version: 66.09
glider: 181
mission: 6
dive: 375
start: 8 20 111 17 34 39
data:
$ID,181
$MISSION,6
$DIVE,375
$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,-41007.855
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,200811,172737,2133.822,11955.468,28,1.2,28,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.8
$GPS2,200811,173414,2133.856,11955.408,12,1.2,12,-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,181.0,285055,-16.3,-11.786
$D_GRID,3064
$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,-64.68,0.000,2,0.000,0.000,207,2618,2280,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.6,10,134,8.27,2.15,-31.30,0.000,4,0.237,0.037,2135,1160,3759,0,0,0,0,0,0
$GC,181,-0.54,-219.0,29.3,-24.2,25,188,0.00,2.25,0.00,0.000,6,0.000,0.038,2126,2604,3759,0,0,0,0,0,0
$GC,319,-0.54,-219.0,75.1,-26.7,50,327,0.00,1.85,0.00,0.000,4,0.000,0.044,2117,3783,3758,0,0,0,0,0,0
$GC,396,-0.54,-219.0,93.6,-21.8,63,402,0.00,1.73,0.00,0.000,6,0.000,0.023,2117,2619,3758,0,0,0,0,0,0
$GC,534,-0.54,-219.0,119.2,-18.1,88,542,0.00,1.83,0.00,0.000,4,0.000,0.043,2111,3778,3758,0,0,0,0,0,0
$GC,571,-0.54,-219.0,126.2,-18.7,94,580,0.08,1.65,0.00,0.000,6,0.135,0.024,2136,2657,3758,0,0,0,0,0,0
$GC,715,-0.54,-219.0,147.3,-15.2,119,721,0.00,2.12,0.00,0.000,4,0.000,0.027,2136,1209,3759,0,0,0,0,0,0
$GC,766,-0.54,-219.0,155.2,-13.0,128,774,0.00,2.17,0.00,0.000,6,0.000,0.034,2136,2612,3759,0,0,0,0,0,0
$GC,908,-0.54,-219.0,174.2,-13.7,153,915,0.00,1.77,0.00,0.000,4,0.000,0.041,2129,3783,3759,0,0,0,0,0,0
$GC,927,-0.54,-219.0,177.2,-13.9,156,935,0.00,1.75,0.00,0.000,6,0.000,0.023,2129,2608,3759,0,0,0,0,0,0
$GC,1069,-0.54,-219.0,196.9,-14.6,181,1076,0.00,2.08,0.00,0.000,4,0.000,0.028,2129,1195,3759,0,0,0,0,0,0
$GC,1095,-0.54,-219.0,201.1,-15.1,185,1099,0.00,2.17,0.00,0.000,6,0.000,0.034,2125,2629,3762,0,0,0,0,0,0
$GC,1420,-0.54,-219.0,246.5,-13.6,215,1424,0.00,1.73,0.00,0.000,4,0.000,0.042,2115,3776,3758,0,0,0,0,0,0
$GC,1456,-0.54,-219.0,250.6,-11.8,218,1459,0.00,1.70,0.00,0.000,6,0.000,0.024,2117,2604,3758,0,0,0,0,0,0
$GC,1787,-0.54,-219.0,292.8,-13.2,249,1790,0.00,2.05,0.00,0.000,4,0.000,0.028,2117,1205,3756,0,0,0,0,0,0
$GC,1814,-0.54,-219.0,296.3,-12.4,251,1822,0.12,2.17,0.00,0.000,6,0.142,0.034,2149,2624,3756,0,0,0,0,0,0
$GC,2140,-0.54,-219.0,320.2,-6.8,282,2144,0.00,2.12,0.00,0.000,4,0.000,0.029,2149,1195,3754,0,0,0,0,0,0
$GC,2180,-0.54,-219.0,323.1,-7.1,285,2184,0.00,2.15,0.00,0.000,6,0.000,0.034,2149,2608,3754,0,0,0,0,0,0
$GC,2507,-0.54,-219.0,351.7,-10.6,315,2511,0.00,2.10,0.00,0.000,4,0.000,0.030,2149,1199,3751,0,0,0,0,0,0
$GC,2542,-0.54,-219.0,355.6,-10.5,317,2549,0.00,2.12,0.00,0.000,6,0.000,0.034,2149,2595,3751,0,0,0,0,0,0
$GC,2868,-0.54,-219.0,386.2,-8.7,348,2871,0.00,1.80,0.00,0.000,4,0.000,0.044,2149,3783,3749,0,0,0,0,0,0
$GC,3127,-0.54,-219.0,408.2,-8.0,371,3131,0.00,1.90,0.00,0.000,6,0.000,0.024,2149,2488,3746,0,0,0,0,0,0
$GC,3459,-0.54,-219.0,434.5,-8.3,402,3463,0.00,1.92,0.00,0.000,4,0.000,0.030,2156,1202,3743,0,0,0,0,0,0
$GC,3555,-0.54,-219.0,443.0,-9.0,410,3561,0.00,1.95,0.00,0.000,6,0.000,0.031,2156,2504,3743,0,0,0,0,0,0
$GC,3880,-0.54,-219.0,472.8,-10.2,441,3884,0.00,1.92,0.00,0.000,4,0.000,0.028,2159,1203,3740,0,0,0,0,0,0
$GC,3998,-0.54,-219.0,486.2,-11.3,451,4005,0.00,1.95,0.00,0.000,6,0.000,0.033,2158,2488,3740,0,0,0,0,0,0
$GC,4329,-0.54,-219.0,524.2,-11.4,473,4332,0.00,1.92,0.00,0.000,4,0.000,0.031,2159,1205,3737,0,0,0,0,0,0
$GC,4391,-0.54,-219.0,531.5,-11.5,475,4397,0.00,1.92,0.00,0.000,6,0.000,0.032,2159,2479,3737,0,0,0,0,0,0
$GC,4707,-0.54,-219.0,562.5,-9.0,491,4711,0.00,1.90,0.00,0.000,4,0.000,0.029,2159,1195,3734,0,0,0,0,0,0
$GC,4791,-0.54,-219.0,570.0,-8.6,494,4798,0.00,1.92,0.00,0.000,6,0.000,0.033,2159,2458,3733,0,0,0,0,0,0
$GC,5107,-0.54,-219.0,596.9,-8.9,510,5111,0.00,1.88,0.00,0.000,4,0.000,0.031,2159,1196,3731,0,0,0,0,0,0
$GC,5333,-0.54,-219.0,618.8,-9.7,520,5337,0.00,1.92,0.00,0.000,6,0.000,0.034,2159,2467,3731,0,0,0,0,0,0
$GC,5666,-0.54,-219.0,648.2,-8.3,536,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2468,3729,0,0,0,0,0,0
$GC,5977,-0.54,-219.0,673.2,-8.5,551,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2467,3727,0,0,0,0,0,0
$GC,6285,-0.54,-219.0,702.2,-9.4,566,6288,0.00,2.03,0.00,0.000,4,0.000,0.044,2159,3785,3725,0,0,0,0,0,0
$GC,6324,-0.54,-219.0,706.3,-10.0,567,6330,0.00,1.98,0.00,0.000,6,0.000,0.025,2159,2446,3725,0,0,0,0,0,0
$GC,6641,-0.54,-219.0,736.0,-9.7,583,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2446,3723,0,0,0,0,0,0
$GC,6949,-0.54,-219.0,765.7,-9.6,598,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2445,3721,0,0,0,0,0,0
$GC,7258,-0.54,-219.0,791.4,-7.9,613,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2445,3720,0,0,0,0,0,0
$GC,7568,-0.54,-219.0,816.4,-8.2,628,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2445,3719,0,0,0,0,0,0
$GC,7877,-0.54,-219.0,842.6,-8.8,643,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2446,3717,0,0,0,0,0,0
$GC,8187,-0.54,-219.0,870.4,-9.1,658,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2446,3718,0,0,0,0,0,0
$GC,8496,-0.54,-219.0,897.7,-8.5,673,8500,0.00,1.90,0.00,0.000,4,0.000,0.034,2159,1206,3714,0,0,0,0,0,0
$GC,8534,-0.54,-219.0,901.3,-8.3,674,8541,0.00,1.98,0.00,0.000,6,0.000,0.035,2160,2461,3714,0,0,0,0,0,0
$GC,8851,-0.54,-219.0,926.5,-7.8,690,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2462,3713,0,0,0,0,0,0
$GC,9160,-0.54,-219.0,951.4,-8.4,705,9163,0.00,2.05,0.00,0.000,4,0.000,0.046,2160,3783,3711,0,0,0,0,0,0
$GC,9232,-0.54,-219.0,958.2,-9.4,708,9236,0.00,2.00,0.00,0.000,6,0.000,0.026,2161,2474,3711,0,0,0,0,0,0
$GC,9560,-0.54,-219.0,989.6,-10.6,724,9564,0.00,1.90,0.00,0.000,4,0.000,0.034,2161,1199,3711,0,0,0,0,0,0
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9569,begin apogee
$GC,9576,-0.13,0.0,991.0,10.5,724,9746,0.28,0.00,165.68,1.089,4,0.067,0.000,2281,2140,2867,0,0,0,0,0,0
$STATE,9747,end apogee,CONTROL_FINISHED_OK
$STATE,9747,begin climb
$GC,9749,0.54,219.0,1005.3,0.0,732,9938,0.60,2.30,178.48,1.067,4,0.047,0.042,2512,3530,1977,0,0,0,0,0,0
$GC,9999,0.54,219.0,992.1,12.3,744,10004,0.00,2.22,0.00,0.000,6,0.000,0.028,2522,2136,1975,0,0,0,0,0,0
$GC,10322,0.54,219.0,952.7,12.7,760,10326,0.00,2.17,0.00,0.000,4,0.000,0.037,2534,714,1973,0,0,0,0,0,0
$GC,10384,0.54,219.0,944.7,12.7,763,10389,0.15,2.17,0.00,0.000,6,0.162,0.033,2495,2123,1974,0,0,0,0,0,0
$GC,10713,0.56,237.0,909.1,11.1,779,10736,0.00,2.22,15.95,0.976,4,0.000,0.042,2495,3536,1901,0,0,0,0,0,0
$GC,10805,0.56,237.0,898.1,12.1,783,10810,0.00,2.15,0.00,0.000,6,0.000,0.027,2503,2123,1899,0,0,0,0,0,0
$GC,11133,0.56,237.0,858.0,12.5,799,11137,0.00,2.15,0.00,0.000,4,0.000,0.037,2514,714,1899,0,0,0,0,0,0
$GC,11256,0.56,237.0,842.0,12.5,804,11260,0.00,2.17,0.00,0.000,6,0.000,0.033,2514,2128,1899,0,0,0,0,0,0
$GC,11572,0.56,237.0,799.9,13.0,819,11576,0.00,2.17,0.00,0.000,4,0.000,0.043,2514,3537,1898,0,0,0,0,0,0
$GC,11612,0.56,237.0,794.3,14.6,821,11616,0.00,2.12,0.00,0.000,6,0.000,0.027,2523,2123,1898,0,0,0,0,0,0
$GC,11939,0.56,237.0,750.3,13.1,837,11943,0.00,2.12,0.00,0.000,4,0.000,0.036,2534,716,1898,0,0,0,0,0,0
$GC,11995,0.56,237.0,742.9,13.1,839,12003,0.12,2.17,0.00,0.000,6,0.167,0.032,2502,2137,1898,0,0,0,0,0,0
$GC,12312,0.61,272.1,708.0,10.5,855,12344,0.00,0.00,27.58,0.900,6,0.000,0.000,2502,2137,1759,0,0,0,0,0,0
$GC,12662,0.68,330.9,673.7,9.7,872,12714,0.12,2.30,45.53,0.880,4,0.096,0.045,2554,3530,1520,0,0,0,0,0,0
$GC,12758,0.68,330.9,659.1,16.7,876,12762,0.00,2.22,0.00,0.000,6,0.000,0.026,2564,2118,1520,0,0,0,0,0,0
$GC,13080,0.68,330.9,607.3,16.1,892,13084,0.00,2.12,0.00,0.000,4,0.000,0.035,2575,721,1525,0,0,0,0,0,0
$GC,13124,0.68,330.9,600.1,15.1,894,13129,0.15,2.17,0.00,0.000,6,0.154,0.034,2535,2124,1526,0,0,0,0,0,0
$GC,13447,0.69,343.0,560.6,11.3,910,13470,0.00,2.30,12.77,0.773,4,0.000,0.045,2535,3548,1469,0,0,0,0,0,0
$GC,13503,0.69,343.0,553.3,12.1,912,13507,0.00,2.17,0.00,0.000,6,0.000,0.027,2543,2123,1469,0,0,0,0,0,0
$GC,13819,0.69,343.0,515.9,12.2,927,13823,0.00,2.15,0.00,0.000,4,0.000,0.037,2554,717,1468,0,0,0,0,0,0
$GC,13869,0.69,343.0,509.5,12.4,929,13873,0.00,2.17,0.00,0.000,6,0.000,0.033,2553,2131,1468,0,0,0,0,0,0
$GC,14195,0.69,343.0,462.1,15.4,956,14199,0.00,2.17,0.00,0.000,4,0.000,0.044,2554,3541,1468,0,0,0,0,0,0
$GC,14268,0.69,343.0,449.7,16.9,962,14272,0.00,2.10,0.00,0.000,6,0.000,0.027,2563,2143,1468,0,0,0,0,0,0
$GC,14598,0.69,343.0,402.5,13.2,993,14603,0.00,2.17,0.00,0.000,4,0.000,0.042,2564,3541,1469,0,0,0,0,0,0
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