version: 66.09
glider: 181
mission: 6
dive: 405
start: 8 27 111 2 6 38
data:
$ID,181
$MISSION,6
$DIVE,405
$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,-4
$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,-41054.352
$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,32
$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
$GPS1,270811,020025,2050.317,11955.041,35,1.4,35,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.8
$GPS2,270811,020613,2050.362,11955.009,11,1.2,11,-2.4
$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,180.0,204578,-16.3,-11.786
$D_GRID,3436
$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,-219.0,0.0,0.0,0,81,0.00,0.00,-62.33,0.000,2,0.000,0.000,173,2613,2194,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.0,-3.5,11,137,8.20,2.20,-34.85,0.000,4,0.228,0.041,2140,1184,3761,0,0,0,0,0,0
$GC,195,-0.54,-219.0,30.5,-17.9,30,201,0.00,2.20,0.00,0.000,6,0.000,0.036,2138,2610,3759,0,0,0,0,0,0
$GC,338,-0.54,-219.0,66.3,-21.6,55,344,0.00,1.80,0.00,0.000,4,0.000,0.043,2129,3789,3758,0,0,0,0,0,0
$GC,385,-0.54,-219.0,77.2,-21.8,63,392,0.00,1.75,0.00,0.000,6,0.000,0.023,2128,2575,3758,0,0,0,0,0,0
$GC,528,-0.54,-219.0,105.8,-19.3,88,535,0.00,1.88,0.00,0.000,4,0.000,0.042,2119,3790,3757,0,0,0,0,0,0
$GC,587,-0.54,-219.0,116.1,-15.8,98,593,0.00,1.65,0.00,0.000,6,0.000,0.023,2120,2639,3757,0,0,0,0,0,0
$GC,731,-0.54,-219.0,139.4,-17.1,123,738,0.00,2.08,0.00,0.000,4,0.000,0.027,2120,1212,3758,0,0,0,0,0,0
$GC,767,-0.54,-219.0,144.7,-14.1,129,775,0.12,2.20,0.00,0.000,6,0.151,0.033,2146,2662,3758,0,0,0,0,0,0
$GC,913,-0.54,-219.0,161.5,-11.2,154,920,0.00,1.67,0.00,0.000,4,0.000,0.041,2139,3785,3758,0,0,0,0,0,0
$GC,950,-0.54,-219.0,165.6,-10.8,160,956,0.00,1.65,0.00,0.000,6,0.000,0.023,2139,2640,3758,0,0,0,0,0,0
$GC,1095,-0.54,-219.0,181.3,-11.3,185,1101,0.00,2.12,0.00,0.000,4,0.000,0.028,2139,1200,3758,0,0,0,0,0,0
$GC,1142,-0.54,-219.0,186.4,-10.5,193,1149,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2637,3758,0,0,0,0,0,0
$GC,1292,-0.54,-219.0,202.8,-11.6,217,1295,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3776,3758,0,0,0,0,0,0
$GC,1331,-0.54,-219.0,207.8,-11.7,220,1338,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2621,3758,0,0,0,0,0,0
$GC,1657,-0.54,-219.0,243.8,-10.5,251,1661,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1201,3757,0,0,0,0,0,0
$GC,1732,-0.54,-219.0,251.0,-9.3,257,1736,0.00,2.15,0.00,0.000,6,0.000,0.032,2138,2612,3756,0,0,0,0,0,0
$GC,2063,-0.54,-219.0,283.0,-9.1,288,2067,0.00,2.10,0.00,0.000,4,0.000,0.028,2138,1196,3754,0,0,0,0,0,0
$GC,2093,-0.54,-219.0,285.4,-8.7,290,2097,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2593,3754,0,0,0,0,0,0
$GC,2418,-0.54,-219.0,311.7,-7.8,320,2422,0.00,1.83,0.00,0.000,4,0.000,0.044,2137,3777,3751,0,0,0,0,0,0
$GC,2454,-0.54,-219.0,314.4,-7.9,323,2458,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2595,3751,0,0,0,0,0,0
$GC,2785,-0.54,-219.0,343.9,-9.1,354,2789,0.00,2.05,0.00,0.000,4,0.000,0.029,2137,1198,3749,0,0,0,0,0,0
$GC,2837,-0.54,-219.0,348.5,-8.7,358,2841,0.00,2.12,0.00,0.000,6,0.000,0.034,2137,2592,3749,0,0,0,0,0,0
$GC,3163,-0.54,-219.0,376.3,-8.3,388,3166,0.00,1.83,0.00,0.000,4,0.000,0.046,2135,3785,3746,0,0,0,0,0,0
$GC,3186,-0.54,-219.0,378.4,-8.3,390,3190,0.00,1.77,0.00,0.000,6,0.000,0.025,2135,2569,3745,0,0,0,0,0,0
$GC,3517,-0.54,-219.0,407.7,-8.9,421,3521,0.00,2.00,0.00,0.000,4,0.000,0.029,2135,1209,3742,0,0,0,0,0,0
$GC,3580,-0.54,-219.0,413.5,-9.0,426,3587,0.00,2.08,0.00,0.000,6,0.000,0.033,2128,2569,3741,0,0,0,0,0,0
$GC,3906,-0.54,-219.0,445.9,-10.3,457,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2569,3739,0,0,0,0,0,0
$GC,4227,-0.54,-219.0,475.9,-9.0,487,4230,0.00,1.85,0.00,0.000,4,0.000,0.046,2125,3776,3737,0,0,0,0,0,0
$GC,4265,-0.54,-219.0,479.5,-8.4,490,4272,0.00,1.80,0.00,0.000,6,0.000,0.026,2125,2545,3736,0,0,0,0,0,0
$GC,4600,-0.54,-219.0,509.6,-8.9,517,4604,0.00,2.03,0.00,0.000,4,0.000,0.031,2125,1212,3733,0,0,0,0,0,0
$GC,4639,-0.54,-219.0,513.4,-9.0,518,4646,0.00,2.08,0.00,0.000,6,0.000,0.035,2125,2558,3733,0,0,0,0,0,0
$GC,4955,-0.54,-219.0,541.2,-8.8,534,4959,0.00,1.92,0.00,0.000,4,0.000,0.047,2121,3787,3730,0,0,0,0,0,0
$GC,4989,-0.54,-219.0,544.1,-8.6,535,4993,0.00,1.80,0.00,0.000,6,0.000,0.026,2121,2560,3731,0,0,0,0,0,0
$GC,5311,-0.54,-219.0,572.3,-8.7,551,5315,0.00,2.00,0.00,0.000,4,0.000,0.031,2121,1212,3729,0,0,0,0,0,0
$GC,5372,-0.54,-219.0,577.6,-8.3,553,5379,0.00,2.08,0.00,0.000,6,0.000,0.036,2114,2556,3729,0,0,0,0,0,0
$GC,5689,-0.54,-219.0,607.0,-9.4,569,5694,0.10,1.92,0.00,0.000,4,0.166,0.048,2135,3782,3726,0,0,0,0,0,0
$GC,5728,-0.54,-219.0,610.5,-9.1,570,5735,0.00,1.83,0.00,0.000,6,0.000,0.026,2135,2544,3726,0,0,0,0,0,0
$GC,6044,-0.54,-219.0,635.2,-8.0,586,6048,0.00,1.95,0.00,0.000,4,0.000,0.046,2132,3789,3724,0,0,0,0,0,0
$GC,6095,-0.54,-219.0,639.4,-8.5,588,6099,0.00,1.98,0.00,0.000,6,0.000,0.026,2132,2461,3724,0,0,0,0,0,0
$GC,6423,-0.54,-219.0,666.9,-8.6,604,6427,0.00,2.08,0.00,0.000,4,0.000,0.047,2132,3777,3722,0,0,0,0,0,0
$GC,6486,-0.54,-219.0,672.4,-8.8,607,6490,0.00,2.10,0.00,0.000,6,0.000,0.027,2132,2384,3721,0,0,0,0,0,0
$GC,6818,-0.54,-219.0,700.2,-8.2,623,6822,0.00,1.77,0.00,0.000,4,0.000,0.034,2132,1213,3720,0,0,0,0,0,0
$GC,6955,-0.54,-219.0,712.5,-9.2,629,6959,0.00,1.75,0.00,0.000,6,0.000,0.034,2132,2364,3720,0,0,0,0,0,0
$GC,7288,-0.54,-219.0,739.9,-7.9,645,7292,0.00,1.73,0.00,0.000,4,0.000,0.034,2132,1210,3718,0,0,0,0,0,0
$GC,7338,-0.54,-219.0,744.1,-8.1,647,7342,0.00,1.70,0.00,0.000,6,0.000,0.033,2132,2336,3718,0,0,0,0,0,0
$GC,7667,-0.54,-219.0,767.6,-7.1,663,7671,0.00,1.70,0.00,0.000,4,0.000,0.033,2132,1202,3716,0,0,0,0,0,0
$GC,7758,-0.54,-219.0,774.6,-7.8,667,7762,0.00,1.67,0.00,0.000,6,0.000,0.034,2132,2307,3715,0,0,0,0,0,0
$GC,8092,-0.54,-219.0,799.4,-7.6,683,8095,0.00,1.65,0.00,0.000,4,0.000,0.034,2132,1202,3714,0,0,0,0,0,0
$GC,8131,-0.54,-219.0,802.6,-7.7,684,8137,0.00,1.70,0.00,0.000,6,0.000,0.032,2132,2335,3714,0,0,0,0,0,0
$GC,8447,-0.54,-219.0,827.3,-8.0,700,8450,0.00,1.70,0.00,0.000,4,0.000,0.034,2132,1202,3713,0,0,0,0,0,0
$GC,8516,-0.54,-219.0,832.8,-8.0,703,8520,0.00,1.70,0.00,0.000,6,0.000,0.034,2132,2292,3712,0,0,0,0,0,0
$GC,8849,-0.54,-219.0,858.3,-7.3,719,8853,0.00,1.67,0.00,0.000,4,0.000,0.034,2132,1206,3711,0,0,0,0,0,0
$GC,8958,-0.54,-219.0,866.4,-7.5,723,8965,0.00,1.75,0.00,0.000,6,0.000,0.034,2132,2349,3710,0,0,0,0,0,0
$GC,9274,-0.54,-219.0,888.0,-6.4,739,9278,0.00,2.28,0.00,0.000,4,0.000,0.047,2132,3782,3710,0,0,0,0,0,0
$GC,9488,-0.54,-219.0,904.4,-8.3,748,9492,0.00,2.15,0.00,0.000,6,0.000,0.027,2134,2355,3710,0,0,0,0,0,0
$STATE,9616,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9617,begin apogee
$GC,9623,-0.13,0.0,913.6,7.1,754,9794,0.38,0.00,164.57,1.030,4,0.066,0.000,2288,2116,2870,0,0,0,0,0,0
$STATE,9795,end apogee,CONTROL_FINISHED_OK
$STATE,9795,begin climb
$GC,9797,0.54,219.0,922.6,0.0,762,9982,0.55,2.25,175.93,1.008,4,0.050,0.039,2508,734,1976,0,0,0,0,0,0
$GC,10141,0.54,219.0,893.7,12.6,778,10145,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2127,1975,0,0,0,0,0,0
$GC,10474,0.54,219.0,852.2,12.1,794,10478,0.00,2.15,0.00,0.000,4,0.000,0.038,2517,736,1973,0,0,0,0,0,0
$GC,10687,0.54,219.0,825.6,11.9,803,10691,0.00,2.15,0.00,0.000,6,0.000,0.034,2517,2127,1973,0,0,0,0,0,0
$GC,11003,0.54,219.0,785.8,12.4,818,11007,0.00,2.20,0.00,0.000,4,0.000,0.044,2517,3536,1972,0,0,0,0,0,0
$GC,11029,0.54,219.0,781.9,13.7,819,11034,0.12,2.10,0.00,0.000,6,0.185,0.028,2497,2143,1972,0,0,0,0,0,0
$GC,11359,0.56,232.5,744.9,11.3,835,11380,0.00,2.25,11.62,0.848,4,0.000,0.038,2506,726,1920,0,0,0,0,0,0
$GC,11477,0.58,249.0,731.2,11.2,840,11497,0.00,2.12,14.82,0.839,6,0.000,0.033,2506,2105,1853,0,0,0,0,0,0
$GC,11828,0.59,262.5,690.8,11.3,857,11849,0.00,2.33,11.85,0.812,4,0.000,0.044,2506,3535,1797,0,0,0,0,0,0
$GC,11895,0.59,262.5,682.2,12.5,860,11900,0.00,2.20,0.00,0.000,6,0.000,0.028,2516,2100,1796,0,0,0,0,0,0
$GC,12223,0.59,262.5,643.4,12.4,876,12227,0.00,2.12,0.00,0.000,4,0.000,0.039,2527,720,1796,0,0,0,0,0,0
$GC,12292,0.59,262.5,634.2,13.2,879,12296,0.00,2.12,0.00,0.000,6,0.000,0.034,2527,2097,1796,0,0,0,0,0,0
$GC,12620,0.59,262.5,587.5,14.2,895,12624,0.00,2.25,0.00,0.000,4,0.000,0.044,2527,3539,1796,0,0,0,0,0,0
$GC,12686,0.59,262.5,577.1,15.3,898,12690,0.00,2.17,0.00,0.000,6,0.000,0.028,2537,2101,1796,0,0,0,0,0,0
$GC,13008,0.59,262.5,533.6,13.0,914,13012,0.00,2.12,0.00,0.000,4,0.000,0.040,2548,713,1796,0,0,0,0,0,0
$GC,13108,0.59,262.5,520.7,12.3,918,13113,0.12,2.15,0.00,0.000,6,0.165,0.034,2515,2107,1795,0,0,0,0,0,0
$GC,13429,0.61,273.4,484.7,11.4,939,13444,0.00,2.28,9.88,0.714,4,0.000,0.044,2515,3550,1754,0,0,0,0,0,0
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