version: 66.09
glider: 181
mission: 6
dive: 363
start: 8 18 111 4 31 38
data:
$ID,181
$MISSION,6
$DIVE,363
$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,-40992.754
$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,47
$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,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
$GPS1,180811,042437,2140.695,11958.601,29,0.9,29,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.0
$GPS2,180811,043113,2140.849,11958.562,12,0.9,18,-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,182.1,297903,-16.3,-11.786
$D_GRID,2857
$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,17,-0.54,-219.0,0.0,0.0,0,84,0.00,0.00,-64.68,0.000,2,0.000,0.000,204,2605,2285,0,0,0,0,0,0
$GC,87,-0.54,-219.0,3.2,-3.4,10,136,8.05,2.10,-32.55,0.000,4,0.228,0.037,2135,1184,3758,0,0,0,0,0,0
$GC,154,-0.54,-219.0,20.1,-28.1,20,162,0.00,2.22,0.00,0.000,6,0.000,0.036,2126,2599,3758,0,0,0,0,0,0
$GC,294,-0.54,-219.0,67.8,-38.5,45,301,0.00,1.88,0.00,0.000,4,0.000,0.050,2114,3783,3757,0,0,0,0,0,0
$GC,368,-0.54,-219.0,89.9,-23.9,58,376,0.00,1.77,0.00,0.000,6,0.000,0.023,2116,2596,3756,0,0,0,0,0,0
$GC,509,-0.54,-219.0,122.3,-23.7,83,516,0.00,2.05,0.00,0.000,4,0.000,0.027,2116,1195,3756,0,0,0,0,0,0
$GC,571,-0.54,-219.0,134.3,-15.1,94,580,0.08,2.12,0.00,0.000,6,0.131,0.034,2138,2562,3756,0,0,0,0,0,0
$GC,715,-0.54,-219.0,154.0,-14.3,119,722,0.00,1.88,0.00,0.000,4,0.000,0.043,2130,3792,3757,0,0,0,0,0,0
$GC,788,-0.54,-219.0,164.4,-11.5,132,796,0.00,1.80,0.00,0.000,6,0.000,0.024,2130,2568,3758,0,0,0,0,0,0
$GC,932,-0.54,-219.0,182.8,-12.3,157,939,0.00,1.98,0.00,0.000,4,0.000,0.028,2130,1213,3757,0,0,0,0,0,0
$GC,952,-0.54,-219.0,185.7,-12.4,160,961,0.00,2.12,0.00,0.000,6,0.000,0.034,2125,2585,3758,0,0,0,0,0,0
$GC,1092,-0.54,-219.0,204.8,-14.1,182,1096,0.00,1.80,0.00,0.000,4,0.000,0.043,2124,3778,3758,0,0,0,0,0,0
$GC,1130,-0.54,-219.0,210.3,-13.0,185,1138,0.00,1.73,0.00,0.000,6,0.000,0.023,2124,2613,3758,0,0,0,0,0,0
$GC,1458,-0.54,-219.0,260.6,-14.8,216,1461,0.00,2.05,0.00,0.000,4,0.000,0.028,2124,1210,3757,0,0,0,0,0,0
$GC,1497,-0.54,-219.0,266.4,-13.6,219,1504,0.00,2.10,0.00,0.000,6,0.000,0.033,2124,2585,3758,0,0,0,0,0,0
$GC,1822,-0.54,-219.0,309.1,-13.0,250,1826,0.00,1.80,0.00,0.000,4,0.000,0.042,2116,3780,3755,0,0,0,0,0,0
$GC,1892,-0.54,-219.0,317.1,-10.8,256,1896,0.00,1.70,0.00,0.000,6,0.000,0.024,2116,2595,3755,0,0,0,0,0,0
$GC,2225,-0.54,-219.0,359.7,-13.3,287,2228,0.00,2.03,0.00,0.000,4,0.000,0.028,2116,1216,3753,0,0,0,0,0,0
$GC,2248,-0.54,-219.0,363.0,-12.9,289,2253,0.12,2.12,0.00,0.000,6,0.145,0.035,2147,2609,3751,0,0,0,0,0,0
$GC,2574,-0.54,-219.0,393.8,-9.5,319,2578,0.00,1.77,0.00,0.000,4,0.000,0.044,2141,3782,3750,0,0,0,0,0,0
$GC,2603,-0.54,-219.0,396.9,-9.7,321,2610,0.00,1.75,0.00,0.000,6,0.000,0.024,2140,2605,3750,0,0,0,0,0,0
$GC,2929,-0.54,-219.0,429.5,-10.3,352,2933,0.00,2.05,0.00,0.000,4,0.000,0.028,2141,1206,3745,0,0,0,0,0,0
$GC,2992,-0.54,-219.0,436.0,-9.9,357,2996,0.00,2.10,0.00,0.000,6,0.000,0.033,2139,2591,3746,0,0,0,0,0,0
$GC,3317,-0.54,-219.0,469.8,-10.0,387,3321,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3777,3742,0,0,0,0,0,0
$GC,3341,-0.54,-219.0,472.1,-9.9,389,3344,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2572,3742,0,0,0,0,0,0
$GC,3671,-0.54,-219.0,504.2,-8.9,418,3674,0.00,2.00,0.00,0.000,4,0.000,0.029,2139,1204,3739,0,0,0,0,0,0
$GC,3721,-0.54,-219.0,508.6,-8.6,420,3725,0.00,2.12,0.00,0.000,6,0.000,0.033,2138,2570,3739,0,0,0,0,0,0
$GC,4049,-0.54,-219.0,534.3,-8.0,436,4053,0.00,1.85,0.00,0.000,4,0.000,0.045,2134,3778,3736,0,0,0,0,0,0
$GC,4088,-0.54,-219.0,537.6,-7.6,437,4095,0.00,1.80,0.00,0.000,6,0.000,0.025,2135,2576,3735,0,0,0,0,0,0
$GC,4404,-0.54,-219.0,565.4,-8.8,453,4408,0.00,2.03,0.00,0.000,4,0.000,0.029,2135,1202,3732,0,0,0,0,0,0
$GC,4451,-0.54,-219.0,569.1,-8.2,455,4455,0.00,2.10,0.00,0.000,6,0.000,0.034,2129,2572,3732,0,0,0,0,0,0
$GC,4781,-0.54,-219.0,595.7,-7.6,471,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2574,3730,0,0,0,0,0,0
$GC,5089,-0.54,-219.0,616.3,-6.3,486,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2574,3729,0,0,0,0,0,0
$GC,5397,-0.54,-219.0,635.9,-6.3,501,5401,0.00,2.05,0.00,0.000,4,0.000,0.030,2128,1209,3726,0,0,0,0,0,0
$GC,5436,-0.54,-219.0,638.4,-6.1,502,5443,0.00,2.10,0.00,0.000,6,0.000,0.036,2126,2562,3726,0,0,0,0,0,0
$GC,5755,-0.54,-219.0,661.7,-8.0,518,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2563,3723,0,0,0,0,0,0
$GC,6061,-0.54,-219.0,690.0,-9.9,533,6065,0.00,1.90,0.00,0.000,4,0.000,0.048,2125,3785,3722,0,0,0,0,0,0
$GC,6089,-0.54,-219.0,693.0,-10.0,534,6093,0.00,1.83,0.00,0.000,6,0.000,0.026,2125,2546,3722,0,0,0,0,0,0
$GC,6417,-0.54,-219.0,727.4,-10.6,550,6421,0.00,2.03,0.00,0.000,4,0.000,0.032,2126,1185,3720,0,0,0,0,0,0
$GC,6445,-0.54,-219.0,730.7,-10.6,551,6449,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2561,3720,0,0,0,0,0,0
$GC,6773,-0.54,-219.0,763.8,-10.2,567,6777,0.00,1.90,0.00,0.000,4,0.000,0.049,2123,3784,3718,0,0,0,0,0,0
$GC,6812,-0.54,-219.0,767.9,-9.9,568,6819,0.00,1.85,0.00,0.000,6,0.000,0.026,2125,2535,3718,0,0,0,0,0,0
$GC,7130,-0.54,-219.0,797.0,-8.6,584,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2533,3717,0,0,0,0,0,0
$GC,7438,-0.54,-219.0,823.4,-8.5,599,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2534,3715,0,0,0,0,0,0
$GC,7747,-0.54,-219.0,850.4,-8.8,614,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2534,3714,0,0,0,0,0,0
$GC,8056,-0.54,-219.0,878.7,-9.2,629,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2534,3713,0,0,0,0,0,0
$GC,8368,-0.54,-219.0,905.2,-8.4,644,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2534,3711,0,0,0,0,0,0
$GC,8675,-0.54,-219.0,930.2,-8.0,659,8678,0.00,1.98,0.00,0.000,4,0.000,0.033,2125,1212,3710,0,0,0,0,0,0
$GC,8702,-0.54,-219.0,932.6,-7.9,660,8706,0.00,2.12,0.00,0.000,6,0.000,0.037,2125,2572,3710,0,0,0,0,0,0
$GC,9031,-0.54,-219.0,957.0,-7.4,676,9035,0.00,1.92,0.00,0.000,4,0.000,0.050,2125,3776,3709,0,0,0,0,0,0
$GC,9064,-0.54,-219.0,959.6,-7.4,677,9067,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2570,3709,0,0,0,0,0,0
$GC,9387,-0.54,-219.0,983.0,-7.2,693,9390,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1211,3708,0,0,0,0,0,0
$GC,9442,-0.54,-219.0,987.4,-7.8,695,9446,0.00,2.10,0.00,0.000,6,0.000,0.035,2125,2565,3708,0,0,0,0,0,0
$STATE,9493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9493,begin apogee
$GC,9499,-0.13,0.0,990.8,7.5,698,9670,0.45,0.00,165.38,1.084,4,0.111,0.000,2275,2108,2869,0,0,0,0,0,0
$STATE,9671,end apogee,CONTROL_FINISHED_OK
$STATE,9671,begin climb
$GC,9673,0.54,219.0,999.4,0.0,706,9864,0.62,2.28,178.77,1.062,4,0.054,0.037,2509,713,1975,0,0,0,0,0,0
$GC,9942,0.55,222.6,982.4,11.7,718,9955,0.00,2.28,4.95,0.715,6,0.000,0.033,2510,2125,1960,0,0,0,0,0,0
$GC,10266,0.55,222.6,943.2,12.5,734,10270,0.00,2.20,0.00,0.000,4,0.000,0.036,2519,717,1959,0,0,0,0,0,0
$GC,10433,0.55,228.1,923.3,11.6,741,10444,0.00,2.22,5.90,0.825,6,0.000,0.034,2519,2149,1939,0,0,0,0,0,0
$GC,10768,0.55,228.1,881.5,12.9,758,10772,0.00,2.15,0.00,0.000,4,0.000,0.044,2519,3533,1940,0,0,0,0,0,0
$GC,10800,0.55,228.1,876.5,14.1,759,10808,0.08,2.15,0.00,0.000,6,0.168,0.028,2506,2144,1938,0,0,0,0,0,0
$GC,11119,0.55,228.1,836.3,13.3,775,11123,0.00,2.17,0.00,0.000,4,0.000,0.037,2516,709,1937,0,0,0,0,0,0
$GC,11168,0.55,228.1,829.2,13.6,777,11172,0.00,2.20,0.00,0.000,6,0.000,0.033,2516,2143,1937,0,0,0,0,0,0
$GC,11492,0.55,228.1,784.4,13.9,793,11496,0.00,2.15,0.00,0.000,4,0.000,0.044,2516,3535,1936,0,0,0,0,0,0
$GC,11519,0.55,228.1,779.7,14.7,794,11524,0.00,2.15,0.00,0.000,6,0.000,0.028,2525,2131,1939,0,0,0,0,0,0
$GC,11841,0.55,228.1,732.9,14.5,810,11845,0.00,2.15,0.00,0.000,4,0.000,0.036,2536,710,1935,0,0,0,0,0,0
$GC,11892,0.55,228.1,725.5,14.5,812,11896,0.12,2.17,0.00,0.000,6,0.168,0.033,2502,2132,1935,0,0,0,0,0,0
$GC,12213,0.58,249.9,687.7,11.0,828,12236,0.00,2.28,18.08,0.869,4,0.000,0.044,2502,3538,1849,0,0,0,0,0,0
$GC,12292,0.58,249.9,678.2,12.1,831,12296,0.00,2.15,0.00,0.000,6,0.000,0.028,2511,2125,1849,0,0,0,0,0,0
$GC,12615,0.59,256.8,640.8,11.5,847,12628,0.00,2.22,6.95,0.731,4,0.000,0.037,2522,718,1820,0,0,0,0,0,0
$GC,12707,0.59,256.8,629.8,11.8,851,12712,0.00,2.15,0.00,0.000,6,0.000,0.034,2521,2116,1822,0,0,0,0,0,0
$GC,13036,0.59,256.8,590.1,12.4,867,13040,0.00,2.20,0.00,0.000,4,0.000,0.044,2521,3534,1824,0,0,0,0,0,0
$GC,13076,0.59,256.8,584.4,14.3,869,13080,0.00,2.15,0.00,0.000,6,0.000,0.028,2531,2116,1824,0,0,0,0,0,0
$GC,13403,0.59,256.8,542.2,12.2,885,13407,0.00,2.12,0.00,0.000,4,0.000,0.037,2542,713,1821,0,0,0,0,0,0
$GC,13525,0.59,256.8,527.3,11.8,890,13533,0.05,2.17,0.00,0.000,6,0.128,0.033,2513,2105,1821,0,0,0,0,0,0
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$STATE,17786,end climb,SURFACE_DEPTH_REACHED
$STATE,17786,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,217202688
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