version: 66.09
glider: 181
mission: 6
dive: 360
start: 8 17 111 13 25 9
data:
$ID,181
$MISSION,6
$DIVE,360
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,-40988.977
$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,57
$R_STBD_OVSHOOT,40
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,170811,131801,2142.416,11959.035,40,1.4,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.3
$GPS2,170811,132444,2142.442,11959.036,12,1.4,12,-2.6
$SPEED_LIMITS,0.204,0.329
$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,182.3,300846,-16.3,-11.786
$D_GRID,2762
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,203,2580,2270,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.1,-3.2,10,135,8.07,2.08,-32.78,0.000,4,0.230,0.040,2135,1198,3761,0,0,0,0,0,0
$GC,215,-0.54,-219.0,38.5,-19.7,31,222,0.00,2.15,0.00,0.000,6,0.000,0.036,2126,2594,3761,0,0,0,0,0,0
$GC,354,-0.54,-219.0,75.7,-30.2,56,362,0.00,1.85,0.00,0.000,4,0.000,0.044,2117,3777,3760,0,0,0,0,0,0
$GC,456,-0.54,-219.0,98.5,-16.9,74,464,0.00,1.67,0.00,0.000,6,0.000,0.022,2117,2647,3760,0,0,0,0,0,0
$GC,600,-0.54,-219.0,124.8,-17.5,99,606,0.00,1.75,0.00,0.000,4,0.000,0.041,2112,3789,3760,0,0,0,0,0,0
$GC,614,-0.54,-219.0,127.6,-17.1,101,622,0.08,1.67,0.00,0.000,6,0.145,0.023,2147,2667,3760,0,0,0,0,0,0
$GC,757,-0.54,-219.0,148.0,-13.0,126,765,0.00,2.17,0.00,0.000,4,0.000,0.026,2146,1200,3761,0,0,0,0,0,0
$GC,856,-0.54,-219.0,157.9,-8.2,143,863,0.00,2.15,0.00,0.000,6,0.000,0.031,2139,2622,3761,0,0,0,0,0,0
$GC,997,-0.54,-219.0,170.9,-9.7,168,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2623,3761,0,0,0,0,0,0
$GC,1137,-0.54,-219.0,184.5,-9.7,193,1145,0.00,1.77,0.00,0.000,4,0.000,0.043,2138,3770,3761,0,0,0,0,0,0
$GC,1165,-0.54,-219.0,187.6,-11.3,197,1171,0.00,1.70,0.00,0.000,6,0.000,0.022,2138,2617,3761,0,0,0,0,0,0
$GC,1308,-0.54,-219.0,204.8,-12.7,220,1312,0.00,2.05,0.00,0.000,4,0.000,0.027,2138,1211,3761,0,0,0,0,0,0
$GC,1355,-0.54,-219.0,209.6,-10.1,224,1359,0.00,2.12,0.00,0.000,6,0.000,0.032,2138,2612,3761,0,0,0,0,0,0
$GC,1681,-0.54,-219.0,245.5,-10.5,254,1684,0.00,1.75,0.00,0.000,4,0.000,0.042,2131,3775,3759,0,0,0,0,0,0
$GC,1729,-0.54,-219.0,250.4,-10.4,258,1732,0.00,1.70,0.00,0.000,6,0.000,0.023,2131,2601,3759,0,0,0,0,0,0
$GC,2059,-0.54,-219.0,292.3,-13.4,289,2063,0.00,2.03,0.00,0.000,4,0.000,0.027,2131,1212,3754,0,0,0,0,0,0
$GC,2117,-0.54,-219.0,299.4,-11.8,294,2121,0.00,2.12,0.00,0.000,6,0.000,0.033,2126,2615,3756,0,0,0,0,0,0
$GC,2442,-0.54,-219.0,340.2,-11.8,324,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2615,3754,0,0,0,0,0,0
$GC,2763,-0.54,-219.0,376.5,-11.1,354,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2615,3751,0,0,0,0,0,0
$GC,3090,-0.54,-219.0,410.1,-10.3,385,3094,0.00,2.10,0.00,0.000,4,0.000,0.027,2126,1198,3749,0,0,0,0,0,0
$GC,3123,-0.54,-219.0,413.6,-10.1,387,3129,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2603,3748,0,0,0,0,0,0
$GC,3448,-0.54,-219.0,444.5,-9.9,418,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2603,3745,0,0,0,0,0,0
$GC,3771,-0.54,-219.0,476.2,-9.4,448,3775,0.00,2.08,0.00,0.000,4,0.000,0.028,2125,1208,3743,0,0,0,0,0,0
$GC,3811,-0.54,-219.0,480.1,-8.9,451,3816,0.00,2.12,0.00,0.000,6,0.000,0.034,2125,2596,3742,0,0,0,0,0,0
$GC,4137,-0.54,-219.0,508.1,-8.8,477,4141,0.00,1.85,0.00,0.000,4,0.000,0.047,2125,3776,3739,0,0,0,0,0,0
$GC,4175,-0.54,-219.0,511.8,-8.7,478,4182,0.00,1.77,0.00,0.000,6,0.000,0.024,2125,2585,3739,0,0,0,0,0,0
$GC,4492,-0.54,-219.0,540.8,-10.0,494,4495,0.00,2.03,0.00,0.000,4,0.000,0.029,2125,1213,3737,0,0,0,0,0,0
$GC,4531,-0.54,-219.0,544.8,-9.6,495,4539,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2585,3737,0,0,0,0,0,0
$GC,4849,-0.54,-219.0,578.1,-11.0,511,4853,0.00,1.83,0.00,0.000,4,0.000,0.047,2124,3776,3735,0,0,0,0,0,0
$GC,4882,-0.54,-219.0,582.2,-11.3,512,4886,0.00,1.80,0.00,0.000,6,0.000,0.025,2124,2574,3734,0,0,0,0,0,0
$GC,5205,-0.54,-219.0,617.9,-11.0,528,5209,0.00,2.00,0.00,0.000,4,0.000,0.030,2124,1212,3731,0,0,0,0,0,0
$GC,5266,-0.54,-219.0,624.3,-9.7,530,5273,0.00,2.10,0.00,0.000,6,0.000,0.035,2116,2572,3730,0,0,0,0,0,0
$GC,5583,-0.54,-219.0,654.8,-9.7,546,5587,0.00,1.85,0.00,0.000,4,0.000,0.047,2112,3776,3729,0,0,0,0,0,0
$GC,5623,-0.54,-219.0,658.7,-9.2,547,5631,0.12,1.77,0.00,0.000,6,0.129,0.025,2149,2565,3729,0,0,0,0,0,0
$GC,5941,-0.54,-219.0,677.7,-5.6,563,5945,0.00,2.00,0.00,0.000,4,0.000,0.031,2149,1210,3728,0,0,0,0,0,0
$GC,6003,-0.54,-219.0,681.8,-6.3,565,6010,0.00,2.08,0.00,0.000,6,0.000,0.033,2150,2558,3727,0,0,0,0,0,0
$GC,6321,-0.54,-219.0,702.6,-6.8,581,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2558,3725,0,0,0,0,0,0
$GC,6628,-0.54,-219.0,725.8,-8.0,596,6632,0.00,2.03,0.00,0.000,4,0.000,0.031,2149,1210,3723,0,0,0,0,0,0
$GC,6886,-0.54,-219.0,751.6,-10.4,607,6890,0.00,2.12,0.00,0.000,6,0.000,0.033,2149,2565,3722,0,0,0,0,0,0
$GC,7209,-0.54,-219.0,787.5,-11.3,623,7212,0.00,2.03,0.00,0.000,4,0.000,0.031,2149,1218,3720,0,0,0,0,0,0
$GC,7412,-0.54,-219.0,810.5,-10.9,632,7416,0.00,2.08,0.00,0.000,6,0.000,0.034,2150,2567,3719,0,0,0,0,0,0
$GC,7746,-0.54,-219.0,845.8,-10.3,648,7749,0.00,2.05,0.00,0.000,4,0.000,0.032,2150,1212,3717,0,0,0,0,0,0
$GC,7862,-0.54,-219.0,857.5,-9.5,653,7866,0.00,2.05,0.00,0.000,6,0.000,0.034,2150,2549,3717,0,0,0,0,0,0
$GC,8193,-0.54,-219.0,884.8,-8.3,669,8196,0.00,2.03,0.00,0.000,4,0.000,0.032,2150,1206,3715,0,0,0,0,0,0
$GC,8450,-0.54,-219.0,906.4,-8.6,680,8454,0.00,2.03,0.00,0.000,6,0.000,0.034,2150,2528,3714,0,0,0,0,0,0
$GC,8773,-0.54,-219.0,932.1,-8.0,696,8777,0.00,1.98,0.00,0.000,4,0.000,0.032,2150,1214,3712,0,0,0,0,0,0
$GC,8857,-0.54,-219.0,939.5,-8.6,699,8865,0.00,2.05,0.00,0.000,6,0.000,0.035,2149,2536,3713,0,0,0,0,0,0
$GC,9174,-0.54,-219.0,966.2,-8.9,715,9178,0.00,2.00,0.00,0.000,4,0.000,0.033,2150,1212,3711,0,0,0,0,0,0
$GC,9316,-0.54,-219.0,978.6,-8.9,721,9319,0.00,2.03,0.00,0.000,6,0.000,0.035,2151,2524,3710,0,0,0,0,0,0
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9462,-0.13,0.0,991.1,9.0,728,9634,0.32,0.00,165.40,1.090,4,0.063,0.000,2289,2121,2867,0,0,0,0,0,0
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9637,0.54,219.0,1004.1,0.0,736,9826,0.55,2.25,178.98,1.066,4,0.049,0.037,2507,738,1976,0,0,0,0,0,0
$GC,9831,0.60,270.3,997.9,9.9,745,9886,0.00,2.33,44.00,1.024,6,0.000,0.032,2507,2127,1765,0,0,0,0,0,0
$GC,10194,0.60,270.3,954.7,12.0,763,10198,0.00,2.22,0.00,0.000,4,0.000,0.044,2507,3548,1765,0,0,0,0,0,0
$GC,10256,0.60,270.3,946.3,14.4,766,10260,0.00,2.15,0.00,0.000,6,0.000,0.028,2516,2138,1765,0,0,0,0,0,0
$GC,10584,0.60,270.3,904.5,12.5,782,10588,0.00,2.15,0.00,0.000,4,0.000,0.038,2527,723,1764,0,0,0,0,0,0
$GC,10634,0.60,270.3,898.3,12.0,784,10638,0.00,2.17,0.00,0.000,6,0.000,0.034,2527,2136,1764,0,0,0,0,0,0
$GC,10957,0.60,270.3,858.2,12.5,800,10961,0.00,2.17,0.00,0.000,4,0.000,0.044,2527,3541,1764,0,0,0,0,0,0
$GC,10996,0.60,270.3,852.4,14.3,802,11000,0.00,2.12,0.00,0.000,6,0.000,0.028,2540,2130,1763,0,0,0,0,0,0
$GC,11325,0.60,270.3,805.7,14.5,818,11329,0.00,2.12,0.00,0.000,4,0.000,0.036,2548,722,1763,0,0,0,0,0,0
$GC,11375,0.60,270.3,798.0,14.6,820,11380,0.12,2.15,0.00,0.000,6,0.173,0.033,2517,2126,1763,0,0,0,0,0,0
$GC,11691,0.60,270.3,757.9,12.3,835,11695,0.00,2.22,0.00,0.000,4,0.000,0.044,2517,3542,1762,0,0,0,0,0,0
$GC,11746,0.60,270.3,750.1,14.4,837,11750,0.00,2.12,0.00,0.000,6,0.000,0.027,2525,2129,1762,0,0,0,0,0,0
$GC,12062,0.60,270.3,709.2,12.7,852,12066,0.00,2.12,0.00,0.000,4,0.000,0.037,2535,724,1762,0,0,0,0,0,0
$GC,12139,0.60,270.3,699.3,12.5,855,12146,0.00,2.20,0.00,0.000,6,0.000,0.033,2535,2128,1762,0,0,0,0,0,0
$GC,12458,0.60,270.3,658.2,12.8,871,12462,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3536,1762,0,0,0,0,0,0
$GC,12535,0.60,270.3,646.8,14.4,874,12542,0.00,2.15,0.00,0.000,6,0.000,0.028,2545,2136,1761,0,0,0,0,0,0
$GC,12852,0.60,270.3,603.1,14.2,890,12857,0.12,2.17,0.00,0.000,4,0.181,0.036,2522,720,1761,0,0,0,0,0,0
$GC,12924,0.60,270.3,593.7,12.1,893,12928,0.00,2.17,0.00,0.000,6,0.000,0.032,2522,2140,1761,0,0,0,0,0,0
$GC,13247,0.60,270.3,549.6,13.9,909,13251,0.00,2.17,0.00,0.000,4,0.000,0.043,2522,3541,1761,0,0,0,0,0,0
$GC,13330,0.60,270.3,536.9,14.1,912,13337,0.00,2.15,0.00,0.000,6,0.000,0.026,2531,2140,1761,0,0,0,0,0,0
$GC,13648,0.62,282.3,498.0,11.3,928,13663,0.00,2.17,10.15,0.731,4,0.000,0.037,2543,720,1717,0,0,0,0,0,0
$GC,13720,0.66,313.0,489.7,10.7,934,13750,0.00,2.20,24.62,0.740,6,0.000,0.031,2543,2146,1594,0,0,0,0,0,0
$GC,14068,0.66,313.0,449.7,12.1,967,14072,0.00,2.17,0.00,0.000,4,0.000,0.043,2543,3538,1592,0,0,0,0,0,0
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$STATE,17938,end climb,SURFACE_DEPTH_REACHED
$STATE,17938,begin surface coast
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$STATE,17963,end surface coast,CONTROL_FINISHED_OK
$STATE,17964,begin surface
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$FG_AHR_10Vo,0.000
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