version: 66.09
glider: 181
mission: 6
dive: 201
start: 7 18 111 23 1 39
data:
$ID,181
$MISSION,6
$DIVE,201
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,-40772.18
$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,45
$R_STBD_OVSHOOT,49
$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,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
$GPS1,180711,225424,1903.246,12034.574,41,1.2,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.7
$GPS2,180711,230114,1903.378,12034.630,12,1.3,12,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,187.5,53720,-15.3,-11.000
$D_GRID,3368
$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,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.12,0.000,2,0.000,0.000,148,2627,2474,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.7,-4.1,10,131,8.10,1.83,-24.15,0.000,4,0.227,0.057,2136,3771,3763,0,0,0,0,0,0
$GC,170,-0.52,-219.0,41.3,-62.9,22,178,0.00,1.80,0.00,0.000,6,0.000,0.024,2136,2581,3765,0,0,0,0,0,0
$GC,305,-0.52,-219.0,94.6,-29.1,47,313,0.00,1.88,0.00,0.000,4,0.000,0.041,2124,3770,3767,0,0,0,0,0,0
$GC,321,-0.52,-219.0,100.1,-30.5,49,330,0.00,1.77,0.00,0.000,6,0.000,0.024,2126,2595,3766,0,0,0,0,0,0
$GC,457,-0.52,-219.0,138.8,-29.1,74,465,0.00,2.08,0.00,0.000,4,0.000,0.025,2126,1186,3766,0,0,0,0,0,0
$GC,473,-0.52,-219.0,143.9,-28.4,76,481,0.00,2.20,0.00,0.000,6,0.000,0.038,2124,2584,3767,0,0,0,0,0,0
$GC,609,-0.52,-219.0,174.4,-21.3,101,617,0.00,1.88,0.00,0.000,4,0.000,0.044,2115,3784,3768,0,0,0,0,0,0
$GC,677,-0.52,-219.0,188.3,-17.6,113,685,0.10,1.73,0.00,0.000,6,0.123,0.024,2149,2617,3768,0,0,0,0,0,0
$GC,819,-0.52,-219.0,211.6,-17.5,133,823,0.00,2.05,0.00,0.000,4,0.000,0.027,2150,1212,3769,0,0,0,0,0,0
$GC,844,-0.52,-219.0,215.8,-17.2,135,848,0.00,2.25,0.00,0.000,6,0.000,0.035,2149,2680,3768,0,0,0,0,0,0
$GC,1171,-0.52,-219.0,264.1,-14.3,165,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2681,3768,0,0,0,0,0,0
$GC,1490,-0.52,-219.0,304.9,-11.6,195,1494,0.00,2.20,0.00,0.000,4,0.000,0.029,2149,1199,3766,0,0,0,0,0,0
$GC,1569,-0.52,-219.0,313.1,-8.8,202,1573,0.00,2.28,0.00,0.000,6,0.000,0.035,2149,2677,3766,0,0,0,0,0,0
$GC,1900,-0.52,-219.0,352.5,-12.6,233,1904,0.00,1.67,0.00,0.000,4,0.000,0.045,2143,3786,3762,0,0,0,0,0,0
$GC,1927,-0.52,-219.0,356.6,-13.8,235,1934,0.00,1.67,0.00,0.000,6,0.000,0.025,2143,2659,3762,0,0,0,0,0,0
$GC,2253,-0.52,-219.0,398.9,-12.8,266,2257,0.00,2.12,0.00,0.000,4,0.000,0.030,2143,1209,3759,0,0,0,0,0,0
$GC,2287,-0.52,-219.0,402.8,-11.6,269,2291,0.00,2.25,0.00,0.000,6,0.000,0.036,2139,2675,3759,0,0,0,0,0,0
$GC,2617,-0.52,-219.0,441.5,-11.2,300,2621,0.00,1.70,0.00,0.000,4,0.000,0.047,2138,3791,3753,0,0,0,0,0,0
$GC,2675,-0.52,-219.0,446.6,-8.5,305,2679,0.00,1.67,0.00,0.000,6,0.000,0.026,2138,2669,3755,0,0,0,0,0,0
$GC,3006,-0.52,-219.0,478.9,-9.7,336,3010,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1205,3751,0,0,0,0,0,0
$GC,3069,-0.52,-219.0,484.2,-7.8,341,3073,0.00,2.25,0.00,0.000,6,0.000,0.037,2140,2667,3751,0,0,0,0,0,0
$GC,3408,-0.52,-219.0,513.7,-9.1,366,3412,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1212,3748,0,0,0,0,0,0
$GC,3458,-0.52,-219.0,518.3,-8.5,368,3463,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2646,3748,0,0,0,0,0,0
$GC,3775,-0.52,-219.0,548.2,-10.6,383,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2647,3745,0,0,0,0,0,0
$GC,4084,-0.52,-219.0,579.5,-9.9,398,4088,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1213,3741,0,0,0,0,0,0
$GC,4117,-0.52,-219.0,583.0,-10.0,399,4121,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2628,3741,0,0,0,0,0,0
$GC,4439,-0.52,-219.0,611.3,-8.7,415,4443,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3780,3739,0,0,0,0,0,0
$GC,4479,-0.52,-219.0,614.4,-8.2,416,4486,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2637,3738,0,0,0,0,0,0
$GC,4795,-0.52,-219.0,639.1,-8.0,432,4799,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1201,3736,0,0,0,0,0,0
$GC,4850,-0.52,-219.0,643.6,-7.8,434,4857,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2622,3735,0,0,0,0,0,0
$GC,5167,-0.52,-219.0,669.1,-8.5,450,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3733,0,0,0,0,0,0
$GC,5476,-0.52,-219.0,696.7,-9.1,465,5479,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3777,3731,0,0,0,0,0,0
$GC,5515,-0.52,-219.0,700.1,-8.6,466,5522,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2581,3730,0,0,0,0,0,0
$GC,5831,-0.52,-219.0,728.1,-8.9,482,5835,0.00,1.92,0.00,0.000,4,0.000,0.049,2138,3781,3729,0,0,0,0,0,0
$GC,5847,-0.52,-219.0,729.5,-8.7,482,5854,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2623,3728,0,0,0,0,0,0
$GC,6163,-0.52,-219.0,755.8,-8.2,498,6167,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1196,3727,0,0,0,0,0,0
$GC,6204,-0.52,-219.0,759.4,-8.9,500,6208,0.00,2.20,0.00,0.000,6,0.000,0.038,2139,2623,3728,0,0,0,0,0,0
$GC,6531,-0.52,-219.0,784.8,-7.7,516,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3725,0,0,0,0,0,0
$GC,6840,-0.52,-219.0,809.2,-7.3,531,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3724,0,0,0,0,0,0
$GC,7149,-0.52,-219.0,834.1,-7.6,546,7153,0.00,2.15,0.00,0.000,4,0.000,0.034,2137,1201,3722,0,0,0,0,0,0
$GC,7217,-0.52,-219.0,838.6,-6.4,549,7221,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2617,3722,0,0,0,0,0,0
$GC,7544,-0.52,-219.0,858.8,-6.3,565,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2618,3720,0,0,0,0,0,0
$GC,7853,-0.52,-219.0,877.5,-6.2,580,7857,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1196,3719,0,0,0,0,0,0
$GC,7887,-0.52,-219.0,879.9,-6.4,581,7894,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2613,3719,0,0,0,0,0,0
$GC,8203,-0.52,-219.0,901.9,-7.2,597,8207,0.00,2.15,0.00,0.000,4,0.000,0.035,2138,1199,3718,0,0,0,0,0,0
$GC,8231,-0.52,-219.0,904.3,-7.5,598,8235,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2595,3718,0,0,0,0,0,0
$GC,8547,-0.52,-219.0,928.6,-7.8,613,8551,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1196,3717,0,0,0,0,0,0
$GC,8575,-0.52,-219.0,931.1,-8.2,614,8579,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2585,3717,0,0,0,0,0,0
$GC,8897,-0.52,-219.0,957.8,-8.5,630,8901,0.00,1.90,0.00,0.000,4,0.000,0.052,2139,3776,3716,0,0,0,0,0,0
$GC,8921,-0.52,-219.0,959.7,-8.5,631,8925,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2573,3715,0,0,0,0,0,0
$GC,9254,-0.52,-219.0,985.8,-7.8,647,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2571,3714,0,0,0,0,0,0
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9313,begin apogee
$GC,9319,-0.13,0.0,990.9,8.1,650,9488,0.40,0.00,163.25,1.102,4,0.106,0.000,2276,2122,2869,0,0,0,0,0,0
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9492,0.52,219.0,1000.7,0.0,658,9681,0.60,2.38,176.10,1.072,4,0.055,0.044,2498,3542,1976,0,0,0,0,0,0
$GC,9907,0.52,219.0,955.0,16.0,677,9912,0.00,2.22,0.00,0.000,6,0.000,0.028,2508,2122,1976,0,0,0,0,0,0
$GC,10235,0.52,219.0,906.6,14.0,693,10239,0.00,2.25,0.00,0.000,4,0.000,0.043,2509,3544,1976,0,0,0,0,0,0
$GC,10478,0.52,219.0,868.2,16.4,704,10482,0.00,2.15,0.00,0.000,6,0.000,0.029,2519,2133,1975,0,0,0,0,0,0
$GC,10805,0.52,219.0,818.8,14.4,720,10809,0.00,2.15,0.00,0.000,4,0.000,0.038,2529,717,1974,0,0,0,0,0,0
$GC,10899,0.52,219.0,804.8,14.2,724,10904,0.15,2.17,0.00,0.000,6,0.171,0.034,2491,2134,1975,0,0,0,0,0,0
$GC,11221,0.52,219.0,764.7,12.3,740,11225,0.00,2.17,0.00,0.000,4,0.000,0.045,2491,3536,1974,0,0,0,0,0,0
$GC,11247,0.52,219.0,760.8,13.6,741,11252,0.00,2.17,0.00,0.000,6,0.000,0.028,2499,2133,1974,0,0,0,0,0,0
$GC,11569,0.52,219.0,719.1,13.0,757,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2133,1974,0,0,0,0,0,0
$GC,11879,0.52,219.0,681.4,12.2,772,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2134,1974,0,0,0,0,0,0
$GC,12188,0.52,219.0,642.4,12.6,787,12192,0.00,2.17,0.00,0.000,4,0.000,0.044,2499,3535,1974,0,0,0,0,0,0
$GC,12220,0.52,219.0,637.8,13.3,788,12227,0.00,2.17,0.00,0.000,6,0.000,0.029,2509,2125,1973,0,0,0,0,0,0
$GC,12537,0.52,219.0,597.4,12.5,804,12541,0.00,2.15,0.00,0.000,4,0.000,0.040,2520,719,1973,0,0,0,0,0,0
$GC,12631,0.52,219.0,585.3,11.9,808,12636,0.12,2.12,0.00,0.000,6,0.163,0.034,2488,2117,1973,0,0,0,0,0,0
$GC,12953,0.56,250.7,552.5,9.9,824,12980,0.00,0.00,24.98,0.815,6,0.000,0.000,2488,2117,1847,0,0,0,0,0,0
$GC,13282,0.57,259.5,517.7,10.7,840,13296,0.00,2.28,8.07,0.708,4,0.000,0.044,2488,3534,1810,0,0,0,0,0,0
$GC,13308,0.58,267.8,514.5,10.7,841,13326,0.00,2.17,8.18,0.662,6,0.000,0.029,2496,2109,1776,0,0,0,0,0,0
$GC,13640,0.58,267.8,476.5,11.7,866,13644,0.00,2.12,0.00,0.000,4,0.000,0.040,2506,724,1772,0,0,0,0,0,0
$GC,13683,0.58,267.8,471.1,11.8,869,13690,0.00,2.15,0.00,0.000,6,0.000,0.034,2506,2115,1775,0,0,0,0,0,0
$GC,14009,0.58,267.8,430.7,12.6,900,14013,0.00,2.20,0.00,0.000,4,0.000,0.044,2509,3535,1775,0,0,0,0,0,0
$GC,14071,0.58,267.8,422.0,14.4,905,14075,0.00,2.15,0.00,0.000,6,0.000,0.029,2516,2117,1775,0,0,0,0,0,0
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