version: 66.09
glider: 181
mission: 6
dive: 197
start: 7 18 111 3 30 3
data:
$ID,181
$MISSION,6
$DIVE,197
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,-40767.148
$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,50
$R_STBD_OVSHOOT,35
$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,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
$GPS1,180711,032106,1909.911,12034.596,37,1.3,37,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-56.0
$GPS2,180711,032938,1910.001,12034.656,10,1.3,10,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,186.5,65945,-15.3,-11.000
$D_GRID,2683
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.52,-219.0,0.0,0.0,0,84,0.00,0.00,-63.53,0.000,2,0.000,0.000,153,2621,2254,0,0,0,0,0,0
$GC,87,-0.52,-219.0,3.3,-4.0,9,132,8.07,0.00,-30.73,0.000,6,0.229,0.000,2139,2616,3762,0,0,0,0,0,0
$GC,259,-0.52,-219.0,69.1,-40.5,39,267,0.00,1.85,0.00,0.000,4,0.000,0.044,2131,3783,3763,0,0,0,0,0,0
$GC,337,-0.52,-219.0,95.7,-29.6,53,345,0.00,1.80,0.00,0.000,6,0.000,0.024,2131,2590,3764,0,0,0,0,0,0
$GC,472,-0.52,-219.0,137.2,-34.5,78,480,0.00,1.88,0.00,0.000,4,0.000,0.044,2122,3772,3764,0,0,0,0,0,0
$GC,550,-0.52,-219.0,160.9,-28.6,92,558,0.00,1.70,0.00,0.000,6,0.000,0.024,2121,2629,3765,0,0,0,0,0,0
$GC,686,-0.52,-219.0,193.0,-20.9,117,694,0.00,2.12,0.00,0.000,4,0.000,0.028,2122,1200,3765,0,0,0,0,0,0
$GC,744,-0.52,-219.0,203.1,-14.5,125,749,0.15,2.15,0.00,0.000,6,0.156,0.035,2152,2617,3766,0,0,0,0,0,0
$GC,1071,-0.52,-219.0,244.9,-11.1,155,1075,0.00,1.75,0.00,0.000,4,0.000,0.044,2149,3779,3766,0,0,0,0,0,0
$GC,1109,-0.52,-219.0,249.7,-11.7,158,1118,0.00,1.73,0.00,0.000,6,0.000,0.024,2148,2603,3764,0,0,0,0,0,0
$GC,1438,-0.52,-219.0,300.1,-15.5,189,1441,0.00,2.00,0.00,0.000,4,0.000,0.028,2152,1218,3765,0,0,0,0,0,0
$GC,1495,-0.52,-219.0,307.9,-12.2,194,1499,0.00,2.10,0.00,0.000,6,0.000,0.034,2148,2610,3764,0,0,0,0,0,0
$GC,1820,-0.52,-219.0,354.9,-14.1,224,1824,0.00,1.77,0.00,0.000,4,0.000,0.044,2140,3787,3762,0,0,0,0,0,0
$GC,1858,-0.52,-219.0,360.0,-13.0,227,1865,0.00,1.70,0.00,0.000,6,0.000,0.024,2140,2633,3762,0,0,0,0,0,0
$GC,2184,-0.52,-219.0,398.4,-10.5,258,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2631,3762,0,0,0,0,0,0
$GC,2506,-0.52,-219.0,431.7,-10.7,288,2510,0.00,2.08,0.00,0.000,4,0.000,0.029,2140,1209,3755,0,0,0,0,0,0
$GC,2580,-0.52,-219.0,438.3,-7.8,294,2584,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2629,3755,0,0,0,0,0,0
$GC,2910,-0.52,-219.0,477.8,-13.7,325,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2629,3752,0,0,0,0,0,0
$GC,3235,-0.52,-219.0,516.9,-11.3,349,3239,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3776,3749,0,0,0,0,0,0
$GC,3276,-0.52,-219.0,521.0,-9.9,350,3283,0.00,1.70,0.00,0.000,6,0.000,0.026,2134,2637,3749,0,0,0,0,0,0
$GC,3592,-0.52,-219.0,556.2,-11.7,366,3596,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1194,3745,0,0,0,0,0,0
$GC,3659,-0.52,-219.0,562.9,-9.0,369,3663,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2619,3745,0,0,0,0,0,0
$GC,3980,-0.52,-219.0,597.1,-11.3,385,3984,0.00,1.77,0.00,0.000,4,0.000,0.048,2138,3776,3741,0,0,0,0,0,0
$GC,4048,-0.52,-219.0,603.4,-8.7,388,4052,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2628,3741,0,0,0,0,0,0
$GC,4382,-0.52,-219.0,637.1,-11.0,404,4385,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1202,3738,0,0,0,0,0,0
$GC,4431,-0.52,-219.0,642.6,-10.1,406,4436,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2627,3738,0,0,0,0,0,0
$GC,4754,-0.52,-219.0,679.3,-12.2,422,4758,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1202,3734,0,0,0,0,0,0
$GC,4781,-0.52,-219.0,682.6,-12.2,423,4785,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2615,3735,0,0,0,0,0,0
$GC,5102,-0.52,-219.0,716.4,-10.5,439,5106,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3784,3731,0,0,0,0,0,0
$GC,5149,-0.52,-219.0,720.7,-9.5,441,5153,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2606,3731,0,0,0,0,0,0
$GC,5482,-0.52,-219.0,750.6,-8.7,457,5486,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1202,3729,0,0,0,0,0,0
$GC,5526,-0.52,-219.0,754.5,-8.5,459,5530,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2622,3729,0,0,0,0,0,0
$GC,5854,-0.52,-219.0,779.5,-7.9,475,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2622,3727,0,0,0,0,0,0
$GC,6162,-0.52,-219.0,806.6,-8.9,490,6166,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1202,3724,0,0,0,0,0,0
$GC,6196,-0.52,-219.0,810.0,-9.3,491,6200,0.00,2.17,0.00,0.000,6,0.000,0.039,2138,2611,3724,0,0,0,0,0,0
$GC,6512,-0.52,-219.0,836.7,-8.3,506,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2612,3722,0,0,0,0,0,0
$GC,6821,-0.52,-219.0,861.4,-7.9,521,6825,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1203,3720,0,0,0,0,0,0
$GC,6849,-0.52,-219.0,863.7,-7.3,522,6853,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2609,3720,0,0,0,0,0,0
$GC,7170,-0.52,-219.0,887.6,-7.4,538,7174,0.00,1.83,0.00,0.000,4,0.000,0.052,2138,3783,3719,0,0,0,0,0,0
$GC,7198,-0.52,-219.0,889.8,-7.4,539,7202,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2610,3719,0,0,0,0,0,0
$GC,7525,-0.52,-219.0,912.5,-7.2,555,7529,0.00,2.10,0.00,0.000,4,0.000,0.034,2142,1200,3717,0,0,0,0,0,0
$GC,7580,-0.52,-219.0,916.7,-7.5,557,7587,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2599,3717,0,0,0,0,0,0
$GC,7897,-0.52,-219.0,938.3,-6.7,573,7901,0.00,1.90,0.00,0.000,4,0.000,0.051,2138,3775,3715,0,0,0,0,0,0
$GC,7930,-0.52,-219.0,940.8,-6.7,574,7934,0.00,1.75,0.00,0.000,6,0.000,0.029,2138,2591,3715,0,0,0,0,0,0
$GC,8252,-0.52,-219.0,960.8,-6.1,590,8256,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1199,3714,0,0,0,0,0,0
$GC,8297,-0.52,-219.0,963.8,-6.1,592,8301,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2595,3714,0,0,0,0,0,0
$GC,8619,-0.52,-219.0,983.9,-6.4,608,8623,0.00,1.85,0.00,0.000,4,0.000,0.051,2138,3785,3712,0,0,0,0,0,0
$GC,8646,-0.52,-219.0,985.8,-6.7,609,8650,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2585,3713,0,0,0,0,0,0
$STATE,8724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8724,begin apogee
$GC,8730,-0.13,0.0,990.9,6.6,613,8900,0.40,0.00,162.68,1.099,4,0.104,0.000,2277,2116,2869,0,0,0,0,0,0
$STATE,8900,end apogee,CONTROL_FINISHED_OK
$STATE,8901,begin climb
$GC,8903,0.52,219.0,998.4,0.0,621,9087,0.60,2.28,175.50,1.069,4,0.049,0.039,2510,723,1976,0,0,0,0,0,0
$GC,9116,0.52,219.0,985.0,12.3,630,9121,0.00,2.30,0.00,0.000,6,0.000,0.034,2509,2124,1976,0,0,0,0,0,0
$GC,9439,0.52,219.0,940.1,14.1,646,9443,0.00,2.28,0.00,0.000,4,0.000,0.045,2509,3543,1979,0,0,0,0,0,0
$GC,9466,0.52,219.0,935.7,14.4,647,9471,0.00,2.25,0.00,0.000,6,0.000,0.029,2519,2119,1979,0,0,0,0,0,0
$GC,9788,0.52,219.0,888.4,14.7,663,9793,0.12,2.17,0.00,0.000,4,0.187,0.038,2499,708,1979,0,0,0,0,0,0
$GC,9815,0.52,219.0,884.4,14.8,664,9819,0.00,2.20,0.00,0.000,6,0.000,0.034,2499,2129,1979,0,0,0,0,0,0
$GC,10138,0.52,219.0,842.0,13.4,680,10142,0.00,2.20,0.00,0.000,4,0.000,0.046,2499,3541,1978,0,0,0,0,0,0
$GC,10181,0.52,219.0,835.2,14.9,682,10185,0.00,2.17,0.00,0.000,6,0.000,0.030,2508,2118,1978,0,0,0,0,0,0
$GC,10509,0.52,219.0,787.7,14.4,698,10513,0.00,2.12,0.00,0.000,4,0.000,0.038,2519,716,1977,0,0,0,0,0,0
$GC,10598,0.52,219.0,774.6,14.1,702,10602,0.00,2.15,0.00,0.000,6,0.000,0.034,2519,2116,1978,0,0,0,0,0,0
$GC,10920,0.52,219.0,726.8,14.5,718,10924,0.00,2.20,0.00,0.000,4,0.000,0.045,2519,3539,1977,0,0,0,0,0,0
$GC,10969,0.52,219.0,719.0,15.9,720,10974,0.15,2.15,0.00,0.000,6,0.176,0.029,2491,2116,1977,0,0,0,0,0,0
$GC,11285,0.52,219.0,680.7,11.9,735,11289,0.00,2.12,0.00,0.000,4,0.000,0.038,2500,715,1976,0,0,0,0,0,0
$GC,11318,0.52,219.0,676.5,11.9,736,11322,0.00,2.15,0.00,0.000,6,0.000,0.034,2500,2127,1976,0,0,0,0,0,0
$GC,11640,0.52,219.0,635.5,13.2,752,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2127,1976,0,0,0,0,0,0
$GC,11949,0.52,219.0,597.3,12.2,767,11953,0.00,2.17,0.00,0.000,4,0.000,0.045,2500,3538,1976,0,0,0,0,0,0
$GC,11992,0.52,219.0,591.5,13.0,769,11997,0.00,2.15,0.00,0.000,6,0.000,0.029,2509,2112,1973,0,0,0,0,0,0
$GC,12321,0.52,219.0,550.6,12.6,785,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2112,1976,0,0,0,0,0,0
$GC,12629,0.52,219.0,509.5,13.4,800,12633,0.00,2.10,0.00,0.000,4,0.000,0.037,2520,713,1975,0,0,0,0,0,0
$GC,12668,0.52,219.0,504.2,13.4,801,12676,0.15,2.17,0.00,0.000,6,0.156,0.034,2481,2139,1976,0,0,0,0,0,0
$GC,12992,0.54,229.3,467.4,10.7,830,13007,0.00,2.20,9.62,0.736,4,0.000,0.044,2481,3529,1934,0,0,0,0,0,0
$GC,13094,0.54,229.3,455.4,11.6,839,13098,0.00,2.12,0.00,0.000,6,0.000,0.028,2489,2131,1933,0,0,0,0,0,0
$GC,13426,0.56,244.2,420.5,10.5,870,13449,0.00,2.22,12.80,0.708,4,0.000,0.038,2499,717,1872,0,0,0,0,0,0
$GC,13567,0.57,253.4,405.3,10.7,882,13584,0.00,2.15,8.35,0.632,6,0.000,0.033,2499,2119,1836,0,0,0,0,0,0
$GC,13903,0.57,253.4,367.0,11.3,914,13907,0.00,2.20,0.00,0.000,4,0.000,0.044,2499,3539,1835,0,0,0,0,0,0
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$STATE,17032,end climb,SURFACE_DEPTH_REACHED
$STATE,17032,begin surface coast
$FINISH,0.6,1.020477
$STATE,17049,end surface coast,CONTROL_FINISHED_OK
$STATE,17049,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,321508
$DATA_FILE_SIZE,93766,1351
$CAP_FILE_SIZE,186659,0
$CFSIZE,260165632,232624128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,081636,1908.425,12035.411,26,1.2,26,-2.1