version: 66.09
glider: 181
mission: 6
dive: 377
start: 8 21 111 3 52 38
data:
$ID,181
$MISSION,6
$DIVE,377
$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,-41010.375
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,210811,034537,2132.330,11953.445,37,0.9,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.5
$GPS2,210811,035213,2132.352,11953.356,12,1.2,17,-2.5
$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,180.1,282396,-16.3,-11.786
$D_GRID,3068
$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,-64.75,0.000,2,0.000,0.000,199,2632,2285,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.5,-3.8,10,135,8.23,2.17,-31.67,0.000,4,0.232,0.037,2137,1176,3762,0,0,0,0,0,0
$GC,204,-0.54,-219.0,35.8,-22.2,29,211,0.00,2.20,0.00,0.000,6,0.000,0.039,2129,2589,3762,0,0,0,0,0,0
$GC,343,-0.54,-219.0,76.7,-24.6,54,351,0.00,2.10,0.00,0.000,4,0.000,0.025,2129,1184,3762,0,0,0,0,0,0
$GC,358,-0.54,-219.0,80.7,-25.4,56,366,0.00,2.10,0.00,0.000,6,0.000,0.037,2125,2524,3762,0,0,0,0,0,0
$GC,499,-0.54,-219.0,112.9,-20.8,81,506,0.00,1.95,0.00,0.000,4,0.000,0.043,2115,3777,3761,0,0,0,0,0,0
$GC,591,-0.54,-219.0,129.0,-14.9,97,598,0.00,1.80,0.00,0.000,6,0.000,0.022,2115,2544,3762,0,0,0,0,0,0
$GC,729,-0.54,-219.0,152.3,-16.6,122,737,0.00,2.00,0.00,0.000,4,0.000,0.027,2115,1190,3762,0,0,0,0,0,0
$GC,751,-0.54,-219.0,155.9,-17.0,125,759,0.12,2.12,0.00,0.000,6,0.159,0.035,2144,2577,3762,0,0,0,0,0,0
$GC,893,-0.54,-219.0,171.9,-12.4,150,901,0.00,1.88,0.00,0.000,4,0.000,0.042,2138,3783,3762,0,0,0,0,0,0
$GC,962,-0.54,-219.0,180.8,-12.3,162,971,0.00,1.75,0.00,0.000,6,0.000,0.023,2138,2600,3762,0,0,0,0,0,0
$GC,1105,-0.54,-219.0,200.5,-14.6,187,1109,0.00,2.05,0.00,0.000,4,0.000,0.028,2139,1194,3762,0,0,0,0,0,0
$GC,1133,-0.54,-219.0,205.2,-14.3,189,1140,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2626,3762,0,0,0,0,0,0
$GC,1460,-0.54,-219.0,246.5,-12.7,220,1464,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1205,3761,0,0,0,0,0,0
$GC,1478,-0.54,-219.0,248.7,-12.0,221,1482,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2604,3761,0,0,0,0,0,0
$GC,1805,-0.54,-219.0,281.7,-10.0,251,1809,0.00,1.77,0.00,0.000,4,0.000,0.043,2130,3777,3759,0,0,0,0,0,0
$GC,1841,-0.54,-219.0,285.0,-9.3,254,1845,0.00,1.73,0.00,0.000,6,0.000,0.024,2130,2591,3758,0,0,0,0,0,0
$GC,2172,-0.54,-219.0,316.2,-9.6,285,2175,0.00,2.03,0.00,0.000,4,0.000,0.030,2130,1210,3756,0,0,0,0,0,0
$GC,2200,-0.54,-219.0,319.2,-10.1,287,2207,0.00,2.12,0.00,0.000,6,0.000,0.034,2127,2600,3757,0,0,0,0,0,0
$GC,2525,-0.54,-219.0,354.7,-12.1,318,2529,0.00,1.83,0.00,0.000,4,0.000,0.045,2118,3785,3753,0,0,0,0,0,0
$GC,2575,-0.54,-219.0,360.7,-11.5,322,2582,0.00,1.75,0.00,0.000,6,0.000,0.025,2118,2574,3752,0,0,0,0,0,0
$GC,2901,-0.54,-219.0,400.9,-12.4,353,2904,0.00,2.00,0.00,0.000,4,0.000,0.031,2118,1214,3750,0,0,0,0,0,0
$GC,2947,-0.54,-219.0,406.2,-11.1,357,2952,0.12,2.10,0.00,0.000,6,0.141,0.035,2154,2589,3750,0,0,0,0,0,0
$GC,3273,-0.54,-219.0,433.6,-7.9,387,3276,0.00,1.83,0.00,0.000,4,0.000,0.045,2142,3786,3747,0,0,0,0,0,0
$GC,3307,-0.54,-219.0,436.3,-7.7,390,3311,0.00,1.75,0.00,0.000,6,0.000,0.025,2142,2590,3747,0,0,0,0,0,0
$GC,3639,-0.54,-219.0,462.2,-7.1,421,3642,0.00,2.05,0.00,0.000,4,0.000,0.031,2143,1203,3743,0,0,0,0,0,0
$GC,3700,-0.54,-219.0,466.3,-6.6,426,3707,0.00,2.10,0.00,0.000,6,0.000,0.034,2139,2581,3743,0,0,0,0,0,0
$GC,4027,-0.54,-219.0,486.0,-5.7,457,4031,0.00,1.85,0.00,0.000,4,0.000,0.047,2132,3789,3740,0,0,0,0,0,0
$GC,4054,-0.54,-219.0,487.9,-5.6,459,4061,0.00,1.77,0.00,0.000,6,0.000,0.025,2132,2567,3740,0,0,0,0,0,0
$GC,4388,-0.54,-219.0,512.0,-8.2,484,4392,0.00,2.00,0.00,0.000,4,0.000,0.031,2132,1214,3737,0,0,0,0,0,0
$GC,4434,-0.54,-219.0,516.1,-8.5,486,4438,0.00,2.10,0.00,0.000,6,0.000,0.036,2125,2583,3738,0,0,0,0,0,0
$GC,4763,-0.54,-219.0,546.8,-9.4,502,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2585,3735,0,0,0,0,0,0
$GC,5071,-0.54,-219.0,578.5,-10.9,517,5075,0.00,1.85,0.00,0.000,4,0.000,0.048,2125,3782,3732,0,0,0,0,0,0
$GC,5099,-0.54,-219.0,581.8,-11.3,518,5102,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2556,3732,0,0,0,0,0,0
$GC,5427,-0.54,-219.0,621.4,-12.7,534,5430,0.00,2.00,0.00,0.000,4,0.000,0.032,2125,1207,3730,0,0,0,0,0,0
$GC,5495,-0.54,-219.0,629.6,-11.4,537,5499,0.00,2.08,0.00,0.000,6,0.000,0.036,2125,2554,3730,0,0,0,0,0,0
$GC,5823,-0.54,-219.0,666.9,-10.9,553,5827,0.00,1.90,0.00,0.000,4,0.000,0.049,2125,3777,3728,0,0,0,0,0,0
$GC,5880,-0.54,-219.0,672.6,-9.8,555,5884,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2557,3730,0,0,0,0,0,0
$GC,6202,-0.54,-219.0,703.7,-9.0,571,6206,0.00,2.00,0.00,0.000,4,0.000,0.032,2125,1211,3725,0,0,0,0,0,0
$GC,6230,-0.54,-219.0,706.3,-9.1,572,6233,0.00,2.08,0.00,0.000,6,0.000,0.037,2125,2553,3725,0,0,0,0,0,0
$GC,6557,-0.54,-219.0,734.4,-8.4,588,6561,0.00,1.95,0.00,0.000,4,0.000,0.049,2125,3774,3723,0,0,0,0,0,0
$GC,6607,-0.54,-219.0,738.5,-7.9,590,6611,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2560,3722,0,0,0,0,0,0
$GC,6935,-0.54,-219.0,765.5,-8.4,606,6938,0.00,2.03,0.00,0.000,4,0.000,0.032,2125,1201,3721,0,0,0,0,0,0
$GC,6962,-0.54,-219.0,768.2,-8.6,607,6966,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2572,3720,0,0,0,0,0,0
$GC,7291,-0.54,-219.0,796.2,-8.4,623,7295,0.00,2.08,0.00,0.000,4,0.000,0.032,2125,1196,3719,0,0,0,0,0,0
$GC,7318,-0.54,-219.0,798.9,-8.6,624,7322,0.00,2.10,0.00,0.000,6,0.000,0.038,2125,2552,3719,0,0,0,0,0,0
$GC,7645,-0.54,-219.0,827.9,-9.0,640,7649,0.00,1.92,0.00,0.000,4,0.000,0.050,2125,3783,3720,0,0,0,0,0,0
$GC,7696,-0.54,-219.0,832.3,-9.0,642,7700,0.00,1.83,0.00,0.000,6,0.000,0.027,2128,2553,3717,0,0,0,0,0,0
$GC,8023,-0.54,-219.0,860.3,-8.8,658,8027,0.00,1.98,0.00,0.000,4,0.000,0.048,2125,3776,3715,0,0,0,0,0,0
$GC,8073,-0.54,-219.0,864.9,-9.1,660,8076,0.00,1.98,0.00,0.000,6,0.000,0.027,2125,2460,3715,0,0,0,0,0,0
$GC,8401,-0.54,-219.0,894.9,-9.3,676,8405,0.00,2.10,0.00,0.000,4,0.000,0.047,2125,3789,3714,0,0,0,0,0,0
$GC,8464,-0.54,-219.0,900.3,-8.5,679,8468,0.00,2.10,0.00,0.000,6,0.000,0.027,2125,2389,3713,0,0,0,0,0,0
$GC,8792,-0.54,-219.0,926.2,-7.7,695,8796,0.00,2.22,0.00,0.000,4,0.000,0.047,2124,3788,3712,0,0,0,0,0,0
$GC,9049,-0.54,-219.0,947.3,-8.3,706,9056,0.00,2.15,0.00,0.000,6,0.000,0.025,2131,2362,3711,0,0,0,0,0,0
$GC,9366,-0.54,-219.0,970.7,-7.3,722,9370,0.00,1.73,0.00,0.000,4,0.000,0.034,2131,1200,3710,0,0,0,0,0,0
$GC,9480,-0.54,-219.0,979.3,-7.5,727,9484,0.00,1.77,0.00,0.000,6,0.000,0.034,2126,2334,3710,0,0,0,0,0,0
$STATE,9604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9604,begin apogee
$GC,9611,-0.13,0.0,988.4,7.3,733,9782,0.38,0.00,165.98,1.087,4,0.067,0.000,2284,2112,2869,0,0,0,0,0,0
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9783,begin climb
$GC,9786,0.54,219.0,999.1,0.0,741,9974,0.60,2.40,178.90,1.065,4,0.049,0.043,2511,3542,1975,0,0,0,0,0,0
$GC,9992,0.54,219.0,987.9,12.7,750,9999,0.00,2.30,0.00,0.000,6,0.000,0.027,2521,2143,1974,0,0,0,0,0,0
$GC,10307,0.54,219.0,945.1,13.8,766,10311,0.00,2.20,0.00,0.000,4,0.000,0.037,2532,713,1973,0,0,0,0,0,0
$GC,10416,0.54,219.0,930.8,13.0,771,10421,0.15,2.17,0.00,0.000,6,0.161,0.034,2493,2120,1973,0,0,0,0,0,0
$GC,10745,0.54,219.1,892.4,11.8,787,10749,0.00,2.15,0.00,0.000,4,0.000,0.036,2502,717,1973,0,0,0,0,0,0
$GC,10777,0.56,232.3,888.4,11.3,788,10794,0.00,2.15,11.60,0.927,6,0.000,0.033,2502,2105,1923,0,0,0,0,0,0
$GC,11113,0.58,251.8,850.4,11.1,805,11136,0.00,2.33,16.73,0.939,4,0.000,0.044,2502,3535,1842,0,0,0,0,0,0
$GC,11205,0.58,251.8,838.5,13.1,809,11209,0.00,2.20,0.00,0.000,6,0.000,0.028,2512,2098,1841,0,0,0,0,0,0
$GC,11532,0.60,267.5,800.3,11.2,825,11555,0.00,2.17,13.82,0.891,4,0.000,0.039,2522,724,1778,0,0,0,0,0,0
$GC,11635,0.63,293.4,789.0,10.8,829,11661,0.00,2.12,21.30,0.910,6,0.000,0.033,2522,2098,1676,0,0,0,0,0,0
$GC,11976,0.65,303.7,749.8,11.4,845,11991,0.00,2.28,10.02,0.829,4,0.000,0.044,2520,3535,1630,0,0,0,0,0,0
$GC,12069,0.65,303.7,737.4,12.5,848,12073,0.00,2.17,0.00,0.000,6,0.000,0.027,2532,2110,1629,0,0,0,0,0,0
$GC,12391,0.65,303.7,695.9,13.5,864,12395,0.00,2.25,0.00,0.000,4,0.000,0.043,2532,3539,1630,0,0,0,0,0,0
$GC,12418,0.65,303.7,691.7,14.2,865,12422,0.00,2.17,0.00,0.000,6,0.000,0.028,2542,2100,1630,0,0,0,0,0,0
$GC,12747,0.65,303.7,644.7,14.4,881,12751,0.00,2.10,0.00,0.000,4,0.000,0.037,2553,712,1630,0,0,0,0,0,0
$GC,12796,0.65,303.7,637.3,14.1,883,12800,0.00,2.12,0.00,0.000,6,0.000,0.032,2553,2103,1630,0,0,0,0,0,0
$GC,13118,0.65,303.7,591.5,14.0,899,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2104,1630,0,0,0,0,0,0
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