version: 66.09
glider: 181
mission: 6
dive: 249
start: 7 27 111 13 23 1
data:
$ID,181
$MISSION,6
$DIVE,249
$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,-40832.699
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,270711,131437,1916.356,11959.683,59,1.0,59,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.2
$GPS2,270711,132237,1916.347,11959.650,9,1.0,14,-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,2.4,136407,-12.8,-7.333
$D_GRID,4160
$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,18,-0.39,-146.0,0.0,0.0,0,77,0.00,0.00,-57.08,0.000,2,0.000,0.000,163,2626,2488,0,0,0,0,0,0
$GC,80,-0.39,-146.0,3.8,-5.9,8,118,8.43,1.85,-18.23,0.000,4,0.233,0.055,2172,3780,3468,0,0,0,0,0,0
$GC,152,-0.39,-146.0,33.7,-43.8,19,160,0.00,1.80,0.00,0.000,6,0.000,0.024,2172,2583,3468,0,0,0,0,0,0
$GC,285,-0.39,-146.0,76.6,-21.3,44,293,0.00,2.05,0.00,0.000,4,0.000,0.027,2173,1213,3468,0,0,0,0,0,0
$GC,353,-0.39,-146.0,87.2,-12.7,56,362,0.00,2.10,0.00,0.000,6,0.000,0.034,2164,2559,3468,0,0,0,0,0,0
$GC,487,-0.39,-146.0,106.8,-15.7,81,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2560,3469,0,0,0,0,0,0
$GC,621,-0.39,-146.0,125.5,-12.6,106,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2560,3470,0,0,0,0,0,0
$GC,754,-0.39,-146.0,142.2,-12.0,131,762,0.00,2.05,0.00,0.000,4,0.000,0.028,2164,1202,3470,0,0,0,0,0,0
$GC,786,-0.39,-146.0,145.9,-11.6,136,794,0.10,2.12,0.00,0.000,6,0.125,0.034,2191,2571,3470,0,0,0,0,0,0
$GC,925,-0.39,-146.0,157.4,-8.1,161,933,0.00,1.88,0.00,0.000,4,0.000,0.042,2184,3780,3470,0,0,0,0,0,0
$GC,1003,-0.39,-146.0,163.6,-7.2,175,1011,0.00,1.75,0.00,0.000,6,0.000,0.024,2184,2593,3470,0,0,0,0,0,0
$GC,1139,-0.39,-146.0,175.6,-10.6,200,1149,0.00,2.05,0.00,0.000,4,0.000,0.028,2184,1216,3470,0,0,0,0,0,0
$GC,1218,-0.39,-146.0,182.7,-8.1,214,1226,0.00,2.10,0.00,0.000,6,0.000,0.033,2182,2577,3470,0,0,0,0,0,0
$GC,1354,-0.39,-146.0,194.1,-9.0,239,1362,0.00,1.85,0.00,0.000,4,0.000,0.043,2179,3774,3469,0,0,0,0,0,0
$GC,1386,-0.39,-146.0,197.1,-8.8,244,1394,0.00,1.80,0.00,0.000,6,0.000,0.024,2178,2559,3470,0,0,0,0,0,0
$GC,1528,-0.39,-146.0,210.7,-10.1,260,1531,0.00,1.98,0.00,0.000,4,0.000,0.028,2178,1202,3468,0,0,0,0,0,0
$GC,1586,-0.39,-146.0,216.2,-9.1,265,1590,0.00,2.05,0.00,0.000,6,0.000,0.033,2178,2559,3468,0,0,0,0,0,0
$GC,1917,-0.39,-146.0,245.4,-8.2,296,1920,0.00,1.85,0.00,0.000,4,0.000,0.044,2175,3780,3466,0,0,0,0,0,0
$GC,1988,-0.39,-146.0,250.9,-7.3,302,1997,0.00,1.80,0.00,0.000,6,0.000,0.024,2175,2565,3465,0,0,0,0,0,0
$GC,2315,-0.39,-146.0,275.4,-7.4,333,2319,0.00,1.98,0.00,0.000,4,0.000,0.029,2174,1217,3463,0,0,0,0,0,0
$GC,2394,-0.39,-146.0,281.4,-7.2,340,2398,0.00,2.05,0.00,0.000,6,0.000,0.034,2168,2570,3462,0,0,0,0,0,0
$GC,2725,-0.39,-146.0,309.6,-9.1,371,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2571,3460,0,0,0,0,0,0
$GC,3045,-0.39,-146.0,337.6,-9.4,401,3049,0.00,1.85,0.00,0.000,4,0.000,0.044,2160,3781,3456,0,0,0,0,0,0
$GC,3080,-0.39,-146.0,341.0,-9.4,404,3084,0.12,1.77,0.00,0.000,6,0.129,0.026,2198,2567,3456,0,0,0,0,0,0
$GC,3411,-0.39,-146.0,362.7,-6.1,435,3415,0.00,2.00,0.00,0.000,4,0.000,0.030,2198,1205,3454,0,0,0,0,0,0
$GC,3480,-0.39,-146.0,367.1,-6.3,441,3484,0.00,2.03,0.00,0.000,6,0.000,0.032,2196,2545,3454,0,0,0,0,0,0
$GC,3811,-0.39,-146.0,387.9,-6.3,472,3814,0.00,2.00,0.00,0.000,4,0.000,0.031,2196,1202,3451,0,0,0,0,0,0
$GC,4071,-0.39,-146.0,406.0,-7.8,495,4074,0.00,1.98,0.00,0.000,6,0.000,0.034,2196,2493,3449,0,0,0,0,0,0
$GC,4402,-0.39,-146.0,432.0,-7.8,526,4405,0.00,1.92,0.00,0.000,4,0.000,0.031,2196,1200,3446,0,0,0,0,0,0
$GC,4661,-0.39,-146.0,452.2,-7.7,549,4665,0.00,1.95,0.00,0.000,6,0.000,0.034,2196,2482,3445,0,0,0,0,0,0
$GC,4992,-0.39,-146.0,476.6,-7.0,580,4996,0.00,1.95,0.00,0.000,4,0.000,0.031,2196,1206,3440,0,0,0,0,0,0
$GC,5252,-0.39,-146.0,497.1,-8.1,603,5256,0.00,1.95,0.00,0.000,6,0.000,0.034,2196,2461,3441,0,0,0,0,0,0
$GC,5585,-0.39,-146.0,521.9,-7.3,621,5588,0.00,1.88,0.00,0.000,4,0.000,0.032,2196,1204,3439,0,0,0,0,0,0
$GC,5842,-0.39,-146.0,542.7,-7.7,632,5847,0.00,1.95,0.00,0.000,6,0.000,0.034,2196,2456,3437,0,0,0,0,0,0
$GC,6165,-0.39,-146.0,564.7,-6.7,648,6169,0.00,1.88,0.00,0.000,4,0.000,0.031,2196,1200,3435,0,0,0,0,0,0
$GC,6423,-0.39,-146.0,584.6,-8.0,659,6427,0.00,1.95,0.00,0.000,6,0.000,0.034,2195,2454,3434,0,0,0,0,0,0
$GC,6745,-0.39,-146.0,611.7,-8.7,675,6749,0.00,1.88,0.00,0.000,4,0.000,0.033,2200,1203,3433,0,0,0,0,0,0
$GC,7003,-0.39,-146.0,634.4,-8.2,686,7007,0.00,1.90,0.00,0.000,6,0.000,0.034,2199,2453,3432,0,0,0,0,0,0
$GC,7325,-0.39,-146.0,658.8,-7.4,702,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2453,3430,0,0,0,0,0,0
$GC,7635,-0.39,-146.0,681.6,-7.2,717,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2453,3430,0,0,0,0,0,0
$GC,7944,-0.39,-146.0,704.0,-7.3,732,7948,0.00,2.08,0.00,0.000,4,0.000,0.045,2199,3783,3428,0,0,0,0,0,0
$GC,8016,-0.39,-146.0,709.9,-7.9,735,8020,0.00,2.03,0.00,0.000,6,0.000,0.027,2200,2457,3428,0,0,0,0,0,0
$GC,8343,-0.39,-146.0,734.1,-7.5,751,8347,0.00,1.85,0.00,0.000,4,0.000,0.033,2204,1207,3427,0,0,0,0,0,0
$GC,8483,-0.39,-146.0,745.2,-8.2,757,8487,0.00,1.90,0.00,0.000,6,0.000,0.034,2204,2457,3427,0,0,0,0,0,0
$GC,8811,-0.39,-146.0,770.3,-7.8,773,8815,0.00,2.05,0.00,0.000,4,0.000,0.044,2204,3784,3425,0,0,0,0,0,0
$GC,8971,-0.39,-146.0,783.6,-8.6,780,8974,0.00,1.95,0.00,0.000,6,0.000,0.024,2204,2467,3424,0,0,0,0,0,0
$GC,9298,-0.39,-146.0,810.5,-8.0,796,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2463,3424,0,0,0,0,0,0
$GC,9608,-0.39,-146.0,836.0,-8.3,811,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2466,3423,0,0,0,0,0,0
$GC,9916,-0.39,-146.0,861.3,-8.4,826,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2466,3422,0,0,0,0,0,0
$GC,10226,-0.39,-146.0,886.5,-8.3,841,10229,0.00,2.05,0.00,0.000,4,0.000,0.044,2204,3776,3421,0,0,0,0,0,0
$GC,10287,-0.39,-146.0,892.0,-9.2,843,10294,0.00,1.95,0.00,0.000,6,0.000,0.026,2204,2468,3421,0,0,0,0,0,0
$GC,10603,-0.39,-146.0,918.2,-8.4,859,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2468,3420,0,0,0,0,0,0
$GC,10912,-0.39,-146.0,944.2,-8.4,874,10916,0.00,2.05,0.00,0.000,4,0.000,0.045,2205,3776,3420,0,0,0,0,0,0
$GC,10953,-0.39,-146.0,947.5,-8.4,876,10957,0.00,1.95,0.00,0.000,6,0.000,0.026,2205,2470,3419,0,0,0,0,0,0
$GC,11286,-0.39,-146.0,974.1,-8.1,892,11290,0.00,1.92,0.00,0.000,4,0.000,0.033,2211,1206,3419,0,0,0,0,0,0
$GC,11347,-0.39,-146.0,979.2,-8.3,894,11354,0.00,1.95,0.00,0.000,6,0.000,0.033,2211,2473,3418,0,0,0,0,0,0
$STATE,11496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11496,begin apogee
$GC,11502,-0.13,0.0,991.4,8.4,902,11615,0.20,0.00,107.15,1.100,4,0.075,0.000,2300,2115,2869,0,0,0,0,0,0
$STATE,11616,end apogee,CONTROL_FINISHED_OK
$STATE,11616,begin climb
$GC,11618,0.39,146.0,998.5,0.0,907,11745,0.43,2.35,117.65,1.076,4,0.050,0.041,2471,3537,2273,0,0,0,0,0,0
$GC,11790,0.39,146.0,992.7,10.3,915,11795,0.15,2.22,0.00,0.000,6,0.185,0.027,2447,2149,2272,0,0,0,0,0,0
$GC,12111,0.39,146.0,965.8,8.1,931,12115,0.00,2.22,0.00,0.000,4,0.000,0.037,2456,709,2270,0,0,0,0,0,0
$GC,12204,0.39,146.0,958.1,7.8,935,12209,0.00,2.17,0.00,0.000,6,0.000,0.031,2457,2118,2269,0,0,0,0,0,0
$GC,12527,0.39,146.0,932.4,8.1,951,12531,0.00,2.22,0.00,0.000,4,0.000,0.043,2457,3535,2269,0,0,0,0,0,0
$GC,12618,0.39,146.0,923.7,10.1,955,12622,0.00,2.17,0.00,0.000,6,0.000,0.028,2467,2114,2268,0,0,0,0,0,0
$GC,12951,0.39,146.0,892.6,9.4,971,12955,0.00,2.12,0.00,0.000,4,0.000,0.037,2477,717,2267,0,0,0,0,0,0
$GC,13058,0.39,146.0,882.6,9.2,976,13062,0.00,2.15,0.00,0.000,6,0.000,0.032,2477,2108,2267,0,0,0,0,0,0
$GC,13391,0.39,146.0,852.0,9.2,992,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2108,2267,0,0,0,0,0,0
$GC,13699,0.39,146.0,826.6,7.9,1007,13703,0.00,2.12,0.00,0.000,4,0.000,0.036,2486,723,2267,0,0,0,0,0,0
$GC,13749,0.39,146.0,822.3,8.0,1009,13754,0.15,2.12,0.00,0.000,6,0.168,0.032,2449,2108,2267,0,0,0,0,0,0
$GC,14073,0.41,156.8,800.8,7.0,1025,14087,0.00,2.28,9.05,0.879,4,0.000,0.044,2449,3535,2229,0,0,0,0,0,0
$GC,14154,0.41,156.8,793.3,9.0,1028,14162,0.00,2.17,0.00,0.000,6,0.000,0.028,2457,2110,2228,0,0,0,0,0,0
$GC,14471,0.41,156.8,764.2,9.7,1044,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2111,2228,0,0,0,0,0,0
$GC,14780,0.41,156.8,734.8,9.2,1059,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2110,2228,0,0,0,0,0,0
$GC,15089,0.41,156.8,709.7,7.5,1074,15093,0.00,2.12,0.00,0.000,4,0.000,0.037,2468,711,2227,0,0,0,0,0,0
$GC,15152,0.41,162.0,705.4,7.2,1077,15162,0.00,2.12,5.65,0.750,6,0.000,0.031,2467,2113,2209,0,0,0,0,0,0
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$STATE,23864,end climb,SURFACE_DEPTH_REACHED
$STATE,23864,begin surface coast
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$STATE,23891,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,136998,1999
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$CFSIZE,260165632,227721216
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