version: 66.09
glider: 181
mission: 6
dive: 81
start: 6 25 111 13 34 57
data:
$ID,181
$MISSION,6
$DIVE,81
$N_DIVES,85
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-39619.309
$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,50
$R_STBD_OVSHOOT,72
$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,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
$GPS1,250611,132706,2012.889,11957.186,34,1.1,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-63.1
$GPS2,250611,133432,2012.968,11957.293,10,1.9,10,-2.3
$SPEED_LIMITS,0.143,0.275
$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,185.1,135220,-12.1,-8.250
$D_GRID,3413
$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,-0.48,-194.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,2,0.000,0.000,178,2640,2470,0,0,0,0,0,0
$GC,82,-0.48,-194.6,3.3,-4.8,8,120,7.97,0.00,-23.15,0.000,6,0.236,0.000,2137,2640,3664,0,0,0,0,0,0
$GC,250,-0.48,-194.6,69.7,-37.8,37,258,0.00,1.75,0.00,0.000,4,0.000,0.049,2136,3734,3665,0,0,0,0,0,0
$GC,383,-0.48,-194.6,106.3,-20.9,61,391,0.00,1.73,0.00,0.000,6,0.000,0.025,2131,2589,3667,0,0,0,0,0,0
$GC,520,-0.48,-194.6,135.5,-20.1,86,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2585,3666,0,0,0,0,0,0
$GC,657,-0.48,-194.6,165.3,-22.4,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2585,3667,0,0,0,0,0,0
$GC,793,-0.48,-194.6,195.9,-22.2,136,801,0.00,2.08,0.00,0.000,4,0.000,0.028,2131,1196,3669,0,0,0,0,0,0
$GC,823,-0.48,-194.6,202.1,-19.1,140,831,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2563,3670,0,0,0,0,0,0
$GC,1151,-0.48,-194.6,262.2,-20.0,171,1155,0.00,1.85,0.00,0.000,4,0.000,0.045,2115,3786,3669,0,0,0,0,0,0
$GC,1212,-0.48,-194.6,275.0,-17.9,176,1220,0.00,1.77,0.00,0.000,6,0.000,0.026,2115,2590,3669,0,0,0,0,0,0
$GC,1538,-0.48,-194.6,333.7,-17.1,207,1542,0.12,1.90,0.00,0.000,4,0.158,0.046,2140,3785,3667,0,0,0,0,0,0
$GC,1598,-0.48,-194.6,342.0,-11.1,212,1605,0.00,1.75,0.00,0.000,6,0.000,0.026,2140,2608,3666,0,0,0,0,0,0
$GC,1924,-0.48,-194.6,385.8,-13.6,243,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2607,3664,0,0,0,0,0,0
$GC,2244,-0.48,-194.6,426.3,-12.0,273,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2608,3660,0,0,0,0,0,0
$GC,2562,-0.48,-194.6,458.5,-9.7,303,2566,0.00,1.85,0.00,0.000,4,0.000,0.048,2132,3789,3657,0,0,0,0,0,0
$GC,2597,-0.48,-194.6,462.7,-11.7,306,2601,0.00,1.75,0.00,0.000,6,0.000,0.029,2132,2598,3657,0,0,0,0,0,0
$GC,2938,-0.48,-194.6,502.6,-12.3,337,2942,0.00,2.05,0.00,0.000,4,0.000,0.034,2132,1207,3654,0,0,0,0,0,0
$GC,2994,-0.48,-194.6,509.3,-11.0,339,2997,0.00,2.15,0.00,0.000,6,0.000,0.040,2125,2604,3653,0,0,0,0,0,0
$GC,3316,-0.48,-194.6,553.2,-14.6,355,3319,0.00,1.80,0.00,0.000,4,0.000,0.050,2117,3780,3650,0,0,0,0,0,0
$GC,3343,-0.48,-194.6,557.4,-14.2,356,3347,0.00,1.77,0.00,0.000,6,0.000,0.030,2117,2600,3650,0,0,0,0,0,0
$GC,3671,-0.48,-194.6,606.9,-14.7,372,3675,0.00,2.08,0.00,0.000,4,0.000,0.035,2118,1204,3647,0,0,0,0,0,0
$GC,3708,-0.48,-194.6,612.2,-13.3,373,3717,0.08,2.17,0.00,0.000,6,0.144,0.041,2137,2587,3647,0,0,0,0,0,0
$GC,4025,-0.48,-194.6,645.6,-10.2,389,4028,0.00,1.83,0.00,0.000,4,0.000,0.051,2137,3783,3644,0,0,0,0,0,0
$GC,4072,-0.48,-194.6,650.0,-9.9,391,4075,0.00,1.75,0.00,0.000,6,0.000,0.030,2138,2592,3644,0,0,0,0,0,0
$GC,4405,-0.48,-194.6,681.9,-9.7,407,4408,0.00,2.05,0.00,0.000,4,0.000,0.035,2137,1210,3641,0,0,0,0,0,0
$GC,4454,-0.48,-194.6,686.7,-9.3,409,4459,0.00,2.20,0.00,0.000,6,0.000,0.041,2137,2608,3641,0,0,0,0,0,0
$GC,4782,-0.48,-194.6,716.2,-9.1,425,4786,0.00,1.83,0.00,0.000,4,0.000,0.052,2137,3772,3639,0,0,0,0,0,0
$GC,4831,-0.48,-194.6,720.6,-8.5,427,4835,0.00,1.77,0.00,0.000,6,0.000,0.030,2137,2596,3637,0,0,0,0,0,0
$GC,5159,-0.48,-194.6,749.8,-9.0,443,5163,0.00,2.10,0.00,0.000,4,0.000,0.037,2137,1196,3635,0,0,0,0,0,0
$GC,5206,-0.48,-194.6,753.8,-8.9,445,5210,0.00,2.15,0.00,0.000,6,0.000,0.042,2137,2599,3635,0,0,0,0,0,0
$GC,5534,-0.48,-194.6,782.3,-8.8,461,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2600,3633,0,0,0,0,0,0
$GC,5843,-0.48,-194.6,808.3,-8.3,476,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2600,3631,0,0,0,0,0,0
$GC,6153,-0.48,-194.6,833.2,-8.2,491,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2600,3629,0,0,0,0,0,0
$GC,6462,-0.48,-194.6,860.0,-9.2,506,6465,0.00,2.15,0.00,0.000,4,0.000,0.038,2137,1194,3627,0,0,0,0,0,0
$GC,6489,-0.48,-194.6,862.8,-9.2,507,6493,0.00,2.17,0.00,0.000,6,0.000,0.043,2137,2601,3627,0,0,0,0,0,0
$GC,6811,-0.48,-194.6,892.9,-9.5,523,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2603,3625,0,0,0,0,0,0
$GC,7120,-0.48,-194.6,922.4,-9.1,538,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2603,3624,0,0,0,0,0,0
$GC,7431,-0.48,-194.6,949.2,-8.4,553,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2603,3622,0,0,0,0,0,0
$GC,7739,-0.48,-194.6,973.9,-7.6,568,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2603,3622,0,0,0,0,0,0
$STATE,7964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7964,begin apogee
$GC,7971,-0.16,0.0,991.4,7.5,579,8124,0.32,0.00,148.38,1.115,6,0.119,0.000,2247,2114,2869,0,0,0,0,0,0
$STATE,8125,end apogee,CONTROL_FINISHED_OK
$STATE,8125,begin climb
$GC,8127,0.48,194.6,997.5,0.0,586,8298,0.57,2.50,159.98,1.083,4,0.063,0.047,2457,3540,2074,0,0,0,0,0,0
$GC,8338,0.48,194.6,982.9,13.8,596,8342,0.00,2.25,0.00,0.000,6,0.000,0.031,2467,2136,2070,0,0,0,0,0,0
$GC,8666,0.48,194.6,940.2,13.1,612,8670,0.00,2.20,0.00,0.000,4,0.000,0.043,2478,722,2065,0,0,0,0,0,0
$GC,8737,0.48,194.6,931.0,12.6,615,8741,0.00,2.20,0.00,0.000,6,0.000,0.037,2478,2129,2063,0,0,0,0,0,0
$GC,9060,0.48,194.6,887.8,13.2,631,9064,0.00,2.20,0.00,0.000,4,0.000,0.047,2478,3536,2062,0,0,0,0,0,0
$GC,9138,0.48,194.6,875.9,15.4,634,9146,0.00,2.17,0.00,0.000,6,0.000,0.031,2488,2125,2061,0,0,0,0,0,0
$GC,9454,0.48,194.6,832.7,13.4,650,9458,0.00,2.15,0.00,0.000,4,0.000,0.043,2499,720,2060,0,0,0,0,0,0
$GC,9532,0.48,194.6,822.0,13.3,653,9536,0.15,2.17,0.00,0.000,6,0.174,0.037,2461,2130,2060,0,0,0,0,0,0
$GC,9848,0.48,194.6,784.4,11.9,668,9852,0.00,2.17,0.00,0.000,4,0.000,0.047,2462,3538,2059,0,0,0,0,0,0
$GC,9897,0.48,194.6,777.8,13.0,670,9901,0.00,2.17,0.00,0.000,6,0.000,0.031,2468,2104,2059,0,0,0,0,0,0
$GC,10220,0.48,194.6,737.8,12.3,686,10223,0.00,2.12,0.00,0.000,4,0.000,0.042,2479,712,2059,0,0,0,0,0,0
$GC,10341,0.48,194.6,722.7,12.1,691,10349,0.00,2.22,0.00,0.000,6,0.000,0.037,2479,2130,2059,0,0,0,0,0,0
$GC,10659,0.48,194.6,684.0,12.0,707,10663,0.00,2.17,0.00,0.000,4,0.000,0.046,2479,3542,2058,0,0,0,0,0,0
$GC,10736,0.48,194.6,673.8,12.9,710,10745,0.08,2.20,0.00,0.000,6,0.169,0.032,2457,2123,2058,0,0,0,0,0,0
$GC,11053,0.48,194.6,643.8,9.1,726,11056,0.00,2.17,0.00,0.000,4,0.000,0.044,2465,711,2057,0,0,0,0,0,0
$GC,11108,0.48,194.6,638.8,8.7,728,11112,0.00,2.17,0.00,0.000,6,0.000,0.036,2466,2139,2057,0,0,0,0,0,0
$GC,11429,0.48,194.6,607.9,9.9,744,11433,0.00,2.15,0.00,0.000,4,0.000,0.047,2466,3535,2058,0,0,0,0,0,0
$GC,11501,0.48,194.6,599.6,11.4,747,11505,0.00,2.15,0.00,0.000,6,0.000,0.031,2475,2112,2057,0,0,0,0,0,0
$GC,11829,0.48,194.6,561.6,12.2,763,11833,0.00,2.12,0.00,0.000,4,0.000,0.042,2486,712,2058,0,0,0,0,0,0
$GC,11915,0.48,194.6,550.7,12.8,767,11919,0.00,2.15,0.00,0.000,6,0.000,0.035,2486,2129,2057,0,0,0,0,0,0
$GC,12242,0.48,194.6,508.8,12.6,783,12246,0.00,2.17,0.00,0.000,4,0.000,0.041,2496,711,2057,0,0,0,0,0,0
$GC,12308,0.48,194.6,500.5,12.1,786,12313,0.15,2.17,0.00,0.000,6,0.165,0.035,2457,2140,2058,0,0,0,0,0,0
$GC,12634,0.48,194.6,469.3,9.2,816,12638,0.00,2.15,0.00,0.000,4,0.000,0.047,2456,3533,2057,0,0,0,0,0,0
$GC,12699,0.48,194.6,462.7,10.0,821,12706,0.00,2.17,0.00,0.000,6,0.000,0.031,2464,2122,2057,0,0,0,0,0,0
$GC,13026,0.48,194.6,434.4,8.8,852,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2122,2057,0,0,0,0,0,0
$GC,13345,0.48,194.6,406.7,8.9,882,13349,0.00,2.12,0.00,0.000,4,0.000,0.042,2474,718,2057,0,0,0,0,0,0
$GC,13385,0.48,194.6,402.7,9.7,885,13389,0.00,2.15,0.00,0.000,6,0.000,0.035,2474,2137,2057,0,0,0,0,0,0
$GC,13710,0.48,194.6,368.6,11.0,915,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2137,2058,0,0,0,0,0,0
$GC,14032,0.48,194.6,336.3,9.5,945,14036,0.00,2.15,0.00,0.000,4,0.000,0.046,2474,3542,2057,0,0,0,0,0,0
$GC,14082,0.48,194.6,330.8,10.5,949,14086,0.00,2.12,0.00,0.000,6,0.000,0.031,2484,2123,2057,0,0,0,0,0,0
$GC,14408,0.48,194.6,301.4,8.7,979,14412,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,716,2057,0,0,0,0,0,0
$GC,14484,0.48,194.6,294.6,8.4,985,14492,0.10,2.17,0.00,0.000,6,0.144,0.034,2463,2131,2058,0,0,0,0,0,0
$GC,14810,0.48,194.6,265.1,10.8,1016,14814,0.00,2.15,0.00,0.000,4,0.000,0.045,2463,3542,2058,0,0,0,0,0,0
$GC,14896,0.48,194.6,255.2,11.8,1023,14900,0.00,2.12,0.00,0.000,6,0.000,0.031,2470,2124,2061,0,0,0,0,0,0
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$STATE,17793,end climb,SURFACE_DEPTH_REACHED
$STATE,17793,begin surface coast
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$FG_AHR_10Vo,0.000
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