version: 66.09
glider: 181
mission: 6
dive: 392
start: 8 24 111 8 12 57
data:
$ID,181
$MISSION,6
$DIVE,392
$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,-7
$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,-41038.004
$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,48
$R_STBD_OVSHOOT,37
$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,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
$GPS1,240811,080607,2109.192,11947.511,39,0.9,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.7
$GPS2,240811,081232,2109.327,11947.525,12,1.3,12,-2.5
$SPEED_LIMITS,0.204,0.329
$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,177.3,240508,-16.3,-11.786
$D_GRID,3291
$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,-0.54,-219.0,0.0,0.0,0,80,0.00,0.00,-62.42,0.000,2,0.000,0.000,204,2609,2203,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.0,-3.5,11,137,8.10,2.17,-36.33,0.000,4,0.229,0.040,2137,1179,3762,0,0,0,0,0,0
$GC,161,-0.54,-219.0,19.8,-27.3,24,168,0.00,2.20,0.00,0.000,6,0.000,0.035,2129,2603,3762,0,0,0,0,0,0
$GC,304,-0.54,-219.0,58.8,-24.6,49,311,0.00,1.83,0.00,0.000,4,0.000,0.043,2120,3787,3761,0,0,0,0,0,0
$GC,397,-0.54,-219.0,81.2,-22.4,65,403,0.00,1.65,0.00,0.000,6,0.000,0.022,2120,2653,3761,0,0,0,0,0,0
$GC,540,-0.54,-219.0,112.8,-19.9,90,546,0.00,2.15,0.00,0.000,4,0.000,0.026,2120,1190,3761,0,0,0,0,0,0
$GC,581,-0.54,-219.0,121.4,-19.4,97,589,0.12,2.30,0.00,0.000,6,0.165,0.034,2144,2693,3761,0,0,0,0,0,0
$GC,726,-0.54,-219.0,144.3,-13.6,122,733,0.00,1.62,0.00,0.000,4,0.000,0.042,2138,3781,3761,0,0,0,0,0,0
$GC,762,-0.54,-219.0,149.5,-13.3,128,769,0.00,1.60,0.00,0.000,6,0.000,0.023,2137,2691,3761,0,0,0,0,0,0
$GC,906,-0.54,-219.0,168.8,-13.8,153,912,0.00,2.20,0.00,0.000,4,0.000,0.026,2137,1183,3761,0,0,0,0,0,0
$GC,942,-0.54,-219.0,173.5,-12.9,159,948,0.00,2.33,0.00,0.000,6,0.000,0.032,2137,2718,3762,0,0,0,0,0,0
$GC,1087,-0.54,-219.0,191.8,-12.9,184,1093,0.00,1.62,0.00,0.000,4,0.000,0.041,2129,3804,3761,0,0,0,0,0,0
$GC,1117,-0.54,-219.0,195.9,-12.4,189,1124,0.00,1.62,0.00,0.000,6,0.000,0.023,2129,2705,3761,0,0,0,0,0,0
$GC,1261,-0.54,-219.0,215.2,-14.2,205,1265,0.00,2.22,0.00,0.000,4,0.000,0.027,2129,1181,3762,0,0,0,0,0,0
$GC,1327,-0.54,-219.0,224.3,-12.1,210,1334,0.00,2.28,0.00,0.000,6,0.000,0.032,2125,2683,3761,0,0,0,0,0,0
$GC,1653,-0.54,-219.0,266.1,-12.6,241,1656,0.00,1.67,0.00,0.000,4,0.000,0.043,2124,3782,3760,0,0,0,0,0,0
$GC,1691,-0.54,-219.0,271.2,-12.3,244,1698,0.00,1.62,0.00,0.000,6,0.000,0.022,2125,2671,3760,0,0,0,0,0,0
$GC,2016,-0.54,-219.0,309.2,-12.1,275,2021,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1184,3758,0,0,0,0,0,0
$GC,2079,-0.54,-219.0,316.1,-10.5,280,2084,0.00,2.30,0.00,0.000,6,0.000,0.033,2124,2695,3758,0,0,0,0,0,0
$GC,2405,-0.54,-219.0,354.3,-11.4,310,2409,0.00,2.22,0.00,0.000,4,0.000,0.028,2125,1191,3755,0,0,0,0,0,0
$GC,2449,-0.54,-219.0,359.2,-10.7,313,2456,0.00,2.28,0.00,0.000,6,0.000,0.034,2124,2679,3754,0,0,0,0,0,0
$GC,2774,-0.54,-219.0,393.6,-10.0,344,2779,0.00,2.22,0.00,0.000,4,0.000,0.028,2124,1187,3752,0,0,0,0,0,0
$GC,2815,-0.54,-219.0,397.4,-9.6,347,2819,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2658,3752,0,0,0,0,0,0
$GC,3141,-0.54,-219.0,428.9,-9.6,377,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2658,3749,0,0,0,0,0,0
$GC,3461,-0.54,-219.0,456.2,-8.0,407,3465,0.00,2.20,0.00,0.000,4,0.000,0.029,2124,1190,3745,0,0,0,0,0,0
$GC,3493,-0.54,-219.0,459.1,-7.9,409,3500,0.00,2.25,0.00,0.000,6,0.000,0.035,2124,2655,3745,0,0,0,0,0,0
$GC,3819,-0.54,-219.0,484.3,-8.1,440,3823,0.00,2.20,0.00,0.000,4,0.000,0.031,2124,1192,3742,0,0,0,0,0,0
$GC,3848,-0.54,-219.0,486.8,-8.0,442,3853,0.00,2.25,0.00,0.000,6,0.000,0.036,2125,2652,3742,0,0,0,0,0,0
$GC,4171,-0.54,-219.0,516.5,-9.6,464,4175,0.00,2.20,0.00,0.000,4,0.000,0.031,2124,1193,3739,0,0,0,0,0,0
$GC,4198,-0.54,-219.0,519.6,-10.0,465,4202,0.00,2.22,0.00,0.000,6,0.000,0.036,2125,2634,3739,0,0,0,0,0,0
$GC,4520,-0.54,-219.0,552.4,-11.0,481,4524,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1187,3737,0,0,0,0,0,0
$GC,4565,-0.54,-219.0,557.7,-11.1,483,4569,0.00,2.20,0.00,0.000,6,0.000,0.036,2124,2617,3737,0,0,0,0,0,0
$GC,4887,-0.54,-219.0,592.4,-10.6,499,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2617,3734,0,0,0,0,0,0
$GC,5196,-0.54,-219.0,623.6,-9.6,514,5200,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1188,3731,0,0,0,0,0,0
$GC,5251,-0.54,-219.0,628.8,-8.9,516,5258,0.00,2.20,0.00,0.000,6,0.000,0.035,2124,2616,3731,0,0,0,0,0,0
$GC,5569,-0.54,-219.0,656.3,-8.9,532,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2617,3729,0,0,0,0,0,0
$GC,5877,-0.54,-219.0,685.6,-9.8,547,5881,0.00,2.15,0.00,0.000,4,0.000,0.031,2125,1189,3728,0,0,0,0,0,0
$GC,5944,-0.54,-219.0,692.2,-9.3,550,5948,0.00,2.20,0.00,0.000,6,0.000,0.036,2124,2610,3727,0,0,0,0,0,0
$GC,6266,-0.54,-219.0,724.9,-10.1,566,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2610,3725,0,0,0,0,0,0
$GC,6575,-0.54,-219.0,754.5,-9.2,581,6579,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1188,3723,0,0,0,0,0,0
$GC,6638,-0.54,-219.0,759.9,-8.5,584,6642,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2596,3723,0,0,0,0,0,0
$GC,6965,-0.54,-219.0,784.3,-7.1,600,6969,0.00,1.85,0.00,0.000,4,0.000,0.047,2124,3783,3721,0,0,0,0,0,0
$GC,7035,-0.54,-219.0,789.0,-6.8,603,7038,0.00,1.98,0.00,0.000,6,0.000,0.025,2124,2458,3721,0,0,0,0,0,0
$GC,7368,-0.54,-219.0,811.8,-7.0,619,7372,0.00,2.08,0.00,0.000,4,0.000,0.044,2124,3779,3720,0,0,0,0,0,0
$GC,7486,-0.54,-219.0,820.9,-7.8,624,7490,0.00,2.05,0.00,0.000,6,0.000,0.025,2124,2407,3719,0,0,0,0,0,0
$GC,7808,-0.54,-219.0,845.6,-8.2,640,7811,0.00,1.80,0.00,0.000,4,0.000,0.032,2125,1192,3717,0,0,0,0,0,0
$GC,8066,-0.54,-219.0,867.6,-8.6,651,8069,0.00,1.83,0.00,0.000,6,0.000,0.033,2124,2389,3716,0,0,0,0,0,0
$GC,8388,-0.54,-219.0,892.1,-7.5,667,8392,0.00,2.17,0.00,0.000,4,0.000,0.045,2124,3786,3715,0,0,0,0,0,0
$GC,8645,-0.54,-219.0,912.3,-7.8,678,8652,0.00,2.08,0.00,0.000,6,0.000,0.024,2124,2392,3713,0,0,0,0,0,0
$GC,8961,-0.54,-219.0,935.5,-7.4,694,8965,0.00,2.20,0.00,0.000,4,0.000,0.047,2124,3783,3712,0,0,0,0,0,0
$GC,9116,-0.54,-219.0,949.1,-9.3,701,9120,0.00,2.03,0.00,0.000,6,0.000,0.024,2130,2427,3711,0,0,0,0,0,0
$GC,9450,-0.54,-219.0,978.0,-8.6,717,9454,0.00,1.88,0.00,0.000,4,0.000,0.031,2131,1194,3710,0,0,0,0,0,0
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9596,-0.13,0.0,990.2,9.0,723,9770,0.38,0.00,166.80,1.085,4,0.055,0.000,2291,2136,2869,0,0,0,0,0,0
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9773,0.54,219.0,1000.3,0.0,731,9962,0.55,2.33,178.82,1.062,4,0.047,0.036,2510,727,1976,0,0,0,0,0,0
$GC,10034,0.54,219.0,982.0,13.0,743,10042,0.00,2.25,0.00,0.000,6,0.000,0.031,2510,2124,1975,0,0,0,0,0,0
$GC,10352,0.54,219.0,939.3,13.6,759,10356,0.00,2.17,0.00,0.000,4,0.000,0.035,2520,714,1974,0,0,0,0,0,0
$GC,10526,0.54,219.0,915.5,14.5,767,10530,0.00,2.22,0.00,0.000,6,0.000,0.034,2520,2134,1974,0,0,0,0,0,0
$GC,10859,0.54,219.0,868.3,14.2,783,10863,0.00,2.20,0.00,0.000,4,0.000,0.044,2520,3539,1973,0,0,0,0,0,0
$GC,10908,0.54,219.0,860.6,14.7,785,10913,0.12,2.12,0.00,0.000,6,0.190,0.026,2501,2133,1972,0,0,0,0,0,0
$GC,11235,0.56,230.4,821.7,11.4,801,11250,0.00,2.17,10.30,0.881,4,0.000,0.036,2510,717,1930,0,0,0,0,0,0
$GC,11290,0.56,233.3,815.3,11.7,802,11301,0.00,2.20,4.05,0.584,6,0.000,0.032,2510,2144,1918,0,0,0,0,0,0
$GC,11629,0.56,233.3,775.2,12.0,819,11633,0.00,2.17,0.00,0.000,4,0.000,0.043,2510,3542,1917,0,0,0,0,0,0
$GC,11676,0.56,233.3,768.8,14.1,821,11680,0.00,2.15,0.00,0.000,6,0.000,0.028,2519,2135,1917,0,0,0,0,0,0
$GC,12008,0.56,233.3,727.6,12.2,837,12012,0.00,2.15,0.00,0.000,4,0.000,0.036,2530,718,1917,0,0,0,0,0,0
$GC,12137,0.57,241.8,712.0,11.5,842,12153,0.00,2.15,8.50,0.801,6,0.000,0.032,2530,2122,1883,0,0,0,0,0,0
$GC,12476,0.57,241.8,670.7,12.3,859,12480,0.00,2.20,0.00,0.000,4,0.000,0.043,2530,3541,1882,0,0,0,0,0,0
$GC,12508,0.57,241.8,666.1,13.6,860,12515,0.12,2.15,0.00,0.000,6,0.179,0.027,2511,2117,1882,0,0,0,0,0,0
$GC,12825,0.59,256.8,631.5,11.2,876,12847,0.00,2.20,12.98,0.810,4,0.000,0.037,2519,724,1822,0,0,0,0,0,0
$GC,12886,0.60,270.0,624.3,11.3,878,12903,0.00,2.12,11.88,0.765,6,0.000,0.031,2519,2107,1768,0,0,0,0,0,0
$GC,13222,0.60,270.0,581.9,13.3,895,13226,0.00,2.22,0.00,0.000,4,0.000,0.044,2519,3535,1767,0,0,0,0,0,0
$GC,13329,0.60,270.0,565.9,14.6,900,13333,0.00,2.12,0.00,0.000,6,0.000,0.028,2528,2134,1766,0,0,0,0,0,0
$GC,13656,0.61,275.7,526.1,11.6,916,13667,0.00,2.17,5.78,0.669,4,0.000,0.036,2539,721,1746,0,0,0,0,0,0
$GC,13780,0.64,301.9,512.3,10.8,921,13809,0.00,2.15,21.65,0.751,6,0.000,0.032,2539,2120,1637,0,0,0,0,0,0
$GC,14126,0.64,301.9,472.9,11.9,949,14130,0.00,2.20,0.00,0.000,4,0.000,0.044,2539,3531,1637,0,0,0,0,0,0
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$STATE,17925,end climb,SURFACE_DEPTH_REACHED
$STATE,17925,begin surface coast
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$STATE,17948,end surface coast,CONTROL_FINISHED_OK
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