version: 66.09
glider: 181
mission: 6
dive: 181
start: 7 14 111 22 19 39
data:
$ID,181
$MISSION,6
$DIVE,181
$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,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,-40747.027
$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,70
$R_STBD_OVSHOOT,39
$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
$GPS1,140711,221036,1932.457,12025.600,32,0.8,32,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.4
$GPS2,140711,221914,1932.530,12025.532,11,1.9,11,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,176.4,108023,-15.3,-11.000
$D_GRID,3122
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.52,-219.0,0.0,0.0,0,90,0.00,0.00,-70.55,0.000,2,0.000,0.000,170,2552,2395,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.1,-3.1,10,139,7.97,1.90,-30.33,0.000,4,0.227,0.053,2134,3777,3764,0,0,0,0,0,0
$GC,172,-0.52,-219.0,30.0,-50.8,22,180,0.00,1.75,0.00,0.000,6,0.000,0.024,2134,2606,3765,0,0,0,0,0,0
$GC,306,-0.52,-219.0,90.5,-39.9,47,314,0.00,1.85,0.00,0.000,4,0.000,0.044,2124,3774,3765,0,0,0,0,0,0
$GC,337,-0.52,-219.0,104.0,-42.0,52,346,0.00,1.70,0.00,0.000,6,0.000,0.025,2124,2630,3765,0,0,0,0,0,0
$GC,473,-0.52,-219.0,146.5,-27.5,77,481,0.00,1.80,0.00,0.000,4,0.000,0.043,2116,3774,3766,0,0,0,0,0,0
$GC,489,-0.52,-219.0,151.8,-28.4,79,498,0.10,1.70,0.00,0.000,6,0.157,0.024,2145,2616,3766,0,0,0,0,0,0
$GC,628,-0.52,-219.0,189.5,-24.5,104,636,0.00,1.80,0.00,0.000,4,0.000,0.042,2139,3770,3768,0,0,0,0,0,0
$GC,670,-0.52,-219.0,198.6,-20.1,111,678,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2657,3767,0,0,0,0,0,0
$GC,814,-0.52,-219.0,224.7,-19.4,125,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2656,3768,0,0,0,0,0,0
$GC,1133,-0.52,-219.0,278.2,-15.9,155,1137,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1216,3771,0,0,0,0,0,0
$GC,1176,-0.52,-219.0,285.0,-13.3,158,1185,0.00,2.22,0.00,0.000,6,0.000,0.035,2138,2662,3768,0,0,0,0,0,0
$GC,1502,-0.52,-219.0,323.1,-11.0,189,1505,0.00,1.67,0.00,0.000,4,0.000,0.044,2130,3779,3765,0,0,0,0,0,0
$GC,1526,-0.52,-219.0,325.7,-10.9,191,1529,0.00,1.60,0.00,0.000,6,0.000,0.024,2130,2700,3765,0,0,0,0,0,0
$GC,1857,-0.52,-219.0,369.5,-14.4,222,1861,0.00,2.15,0.00,0.000,4,0.000,0.028,2130,1216,3762,0,0,0,0,0,0
$GC,1912,-0.52,-219.0,376.6,-11.3,226,1919,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2678,3762,0,0,0,0,0,0
$GC,2238,-0.52,-219.0,419.2,-12.5,257,2241,0.00,1.65,0.00,0.000,4,0.000,0.047,2125,3775,3758,0,0,0,0,0,0
$GC,2276,-0.52,-219.0,424.1,-11.9,260,2283,0.00,1.60,0.00,0.000,6,0.000,0.024,2124,2694,3758,0,0,0,0,0,0
$GC,2602,-0.52,-219.0,467.9,-16.4,291,2606,0.00,2.15,0.00,0.000,4,0.000,0.030,2124,1218,3755,0,0,0,0,0,0
$GC,2709,-0.52,-219.0,483.7,-13.3,300,2713,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2657,3754,0,0,0,0,0,0
$GC,3028,-0.52,-219.0,531.4,-13.9,320,3032,0.10,1.70,0.00,0.000,4,0.174,0.047,2150,3771,3750,0,0,0,0,0,0
$GC,3078,-0.52,-219.0,536.8,-9.5,322,3082,0.00,1.62,0.00,0.000,6,0.000,0.026,2150,2679,3750,0,0,0,0,0,0
$GC,3406,-0.52,-219.0,562.5,-7.6,338,3410,0.00,2.12,0.00,0.000,4,0.000,0.031,2150,1222,3746,0,0,0,0,0,0
$GC,3462,-0.52,-219.0,566.4,-6.9,340,3469,0.00,2.20,0.00,0.000,6,0.000,0.036,2150,2662,3746,0,0,0,0,0,0
$GC,3779,-0.52,-219.0,586.3,-6.2,356,3783,0.00,2.15,0.00,0.000,4,0.000,0.031,2150,1216,3744,0,0,0,0,0,0
$GC,3818,-0.52,-219.0,588.6,-5.8,357,3825,0.00,2.17,0.00,0.000,6,0.000,0.037,2150,2647,3743,0,0,0,0,0,0
$GC,4134,-0.52,-219.0,605.6,-5.8,373,4138,0.00,1.70,0.00,0.000,4,0.000,0.047,2150,3773,3740,0,0,0,0,0,0
$GC,4162,-0.52,-219.0,607.4,-5.8,374,4165,0.00,1.65,0.00,0.000,6,0.000,0.026,2150,2638,3740,0,0,0,0,0,0
$GC,4490,-0.52,-219.0,629.0,-7.6,390,4493,0.00,2.10,0.00,0.000,4,0.000,0.031,2150,1202,3737,0,0,0,0,0,0
$GC,4545,-0.52,-219.0,633.7,-7.9,392,4552,0.00,2.20,0.00,0.000,6,0.000,0.036,2150,2646,3737,0,0,0,0,0,0
$GC,4861,-0.52,-219.0,659.5,-8.3,408,4865,0.00,2.15,0.00,0.000,4,0.000,0.032,2150,1205,3737,0,0,0,0,0,0
$GC,4895,-0.52,-219.0,662.4,-8.2,409,4902,0.00,2.17,0.00,0.000,6,0.000,0.037,2150,2633,3733,0,0,0,0,0,0
$GC,5211,-0.52,-219.0,685.5,-6.9,425,5215,0.00,2.15,0.00,0.000,4,0.000,0.032,2150,1194,3729,0,0,0,0,0,0
$GC,5252,-0.52,-219.0,688.2,-6.7,427,5256,0.00,2.17,0.00,0.000,6,0.000,0.037,2152,2615,3731,0,0,0,0,0,0
$GC,5580,-0.52,-219.0,704.8,-4.3,443,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2615,3729,0,0,0,0,0,0
$GC,5889,-0.52,-219.0,718.8,-5.0,458,5893,0.00,2.12,0.00,0.000,4,0.000,0.032,2150,1191,3728,0,0,0,0,0,0
$GC,5933,-0.52,-219.0,721.2,-5.1,460,5937,0.00,2.17,0.00,0.000,6,0.000,0.037,2150,2609,3728,0,0,0,0,0,0
$GC,6254,-0.52,-219.0,741.3,-6.9,476,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2611,3725,0,0,0,0,0,0
$GC,6564,-0.52,-219.0,767.0,-9.2,491,6568,0.00,2.10,0.00,0.000,4,0.000,0.033,2150,1205,3724,0,0,0,0,0,0
$GC,6605,-0.52,-219.0,770.8,-9.3,493,6609,0.00,2.12,0.00,0.000,6,0.000,0.037,2150,2596,3723,0,0,0,0,0,0
$GC,6932,-0.52,-219.0,799.6,-8.6,509,6935,0.00,1.83,0.00,0.000,4,0.000,0.050,2150,3786,3722,0,0,0,0,0,0
$GC,6970,-0.52,-219.0,803.1,-8.5,510,6977,0.00,1.77,0.00,0.000,6,0.000,0.028,2150,2575,3722,0,0,0,0,0,0
$GC,7287,-0.52,-219.0,829.2,-8.4,526,7290,0.00,2.03,0.00,0.000,4,0.000,0.034,2150,1205,3721,0,0,0,0,0,0
$GC,7378,-0.52,-219.0,836.5,-8.0,530,7382,0.00,2.15,0.00,0.000,6,0.000,0.035,2150,2617,3720,0,0,0,0,0,0
$GC,7705,-0.52,-219.0,866.7,-9.4,546,7709,0.00,2.10,0.00,0.000,4,0.000,0.034,2157,1214,3719,0,0,0,0,0,0
$GC,7828,-0.52,-219.0,879.3,-10.5,551,7835,0.00,2.12,0.00,0.000,6,0.000,0.035,2158,2608,3718,0,0,0,0,0,0
$GC,8144,-0.52,-219.0,909.8,-9.4,567,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2608,3718,0,0,0,0,0,0
$GC,8454,-0.52,-219.0,937.5,-8.6,582,8457,0.00,2.10,0.00,0.000,4,0.000,0.034,2160,1210,3716,0,0,0,0,0,0
$GC,8607,-0.52,-219.0,950.7,-8.5,588,8614,0.00,2.12,0.00,0.000,6,0.000,0.036,2160,2594,3716,0,0,0,0,0,0
$GC,8923,-0.52,-219.0,975.9,-7.7,604,8927,0.00,1.80,0.00,0.000,4,0.000,0.047,2160,3777,3714,0,0,0,0,0,0
$GC,8992,-0.52,-219.0,981.6,-8.7,607,8996,0.00,1.70,0.00,0.000,6,0.000,0.025,2160,2606,3714,0,0,0,0,0,0
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9096,begin apogee
$GC,9103,-0.13,0.0,990.1,7.9,612,9274,0.30,0.00,165.48,1.101,4,0.067,0.000,2294,2111,2868,0,0,0,0,0,0
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9275,begin climb
$GC,9277,0.52,219.0,998.7,0.0,620,9463,0.52,2.22,175.73,1.070,4,0.050,0.038,2507,741,1976,0,0,0,0,0,0
$GC,9698,0.52,219.0,954.8,13.0,639,9702,0.00,2.17,0.00,0.000,6,0.000,0.033,2501,2122,1977,0,0,0,0,0,0
$GC,10019,0.52,219.0,910.8,14.1,655,10023,0.00,2.12,0.00,0.000,4,0.000,0.037,2510,744,1977,0,0,0,0,0,0
$GC,10277,0.52,219.0,876.5,12.7,666,10284,0.00,2.15,0.00,0.000,6,0.000,0.035,2510,2132,1978,0,0,0,0,0,0
$GC,10593,0.52,219.0,831.5,14.6,682,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2132,1978,0,0,0,0,0,0
$GC,10902,0.52,219.0,784.2,15.6,697,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2132,1977,0,0,0,0,0,0
$GC,11212,0.52,219.0,734.6,16.0,712,11216,0.00,2.17,0.00,0.000,4,0.000,0.046,2510,3541,1977,0,0,0,0,0,0
$GC,11257,0.52,219.0,727.1,16.7,714,11262,0.12,2.12,0.00,0.000,6,0.179,0.029,2489,2139,1977,0,0,0,0,0,0
$GC,11592,0.52,219.0,681.8,12.9,730,11596,0.00,2.15,0.00,0.000,4,0.000,0.039,2499,713,1976,0,0,0,0,0,0
$GC,11686,0.52,219.0,669.7,12.4,734,11690,0.00,2.15,0.00,0.000,6,0.000,0.034,2499,2119,1977,0,0,0,0,0,0
$GC,12008,0.52,219.0,630.8,12.0,750,12009,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2119,1976,0,0,0,0,0,0
$GC,12318,0.52,219.0,592.2,12.9,765,12322,0.00,2.17,0.00,0.000,4,0.000,0.045,2499,3537,1976,0,0,0,0,0,0
$GC,12358,0.52,219.0,586.6,14.4,767,12362,0.00,2.15,0.00,0.000,6,0.000,0.028,2508,2101,1976,0,0,0,0,0,0
$GC,12685,0.52,219.0,543.8,12.7,783,12689,0.00,2.08,0.00,0.000,4,0.000,0.038,2519,714,1976,0,0,0,0,0,0
$GC,12752,0.52,219.0,534.9,12.9,786,12756,0.00,2.15,0.00,0.000,6,0.000,0.033,2519,2130,1976,0,0,0,0,0,0
$GC,13072,0.52,219.0,492.5,12.8,804,13076,0.00,2.15,0.00,0.000,4,0.000,0.045,2519,3534,1976,0,0,0,0,0,0
$GC,13152,0.52,219.0,481.3,13.9,810,13160,0.15,2.12,0.00,0.000,6,0.173,0.028,2490,2120,1976,0,0,0,0,0,0
$GC,13478,0.58,260.8,449.6,9.6,841,13515,0.00,2.15,32.08,0.761,4,0.000,0.038,2499,725,1806,0,0,0,0,0,0
$GC,13567,0.64,310.4,441.4,9.3,848,13610,0.00,2.15,37.90,0.728,6,0.000,0.034,2500,2107,1604,0,0,0,0,0,0
$GC,13931,0.64,310.4,398.5,12.8,882,13935,0.00,2.22,0.00,0.000,4,0.000,0.045,2499,3535,1607,0,0,0,0,0,0
$GC,13975,0.64,310.4,391.8,14.1,885,13982,0.00,2.17,0.00,0.000,6,0.000,0.029,2509,2107,1606,0,0,0,0,0,0
$GC,14301,0.64,310.4,345.3,13.9,916,14305,0.00,2.25,0.00,0.000,4,0.000,0.044,2510,3542,1604,0,0,0,0,0,0
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$STATE,17427,end climb,SURFACE_DEPTH_REACHED
$STATE,17427,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,234164224
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