version: 66.09
glider: 181
mission: 6
dive: 95
start: 6 28 111 17 19 45
data:
$ID,181
$MISSION,6
$DIVE,95
$N_DIVES,100
$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,1
$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,-40541.84
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,280611,171155,2004.238,11956.889,39,1.3,39,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.5
$GPS2,280611,171920,2004.228,11956.871,11,1.8,11,-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,179.6,119077,-14.5,-8.250
$D_GRID,3524
$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,17,-0.47,-146.0,0.0,0.0,0,82,0.00,0.00,-62.72,0.000,2,0.000,0.000,198,2643,2676,0,0,0,0,0,0
$GC,85,-0.47,-146.0,3.7,-5.0,9,117,7.88,2.17,-15.27,0.000,4,0.233,0.040,2143,1186,3466,0,0,0,0,0,0
$GC,150,-0.47,-146.0,31.7,-44.3,19,159,0.00,2.22,0.00,0.000,6,0.000,0.045,2135,2569,3467,0,0,0,0,0,0
$GC,284,-0.47,-146.0,80.7,-32.0,44,292,0.00,1.90,0.00,0.000,4,0.000,0.041,2125,3796,3470,0,0,0,0,0,0
$GC,336,-0.47,-146.0,95.3,-27.1,53,344,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2616,3467,0,0,0,0,0,0
$GC,471,-0.47,-146.0,128.9,-21.8,78,479,0.00,2.12,0.00,0.000,4,0.000,0.028,2125,1196,3469,0,0,0,0,0,0
$GC,505,-0.47,-146.0,135.8,-21.0,83,513,0.10,2.20,0.00,0.000,6,0.148,0.037,2147,2600,3470,0,0,0,0,0,0
$GC,643,-0.47,-146.0,160.8,-20.7,108,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2601,3470,0,0,0,0,0,0
$GC,775,-0.47,-146.0,187.2,-18.4,133,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2601,3470,0,0,0,0,0,0
$GC,916,-0.47,-146.0,211.7,-17.3,153,920,0.00,2.08,0.00,0.000,4,0.000,0.029,2147,1199,3471,0,0,0,0,0,0
$GC,937,-0.47,-146.0,215.7,-16.9,154,945,0.00,2.15,0.00,0.000,6,0.000,0.037,2140,2581,3471,0,0,0,0,0,0
$GC,1264,-0.47,-146.0,263.2,-12.3,185,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2581,3470,0,0,0,0,0,0
$GC,1582,-0.47,-146.0,305.8,-13.1,215,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2582,3469,0,0,0,0,0,0
$GC,1900,-0.47,-146.0,346.1,-13.9,245,1904,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3788,3467,0,0,0,0,0,0
$GC,1995,-0.47,-146.0,356.6,-10.7,253,2002,0.00,1.83,0.00,0.000,6,0.000,0.027,2135,2569,3467,0,0,0,0,0,0
$GC,2320,-0.47,-146.0,398.2,-12.9,284,2324,0.00,2.00,0.00,0.000,4,0.000,0.033,2138,1205,3463,0,0,0,0,0,0
$GC,2400,-0.47,-146.0,407.3,-10.9,291,2404,0.00,2.08,0.00,0.000,6,0.000,0.038,2138,2567,3462,0,0,0,0,0,0
$GC,2725,-0.47,-146.0,441.8,-10.4,321,2729,0.00,1.85,0.00,0.000,4,0.000,0.047,2132,3786,3459,0,0,0,0,0,0
$GC,2777,-0.47,-146.0,446.8,-9.4,325,2783,0.00,1.80,0.00,0.000,6,0.000,0.028,2132,2561,3458,0,0,0,0,0,0
$GC,3102,-0.47,-146.0,481.5,-11.3,356,3106,0.00,2.00,0.00,0.000,4,0.000,0.034,2132,1201,3455,0,0,0,0,0,0
$GC,3185,-0.47,-146.0,491.2,-10.9,363,3192,0.00,2.10,0.00,0.000,6,0.000,0.039,2125,2545,3454,0,0,0,0,0,0
$GC,3514,-0.47,-146.0,535.1,-13.7,383,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2545,3452,0,0,0,0,0,0
$GC,3824,-0.47,-146.0,575.6,-12.7,398,3827,0.00,1.88,0.00,0.000,4,0.000,0.048,2116,3778,3449,0,0,0,0,0,0
$GC,3856,-0.47,-146.0,580.0,-12.3,399,3861,0.08,1.85,0.00,0.000,6,0.134,0.030,2142,2553,3451,0,0,0,0,0,0
$GC,4178,-0.47,-146.0,612.7,-9.7,415,4182,0.00,2.03,0.00,0.000,4,0.000,0.036,2142,1194,3445,0,0,0,0,0,0
$GC,4210,-0.47,-146.0,616.1,-10.0,416,4214,0.00,2.08,0.00,0.000,6,0.000,0.041,2139,2549,3446,0,0,0,0,0,0
$GC,4532,-0.47,-146.0,647.5,-10.2,432,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2549,3443,0,0,0,0,0,0
$GC,4842,-0.47,-146.0,676.5,-8.9,447,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2549,3441,0,0,0,0,0,0
$GC,5151,-0.47,-146.0,702.2,-8.0,462,5155,0.00,2.03,0.00,0.000,4,0.000,0.035,2139,1202,3439,0,0,0,0,0,0
$GC,5197,-0.47,-146.0,706.0,-8.0,464,5201,0.00,2.08,0.00,0.000,6,0.000,0.041,2138,2551,3438,0,0,0,0,0,0
$GC,5531,-0.47,-146.0,732.3,-8.2,480,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2551,3436,0,0,0,0,0,0
$GC,5839,-0.47,-146.0,760.0,-9.6,495,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2551,3435,0,0,0,0,0,0
$GC,6149,-0.47,-146.0,791.5,-10.3,510,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2551,3436,0,0,0,0,0,0
$GC,6458,-0.47,-146.0,822.7,-9.8,525,6462,0.00,1.92,0.00,0.000,4,0.000,0.051,2131,3777,3431,0,0,0,0,0,0
$GC,6485,-0.47,-146.0,825.6,-9.7,526,6489,0.00,1.88,0.00,0.000,6,0.000,0.030,2131,2546,3432,0,0,0,0,0,0
$GC,6813,-0.47,-146.0,857.4,-9.6,542,6817,0.00,2.00,0.00,0.000,4,0.000,0.037,2131,1199,3431,0,0,0,0,0,0
$GC,6882,-0.47,-146.0,863.9,-9.2,545,6885,0.00,2.05,0.00,0.000,6,0.000,0.041,2125,2537,3430,0,0,0,0,0,0
$GC,7215,-0.47,-146.0,893.6,-8.8,561,7218,0.00,1.92,0.00,0.000,4,0.000,0.052,2124,3785,3429,0,0,0,0,0,0
$GC,7276,-0.47,-146.0,898.8,-8.2,563,7283,0.00,1.85,0.00,0.000,6,0.000,0.030,2125,2538,3428,0,0,0,0,0,0
$GC,7593,-0.47,-146.0,924.5,-8.0,579,7597,0.00,2.00,0.00,0.000,4,0.000,0.037,2130,1196,3427,0,0,0,0,0,0
$GC,7676,-0.47,-146.0,931.3,-7.5,582,7683,0.00,2.10,0.00,0.000,6,0.000,0.042,2124,2548,3427,0,0,0,0,0,0
$GC,7993,-0.47,-146.0,956.3,-7.8,598,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2548,3425,0,0,0,0,0,0
$GC,8302,-0.47,-146.0,980.6,-7.9,613,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2548,3424,0,0,0,0,0,0
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8429,-0.16,0.0,990.4,7.7,619,8545,0.38,0.00,109.97,1.114,4,0.132,0.000,2246,2107,2869,0,0,0,0,0,0
$STATE,8546,end apogee,CONTROL_FINISHED_OK
$STATE,8546,begin climb
$GC,8548,0.47,146.0,992.8,0.0,624,8679,0.62,2.25,120.12,1.082,4,0.088,0.041,2453,719,2273,0,0,0,0,0,0
$GC,8690,0.47,146.0,984.4,10.0,631,8694,0.00,2.30,0.00,0.000,6,0.000,0.034,2457,2129,2272,0,0,0,0,0,0
$GC,9018,0.47,146.0,948.4,11.2,647,9022,0.00,2.22,0.00,0.000,4,0.000,0.046,2452,3541,2264,0,0,0,0,0,0
$GC,9058,0.47,146.0,943.5,12.8,649,9062,0.00,2.20,0.00,0.000,6,0.000,0.031,2462,2116,2263,0,0,0,0,0,0
$GC,9384,0.47,146.0,906.1,11.3,665,9388,0.00,2.15,0.00,0.000,4,0.000,0.041,2473,711,2262,0,0,0,0,0,0
$GC,9456,0.47,146.0,897.9,11.0,668,9461,0.00,2.22,0.00,0.000,6,0.000,0.035,2473,2129,2262,0,0,0,0,0,0
$GC,9778,0.47,146.0,861.7,11.5,684,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2129,2261,0,0,0,0,0,0
$GC,10087,0.47,146.0,827.5,10.8,699,10091,0.00,2.20,0.00,0.000,4,0.000,0.046,2473,3548,2260,0,0,0,0,0,0
$GC,10127,0.47,146.0,822.7,11.9,701,10131,0.00,2.15,0.00,0.000,6,0.000,0.031,2482,2130,2258,0,0,0,0,0,0
$GC,10454,0.47,146.0,785.9,11.0,717,10458,0.00,2.15,0.00,0.000,4,0.000,0.041,2493,712,2258,0,0,0,0,0,0
$GC,10508,0.47,146.0,779.9,10.6,719,10516,0.15,2.17,0.00,0.000,6,0.179,0.034,2456,2136,2258,0,0,0,0,0,0
$GC,10825,0.49,159.0,754.8,7.8,735,10839,0.00,2.22,9.05,0.884,4,0.000,0.047,2456,3533,2221,0,0,0,0,0,0
$GC,10896,0.49,159.0,748.8,8.7,738,10899,0.00,2.15,0.00,0.000,6,0.000,0.031,2464,2121,2221,0,0,0,0,0,0
$GC,11224,0.52,189.9,724.6,7.1,754,11254,0.00,2.20,25.85,0.926,4,0.000,0.040,2475,712,2096,0,0,0,0,0,0
$GC,11334,0.54,201.9,716.0,7.8,759,11352,0.00,2.17,11.15,0.835,6,0.000,0.035,2474,2109,2046,0,0,0,0,0,0
$GC,11662,0.54,201.9,684.8,10.1,775,11666,0.00,2.25,0.00,0.000,4,0.000,0.047,2475,3537,2043,0,0,0,0,0,0
$GC,11734,0.54,201.9,676.1,11.5,778,11738,0.00,2.20,0.00,0.000,6,0.000,0.031,2485,2098,2042,0,0,0,0,0,0
$GC,12063,0.54,201.9,638.4,11.8,794,12067,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,716,2041,0,0,0,0,0,0
$GC,12141,0.54,201.9,628.6,12.1,797,12148,0.00,2.12,0.00,0.000,6,0.000,0.036,2495,2100,2041,0,0,0,0,0,0
$GC,12457,0.54,201.9,588.1,12.9,813,12461,0.00,2.22,0.00,0.000,4,0.000,0.046,2495,3541,2041,0,0,0,0,0,0
$GC,12498,0.54,201.9,582.4,14.0,815,12502,0.00,2.20,0.00,0.000,6,0.000,0.031,2505,2090,2040,0,0,0,0,0,0
$GC,12825,0.54,201.9,538.3,13.6,831,12829,0.00,2.08,0.00,0.000,4,0.000,0.041,2515,722,2040,0,0,0,0,0,0
$GC,12961,0.54,201.9,520.7,12.5,837,12966,0.15,2.08,0.00,0.000,6,0.164,0.035,2476,2084,2040,0,0,0,0,0,0
$GC,13281,0.54,201.9,488.8,9.2,858,13285,0.00,2.25,0.00,0.000,4,0.000,0.047,2476,3541,2040,0,0,0,0,0,0
$GC,13342,0.54,201.9,482.1,10.7,863,13348,0.00,2.20,0.00,0.000,6,0.000,0.031,2484,2081,2039,0,0,0,0,0,0
$GC,13667,0.54,201.9,451.9,9.4,894,13670,0.00,2.05,0.00,0.000,4,0.000,0.041,2494,725,2039,0,0,0,0,0,0
$GC,13694,0.54,201.9,449.2,9.1,896,13701,0.00,2.12,0.00,0.000,6,0.000,0.034,2495,2090,2038,0,0,0,0,0,0
$GC,14020,0.54,201.9,417.4,11.1,927,14023,0.00,2.10,0.00,0.000,4,0.000,0.040,2505,710,2040,0,0,0,0,0,0
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$STATE,18558,end climb,SURFACE_DEPTH_REACHED
$STATE,18558,begin surface coast
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