version: 66.09
glider: 181
mission: 6
dive: 88
start: 6 27 111 3 19 35
data:
$ID,181
$MISSION,6
$DIVE,88
$N_DIVES,90
$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,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,-39628.117
$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,42
$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
$GPS1,270611,031231,2007.339,11956.758,38,1.4,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.1
$GPS2,270611,031908,2007.356,11956.854,12,1.3,12,-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,153.3,124865,-14.5,-8.250
$D_GRID,3482
$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,14,begin dive
$GC,16,-0.47,-146.0,0.0,0.0,0,80,0.00,0.00,-61.17,0.000,2,0.000,0.000,148,2569,2526,0,0,0,0,0,0
$GC,83,-0.47,-146.0,3.1,-4.1,8,115,8.15,1.95,-19.05,0.000,4,0.236,0.057,2132,3777,3467,0,0,0,0,0,0
$GC,257,-0.47,-146.0,77.0,-38.2,38,265,0.00,1.77,0.00,0.000,6,0.000,0.024,2133,2592,3470,0,0,0,0,0,0
$GC,394,-0.47,-146.0,118.3,-23.2,63,402,0.00,1.88,0.00,0.000,4,0.000,0.042,2123,3778,3472,0,0,0,0,0,0
$GC,437,-0.47,-146.0,127.7,-22.7,70,445,0.00,1.75,0.00,0.000,6,0.000,0.025,2123,2607,3472,0,0,0,0,0,0
$GC,574,-0.47,-146.0,160.5,-23.4,95,582,0.00,2.10,0.00,0.000,4,0.000,0.028,2123,1198,3473,0,0,0,0,0,0
$GC,669,-0.47,-146.0,176.4,-14.2,112,678,0.10,2.17,0.00,0.000,6,0.150,0.037,2144,2593,3473,0,0,0,0,0,0
$GC,808,-0.47,-146.0,195.4,-14.0,137,818,0.00,1.85,0.00,0.000,4,0.000,0.043,2137,3787,3474,0,0,0,0,0,0
$GC,856,-0.47,-146.0,202.2,-13.7,144,860,0.00,1.73,0.00,0.000,6,0.000,0.025,2136,2589,3473,0,0,0,0,0,0
$GC,1188,-0.47,-146.0,252.2,-15.2,175,1192,0.00,2.00,0.00,0.000,4,0.000,0.028,2137,1206,3473,0,0,0,0,0,0
$GC,1277,-0.47,-146.0,264.8,-13.0,183,1282,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2606,3473,0,0,0,0,0,0
$GC,1603,-0.47,-146.0,311.5,-13.1,213,1606,0.00,2.05,0.00,0.000,4,0.000,0.029,2129,1218,3472,0,0,0,0,0,0
$GC,1626,-0.47,-146.0,314.5,-12.8,215,1630,0.00,2.12,0.00,0.000,6,0.000,0.038,2124,2606,3472,0,0,0,0,0,0
$GC,1951,-0.47,-146.0,357.1,-13.7,245,1955,0.00,1.83,0.00,0.000,4,0.000,0.045,2116,3781,3470,0,0,0,0,0,0
$GC,1973,-0.47,-146.0,360.2,-13.7,247,1977,0.12,1.73,0.00,0.000,6,0.157,0.026,2149,2590,3471,0,0,0,0,0,0
$GC,2304,-0.47,-146.0,400.2,-12.7,278,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2587,3466,0,0,0,0,0,0
$GC,2623,-0.47,-146.0,436.2,-9.8,308,2627,0.00,2.03,0.00,0.000,4,0.000,0.031,2146,1209,3464,0,0,0,0,0,0
$GC,2682,-0.47,-146.0,441.3,-8.5,313,2686,0.00,2.12,0.00,0.000,6,0.000,0.037,2149,2606,3463,0,0,0,0,0,0
$GC,3007,-0.47,-146.0,469.5,-9.2,343,3011,0.00,2.08,0.00,0.000,4,0.000,0.031,2150,1208,3459,0,0,0,0,0,0
$GC,3073,-0.47,-146.0,476.1,-9.3,348,3080,0.00,2.15,0.00,0.000,6,0.000,0.037,2149,2593,3459,0,0,0,0,0,0
$GC,3399,-0.47,-146.0,506.1,-9.6,376,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2594,3457,0,0,0,0,0,0
$GC,3706,-0.47,-146.0,535.2,-9.2,391,3710,0.00,2.08,0.00,0.000,4,0.000,0.031,2150,1201,3454,0,0,0,0,0,0
$GC,3778,-0.47,-146.0,541.1,-8.0,394,3782,0.00,2.15,0.00,0.000,6,0.000,0.038,2150,2608,3453,0,0,0,0,0,0
$GC,4094,-0.47,-146.0,563.9,-6.8,409,4098,0.00,2.10,0.00,0.000,4,0.000,0.033,2150,1200,3451,0,0,0,0,0,0
$GC,4167,-0.47,-146.0,568.7,-6.2,412,4171,0.00,2.15,0.00,0.000,6,0.000,0.037,2150,2601,3449,0,0,0,0,0,0
$GC,4488,-0.47,-146.0,590.8,-7.3,428,4492,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1213,3448,0,0,0,0,0,0
$GC,4554,-0.47,-146.0,595.3,-6.3,431,4558,0.00,2.12,0.00,0.000,6,0.000,0.040,2150,2606,3447,0,0,0,0,0,0
$GC,4882,-0.47,-146.0,616.8,-7.0,447,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2607,3445,0,0,0,0,0,0
$GC,5192,-0.47,-146.0,637.4,-6.9,462,5196,0.00,2.10,0.00,0.000,4,0.000,0.034,2150,1208,3443,0,0,0,0,0,0
$GC,5233,-0.47,-146.0,640.1,-6.8,464,5237,0.00,2.15,0.00,0.000,6,0.000,0.040,2150,2609,3443,0,0,0,0,0,0
$GC,5560,-0.47,-146.0,661.6,-6.6,480,5563,0.00,2.10,0.00,0.000,4,0.000,0.034,2150,1209,3443,0,0,0,0,0,0
$GC,5604,-0.47,-146.0,664.7,-6.7,482,5608,0.00,2.12,0.00,0.000,6,0.000,0.041,2150,2596,3441,0,0,0,0,0,0
$GC,5932,-0.47,-146.0,685.8,-6.7,498,5936,0.00,2.08,0.00,0.000,4,0.000,0.034,2150,1213,3438,0,0,0,0,0,0
$GC,5995,-0.47,-146.0,690.0,-6.6,501,5998,0.00,2.12,0.00,0.000,6,0.000,0.040,2150,2600,3439,0,0,0,0,0,0
$GC,6328,-0.47,-146.0,713.1,-7.2,517,6332,0.00,2.08,0.00,0.000,4,0.000,0.035,2150,1216,3437,0,0,0,0,0,0
$GC,6371,-0.47,-146.0,716.2,-7.3,519,6375,0.00,2.12,0.00,0.000,6,0.000,0.041,2150,2600,3437,0,0,0,0,0,0
$GC,6699,-0.47,-146.0,740.7,-7.8,535,6703,0.00,2.12,0.00,0.000,4,0.000,0.035,2150,1204,3435,0,0,0,0,0,0
$GC,6743,-0.47,-146.0,744.5,-8.3,537,6747,0.00,2.15,0.00,0.000,6,0.000,0.041,2150,2606,3435,0,0,0,0,0,0
$GC,7070,-0.47,-146.0,772.6,-9.3,553,7074,0.00,2.10,0.00,0.000,4,0.000,0.036,2149,1212,3433,0,0,0,0,0,0
$GC,7102,-0.47,-146.0,775.8,-9.8,554,7110,0.00,2.17,0.00,0.000,6,0.000,0.041,2150,2599,3436,0,0,0,0,0,0
$GC,7419,-0.47,-146.0,805.1,-9.4,570,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2595,3432,0,0,0,0,0,0
$GC,7728,-0.47,-146.0,830.2,-7.6,585,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2599,3431,0,0,0,0,0,0
$GC,8037,-0.47,-146.0,852.3,-6.9,600,8041,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1209,3431,0,0,0,0,0,0
$GC,8122,-0.47,-146.0,857.6,-6.3,604,8127,0.00,2.17,0.00,0.000,6,0.000,0.042,2150,2617,3430,0,0,0,0,0,0
$GC,8450,-0.47,-146.0,877.8,-6.2,620,8454,0.00,2.12,0.00,0.000,4,0.000,0.037,2150,1212,3433,0,0,0,0,0,0
$GC,8499,-0.47,-146.0,881.0,-6.3,622,8503,0.00,2.15,0.00,0.000,6,0.000,0.043,2150,2604,3430,0,0,0,0,0,0
$GC,8815,-0.47,-146.0,902.1,-7.1,637,8819,0.00,2.10,0.00,0.000,4,0.000,0.037,2146,1213,3429,0,0,0,0,0,0
$GC,8884,-0.47,-146.0,907.4,-7.5,640,8888,0.00,2.15,0.00,0.000,6,0.000,0.042,2150,2605,3428,0,0,0,0,0,0
$GC,9205,-0.47,-146.0,932.9,-8.4,656,9209,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1216,3427,0,0,0,0,0,0
$GC,9259,-0.47,-146.0,937.8,-8.6,658,9264,0.00,2.15,0.00,0.000,6,0.000,0.042,2150,2609,3427,0,0,0,0,0,0
$GC,9583,-0.47,-146.0,963.9,-8.0,674,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2611,3426,0,0,0,0,0,0
$GC,9891,-0.47,-146.0,986.9,-7.3,689,9895,0.00,2.12,0.00,0.000,4,0.000,0.038,2150,1209,3426,0,0,0,0,0,0
$STATE,9932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9932,begin apogee
$GC,9940,-0.16,0.0,990.4,7.6,691,10056,0.28,0.00,110.38,1.119,6,0.121,0.000,2243,2129,2870,0,0,0,0,0,0
$STATE,10057,end apogee,CONTROL_FINISHED_OK
$STATE,10057,begin climb
$GC,10060,0.47,146.0,994.3,0.0,696,10187,0.57,0.00,121.90,1.089,6,0.078,0.000,2449,2130,2273,0,0,0,0,0,0
$GC,10483,0.47,146.0,957.5,11.0,717,10487,0.00,2.22,0.00,0.000,4,0.000,0.047,2449,3535,2263,0,0,0,0,0,0
$GC,10523,0.47,146.0,952.6,12.4,719,10527,0.00,2.15,0.00,0.000,6,0.000,0.031,2458,2145,2262,0,0,0,0,0,0
$GC,10850,0.47,146.0,914.4,11.7,735,10854,0.00,2.20,0.00,0.000,4,0.000,0.042,2469,722,2261,0,0,0,0,0,0
$GC,10899,0.47,146.0,908.5,11.1,737,10903,0.00,2.17,0.00,0.000,6,0.000,0.035,2469,2131,2257,0,0,0,0,0,0
$GC,11221,0.47,146.0,870.1,12.0,753,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2132,2260,0,0,0,0,0,0
$GC,11532,0.47,146.0,834.6,11.4,768,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2132,2258,0,0,0,0,0,0
$GC,11840,0.47,146.0,801.3,10.5,783,11844,0.00,2.20,0.00,0.000,4,0.000,0.041,2479,709,2254,0,0,0,0,0,0
$GC,11911,0.47,146.0,793.7,10.2,786,11915,0.00,2.17,0.00,0.000,6,0.000,0.035,2479,2128,2255,0,0,0,0,0,0
$GC,12234,0.47,146.0,759.9,10.5,802,12238,0.00,2.17,0.00,0.000,4,0.000,0.045,2479,3541,2254,0,0,0,0,0,0
$GC,12300,0.47,146.0,751.8,12.0,805,12305,0.12,2.15,0.00,0.000,6,0.193,0.030,2459,2116,2255,0,0,0,0,0,0
$GC,12621,0.47,146.0,719.4,10.4,821,12625,0.00,2.12,0.00,0.000,4,0.000,0.041,2469,716,2255,0,0,0,0,0,0
$GC,12721,0.47,146.0,708.6,10.5,825,12730,0.00,2.20,0.00,0.000,6,0.000,0.034,2468,2131,2256,0,0,0,0,0,0
$GC,13038,0.47,146.0,674.4,10.6,841,13042,0.00,2.17,0.00,0.000,4,0.000,0.040,2478,713,2255,0,0,0,0,0,0
$GC,13094,0.47,146.0,668.3,10.7,843,13101,0.00,2.17,0.00,0.000,6,0.000,0.035,2479,2132,2257,0,0,0,0,0,0
$GC,13410,0.47,146.0,634.6,10.6,859,13414,0.00,2.17,0.00,0.000,4,0.000,0.044,2478,3541,2255,0,0,0,0,0,0
$GC,13465,0.47,146.0,628.0,11.8,861,13470,0.12,2.15,0.00,0.000,6,0.185,0.029,2458,2108,2254,0,0,0,0,0,0
$GC,13787,0.47,146.0,598.0,9.1,877,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2108,2254,0,0,0,0,0,0
$GC,14097,0.47,146.0,570.8,8.8,892,14100,0.00,2.10,0.00,0.000,4,0.000,0.039,2467,712,2254,0,0,0,0,0,0
$GC,14152,0.47,146.0,565.7,8.9,894,14159,0.00,2.20,0.00,0.000,6,0.000,0.034,2467,2131,2254,0,0,0,0,0,0
$GC,14468,0.47,146.0,537.3,9.0,910,14472,0.00,2.15,0.00,0.000,4,0.000,0.044,2467,3538,2254,0,0,0,0,0,0
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$STATE,20500,begin surface coast
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$STATE,20528,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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