version: 66.09
glider: 181
mission: 6
dive: 84
start: 6 26 111 5 8 47
data:
$ID,181
$MISSION,6
$DIVE,84
$N_DIVES,90
$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,400
$T_MISSION,440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,-39623.082
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,67
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,260611,050136,2010.484,11957.137,24,1.5,24,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.6
$GPS2,260611,050820,2010.513,11957.062,16,1.5,16,-2.3
$SPEED_LIMITS,0.143,0.243
$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,174.6,130691,-14.5,-8.250
$D_GRID,3457
$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,14,begin dive
$GC,16,-0.47,-146.0,0.0,0.0,0,89,0.00,0.00,-70.68,0.000,2,0.000,0.000,163,2572,2686,0,0,0,0,0,0
$GC,92,-0.47,-146.0,4.1,-5.5,9,125,8.10,1.90,-14.12,0.000,4,0.236,0.055,2133,3774,3468,0,0,0,0,0,0
$GC,144,-0.47,-146.0,29.1,-51.3,16,152,0.00,1.77,0.00,0.000,6,0.000,0.026,2134,2604,3469,0,0,0,0,0,0
$GC,282,-0.47,-146.0,76.8,-27.0,41,290,0.00,2.10,0.00,0.000,4,0.000,0.026,2134,1193,3469,0,0,0,0,0,0
$GC,398,-0.47,-146.0,105.0,-22.1,62,407,0.00,2.17,0.00,0.000,6,0.000,0.038,2125,2579,3470,0,0,0,0,0,0
$GC,536,-0.47,-146.0,141.3,-27.1,87,545,0.00,1.88,0.00,0.000,4,0.000,0.044,2115,3783,3471,0,0,0,0,0,0
$GC,586,-0.47,-146.0,150.9,-18.5,95,596,0.10,1.77,0.00,0.000,6,0.148,0.024,2145,2588,3472,0,0,0,0,0,0
$GC,728,-0.47,-146.0,175.6,-16.5,120,736,0.00,2.05,0.00,0.000,4,0.000,0.028,2145,1209,3472,0,0,0,0,0,0
$GC,781,-0.47,-146.0,185.1,-15.9,129,789,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2606,3472,0,0,0,0,0,0
$GC,924,-0.47,-146.0,205.8,-13.6,151,928,0.00,1.77,0.00,0.000,4,0.000,0.043,2129,3784,3473,0,0,0,0,0,0
$GC,971,-0.47,-146.0,211.9,-12.6,155,974,0.00,1.73,0.00,0.000,6,0.000,0.024,2129,2589,3473,0,0,0,0,0,0
$GC,1302,-0.47,-146.0,256.0,-14.5,186,1305,0.00,2.00,0.00,0.000,4,0.000,0.028,2129,1211,3472,0,0,0,0,0,0
$GC,1390,-0.47,-146.0,268.2,-12.7,194,1394,0.00,2.12,0.00,0.000,6,0.000,0.037,2124,2608,3472,0,0,0,0,0,0
$GC,1716,-0.47,-146.0,319.5,-15.1,224,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2611,3470,0,0,0,0,0,0
$GC,2036,-0.47,-146.0,367.3,-13.1,254,2040,0.00,2.08,0.00,0.000,4,0.000,0.030,2124,1210,3468,0,0,0,0,0,0
$GC,2066,-0.47,-146.0,371.3,-12.5,256,2071,0.12,2.15,0.00,0.000,6,0.162,0.038,2149,2606,3467,0,0,0,0,0,0
$GC,2396,-0.47,-146.0,399.6,-8.5,287,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2607,3464,0,0,0,0,0,0
$GC,2717,-0.47,-146.0,428.5,-10.0,317,2720,0.00,2.08,0.00,0.000,4,0.000,0.032,2149,1214,3460,0,0,0,0,0,0
$GC,2757,-0.47,-146.0,432.9,-10.5,320,2761,0.00,2.12,0.00,0.000,6,0.000,0.039,2149,2606,3460,0,0,0,0,0,0
$GC,3084,-0.47,-146.0,466.7,-10.8,350,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2606,3457,0,0,0,0,0,0
$GC,3403,-0.47,-146.0,500.0,-10.1,380,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2607,3454,0,0,0,0,0,0
$GC,3710,-0.47,-146.0,531.1,-10.1,395,3714,0.00,2.10,0.00,0.000,4,0.000,0.034,2149,1212,3451,0,0,0,0,0,0
$GC,3737,-0.47,-146.0,534.3,-10.0,396,3740,0.00,2.12,0.00,0.000,6,0.000,0.041,2149,2599,3451,0,0,0,0,0,0
$GC,4059,-0.47,-146.0,566.6,-9.9,412,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2599,3448,0,0,0,0,0,0
$GC,4368,-0.47,-146.0,598.4,-10.0,427,4371,0.00,1.80,0.00,0.000,4,0.000,0.050,2150,3780,3445,0,0,0,0,0,0
$GC,4392,-0.47,-146.0,600.7,-9.9,428,4396,0.00,1.73,0.00,0.000,6,0.000,0.030,2149,2601,3445,0,0,0,0,0,0
$GC,4725,-0.47,-146.0,631.1,-8.8,444,4729,0.00,2.08,0.00,0.000,4,0.000,0.036,2149,1199,3443,0,0,0,0,0,0
$GC,4810,-0.47,-146.0,638.6,-8.8,448,4815,0.00,2.15,0.00,0.000,6,0.000,0.041,2150,2601,3443,0,0,0,0,0,0
$GC,5138,-0.47,-146.0,670.6,-10.3,464,5142,0.00,2.10,0.00,0.000,4,0.000,0.035,2149,1204,3440,0,0,0,0,0,0
$GC,5182,-0.47,-146.0,675.5,-10.7,466,5187,0.00,2.17,0.00,0.000,6,0.000,0.041,2149,2621,3440,0,0,0,0,0,0
$GC,5510,-0.47,-146.0,707.8,-9.9,482,5514,0.00,2.12,0.00,0.000,4,0.000,0.037,2149,1212,3437,0,0,0,0,0,0
$GC,5537,-0.47,-146.0,710.8,-9.6,483,5542,0.00,2.17,0.00,0.000,6,0.000,0.043,2149,2593,3438,0,0,0,0,0,0
$GC,5860,-0.47,-146.0,739.2,-8.7,499,5864,0.00,2.10,0.00,0.000,4,0.000,0.036,2149,1201,3436,0,0,0,0,0,0
$GC,5892,-0.47,-146.0,742.2,-8.8,500,5900,0.00,2.17,0.00,0.000,6,0.000,0.042,2149,2603,3436,0,0,0,0,0,0
$GC,6210,-0.47,-146.0,768.5,-8.2,516,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2603,3434,0,0,0,0,0,0
$GC,6518,-0.47,-146.0,794.2,-8.3,531,6522,0.00,2.10,0.00,0.000,4,0.000,0.037,2150,1211,3432,0,0,0,0,0,0
$GC,6544,-0.47,-146.0,796.6,-8.3,532,6548,0.00,2.15,0.00,0.000,6,0.000,0.042,2149,2604,3432,0,0,0,0,0,0
$GC,6867,-0.47,-146.0,824.0,-8.8,548,6871,0.00,2.10,0.00,0.000,4,0.000,0.037,2149,1212,3431,0,0,0,0,0,0
$GC,6911,-0.47,-146.0,828.1,-8.7,550,6915,0.00,2.15,0.00,0.000,6,0.000,0.042,2149,2610,3431,0,0,0,0,0,0
$GC,7238,-0.47,-146.0,855.2,-8.4,566,7242,0.00,2.12,0.00,0.000,4,0.000,0.037,2149,1202,3430,0,0,0,0,0,0
$GC,7316,-0.47,-146.0,861.7,-7.8,569,7324,0.00,2.17,0.00,0.000,6,0.000,0.043,2148,2606,3430,0,0,0,0,0,0
$GC,7633,-0.47,-146.0,886.7,-8.0,585,7637,0.00,2.12,0.00,0.000,4,0.000,0.038,2149,1208,3428,0,0,0,0,0,0
$GC,7688,-0.47,-146.0,891.4,-8.5,587,7692,0.00,2.15,0.00,0.000,6,0.000,0.042,2149,2606,3428,0,0,0,0,0,0
$GC,8010,-0.47,-146.0,917.9,-8.4,603,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2607,3427,0,0,0,0,0,0
$GC,8320,-0.47,-146.0,942.8,-8.0,618,8324,0.00,2.12,0.00,0.000,4,0.000,0.038,2149,1202,3426,0,0,0,0,0,0
$GC,8383,-0.47,-146.0,948.0,-8.0,621,8387,0.00,2.17,0.00,0.000,6,0.000,0.043,2149,2612,3425,0,0,0,0,0,0
$GC,8710,-0.47,-146.0,973.8,-7.8,637,8714,0.00,2.12,0.00,0.000,4,0.000,0.037,2149,1211,3423,0,0,0,0,0,0
$GC,8760,-0.47,-146.0,978.4,-8.6,639,8764,0.00,2.15,0.00,0.000,6,0.000,0.042,2149,2602,3424,0,0,0,0,0,0
$STATE,8914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8915,begin apogee
$GC,8921,-0.16,0.0,990.6,8.0,647,9039,0.28,0.00,110.43,1.112,6,0.120,0.000,2244,2127,2869,0,0,0,0,0,0
$STATE,9040,end apogee,CONTROL_FINISHED_OK
$STATE,9040,begin climb
$GC,9042,0.47,146.0,995.4,0.0,652,9173,0.57,2.35,121.18,1.082,4,0.081,0.042,2455,736,2273,0,0,0,0,0,0
$GC,9232,0.47,146.0,986.0,8.9,661,9236,0.00,2.25,0.00,0.000,6,0.000,0.036,2455,2133,2266,0,0,0,0,0,0
$GC,9559,0.47,146.0,953.0,10.3,677,9563,0.00,2.22,0.00,0.000,4,0.000,0.047,2455,3545,2260,0,0,0,0,0,0
$GC,9646,0.47,146.0,942.5,12.5,681,9650,0.00,2.17,0.00,0.000,6,0.000,0.031,2465,2132,2260,0,0,0,0,0,0
$GC,9973,0.47,146.0,906.2,11.0,697,9977,0.00,2.17,0.00,0.000,4,0.000,0.042,2476,713,2256,0,0,0,0,0,0
$GC,10050,0.47,146.0,897.6,10.6,700,10058,0.00,2.22,0.00,0.000,6,0.000,0.036,2476,2127,2258,0,0,0,0,0,0
$GC,10367,0.47,146.0,861.7,11.1,716,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2127,2257,0,0,0,0,0,0
$GC,10676,0.47,146.0,829.1,10.6,731,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2127,2254,0,0,0,0,0,0
$GC,10985,0.47,146.0,795.8,10.9,746,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2127,2255,0,0,0,0,0,0
$GC,11296,0.47,146.0,761.2,11.1,761,11300,0.00,2.17,0.00,0.000,4,0.000,0.046,2476,3539,2255,0,0,0,0,0,0
$GC,11374,0.47,146.0,750.9,12.9,764,11383,0.10,2.17,0.00,0.000,6,0.171,0.031,2447,2128,2252,0,0,0,0,0,0
$GC,11691,0.47,146.0,720.0,9.5,780,11695,0.00,2.17,0.00,0.000,4,0.000,0.042,2456,703,2254,0,0,0,0,0,0
$GC,11747,0.47,146.0,714.4,9.8,782,11754,0.00,2.20,0.00,0.000,6,0.000,0.035,2456,2134,2254,0,0,0,0,0,0
$GC,12063,0.47,146.0,683.0,9.7,798,12067,0.00,2.17,0.00,0.000,4,0.000,0.047,2456,3536,2254,0,0,0,0,0,0
$GC,12131,0.47,146.0,675.7,11.0,801,12136,0.00,2.15,0.00,0.000,6,0.000,0.031,2465,2112,2253,0,0,0,0,0,0
$GC,12459,0.47,146.0,645.2,8.6,817,12463,0.00,2.12,0.00,0.000,4,0.000,0.042,2476,712,2253,0,0,0,0,0,0
$GC,12547,0.47,146.0,637.3,8.9,821,12551,0.00,2.15,0.00,0.000,6,0.000,0.035,2476,2129,2253,0,0,0,0,0,0
$GC,12875,0.47,146.0,607.0,9.6,837,12879,0.00,2.15,0.00,0.000,4,0.000,0.046,2476,3535,2253,0,0,0,0,0,0
$GC,12963,0.47,146.0,597.6,10.9,841,12968,0.12,2.12,0.00,0.000,6,0.184,0.031,2456,2123,2253,0,0,0,0,0,0
$GC,13285,0.49,163.2,573.0,7.6,857,13298,0.00,0.00,11.35,0.817,6,0.000,0.000,2456,2123,2204,0,0,0,0,0,0
$GC,13617,0.49,163.2,544.6,8.9,873,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2123,2203,0,0,0,0,0,0
$GC,13926,0.49,163.2,517.3,8.8,888,13930,0.00,2.12,0.00,0.000,4,0.000,0.041,2465,722,2202,0,0,0,0,0,0
$GC,13973,0.49,163.2,513.0,9.3,890,13977,0.00,2.15,0.00,0.000,6,0.000,0.035,2466,2135,2203,0,0,0,0,0,0
$GC,14296,0.49,163.2,480.8,10.4,914,14300,0.00,2.15,0.00,0.000,4,0.000,0.046,2465,3545,2202,0,0,0,0,0,0
$GC,14451,0.49,163.2,463.5,10.7,927,14459,0.00,2.17,0.00,0.000,6,0.000,0.031,2474,2129,2202,0,0,0,0,0,0
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$STATE,19629,end climb,SURFACE_DEPTH_REACHED
$STATE,19629,begin surface coast
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$10V_AH,10.1,14.125
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$FG_AHR_10Vo,0.000
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$MEM,322680
$DATA_FILE_SIZE,103757,1592
$CAP_FILE_SIZE,205740,0
$CFSIZE,260165632,243228672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,357.0,1
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