version: 66.09
glider: 181
mission: 6
dive: 380
start: 8 21 111 19 2 15
data:
$ID,181
$MISSION,6
$DIVE,380
$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,-41014.148
$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,38
$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
$GPS1,210811,185507,2127.484,11950.798,34,0.9,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.3
$GPS2,210811,190150,2127.450,11950.690,14,1.2,14,-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,179.1,273563,-16.3,-11.786
$D_GRID,3022
$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,-64.57,0.000,2,0.000,0.000,200,2663,2267,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.4,10,134,8.18,2.22,-31.70,0.000,4,0.231,0.037,2135,1183,3764,0,0,0,0,0,0
$GC,194,-0.54,-219.0,31.1,-21.1,27,201,0.00,2.20,0.00,0.000,6,0.000,0.035,2127,2604,3764,0,0,0,0,0,0
$GC,332,-0.54,-219.0,71.0,-26.9,52,340,0.00,1.83,0.00,0.000,4,0.000,0.042,2118,3773,3763,0,0,0,0,0,0
$GC,423,-0.54,-219.0,89.9,-19.2,68,431,0.00,1.67,0.00,0.000,6,0.000,0.023,2118,2651,3763,0,0,0,0,0,0
$GC,564,-0.54,-219.0,117.4,-18.5,93,571,0.00,2.15,0.00,0.000,4,0.000,0.026,2118,1182,3762,0,0,0,0,0,0
$GC,583,-0.54,-219.0,120.8,-16.7,96,592,0.08,2.30,0.00,0.000,6,0.138,0.034,2133,2658,3763,0,0,0,0,0,0
$GC,727,-0.54,-219.0,142.2,-15.6,121,734,0.00,1.73,0.00,0.000,4,0.000,0.042,2130,3776,3763,0,0,0,0,0,0
$GC,785,-0.54,-219.0,151.2,-14.4,131,792,0.00,1.60,0.00,0.000,6,0.000,0.022,2130,2691,3763,0,0,0,0,0,0
$GC,925,-0.54,-219.0,169.9,-14.3,156,933,0.00,2.22,0.00,0.000,4,0.000,0.027,2130,1194,3763,0,0,0,0,0,0
$GC,979,-0.54,-219.0,177.1,-12.3,165,986,0.00,2.33,0.00,0.000,6,0.000,0.033,2126,2714,3763,0,0,0,0,0,0
$GC,1120,-0.54,-219.0,195.4,-13.2,190,1128,0.00,1.65,0.00,0.000,4,0.000,0.042,2119,3783,3763,0,0,0,0,0,0
$GC,1168,-0.54,-219.0,202.3,-13.2,197,1172,0.00,1.60,0.00,0.000,6,0.000,0.022,2119,2696,3763,0,0,0,0,0,0
$GC,1501,-0.54,-219.0,251.0,-13.9,228,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2693,3762,0,0,0,0,0,0
$GC,1820,-0.54,-219.0,289.2,-11.4,258,1824,0.00,2.20,0.00,0.000,4,0.000,0.028,2119,1190,3761,0,0,0,0,0,0
$GC,1871,-0.54,-219.0,294.6,-9.5,262,1876,0.12,2.38,0.00,0.000,6,0.147,0.033,2146,2750,3761,0,0,0,0,0,0
$GC,2197,-0.54,-219.0,322.8,-9.0,292,2201,0.00,2.33,0.00,0.000,4,0.000,0.027,2147,1183,3758,0,0,0,0,0,0
$GC,2259,-0.54,-219.0,328.6,-9.0,297,2264,0.00,2.30,0.00,0.000,6,0.000,0.031,2142,2706,3758,0,0,0,0,0,0
$GC,2587,-0.54,-219.0,360.1,-9.0,327,2591,0.00,2.25,0.00,0.000,4,0.000,0.028,2142,1193,3754,0,0,0,0,0,0
$GC,2631,-0.54,-219.0,364.3,-9.1,330,2638,0.00,2.30,0.00,0.000,6,0.000,0.033,2139,2699,3754,0,0,0,0,0,0
$GC,2957,-0.54,-219.0,394.2,-8.7,361,2961,0.00,2.25,0.00,0.000,4,0.000,0.028,2139,1189,3752,0,0,0,0,0,0
$GC,3012,-0.54,-219.0,398.8,-8.2,365,3019,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2676,3751,0,0,0,0,0,0
$GC,3338,-0.54,-219.0,424.3,-8.0,396,3342,0.00,2.22,0.00,0.000,4,0.000,0.029,2139,1186,3749,0,0,0,0,0,0
$GC,3367,-0.54,-219.0,426.6,-7.9,398,3371,0.00,2.25,0.00,0.000,6,0.000,0.034,2138,2657,3749,0,0,0,0,0,0
$GC,3692,-0.54,-219.0,453.4,-8.5,428,3696,0.00,2.20,0.00,0.000,4,0.000,0.030,2138,1184,3745,0,0,0,0,0,0
$GC,3732,-0.54,-219.0,456.6,-8.4,431,3736,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2640,3745,0,0,0,0,0,0
$GC,4058,-0.54,-219.0,484.1,-8.8,461,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2641,3743,0,0,0,0,0,0
$GC,4383,-0.54,-219.0,514.4,-9.6,485,4387,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1190,3740,0,0,0,0,0,0
$GC,4416,-0.54,-219.0,517.8,-9.7,486,4423,0.00,2.22,0.00,0.000,6,0.000,0.035,2138,2631,3740,0,0,0,0,0,0
$GC,4734,-0.54,-219.0,549.7,-10.6,502,4738,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1183,3738,0,0,0,0,0,0
$GC,4755,-0.54,-219.0,552.4,-10.6,503,4760,0.00,2.20,0.00,0.000,6,0.000,0.035,2138,2610,3737,0,0,0,0,0,0
$GC,5078,-0.54,-219.0,585.0,-10.0,519,5082,0.00,1.80,0.00,0.000,4,0.000,0.047,2139,3778,3735,0,0,0,0,0,0
$GC,5111,-0.54,-219.0,588.5,-9.8,520,5115,0.00,1.75,0.00,0.000,6,0.000,0.025,2139,2588,3734,0,0,0,0,0,0
$GC,5434,-0.54,-219.0,615.6,-8.2,536,5438,0.00,2.05,0.00,0.000,4,0.000,0.030,2139,1200,3732,0,0,0,0,0,0
$GC,5480,-0.54,-219.0,619.2,-7.8,538,5484,0.00,2.15,0.00,0.000,6,0.000,0.035,2139,2600,3732,0,0,0,0,0,0
$GC,5813,-0.54,-219.0,639.6,-6.0,554,5816,0.00,1.83,0.00,0.000,4,0.000,0.047,2139,3776,3730,0,0,0,0,0,0
$GC,5960,-0.54,-219.0,649.2,-7.5,560,5964,0.00,1.88,0.00,0.000,6,0.000,0.025,2139,2505,3729,0,0,0,0,0,0
$GC,6282,-0.54,-219.0,677.0,-9.7,576,6286,0.00,1.92,0.00,0.000,4,0.000,0.031,2138,1201,3725,0,0,0,0,0,0
$GC,6406,-0.54,-219.0,689.5,-10.9,581,6410,0.00,1.98,0.00,0.000,6,0.000,0.032,2139,2500,3727,0,0,0,0,0,0
$GC,6728,-0.54,-219.0,722.6,-10.4,597,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3725,0,0,0,0,0,0
$GC,7038,-0.54,-219.0,751.8,-8.8,612,7042,0.00,1.95,0.00,0.000,4,0.000,0.031,2139,1199,3724,0,0,0,0,0,0
$GC,7155,-0.54,-219.0,762.0,-8.5,617,7159,0.00,1.98,0.00,0.000,6,0.000,0.034,2138,2489,3722,0,0,0,0,0,0
$GC,7483,-0.54,-219.0,785.8,-7.1,633,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2489,3721,0,0,0,0,0,0
$GC,7793,-0.54,-219.0,809.2,-8.0,648,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2489,3721,0,0,0,0,0,0
$GC,8101,-0.54,-219.0,836.3,-8.7,663,8105,0.00,1.95,0.00,0.000,4,0.000,0.032,2138,1197,3720,0,0,0,0,0,0
$GC,8308,-0.54,-219.0,856.4,-9.9,672,8312,0.00,1.98,0.00,0.000,6,0.000,0.035,2139,2452,3719,0,0,0,0,0,0
$GC,8635,-0.54,-219.0,886.4,-9.0,688,8639,0.00,1.88,0.00,0.000,4,0.000,0.034,2139,1203,3717,0,0,0,0,0,0
$GC,8892,-0.54,-219.0,909.1,-8.9,699,8895,0.00,1.88,0.00,0.000,6,0.000,0.034,2138,2431,3715,0,0,0,0,0,0
$GC,9214,-0.54,-219.0,934.3,-7.7,715,9218,0.00,1.85,0.00,0.000,4,0.000,0.034,2138,1203,3715,0,0,0,0,0,0
$GC,9253,-0.54,-219.0,937.8,-7.8,716,9260,0.00,1.85,0.00,0.000,6,0.000,0.035,2139,2405,3714,0,0,0,0,0,0
$GC,9570,-0.54,-219.0,963.2,-8.5,732,9574,0.00,2.15,0.00,0.000,4,0.000,0.046,2138,3784,3713,0,0,0,0,0,0
$STATE,9608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9608,begin apogee
$GC,9617,-0.13,0.0,966.6,8.9,734,9788,0.38,0.00,165.77,1.075,4,0.078,0.000,2277,2134,2872,0,0,0,0,0,0
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9792,0.54,219.0,978.5,0.0,742,9979,0.62,2.30,177.48,1.055,4,0.057,0.038,2509,716,1982,0,0,0,0,0,0
$GC,10005,0.57,243.6,969.2,10.9,752,10033,0.00,2.33,22.20,0.973,6,0.000,0.033,2509,2127,1874,0,0,0,0,0,0
$GC,10354,0.57,243.6,925.5,12.7,769,10359,0.00,2.22,0.00,0.000,4,0.000,0.044,2509,3544,1873,0,0,0,0,0,0
$GC,10422,0.57,243.6,916.2,13.5,772,10426,0.00,2.15,0.00,0.000,6,0.000,0.028,2518,2140,1872,0,0,0,0,0,0
$GC,10743,0.57,243.6,873.0,13.0,788,10747,0.00,2.17,0.00,0.000,4,0.000,0.038,2529,708,1872,0,0,0,0,0,0
$GC,10850,0.57,243.6,859.6,12.2,793,10854,0.00,2.17,0.00,0.000,6,0.000,0.034,2529,2120,1872,0,0,0,0,0,0
$GC,11178,0.57,243.6,817.4,12.9,809,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2121,1871,0,0,0,0,0,0
$GC,11487,0.57,243.6,778.5,12.3,824,11491,0.00,2.15,0.00,0.000,4,0.000,0.036,2544,714,1870,0,0,0,0,0,0
$GC,11520,0.57,243.6,774.1,12.6,825,11528,0.12,2.17,0.00,0.000,6,0.170,0.033,2506,2130,1870,0,0,0,0,0,0
$GC,11836,0.60,270.7,740.3,10.8,841,11863,0.00,2.22,21.38,0.910,4,0.000,0.043,2506,3541,1766,0,0,0,0,0,0
$GC,11908,0.60,270.7,731.6,12.8,844,11912,0.00,2.20,0.00,0.000,6,0.000,0.028,2515,2112,1765,0,0,0,0,0,0
$GC,12229,0.60,270.7,693.6,11.9,860,12233,0.00,2.12,0.00,0.000,4,0.000,0.038,2526,717,1764,0,0,0,0,0,0
$GC,12329,0.62,283.2,681.8,11.3,864,12345,0.00,2.15,11.52,0.825,6,0.000,0.033,2526,2107,1714,0,0,0,0,0,0
$GC,12664,0.62,283.2,642.3,11.9,881,12668,0.00,2.22,0.00,0.000,4,0.000,0.044,2526,3535,1714,0,0,0,0,0,0
$GC,12741,0.62,283.2,630.9,14.7,884,12748,0.00,2.17,0.00,0.000,6,0.000,0.028,2535,2107,1714,0,0,0,0,0,0
$GC,13058,0.62,283.2,584.6,15.5,900,13062,0.00,2.10,0.00,0.000,4,0.000,0.038,2545,727,1714,0,0,0,0,0,0
$GC,13098,0.62,283.2,578.2,15.6,902,13102,0.00,2.12,0.00,0.000,6,0.000,0.033,2546,2113,1714,0,0,0,0,0,0
$GC,13426,0.62,283.2,527.0,15.8,918,13430,0.00,2.12,0.00,0.000,4,0.000,0.036,2555,720,1714,0,0,0,0,0,0
$GC,13447,0.62,283.2,523.2,15.6,919,13452,0.10,2.15,0.00,0.000,6,0.141,0.033,2523,2099,1714,0,0,0,0,0,0
$GC,13768,0.62,283.2,478.9,13.9,941,13772,0.00,2.22,0.00,0.000,4,0.000,0.044,2523,3536,1714,0,0,0,0,0,0
$GC,13808,0.62,283.2,472.8,15.5,944,13812,0.00,2.15,0.00,0.000,6,0.000,0.028,2531,2108,1714,0,0,0,0,0,0
$GC,14134,0.66,313.5,433.2,10.7,974,14167,0.00,2.17,24.20,0.736,4,0.000,0.037,2541,729,1591,0,0,0,0,0,0
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