version: 66.09
glider: 181
mission: 6
dive: 467
start: 9 8 111 12 48 53
data:
$ID,181
$MISSION,6
$DIVE,467
$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,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,-41152.168
$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,43
$R_STBD_OVSHOOT,31
$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,1
$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
$GPS1,080911,124207,1919.233,11959.249,40,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.4
$GPS2,080911,124831,1919.208,11959.301,13,1.3,30,-2.1
$SPEED_LIMITS,0.204,0.312
$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,180.1,35594,-17.4,-11.786
$D_GRID,4160
$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,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.75,0.000,2,0.000,0.000,185,2506,2212,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.1,-3.4,11,134,8.18,2.15,-31.92,0.000,4,0.227,0.041,2123,1084,3664,0,0,0,0,0,0
$GC,187,-0.53,-194.6,27.7,-21.4,28,194,0.00,2.20,0.00,0.000,6,0.000,0.037,2114,2502,3664,0,0,0,0,0,0
$GC,330,-0.53,-194.6,69.2,-26.0,53,337,0.00,2.00,0.00,0.000,4,0.000,0.044,2111,3783,3664,0,0,0,0,0,0
$GC,418,-0.53,-194.6,83.6,-15.3,68,424,0.00,1.70,0.00,0.000,6,0.000,0.024,2111,2607,3664,0,0,0,0,0,0
$GC,560,-0.53,-194.6,109.9,-18.4,93,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3664,0,0,0,0,0,0
$GC,703,-0.53,-194.6,134.4,-17.2,118,709,0.00,1.83,0.00,0.000,4,0.000,0.041,2102,3790,3665,0,0,0,0,0,0
$GC,750,-0.53,-194.6,142.2,-15.7,126,756,0.00,1.67,0.00,0.000,6,0.000,0.024,2102,2624,3664,0,0,0,0,0,0
$GC,893,-0.53,-194.6,165.0,-16.5,151,899,0.00,2.28,0.00,0.000,4,0.000,0.028,2102,1078,3665,0,0,0,0,0,0
$GC,907,-0.53,-194.6,167.1,-15.4,153,914,0.12,2.67,0.00,0.000,6,0.151,0.036,2129,2808,3666,0,0,0,0,0,0
$GC,1052,-0.53,-194.6,182.6,-10.0,178,1059,0.00,2.60,0.00,0.000,4,0.000,0.029,2129,1081,3666,0,0,0,0,0,0
$GC,1077,-0.53,-194.6,185.0,-9.2,182,1084,0.00,2.38,0.00,0.000,6,0.000,0.034,2125,2621,3666,0,0,0,0,0,0
$GC,1223,-0.53,-194.6,199.3,-10.5,207,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2621,3666,0,0,0,0,0,0
$GC,1357,-0.53,-194.6,214.7,-11.4,220,1361,0.00,2.30,0.00,0.000,4,0.000,0.029,2125,1083,3665,0,0,0,0,0,0
$GC,1380,-0.53,-194.6,217.6,-11.7,221,1387,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2541,3665,0,0,0,0,0,0
$GC,1706,-0.53,-194.6,251.3,-9.8,252,1710,0.00,1.92,0.00,0.000,4,0.000,0.045,2124,3770,3664,0,0,0,0,0,0
$GC,1779,-0.53,-194.6,258.5,-9.5,258,1785,0.00,1.80,0.00,0.000,6,0.000,0.024,2124,2531,3663,0,0,0,0,0,0
$GC,2104,-0.53,-194.6,290.7,-9.8,289,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2531,3661,0,0,0,0,0,0
$GC,2427,-0.53,-194.6,321.4,-9.7,319,2430,0.00,1.95,0.00,0.000,4,0.000,0.045,2124,3782,3658,0,0,0,0,0,0
$GC,2473,-0.53,-194.6,326.3,-9.6,323,2476,0.00,1.73,0.00,0.000,6,0.000,0.026,2124,2603,3657,0,0,0,0,0,0
$GC,2804,-0.53,-194.6,361.1,-10.7,354,2808,0.00,2.22,0.00,0.000,4,0.000,0.032,2124,1110,3654,0,0,0,0,0,0
$GC,2859,-0.53,-194.6,367.2,-10.6,358,2866,0.00,2.28,0.00,0.000,6,0.000,0.035,2124,2585,3654,0,0,0,0,0,0
$GC,3185,-0.53,-194.6,399.8,-10.1,389,3188,0.00,1.85,0.00,0.000,4,0.000,0.047,2124,3783,3651,0,0,0,0,0,0
$GC,3212,-0.53,-194.6,402.8,-10.1,391,3219,0.00,1.75,0.00,0.000,6,0.000,0.027,2124,2588,3651,0,0,0,0,0,0
$GC,3539,-0.53,-194.6,433.9,-10.2,422,3543,0.00,2.22,0.00,0.000,4,0.000,0.033,2124,1110,3648,0,0,0,0,0,0
$GC,3589,-0.53,-194.6,439.1,-9.9,426,3596,0.00,2.28,0.00,0.000,6,0.000,0.036,2124,2579,3647,0,0,0,0,0,0
$GC,3915,-0.53,-194.6,469.9,-9.4,457,3919,0.00,1.90,0.00,0.000,4,0.000,0.048,2124,3773,3644,0,0,0,0,0,0
$GC,3963,-0.53,-194.6,474.3,-9.6,461,3967,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2591,3644,0,0,0,0,0,0
$GC,4294,-0.53,-194.6,504.6,-9.3,490,4299,0.00,2.20,0.00,0.000,4,0.000,0.033,2124,1120,3641,0,0,0,0,0,0
$GC,4351,-0.53,-194.6,510.1,-9.5,492,4358,0.00,2.22,0.00,0.000,6,0.000,0.036,2124,2553,3641,0,0,0,0,0,0
$GC,4667,-0.53,-194.6,538.6,-9.2,508,4671,0.00,1.90,0.00,0.000,4,0.000,0.048,2124,3774,3639,0,0,0,0,0,0
$GC,4707,-0.53,-194.6,542.4,-9.3,509,4713,0.00,1.80,0.00,0.000,6,0.000,0.028,2124,2558,3639,0,0,0,0,0,0
$GC,5024,-0.53,-194.6,570.7,-8.4,525,5028,0.00,2.17,0.00,0.000,4,0.000,0.034,2124,1113,3637,0,0,0,0,0,0
$GC,5091,-0.53,-194.6,576.4,-8.2,528,5095,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2498,3636,0,0,0,0,0,0
$GC,5413,-0.53,-194.6,603.0,-8.6,544,5417,0.00,2.03,0.00,0.000,4,0.000,0.050,2124,3777,3634,0,0,0,0,0,0
$GC,5486,-0.53,-194.6,609.6,-8.9,547,5489,0.00,1.77,0.00,0.000,6,0.000,0.027,2124,2576,3634,0,0,0,0,0,0
$GC,5814,-0.53,-194.6,641.5,-10.2,563,5818,0.00,2.20,0.00,0.000,4,0.000,0.034,2124,1114,3631,0,0,0,0,0,0
$GC,5883,-0.53,-194.6,648.6,-10.3,566,5887,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2514,3631,0,0,0,0,0,0
$GC,6204,-0.53,-194.6,679.4,-9.4,582,6208,0.00,1.98,0.00,0.000,4,0.000,0.050,2124,3776,3630,0,0,0,0,0,0
$GC,6251,-0.53,-194.6,683.6,-9.4,584,6255,0.00,1.88,0.00,0.000,6,0.000,0.028,2124,2518,3630,0,0,0,0,0,0
$GC,6585,-0.53,-194.6,708.1,-6.8,600,6588,0.00,2.00,0.00,0.000,4,0.000,0.047,2124,3788,3628,0,0,0,0,0,0
$GC,6631,-0.53,-194.6,711.2,-6.7,602,6635,0.00,2.35,0.00,0.000,6,0.000,0.028,2124,2238,3629,0,0,0,0,0,0
$GC,6958,-0.53,-194.6,733.2,-7.0,618,6962,0.00,2.45,0.00,0.000,4,0.000,0.047,2124,3777,3627,0,0,0,0,0,0
$GC,7007,-0.53,-194.6,737.1,-7.8,620,7011,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2600,3626,0,0,0,0,0,0
$GC,7330,-0.53,-194.6,762.4,-8.0,636,7334,0.00,2.25,0.00,0.000,4,0.000,0.034,2125,1109,3625,0,0,0,0,0,0
$GC,7358,-0.53,-194.6,765.0,-8.1,637,7361,0.00,1.90,0.00,0.000,6,0.000,0.036,2124,2343,3625,0,0,0,0,0,0
$GC,7681,-0.53,-194.6,792.7,-9.0,653,7685,0.00,2.28,0.00,0.000,4,0.000,0.047,2124,3777,3623,0,0,0,0,0,0
$GC,7744,-0.53,-194.6,798.6,-9.4,656,7747,0.00,1.70,0.00,0.000,6,0.000,0.028,2124,2637,3623,0,0,0,0,0,0
$GC,8077,-0.53,-194.6,828.5,-9.0,672,8081,0.00,2.33,0.00,0.000,4,0.000,0.034,2125,1100,3622,0,0,0,0,0,0
$GC,8133,-0.53,-194.6,833.4,-8.5,674,8139,0.00,1.90,0.00,0.000,6,0.000,0.034,2124,2340,3622,0,0,0,0,0,0
$GC,8449,-0.53,-194.6,856.8,-6.7,690,8453,0.00,2.28,0.00,0.000,4,0.000,0.048,2124,3780,3620,0,0,0,0,0,0
$GC,8499,-0.53,-194.6,860.2,-6.4,692,8503,0.00,1.75,0.00,0.000,6,0.000,0.027,2124,2634,3620,0,0,0,0,0,0
$GC,8821,-0.53,-194.6,879.5,-5.8,708,8825,0.00,2.33,0.00,0.000,4,0.000,0.034,2124,1103,3619,0,0,0,0,0,0
$GC,8877,-0.53,-194.6,883.3,-6.6,710,8884,0.00,1.92,0.00,0.000,6,0.000,0.035,2124,2348,3619,0,0,0,0,0,0
$GC,9194,-0.53,-194.6,903.8,-7.0,726,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2348,3618,0,0,0,0,0,0
$GC,9502,-0.53,-194.6,928.1,-8.1,741,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2348,3617,0,0,0,0,0,0
$STATE,9623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9623,begin apogee
$GC,9630,-0.13,0.0,938.6,8.5,747,9786,0.38,0.00,149.25,1.049,4,0.085,0.000,2262,2107,2868,0,0,0,0,0,0
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,0.53,194.6,950.9,0.0,754,9955,0.60,2.22,158.15,1.027,4,0.057,0.038,2484,736,2074,0,0,0,0,0,0
$GC,9995,0.64,284.6,945.5,8.1,764,10075,0.00,2.25,73.30,1.007,6,0.000,0.034,2484,2136,1709,0,0,0,0,0,0
$GC,10383,0.69,324.4,906.4,10.2,783,10427,0.12,2.35,32.83,0.983,4,0.089,0.045,2538,3541,1545,0,0,0,0,0,0
$GC,10500,0.69,324.4,889.2,15.4,788,10504,0.00,2.12,0.00,0.000,6,0.000,0.027,2548,2165,1544,0,0,0,0,0,0
$GC,10828,0.69,324.4,841.2,14.8,804,10832,0.00,2.20,0.00,0.000,4,0.000,0.036,2558,724,1545,0,0,0,0,0,0
$GC,10871,0.69,324.4,834.2,15.2,806,10876,0.15,2.30,0.00,0.000,6,0.163,0.034,2519,2204,1545,0,0,0,0,0,0
$GC,11199,0.69,324.4,791.6,13.2,822,11203,0.00,2.08,0.00,0.000,4,0.000,0.044,2520,3539,1545,0,0,0,0,0,0
$GC,11232,0.69,324.4,786.8,14.0,823,11239,0.00,2.08,0.00,0.000,6,0.000,0.028,2527,2175,1544,0,0,0,0,0,0
$GC,11549,0.69,324.4,744.1,13.3,839,11553,0.00,2.22,0.00,0.000,4,0.000,0.038,2538,715,1546,0,0,0,0,0,0
$GC,11626,0.69,324.4,733.5,13.0,842,11633,0.00,2.22,0.00,0.000,6,0.000,0.034,2538,2164,1546,0,0,0,0,0,0
$GC,11942,0.69,324.4,691.4,13.0,858,11946,0.00,2.15,0.00,0.000,4,0.000,0.045,2538,3544,1546,0,0,0,0,0,0
$GC,11970,0.69,324.4,687.5,13.4,859,11974,0.00,2.12,0.00,0.000,6,0.000,0.028,2548,2154,1545,0,0,0,0,0,0
$GC,12292,0.69,324.4,644.0,13.5,875,12296,0.00,2.17,0.00,0.000,4,0.000,0.037,2558,723,1545,0,0,0,0,0,0
$GC,12370,0.69,324.4,633.5,13.4,878,12377,0.15,2.15,0.00,0.000,6,0.156,0.034,2518,2123,1546,0,0,0,0,0,0
$GC,12686,0.72,347.2,598.2,10.9,894,12711,0.00,2.30,19.55,0.811,4,0.000,0.044,2518,3538,1452,0,0,0,0,0,0
$GC,12779,0.72,347.2,587.1,12.0,898,12783,0.00,2.08,0.00,0.000,6,0.000,0.027,2526,2178,1452,0,0,0,0,0,0
$GC,13100,0.75,376.6,552.6,10.6,914,13130,0.00,2.33,24.65,0.784,4,0.000,0.039,2537,724,1333,0,0,0,0,0,0
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$STATE,17741,end climb,SURFACE_DEPTH_REACHED
$STATE,17741,begin surface coast
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$CFSIZE,260165632,207609856
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