version: 66.09
glider: 181
mission: 6
dive: 479
start: 9 11 111 2 42 15
data:
$ID,181
$MISSION,6
$DIVE,479
$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,-41174.633
$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,33
$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
$GPS1,110911,023507,1858.647,12003.359,34,1.1,34,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.6
$GPS2,110911,024119,1858.624,12003.363,11,1.5,22,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.053,-0.308
$KALMAN_X,1315.1,-861.3,-563.0,8987.4,2136.7
$KALMAN_Y,18432.7,-468.0,213.1,-47711.2,2440.2
$MHEAD_RNG_PITCHd_Wd,133.9,66929,-17.4,-11.786
$D_GRID,2714
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,2,0.000,0.000,180,2505,2214,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.2,-3.5,11,132,8.18,2.10,-31.85,0.000,4,0.227,0.036,2120,1074,3663,0,0,0,0,0,0
$GC,150,-0.53,-194.6,21.6,-33.9,22,157,0.00,2.25,0.00,0.000,6,0.000,0.041,2111,2502,3664,0,0,0,0,0,0
$GC,293,-0.53,-194.6,63.5,-25.7,47,300,0.00,1.98,0.00,0.000,4,0.000,0.041,2101,3796,3663,0,0,0,0,0,0
$GC,329,-0.53,-194.6,72.8,-26.0,53,336,0.00,2.12,0.00,0.000,6,0.000,0.024,2101,2357,3663,0,0,0,0,0,0
$GC,473,-0.53,-194.6,110.2,-23.2,78,480,0.00,2.22,0.00,0.000,4,0.000,0.041,2090,3792,3663,0,0,0,0,0,0
$GC,548,-0.53,-194.6,128.6,-22.9,91,556,0.15,2.08,0.00,0.000,6,0.161,0.024,2129,2383,3663,0,0,0,0,0,0
$GC,693,-0.53,-194.6,153.1,-15.5,116,700,0.00,2.17,0.00,0.000,4,0.000,0.039,2121,3787,3663,0,0,0,0,0,0
$GC,740,-0.53,-194.6,159.9,-13.9,124,747,0.00,1.83,0.00,0.000,6,0.000,0.023,2120,2530,3664,0,0,0,0,0,0
$GC,886,-0.53,-194.6,179.0,-11.9,149,892,0.00,2.08,0.00,0.000,4,0.000,0.027,2120,1104,3664,0,0,0,0,0,0
$GC,927,-0.53,-194.6,184.5,-12.5,156,934,0.00,2.08,0.00,0.000,6,0.000,0.031,2111,2485,3664,0,0,0,0,0,0
$GC,1071,-0.53,-194.6,201.9,-12.4,180,1075,0.00,1.95,0.00,0.000,4,0.000,0.041,2103,3777,3664,0,0,0,0,0,0
$GC,1146,-0.53,-194.6,211.5,-12.5,186,1152,0.00,1.77,0.00,0.000,6,0.000,0.023,2103,2554,3664,0,0,0,0,0,0
$GC,1471,-0.53,-194.6,253.9,-12.5,217,1475,0.00,2.12,0.00,0.000,4,0.000,0.028,2103,1109,3664,0,0,0,0,0,0
$GC,1517,-0.53,-194.6,259.3,-12.2,221,1522,0.10,2.25,0.00,0.000,6,0.161,0.032,2124,2580,3664,0,0,0,0,0,0
$GC,1848,-0.53,-194.6,294.9,-10.1,252,1852,0.00,1.85,0.00,0.000,4,0.000,0.044,2124,3771,3662,0,0,0,0,0,0
$GC,1917,-0.53,-194.6,301.7,-9.2,258,1921,0.00,1.70,0.00,0.000,6,0.000,0.024,2124,2590,3661,0,0,0,0,0,0
$GC,2248,-0.53,-194.6,333.9,-9.4,289,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2587,3658,0,0,0,0,0,0
$GC,2569,-0.53,-194.6,363.7,-9.2,319,2573,0.00,2.20,0.00,0.000,4,0.000,0.030,2124,1102,3655,0,0,0,0,0,0
$GC,2591,-0.53,-194.6,366.1,-9.4,320,2598,0.00,2.38,0.00,0.000,6,0.000,0.034,2125,2651,3655,0,0,0,0,0,0
$GC,2917,-0.53,-194.6,398.1,-9.8,351,2921,0.00,2.33,0.00,0.000,4,0.000,0.031,2124,1106,3652,0,0,0,0,0,0
$GC,2968,-0.53,-194.6,402.9,-9.2,355,2972,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2572,3652,0,0,0,0,0,0
$GC,3294,-0.53,-194.6,429.3,-7.3,385,3297,0.00,1.85,0.00,0.000,4,0.000,0.046,2120,3776,3648,0,0,0,0,0,0
$GC,3355,-0.53,-194.6,434.1,-7.7,390,3362,0.00,1.70,0.00,0.000,6,0.000,0.025,2120,2612,3647,0,0,0,0,0,0
$GC,3681,-0.53,-194.6,461.4,-9.2,421,3685,0.00,2.25,0.00,0.000,4,0.000,0.031,2120,1106,3645,0,0,0,0,0,0
$GC,3736,-0.53,-194.6,466.8,-8.9,425,3743,0.00,2.30,0.00,0.000,6,0.000,0.034,2112,2595,3644,0,0,0,0,0,0
$GC,4062,-0.53,-194.6,499.1,-10.1,456,4065,0.00,1.83,0.00,0.000,4,0.000,0.047,2111,3776,3641,0,0,0,0,0,0
$GC,4108,-0.53,-194.6,503.4,-9.4,459,4112,0.00,1.67,0.00,0.000,6,0.000,0.026,2111,2638,3640,0,0,0,0,0,0
$GC,4441,-0.53,-194.6,536.6,-10.2,475,4445,0.00,2.30,0.00,0.000,4,0.000,0.031,2111,1105,3638,0,0,0,0,0,0
$GC,4519,-0.53,-194.6,544.7,-10.2,478,4526,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2569,3638,0,0,0,0,0,0
$GC,4836,-0.53,-194.6,577.3,-10.5,494,4839,0.00,1.88,0.00,0.000,4,0.000,0.047,2111,3782,3635,0,0,0,0,0,0
$GC,4883,-0.53,-194.6,582.2,-10.8,496,4886,0.00,1.77,0.00,0.000,6,0.000,0.026,2111,2572,3634,0,0,0,0,0,0
$GC,5216,-0.53,-194.6,616.9,-10.2,512,5220,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1116,3632,0,0,0,0,0,0
$GC,5282,-0.53,-194.6,624.0,-10.1,515,5286,0.00,2.20,0.00,0.000,6,0.000,0.034,2111,2543,3632,0,0,0,0,0,0
$GC,5605,-0.53,-194.6,656.4,-9.7,531,5609,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3782,3630,0,0,0,0,0,0
$GC,5661,-0.53,-194.6,661.5,-8.8,533,5665,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2578,3630,0,0,0,0,0,0
$GC,5984,-0.53,-194.6,687.7,-7.8,549,5987,0.00,2.22,0.00,0.000,4,0.000,0.032,2111,1106,3628,0,0,0,0,0,0
$GC,6045,-0.53,-194.6,692.6,-7.5,551,6052,0.00,2.22,0.00,0.000,6,0.000,0.035,2111,2548,3627,0,0,0,0,0,0
$GC,6361,-0.53,-194.6,721.3,-10.1,567,6365,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3780,3625,0,0,0,0,0,0
$GC,6401,-0.53,-194.6,725.3,-10.0,568,6408,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2566,3624,0,0,0,0,0,0
$GC,6719,-0.53,-194.6,756.4,-9.9,584,6723,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1106,3623,0,0,0,0,0,0
$GC,6775,-0.53,-194.6,762.1,-9.2,586,6782,0.00,2.20,0.00,0.000,6,0.000,0.035,2111,2518,3623,0,0,0,0,0,0
$GC,7091,-0.53,-194.6,792.2,-9.5,602,7095,0.00,1.98,0.00,0.000,4,0.000,0.048,2111,3779,3622,0,0,0,0,0,0
$GC,7160,-0.53,-194.6,798.6,-9.2,605,7164,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2553,3621,0,0,0,0,0,0
$GC,7494,-0.53,-194.6,830.5,-10.0,621,7498,0.00,2.20,0.00,0.000,4,0.000,0.032,2111,1106,3620,0,0,0,0,0,0
$GC,7545,-0.53,-194.6,835.8,-10.1,623,7549,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2530,3620,0,0,0,0,0,0
$GC,7867,-0.53,-194.6,869.5,-10.8,639,7871,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3779,3618,0,0,0,0,0,0
$GC,7892,-0.53,-194.6,872.3,-11.0,640,7896,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2523,3618,0,0,0,0,0,0
$GC,8224,-0.53,-194.6,907.6,-9.9,656,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2521,3618,0,0,0,0,0,0
$GC,8535,-0.53,-194.6,934.8,-8.0,671,8538,0.00,2.00,0.00,0.000,4,0.000,0.047,2111,3783,3616,0,0,0,0,0,0
$GC,8568,-0.53,-194.6,937.4,-7.6,672,8571,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2545,3616,0,0,0,0,0,0
$GC,8890,-0.53,-194.6,959.8,-7.1,688,8894,0.00,2.17,0.00,0.000,4,0.000,0.033,2111,1101,3615,0,0,0,0,0,0
$GC,8940,-0.53,-194.6,963.9,-7.7,690,8944,0.00,2.20,0.00,0.000,6,0.000,0.036,2111,2515,3615,0,0,0,0,0,0
$STATE,9233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9233,begin apogee
$GC,9240,-0.13,0.0,990.9,10.2,704,9395,0.43,0.00,149.55,1.076,4,0.110,0.000,2253,2109,2868,0,0,0,0,0,0
$STATE,9395,end apogee,CONTROL_FINISHED_OK
$STATE,9395,begin climb
$GC,9398,0.53,194.6,1003.1,0.0,711,9564,0.62,2.22,158.70,1.062,4,0.058,0.037,2483,730,2075,0,0,0,0,0,0
$GC,9728,0.67,305.3,991.8,7.3,726,9826,0.00,2.20,89.22,1.045,6,0.000,0.032,2483,2138,1624,0,0,0,0,0,0
$GC,10148,0.75,375.8,955.8,8.9,747,10213,0.17,2.25,56.88,1.026,4,0.078,0.034,2564,736,1336,0,0,0,0,0,0
$GC,10274,0.75,375.8,938.5,14.0,752,10282,0.00,2.28,0.00,0.000,6,0.000,0.034,2564,2178,1337,0,0,0,0,0,0
$GC,10590,0.75,375.8,887.6,16.8,768,10594,0.00,2.12,0.00,0.000,4,0.000,0.045,2564,3534,1338,0,0,0,0,0,0
$GC,10662,0.75,375.8,874.3,18.5,771,10667,0.12,2.00,0.00,0.000,6,0.183,0.028,2543,2222,1338,0,0,0,0,0,0
$GC,10978,0.75,375.8,828.1,14.3,786,10982,0.00,2.28,0.00,0.000,4,0.000,0.036,2553,730,1337,0,0,0,0,0,0
$GC,11034,0.75,375.8,820.1,13.5,788,11041,0.00,2.30,0.00,0.000,6,0.000,0.033,2553,2216,1337,0,0,0,0,0,0
$GC,11350,0.75,375.8,777.1,13.2,804,11354,0.00,2.05,0.00,0.000,4,0.000,0.044,2553,3535,1337,0,0,0,0,0,0
$GC,11393,0.75,375.8,770.6,14.7,806,11397,0.00,1.98,0.00,0.000,6,0.000,0.027,2562,2257,1336,0,0,0,0,0,0
$GC,11722,0.75,375.8,724.0,14.2,822,11726,0.00,2.33,0.00,0.000,4,0.000,0.035,2573,727,1337,0,0,0,0,0,0
$GC,11784,0.75,375.8,715.6,13.4,825,11789,0.12,2.30,0.00,0.000,6,0.159,0.034,2541,2210,1337,0,0,0,0,0,0
$GC,12112,0.75,375.8,671.4,14.3,841,12116,0.00,2.08,0.00,0.000,4,0.000,0.044,2542,3541,1337,0,0,0,0,0,0
$GC,12180,0.75,375.8,660.1,16.3,844,12184,0.00,1.92,0.00,0.000,6,0.000,0.028,2548,2264,1337,0,0,0,0,0,0
$GC,12513,0.75,375.8,608.1,15.4,860,12517,0.00,2.33,0.00,0.000,4,0.000,0.037,2560,734,1336,0,0,0,0,0,0
$GC,12585,0.75,375.8,597.2,15.1,863,12589,0.00,2.25,0.00,0.000,6,0.000,0.033,2560,2204,1337,0,0,0,0,0,0
$GC,12901,0.75,375.8,553.6,13.0,878,12905,0.00,2.08,0.00,0.000,4,0.000,0.044,2560,3535,1337,0,0,0,0,0,0
$GC,12950,0.75,375.8,546.3,14.4,880,12954,0.00,1.95,0.00,0.000,6,0.000,0.028,2568,2242,1337,0,0,0,0,0,0
$GC,13279,0.75,375.8,499.7,14.6,896,13283,0.00,2.30,0.00,0.000,4,0.000,0.036,2580,726,1336,0,0,0,0,0,0
$GC,13330,0.75,375.8,491.9,14.9,900,13335,0.15,2.30,0.00,0.000,6,0.148,0.034,2539,2220,1336,0,0,0,0,0,0
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$STATE,17352,begin surface coast
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,196123,0
$CFSIZE,260165632,206512128
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