version: 66.09
glider: 181
mission: 6
dive: 243
start: 7 26 111 3 52 51
data:
$ID,181
$MISSION,6
$DIVE,243
$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,-40825.156
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,260711,034336,1902.807,12001.027,26,1.4,26,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.9
$GPS2,260711,035226,1902.903,12001.004,16,1.5,16,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,MIDPOINT
$TGT_LATLONG,2030.000,12000.000
$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,1.4,161312,-15.3,-11.000
$D_GRID,3179
$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,-70.50,0.000,2,0.000,0.000,195,2617,2461,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.5,-3.9,10,132,8.07,1.90,-24.88,0.000,4,0.231,0.059,2132,3783,3765,0,0,0,0,0,0
$GC,223,-0.52,-219.0,66.3,-42.6,32,231,0.00,1.83,0.00,0.000,6,0.000,0.024,2132,2576,3766,0,0,0,0,0,0
$GC,356,-0.52,-219.0,106.2,-27.2,57,364,0.00,2.05,0.00,0.000,4,0.000,0.024,2132,1190,3766,0,0,0,0,0,0
$GC,378,-0.52,-219.0,112.6,-29.7,60,387,0.00,2.25,0.00,0.000,6,0.000,0.041,2125,2606,3767,0,0,0,0,0,0
$GC,512,-0.52,-219.0,142.7,-23.0,85,520,0.00,1.85,0.00,0.000,4,0.000,0.043,2116,3790,3768,0,0,0,0,0,0
$GC,555,-0.52,-219.0,152.0,-22.6,92,563,0.10,1.80,0.00,0.000,6,0.136,0.024,2148,2585,3768,0,0,0,0,0,0
$GC,692,-0.52,-219.0,174.8,-14.7,117,701,0.00,2.05,0.00,0.000,4,0.000,0.028,2147,1212,3772,0,0,0,0,0,0
$GC,750,-0.52,-219.0,183.2,-12.4,127,758,0.00,2.12,0.00,0.000,6,0.000,0.034,2141,2579,3768,0,0,0,0,0,0
$GC,890,-0.52,-219.0,202.0,-13.7,152,894,0.00,1.83,0.00,0.000,4,0.000,0.044,2134,3778,3768,0,0,0,0,0,0
$GC,960,-0.52,-219.0,211.9,-11.2,158,969,0.00,1.73,0.00,0.000,6,0.000,0.023,2138,2612,3768,0,0,0,0,0,0
$GC,1287,-0.52,-219.0,258.1,-14.0,189,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2612,3767,0,0,0,0,0,0
$GC,1606,-0.52,-219.0,302.1,-13.0,219,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2612,3765,0,0,0,0,0,0
$GC,1926,-0.52,-219.0,345.3,-12.6,249,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2612,3761,0,0,0,0,0,0
$GC,2253,-0.52,-219.0,384.5,-12.2,280,2256,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3777,3758,0,0,0,0,0,0
$GC,2277,-0.52,-219.0,387.2,-11.5,282,2280,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2632,3758,0,0,0,0,0,0
$GC,2608,-0.52,-219.0,424.3,-11.1,313,2611,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1204,3755,0,0,0,0,0,0
$GC,2641,-0.52,-219.0,428.0,-10.7,315,2648,0.00,2.17,0.00,0.000,6,0.000,0.036,2138,2630,3754,0,0,0,0,0,0
$GC,2966,-0.52,-219.0,462.1,-11.1,346,2970,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3773,3751,0,0,0,0,0,0
$GC,3028,-0.52,-219.0,468.2,-9.1,351,3035,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2630,3750,0,0,0,0,0,0
$GC,3363,-0.52,-219.0,503.3,-11.2,382,3367,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1196,3747,0,0,0,0,0,0
$GC,3425,-0.52,-219.0,509.8,-9.8,385,3430,0.00,2.22,0.00,0.000,6,0.000,0.037,2138,2644,3747,0,0,0,0,0,0
$GC,3754,-0.52,-219.0,541.5,-9.7,401,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2645,3744,0,0,0,0,0,0
$GC,4062,-0.52,-219.0,571.5,-10.2,416,4066,0.00,2.17,0.00,0.000,4,0.000,0.031,2139,1200,3740,0,0,0,0,0,0
$GC,4089,-0.52,-219.0,574.6,-10.4,417,4094,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2622,3740,0,0,0,0,0,0
$GC,4411,-0.52,-219.0,607.1,-10.1,433,4415,0.00,1.80,0.00,0.000,4,0.000,0.049,2137,3788,3738,0,0,0,0,0,0
$GC,4437,-0.52,-219.0,609.2,-9.3,434,4441,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2619,3737,0,0,0,0,0,0
$GC,4770,-0.52,-219.0,640.1,-9.4,450,4774,0.00,2.12,0.00,0.000,4,0.000,0.032,2139,1191,3734,0,0,0,0,0,0
$GC,4833,-0.52,-219.0,645.4,-7.9,453,4838,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2617,3734,0,0,0,0,0,0
$GC,5162,-0.52,-219.0,672.9,-8.7,469,5165,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3777,3732,0,0,0,0,0,0
$GC,5195,-0.52,-219.0,675.7,-8.7,470,5199,0.00,1.73,0.00,0.000,6,0.000,0.027,2138,2608,3731,0,0,0,0,0,0
$GC,5517,-0.52,-219.0,703.2,-9.1,486,5521,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1200,3730,0,0,0,0,0,0
$GC,5567,-0.52,-219.0,708.2,-9.1,488,5571,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2624,3729,0,0,0,0,0,0
$GC,5888,-0.52,-219.0,738.2,-9.5,504,5892,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3784,3728,0,0,0,0,0,0
$GC,5915,-0.52,-219.0,740.9,-9.4,505,5919,0.00,1.75,0.00,0.000,6,0.000,0.028,2134,2595,3728,0,0,0,0,0,0
$GC,6243,-0.52,-219.0,767.7,-8.1,521,6247,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1202,3726,0,0,0,0,0,0
$GC,6306,-0.52,-219.0,772.5,-7.3,524,6310,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2606,3725,0,0,0,0,0,0
$GC,6633,-0.52,-219.0,795.1,-6.9,540,6637,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3780,3724,0,0,0,0,0,0
$GC,6679,-0.52,-219.0,798.2,-6.4,542,6683,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2608,3723,0,0,0,0,0,0
$GC,7012,-0.52,-219.0,821.7,-7.1,558,7016,0.00,2.10,0.00,0.000,4,0.000,0.033,2144,1204,3721,0,0,0,0,0,0
$GC,7079,-0.52,-219.0,826.6,-7.0,561,7083,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2598,3721,0,0,0,0,0,0
$GC,7407,-0.52,-219.0,849.6,-7.1,577,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3720,0,0,0,0,0,0
$GC,7717,-0.52,-219.0,872.5,-7.6,592,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2599,3718,0,0,0,0,0,0
$GC,8026,-0.52,-219.0,896.4,-7.7,607,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3718,0,0,0,0,0,0
$GC,8335,-0.52,-219.0,919.1,-6.9,622,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3716,0,0,0,0,0,0
$GC,8644,-0.52,-219.0,940.6,-7.1,637,8648,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1208,3714,0,0,0,0,0,0
$GC,8677,-0.52,-219.0,943.3,-7.3,638,8685,0.00,2.17,0.00,0.000,6,0.000,0.038,2144,2599,3714,0,0,0,0,0,0
$GC,8994,-0.52,-219.0,965.4,-7.0,654,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3713,0,0,0,0,0,0
$GC,9303,-0.52,-219.0,986.0,-6.6,669,9307,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1206,3712,0,0,0,0,0,0
$GC,9336,-0.52,-219.0,988.5,-6.6,670,9340,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2587,3712,0,0,0,0,0,0
$STATE,9366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9366,begin apogee
$GC,9373,-0.13,0.0,990.4,6.7,672,9542,0.40,0.00,163.02,1.095,4,0.100,0.000,2277,2109,2870,0,0,0,0,0,0
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9546,0.52,219.0,998.0,0.0,680,9728,0.55,0.00,176.73,1.066,6,0.048,0.000,2498,2109,1977,0,0,0,0,0,0
$GC,10045,0.52,219.0,943.7,13.9,704,10050,0.00,2.30,0.00,0.000,4,0.000,0.044,2496,3542,1973,0,0,0,0,0,0
$GC,10186,0.52,219.0,921.3,16.4,710,10191,0.00,2.15,0.00,0.000,6,0.000,0.029,2507,2150,1974,0,0,0,0,0,0
$GC,10503,0.52,219.0,875.6,14.3,725,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2149,1973,0,0,0,0,0,0
$GC,10812,0.52,219.0,831.7,14.3,740,10816,0.00,2.17,0.00,0.000,4,0.000,0.037,2518,722,1972,0,0,0,0,0,0
$GC,10844,0.52,219.0,826.6,14.3,741,10851,0.00,2.17,0.00,0.000,6,0.000,0.035,2518,2130,1972,0,0,0,0,0,0
$GC,11161,0.52,219.0,778.4,15.2,757,11165,0.00,2.20,0.00,0.000,4,0.000,0.046,2514,3539,1971,0,0,0,0,0,0
$GC,11183,0.52,219.0,774.6,15.5,758,11187,0.15,2.17,0.00,0.000,6,0.184,0.028,2496,2113,1971,0,0,0,0,0,0
$GC,11510,0.52,219.0,734.9,11.5,774,11514,0.00,2.25,0.00,0.000,4,0.000,0.043,2491,3541,1970,0,0,0,0,0,0
$GC,11526,0.52,219.0,732.7,11.3,774,11533,0.00,2.17,0.00,0.000,6,0.000,0.028,2500,2117,1971,0,0,0,0,0,0
$GC,11842,0.52,219.0,693.6,12.6,790,11846,0.00,2.12,0.00,0.000,4,0.000,0.039,2511,722,1971,0,0,0,0,0,0
$GC,11953,0.52,219.0,679.9,12.3,795,11957,0.00,2.12,0.00,0.000,6,0.000,0.034,2511,2108,1970,0,0,0,0,0,0
$GC,12281,0.52,219.0,638.7,12.4,811,12285,0.00,2.22,0.00,0.000,4,0.000,0.045,2511,3538,1970,0,0,0,0,0,0
$GC,12343,0.52,219.0,629.7,15.1,814,12348,0.12,2.15,0.00,0.000,6,0.180,0.029,2490,2121,1970,0,0,0,0,0,0
$GC,12670,0.52,219.0,592.1,11.3,830,12674,0.00,2.15,0.00,0.000,4,0.000,0.041,2499,712,1970,0,0,0,0,0,0
$GC,12725,0.52,219.0,585.5,11.7,832,12733,0.00,2.20,0.00,0.000,6,0.000,0.034,2499,2117,1970,0,0,0,0,0,0
$GC,13042,0.52,219.0,550.0,11.0,848,13046,0.00,2.20,0.00,0.000,4,0.000,0.045,2499,3533,1970,0,0,0,0,0,0
$GC,13074,0.52,219.0,545.9,12.0,849,13081,0.00,2.12,0.00,0.000,6,0.000,0.029,2508,2132,1970,0,0,0,0,0,0
$GC,13390,0.52,219.0,505.0,13.4,865,13394,0.00,2.15,0.00,0.000,4,0.000,0.040,2519,722,1970,0,0,0,0,0,0
$GC,13487,0.52,219.0,492.4,13.1,872,13491,0.00,2.17,0.00,0.000,6,0.000,0.036,2520,2129,1969,0,0,0,0,0,0
$GC,13818,0.52,219.0,447.6,12.8,903,13822,0.00,2.17,0.00,0.000,4,0.000,0.039,2529,710,1971,0,0,0,0,0,0
$GC,13863,0.52,219.0,441.8,12.5,906,13870,0.15,2.17,0.00,0.000,6,0.160,0.034,2489,2122,1970,0,0,0,0,0,0
$GC,14188,0.60,283.6,410.5,8.8,937,14244,0.00,2.28,47.67,0.730,4,0.000,0.046,2489,3540,1709,0,0,0,0,0,0
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$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
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$STATE,17653,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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