version: 66.09
glider: 181
mission: 6
dive: 247
start: 7 26 111 23 54 58
data:
$ID,181
$MISSION,6
$DIVE,247
$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,450
$T_MISSION,500
$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,-40830.188
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,260711,234656,1912.188,11959.208,32,2.1,51,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-56.8
$GPS2,260711,235434,1912.256,11959.121,14,2.2,33,-2.1
$SPEED_LIMITS,0.127,0.233
$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,2.7,143989,-12.8,-7.333
$D_GRID,4089
$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,-0.39,-146.0,0.0,0.0,0,82,0.00,0.00,-63.53,0.000,2,0.000,0.000,189,2577,2247,0,0,0,0,0,0
$GC,85,-0.39,-146.0,3.1,-3.7,9,125,8.15,1.92,-26.25,0.000,4,0.228,0.054,2173,3780,3466,0,0,0,0,0,0
$GC,169,-0.39,-146.0,30.2,-40.7,22,177,0.00,1.80,0.00,0.000,6,0.000,0.024,2173,2589,3464,0,0,0,0,0,0
$GC,302,-0.39,-146.0,85.6,-33.0,47,311,0.00,2.08,0.00,0.000,4,0.000,0.026,2173,1194,3464,0,0,0,0,0,0
$GC,375,-0.39,-146.0,102.3,-18.6,60,383,0.00,2.20,0.00,0.000,6,0.000,0.036,2165,2598,3464,0,0,0,0,0,0
$GC,509,-0.39,-146.0,121.6,-15.2,85,517,0.00,1.83,0.00,0.000,4,0.000,0.041,2156,3776,3465,0,0,0,0,0,0
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$GC,750,-0.39,-146.0,151.8,-9.6,128,759,0.00,2.08,0.00,0.000,6,0.000,0.032,2181,2560,3465,0,0,0,0,0,0
$GC,886,-0.39,-146.0,166.3,-11.3,153,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2561,3465,0,0,0,0,0,0
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$GC,1189,-0.39,-146.0,194.5,-8.4,208,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2550,3466,0,0,0,0,0,0
$GC,1330,-0.39,-146.0,208.3,-9.6,226,1333,0.00,1.88,0.00,0.000,4,0.000,0.041,2167,3783,3466,0,0,0,0,0,0
$GC,1345,-0.39,-146.0,210.1,-9.7,227,1352,0.00,1.75,0.00,0.000,6,0.000,0.024,2167,2567,3465,0,0,0,0,0,0
$GC,1671,-0.39,-146.0,244.7,-9.7,258,1674,0.00,1.98,0.00,0.000,4,0.000,0.028,2167,1212,3464,0,0,0,0,0,0
$GC,1716,-0.39,-146.0,249.0,-9.6,262,1720,0.00,2.05,0.00,0.000,6,0.000,0.032,2164,2566,3464,0,0,0,0,0,0
$GC,2048,-0.39,-146.0,284.6,-11.0,293,2051,0.00,1.83,0.00,0.000,4,0.000,0.043,2155,3778,3461,0,0,0,0,0,0
$GC,2097,-0.39,-146.0,290.0,-10.3,297,2105,0.10,1.80,0.00,0.000,6,0.106,0.024,2192,2565,3461,0,0,0,0,0,0
$GC,2423,-0.39,-146.0,311.6,-6.2,328,2427,0.00,1.98,0.00,0.000,4,0.000,0.028,2192,1212,3458,0,0,0,0,0,0
$GC,2484,-0.39,-146.0,315.4,-6.0,333,2491,0.00,2.03,0.00,0.000,6,0.000,0.032,2197,2551,3460,0,0,0,0,0,0
$GC,2810,-0.39,-146.0,334.5,-6.4,364,2813,0.00,1.85,0.00,0.000,4,0.000,0.044,2192,3777,3455,0,0,0,0,0,0
$GC,2837,-0.39,-146.0,336.4,-6.5,366,2844,0.00,1.85,0.00,0.000,6,0.000,0.025,2192,2517,3454,0,0,0,0,0,0
$GC,3163,-0.39,-146.0,358.7,-6.6,397,3167,0.00,1.95,0.00,0.000,4,0.000,0.041,2192,3787,3452,0,0,0,0,0,0
$GC,3370,-0.39,-146.0,373.5,-8.0,415,3377,0.00,1.95,0.00,0.000,6,0.000,0.025,2197,2462,3450,0,0,0,0,0,0
$GC,3695,-0.39,-146.0,395.2,-6.7,446,3699,0.00,1.83,0.00,0.000,4,0.000,0.031,2199,1211,3447,0,0,0,0,0,0
$GC,3821,-0.39,-146.0,403.9,-7.0,457,3825,0.00,1.90,0.00,0.000,6,0.000,0.031,2199,2473,3447,0,0,0,0,0,0
$GC,4152,-0.39,-146.0,427.8,-7.0,488,4156,0.00,1.88,0.00,0.000,4,0.000,0.031,2199,1210,3445,0,0,0,0,0,0
$GC,4280,-0.39,-146.0,437.6,-7.5,499,4287,0.00,1.90,0.00,0.000,6,0.000,0.032,2199,2468,3444,0,0,0,0,0,0
$GC,4605,-0.39,-146.0,462.0,-8.0,530,4609,0.00,2.03,0.00,0.000,4,0.000,0.043,2199,3790,3441,0,0,0,0,0,0
$GC,4654,-0.39,-146.0,466.2,-8.3,534,4661,0.00,1.98,0.00,0.000,6,0.000,0.025,2200,2458,3441,0,0,0,0,0,0
$GC,4980,-0.39,-146.0,491.7,-8.2,565,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2458,3439,0,0,0,0,0,0
$GC,5293,-0.39,-146.0,517.2,-8.2,585,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2458,3437,0,0,0,0,0,0
$GC,5601,-0.39,-146.0,542.3,-8.1,600,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2458,3435,0,0,0,0,0,0
$GC,5911,-0.39,-146.0,566.3,-7.6,615,5914,0.00,1.85,0.00,0.000,4,0.000,0.032,2200,1212,3434,0,0,0,0,0,0
$GC,5972,-0.39,-146.0,571.1,-7.5,617,5979,0.00,1.90,0.00,0.000,6,0.000,0.033,2200,2463,3433,0,0,0,0,0,0
$GC,6288,-0.39,-146.0,594.4,-7.5,633,6291,0.00,2.03,0.00,0.000,4,0.000,0.044,2199,3783,3432,0,0,0,0,0,0
$GC,6335,-0.39,-146.0,598.3,-8.5,635,6338,0.00,1.95,0.00,0.000,6,0.000,0.025,2200,2465,3432,0,0,0,0,0,0
$GC,6668,-0.39,-146.0,627.2,-9.2,651,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2463,3430,0,0,0,0,0,0
$GC,6977,-0.39,-146.0,655.5,-9.1,666,6981,0.00,2.05,0.00,0.000,4,0.000,0.044,2199,3783,3428,0,0,0,0,0,0
$GC,7015,-0.39,-146.0,659.4,-9.6,667,7022,0.00,1.98,0.00,0.000,6,0.000,0.025,2199,2477,3428,0,0,0,0,0,0
$GC,7332,-0.39,-146.0,686.4,-8.5,683,7336,0.00,1.88,0.00,0.000,4,0.000,0.033,2204,1211,3427,0,0,0,0,0,0
$GC,7446,-0.39,-146.0,695.9,-8.2,688,7449,0.00,1.90,0.00,0.000,6,0.000,0.034,2204,2461,3426,0,0,0,0,0,0
$GC,7779,-0.39,-146.0,721.5,-7.7,704,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2461,3425,0,0,0,0,0,0
$GC,8088,-0.39,-146.0,745.1,-7.7,719,8091,0.00,1.88,0.00,0.000,4,0.000,0.031,2205,1211,3424,0,0,0,0,0,0
$GC,8210,-0.39,-146.0,755.4,-8.7,724,8215,0.00,1.95,0.00,0.000,6,0.000,0.033,2205,2457,3423,0,0,0,0,0,0
$GC,8533,-0.39,-146.0,781.5,-8.4,740,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2458,3423,0,0,0,0,0,0
$GC,8842,-0.39,-146.0,807.7,-8.4,755,8845,0.00,1.88,0.00,0.000,4,0.000,0.032,2207,1208,3422,0,0,0,0,0,0
$GC,8937,-0.39,-146.0,816.1,-8.6,759,8940,0.00,1.90,0.00,0.000,6,0.000,0.034,2206,2452,3422,0,0,0,0,0,0
$GC,9264,-0.39,-146.0,842.7,-8.0,775,9268,0.00,2.05,0.00,0.000,4,0.000,0.047,2206,3775,3420,0,0,0,0,0,0
$GC,9364,-0.39,-146.0,850.8,-7.7,779,9368,0.00,2.00,0.00,0.000,6,0.000,0.025,2206,2465,3420,0,0,0,0,0,0
$GC,9687,-0.39,-146.0,875.2,-7.6,795,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2462,3419,0,0,0,0,0,0
$GC,9996,-0.39,-146.0,898.9,-8.0,810,10000,0.00,1.90,0.00,0.000,4,0.000,0.033,2211,1212,3417,0,0,0,0,0,0
$GC,10097,-0.39,-146.0,907.3,-8.2,814,10100,0.00,1.88,0.00,0.000,6,0.000,0.033,2211,2446,3417,0,0,0,0,0,0
$GC,10418,-0.39,-146.0,933.0,-8.1,830,10422,0.00,2.05,0.00,0.000,4,0.000,0.045,2211,3774,3417,0,0,0,0,0,0
$GC,10473,-0.39,-146.0,937.6,-8.2,832,10478,0.00,2.00,0.00,0.000,6,0.000,0.025,2212,2463,3416,0,0,0,0,0,0
$GC,10796,-0.39,-146.0,962.6,-8.0,848,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2461,3416,0,0,0,0,0,0
$GC,11104,-0.39,-146.0,985.1,-7.4,863,11108,0.00,1.85,0.00,0.000,4,0.000,0.033,2212,1214,3415,0,0,0,0,0,0
$STATE,11171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11171,begin apogee
$GC,11179,-0.13,0.0,990.0,7.4,866,11290,0.20,0.00,106.38,1.099,4,0.079,0.000,2295,2133,2868,0,0,0,0,0,0
$STATE,11291,end apogee,CONTROL_FINISHED_OK
$STATE,11291,begin climb
$GC,11294,0.39,146.0,996.0,0.0,871,11422,0.40,2.28,116.93,1.073,4,0.051,0.036,2461,742,2271,0,0,0,0,0,0
$GC,11526,0.39,146.0,984.6,8.9,882,11530,0.00,2.20,0.00,0.000,6,0.000,0.034,2461,2120,2271,0,0,0,0,0,0
$GC,11853,0.39,146.0,953.0,9.6,898,11857,0.00,2.22,0.00,0.000,4,0.000,0.044,2460,3538,2272,0,0,0,0,0,0
$GC,11947,0.39,146.0,942.5,11.0,902,11951,0.00,2.12,0.00,0.000,6,0.000,0.026,2470,2141,2270,0,0,0,0,0,0
$GC,12269,0.39,146.0,908.1,11.0,918,12273,0.00,2.17,0.00,0.000,4,0.000,0.037,2482,716,2269,0,0,0,0,0,0
$GC,12332,0.39,146.0,901.0,11.5,921,12337,0.12,2.17,0.00,0.000,6,0.175,0.032,2452,2127,2269,0,0,0,0,0,0
$GC,12659,0.39,146.0,868.9,9.6,937,12663,0.00,2.20,0.00,0.000,4,0.000,0.044,2452,3544,2268,0,0,0,0,0,0
$GC,12748,0.39,146.0,859.6,10.4,941,12752,0.00,2.12,0.00,0.000,6,0.000,0.027,2459,2140,2268,0,0,0,0,0,0
$GC,13075,0.39,146.0,830.7,8.4,957,13079,0.00,2.15,0.00,0.000,4,0.000,0.039,2471,721,2268,0,0,0,0,0,0
$GC,13115,0.39,146.0,827.3,8.6,959,13120,0.00,2.17,0.00,0.000,6,0.000,0.033,2470,2140,2268,0,0,0,0,0,0
$GC,13442,0.39,146.0,797.9,9.2,975,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2140,2267,0,0,0,0,0,0
$GC,13752,0.39,146.0,767.6,9.9,990,13756,0.00,2.15,0.00,0.000,4,0.000,0.044,2470,3536,2267,0,0,0,0,0,0
$GC,13807,0.39,146.0,761.4,11.0,992,13815,0.12,2.12,0.00,0.000,6,0.196,0.026,2452,2136,2267,0,0,0,0,0,0
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$GC,14191,0.39,146.0,728.2,8.5,1011,14195,0.00,2.15,0.00,0.000,6,0.000,0.033,2460,2133,2268,0,0,0,0,0,0
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$STATE,23276,end climb,SURFACE_DEPTH_REACHED
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$10V_AH,9.9,38.051
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,227995648
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