version: 66.09
glider: 181
mission: 6
dive: 484
start: 9 12 111 3 58 34
data:
$ID,181
$MISSION,6
$DIVE,484
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41180.918
$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,48
$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,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
$GPS1,120911,034936,1854.794,12012.496,35,0.9,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.0
$GPS2,120911,035738,1854.836,12012.446,11,1.3,11,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.147,-0.275
$KALMAN_X,3824.5,-800.4,-553.8,22271.9,3305.7
$KALMAN_Y,31859.8,-470.1,90.1,-68028.8,3691.6
$MHEAD_RNG_PITCHd_Wd,140.0,50664,-17.4,-11.786
$D_GRID,1829
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-61.88,0.000,2,0.000,0.000,205,2507,2235,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.4,-3.7,11,132,8.07,2.17,-30.45,0.000,4,0.226,0.041,2121,1090,3663,0,0,0,0,0,0
$GC,151,-0.53,-194.6,23.3,-36.8,22,157,0.00,2.20,0.00,0.000,6,0.000,0.037,2112,2507,3663,0,0,0,0,0,0
$GC,294,-0.53,-194.6,69.6,-28.3,47,300,0.00,1.98,0.00,0.000,4,0.000,0.044,2102,3789,3662,0,0,0,0,0,0
$GC,387,-0.53,-194.6,91.6,-21.4,63,393,0.00,1.60,0.00,0.000,6,0.000,0.024,2102,2725,3661,0,0,0,0,0,0
$GC,529,-0.53,-194.6,118.9,-17.5,88,536,0.00,2.42,0.00,0.000,4,0.000,0.029,2102,1090,3661,0,0,0,0,0,0
$GC,606,-0.53,-194.6,130.6,-14.5,101,613,0.12,2.25,0.00,0.000,6,0.154,0.034,2129,2562,3662,0,0,0,0,0,0
$GC,751,-0.53,-194.6,151.0,-14.6,126,757,0.00,1.85,0.00,0.000,4,0.000,0.042,2125,3786,3662,0,0,0,0,0,0
$GC,798,-0.53,-194.6,157.3,-12.6,134,805,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2614,3662,0,0,0,0,0,0
$GC,942,-0.53,-194.6,173.7,-11.9,159,948,0.00,2.25,0.00,0.000,4,0.000,0.029,2125,1089,3662,0,0,0,0,0,0
$GC,961,-0.53,-194.6,176.3,-12.3,162,968,0.00,2.33,0.00,0.000,6,0.000,0.033,2124,2614,3662,0,0,0,0,0,0
$GC,1106,-0.53,-194.6,195.5,-14.8,187,1112,0.00,1.77,0.00,0.000,4,0.000,0.041,2114,3793,3662,0,0,0,0,0,0
$GC,1179,-0.53,-194.6,206.1,-12.6,196,1186,0.00,1.52,0.00,0.000,6,0.000,0.023,2114,2754,3662,0,0,0,0,0,0
$GC,1505,-0.53,-194.6,242.9,-10.6,227,1509,0.00,2.47,0.00,0.000,4,0.000,0.029,2114,1085,3662,0,0,0,0,0,0
$GC,1612,-0.53,-194.6,253.2,-9.2,236,1616,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2595,3661,0,0,0,0,0,0
$GC,1942,-0.53,-194.6,289.6,-12.3,267,1946,0.00,1.80,0.00,0.000,4,0.000,0.044,2111,3783,3658,0,0,0,0,0,0
$GC,2000,-0.53,-194.6,296.4,-11.4,272,2003,0.00,1.77,0.00,0.000,6,0.000,0.024,2111,2559,3658,0,0,0,0,0,0
$GC,2330,-0.53,-194.6,340.1,-13.5,303,2334,0.00,2.17,0.00,0.000,4,0.000,0.030,2111,1091,3655,0,0,0,0,0,0
$GC,2382,-0.53,-194.6,346.5,-12.3,307,2386,0.00,2.33,0.00,0.000,6,0.000,0.034,2111,2604,3654,0,0,0,0,0,0
$GC,2708,-0.53,-194.6,384.6,-11.0,337,2712,0.00,1.80,0.00,0.000,4,0.000,0.044,2102,3785,3651,0,0,0,0,0,0
$GC,2743,-0.53,-194.6,388.4,-10.4,340,2747,0.00,1.77,0.00,0.000,6,0.000,0.025,2103,2565,3651,0,0,0,0,0,0
$GC,3075,-0.53,-194.6,422.5,-10.4,371,3079,0.00,2.20,0.00,0.000,4,0.000,0.031,2102,1090,3647,0,0,0,0,0,0
$GC,3144,-0.53,-194.6,429.6,-9.8,377,3149,0.10,2.22,0.00,0.000,6,0.162,0.034,2125,2533,3647,0,0,0,0,0,0
$GC,3470,-0.53,-194.6,461.7,-10.3,407,3474,0.00,1.92,0.00,0.000,4,0.000,0.047,2125,3783,3643,0,0,0,0,0,0
$GC,3561,-0.53,-194.6,471.7,-11.1,415,3565,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2558,3642,0,0,0,0,0,0
$GC,3893,-0.53,-194.6,507.2,-10.2,443,3897,0.00,2.20,0.00,0.000,4,0.000,0.032,2125,1093,3639,0,0,0,0,0,0
$GC,3920,-0.53,-194.6,510.5,-10.2,444,3924,0.00,2.33,0.00,0.000,6,0.000,0.035,2125,2599,3639,0,0,0,0,0,0
$GC,4241,-0.53,-194.6,542.8,-10.1,460,4245,0.00,1.83,0.00,0.000,4,0.000,0.048,2125,3782,3637,0,0,0,0,0,0
$GC,4266,-0.53,-194.6,545.1,-9.8,461,4269,0.00,1.80,0.00,0.000,6,0.000,0.027,2124,2564,3636,0,0,0,0,0,0
$GC,4599,-0.53,-194.6,576.5,-9.3,477,4603,0.00,2.20,0.00,0.000,4,0.000,0.032,2125,1094,3633,0,0,0,0,0,0
$GC,4654,-0.53,-194.6,581.9,-9.5,479,4661,0.00,2.25,0.00,0.000,6,0.000,0.035,2125,2550,3633,0,0,0,0,0,0
$GC,4971,-0.53,-194.6,612.2,-9.9,495,4975,0.00,1.90,0.00,0.000,4,0.000,0.047,2116,3780,3631,0,0,0,0,0,0
$GC,5010,-0.53,-194.6,616.7,-10.7,496,5017,0.00,1.80,0.00,0.000,6,0.000,0.027,2115,2562,3630,0,0,0,0,0,0
$GC,5327,-0.53,-194.6,649.7,-10.2,512,5331,0.00,2.20,0.00,0.000,4,0.000,0.033,2116,1098,3628,0,0,0,0,0,0
$GC,5355,-0.53,-194.6,653.0,-10.6,513,5359,0.00,2.28,0.00,0.000,6,0.000,0.036,2112,2563,3628,0,0,0,0,0,0
$GC,5671,-0.53,-194.6,683.2,-9.8,528,5676,0.00,1.92,0.00,0.000,4,0.000,0.049,2111,3770,3625,0,0,0,0,0,0
$GC,5756,-0.53,-194.6,691.0,-8.9,531,5763,0.00,1.73,0.00,0.000,6,0.000,0.027,2111,2598,3625,0,0,0,0,0,0
$GC,6072,-0.53,-194.6,718.7,-8.3,547,6076,0.00,2.28,0.00,0.000,4,0.000,0.033,2111,1092,3623,0,0,0,0,0,0
$GC,6135,-0.53,-194.6,723.5,-7.4,550,6140,0.00,2.30,0.00,0.000,6,0.000,0.036,2111,2566,3622,0,0,0,0,0,0
$GC,6464,-0.53,-194.6,748.1,-7.7,566,6467,0.00,1.90,0.00,0.000,4,0.000,0.049,2111,3780,3621,0,0,0,0,0,0
$GC,6491,-0.53,-194.6,750.6,-8.0,567,6495,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2571,3620,0,0,0,0,0,0
$GC,6819,-0.53,-194.6,779.3,-9.1,583,6823,0.00,2.22,0.00,0.000,4,0.000,0.033,2111,1094,3619,0,0,0,0,0,0
$GC,6869,-0.53,-194.6,784.3,-9.3,585,6873,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2554,3619,0,0,0,0,0,0
$GC,7186,-0.53,-194.6,813.3,-9.2,600,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2555,3618,0,0,0,0,0,0
$GC,7496,-0.53,-194.6,839.5,-8.2,615,7500,0.00,2.22,0.00,0.000,4,0.000,0.033,2111,1099,3617,0,0,0,0,0,0
$GC,7517,-0.53,-194.6,841.6,-8.3,616,7521,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2524,3616,0,0,0,0,0,0
$GC,7839,-0.53,-194.6,867.9,-8.6,632,7843,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3783,3615,0,0,0,0,0,0
$GC,7923,-0.53,-194.6,875.1,-8.3,635,7930,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2553,3614,0,0,0,0,0,0
$GC,8239,-0.53,-194.6,904.4,-9.3,651,8243,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1101,3613,0,0,0,0,0,0
$GC,8303,-0.53,-194.6,910.1,-8.9,654,8308,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2538,3612,0,0,0,0,0,0
$GC,8631,-0.53,-194.6,938.0,-8.5,670,8635,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3779,3612,0,0,0,0,0,0
$GC,8682,-0.53,-194.6,942.2,-8.4,672,8686,0.00,1.90,0.00,0.000,6,0.000,0.028,2111,2547,3611,0,0,0,0,0,0
$GC,9009,-0.53,-194.6,969.3,-8.5,688,9013,0.00,2.20,0.00,0.000,4,0.000,0.034,2111,1095,3610,0,0,0,0,0,0
$GC,9069,-0.53,-194.6,974.4,-7.8,690,9076,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2516,3610,0,0,0,0,0,0
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9266,-0.13,0.0,990.3,8.6,700,9421,0.43,0.00,148.75,1.076,4,0.111,0.000,2253,2104,2869,0,0,0,0,0,0
$STATE,9422,end apogee,CONTROL_FINISHED_OK
$STATE,9422,begin climb
$GC,9426,0.53,194.6,998.8,0.0,707,9594,0.62,2.25,158.45,1.057,4,0.061,0.038,2479,720,2075,0,0,0,0,0,0
$GC,9774,0.61,264.3,977.0,8.9,723,9836,0.00,2.22,56.42,1.032,6,0.000,0.034,2479,2130,1790,0,0,0,0,0,0
$GC,10159,0.70,337.2,941.9,8.8,742,10224,0.15,2.35,58.60,1.021,4,0.083,0.038,2550,724,1494,0,0,0,0,0,0
$GC,10280,0.70,337.2,926.7,12.5,747,10284,0.00,2.35,0.00,0.000,6,0.000,0.036,2550,2204,1493,0,0,0,0,0,0
$GC,10597,0.70,337.2,886.2,12.9,762,10601,0.00,2.10,0.00,0.000,4,0.000,0.046,2550,3539,1493,0,0,0,0,0,0
$GC,10635,0.70,337.2,880.3,14.7,763,10643,0.12,2.08,0.00,0.000,6,0.184,0.028,2529,2210,1493,0,0,0,0,0,0
$GC,10951,0.70,337.2,840.9,12.5,779,10955,0.00,2.28,0.00,0.000,4,0.000,0.039,2539,724,1494,0,0,0,0,0,0
$GC,11015,0.70,337.2,832.5,13.4,782,11019,0.00,2.25,0.00,0.000,6,0.000,0.034,2539,2175,1494,0,0,0,0,0,0
$GC,11347,0.70,337.2,783.1,15.2,798,11351,0.00,2.12,0.00,0.000,4,0.000,0.046,2539,3534,1495,0,0,0,0,0,0
$GC,11415,0.70,337.2,772.1,16.1,801,11419,0.00,2.00,0.00,0.000,6,0.000,0.030,2548,2217,1495,0,0,0,0,0,0
$GC,11748,0.70,337.2,721.8,14.7,817,11752,0.00,2.28,0.00,0.000,4,0.000,0.037,2559,726,1495,0,0,0,0,0,0
$GC,11811,0.70,337.2,713.1,13.5,820,11816,0.12,2.28,0.00,0.000,6,0.165,0.034,2527,2201,1495,0,0,0,0,0,0
$GC,12139,0.70,337.2,673.4,11.9,836,12142,0.00,2.08,0.00,0.000,4,0.000,0.045,2527,3537,1494,0,0,0,0,0,0
$GC,12194,0.70,337.2,665.9,13.5,838,12201,0.00,2.00,0.00,0.000,6,0.000,0.029,2535,2246,1495,0,0,0,0,0,0
$GC,12511,0.70,337.2,626.7,12.8,854,12515,0.00,2.33,0.00,0.000,4,0.000,0.039,2546,730,1495,0,0,0,0,0,0
$GC,12588,0.70,337.2,616.7,12.6,857,12592,0.00,2.22,0.00,0.000,6,0.000,0.034,2546,2173,1494,0,0,0,0,0,0
$GC,12911,0.70,337.2,571.4,14.8,873,12915,0.00,2.12,0.00,0.000,4,0.000,0.045,2546,3539,1494,0,0,0,0,0,0
$GC,12973,0.70,337.2,561.3,15.7,876,12977,0.00,2.03,0.00,0.000,6,0.000,0.029,2555,2213,1495,0,0,0,0,0,0
$GC,13305,0.70,337.2,509.6,15.1,892,13309,0.00,2.30,0.00,0.000,4,0.000,0.039,2566,721,1495,0,0,0,0,0,0
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$STATE,17667,end climb,SURFACE_DEPTH_REACHED
$STATE,17667,begin surface coast
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$STATE,17696,end surface coast,CONTROL_FINISHED_OK
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$CAP_FILE_SIZE,202004,0
$CFSIZE,260165632,206041088
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