version: 66.09
glider: 181
mission: 6
dive: 101
start: 6 30 111 1 39 45
data:
$ID,181
$MISSION,6
$DIVE,101
$N_DIVES,110
$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,400
$T_MISSION,440
$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,150
$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,-40579.148
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,66
$R_STBD_OVSHOOT,39
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,300611,013501,2000.033,11950.865,7,1.2,12,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.0
$GPS2,300611,013920,2000.061,11950.828,9,1.4,9,-2.2
$SPEED_LIMITS,0.143,0.243
$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,174.0,112387,-14.5,-8.250
$D_GRID,3477
$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,-0.47,-146.0,0.0,0.0,0,75,0.00,0.00,-56.85,0.000,2,0.000,0.000,217,2557,2427,0,0,0,0,0,0
$GC,78,-0.47,-146.0,3.1,-4.2,8,116,7.72,2.03,-23.10,0.000,4,0.232,0.041,2140,1196,3466,0,0,0,0,0,0
$GC,182,-0.47,-146.0,36.6,-31.8,25,190,0.00,2.22,0.00,0.000,6,0.000,0.042,2136,2593,3468,0,0,0,0,0,0
$GC,316,-0.47,-146.0,89.1,-31.4,50,324,0.00,1.85,0.00,0.000,4,0.000,0.044,2123,3780,3467,0,0,0,0,0,0
$GC,424,-0.47,-146.0,113.4,-17.7,70,432,0.00,1.73,0.00,0.000,6,0.000,0.025,2124,2617,3468,0,0,0,0,0,0
$GC,559,-0.47,-146.0,141.6,-22.5,95,567,0.00,2.10,0.00,0.000,4,0.000,0.028,2123,1202,3469,0,0,0,0,0,0
$GC,622,-0.47,-146.0,155.4,-20.0,106,630,0.10,2.17,0.00,0.000,6,0.140,0.035,2145,2606,3468,0,0,0,0,0,0
$GC,759,-0.47,-146.0,178.9,-17.3,131,767,0.00,1.80,0.00,0.000,4,0.000,0.042,2138,3779,3470,0,0,0,0,0,0
$GC,849,-0.47,-146.0,195.6,-16.7,147,857,0.00,1.67,0.00,0.000,6,0.000,0.025,2138,2641,3470,0,0,0,0,0,0
$GC,985,-0.47,-146.0,218.3,-16.7,162,989,0.00,2.08,0.00,0.000,4,0.000,0.029,2138,1211,3470,0,0,0,0,0,0
$GC,1028,-0.47,-146.0,226.5,-18.0,165,1035,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2658,3470,0,0,0,0,0,0
$GC,1354,-0.47,-146.0,272.3,-13.2,196,1358,0.00,2.15,0.00,0.000,4,0.000,0.028,2137,1208,3468,0,0,0,0,0,0
$GC,1402,-0.47,-146.0,278.4,-11.7,200,1410,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2612,3466,0,0,0,0,0,0
$GC,1728,-0.47,-146.0,322.1,-13.9,231,1732,0.00,2.08,0.00,0.000,4,0.000,0.030,2137,1205,3465,0,0,0,0,0,0
$GC,1777,-0.47,-146.0,328.1,-10.7,235,1784,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2625,3464,0,0,0,0,0,0
$GC,2103,-0.47,-146.0,366.6,-12.4,266,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2626,3462,0,0,0,0,0,0
$GC,2424,-0.47,-146.0,407.8,-13.6,296,2428,0.00,1.75,0.00,0.000,4,0.000,0.046,2134,3786,3461,0,0,0,0,0,0
$GC,2452,-0.47,-146.0,412.1,-13.6,298,2459,0.00,1.77,0.00,0.000,6,0.000,0.028,2129,2590,3457,0,0,0,0,0,0
$GC,2777,-0.47,-146.0,460.7,-15.3,329,2781,0.00,2.03,0.00,0.000,4,0.000,0.032,2129,1213,3454,0,0,0,0,0,0
$GC,2891,-0.47,-146.0,476.3,-12.6,339,2895,0.00,2.08,0.00,0.000,6,0.000,0.039,2124,2569,3453,0,0,0,0,0,0
$GC,3224,-0.47,-146.0,518.9,-12.6,363,3228,0.00,1.85,0.00,0.000,4,0.000,0.047,2116,3793,3450,0,0,0,0,0,0
$GC,3273,-0.47,-146.0,525.3,-11.6,365,3279,0.08,1.80,0.00,0.000,6,0.132,0.028,2141,2594,3449,0,0,0,0,0,0
$GC,3603,-0.47,-146.0,552.1,-7.6,381,3607,0.00,2.05,0.00,0.000,4,0.000,0.034,2142,1203,3445,0,0,0,0,0,0
$GC,3726,-0.47,-146.0,561.3,-6.8,386,3733,0.00,2.10,0.00,0.000,6,0.000,0.038,2139,2572,3444,0,0,0,0,0,0
$GC,4042,-0.47,-146.0,586.8,-8.6,402,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2572,3442,0,0,0,0,0,0
$GC,4351,-0.47,-146.0,615.1,-8.9,417,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2573,3439,0,0,0,0,0,0
$GC,4661,-0.47,-146.0,642.3,-8.3,432,4664,0.00,2.05,0.00,0.000,4,0.000,0.034,2138,1208,3436,0,0,0,0,0,0
$GC,4722,-0.47,-146.0,647.5,-8.0,434,4729,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2578,3436,0,0,0,0,0,0
$GC,5038,-0.47,-146.0,673.2,-8.5,450,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2577,3433,0,0,0,0,0,0
$GC,5348,-0.47,-146.0,699.8,-8.8,465,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3431,0,0,0,0,0,0
$GC,5656,-0.47,-146.0,726.6,-8.7,480,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3430,0,0,0,0,0,0
$GC,5966,-0.47,-146.0,752.6,-8.2,495,5970,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1196,3428,0,0,0,0,0,0
$GC,6016,-0.47,-146.0,756.8,-8.3,497,6020,0.00,2.12,0.00,0.000,6,0.000,0.041,2137,2578,3427,0,0,0,0,0,0
$GC,6338,-0.47,-146.0,780.0,-7.2,513,6342,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1205,3425,0,0,0,0,0,0
$GC,6388,-0.47,-146.0,783.7,-7.3,515,6392,0.00,2.10,0.00,0.000,6,0.000,0.041,2137,2570,3425,0,0,0,0,0,0
$GC,6717,-0.47,-146.0,808.0,-7.7,531,6720,0.00,2.05,0.00,0.000,4,0.000,0.035,2138,1211,3423,0,0,0,0,0,0
$GC,6744,-0.47,-146.0,810.1,-7.7,532,6748,0.00,2.10,0.00,0.000,6,0.000,0.041,2138,2571,3423,0,0,0,0,0,0
$GC,7072,-0.47,-146.0,834.2,-7.7,548,7076,0.00,2.08,0.00,0.000,4,0.000,0.035,2138,1202,3422,0,0,0,0,0,0
$GC,7099,-0.47,-146.0,836.6,-7.9,549,7103,0.00,2.10,0.00,0.000,6,0.000,0.042,2138,2564,3422,0,0,0,0,0,0
$GC,7426,-0.47,-146.0,861.5,-7.8,565,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2566,3421,0,0,0,0,0,0
$GC,7736,-0.47,-146.0,885.8,-7.7,580,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2566,3419,0,0,0,0,0,0
$GC,8045,-0.47,-146.0,911.0,-8.2,595,8048,0.00,1.88,0.00,0.000,4,0.000,0.052,2138,3783,3418,0,0,0,0,0,0
$GC,8078,-0.47,-146.0,913.8,-8.2,596,8082,0.00,1.80,0.00,0.000,6,0.000,0.029,2138,2564,3418,0,0,0,0,0,0
$GC,8400,-0.47,-146.0,940.2,-8.5,612,8404,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1201,3417,0,0,0,0,0,0
$GC,8491,-0.47,-146.0,947.9,-8.4,616,8495,0.00,2.10,0.00,0.000,6,0.000,0.041,2137,2559,3417,0,0,0,0,0,0
$GC,8819,-0.47,-146.0,974.8,-8.2,632,8822,0.00,2.05,0.00,0.000,4,0.000,0.036,2138,1202,3416,0,0,0,0,0,0
$GC,8864,-0.47,-146.0,978.7,-8.4,634,8868,0.00,2.10,0.00,0.000,6,0.000,0.042,2137,2558,3416,0,0,0,0,0,0
$STATE,9004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9004,begin apogee
$GC,9010,-0.16,0.0,990.5,8.1,641,9126,0.30,0.00,108.47,1.114,4,0.129,0.000,2237,2113,2868,0,0,0,0,0,0
$STATE,9126,end apogee,CONTROL_FINISHED_OK
$STATE,9127,begin climb
$GC,9129,0.47,146.0,995.0,0.0,646,9260,0.65,2.28,119.95,1.083,4,0.094,0.041,2450,716,2273,0,0,0,0,0,0
$GC,9276,0.48,153.9,988.5,7.9,653,9289,0.00,2.30,7.85,0.858,6,0.000,0.035,2450,2134,2241,0,0,0,0,0,0
$GC,9598,0.48,153.9,958.1,9.4,669,9602,0.00,2.22,0.00,0.000,4,0.000,0.046,2450,3538,2234,0,0,0,0,0,0
$GC,9621,0.48,153.9,955.6,9.4,670,9625,0.00,2.20,0.00,0.000,6,0.000,0.031,2460,2112,2234,0,0,0,0,0,0
$GC,9948,0.48,153.9,922.3,10.2,686,9951,0.00,2.12,0.00,0.000,4,0.000,0.041,2470,723,2233,0,0,0,0,0,0
$GC,10019,0.48,153.9,914.8,10.3,689,10024,0.00,2.15,0.00,0.000,6,0.000,0.036,2470,2121,2232,0,0,0,0,0,0
$GC,10342,0.48,153.9,878.0,12.0,705,10346,0.00,2.20,0.00,0.000,4,0.000,0.045,2471,3544,2231,0,0,0,0,0,0
$GC,10430,0.48,153.9,866.0,13.2,709,10434,0.00,2.17,0.00,0.000,6,0.000,0.031,2480,2103,2230,0,0,0,0,0,0
$GC,10758,0.48,153.9,824.0,12.9,725,10762,0.00,2.10,0.00,0.000,4,0.000,0.041,2491,715,2229,0,0,0,0,0,0
$GC,10802,0.48,153.9,817.9,12.8,727,10807,0.12,2.15,0.00,0.000,6,0.184,0.034,2461,2130,2229,0,0,0,0,0,0
$GC,11130,0.48,153.9,778.8,12.2,743,11134,0.00,2.17,0.00,0.000,4,0.000,0.046,2461,3543,2229,0,0,0,0,0,0
$GC,11169,0.48,153.9,773.5,13.4,745,11173,0.00,2.15,0.00,0.000,6,0.000,0.030,2470,2113,2228,0,0,0,0,0,0
$GC,11497,0.48,153.9,731.4,12.6,761,11501,0.00,2.10,0.00,0.000,4,0.000,0.041,2480,720,2228,0,0,0,0,0,0
$GC,11675,0.48,153.9,709.2,12.1,769,11679,0.00,2.12,0.00,0.000,6,0.000,0.035,2480,2091,2228,0,0,0,0,0,0
$GC,12003,0.48,153.9,669.3,12.1,785,12007,0.00,2.22,0.00,0.000,4,0.000,0.045,2480,3535,2228,0,0,0,0,0,0
$GC,12063,0.48,153.9,661.1,13.5,787,12071,0.12,2.17,0.00,0.000,6,0.190,0.030,2460,2085,2227,0,0,0,0,0,0
$GC,12380,0.48,153.9,628.6,10.0,803,12383,0.00,2.08,0.00,0.000,4,0.000,0.040,2470,712,2225,0,0,0,0,0,0
$GC,12429,0.48,153.9,623.7,9.6,805,12434,0.00,2.15,0.00,0.000,6,0.000,0.034,2468,2097,2227,0,0,0,0,0,0
$GC,12757,0.48,153.9,592.5,9.3,821,12761,0.00,2.20,0.00,0.000,4,0.000,0.044,2468,3540,2226,0,0,0,0,0,0
$GC,12798,0.48,153.9,588.2,11.1,823,12802,0.00,2.17,0.00,0.000,6,0.000,0.030,2477,2088,2226,0,0,0,0,0,0
$GC,13125,0.48,153.9,552.7,11.4,839,13129,0.00,2.08,0.00,0.000,4,0.000,0.040,2487,716,2226,0,0,0,0,0,0
$GC,13148,0.48,153.9,550.1,11.5,840,13152,0.00,2.08,0.00,0.000,6,0.000,0.034,2487,2097,2226,0,0,0,0,0,0
$GC,13474,0.48,153.9,511.2,11.9,856,13478,0.00,2.10,0.00,0.000,4,0.000,0.038,2496,712,2226,0,0,0,0,0,0
$GC,13561,0.48,153.9,501.0,12.1,860,13566,0.15,2.05,0.00,0.000,6,0.171,0.033,2458,2072,2226,0,0,0,0,0,0
$GC,13886,0.48,153.9,466.7,10.0,890,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2073,2226,0,0,0,0,0,0
$GC,14209,0.48,153.9,436.2,9.3,920,14213,0.00,2.25,0.00,0.000,4,0.000,0.045,2457,3541,2226,0,0,0,0,0,0
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$STATE,19232,end climb,SURFACE_DEPTH_REACHED
$STATE,19232,begin surface coast
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$STATE,19259,end surface coast,CONTROL_FINISHED_OK
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