.00,1.73,0.00,0.000,6,0.000,0.027,2131,2593,3467,0,0,0,0,0,0
$GC,2482,-0.47,-146.0,442.7,-13.0,295,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3464,0,0,0,0,0,0
$GC,2803,-0.47,-146.0,480.9,-11.6,325,2806,0.00,2.03,0.00,0.000,4,0.000,0.032,2131,1212,3460,0,0,0,0,0,0
$GC,2862,-0.47,-146.0,487.7,-11.2,330,2866,0.00,2.15,0.00,0.000,6,0.000,0.040,2124,2613,3460,0,0,0,0,0,0
$GC,3182,-0.47,-146.0,525.7,-12.4,350,3186,0.00,2.08,0.00,0.000,4,0.000,0.032,2124,1212,3457,0,0,0,0,0,0
$GC,3253,-0.47,-146.0,535.0,-12.5,353,3257,0.00,2.17,0.00,0.000,6,0.000,0.041,2124,2626,3456,0,0,0,0,0,0
$GC,3576,-0.47,-146.0,573.6,-11.8,369,3580,0.00,2.12,0.00,0.000,4,0.000,0.034,2124,1202,3454,0,0,0,0,0,0
$GC,3642,-0.47,-146.0,581.1,-10.4,372,3646,0.00,2.17,0.00,0.000,6,0.000,0.041,2124,2621,3453,0,0,0,0,0,0
$GC,3969,-0.47,-146.0,619.2,-12.2,388,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2622,3450,0,0,0,0,0,0
$GC,4280,-0.47,-146.0,656.5,-12.2,403,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2622,3447,0,0,0,0,0,0
$GC,4589,-0.47,-146.0,692.9,-11.4,418,4592,0.00,1.77,0.00,0.000,4,0.000,0.050,2117,3783,3442,0,0,0,0,0,0
$GC,4616,-0.47,-146.0,696.3,-11.2,419,4620,0.08,1.77,0.00,0.000,6,0.138,0.029,2143,2606,3445,0,0,0,0,0,0
$GC,4943,-0.47,-146.0,726.5,-9.2,435,4947,0.00,2.08,0.00,0.000,4,0.000,0.035,2143,1203,3443,0,0,0,0,0,0
$GC,5010,-0.47,-146.0,732.6,-8.8,438,5014,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2605,3443,0,0,0,0,0,0
$GC,5332,-0.47,-146.0,760.6,-8.5,454,5336,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1200,3440,0,0,0,0,0,0
$GC,5393,-0.47,-146.0,765.8,-7.9,456,5400,0.00,2.17,0.00,0.000,6,0.000,0.041,2138,2606,3440,0,0,0,0,0,0
$GC,5709,-0.47,-146.0,793.5,-8.8,472,5713,0.00,2.12,0.00,0.000,4,0.000,0.036,2138,1208,3435,0,0,0,0,0,0
$GC,5743,-0.47,-146.0,796.6,-8.9,473,5751,0.00,2.17,0.00,0.000,6,0.000,0.042,2138,2609,3438,0,0,0,0,0,0
$GC,6059,-0.47,-146.0,823.0,-8.0,489,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3436,0,0,0,0,0,0
$GC,6369,-0.47,-146.0,847.5,-7.9,504,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3435,0,0,0,0,0,0
$GC,6678,-0.47,-146.0,871.2,-7.7,519,6682,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1206,3430,0,0,0,0,0,0
$GC,6742,-0.47,-146.0,876.3,-8.0,522,6746,0.00,2.15,0.00,0.000,6,0.000,0.043,2138,2600,3433,0,0,0,0,0,0
$GC,7071,-0.47,-146.0,902.3,-7.9,538,7075,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1196,3432,0,0,0,0,0,0
$GC,7092,-0.47,-146.0,904.3,-8.2,539,7096,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,2604,3431,0,0,0,0,0,0
$GC,7420,-0.47,-146.0,929.9,-7.8,555,7424,0.00,2.12,0.00,0.000,4,0.000,0.037,2138,1199,3430,0,0,0,0,0,0
$GC,7477,-0.47,-146.0,934.3,-7.9,557,7485,0.00,2.17,0.00,0.000,6,0.000,0.044,2137,2600,3430,0,0,0,0,0,0
$GC,7793,-0.47,-146.0,956.9,-7.2,573,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2601,3429,0,0,0,0,0,0
$GC,8102,-0.47,-146.0,977.1,-6.5,588,8106,0.00,2.10,0.00,0.000,4,0.000,0.037,2138,1211,3427,0,0,0,0,0,0
$GC,8158,-0.47,-146.0,981.1,-7.0,590,8164,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,2604,3427,0,0,0,0,0,0
$STATE,8307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8313,-0.16,0.0,991.0,6.6,598,8431,0.32,0.00,109.97,1.113,6,0.126,0.000,2245,2116,2871,0,0,0,0,0,0
$STATE,8432,end apogee,CONTROL_FINISHED_OK
$STATE,8432,begin climb
$GC,8435,0.47,146.0,993.6,0.0,603,8564,0.60,2.28,121.07,1.080,4,0.080,0.040,2464,733,2275,0,0,0,0,0,0
$GC,8642,0.47,146.0,977.6,11.6,613,8647,0.00,2.22,0.00,0.000,6,0.000,0.036,2464,2127,2268,0,0,0,0,0,0
$GC,8964,0.47,146.0,940.0,11.6,629,8968,0.00,2.22,0.00,0.000,4,0.000,0.047,2464,3541,2263,0,0,0,0,0,0
$GC,8996,0.47,146.0,936.0,11.9,630,9003,0.00,2.17,0.00,0.000,6,0.000,0.031,2474,2137,2262,0,0,0,0,0,0
$GC,9313,0.47,146.0,899.2,11.4,646,9317,0.00,2.17,0.00,0.000,4,0.000,0.041,2481,717,2261,0,0,0,0,0,0
$GC,9380,0.47,146.0,891.4,11.5,649,9385,0.12,2.17,0.00,0.000,6,0.174,0.037,2455,2127,2261,0,0,0,0,0,0
$GC,9702,0.47,146.0,859.1,10.1,665,9706,0.00,2.22,0.00,0.000,4,0.000,0.047,2455,3542,2259,0,0,0,0,0,0
$GC,9747,0.47,146.0,854.2,11.5,667,9751,0.00,2.15,0.00,0.000,6,0.000,0.032,2463,2125,2259,0,0,0,0,0,0
$GC,10074,0.47,146.0,818.9,10.9,683,10078,0.00,2.15,0.00,0.000,4,0.000,0.043,2477,718,2258,0,0,0,0,0,0
$GC,10190,0.47,146.0,805.6,11.2,688,10194,0.00,2.17,0.00,0.000,6,0.000,0.037,2474,2133,2258,0,0,0,0,0,0
$GC,10512,0.47,146.0,768.2,11.7,704,10516,0.00,2.17,0.00,0.000,4,0.000,0.046,2474,3540,2257,0,0,0,0,0,0
$GC,10611,0.47,146.0,755.0,13.6,708,10618,0.00,2.15,0.00,0.000,6,0.000,0.031,2483,2122,2256,0,0,0,0,0,0
$GC,10927,0.47,146.0,717.1,12.2,724,10931,0.00,2.12,0.00,0.000,4,0.000,0.041,2493,718,2256,0,0,0,0,0,0
$GC,11038,0.47,146.0,703.5,12.0,729,11043,0.15,2.15,0.00,0.000,6,0.173,0.036,2456,2130,2256,0,0,0,0,0,0
$GC,11360,0.47,146.0,670.8,9.9,745,11364,0.00,2.15,0.00,0.000,4,0.000,0.046,2455,3538,2255,0,0,0,0,0,0
$GC,11468,0.47,146.0,658.7,11.2,750,11472,0.00,2.15,0.00,0.000,6,0.000,0.031,2464,2112,2255,0,0,0,0,0,0
$GC,11795,0.47,146.0,623.7,10.7,766,11799,0.00,2.20,0.00,0.000,4,0.000,0.044,2465,3538,2255,0,0,0,0,0,0
$GC,11888,0.47,146.0,612.0,12.7,770,11893,0.00,2.17,0.00,0.000,6,0.000,0.031,2474,2125,2255,0,0,0,0,0,0
$GC,12211,0.47,146.0,573.6,11.9,786,12215,0.00,2.12,0.00,0.000,4,0.000,0.042,2484,722,2255,0,0,0,0,0,0
$GC,12319,0.47,146.0,561.0,11.7,791,12324,0.12,2.15,0.00,0.000,6,0.168,0.035,2453,2141,2255,0,0,0,0,0,0
$GC,12646,0.47,146.0,528.9,9.5,807,12650,0.00,2.15,0.00,0.000,4,0.000,0.045,2453,3540,2255,0,0,0,0,0,0
$GC,12667,0.47,146.0,526.5,9.7,808,12671,0.00,2.15,0.00,0.000,6,0.000,0.031,2461,2109,2255,0,0,0,0,0,0
$GC,12986,0.47,146.0,494.9,9.5,826,12990,0.00,2.12,0.00,0.000,4,0.000,0.042,2472,716,2254,0,0,0,0,0,0
$GC,13055,0.47,146.0,488.6,9.3,832,13059,0.00,2.12,0.00,0.000,6,0.000,0.035,2472,2123,2254,0,0,0,0,0,0
$GC,13381,0.47,146.0,455.0,10.4,862,13385,0.00,2.15,0.00,0.000,4,0.000,0.040,2482,719,2255,0,0,0,0,0,0
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$GC,13778,0.47,146.0,415.2,9.9,899,13782,0.00,2.15,0.00,0.000,4,0.000,0.045,2482,3535,2255,0,0,0,0,0,0
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