version: 66.09
glider: 181
mission: 6
dive: 346
start: 8 14 111 16 48 50
data:
$ID,181
$MISSION,6
$DIVE,346
$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,250
$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,-40971.281
$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,44
$R_STBD_OVSHOOT,39
$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
$GPS1,140811,164206,2120.621,12006.690,27,1.4,27,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.4
$GPS2,140811,164826,2120.651,12006.778,13,1.7,13,-2.5
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,348.0,46577,-15.4,-11.786
$D_GRID,2790
$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,-0.56,-243.3,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,186,2591,2283,0,0,0,0,0,0
$GC,86,-0.56,-243.3,3.2,-3.2,10,135,8.10,1.92,-33.67,0.000,4,0.229,0.057,2125,3777,3865,0,0,0,0,0,0
$GC,219,-0.56,-243.3,52.9,-36.1,32,228,0.00,1.80,0.00,0.000,6,0.000,0.023,2125,2577,3865,0,0,0,0,0,0
$GC,361,-0.56,-243.3,91.1,-23.2,57,368,0.00,2.03,0.00,0.000,4,0.000,0.027,2125,1194,3869,0,0,0,0,0,0
$GC,420,-0.56,-243.3,101.2,-16.1,67,427,0.00,2.20,0.00,0.000,6,0.000,0.035,2124,2625,3865,0,0,0,0,0,0
$GC,560,-0.56,-243.3,129.4,-21.7,92,568,0.00,1.80,0.00,0.000,4,0.000,0.042,2115,3784,3866,0,0,0,0,0,0
$GC,640,-0.56,-243.3,144.3,-16.2,106,648,0.00,1.73,0.00,0.000,6,0.000,0.023,2115,2622,3866,0,0,0,0,0,0
$GC,781,-0.56,-243.3,167.0,-14.8,131,788,0.00,1.77,0.00,0.000,4,0.000,0.041,2111,3779,3866,0,0,0,0,0,0
$GC,811,-0.56,-243.3,171.4,-14.1,136,819,0.00,1.65,0.00,0.000,6,0.000,0.023,2111,2663,3867,0,0,0,0,0,0
$GC,953,-0.56,-243.3,194.7,-18.8,161,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2661,3867,0,0,0,0,0,0
$GC,1088,-0.56,-243.3,220.3,-18.1,176,1092,0.00,1.70,0.00,0.000,4,0.000,0.041,2102,3781,3866,0,0,0,0,0,0
$GC,1123,-0.56,-243.3,226.1,-17.0,179,1127,0.12,1.62,0.00,0.000,6,0.147,0.023,2136,2682,3866,0,0,0,0,0,0
$GC,1453,-0.56,-243.3,270.6,-12.7,210,1457,0.00,2.15,0.00,0.000,4,0.000,0.027,2137,1203,3865,0,0,0,0,0,0
$GC,1530,-0.56,-243.3,279.6,-10.8,216,1537,0.00,2.25,0.00,0.000,6,0.000,0.031,2138,2686,3865,0,0,0,0,0,0
$GC,1856,-0.56,-243.3,316.8,-12.1,247,1860,0.00,2.20,0.00,0.000,4,0.000,0.027,2138,1196,3863,0,0,0,0,0,0
$GC,1896,-0.56,-243.3,321.4,-11.6,250,1900,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2667,3862,0,0,0,0,0,0
$GC,2222,-0.56,-243.3,361.4,-13.0,280,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2667,3860,0,0,0,0,0,0
$GC,2542,-0.56,-243.3,400.1,-11.0,310,2546,0.00,2.17,0.00,0.000,4,0.000,0.029,2137,1204,3857,0,0,0,0,0,0
$GC,2605,-0.56,-243.3,406.4,-9.1,315,2609,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2669,3856,0,0,0,0,0,0
$GC,2937,-0.56,-243.3,434.2,-8.3,346,2941,0.00,2.17,0.00,0.000,4,0.000,0.029,2137,1206,3854,0,0,0,0,0,0
$GC,2970,-0.56,-243.3,437.3,-9.0,348,2977,0.00,2.20,0.00,0.000,6,0.000,0.034,2137,2640,3854,0,0,0,0,0,0
$GC,3296,-0.56,-243.3,466.0,-9.7,379,3300,0.00,2.15,0.00,0.000,4,0.000,0.030,2138,1209,3851,0,0,0,0,0,0
$GC,3336,-0.56,-243.3,469.9,-9.6,382,3343,0.00,2.17,0.00,0.000,6,0.000,0.034,2138,2625,3851,0,0,0,0,0,0
$GC,3662,-0.56,-243.3,499.9,-9.1,413,3666,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3775,3849,0,0,0,0,0,0
$GC,3687,-0.56,-243.3,501.9,-8.9,415,3690,0.00,1.70,0.00,0.000,6,0.000,0.024,2137,2611,3849,0,0,0,0,0,0
$GC,4020,-0.56,-243.3,528.8,-8.0,431,4024,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1200,3845,0,0,0,0,0,0
$GC,4064,-0.56,-243.3,532.4,-7.8,433,4068,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2612,3845,0,0,0,0,0,0
$GC,4386,-0.56,-243.3,552.3,-5.6,449,4390,0.00,1.77,0.00,0.000,4,0.000,0.044,2137,3783,3843,0,0,0,0,0,0
$GC,4599,-0.56,-243.3,566.1,-7.1,458,4603,0.00,1.85,0.00,0.000,6,0.000,0.025,2138,2508,3841,0,0,0,0,0,0
$GC,4922,-0.56,-243.3,586.9,-7.2,474,4926,0.00,1.92,0.00,0.000,4,0.000,0.031,2138,1198,3842,0,0,0,0,0,0
$GC,5180,-0.56,-243.3,612.4,-11.9,485,5184,0.00,1.98,0.00,0.000,6,0.000,0.033,2138,2501,3837,0,0,0,0,0,0
$GC,5502,-0.56,-243.3,647.8,-11.4,501,5506,0.00,1.95,0.00,0.000,4,0.000,0.031,2138,1194,3835,0,0,0,0,0,0
$GC,5518,-0.56,-243.3,649.8,-11.6,501,5525,0.00,1.95,0.00,0.000,6,0.000,0.033,2137,2483,3835,0,0,0,0,0,0
$GC,5836,-0.56,-243.3,682.9,-9.7,517,5839,0.00,2.00,0.00,0.000,4,0.000,0.045,2138,3779,3832,0,0,0,0,0,0
$GC,5914,-0.56,-243.3,690.8,-9.2,520,5917,0.00,1.98,0.00,0.000,6,0.000,0.025,2138,2442,3831,0,0,0,0,0,0
$GC,6237,-0.56,-243.3,718.2,-8.6,536,6241,0.00,1.88,0.00,0.000,4,0.000,0.032,2138,1200,3830,0,0,0,0,0,0
$GC,6379,-0.56,-243.3,731.9,-10.2,542,6383,0.00,1.88,0.00,0.000,6,0.000,0.034,2138,2434,3830,0,0,0,0,0,0
$GC,6707,-0.56,-243.3,765.1,-11.2,558,6711,0.00,1.88,0.00,0.000,4,0.000,0.033,2138,1210,3828,0,0,0,0,0,0
$GC,6965,-0.56,-243.3,795.6,-11.4,569,6969,0.00,1.83,0.00,0.000,6,0.000,0.033,2138,2414,3826,0,0,0,0,0,0
$GC,7289,-0.56,-243.3,832.8,-12.0,585,7293,0.00,1.83,0.00,0.000,4,0.000,0.033,2138,1196,3825,0,0,0,0,0,0
$GC,7547,-0.56,-243.3,864.8,-11.7,596,7551,0.00,1.85,0.00,0.000,6,0.000,0.034,2138,2384,3824,0,0,0,0,0,0
$GC,7868,-0.56,-243.3,899.1,-10.3,612,7872,0.00,2.17,0.00,0.000,4,0.000,0.046,2139,3780,3822,0,0,0,0,0,0
$GC,8127,-0.56,-243.3,924.6,-9.3,623,8134,0.00,2.10,0.00,0.000,6,0.000,0.026,2138,2383,3820,0,0,0,0,0,0
$GC,8443,-0.56,-243.3,950.3,-8.2,639,8447,0.00,1.75,0.00,0.000,4,0.000,0.033,2138,1196,3819,0,0,0,0,0,0
$GC,8538,-0.56,-243.3,958.3,-8.0,643,8542,0.00,1.80,0.00,0.000,6,0.000,0.035,2134,2376,3818,0,0,0,0,0,0
$GC,8866,-0.56,-243.3,984.6,-8.2,659,8869,0.00,1.75,0.00,0.000,4,0.000,0.034,2142,1205,3817,0,0,0,0,0,0
$STATE,8934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8934,begin apogee
$GC,8942,-0.13,0.0,990.2,8.3,662,9133,0.35,0.00,184.90,1.089,4,0.080,0.000,2275,2135,2871,0,0,0,0,0,0
$STATE,9134,end apogee,CONTROL_FINISHED_OK
$STATE,9134,begin climb
$GC,9136,0.56,243.3,1002.3,0.0,671,9347,0.62,2.33,198.27,1.064,4,0.047,0.044,2515,3537,1877,0,0,0,0,0,0
$GC,9477,0.56,243.3,968.8,14.8,686,9484,0.00,2.20,0.00,0.000,6,0.000,0.028,2525,2141,1876,0,0,0,0,0,0
$GC,9793,0.56,243.3,924.7,14.0,702,9797,0.00,2.17,0.00,0.000,4,0.000,0.041,2526,3529,1875,0,0,0,0,0,0
$GC,9951,0.56,243.3,900.1,15.7,709,9955,0.15,2.15,0.00,0.000,6,0.184,0.028,2499,2117,1875,0,0,0,0,0,0
$GC,10272,0.56,243.3,859.6,12.6,725,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2117,1874,0,0,0,0,0,0
$GC,10582,0.56,243.3,813.0,16.7,740,10586,0.00,2.12,0.00,0.000,4,0.000,0.037,2508,712,1873,0,0,0,0,0,0
$GC,10644,0.56,243.3,802.6,15.8,743,10648,0.00,2.17,0.00,0.000,6,0.000,0.033,2509,2120,1873,0,0,0,0,0,0
$GC,10977,0.56,243.3,749.7,15.2,759,10981,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,3540,1872,0,0,0,0,0,0
$GC,10999,0.56,243.3,745.9,15.3,760,11003,0.00,2.15,0.00,0.000,6,0.000,0.028,2517,2116,1872,0,0,0,0,0,0
$GC,11322,0.56,243.3,697.6,13.8,776,11326,0.00,2.12,0.00,0.000,4,0.000,0.037,2528,711,1871,0,0,0,0,0,0
$GC,11416,0.56,243.3,685.0,12.4,780,11420,0.00,2.12,0.00,0.000,6,0.000,0.032,2528,2103,1871,0,0,0,0,0,0
$GC,11733,0.57,251.8,648.3,11.5,795,11747,0.00,2.30,7.50,0.763,4,0.000,0.044,2534,3536,1842,0,0,0,0,0,0
$GC,11831,0.57,251.8,635.9,12.1,799,11836,0.12,2.15,0.00,0.000,6,0.179,0.028,2508,2114,1841,0,0,0,0,0,0
$GC,12154,0.63,302.5,605.4,10.1,815,12199,0.00,2.25,39.17,0.839,4,0.000,0.038,2516,721,1638,0,0,0,0,0,0
$GC,12335,0.63,302.5,584.7,12.4,823,12339,0.00,2.12,0.00,0.000,6,0.000,0.033,2515,2083,1635,0,0,0,0,0,0
$GC,12668,0.63,302.5,541.8,13.4,839,12673,0.00,2.28,0.00,0.000,4,0.000,0.045,2516,3538,1635,0,0,0,0,0,0
$GC,12712,0.63,302.5,535.1,14.9,841,12717,0.00,2.20,0.00,0.000,6,0.000,0.028,2526,2093,1635,0,0,0,0,0,0
$GC,13032,0.63,302.5,491.2,13.0,859,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2093,1636,0,0,0,0,0,0
$GC,13354,0.63,302.5,451.5,12.5,889,13358,0.00,2.25,0.00,0.000,4,0.000,0.041,2526,3540,1637,0,0,0,0,0,0
$GC,13394,0.63,302.5,445.6,14.1,892,13398,0.00,2.17,0.00,0.000,6,0.000,0.028,2535,2104,1637,0,0,0,0,0,0
$GC,13719,0.63,302.5,404.7,12.9,922,13723,0.00,2.10,0.00,0.000,4,0.000,0.038,2546,717,1638,0,0,0,0,0,0
$GC,13832,0.63,302.5,389.6,12.6,931,13839,0.00,2.10,0.00,0.000,6,0.000,0.033,2546,2087,1638,0,0,0,0,0,0
$GC,14159,0.64,311.0,349.2,11.5,962,14174,0.00,2.30,8.88,0.654,4,0.000,0.044,2546,3531,1601,0,0,0,0,0,0
$GC,14238,0.64,311.0,338.9,12.6,969,14242,0.00,2.17,0.00,0.000,6,0.000,0.029,2557,2100,1601,0,0,0,0,0,0
$GC,14566,0.64,311.0,295.9,14.9,999,14570,0.00,2.10,0.00,0.000,4,0.000,0.037,2572,711,1601,0,0,0,0,0,0
$GC,14628,0.64,311.0,285.8,16.1,1004,14633,0.15,2.12,0.00,0.000,6,0.153,0.032,2526,2106,1601,0,0,0,0,0,0
$GC,14954,0.68,344.7,244.7,10.7,1034,14990,0.00,2.28,26.30,0.612,4,0.000,0.043,2526,3524,1463,0,0,0,0,0,0
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