version: 66.09
glider: 181
mission: 6
dive: 374
start: 8 20 111 12 31 51
data:
$ID,181
$MISSION,6
$DIVE,374
$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,-41006.598
$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,52
$R_STBD_OVSHOOT,42
$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
$GPS1,200811,122506,2134.618,11956.521,32,0.9,32,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.6
$GPS2,200811,123126,2134.662,11956.476,13,0.9,13,-2.6
$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,181.4,286500,-16.3,-11.786
$D_GRID,3037
$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,-219.0,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,207,2629,2281,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.5,-3.7,10,135,8.25,2.17,-31.62,0.000,4,0.236,0.036,2134,1168,3763,0,0,0,0,0,0
$GC,160,-0.54,-219.0,22.8,-31.7,21,167,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2591,3764,0,0,0,0,0,0
$GC,298,-0.54,-219.0,68.4,-29.4,46,307,0.00,1.85,0.00,0.000,4,0.000,0.044,2116,3775,3764,0,0,0,0,0,0
$GC,408,-0.54,-219.0,97.6,-21.5,65,416,0.08,1.65,0.00,0.000,6,0.144,0.023,2140,2666,3764,0,0,0,0,0,0
$GC,549,-0.54,-219.0,119.1,-13.6,90,557,0.00,2.20,0.00,0.000,4,0.000,0.026,2140,1185,3764,0,0,0,0,0,0
$GC,593,-0.54,-219.0,124.5,-12.9,97,600,0.00,2.30,0.00,0.000,6,0.000,0.032,2138,2696,3764,0,0,0,0,0,0
$GC,732,-0.54,-219.0,144.6,-16.4,122,740,0.00,1.67,0.00,0.000,4,0.000,0.041,2130,3785,3764,0,0,0,0,0,0
$GC,790,-0.54,-219.0,153.5,-14.2,132,798,0.00,1.60,0.00,0.000,6,0.000,0.023,2130,2703,3764,0,0,0,0,0,0
$GC,931,-0.54,-219.0,173.8,-14.5,157,938,0.00,2.22,0.00,0.000,4,0.000,0.027,2130,1186,3765,0,0,0,0,0,0
$GC,1011,-0.54,-219.0,184.3,-11.6,171,1018,0.00,2.25,0.00,0.000,6,0.000,0.033,2125,2670,3766,0,0,0,0,0,0
$GC,1155,-0.54,-219.0,204.7,-14.3,194,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2669,3765,0,0,0,0,0,0
$GC,1474,-0.54,-219.0,253.1,-13.8,224,1478,0.00,1.67,0.00,0.000,4,0.000,0.042,2117,3789,3763,0,0,0,0,0,0
$GC,1512,-0.54,-219.0,258.3,-12.6,227,1520,0.00,1.73,0.00,0.000,6,0.000,0.022,2117,2625,3763,0,0,0,0,0,0
$GC,1838,-0.54,-219.0,294.7,-10.4,258,1842,0.00,2.10,0.00,0.000,4,0.000,0.027,2117,1195,3759,0,0,0,0,0,0
$GC,1890,-0.54,-219.0,299.6,-9.0,262,1895,0.12,2.20,0.00,0.000,6,0.143,0.034,2148,2638,3761,0,0,0,0,0,0
$GC,2221,-0.54,-219.0,325.2,-9.9,293,2225,0.00,1.73,0.00,0.000,4,0.000,0.043,2141,3784,3758,0,0,0,0,0,0
$GC,2238,-0.54,-219.0,327.0,-10.0,294,2244,0.00,1.73,0.00,0.000,6,0.000,0.024,2141,2589,3758,0,0,0,0,0,0
$GC,2563,-0.54,-219.0,363.1,-11.2,325,2567,0.00,2.03,0.00,0.000,4,0.000,0.028,2141,1206,3755,0,0,0,0,0,0
$GC,2602,-0.54,-219.0,367.4,-10.5,328,2609,0.00,2.17,0.00,0.000,6,0.000,0.033,2139,2636,3755,0,0,0,0,0,0
$GC,2928,-0.54,-219.0,398.1,-8.5,359,2932,0.00,2.12,0.00,0.000,4,0.000,0.029,2139,1204,3752,0,0,0,0,0,0
$GC,2968,-0.54,-219.0,401.5,-8.6,362,2972,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2619,3752,0,0,0,0,0,0
$GC,3295,-0.54,-219.0,427.3,-8.1,392,3299,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1206,3750,0,0,0,0,0,0
$GC,3313,-0.54,-219.0,429.0,-8.3,393,3317,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2616,3749,0,0,0,0,0,0
$GC,3641,-0.54,-219.0,459.5,-10.1,423,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2617,3746,0,0,0,0,0,0
$GC,3960,-0.54,-219.0,489.9,-9.9,453,3964,0.00,2.10,0.00,0.000,4,0.000,0.029,2139,1205,3744,0,0,0,0,0,0
$GC,3994,-0.54,-219.0,493.5,-10.1,455,4001,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2599,3743,0,0,0,0,0,0
$GC,4323,-0.54,-219.0,523.2,-8.8,475,4327,0.00,1.85,0.00,0.000,4,0.000,0.047,2139,3774,3741,0,0,0,0,0,0
$GC,4369,-0.54,-219.0,527.2,-8.7,477,4373,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2617,3740,0,0,0,0,0,0
$GC,4703,-0.54,-219.0,558.9,-9.7,493,4706,0.00,2.10,0.00,0.000,4,0.000,0.029,2139,1196,3738,0,0,0,0,0,0
$GC,4769,-0.54,-219.0,565.5,-9.1,496,4774,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2585,3737,0,0,0,0,0,0
$GC,5098,-0.54,-219.0,592.2,-7.5,512,5102,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1185,3735,0,0,0,0,0,0
$GC,5119,-0.54,-219.0,594.1,-7.7,513,5123,0.00,2.15,0.00,0.000,6,0.000,0.036,2138,2580,3735,0,0,0,0,0,0
$GC,5442,-0.54,-219.0,615.3,-6.6,529,5446,0.00,1.85,0.00,0.000,4,0.000,0.048,2138,3777,3733,0,0,0,0,0,0
$GC,5488,-0.54,-219.0,618.3,-6.9,531,5492,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2571,3732,0,0,0,0,0,0
$GC,5822,-0.54,-219.0,639.4,-6.8,547,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2567,3730,0,0,0,0,0,0
$GC,6132,-0.54,-219.0,661.4,-7.4,562,6135,0.00,2.03,0.00,0.000,4,0.000,0.031,2144,1203,3729,0,0,0,0,0,0
$GC,6165,-0.54,-219.0,664.3,-7.4,563,6168,0.00,1.95,0.00,0.000,6,0.000,0.034,2138,2480,3729,0,0,0,0,0,0
$GC,6487,-0.54,-219.0,690.8,-8.6,579,6490,0.00,1.90,0.00,0.000,4,0.000,0.030,2138,1202,3727,0,0,0,0,0,0
$GC,6588,-0.54,-219.0,700.2,-9.1,583,6592,0.00,1.88,0.00,0.000,6,0.000,0.034,2138,2408,3726,0,0,0,0,0,0
$GC,6909,-0.54,-219.0,727.7,-8.3,599,6913,0.00,1.80,0.00,0.000,4,0.000,0.031,2138,1199,3724,0,0,0,0,0,0
$GC,6948,-0.54,-219.0,730.9,-8.5,600,6955,0.00,1.98,0.00,0.000,6,0.000,0.033,2139,2485,3724,0,0,0,0,0,0
$GC,7265,-0.54,-219.0,754.7,-7.2,616,7268,0.00,2.00,0.00,0.000,4,0.000,0.045,2138,3783,3722,0,0,0,0,0,0
$GC,7522,-0.54,-219.0,778.1,-9.7,627,7526,0.00,1.92,0.00,0.000,6,0.000,0.025,2138,2483,3721,0,0,0,0,0,0
$GC,7845,-0.54,-219.0,804.2,-8.2,643,7848,0.00,1.90,0.00,0.000,4,0.000,0.032,2144,1201,3720,0,0,0,0,0,0
$GC,8102,-0.54,-219.0,826.9,-8.7,654,8107,0.00,1.98,0.00,0.000,6,0.000,0.034,2144,2468,3719,0,0,0,0,0,0
$GC,8424,-0.54,-219.0,852.9,-8.5,670,8428,0.00,1.90,0.00,0.000,4,0.000,0.031,2148,1200,3722,0,0,0,0,0,0
$GC,8682,-0.54,-219.0,876.2,-9.2,681,8686,0.00,1.95,0.00,0.000,6,0.000,0.034,2148,2473,3716,0,0,0,0,0,0
$GC,9005,-0.54,-219.0,904.2,-8.8,697,9009,0.00,1.92,0.00,0.000,4,0.000,0.034,2147,1201,3715,0,0,0,0,0,0
$GC,9263,-0.54,-219.0,928.4,-9.9,708,9267,0.00,1.92,0.00,0.000,6,0.000,0.034,2148,2462,3714,0,0,0,0,0,0
$GC,9586,-0.54,-219.0,955.9,-8.4,724,9589,0.00,1.90,0.00,0.000,4,0.000,0.032,2148,1202,3713,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9614,-0.13,0.0,958.0,8.5,725,9786,0.32,0.00,165.75,1.070,4,0.057,0.000,2288,2146,2868,0,0,0,0,0,0
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,0.54,219.0,967.9,0.0,733,9976,0.57,2.28,177.27,1.045,4,0.046,0.041,2510,3532,1976,0,0,0,0,0,0
$GC,10003,0.54,219.0,952.7,13.8,743,10008,0.00,2.25,0.00,0.000,6,0.000,0.026,2520,2140,1978,0,0,0,0,0,0
$GC,10332,0.54,219.0,904.8,15.1,759,10336,0.00,2.20,0.00,0.000,4,0.000,0.037,2531,707,1973,0,0,0,0,0,0
$GC,10448,0.54,219.0,886.8,15.5,764,10453,0.12,2.15,0.00,0.000,6,0.164,0.032,2499,2100,1973,0,0,0,0,0,0
$GC,10770,0.54,219.0,844.1,13.2,780,10774,0.00,2.22,0.00,0.000,4,0.000,0.043,2499,3539,1973,0,0,0,0,0,0
$GC,10855,0.54,219.0,831.2,14.8,784,10860,0.00,2.15,0.00,0.000,6,0.000,0.028,2508,2113,1972,0,0,0,0,0,0
$GC,11183,0.54,219.0,785.2,13.7,800,11187,0.00,2.12,0.00,0.000,4,0.000,0.037,2518,711,1972,0,0,0,0,0,0
$GC,11306,0.54,219.0,769.1,12.2,805,11313,0.00,2.12,0.00,0.000,6,0.000,0.031,2519,2106,1971,0,0,0,0,0,0
$GC,11622,0.54,219.0,729.4,12.4,821,11626,0.00,2.20,0.00,0.000,4,0.000,0.044,2519,3534,1971,0,0,0,0,0,0
$GC,11694,0.54,219.0,720.0,12.9,824,11699,0.12,2.15,0.00,0.000,6,0.184,0.027,2498,2109,1971,0,0,0,0,0,0
$GC,12010,0.59,260.8,687.1,10.3,839,12053,0.00,2.22,32.75,0.890,4,0.000,0.037,2508,722,1804,0,0,0,0,0,0
$GC,12126,0.59,260.8,673.6,11.9,844,12130,0.00,2.17,0.00,0.000,6,0.000,0.032,2508,2124,1804,0,0,0,0,0,0
$GC,12454,0.60,264.5,635.2,11.7,860,12463,0.00,2.22,4.40,0.635,4,0.000,0.044,2508,3538,1790,0,0,0,0,0,0
$GC,12559,0.60,264.5,621.5,13.2,864,12566,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2132,1789,0,0,0,0,0,0
$GC,12876,0.60,268.8,585.2,11.6,880,12885,0.00,2.15,5.20,0.656,4,0.000,0.035,2527,722,1773,0,0,0,0,0,0
$GC,12931,0.60,270.1,578.7,11.7,882,12939,0.00,2.17,0.00,0.000,6,0.000,0.033,2527,2128,1772,0,0,0,0,0,0
$GC,13247,0.64,298.1,543.7,10.8,898,13277,0.00,2.28,23.65,0.789,4,0.000,0.044,2528,3539,1653,0,0,0,0,0,0
$GC,13300,0.66,318.2,537.6,11.1,900,13321,0.00,2.17,16.88,0.744,6,0.000,0.028,2537,2123,1572,0,0,0,0,0,0
$GC,13640,0.66,318.2,497.9,12.5,917,13644,0.00,2.15,0.00,0.000,4,0.000,0.038,2548,717,1574,0,0,0,0,0,0
$GC,13668,0.66,318.2,494.2,12.6,919,13673,0.00,2.20,0.00,0.000,6,0.000,0.034,2548,2139,1577,0,0,0,0,0,0
$GC,13994,0.66,318.2,452.0,13.0,949,13998,0.00,2.17,0.00,0.000,4,0.000,0.044,2548,3542,1575,0,0,0,0,0,0
$GC,14071,0.66,318.2,440.6,15.2,955,14078,0.00,2.10,0.00,0.000,6,0.000,0.027,2557,2151,1576,0,0,0,0,0,0
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