version: 66.09
glider: 181
mission: 6
dive: 248
start: 7 27 111 6 34 56
data:
$ID,181
$MISSION,6
$DIVE,248
$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,450
$T_MISSION,500
$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,-40831.445
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,270711,062555,1914.582,11959.559,38,1.6,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-60.9
$GPS2,270711,063432,1914.657,11959.522,13,1.7,13,-2.1
$SPEED_LIMITS,0.127,0.233
$TGT_NAME,MIDPOINT
$TGT_LATLONG,2030.000,12000.000
$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,2.4,139538,-12.8,-7.333
$D_GRID,4145
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.39,-146.0,0.0,0.0,0,77,0.00,0.00,-57.05,0.000,2,0.000,0.000,175,2625,2450,0,0,0,0,0,0
$GC,80,-0.39,-146.0,3.6,-5.4,8,118,8.30,1.80,-20.00,0.000,4,0.230,0.057,2178,3762,3467,0,0,0,0,0,0
$GC,136,-0.39,-146.0,25.0,-39.8,16,145,0.00,1.77,0.00,0.000,6,0.000,0.024,2180,2577,3468,0,0,0,0,0,0
$GC,270,-0.39,-146.0,70.5,-28.0,41,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2574,3467,0,0,0,0,0,0
$GC,403,-0.39,-146.0,106.3,-22.9,66,412,0.00,2.03,0.00,0.000,4,0.000,0.024,2180,1203,3468,0,0,0,0,0,0
$GC,425,-0.39,-146.0,110.3,-19.0,69,433,0.00,2.25,0.00,0.000,6,0.000,0.034,2177,2646,3468,0,0,0,0,0,0
$GC,558,-0.39,-146.0,128.8,-13.5,94,567,0.00,1.75,0.00,0.000,4,0.000,0.040,2168,3783,3469,0,0,0,0,0,0
$GC,576,-0.39,-146.0,130.9,-12.9,96,584,0.00,1.70,0.00,0.000,6,0.000,0.023,2168,2631,3469,0,0,0,0,0,0
$GC,711,-0.39,-146.0,148.5,-13.3,121,719,0.00,2.12,0.00,0.000,4,0.000,0.027,2168,1206,3470,0,0,0,0,0,0
$GC,758,-0.39,-146.0,154.3,-11.5,129,766,0.00,2.20,0.00,0.000,6,0.000,0.032,2164,2635,3470,0,0,0,0,0,0
$GC,894,-0.39,-146.0,169.4,-11.1,154,903,0.00,1.75,0.00,0.000,4,0.000,0.040,2156,3773,3470,0,0,0,0,0,0
$GC,947,-0.39,-146.0,175.1,-10.1,163,955,0.10,1.65,0.00,0.000,6,0.108,0.024,2192,2661,3470,0,0,0,0,0,0
$GC,1084,-0.39,-146.0,186.5,-8.4,188,1092,0.00,2.15,0.00,0.000,4,0.000,0.028,2198,1216,3470,0,0,0,0,0,0
$GC,1132,-0.39,-146.0,190.3,-7.7,196,1141,0.00,2.17,0.00,0.000,6,0.000,0.031,2192,2637,3470,0,0,0,0,0,0
$GC,1271,-0.39,-146.0,199.9,-7.2,221,1279,0.00,2.15,0.00,0.000,4,0.000,0.027,2192,1205,3469,0,0,0,0,0,0
$GC,1301,-0.39,-146.0,202.7,-7.5,224,1309,0.00,2.15,0.00,0.000,6,0.000,0.031,2193,2609,3469,0,0,0,0,0,0
$GC,1629,-0.39,-146.0,227.4,-7.6,255,1633,0.00,2.08,0.00,0.000,4,0.000,0.028,2192,1200,3467,0,0,0,0,0,0
$GC,1669,-0.39,-146.0,230.6,-7.8,258,1673,0.00,2.12,0.00,0.000,6,0.000,0.032,2192,2610,3467,0,0,0,0,0,0
$GC,1994,-0.39,-146.0,251.6,-5.9,288,1998,0.00,1.80,0.00,0.000,4,0.000,0.042,2192,3771,3465,0,0,0,0,0,0
$GC,2030,-0.39,-146.0,253.6,-6.2,291,2033,0.00,1.67,0.00,0.000,6,0.000,0.024,2192,2610,3464,0,0,0,0,0,0
$GC,2361,-0.39,-146.0,275.2,-6.9,322,2364,0.00,2.05,0.00,0.000,4,0.000,0.028,2193,1212,3461,0,0,0,0,0,0
$GC,2473,-0.39,-146.0,283.1,-7.1,332,2476,0.00,2.08,0.00,0.000,6,0.000,0.031,2189,2588,3460,0,0,0,0,0,0
$GC,2804,-0.39,-146.0,303.0,-5.7,363,2808,0.00,1.80,0.00,0.000,4,0.000,0.042,2192,3783,3457,0,0,0,0,0,0
$GC,2856,-0.39,-146.0,306.1,-5.9,367,2863,0.00,1.88,0.00,0.000,6,0.000,0.024,2192,2495,3457,0,0,0,0,0,0
$GC,3182,-0.39,-146.0,325.1,-6.3,398,3185,0.00,1.98,0.00,0.000,4,0.000,0.041,2192,3784,3454,0,0,0,0,0,0
$GC,3441,-0.39,-146.0,343.8,-7.9,421,3445,0.00,1.98,0.00,0.000,6,0.000,0.025,2192,2440,3451,0,0,0,0,0,0
$GC,3772,-0.39,-146.0,366.2,-6.7,452,3776,0.00,1.80,0.00,0.000,4,0.000,0.031,2196,1203,3449,0,0,0,0,0,0
$GC,3811,-0.39,-146.0,368.8,-6.6,455,3818,0.00,1.85,0.00,0.000,6,0.000,0.030,2196,2442,3449,0,0,0,0,0,0
$GC,4137,-0.39,-146.0,391.4,-7.2,486,4141,0.00,1.88,0.00,0.000,4,0.000,0.031,2201,1204,3446,0,0,0,0,0,0
$GC,4396,-0.39,-146.0,411.7,-8.1,509,4400,0.00,1.85,0.00,0.000,6,0.000,0.031,2201,2413,3445,0,0,0,0,0,0
$GC,4726,-0.39,-146.0,437.0,-8.0,540,4730,0.00,1.77,0.00,0.000,4,0.000,0.031,2201,1212,3442,0,0,0,0,0,0
$GC,4934,-0.39,-146.0,453.8,-8.1,558,4941,0.00,1.83,0.00,0.000,6,0.000,0.032,2202,2402,3441,0,0,0,0,0,0
$GC,5259,-0.39,-146.0,478.7,-7.7,589,5264,0.00,1.80,0.00,0.000,4,0.000,0.031,2204,1219,3439,0,0,0,0,0,0
$GC,5298,-0.39,-146.0,481.8,-7.8,592,5305,0.00,1.77,0.00,0.000,6,0.000,0.031,2204,2394,3439,0,0,0,0,0,0
$GC,5624,-0.39,-146.0,503.4,-6.6,621,5628,0.00,1.75,0.00,0.000,4,0.000,0.031,2204,1213,3437,0,0,0,0,0,0
$GC,5663,-0.39,-146.0,506.3,-6.8,622,5670,0.00,1.77,0.00,0.000,6,0.000,0.031,2204,2388,3437,0,0,0,0,0,0
$GC,5980,-0.39,-146.0,529.3,-7.5,638,5983,0.00,1.75,0.00,0.000,4,0.000,0.032,2208,1209,3435,0,0,0,0,0,0
$GC,6003,-0.39,-146.0,531.1,-7.6,639,6007,0.00,1.77,0.00,0.000,6,0.000,0.031,2207,2390,3433,0,0,0,0,0,0
$GC,6336,-0.39,-146.0,557.0,-8.0,655,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2391,3434,0,0,0,0,0,0
$GC,6646,-0.39,-146.0,581.4,-7.8,670,6650,0.00,2.12,0.00,0.000,4,0.000,0.043,2208,3778,3432,0,0,0,0,0,0
$GC,6686,-0.39,-146.0,584.5,-7.6,672,6690,0.00,2.08,0.00,0.000,6,0.000,0.025,2208,2376,3432,0,0,0,0,0,0
$GC,7018,-0.39,-146.0,609.9,-7.6,688,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2375,3431,0,0,0,0,0,0
$GC,7327,-0.39,-146.0,634.1,-7.9,703,7331,0.00,2.17,0.00,0.000,4,0.000,0.042,2207,3776,3429,0,0,0,0,0,0
$GC,7427,-0.39,-146.0,642.6,-8.4,707,7435,0.00,2.10,0.00,0.000,6,0.000,0.025,2208,2359,3428,0,0,0,0,0,0
$GC,7744,-0.39,-146.0,667.3,-8.0,723,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2359,3427,0,0,0,0,0,0
$GC,8053,-0.39,-146.0,691.7,-7.8,738,8057,0.00,2.20,0.00,0.000,4,0.000,0.042,2208,3774,3426,0,0,0,0,0,0
$GC,8249,-0.39,-146.0,708.1,-8.7,746,8256,0.00,2.05,0.00,0.000,6,0.000,0.025,2207,2398,3425,0,0,0,0,0,0
$GC,8565,-0.39,-146.0,733.0,-7.7,762,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2398,3424,0,0,0,0,0,0
$GC,8875,-0.39,-146.0,755.9,-7.5,777,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2398,3423,0,0,0,0,0,0
$GC,9185,-0.39,-146.0,780.2,-8.2,792,9189,0.00,2.15,0.00,0.000,4,0.000,0.043,2208,3775,3422,0,0,0,0,0,0
$GC,9270,-0.39,-146.0,787.4,-8.5,796,9273,0.00,2.05,0.00,0.000,6,0.000,0.025,2208,2401,3421,0,0,0,0,0,0
$GC,9603,-0.39,-146.0,815.3,-8.6,812,9607,0.00,2.15,0.00,0.000,4,0.000,0.043,2208,3774,3420,0,0,0,0,0,0
$GC,9686,-0.39,-146.0,822.9,-8.6,815,9693,0.00,2.08,0.00,0.000,6,0.000,0.025,2207,2410,3420,0,0,0,0,0,0
$GC,10002,-0.39,-146.0,850.2,-8.8,831,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2409,3420,0,0,0,0,0,0
$GC,10312,-0.39,-146.0,876.7,-8.4,846,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2409,3416,0,0,0,0,0,0
$GC,10621,-0.39,-146.0,901.4,-7.7,861,10625,0.00,2.15,0.00,0.000,4,0.000,0.044,2208,3772,3418,0,0,0,0,0,0
$GC,10681,-0.39,-146.0,906.4,-8.1,863,10688,0.00,2.08,0.00,0.000,6,0.000,0.026,2207,2415,3419,0,0,0,0,0,0
$GC,10998,-0.39,-146.0,930.2,-7.7,879,11002,0.00,2.12,0.00,0.000,4,0.000,0.045,2208,3773,3417,0,0,0,0,0,0
$GC,11064,-0.39,-146.0,935.4,-7.9,882,11068,0.00,2.08,0.00,0.000,6,0.000,0.026,2208,2418,3417,0,0,0,0,0,0
$GC,11392,-0.39,-146.0,958.4,-7.4,898,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2415,3416,0,0,0,0,0,0
$GC,11701,-0.39,-146.0,982.3,-7.9,913,11705,0.00,2.15,0.00,0.000,4,0.000,0.046,2208,3783,3416,0,0,0,0,0,0
$STATE,11793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11793,begin apogee
$GC,11801,-0.13,0.0,990.1,8.4,917,11913,0.20,0.00,106.18,1.101,4,0.080,0.000,2286,2136,2870,0,0,0,0,0,0
$STATE,11914,end apogee,CONTROL_FINISHED_OK
$STATE,11914,begin climb
$GC,11917,0.39,146.0,996.5,0.0,922,12044,0.45,2.33,117.55,1.076,4,0.055,0.042,2463,3540,2273,0,0,0,0,0,0
$GC,12096,0.39,146.0,989.1,11.0,931,12100,0.00,2.25,0.00,0.000,6,0.000,0.028,2473,2129,2271,0,0,0,0,0,0
$GC,12423,0.39,146.0,954.8,10.5,947,12427,0.00,2.17,0.00,0.000,4,0.000,0.037,2484,716,2270,0,0,0,0,0,0
$GC,12490,0.39,146.0,947.4,10.9,950,12494,0.15,2.17,0.00,0.000,6,0.167,0.031,2448,2123,2270,0,0,0,0,0,0
$GC,12811,0.39,146.0,918.4,9.2,966,12815,0.00,2.20,0.00,0.000,4,0.000,0.044,2447,3538,2269,0,0,0,0,0,0
$GC,12888,0.39,146.0,910.5,10.6,969,12895,0.00,2.17,0.00,0.000,6,0.000,0.028,2455,2113,2269,0,0,0,0,0,0
$GC,13204,0.39,146.0,881.9,8.7,985,13208,0.00,2.12,0.00,0.000,4,0.000,0.039,2466,718,2268,0,0,0,0,0,0
$GC,13304,0.39,146.0,873.3,8.2,989,13311,0.00,2.12,0.00,0.000,6,0.000,0.032,2466,2105,2268,0,0,0,0,0,0
$GC,13620,0.39,146.0,845.6,9.0,1005,13624,0.00,2.20,0.00,0.000,4,0.000,0.043,2466,3534,2267,0,0,0,0,0,0
$GC,13686,0.39,146.0,838.8,10.7,1008,13690,0.00,2.20,0.00,0.000,6,0.000,0.028,2476,2115,2267,0,0,0,0,0,0
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$GC,14076,0.39,146.0,801.8,10.2,1027,14081,0.15,2.12,0.00,0.000,6,0.171,0.031,2450,2099,2267,0,0,0,0,0,0
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$STATE,23779,end climb,SURFACE_DEPTH_REACHED
$STATE,23779,begin surface coast
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