version: 66.09
glider: 181
mission: 6
dive: 376
start: 8 20 111 22 42 40
data:
$ID,181
$MISSION,6
$DIVE,376
$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,-41009.113
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,200811,223531,2133.003,11954.226,37,1.4,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.5
$GPS2,200811,224215,2132.974,11954.157,10,1.4,10,-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,180.4,283492,-16.3,-11.786
$D_GRID,3075
$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,-219.0,0.0,0.0,0,90,0.00,0.00,-71.88,0.000,2,0.000,0.000,198,2618,2490,0,0,0,0,0,0
$GC,93,-0.54,-219.0,3.8,-4.0,11,135,8.23,2.15,-24.98,0.000,4,0.233,0.036,2136,1175,3764,0,0,0,0,0,0
$GC,192,-0.54,-219.0,35.9,-25.3,27,199,0.00,2.22,0.00,0.000,6,0.000,0.040,2137,2598,3765,0,0,0,0,0,0
$GC,331,-0.54,-219.0,81.7,-29.4,52,339,0.00,1.85,0.00,0.000,4,0.000,0.045,2129,3775,3764,0,0,0,0,0,0
$GC,389,-0.54,-219.0,96.1,-25.0,62,397,0.00,1.83,0.00,0.000,6,0.000,0.023,2129,2541,3764,0,0,0,0,0,0
$GC,530,-0.54,-219.0,121.7,-16.3,87,537,0.00,1.92,0.00,0.000,4,0.000,0.041,2119,3789,3764,0,0,0,0,0,0
$GC,604,-0.54,-219.0,132.4,-13.0,100,612,0.00,1.73,0.00,0.000,6,0.000,0.022,2119,2618,3764,0,0,0,0,0,0
$GC,747,-0.54,-219.0,155.3,-18.5,125,754,0.00,2.08,0.00,0.000,4,0.000,0.026,2119,1196,3765,0,0,0,0,0,0
$GC,784,-0.54,-219.0,161.5,-15.6,131,791,0.12,2.22,0.00,0.000,6,0.149,0.033,2146,2655,3764,0,0,0,0,0,0
$GC,925,-0.54,-219.0,177.7,-12.1,156,933,0.00,1.73,0.00,0.000,4,0.000,0.041,2140,3775,3765,0,0,0,0,0,0
$GC,962,-0.54,-219.0,182.1,-11.4,162,970,0.00,1.62,0.00,0.000,6,0.000,0.023,2140,2674,3765,0,0,0,0,0,0
$GC,1105,-0.54,-219.0,198.4,-12.4,187,1112,0.00,2.15,0.00,0.000,4,0.000,0.027,2140,1206,3764,0,0,0,0,0,0
$GC,1131,-0.54,-219.0,202.0,-12.7,190,1135,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2676,3765,0,0,0,0,0,0
$GC,1457,-0.54,-219.0,239.5,-11.6,220,1460,0.00,1.67,0.00,0.000,4,0.000,0.043,2135,3789,3763,0,0,0,0,0,0
$GC,1480,-0.54,-219.0,242.2,-11.5,222,1484,0.00,1.65,0.00,0.000,6,0.000,0.024,2135,2645,3763,0,0,0,0,0,0
$GC,1813,-0.54,-219.0,277.3,-9.9,253,1817,0.00,2.10,0.00,0.000,4,0.000,0.028,2135,1208,3762,0,0,0,0,0,0
$GC,1858,-0.54,-219.0,281.9,-9.4,256,1865,0.00,2.20,0.00,0.000,6,0.000,0.033,2127,2655,3761,0,0,0,0,0,0
$GC,2183,-0.54,-219.0,318.0,-12.3,287,2187,0.00,1.70,0.00,0.000,4,0.000,0.044,2124,3783,3758,0,0,0,0,0,0
$GC,2222,-0.54,-219.0,323.0,-12.7,290,2229,0.00,1.65,0.00,0.000,6,0.000,0.024,2123,2640,3758,0,0,0,0,0,0
$GC,2548,-0.54,-219.0,364.0,-12.3,321,2552,0.00,2.10,0.00,0.000,4,0.000,0.029,2124,1211,3755,0,0,0,0,0,0
$GC,2615,-0.54,-219.0,371.9,-11.0,326,2622,0.00,2.17,0.00,0.000,6,0.000,0.033,2115,2639,3755,0,0,0,0,0,0
$GC,2940,-0.54,-219.0,415.8,-13.8,357,2945,0.10,1.75,0.00,0.000,4,0.170,0.045,2134,3777,3752,0,0,0,0,0,0
$GC,3002,-0.54,-219.0,423.2,-10.8,362,3009,0.00,1.65,0.00,0.000,6,0.000,0.025,2134,2644,3752,0,0,0,0,0,0
$GC,3327,-0.54,-219.0,457.1,-8.9,393,3331,0.00,2.12,0.00,0.000,4,0.000,0.030,2134,1208,3750,0,0,0,0,0,0
$GC,3360,-0.54,-219.0,460.3,-8.9,395,3367,0.00,2.20,0.00,0.000,6,0.000,0.034,2128,2651,3750,0,0,0,0,0,0
$GC,3688,-0.54,-219.0,490.8,-9.2,426,3692,0.00,2.17,0.00,0.000,4,0.000,0.030,2128,1199,3746,0,0,0,0,0,0
$GC,3743,-0.54,-219.0,496.2,-8.7,430,3750,0.00,2.17,0.00,0.000,6,0.000,0.034,2126,2623,3746,0,0,0,0,0,0
$GC,4062,-0.54,-219.0,527.6,-10.2,448,4065,0.00,1.77,0.00,0.000,4,0.000,0.047,2125,3778,3744,0,0,0,0,0,0
$GC,4086,-0.54,-219.0,529.9,-9.9,449,4090,0.00,1.75,0.00,0.000,6,0.000,0.024,2125,2613,3743,0,0,0,0,0,0
$GC,4420,-0.54,-219.0,561.1,-9.1,465,4424,0.00,2.08,0.00,0.000,4,0.000,0.029,2125,1206,3740,0,0,0,0,0,0
$GC,4487,-0.54,-219.0,566.9,-7.9,468,4491,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2598,3740,0,0,0,0,0,0
$GC,4815,-0.54,-219.0,595.8,-9.4,484,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2598,3738,0,0,0,0,0,0
$GC,5123,-0.54,-219.0,627.4,-9.8,499,5127,0.00,2.10,0.00,0.000,4,0.000,0.030,2125,1199,3735,0,0,0,0,0,0
$GC,5151,-0.54,-219.0,630.3,-9.5,500,5155,0.00,2.12,0.00,0.000,6,0.000,0.036,2129,2575,3735,0,0,0,0,0,0
$GC,5468,-0.54,-219.0,655.4,-7.5,515,5472,0.00,1.90,0.00,0.000,4,0.000,0.047,2125,3787,3734,0,0,0,0,0,0
$GC,5501,-0.54,-219.0,658.0,-7.3,516,5505,0.00,1.77,0.00,0.000,6,0.000,0.025,2125,2574,3732,0,0,0,0,0,0
$GC,5822,-0.54,-219.0,682.4,-8.1,532,5826,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1205,3730,0,0,0,0,0,0
$GC,5856,-0.54,-219.0,685.4,-8.6,533,5860,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2587,3730,0,0,0,0,0,0
$GC,6173,-0.54,-219.0,711.4,-8.4,548,6177,0.00,1.85,0.00,0.000,4,0.000,0.049,2123,3774,3729,0,0,0,0,0,0
$GC,6212,-0.54,-219.0,714.9,-8.3,549,6219,0.00,1.75,0.00,0.000,6,0.000,0.026,2123,2584,3728,0,0,0,0,0,0
$GC,6529,-0.54,-219.0,742.3,-8.5,565,6533,0.00,2.05,0.00,0.000,4,0.000,0.031,2123,1210,3726,0,0,0,0,0,0
$GC,6556,-0.54,-219.0,744.9,-8.6,566,6560,0.00,2.12,0.00,0.000,6,0.000,0.036,2117,2586,3726,0,0,0,0,0,0
$GC,6884,-0.54,-219.0,773.2,-8.8,582,6887,0.00,1.85,0.00,0.000,4,0.000,0.050,2112,3777,3724,0,0,0,0,0,0
$GC,6908,-0.54,-219.0,775.4,-8.9,583,6912,0.08,1.80,0.00,0.000,6,0.116,0.027,2140,2591,3727,0,0,0,0,0,0
$GC,7242,-0.54,-219.0,799.1,-7.2,599,7246,0.00,2.08,0.00,0.000,4,0.000,0.031,2140,1194,3722,0,0,0,0,0,0
$GC,7309,-0.54,-219.0,804.6,-7.7,602,7313,0.00,2.12,0.00,0.000,6,0.000,0.034,2139,2572,3722,0,0,0,0,0,0
$GC,7630,-0.54,-219.0,829.6,-7.7,618,7634,0.00,1.88,0.00,0.000,4,0.000,0.046,2139,3787,3721,0,0,0,0,0,0
$GC,7865,-0.54,-219.0,849.2,-8.0,628,7869,0.00,1.95,0.00,0.000,6,0.000,0.025,2139,2473,3719,0,0,0,0,0,0
$GC,8187,-0.54,-219.0,869.9,-6.0,644,8191,0.00,1.88,0.00,0.000,4,0.000,0.032,2143,1203,3718,0,0,0,0,0,0
$GC,8444,-0.54,-219.0,887.2,-7.2,655,8448,0.00,1.92,0.00,0.000,6,0.000,0.034,2143,2468,3717,0,0,0,0,0,0
$GC,8767,-0.54,-219.0,909.4,-7.4,671,8771,0.00,1.90,0.00,0.000,4,0.000,0.032,2145,1201,3715,0,0,0,0,0,0
$GC,9025,-0.54,-219.0,931.9,-9.4,682,9029,0.00,1.92,0.00,0.000,6,0.000,0.033,2145,2466,3714,0,0,0,0,0,0
$GC,9348,-0.54,-219.0,960.6,-9.0,698,9352,0.00,1.90,0.00,0.000,4,0.000,0.032,2150,1200,3714,0,0,0,0,0,0
$STATE,9603,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9603,begin apogee
$GC,9611,-0.13,0.0,983.4,8.6,709,9783,0.32,0.00,165.82,1.088,4,0.064,0.000,2289,2145,2870,0,0,0,0,0,0
$STATE,9784,end apogee,CONTROL_FINISHED_OK
$STATE,9784,begin climb
$GC,9787,0.54,219.0,992.7,0.0,717,9975,0.55,2.30,178.20,1.062,4,0.047,0.037,2509,734,1976,0,0,0,0,0,0
$GC,10109,0.54,219.0,964.5,12.5,732,10117,0.00,2.22,0.00,0.000,6,0.000,0.034,2509,2113,1975,0,0,0,0,0,0
$GC,10425,0.54,219.0,920.2,13.9,748,10429,0.00,2.12,0.00,0.000,4,0.000,0.037,2518,733,1973,0,0,0,0,0,0
$GC,10627,0.54,219.0,892.7,12.8,757,10631,0.00,2.15,0.00,0.000,6,0.000,0.033,2518,2134,1973,0,0,0,0,0,0
$GC,10955,0.54,219.0,849.9,12.7,773,10959,0.00,2.15,0.00,0.000,4,0.000,0.037,2527,731,1972,0,0,0,0,0,0
$GC,11016,0.54,219.0,841.9,12.4,775,11024,0.12,2.12,0.00,0.000,6,0.167,0.033,2495,2123,1973,0,0,0,0,0,0
$GC,11332,0.59,259.7,808.9,10.3,791,11375,0.00,2.33,32.35,0.962,4,0.000,0.044,2495,3534,1809,0,0,0,0,0,0
$GC,11454,0.60,263.2,795.1,11.7,796,11466,0.00,2.12,4.38,0.617,6,0.000,0.027,2504,2143,1799,0,0,0,0,0,0
$GC,11777,0.60,268.3,759.0,11.6,812,11787,0.00,2.20,5.82,0.737,4,0.000,0.036,2515,716,1775,0,0,0,0,0,0
$GC,11849,0.60,268.3,749.7,11.9,815,11853,0.00,2.17,0.00,0.000,6,0.000,0.032,2513,2128,1775,0,0,0,0,0,0
$GC,12165,0.60,268.3,709.9,12.2,830,12169,0.00,2.20,0.00,0.000,4,0.000,0.044,2515,3542,1772,0,0,0,0,0,0
$GC,12254,0.60,268.3,698.1,13.1,834,12258,0.00,2.10,0.00,0.000,6,0.000,0.027,2524,2148,1774,0,0,0,0,0,0
$GC,12575,0.60,268.3,658.4,12.3,850,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2148,1774,0,0,0,0,0,0
$GC,12884,0.60,268.3,618.9,13.4,865,12888,0.00,2.15,0.00,0.000,4,0.000,0.036,2536,724,1773,0,0,0,0,0,0
$GC,12957,0.60,268.3,609.0,14.0,868,12961,0.00,2.17,0.00,0.000,6,0.000,0.033,2535,2143,1773,0,0,0,0,0,0
$GC,13273,0.60,268.3,563.5,14.6,883,13277,0.00,2.15,0.00,0.000,4,0.000,0.044,2534,3536,1773,0,0,0,0,0,0
$GC,13319,0.60,268.3,556.2,16.1,885,13323,0.00,2.10,0.00,0.000,6,0.000,0.028,2544,2143,1773,0,0,0,0,0,0
$GC,13652,0.60,268.3,508.8,13.5,901,13656,0.00,2.15,0.00,0.000,4,0.000,0.037,2555,720,1773,0,0,0,0,0,0
$GC,13782,0.60,268.3,492.3,12.5,909,13787,0.15,2.15,0.00,0.000,6,0.158,0.033,2515,2127,1774,0,0,0,0,0,0
$GC,14108,0.63,290.1,455.8,11.0,939,14132,0.00,2.28,17.95,0.749,4,0.000,0.043,2515,3535,1685,0,0,0,0,0,0
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