version: 66.09
glider: 181
mission: 6
dive: 470
start: 9 9 111 4 5 43
data:
$ID,181
$MISSION,6
$DIVE,470
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41155.938
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,090911,035837,1912.962,11958.690,28,1.0,28,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.9
$GPS2,090911,040450,1913.010,11958.731,15,1.2,15,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.042,-0.309
$KALMAN_X,47.0,47.0,47.0,624.3,-108.0
$KALMAN_Y,568.0,568.0,568.0,-4644.1,-1305.5
$MHEAD_RNG_PITCHd_Wd,176.8,24196,-17.4,-11.786
$D_GRID,4102
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.38,0.000,2,0.000,0.000,188,2517,2216,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.1,-3.4,11,132,8.10,2.15,-32.47,0.000,4,0.226,0.038,2121,1083,3663,0,0,0,0,0,0
$GC,173,-0.53,-194.6,25.5,-23.7,26,180,0.00,2.17,0.00,0.000,6,0.000,0.036,2112,2488,3664,0,0,0,0,0,0
$GC,316,-0.53,-194.6,68.2,-28.4,51,322,0.00,2.00,0.00,0.000,4,0.000,0.042,2102,3789,3663,0,0,0,0,0,0
$GC,386,-0.53,-194.6,83.8,-17.8,63,393,0.00,1.65,0.00,0.000,6,0.000,0.023,2102,2650,3662,0,0,0,0,0,0
$GC,529,-0.53,-194.6,113.5,-17.7,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2646,3662,0,0,0,0,0,0
$GC,672,-0.53,-194.6,140.3,-18.1,113,679,0.00,2.30,0.00,0.000,4,0.000,0.028,2102,1088,3663,0,0,0,0,0,0
$GC,690,-0.53,-194.6,143.6,-17.1,116,698,0.12,2.53,0.00,0.000,6,0.155,0.034,2128,2731,3663,0,0,0,0,0,0
$GC,836,-0.53,-194.6,161.2,-12.6,141,842,0.00,2.45,0.00,0.000,4,0.000,0.028,2128,1094,3663,0,0,0,0,0,0
$GC,867,-0.53,-194.6,165.1,-12.1,146,874,0.00,2.25,0.00,0.000,6,0.000,0.032,2126,2569,3663,0,0,0,0,0,0
$GC,1010,-0.53,-194.6,182.4,-12.7,171,1017,0.00,1.88,0.00,0.000,4,0.000,0.042,2124,3790,3664,0,0,0,0,0,0
$GC,1056,-0.53,-194.6,188.3,-12.6,179,1063,0.00,1.77,0.00,0.000,6,0.000,0.024,2125,2564,3663,0,0,0,0,0,0
$GC,1204,-0.53,-194.6,205.0,-11.0,201,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2563,3663,0,0,0,0,0,0
$GC,1522,-0.53,-194.6,238.9,-9.5,231,1526,0.00,2.17,0.00,0.000,4,0.000,0.029,2125,1090,3662,0,0,0,0,0,0
$GC,1555,-0.53,-194.6,242.1,-9.1,233,1562,0.00,2.33,0.00,0.000,6,0.000,0.033,2124,2611,3662,0,0,0,0,0,0
$GC,1880,-0.53,-194.6,272.7,-9.6,264,1884,0.00,1.77,0.00,0.000,4,0.000,0.043,2117,3782,3659,0,0,0,0,0,0
$GC,1931,-0.53,-194.6,278.1,-10.4,268,1938,0.00,1.73,0.00,0.000,6,0.000,0.024,2117,2590,3658,0,0,0,0,0,0
$GC,2257,-0.53,-194.6,313.4,-10.9,299,2261,0.00,2.22,0.00,0.000,4,0.000,0.030,2117,1093,3656,0,0,0,0,0,0
$GC,2298,-0.53,-194.6,317.8,-11.3,302,2302,0.00,2.33,0.00,0.000,6,0.000,0.034,2112,2606,3655,0,0,0,0,0,0
$GC,2623,-0.53,-194.6,355.4,-11.4,332,2627,0.00,1.80,0.00,0.000,4,0.000,0.045,2111,3782,3652,0,0,0,0,0,0
$GC,2663,-0.53,-194.6,360.0,-11.6,335,2670,0.00,1.75,0.00,0.000,6,0.000,0.025,2111,2586,3652,0,0,0,0,0,0
$GC,2988,-0.53,-194.6,396.1,-10.9,366,2993,0.00,2.22,0.00,0.000,4,0.000,0.031,2111,1096,3648,0,0,0,0,0,0
$GC,3075,-0.53,-194.6,405.0,-9.9,373,3079,0.00,2.20,0.00,0.000,6,0.000,0.035,2111,2517,3648,0,0,0,0,0,0
$GC,3401,-0.53,-194.6,438.8,-10.0,403,3405,0.00,1.98,0.00,0.000,4,0.000,0.047,2111,3787,3644,0,0,0,0,0,0
$GC,3485,-0.53,-194.6,446.9,-9.5,410,3491,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2566,3644,0,0,0,0,0,0
$GC,3810,-0.53,-194.6,479.1,-9.9,441,3814,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3787,3640,0,0,0,0,0,0
$GC,3834,-0.53,-194.6,481.5,-10.1,443,3838,0.00,1.77,0.00,0.000,6,0.000,0.027,2111,2611,3640,0,0,0,0,0,0
$GC,4163,-0.53,-194.6,512.2,-9.6,468,4167,0.00,2.30,0.00,0.000,4,0.000,0.033,2111,1091,3638,0,0,0,0,0,0
$GC,4214,-0.53,-194.6,517.3,-9.6,470,4218,0.00,2.35,0.00,0.000,6,0.000,0.037,2111,2598,3638,0,0,0,0,0,0
$GC,4536,-0.53,-194.6,547.6,-9.2,486,4540,0.00,1.83,0.00,0.000,4,0.000,0.048,2111,3778,3634,0,0,0,0,0,0
$GC,4582,-0.53,-194.6,551.7,-8.8,488,4586,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2579,3634,0,0,0,0,0,0
$GC,4916,-0.53,-194.6,582.5,-9.3,504,4920,0.00,2.22,0.00,0.000,4,0.000,0.033,2111,1098,3632,0,0,0,0,0,0
$GC,4965,-0.53,-194.6,587.4,-9.2,506,4969,0.00,2.35,0.00,0.000,6,0.000,0.037,2111,2602,3632,0,0,0,0,0,0
$GC,5282,-0.53,-194.6,618.0,-10.1,521,5286,0.00,2.30,0.00,0.000,4,0.000,0.033,2111,1097,3630,0,0,0,0,0,0
$GC,5315,-0.53,-194.6,621.6,-10.2,522,5322,0.00,2.28,0.00,0.000,6,0.000,0.037,2111,2555,3629,0,0,0,0,0,0
$GC,5631,-0.53,-194.6,653.7,-10.3,538,5635,0.00,1.90,0.00,0.000,4,0.000,0.048,2111,3777,3628,0,0,0,0,0,0
$GC,5670,-0.53,-194.6,657.8,-10.2,539,5676,0.00,1.83,0.00,0.000,6,0.000,0.026,2111,2545,3627,0,0,0,0,0,0
$GC,5987,-0.53,-194.6,689.5,-10.0,555,5991,0.00,2.17,0.00,0.000,4,0.000,0.032,2111,1104,3625,0,0,0,0,0,0
$GC,6025,-0.53,-194.6,693.6,-9.7,556,6032,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2533,3625,0,0,0,0,0,0
$GC,6343,-0.53,-194.6,723.1,-9.5,572,6346,0.00,1.95,0.00,0.000,4,0.000,0.048,2111,3781,3623,0,0,0,0,0,0
$GC,6398,-0.53,-194.6,728.4,-9.0,574,6402,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2570,3623,0,0,0,0,0,0
$GC,6719,-0.53,-194.6,757.3,-9.2,590,6724,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1110,3621,0,0,0,0,0,0
$GC,6761,-0.53,-194.6,760.9,-8.8,592,6765,0.00,2.28,0.00,0.000,6,0.000,0.037,2111,2568,3621,0,0,0,0,0,0
$GC,7088,-0.53,-194.6,790.9,-9.3,608,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2569,3619,0,0,0,0,0,0
$GC,7398,-0.53,-194.6,820.3,-9.8,623,7402,0.00,2.22,0.00,0.000,4,0.000,0.033,2111,1111,3618,0,0,0,0,0,0
$GC,7416,-0.53,-194.6,822.2,-9.9,624,7420,0.00,2.28,0.00,0.000,6,0.000,0.038,2111,2549,3618,0,0,0,0,0,0
$GC,7752,-0.53,-194.6,854.3,-9.5,640,7755,0.00,1.92,0.00,0.000,4,0.000,0.050,2111,3778,3617,0,0,0,0,0,0
$GC,7814,-0.53,-194.6,860.6,-9.3,642,7820,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2567,3617,0,0,0,0,0,0
$GC,8130,-0.53,-194.6,892.0,-9.8,658,8134,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1110,3615,0,0,0,0,0,0
$GC,8202,-0.53,-194.6,898.5,-8.4,661,8206,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2522,3615,0,0,0,0,0,0
$GC,8525,-0.53,-194.6,925.4,-8.3,677,8529,0.00,2.03,0.00,0.000,4,0.000,0.049,2111,3808,3614,0,0,0,0,0,0
$GC,8603,-0.53,-194.6,931.9,-7.9,680,8606,0.00,1.88,0.00,0.000,6,0.000,0.027,2111,2553,3613,0,0,0,0,0,0
$GC,8926,-0.53,-194.6,957.5,-7.8,696,8930,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1100,3612,0,0,0,0,0,0
$GC,8970,-0.53,-194.6,961.0,-7.5,698,8974,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2545,3611,0,0,0,0,0,0
$GC,9292,-0.53,-194.6,984.2,-7.5,714,9296,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3783,3611,0,0,0,0,0,0
$GC,9325,-0.53,-194.6,986.9,-7.3,715,9329,0.00,1.88,0.00,0.000,6,0.000,0.026,2111,2528,3610,0,0,0,0,0,0
$STATE,9376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9376,begin apogee
$GC,9382,-0.13,0.0,990.5,7.4,718,9538,0.43,0.00,148.77,1.077,4,0.112,0.000,2253,2108,2869,0,0,0,0,0,0
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin climb
$GC,9541,0.53,194.6,997.1,0.0,725,9710,0.62,2.40,159.10,1.056,4,0.062,0.043,2478,3547,2075,0,0,0,0,0,0
$GC,9769,0.53,194.6,982.9,12.5,736,9773,0.00,2.22,0.00,0.000,6,0.000,0.028,2488,2136,2073,0,0,0,0,0,0
$GC,10096,0.55,208.6,944.7,11.2,752,10119,0.00,2.30,12.25,0.939,4,0.000,0.039,2488,3540,2017,0,0,0,0,0,0
$GC,10216,0.55,208.6,930.7,12.1,757,10221,0.00,2.22,0.00,0.000,6,0.000,0.028,2498,2092,2017,0,0,0,0,0,0
$GC,10538,0.61,262.1,898.7,9.6,773,10588,0.00,2.25,42.97,0.998,4,0.000,0.038,2509,718,1800,0,0,0,0,0,0
$GC,10619,0.71,338.7,891.2,8.7,776,10689,0.00,2.17,61.90,0.985,6,0.000,0.032,2509,2104,1488,0,0,0,0,0,0
$GC,10997,0.74,363.0,853.2,10.8,795,11024,0.00,2.30,21.27,0.935,4,0.000,0.042,2508,3541,1388,0,0,0,0,0,0
$GC,11115,0.74,363.0,838.7,12.4,800,11119,0.00,2.10,0.00,0.000,6,0.000,0.028,2518,2178,1388,0,0,0,0,0,0
$GC,11431,0.74,363.0,799.6,12.4,815,11435,0.00,2.25,0.00,0.000,4,0.000,0.038,2529,724,1390,0,0,0,0,0,0
$GC,11486,0.74,363.0,792.3,12.8,817,11494,0.00,2.22,0.00,0.000,6,0.000,0.033,2529,2134,1391,0,0,0,0,0,0
$GC,11803,0.74,363.0,748.9,13.5,833,11807,0.00,2.20,0.00,0.000,4,0.000,0.044,2530,3544,1390,0,0,0,0,0,0
$GC,11870,0.74,363.0,739.1,14.6,836,11874,0.00,2.08,0.00,0.000,6,0.000,0.029,2538,2180,1390,0,0,0,0,0,0
$GC,12191,0.74,363.0,695.2,13.5,852,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2180,1390,0,0,0,0,0,0
$GC,12501,0.74,363.0,656.5,12.0,867,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2180,1389,0,0,0,0,0,0
$GC,12810,0.76,383.7,618.2,10.9,882,12833,0.00,2.17,18.40,0.816,4,0.000,0.044,2539,3535,1303,0,0,0,0,0,0
$GC,12852,0.79,406.4,613.5,10.9,884,12877,0.00,2.05,18.90,0.788,6,0.000,0.028,2548,2195,1212,0,0,0,0,0,0
$GC,13205,0.79,406.4,568.2,12.5,901,13209,0.00,2.28,0.00,0.000,4,0.000,0.037,2559,713,1215,0,0,0,0,0,0
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