version: 66.09
glider: 181
mission: 6
dive: 475
start: 9 10 111 6 9 57
data:
$ID,181
$MISSION,6
$DIVE,475
$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,-41162.223
$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,43
$R_STBD_OVSHOOT,65
$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
$GPS1,100911,060237,1904.145,12000.470,28,1.0,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.7
$GPS2,100911,060901,1904.224,12000.404,14,1.4,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.035,-0.310
$KALMAN_X,87.1,229.9,712.5,2649.5,-999.4
$KALMAN_Y,9897.5,505.6,420.9,-29990.3,648.8
$MHEAD_RNG_PITCHd_Wd,187.2,7856,-17.4,-11.786
$D_GRID,3287
$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,-62.20,0.000,2,0.000,0.000,169,2532,2223,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.4,-3.8,11,132,8.27,2.17,-31.52,0.000,4,0.229,0.038,2120,1077,3662,0,0,0,0,0,0
$GC,180,-0.53,-194.6,27.6,-24.3,27,187,0.00,2.15,0.00,0.000,6,0.000,0.036,2112,2469,3663,0,0,0,0,0,0
$GC,323,-0.53,-194.6,66.1,-23.6,52,330,0.00,2.03,0.00,0.000,4,0.000,0.043,2101,3786,3662,0,0,0,0,0,0
$GC,416,-0.53,-194.6,88.1,-18.9,68,422,0.00,1.42,0.00,0.000,6,0.000,0.023,2101,2809,3661,0,0,0,0,0,0
$GC,559,-0.53,-194.6,118.4,-22.1,93,565,0.00,2.55,0.00,0.000,4,0.000,0.028,2101,1090,3661,0,0,0,0,0,0
$GC,583,-0.53,-194.6,123.4,-20.3,97,591,0.12,2.70,0.00,0.000,6,0.161,0.035,2124,2838,3662,0,0,0,0,0,0
$GC,731,-0.53,-194.6,146.3,-16.7,122,737,0.00,1.45,0.00,0.000,4,0.000,0.042,2118,3782,3662,0,0,0,0,0,0
$GC,755,-0.53,-194.6,150.9,-15.9,126,762,0.00,1.40,0.00,0.000,6,0.000,0.024,2118,2816,3662,0,0,0,0,0,0
$GC,899,-0.53,-194.6,169.3,-12.5,151,906,0.00,2.58,0.00,0.000,4,0.000,0.029,2118,1085,3662,0,0,0,0,0,0
$GC,980,-0.53,-194.6,178.7,-10.9,165,987,0.00,2.38,0.00,0.000,6,0.000,0.033,2112,2644,3662,0,0,0,0,0,0
$GC,1126,-0.53,-194.6,195.8,-11.5,190,1133,0.00,1.75,0.00,0.000,4,0.000,0.043,2111,3786,3663,0,0,0,0,0,0
$GC,1163,-0.53,-194.6,200.2,-11.2,196,1166,0.00,1.65,0.00,0.000,6,0.000,0.024,2111,2640,3663,0,0,0,0,0,0
$GC,1495,-0.53,-194.6,237.1,-11.6,227,1499,0.00,2.30,0.00,0.000,4,0.000,0.030,2111,1083,3663,0,0,0,0,0,0
$GC,1572,-0.53,-194.6,245.8,-10.3,233,1578,0.00,2.42,0.00,0.000,6,0.000,0.034,2111,2650,3662,0,0,0,0,0,0
$GC,1898,-0.53,-194.6,282.4,-11.0,264,1902,0.00,1.73,0.00,0.000,4,0.000,0.044,2104,3785,3659,0,0,0,0,0,0
$GC,1948,-0.53,-194.6,288.7,-11.7,268,1955,0.00,1.73,0.00,0.000,6,0.000,0.025,2104,2592,3659,0,0,0,0,0,0
$GC,2273,-0.53,-194.6,328.7,-12.5,299,2277,0.00,2.25,0.00,0.000,4,0.000,0.031,2105,1083,3656,0,0,0,0,0,0
$GC,2326,-0.53,-194.6,334.7,-11.3,303,2331,0.10,2.28,0.00,0.000,6,0.160,0.035,2125,2560,3656,0,0,0,0,0,0
$GC,2653,-0.53,-194.6,365.4,-9.0,333,2656,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3780,3652,0,0,0,0,0,0
$GC,2710,-0.53,-194.6,370.6,-9.0,338,2714,0.00,1.85,0.00,0.000,6,0.000,0.026,2125,2549,3652,0,0,0,0,0,0
$GC,3041,-0.53,-194.6,400.5,-8.6,369,3045,0.00,2.15,0.00,0.000,4,0.000,0.032,2124,1110,3648,0,0,0,0,0,0
$GC,3086,-0.53,-194.6,404.4,-8.4,372,3093,0.00,2.22,0.00,0.000,6,0.000,0.035,2124,2549,3648,0,0,0,0,0,0
$GC,3411,-0.53,-194.6,433.2,-9.7,403,3415,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1110,3644,0,0,0,0,0,0
$GC,3434,-0.53,-194.6,435.6,-9.6,404,3441,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2516,3644,0,0,0,0,0,0
$GC,3760,-0.53,-194.6,467.5,-10.5,435,3763,0.00,1.98,0.00,0.000,4,0.000,0.047,2124,3784,3641,0,0,0,0,0,0
$GC,3818,-0.53,-194.6,473.3,-10.0,440,3822,0.00,1.85,0.00,0.000,6,0.000,0.027,2124,2538,3640,0,0,0,0,0,0
$GC,4158,-0.53,-194.6,508.7,-10.2,468,4161,0.00,1.98,0.00,0.000,4,0.000,0.047,2122,3789,3638,0,0,0,0,0,0
$GC,4197,-0.53,-194.6,512.8,-10.2,469,4204,0.00,1.77,0.00,0.000,6,0.000,0.027,2122,2582,3637,0,0,0,0,0,0
$GC,4513,-0.53,-194.6,543.1,-9.5,485,4517,0.00,2.22,0.00,0.000,4,0.000,0.033,2122,1104,3635,0,0,0,0,0,0
$GC,4546,-0.53,-194.6,546.3,-9.2,486,4553,0.00,2.33,0.00,0.000,6,0.000,0.037,2113,2601,3634,0,0,0,0,0,0
$GC,4864,-0.53,-194.6,574.5,-8.8,502,4868,0.00,2.28,0.00,0.000,4,0.000,0.033,2113,1110,3632,0,0,0,0,0,0
$GC,4885,-0.53,-194.6,576.7,-8.3,503,4889,0.00,2.30,0.00,0.000,6,0.000,0.037,2112,2580,3632,0,0,0,0,0,0
$GC,5206,-0.53,-194.6,602.9,-8.3,519,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2581,3630,0,0,0,0,0,0
$GC,5517,-0.53,-194.6,629.9,-9.1,534,5521,0.00,2.28,0.00,0.000,4,0.000,0.034,2112,1102,3628,0,0,0,0,0,0
$GC,5540,-0.53,-194.6,632.2,-9.1,535,5544,0.00,2.25,0.00,0.000,6,0.000,0.037,2112,2538,3628,0,0,0,0,0,0
$GC,5862,-0.53,-194.6,661.7,-9.2,551,5866,0.00,1.95,0.00,0.000,4,0.000,0.050,2111,3783,3625,0,0,0,0,0,0
$GC,5890,-0.53,-194.6,664.4,-9.2,552,5894,0.00,1.92,0.00,0.000,6,0.000,0.028,2111,2518,3625,0,0,0,0,0,0
$GC,6217,-0.53,-194.6,694.5,-9.2,568,6221,0.00,2.12,0.00,0.000,4,0.000,0.034,2111,1106,3623,0,0,0,0,0,0
$GC,6256,-0.53,-194.6,698.3,-9.5,569,6263,0.00,2.20,0.00,0.000,6,0.000,0.037,2111,2513,3623,0,0,0,0,0,0
$GC,6572,-0.53,-194.6,727.5,-9.4,585,6576,0.00,2.03,0.00,0.000,4,0.000,0.050,2111,3774,3621,0,0,0,0,0,0
$GC,6622,-0.53,-194.6,732.2,-9.2,587,6626,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2523,3621,0,0,0,0,0,0
$GC,6951,-0.53,-194.6,760.0,-7.9,603,6955,0.00,2.12,0.00,0.000,4,0.000,0.034,2111,1106,3620,0,0,0,0,0,0
$GC,7006,-0.53,-194.6,764.5,-7.6,605,7013,0.00,2.15,0.00,0.000,6,0.000,0.037,2111,2485,3619,0,0,0,0,0,0
$GC,7324,-0.53,-194.6,787.9,-7.6,621,7327,0.00,2.05,0.00,0.000,4,0.000,0.049,2111,3789,3618,0,0,0,0,0,0
$GC,7403,-0.53,-194.6,793.7,-7.3,624,7407,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2534,3618,0,0,0,0,0,0
$GC,7728,-0.53,-194.6,820.5,-9.1,640,7732,0.00,2.15,0.00,0.000,4,0.000,0.034,2111,1109,3617,0,0,0,0,0,0
$GC,7751,-0.53,-194.6,822.9,-9.5,641,7755,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2574,3617,0,0,0,0,0,0
$GC,8072,-0.53,-194.6,852.2,-9.5,657,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2575,3616,0,0,0,0,0,0
$GC,8382,-0.53,-194.6,881.0,-9.4,672,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2575,3614,0,0,0,0,0,0
$GC,8691,-0.53,-194.6,909.8,-9.2,687,8695,0.00,1.95,0.00,0.000,4,0.000,0.051,2111,3782,3613,0,0,0,0,0,0
$GC,8736,-0.53,-194.6,913.9,-9.0,689,8740,0.00,1.88,0.00,0.000,6,0.000,0.028,2111,2563,3613,0,0,0,0,0,0
$GC,9070,-0.53,-194.6,946.9,-10.0,705,9075,0.00,2.20,0.00,0.000,4,0.000,0.035,2111,1112,3611,0,0,0,0,0,0
$GC,9143,-0.53,-194.6,954.1,-9.7,708,9147,0.00,2.20,0.00,0.000,6,0.000,0.038,2111,2513,3611,0,0,0,0,0,0
$GC,9465,-0.53,-194.6,983.6,-9.2,724,9469,0.00,2.00,0.00,0.000,4,0.000,0.050,2111,3780,3610,0,0,0,0,0,0
$STATE,9536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9536,begin apogee
$GC,9544,-0.13,0.0,990.4,8.9,727,9699,0.43,0.00,149.02,1.078,4,0.112,0.000,2253,2135,2869,0,0,0,0,0,0
$STATE,9700,end apogee,CONTROL_FINISHED_OK
$STATE,9700,begin climb
$GC,9702,0.53,194.6,999.6,0.0,734,9868,0.57,0.00,159.35,1.059,6,0.055,0.000,2482,2135,2074,0,0,0,0,0,0
$GC,10187,0.54,203.9,959.2,11.4,758,10201,0.00,2.30,9.07,0.898,4,0.000,0.044,2481,3537,2037,0,0,0,0,0,0
$GC,10268,0.54,203.9,948.1,12.8,761,10275,0.00,2.15,0.00,0.000,6,0.000,0.029,2492,2138,2036,0,0,0,0,0,0
$GC,10586,0.54,203.9,908.6,12.4,777,10590,0.00,2.17,0.00,0.000,4,0.000,0.039,2503,721,2036,0,0,0,0,0,0
$GC,10708,0.54,203.9,892.7,12.4,782,10715,0.00,2.12,0.00,0.000,6,0.000,0.033,2503,2099,2035,0,0,0,0,0,0
$GC,11025,0.54,203.9,853.6,12.0,798,11029,0.00,2.25,0.00,0.000,4,0.000,0.044,2502,3543,2034,0,0,0,0,0,0
$GC,11053,0.55,210.2,849.9,11.5,799,11066,0.15,2.25,6.43,0.804,6,0.182,0.029,2477,2064,2012,0,0,0,0,0,0
$GC,11376,0.63,274.9,819.3,9.1,815,11433,0.00,2.12,51.78,0.962,4,0.000,0.038,2485,727,1747,0,0,0,0,0,0
$GC,11480,0.67,309.5,809.0,10.4,819,11515,0.00,2.03,28.60,0.915,6,0.000,0.031,2485,2013,1608,0,0,0,0,0,0
$GC,11832,0.75,377.4,775.6,9.0,836,11896,0.17,2.53,54.15,0.929,4,0.076,0.044,2560,3529,1329,0,0,0,0,0,0
$GC,12015,0.75,377.4,747.1,16.8,844,12019,0.00,2.22,0.00,0.000,6,0.000,0.030,2570,2098,1332,0,0,0,0,0,0
$GC,12336,0.75,377.4,695.5,15.9,860,12340,0.00,2.12,0.00,0.000,4,0.000,0.040,2581,713,1335,0,0,0,0,0,0
$GC,12402,0.75,377.4,685.0,15.0,863,12407,0.15,2.12,0.00,0.000,6,0.151,0.034,2540,2077,1336,0,0,0,0,0,0
$GC,12730,0.75,377.4,639.4,14.1,879,12734,0.00,2.30,0.00,0.000,4,0.000,0.045,2540,3536,1335,0,0,0,0,0,0
$GC,12824,0.75,377.4,624.7,15.0,883,12829,0.00,2.15,0.00,0.000,6,0.000,0.029,2548,2158,1334,0,0,0,0,0,0
$GC,13152,0.75,377.4,578.0,14.0,899,13156,0.00,2.20,0.00,0.000,4,0.000,0.039,2559,723,1334,0,0,0,0,0,0
$GC,13224,0.75,377.4,567.7,13.1,902,13229,0.00,2.17,0.00,0.000,6,0.000,0.034,2558,2127,1334,0,0,0,0,0,0
$GC,13553,0.75,377.4,520.7,14.4,918,13557,0.00,2.20,0.00,0.000,4,0.000,0.046,2558,3535,1335,0,0,0,0,0,0
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$STATE,17860,end climb,SURFACE_DEPTH_REACHED
$STATE,17861,begin surface coast
$FINISH,0.4,1.020696
$STATE,17890,end surface coast,CONTROL_FINISHED_OK
$STATE,17890,begin surface
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$HUMID,46.06
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.8,65.409
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322272
$DATA_FILE_SIZE,83565,1457
$CAP_FILE_SIZE,202441,0
$CFSIZE,260165632,206872576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100911,111037,1902.403,12000.559,27,1.3,27,-2.0