version: 66.09
glider: 181
mission: 6
dive: 236
start: 7 24 111 17 11 57
data:
$ID,181
$MISSION,6
$DIVE,236
$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,300
$T_MISSION,340
$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,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,-40816.355
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,240711,170500,1850.933,12009.810,34,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.9
$GPS2,240711,171132,1850.987,12009.781,11,1.4,11,-2.0
$SPEED_LIMITS,0.191,0.321
$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,316.3,23916,-15.3,-11.000
$D_GRID,1926
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,208,2603,2272,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.8,9,131,7.95,2.12,-30.08,0.000,4,0.231,0.035,2137,1168,3763,0,0,0,0,0,0
$GC,238,-0.52,-219.0,50.1,-24.3,35,246,0.00,2.25,0.00,0.000,6,0.000,0.038,2137,2593,3764,0,0,0,0,0,0
$GC,372,-0.52,-219.0,92.6,-31.3,60,380,0.00,1.88,0.00,0.000,4,0.000,0.043,2129,3791,3762,0,0,0,0,0,0
$GC,475,-0.52,-219.0,121.0,-27.4,79,483,0.00,1.77,0.00,0.000,6,0.000,0.023,2129,2597,3765,0,0,0,0,0,0
$GC,611,-0.52,-219.0,148.8,-19.7,104,619,0.00,2.08,0.00,0.000,4,0.000,0.027,2129,1203,3766,0,0,0,0,0,0
$GC,663,-0.52,-219.0,158.7,-16.4,113,671,0.00,2.20,0.00,0.000,6,0.000,0.034,2125,2618,3766,0,0,0,0,0,0
$GC,798,-0.52,-219.0,183.3,-19.1,138,807,0.00,1.80,0.00,0.000,4,0.000,0.042,2117,3781,3767,0,0,0,0,0,0
$GC,832,-0.52,-219.0,189.8,-19.4,143,841,0.00,1.75,0.00,0.000,6,0.000,0.024,2117,2593,3767,0,0,0,0,0,0
$GC,975,-0.52,-219.0,216.7,-19.2,161,980,0.12,2.03,0.00,0.000,4,0.158,0.027,2149,1212,3767,0,0,0,0,0,0
$GC,996,-0.52,-219.0,221.0,-18.2,162,1005,0.00,2.15,0.00,0.000,6,0.000,0.035,2149,2599,3767,0,0,0,0,0,0
$GC,1323,-0.52,-219.0,261.2,-11.7,193,1327,0.00,1.83,0.00,0.000,4,0.000,0.044,2145,3790,3766,0,0,0,0,0,0
$GC,1402,-0.52,-219.0,268.9,-8.7,200,1406,0.00,1.73,0.00,0.000,6,0.000,0.023,2145,2633,3769,0,0,0,0,0,0
$GC,1732,-0.52,-219.0,308.8,-12.1,231,1736,0.00,2.10,0.00,0.000,4,0.000,0.028,2145,1196,3763,0,0,0,0,0,0
$GC,1767,-0.52,-219.0,312.5,-10.7,234,1771,0.00,2.15,0.00,0.000,6,0.000,0.034,2140,2612,3763,0,0,0,0,0,0
$GC,2093,-0.52,-219.0,349.9,-11.7,264,2097,0.00,1.77,0.00,0.000,4,0.000,0.045,2138,3780,3760,0,0,0,0,0,0
$GC,2131,-0.52,-219.0,354.7,-11.4,267,2138,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2608,3759,0,0,0,0,0,0
$GC,2457,-0.52,-219.0,394.3,-12.9,298,2461,0.00,2.08,0.00,0.000,4,0.000,0.029,2139,1200,3759,0,0,0,0,0,0
$GC,2518,-0.52,-219.0,401.1,-9.8,303,2525,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2612,3756,0,0,0,0,0,0
$GC,2843,-0.52,-219.0,439.3,-12.0,334,2847,0.00,1.77,0.00,0.000,4,0.000,0.046,2138,3775,3754,0,0,0,0,0,0
$GC,2911,-0.52,-219.0,446.1,-9.0,340,2915,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2610,3752,0,0,0,0,0,0
$GC,3242,-0.52,-219.0,482.5,-10.7,371,3246,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1200,3750,0,0,0,0,0,0
$GC,3305,-0.52,-219.0,488.6,-9.0,376,3309,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2601,3745,0,0,0,0,0,0
$GC,3642,-0.52,-219.0,522.2,-10.5,398,3645,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3776,3746,0,0,0,0,0,0
$GC,3669,-0.52,-219.0,525.5,-10.2,399,3673,0.00,1.75,0.00,0.000,6,0.000,0.026,2139,2583,3745,0,0,0,0,0,0
$GC,3997,-0.52,-219.0,557.8,-9.6,415,4000,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1200,3743,0,0,0,0,0,0
$GC,4030,-0.52,-219.0,561.1,-9.6,416,4034,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2598,3743,0,0,0,0,0,0
$GC,4352,-0.52,-219.0,590.4,-9.4,432,4356,0.00,1.88,0.00,0.000,4,0.000,0.048,2138,3789,3740,0,0,0,0,0,0
$GC,4398,-0.52,-219.0,594.5,-8.9,434,4402,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2592,3743,0,0,0,0,0,0
$GC,4732,-0.52,-219.0,628.2,-10.6,450,4735,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1209,3738,0,0,0,0,0,0
$GC,4782,-0.52,-219.0,633.3,-9.8,452,4786,0.00,2.15,0.00,0.000,6,0.000,0.036,2139,2611,3737,0,0,0,0,0,0
$GC,5110,-0.52,-219.0,667.3,-10.8,468,5113,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3780,3735,0,0,0,0,0,0
$GC,5149,-0.52,-219.0,671.5,-10.4,469,5155,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2581,3734,0,0,0,0,0,0
$GC,5466,-0.52,-219.0,702.6,-10.1,485,5469,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1215,3732,0,0,0,0,0,0
$GC,5489,-0.52,-219.0,705.2,-10.1,486,5494,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2607,3732,0,0,0,0,0,0
$GC,5817,-0.52,-219.0,734.5,-9.0,502,5821,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3789,3730,0,0,0,0,0,0
$GC,5845,-0.52,-219.0,737.1,-9.1,503,5849,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2604,3730,0,0,0,0,0,0
$GC,6173,-0.52,-219.0,766.4,-9.8,519,6177,0.00,2.10,0.00,0.000,4,0.000,0.032,2136,1201,3728,0,0,0,0,0,0
$GC,6219,-0.52,-219.0,770.8,-9.3,521,6223,0.00,2.15,0.00,0.000,6,0.000,0.037,2143,2603,3728,0,0,0,0,0,0
$GC,6551,-0.52,-219.0,801.0,-8.9,537,6555,0.00,1.83,0.00,0.000,4,0.000,0.049,2138,3779,3726,0,0,0,0,0,0
$GC,6585,-0.52,-219.0,804.0,-8.5,538,6589,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2591,3726,0,0,0,0,0,0
$GC,6906,-0.52,-219.0,827.7,-7.5,554,6910,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1203,3724,0,0,0,0,0,0
$GC,6956,-0.52,-219.0,831.6,-7.5,556,6961,0.00,2.12,0.00,0.000,6,0.000,0.037,2138,2581,3724,0,0,0,0,0,0
$GC,7279,-0.52,-219.0,855.0,-7.4,572,7282,0.00,1.88,0.00,0.000,4,0.000,0.050,2143,3789,3722,0,0,0,0,0,0
$GC,7312,-0.52,-219.0,857.4,-7.2,573,7316,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2578,3722,0,0,0,0,0,0
$GC,7634,-0.52,-219.0,880.8,-7.3,589,7638,0.00,2.05,0.00,0.000,4,0.000,0.032,2138,1207,3721,0,0,0,0,0,0
$GC,7673,-0.52,-219.0,883.9,-7.3,590,7680,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2598,3721,0,0,0,0,0,0
$GC,7989,-0.52,-219.0,906.6,-7.5,606,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2597,3720,0,0,0,0,0,0
$GC,8299,-0.52,-219.0,930.2,-7.5,621,8303,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1210,3718,0,0,0,0,0,0
$GC,8327,-0.52,-219.0,932.7,-7.6,622,8331,0.00,2.12,0.00,0.000,6,0.000,0.038,2138,2581,3718,0,0,0,0,0,0
$GC,8654,-0.52,-219.0,957.4,-7.7,638,8658,0.00,1.88,0.00,0.000,4,0.000,0.050,2138,3784,3717,0,0,0,0,0,0
$GC,8688,-0.52,-219.0,959.9,-7.3,639,8692,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2593,3717,0,0,0,0,0,0
$GC,9010,-0.52,-219.0,982.2,-6.9,655,9014,0.00,1.88,0.00,0.000,4,0.000,0.047,2138,3784,3714,0,0,0,0,0,0
$STATE,9114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9114,begin apogee
$GC,9123,-0.13,0.0,990.3,8.3,659,9291,0.32,0.00,163.62,1.092,4,0.063,0.000,2289,2122,2869,0,0,0,0,0,0
$STATE,9292,end apogee,CONTROL_FINISHED_OK
$STATE,9292,begin climb
$GC,9295,0.52,219.0,999.5,0.0,667,9484,0.55,2.38,176.18,1.067,4,0.047,0.042,2501,3539,1976,0,0,0,0,0,0
$GC,9652,0.52,219.0,960.7,15.8,683,9656,0.00,2.22,0.00,0.000,6,0.000,0.028,2510,2125,1974,0,0,0,0,0,0
$GC,9974,0.52,219.0,912.2,15.3,699,9978,0.00,2.28,0.00,0.000,4,0.000,0.043,2511,3539,1973,0,0,0,0,0,0
$GC,10080,0.52,219.0,894.5,17.1,703,10088,0.12,2.22,0.00,0.000,6,0.195,0.029,2493,2092,1973,0,0,0,0,0,0
$GC,10397,0.52,219.0,853.5,12.7,719,10401,0.00,2.10,0.00,0.000,4,0.000,0.040,2498,722,1972,0,0,0,0,0,0
$GC,10461,0.52,219.0,845.5,13.1,722,10465,0.00,2.12,0.00,0.000,6,0.000,0.034,2502,2102,1971,0,0,0,0,0,0
$GC,10788,0.52,219.0,801.3,13.5,738,10792,0.00,2.22,0.00,0.000,4,0.000,0.044,2502,3537,1971,0,0,0,0,0,0
$GC,10821,0.52,219.0,796.3,14.6,739,10828,0.00,2.20,0.00,0.000,6,0.000,0.030,2511,2096,1969,0,0,0,0,0,0
$GC,11138,0.52,219.0,751.0,14.6,755,11142,0.00,2.12,0.00,0.000,4,0.000,0.040,2522,712,1970,0,0,0,0,0,0
$GC,11198,0.52,219.0,742.2,13.4,757,11206,0.12,2.12,0.00,0.000,6,0.169,0.034,2490,2102,1970,0,0,0,0,0,0
$GC,11515,0.52,219.0,703.3,12.1,773,11519,0.00,2.22,0.00,0.000,4,0.000,0.045,2490,3536,1970,0,0,0,0,0,0
$GC,11571,0.52,219.0,695.9,13.2,775,11578,0.00,2.17,0.00,0.000,6,0.000,0.029,2499,2104,1970,0,0,0,0,0,0
$GC,11887,0.52,219.0,658.1,11.9,791,11891,0.00,2.12,0.00,0.000,4,0.000,0.040,2509,710,1970,0,0,0,0,0,0
$GC,11928,0.52,219.0,653.4,11.4,793,11932,0.00,2.12,0.00,0.000,6,0.000,0.034,2509,2095,1969,0,0,0,0,0,0
$GC,12255,0.52,219.0,613.9,12.0,809,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2096,1969,0,0,0,0,0,0
$GC,12564,0.52,219.0,574.5,12.7,824,12569,0.00,2.25,0.00,0.000,4,0.000,0.045,2509,3544,1970,0,0,0,0,0,0
$GC,12612,0.52,219.0,568.1,14.2,826,12616,0.00,2.20,0.00,0.000,6,0.000,0.029,2519,2091,1970,0,0,0,0,0,0
$GC,12938,0.52,219.0,525.1,12.8,842,12942,0.00,2.08,0.00,0.000,4,0.000,0.037,2529,719,1970,0,0,0,0,0,0
$GC,13002,0.52,219.0,517.0,12.9,845,13007,0.15,2.10,0.00,0.000,6,0.158,0.033,2489,2093,1970,0,0,0,0,0,0
$GC,13323,0.53,227.1,482.0,10.7,868,13336,0.00,2.30,6.97,0.707,4,0.000,0.044,2489,3538,1943,0,0,0,0,0,0
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$STATE,17703,begin surface coast
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