version: 66.09
glider: 181
mission: 6
dive: 786
start: 11 9 111 8 0 27
data:
$ID,181
$MISSION,6
$DIVE,786
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,0
$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,1
$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,-41842.434
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,091111,075307,2134.285,12032.536,35,0.9,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.3
$GPS2,091111,080002,2134.219,12032.562,9,1.5,9,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,292.2,59464,-14.3,-10.312
$D_GRID,1588
$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,17,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.30,0.000,2,0.000,0.000,179,2485,2291,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.1,-2.8,12,138,8.15,0.90,-35.50,0.000,4,0.217,0.070,2172,3041,3764,0,0,0,0,0,0
$GC,344,-0.46,-219.0,55.3,-21.4,56,351,0.15,0.80,0.00,0.000,6,0.142,0.023,2217,2462,3764,0,0,0,0,0,0
$GC,692,-0.39,-219.0,112.5,-12.9,117,700,0.00,0.88,0.00,0.000,4,0.000,0.036,2214,3037,3763,0,0,0,0,0,0
$GC,752,-0.34,-219.0,120.2,-12.4,127,759,0.12,0.73,0.00,0.000,6,0.116,0.024,2258,2502,3763,0,0,0,0,0,0
$GC,1102,-0.49,-219.0,147.5,-7.9,188,1109,0.12,0.70,0.00,0.000,4,0.083,0.025,2203,1972,3763,0,0,0,0,0,0
$GC,1366,-0.59,-219.0,175.3,-10.8,234,1373,0.00,0.80,0.00,0.000,6,0.000,0.031,2202,2516,3763,0,0,0,0,0,0
$GC,1711,-0.70,-219.0,204.2,-8.9,291,1715,0.15,0.75,0.00,0.000,4,0.071,0.036,2112,3020,3763,0,0,0,0,0,0
$GC,1842,-0.58,-219.0,222.8,-16.9,302,1849,0.22,0.70,0.00,0.000,6,0.131,0.024,2182,2505,3763,0,0,0,0,0,0
$GC,2168,-0.66,-219.0,258.0,-10.6,333,2172,0.00,0.68,0.00,0.000,4,0.000,0.024,2182,1974,3763,0,0,0,0,0,0
$GC,2209,-0.76,-219.0,262.2,-10.3,336,2216,0.12,0.77,0.00,0.000,6,0.041,0.030,2100,2503,3762,0,0,0,0,0,0
$GC,2535,-0.65,-219.0,308.2,-13.6,367,2539,0.22,0.77,0.00,0.000,4,0.140,0.034,2162,3014,3761,0,0,0,0,0,0
$GC,2548,-0.54,-219.0,309.7,-13.2,368,2553,0.10,0.70,0.00,0.000,6,0.119,0.024,2195,2503,3761,0,0,0,0,0,0
$GC,2880,-0.66,-219.0,335.1,-7.6,399,2884,0.00,0.70,0.00,0.000,4,0.000,0.025,2195,1972,3759,0,0,0,0,0,0
$GC,3142,-0.77,-219.0,358.6,-9.6,422,3146,0.17,0.77,0.00,0.000,6,0.044,0.032,2110,2499,3757,0,0,0,0,0,0
$GC,3473,-0.77,-219.0,395.4,-9.9,453,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2499,3754,0,0,0,0,0,0
$GC,3795,-0.77,-219.0,426.9,-10.2,483,3799,0.00,0.77,0.00,0.000,4,0.000,0.039,2106,3018,3751,0,0,0,0,0,0
$GC,3875,-0.73,-219.0,436.2,-11.7,490,3879,0.08,0.73,0.00,0.000,6,0.122,0.024,2133,2495,3751,0,0,0,0,0,0
$GC,4207,-0.77,-219.0,475.9,-12.1,521,4211,0.00,0.80,0.00,0.000,4,0.000,0.037,2131,3021,3748,0,0,0,0,0,0
$GC,4254,-0.78,-219.0,481.4,-11.2,525,4257,0.00,0.73,0.00,0.000,6,0.000,0.025,2131,2507,3747,0,0,0,0,0,0
$GC,4584,-0.80,-219.0,508.6,-6.5,550,4588,0.00,0.77,0.00,0.000,4,0.000,0.037,2127,3016,3745,0,0,0,0,0,0
$GC,4663,-0.80,-219.0,513.8,-6.5,553,4667,0.00,0.73,0.00,0.000,6,0.000,0.025,2127,2502,3744,0,0,0,0,0,0
$GC,4986,-0.83,-219.0,539.7,-9.1,569,4990,0.00,0.70,0.00,0.000,4,0.000,0.026,2127,1969,3742,0,0,0,0,0,0
$GC,5088,-0.84,-219.0,550.5,-11.0,573,5092,0.00,0.80,0.00,0.000,6,0.000,0.034,2125,2498,3740,0,0,0,0,0,0
$GC,5411,-0.86,-219.0,587.7,-11.8,589,5414,0.00,0.73,0.00,0.000,4,0.000,0.026,2125,1966,3738,0,0,0,0,0,0
$GC,5462,-0.85,-219.0,594.2,-12.5,591,5466,0.00,0.80,0.00,0.000,6,0.000,0.035,2125,2491,3738,0,0,0,0,0,0
$GC,5791,-0.87,-219.0,629.7,-10.0,607,5794,0.00,0.73,0.00,0.000,4,0.000,0.025,2125,1959,3734,0,0,0,0,0,0
$GC,5870,-0.86,-219.0,637.6,-9.9,610,5873,0.00,0.82,0.00,0.000,6,0.000,0.035,2125,2499,3734,0,0,0,0,0,0
$GC,6193,-0.90,-219.0,663.6,-7.9,626,6198,0.12,0.75,0.00,0.000,4,0.082,0.027,2063,1969,3732,0,0,0,0,0,0
$GC,6335,-0.78,-219.0,680.4,-13.0,632,6339,0.20,0.82,0.00,0.000,6,0.135,0.037,2121,2503,3731,0,0,0,0,0,0
$GC,6669,-0.73,-219.0,716.3,-10.4,648,6673,0.00,0.80,0.00,0.000,4,0.000,0.041,2118,3029,3729,0,0,0,0,0,0
$GC,6731,-0.67,-219.0,723.4,-10.9,650,6738,0.10,0.77,0.00,0.000,6,0.137,0.025,2150,2486,3728,0,0,0,0,0,0
$GC,7051,-0.74,-219.0,751.7,-9.0,666,7055,0.00,0.85,0.00,0.000,4,0.000,0.041,2151,3026,3726,0,0,0,0,0,0
$GC,7143,-0.78,-219.0,760.0,-8.5,670,7147,0.00,0.75,0.00,0.000,6,0.000,0.025,2151,2503,3726,0,0,0,0,0,0
$GC,7479,-0.85,-219.0,790.5,-8.9,686,7483,0.15,0.85,0.00,0.000,4,0.076,0.041,2078,3026,3724,0,0,0,0,0,0
$GC,7579,-0.74,-219.0,804.0,-14.2,690,7583,0.15,0.75,0.00,0.000,6,0.132,0.026,2126,2502,3722,0,0,0,0,0,0
$GC,7902,-0.71,-219.0,838.6,-10.8,706,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2502,3722,0,0,0,0,0,0
$GC,8210,-0.66,-219.0,870.7,-10.3,721,8215,0.12,0.85,0.00,0.000,4,0.158,0.041,2160,3026,3720,0,0,0,0,0,0
$GC,8247,-0.65,-219.0,874.2,-10.1,722,8251,0.00,0.75,0.00,0.000,6,0.000,0.026,2160,2500,3719,0,0,0,0,0,0
$GC,8570,-0.73,-219.0,899.9,-7.8,738,8573,0.00,0.73,0.00,0.000,4,0.000,0.028,2160,1978,3718,0,0,0,0,0,0
$GC,8648,-0.78,-219.0,906.1,-7.5,741,8653,0.08,0.80,0.00,0.000,6,0.057,0.037,2106,2496,3718,0,0,0,0,0,0
$GC,8974,-0.80,-219.0,933.4,-8.2,757,8978,0.00,0.73,0.00,0.000,4,0.000,0.028,2106,1979,3716,0,0,0,0,0,0
$GC,9021,-0.80,-219.0,937.5,-7.9,759,9025,0.00,0.80,0.00,0.000,6,0.000,0.037,2103,2500,3716,0,0,0,0,0,0
$GC,9356,-0.73,-219.0,969.3,-10.0,775,9361,0.12,0.82,0.00,0.000,4,0.154,0.044,2134,3017,3713,0,0,0,0,0,0
$GC,9530,-0.71,-219.0,984.7,-8.6,782,9537,0.00,0.75,0.00,0.000,6,0.000,0.027,2134,2500,3713,0,0,0,0,0,0
$STATE,9596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9596,begin apogee
$GC,9604,-0.19,0.0,990.3,8.4,786,9781,0.55,0.00,169.05,1.058,6,0.116,0.000,2309,2092,2868,0,0,0,0,0,0
$STATE,9781,end apogee,CONTROL_FINISHED_OK
$STATE,9781,begin climb
$GC,9785,0.61,219.0,1002.0,0.0,794,9981,0.75,0.85,187.35,1.037,4,0.046,0.029,2589,1586,1976,0,0,0,0,0,0
$GC,10014,0.52,231.9,993.9,9.9,805,10037,0.15,0.88,13.07,0.901,6,0.145,0.028,2551,2106,1922,0,0,0,0,0,0
$GC,10346,0.51,281.1,964.3,8.7,821,10392,0.00,0.82,40.88,1.003,4,0.000,0.035,2550,2620,1721,0,0,0,0,0,0
$GC,10448,0.46,281.1,954.7,10.3,825,10452,0.00,0.77,0.00,0.000,6,0.000,0.027,2552,2103,1721,0,0,0,0,0,0
$GC,10772,0.45,318.4,923.9,9.1,841,10807,0.00,0.77,31.38,0.980,4,0.000,0.031,2552,2629,1569,0,0,0,0,0,0
$GC,10877,0.43,330.8,913.6,9.9,845,10893,0.12,0.77,11.25,0.871,6,0.138,0.028,2517,2110,1519,0,0,0,0,0,0
$GC,11216,0.53,367.4,884.3,9.1,862,11251,0.00,0.80,31.00,0.965,4,0.000,0.029,2517,2624,1371,0,0,0,0,0,0
$GC,11358,0.58,370.0,869.9,10.2,868,11371,0.10,0.77,3.97,0.576,6,0.058,0.030,2572,2102,1360,0,0,0,0,0,0
$GC,11683,0.59,370.0,832.0,12.0,884,11687,0.00,0.77,0.00,0.000,4,0.000,0.032,2572,2624,1359,0,0,0,0,0,0
$GC,11739,0.55,370.0,824.3,13.2,886,11743,0.00,0.77,0.00,0.000,6,0.000,0.028,2575,2097,1359,0,0,0,0,0,0
$GC,12062,0.55,370.0,787.2,11.1,902,12066,0.00,0.75,0.00,0.000,4,0.000,0.034,2579,1581,1358,0,0,0,0,0,0
$GC,12126,0.51,370.0,780.1,11.1,904,12133,0.12,0.80,0.00,0.000,6,0.123,0.028,2539,2118,1358,0,0,0,0,0,0
$GC,12446,0.61,421.7,751.8,8.7,920,12492,0.10,0.77,40.72,0.901,4,0.103,0.033,2583,2617,1149,0,0,0,0,0,0
$GC,12561,0.60,421.7,739.5,11.2,925,12565,0.00,0.77,0.00,0.000,6,0.000,0.028,2586,2092,1150,0,0,0,0,0,0
$GC,12896,0.62,421.7,703.2,11.0,941,12900,0.00,0.75,0.00,0.000,4,0.000,0.034,2590,1573,1153,0,0,0,0,0,0
$GC,12965,0.59,421.7,694.8,12.1,944,12969,0.00,0.77,0.00,0.000,6,0.000,0.027,2590,2100,1153,0,0,0,0,0,0
$GC,13300,0.60,423.2,658.2,10.3,960,13304,0.00,0.77,0.00,0.000,4,0.000,0.036,2590,2615,1153,0,0,0,0,0,0
$GC,13384,0.62,435.1,649.5,9.9,963,13400,0.00,0.75,12.68,0.776,6,0.000,0.029,2593,2105,1095,0,0,0,0,0,0
$GC,13720,0.74,504.4,621.4,8.1,980,13778,0.00,0.82,54.03,0.823,4,0.000,0.034,2596,1579,812,0,0,0,0,0,0
$GC,13897,0.78,513.1,604.6,10.0,987,13914,0.00,0.77,10.18,0.706,6,0.000,0.028,2596,2097,776,0,0,0,0,0,0
$GC,14227,0.87,513.1,568.6,11.5,1003,14231,0.17,0.80,0.00,0.000,4,0.074,0.033,2674,1572,784,0,0,0,0,0,0
$GC,14318,0.81,513.1,553.5,17.7,1007,14322,0.12,0.80,0.00,0.000,6,0.124,0.029,2634,2100,784,0,0,0,0,0,0
$GC,14654,0.79,513.1,502.0,14.2,1023,14657,0.00,0.80,0.00,0.000,4,0.000,0.033,2636,1575,783,0,0,0,0,0,0
$GC,14717,0.76,513.1,493.7,12.1,1027,14724,0.00,0.80,0.00,0.000,6,0.000,0.029,2635,2107,784,0,0,0,0,0,0
$GC,15043,0.82,536.4,465.3,9.6,1058,15069,0.00,0.82,20.48,0.704,4,0.000,0.032,2638,1577,681,0,0,0,0,0,0
$GC,15100,0.86,536.4,458.8,11.3,1063,15103,0.00,0.80,0.00,0.000,6,0.000,0.029,2638,2106,681,0,0,0,0,0,0
$GC,15431,0.91,536.4,412.8,13.5,1094,15435,0.00,0.77,0.00,0.000,4,0.000,0.032,2641,1583,680,0,0,0,0,0,0
$GC,15550,0.95,536.4,397.4,12.5,1104,15558,0.08,0.77,0.00,0.000,6,0.061,0.028,2689,2102,681,0,0,0,0,0,0
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$STATE,18928,end climb,SURFACE_DEPTH_REACHED
$STATE,18929,begin surface coast
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,180568064
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