version: 66.09
glider: 181
mission: 6
dive: 469
start: 9 8 111 22 58 54
data:
$ID,181
$MISSION,6
$DIVE,469
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41154.68
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,080911,225137,1914.578,11958.310,28,0.9,28,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.4
$GPS2,080911,225802,1914.566,11958.291,13,1.1,13,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.034,-0.310
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,175.8,27142,-17.4,-11.786
$D_GRID,4120
$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,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.40,0.000,2,0.000,0.000,191,2507,2210,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.1,-3.4,11,133,8.05,2.20,-32.92,0.000,4,0.223,0.039,2123,1081,3662,0,0,0,0,0,0
$GC,162,-0.53,-194.6,22.8,-30.6,24,169,0.00,2.17,0.00,0.000,6,0.000,0.036,2113,2492,3663,0,0,0,0,0,0
$GC,305,-0.53,-194.6,65.5,-24.1,49,312,0.00,1.98,0.00,0.000,4,0.000,0.041,2103,3786,3662,0,0,0,0,0,0
$GC,381,-0.53,-194.6,84.7,-22.8,62,388,0.00,1.70,0.00,0.000,6,0.000,0.023,2104,2604,3662,0,0,0,0,0,0
$GC,524,-0.53,-194.6,118.8,-24.4,87,531,0.00,2.22,0.00,0.000,4,0.000,0.024,2103,1073,3662,0,0,0,0,0,0
$GC,566,-0.53,-194.6,127.6,-17.6,94,573,0.12,2.25,0.00,0.000,6,0.156,0.033,2129,2548,3662,0,0,0,0,0,0
$GC,711,-0.53,-194.6,148.0,-12.9,119,718,0.00,1.88,0.00,0.000,4,0.000,0.041,2121,3789,3662,0,0,0,0,0,0
$GC,798,-0.53,-194.6,160.2,-12.6,134,805,0.00,1.65,0.00,0.000,6,0.000,0.023,2121,2638,3663,0,0,0,0,0,0
$GC,942,-0.53,-194.6,178.8,-12.4,159,948,0.00,2.28,0.00,0.000,4,0.000,0.027,2121,1088,3663,0,0,0,0,0,0
$GC,1017,-0.53,-194.6,187.3,-10.5,172,1025,0.00,2.30,0.00,0.000,6,0.000,0.032,2112,2603,3663,0,0,0,0,0,0
$GC,1161,-0.53,-194.6,203.9,-11.4,194,1165,0.00,1.83,0.00,0.000,4,0.000,0.042,2111,3779,3663,0,0,0,0,0,0
$GC,1229,-0.53,-194.6,211.6,-11.0,200,1233,0.00,1.52,0.00,0.000,6,0.000,0.023,2111,2748,3663,0,0,0,0,0,0
$GC,1561,-0.53,-194.6,252.5,-12.9,231,1565,0.00,2.45,0.00,0.000,4,0.000,0.028,2111,1092,3663,0,0,0,0,0,0
$GC,1669,-0.53,-194.6,265.0,-11.4,240,1673,0.00,2.45,0.00,0.000,6,0.000,0.034,2111,2688,3663,0,0,0,0,0,0
$GC,1994,-0.53,-194.6,300.8,-11.4,270,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2687,3660,0,0,0,0,0,0
$GC,2316,-0.53,-194.6,336.6,-11.7,300,2320,0.00,2.40,0.00,0.000,4,0.000,0.030,2111,1094,3657,0,0,0,0,0,0
$GC,2349,-0.53,-194.6,340.8,-11.1,302,2356,0.00,2.42,0.00,0.000,6,0.000,0.034,2111,2663,3657,0,0,0,0,0,0
$GC,2675,-0.53,-194.6,379.8,-12.5,333,2678,0.00,1.70,0.00,0.000,4,0.000,0.046,2111,3776,3653,0,0,0,0,0,0
$GC,2709,-0.53,-194.6,384.0,-12.1,336,2713,0.00,1.65,0.00,0.000,6,0.000,0.025,2111,2652,3653,0,0,0,0,0,0
$GC,3040,-0.53,-194.6,422.0,-10.9,367,3045,0.00,2.33,0.00,0.000,4,0.000,0.031,2111,1093,3649,0,0,0,0,0,0
$GC,3096,-0.53,-194.6,427.9,-10.0,371,3103,0.00,2.42,0.00,0.000,6,0.000,0.035,2111,2660,3649,0,0,0,0,0,0
$GC,3422,-0.53,-194.6,459.7,-10.3,402,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2659,3646,0,0,0,0,0,0
$GC,3743,-0.53,-194.6,492.4,-10.4,432,3747,0.00,2.38,0.00,0.000,4,0.000,0.031,2111,1096,3642,0,0,0,0,0,0
$GC,3794,-0.53,-194.6,497.7,-9.7,436,3798,0.00,2.38,0.00,0.000,6,0.000,0.037,2111,2625,3642,0,0,0,0,0,0
$GC,4116,-0.53,-194.6,531.1,-10.7,453,4120,0.00,1.83,0.00,0.000,4,0.000,0.047,2111,3776,3639,0,0,0,0,0,0
$GC,4162,-0.53,-194.6,536.0,-10.6,455,4166,0.00,1.73,0.00,0.000,6,0.000,0.027,2111,2638,3639,0,0,0,0,0,0
$GC,4495,-0.53,-194.6,572.0,-10.4,471,4500,0.00,2.33,0.00,0.000,4,0.000,0.032,2111,1092,3636,0,0,0,0,0,0
$GC,4565,-0.53,-194.6,578.6,-9.1,474,4569,0.00,2.33,0.00,0.000,6,0.000,0.036,2111,2591,3636,0,0,0,0,0,0
$GC,4892,-0.53,-194.6,609.8,-9.4,490,4896,0.00,2.28,0.00,0.000,4,0.000,0.032,2111,1096,3633,0,0,0,0,0,0
$GC,4919,-0.53,-194.6,612.4,-9.4,491,4923,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2556,3633,0,0,0,0,0,0
$GC,5236,-0.53,-194.6,641.2,-9.6,506,5240,0.00,1.92,0.00,0.000,4,0.000,0.048,2111,3765,3631,0,0,0,0,0,0
$GC,5291,-0.53,-194.6,646.5,-9.1,508,5295,0.00,1.75,0.00,0.000,6,0.000,0.026,2111,2577,3630,0,0,0,0,0,0
$GC,5614,-0.53,-194.6,676.0,-9.0,524,5618,0.00,2.25,0.00,0.000,4,0.000,0.032,2111,1088,3628,0,0,0,0,0,0
$GC,5654,-0.53,-194.6,679.6,-8.8,526,5658,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2578,3628,0,0,0,0,0,0
$GC,5981,-0.53,-194.6,708.3,-8.7,542,5984,0.00,1.88,0.00,0.000,4,0.000,0.049,2111,3783,3626,0,0,0,0,0,0
$GC,6009,-0.53,-194.6,710.7,-8.7,543,6013,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2572,3626,0,0,0,0,0,0
$GC,6336,-0.53,-194.6,737.3,-8.1,559,6340,0.00,2.25,0.00,0.000,4,0.000,0.033,2111,1090,3624,0,0,0,0,0,0
$GC,6368,-0.53,-194.6,740.1,-8.1,560,6373,0.00,2.30,0.00,0.000,6,0.000,0.037,2111,2562,3624,0,0,0,0,0,0
$GC,6686,-0.53,-194.6,765.8,-8.3,575,6689,0.00,1.90,0.00,0.000,4,0.000,0.050,2111,3773,3622,0,0,0,0,0,0
$GC,6709,-0.53,-194.6,767.7,-8.2,576,6713,0.00,1.83,0.00,0.000,6,0.000,0.027,2111,2549,3622,0,0,0,0,0,0
$GC,7043,-0.53,-194.6,794.3,-8.3,592,7047,0.00,2.17,0.00,0.000,4,0.000,0.033,2111,1106,3620,0,0,0,0,0,0
$GC,7083,-0.53,-194.6,797.9,-8.4,594,7087,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2545,3620,0,0,0,0,0,0
$GC,7410,-0.53,-194.6,825.9,-9.0,610,7413,0.00,1.92,0.00,0.000,4,0.000,0.049,2112,3777,3619,0,0,0,0,0,0
$GC,7466,-0.53,-194.6,831.3,-9.3,612,7470,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2569,3618,0,0,0,0,0,0
$GC,7788,-0.53,-194.6,865.1,-11.3,628,7792,0.00,2.20,0.00,0.000,4,0.000,0.032,2111,1106,3617,0,0,0,0,0,0
$GC,7851,-0.53,-194.6,871.9,-10.4,631,7855,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2546,3617,0,0,0,0,0,0
$GC,8185,-0.53,-194.6,906.6,-10.5,647,8189,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3776,3616,0,0,0,0,0,0
$GC,8246,-0.53,-194.6,912.9,-9.7,649,8252,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2564,3615,0,0,0,0,0,0
$GC,8563,-0.53,-194.6,943.7,-9.4,665,8567,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1106,3614,0,0,0,0,0,0
$GC,8607,-0.53,-194.6,948.1,-9.5,667,8611,0.00,2.28,0.00,0.000,6,0.000,0.037,2111,2559,3614,0,0,0,0,0,0
$GC,8929,-0.53,-194.6,978.2,-9.9,683,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2561,3613,0,0,0,0,0,0
$STATE,9070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9070,begin apogee
$GC,9076,-0.13,0.0,991.8,9.5,690,9231,0.43,0.00,149.38,1.078,4,0.112,0.000,2253,2112,2868,0,0,0,0,0,0
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9235,0.53,194.6,1000.8,0.0,697,9399,0.57,0.00,158.85,1.060,6,0.054,0.000,2481,2112,2075,0,0,0,0,0,0
$GC,9724,0.55,207.7,960.6,11.3,721,9741,0.00,0.00,11.77,0.944,6,0.000,0.000,2481,2111,2022,0,0,0,0,0,0
$GC,10051,0.56,217.8,922.5,11.4,737,10065,0.00,2.30,9.77,0.904,4,0.000,0.044,2481,3546,1981,0,0,0,0,0,0
$GC,10140,0.56,217.8,911.5,12.3,741,10145,0.00,2.20,0.00,0.000,6,0.000,0.028,2491,2107,1981,0,0,0,0,0,0
$GC,10468,0.57,232.0,874.5,11.2,757,10490,0.00,2.22,12.82,0.915,4,0.000,0.038,2502,715,1923,0,0,0,0,0,0
$GC,10538,0.59,244.5,866.9,11.3,760,10554,0.00,2.15,11.62,0.874,6,0.000,0.032,2502,2102,1872,0,0,0,0,0,0
$GC,10865,0.61,261.8,829.5,11.1,775,10888,0.00,2.28,15.25,0.904,4,0.000,0.042,2502,3541,1800,0,0,0,0,0,0
$GC,10958,0.62,265.1,818.7,11.6,779,10967,0.00,2.15,4.03,0.574,6,0.000,0.028,2511,2138,1789,0,0,0,0,0,0
$GC,11291,0.64,288.2,781.1,10.8,795,11316,0.00,2.25,19.80,0.897,4,0.000,0.037,2522,726,1693,0,0,0,0,0,0
$GC,11358,0.66,302.5,773.4,11.2,798,11381,0.00,2.22,12.82,0.838,6,0.000,0.032,2522,2156,1636,0,0,0,0,0,0
$GC,11691,0.67,312.8,735.3,11.4,814,11707,0.00,2.20,10.95,0.815,4,0.000,0.043,2522,3534,1593,0,0,0,0,0,0
$GC,11786,0.67,312.8,722.6,13.2,817,11790,0.00,2.05,0.00,0.000,6,0.000,0.028,2531,2195,1593,0,0,0,0,0,0
$GC,12101,0.67,312.8,681.5,13.0,832,12106,0.00,2.25,0.00,0.000,4,0.000,0.037,2543,723,1594,0,0,0,0,0,0
$GC,12168,0.67,312.8,672.4,13.4,835,12172,0.00,2.30,0.00,0.000,6,0.000,0.033,2543,2205,1594,0,0,0,0,0,0
$GC,12496,0.67,312.8,627.8,13.5,851,12500,0.00,2.08,0.00,0.000,4,0.000,0.044,2542,3541,1593,0,0,0,0,0,0
$GC,12540,0.67,312.8,621.1,14.7,853,12545,0.12,2.05,0.00,0.000,6,0.166,0.028,2519,2224,1593,0,0,0,0,0,0
$GC,12868,0.68,320.7,583.1,11.5,869,12883,0.00,2.38,8.05,0.724,4,0.000,0.037,2530,719,1561,0,0,0,0,0,0
$GC,12993,0.70,333.9,568.9,11.2,874,13009,0.00,2.20,11.82,0.728,6,0.000,0.033,2530,2145,1507,0,0,0,0,0,0
$GC,13334,0.70,333.9,527.6,12.0,891,13338,0.00,2.17,0.00,0.000,4,0.000,0.044,2530,3540,1505,0,0,0,0,0,0
$GC,13397,0.70,333.9,519.2,13.5,894,13401,0.00,2.08,0.00,0.000,6,0.000,0.029,2538,2175,1505,0,0,0,0,0,0
$GC,13723,0.70,333.9,479.2,12.6,917,13727,0.00,2.22,0.00,0.000,4,0.000,0.038,2549,717,1505,0,0,0,0,0,0
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$STATE,17810,end climb,SURFACE_DEPTH_REACHED
$STATE,17810,begin surface coast
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$FG_AHR_10Vo,0.000
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$MEM,322552
$DATA_FILE_SIZE,83539,1440
$CAP_FILE_SIZE,200247,0
$CFSIZE,260165632,207433728
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