version: 66.09
glider: 181
mission: 6
dive: 480
start: 9 11 111 7 41 16
data:
$ID,181
$MISSION,6
$DIVE,480
$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,-41175.891
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,110911,073431,1858.187,12005.868,40,0.8,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-66.8
$GPS2,110911,074020,1858.200,12005.798,13,1.2,13,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.235,-0.206
$KALMAN_X,2014.5,-103.3,1298.7,9907.3,-1354.7
$KALMAN_Y,21227.2,648.1,636.3,-52835.7,958.5
$MHEAD_RNG_PITCHd_Wd,135.9,63263,-17.4,-11.786
$D_GRID,2430
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.30,0.000,2,0.000,0.000,183,2532,2203,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.4,11,133,8.15,2.15,-31.70,0.000,4,0.226,0.037,2123,1084,3663,0,0,0,0,0,0
$GC,174,-0.53,-194.6,27.6,-28.6,26,181,0.00,2.17,0.00,0.000,6,0.000,0.034,2114,2494,3663,0,0,0,0,0,0
$GC,317,-0.53,-194.6,73.8,-27.9,51,323,0.00,1.98,0.00,0.000,4,0.000,0.042,2105,3784,3662,0,0,0,0,0,0
$GC,382,-0.53,-194.6,89.1,-24.5,62,388,0.00,2.00,0.00,0.000,6,0.000,0.024,2105,2427,3661,0,0,0,0,0,0
$GC,524,-0.53,-194.6,116.0,-18.6,87,531,0.00,2.10,0.00,0.000,4,0.000,0.040,2095,3787,3662,0,0,0,0,0,0
$GC,560,-0.53,-194.6,122.9,-19.6,93,568,0.12,1.83,0.00,0.000,6,0.155,0.023,2128,2530,3662,0,0,0,0,0,0
$GC,706,-0.53,-194.6,145.6,-16.2,118,713,0.00,1.92,0.00,0.000,4,0.000,0.040,2120,3783,3663,0,0,0,0,0,0
$GC,753,-0.53,-194.6,153.3,-15.6,126,760,0.00,1.52,0.00,0.000,6,0.000,0.023,2120,2758,3663,0,0,0,0,0,0
$GC,899,-0.53,-194.6,171.5,-11.4,151,905,0.00,2.42,0.00,0.000,4,0.000,0.027,2120,1113,3663,0,0,0,0,0,0
$GC,935,-0.53,-194.6,176.1,-11.8,157,942,0.00,2.60,0.00,0.000,6,0.000,0.033,2112,2812,3663,0,0,0,0,0,0
$GC,1080,-0.53,-194.6,194.8,-13.6,182,1086,0.00,1.50,0.00,0.000,4,0.000,0.042,2111,3785,3664,0,0,0,0,0,0
$GC,1116,-0.53,-194.6,199.9,-13.1,188,1122,0.00,1.40,0.00,0.000,6,0.000,0.024,2112,2823,3664,0,0,0,0,0,0
$GC,1250,-0.53,-194.6,217.3,-13.4,201,1254,0.00,2.53,0.00,0.000,4,0.000,0.028,2111,1114,3664,0,0,0,0,0,0
$GC,1317,-0.53,-194.6,225.7,-11.8,206,1324,0.00,2.47,0.00,0.000,6,0.000,0.033,2111,2730,3664,0,0,0,0,0,0
$GC,1642,-0.53,-194.6,264.7,-11.0,237,1647,0.00,2.42,0.00,0.000,4,0.000,0.027,2111,1106,3663,0,0,0,0,0,0
$GC,1687,-0.53,-194.6,269.1,-9.9,240,1694,0.00,2.35,0.00,0.000,6,0.000,0.033,2111,2651,3662,0,0,0,0,0,0
$GC,2013,-0.53,-194.6,302.6,-11.2,271,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2652,3660,0,0,0,0,0,0
$GC,2334,-0.53,-194.6,337.3,-11.2,301,2338,0.00,2.33,0.00,0.000,4,0.000,0.029,2111,1105,3657,0,0,0,0,0,0
$GC,2378,-0.53,-194.6,342.8,-11.0,304,2385,0.00,2.30,0.00,0.000,6,0.000,0.034,2111,2603,3657,0,0,0,0,0,0
$GC,2704,-0.53,-194.6,378.4,-11.6,335,2708,0.00,1.80,0.00,0.000,4,0.000,0.045,2108,3780,3654,0,0,0,0,0,0
$GC,2743,-0.53,-194.6,383.4,-12.1,338,2750,0.00,1.75,0.00,0.000,6,0.000,0.024,2108,2609,3653,0,0,0,0,0,0
$GC,3068,-0.53,-194.6,422.6,-11.9,369,3073,0.00,2.22,0.00,0.000,4,0.000,0.030,2108,1117,3650,0,0,0,0,0,0
$GC,3136,-0.53,-194.6,430.3,-10.7,374,3143,0.00,2.20,0.00,0.000,6,0.000,0.034,2099,2548,3650,0,0,0,0,0,0
$GC,3462,-0.53,-194.6,466.7,-10.9,405,3466,0.10,1.92,0.00,0.000,4,0.171,0.045,2117,3783,3646,0,0,0,0,0,0
$GC,3552,-0.53,-194.6,475.4,-9.2,413,3556,0.00,1.70,0.00,0.000,6,0.000,0.025,2117,2622,3646,0,0,0,0,0,0
$GC,3884,-0.53,-194.6,505.7,-9.1,441,3888,0.00,2.25,0.00,0.000,4,0.000,0.030,2117,1115,3643,0,0,0,0,0,0
$GC,3950,-0.53,-194.6,512.0,-8.7,444,3954,0.00,2.25,0.00,0.000,6,0.000,0.034,2112,2572,3642,0,0,0,0,0,0
$GC,4272,-0.53,-194.6,544.6,-10.7,460,4276,0.00,1.88,0.00,0.000,4,0.000,0.047,2111,3783,3639,0,0,0,0,0,0
$GC,4301,-0.53,-194.6,547.9,-11.2,461,4304,0.00,1.80,0.00,0.000,6,0.000,0.025,2111,2563,3639,0,0,0,0,0,0
$GC,4628,-0.53,-194.6,583.8,-11.3,477,4632,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1116,3636,0,0,0,0,0,0
$GC,4668,-0.53,-194.6,588.2,-10.8,479,4672,0.00,2.22,0.00,0.000,6,0.000,0.035,2111,2555,3636,0,0,0,0,0,0
$GC,4996,-0.53,-194.6,621.4,-9.9,495,5000,0.00,1.90,0.00,0.000,4,0.000,0.048,2111,3777,3634,0,0,0,0,0,0
$GC,5074,-0.53,-194.6,628.5,-8.9,498,5078,0.00,1.73,0.00,0.000,6,0.000,0.027,2111,2625,3633,0,0,0,0,0,0
$GC,5397,-0.53,-194.6,654.6,-7.7,514,5401,0.00,2.28,0.00,0.000,4,0.000,0.031,2111,1110,3631,0,0,0,0,0,0
$GC,5474,-0.53,-194.6,660.6,-7.2,517,5482,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2545,3630,0,0,0,0,0,0
$GC,5791,-0.53,-194.6,684.3,-7.8,533,5795,0.00,1.95,0.00,0.000,4,0.000,0.048,2111,3789,3628,0,0,0,0,0,0
$GC,5838,-0.53,-194.6,687.5,-7.2,535,5842,0.00,1.88,0.00,0.000,6,0.000,0.026,2111,2558,3628,0,0,0,0,0,0
$GC,6171,-0.53,-194.6,711.4,-7.5,551,6175,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1118,3626,0,0,0,0,0,0
$GC,6199,-0.53,-194.6,713.7,-7.4,552,6203,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2563,3625,0,0,0,0,0,0
$GC,6520,-0.53,-194.6,738.2,-8.3,568,6524,0.00,1.90,0.00,0.000,4,0.000,0.048,2112,3780,3624,0,0,0,0,0,0
$GC,6588,-0.53,-194.6,744.0,-8.4,571,6592,0.00,1.73,0.00,0.000,6,0.000,0.027,2111,2617,3623,0,0,0,0,0,0
$GC,6922,-0.53,-194.6,775.3,-9.8,587,6927,0.00,2.28,0.00,0.000,4,0.000,0.032,2111,1109,3622,0,0,0,0,0,0
$GC,7002,-0.53,-194.6,783.3,-9.7,590,7009,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2538,3621,0,0,0,0,0,0
$GC,7319,-0.53,-194.6,812.4,-9.2,606,7323,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3770,3620,0,0,0,0,0,0
$GC,7365,-0.53,-194.6,816.6,-8.9,608,7369,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2562,3620,0,0,0,0,0,0
$GC,7699,-0.53,-194.6,844.5,-7.6,624,7703,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1109,3618,0,0,0,0,0,0
$GC,7746,-0.53,-194.6,847.8,-7.3,626,7750,0.00,2.28,0.00,0.000,6,0.000,0.036,2111,2551,3619,0,0,0,0,0,0
$GC,8080,-0.53,-194.6,869.5,-6.3,642,8084,0.00,1.92,0.00,0.000,4,0.000,0.049,2111,3777,3618,0,0,0,0,0,0
$GC,8109,-0.53,-194.6,871.4,-6.2,643,8113,0.00,1.90,0.00,0.000,6,0.000,0.027,2111,2543,3617,0,0,0,0,0,0
$GC,8436,-0.53,-194.6,895.0,-8.2,659,8440,0.00,2.20,0.00,0.000,4,0.000,0.033,2111,1097,3616,0,0,0,0,0,0
$GC,8452,-0.53,-194.6,896.7,-8.4,659,8459,0.00,2.22,0.00,0.000,6,0.000,0.036,2111,2523,3616,0,0,0,0,0,0
$GC,8769,-0.53,-194.6,922.0,-7.5,675,8773,0.00,1.98,0.00,0.000,4,0.000,0.049,2111,3780,3615,0,0,0,0,0,0
$GC,8860,-0.53,-194.6,928.6,-6.8,679,8863,0.00,1.77,0.00,0.000,6,0.000,0.027,2111,2586,3614,0,0,0,0,0,0
$GC,9194,-0.53,-194.6,953.3,-7.6,695,9198,0.00,2.25,0.00,0.000,4,0.000,0.033,2111,1103,3613,0,0,0,0,0,0
$GC,9249,-0.53,-194.6,957.6,-7.7,697,9256,0.00,2.30,0.00,0.000,6,0.000,0.037,2111,2571,3613,0,0,0,0,0,0
$GC,9565,-0.53,-194.6,981.6,-8.3,713,9569,0.00,1.90,0.00,0.000,4,0.000,0.050,2111,3780,3611,0,0,0,0,0,0
$GC,9599,-0.53,-194.6,984.5,-8.3,714,9603,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2562,3611,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9615,-0.13,0.0,985.5,8.3,715,9770,0.43,0.00,149.57,1.077,4,0.115,0.000,2252,2109,2868,0,0,0,0,0,0
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9774,0.53,194.6,995.5,0.0,722,9938,0.57,0.00,159.00,1.059,6,0.054,0.000,2478,2108,2075,0,0,0,0,0,0
$GC,10262,0.61,256.7,964.3,9.3,746,10318,0.00,2.35,50.33,1.029,4,0.000,0.044,2479,3540,1822,0,0,0,0,0,0
$GC,10397,0.64,286.2,950.2,10.6,752,10427,0.00,2.12,24.52,0.978,6,0.000,0.028,2488,2173,1704,0,0,0,0,0,0
$GC,10744,0.69,322.5,914.9,10.3,769,10780,0.00,2.30,30.67,0.988,4,0.000,0.037,2499,724,1554,0,0,0,0,0,0
$GC,10851,0.73,356.1,904.0,10.4,773,10887,0.10,2.25,28.17,0.966,6,0.109,0.031,2540,2169,1417,0,0,0,0,0,0
$GC,11203,0.73,356.1,858.8,12.7,790,11207,0.00,2.15,0.00,0.000,4,0.000,0.044,2539,3539,1415,0,0,0,0,0,0
$GC,11282,0.73,356.1,847.8,13.9,793,11288,0.00,2.03,0.00,0.000,6,0.000,0.028,2549,2216,1414,0,0,0,0,0,0
$GC,11598,0.73,356.1,804.1,14.0,809,11602,0.00,2.30,0.00,0.000,4,0.000,0.037,2560,711,1414,0,0,0,0,0,0
$GC,11676,0.73,356.1,792.8,14.5,812,11682,0.00,2.30,0.00,0.000,6,0.000,0.034,2560,2200,1414,0,0,0,0,0,0
$GC,11991,0.73,356.1,740.9,17.0,828,11995,0.00,2.08,0.00,0.000,4,0.000,0.044,2560,3532,1416,0,0,0,0,0,0
$GC,12024,0.73,356.1,734.5,18.9,829,12032,0.08,2.03,0.00,0.000,6,0.155,0.028,2538,2232,1416,0,0,0,0,0,0
$GC,12341,0.73,356.1,688.2,14.0,845,12346,0.00,2.30,0.00,0.000,4,0.000,0.037,2548,721,1417,0,0,0,0,0,0
$GC,12374,0.73,356.1,683.1,14.2,846,12381,0.00,2.35,0.00,0.000,6,0.000,0.034,2548,2242,1417,0,0,0,0,0,0
$GC,12692,0.73,356.1,635.5,14.8,862,12695,0.00,2.03,0.00,0.000,4,0.000,0.044,2548,3535,1417,0,0,0,0,0,0
$GC,12738,0.73,356.1,628.3,15.4,864,12742,0.00,1.92,0.00,0.000,6,0.000,0.028,2556,2268,1417,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,206409728
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