version: 66.09
glider: 181
mission: 6
dive: 272
start: 8 1 111 1 52 45
data:
$ID,181
$MISSION,6
$DIVE,272
$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,250
$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,-40861.719
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,010811,014613,2011.164,11957.428,8,2.0,9,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.6
$GPS2,010811,015220,2011.272,11957.248,14,2.0,14,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$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,10.1,35010,-15.4,-11.786
$D_GRID,3413
$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,-0.56,-243.3,0.0,0.0,0,90,0.00,0.00,-71.25,0.000,2,0.000,0.000,208,2609,2463,0,0,0,0,0,0
$GC,93,-0.56,-243.3,3.7,-4.5,10,138,7.97,1.88,-26.10,0.000,4,0.230,0.060,2123,3786,3864,0,0,0,0,0,0
$GC,245,-0.56,-243.3,75.4,-42.8,36,253,0.00,1.80,0.00,0.000,6,0.000,0.023,2123,2591,3864,0,0,0,0,0,0
$GC,379,-0.56,-243.3,116.4,-21.2,61,387,0.00,1.88,0.00,0.000,4,0.000,0.044,2114,3773,3865,0,0,0,0,0,0
$GC,477,-0.56,-243.3,143.1,-27.2,79,485,0.00,1.67,0.00,0.000,6,0.000,0.024,2114,2658,3864,0,0,0,0,0,0
$GC,611,-0.56,-243.3,186.1,-35.0,104,620,0.00,1.77,0.00,0.000,4,0.000,0.044,2105,3779,3866,0,0,0,0,0,0
$GC,643,-0.56,-243.3,197.1,-34.6,109,652,0.10,1.58,0.00,0.000,6,0.151,0.024,2136,2704,3866,0,0,0,0,0,0
$GC,788,-0.56,-243.3,232.8,-27.3,123,792,0.00,1.65,0.00,0.000,4,0.000,0.042,2129,3786,3867,0,0,0,0,0,0
$GC,813,-0.56,-243.3,238.5,-24.4,125,817,0.00,1.55,0.00,0.000,6,0.000,0.024,2129,2737,3867,0,0,0,0,0,0
$GC,1144,-0.56,-243.3,285.6,-12.7,156,1148,0.00,2.28,0.00,0.000,4,0.000,0.026,2129,1186,3865,0,0,0,0,0,0
$GC,1203,-0.56,-243.3,291.6,-8.8,161,1210,0.00,2.38,0.00,0.000,6,0.000,0.033,2125,2754,3868,0,0,0,0,0,0
$GC,1529,-0.56,-243.3,334.1,-9.8,192,1533,0.00,1.58,0.00,0.000,4,0.000,0.043,2126,3776,3868,0,0,0,0,0,0
$GC,1614,-0.56,-243.3,339.5,-5.7,199,1620,0.00,1.52,0.00,0.000,6,0.000,0.024,2124,2734,3867,0,0,0,0,0,0
$GC,1939,-0.56,-243.3,380.6,-15.2,230,1943,0.00,2.25,0.00,0.000,4,0.000,0.027,2124,1195,3865,0,0,0,0,0,0
$GC,1967,-0.56,-243.3,384.3,-14.1,232,1971,0.00,2.40,0.00,0.000,6,0.000,0.035,2124,2766,3865,0,0,0,0,0,0
$GC,2293,-0.56,-243.3,423.2,-14.2,262,2297,0.00,2.38,0.00,0.000,4,0.000,0.028,2124,1194,3863,0,0,0,0,0,0
$GC,2327,-0.56,-243.3,428.2,-14.3,265,2332,0.00,2.42,0.00,0.000,6,0.000,0.035,2124,2765,3862,0,0,0,0,0,0
$GC,2653,-0.56,-243.3,478.7,-14.7,295,2657,0.00,2.35,0.00,0.000,4,0.000,0.029,2124,1197,3859,0,0,0,0,0,0
$GC,2704,-0.56,-243.3,485.0,-11.3,299,2709,0.00,2.38,0.00,0.000,6,0.000,0.035,2124,2747,3859,0,0,0,0,0,0
$GC,3027,-0.56,-243.3,517.5,-10.2,321,3031,0.00,2.35,0.00,0.000,4,0.000,0.030,2124,1198,3856,0,0,0,0,0,0
$GC,3055,-0.56,-243.3,520.8,-10.7,322,3059,0.00,2.38,0.00,0.000,6,0.000,0.037,2124,2740,3856,0,0,0,0,0,0
$GC,3376,-0.56,-243.3,558.3,-12.6,338,3380,0.00,2.33,0.00,0.000,4,0.000,0.031,2124,1196,3854,0,0,0,0,0,0
$GC,3431,-0.56,-243.3,564.4,-10.3,340,3438,0.00,2.35,0.00,0.000,6,0.000,0.036,2124,2717,3853,0,0,0,0,0,0
$GC,3748,-0.56,-243.3,600.6,-12.2,356,3752,0.00,2.30,0.00,0.000,4,0.000,0.032,2124,1196,3851,0,0,0,0,0,0
$GC,3787,-0.56,-243.3,605.5,-11.9,358,3791,0.00,2.33,0.00,0.000,6,0.000,0.038,2124,2699,3851,0,0,0,0,0,0
$GC,4114,-0.56,-243.3,645.6,-12.4,374,4119,0.00,2.28,0.00,0.000,4,0.000,0.031,2124,1196,3847,0,0,0,0,0,0
$GC,4149,-0.56,-243.3,649.8,-12.3,375,4156,0.00,2.30,0.00,0.000,6,0.000,0.038,2124,2682,3847,0,0,0,0,0,0
$GC,4466,-0.56,-243.3,685.0,-10.9,391,4470,0.00,2.25,0.00,0.000,4,0.000,0.032,2124,1194,3844,0,0,0,0,0,0
$GC,4499,-0.56,-243.3,688.6,-10.4,392,4506,0.00,2.30,0.00,0.000,6,0.000,0.037,2124,2672,3845,0,0,0,0,0,0
$GC,4815,-0.56,-243.3,716.4,-8.2,408,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2675,3842,0,0,0,0,0,0
$GC,5124,-0.56,-243.3,737.5,-6.6,423,5128,0.00,2.22,0.00,0.000,4,0.000,0.032,2124,1200,3840,0,0,0,0,0,0
$GC,5175,-0.56,-243.3,740.3,-6.2,425,5179,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2662,3836,0,0,0,0,0,0
$GC,5497,-0.56,-243.3,758.3,-5.5,441,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2663,3837,0,0,0,0,0,0
$GC,5806,-0.56,-243.3,777.3,-6.5,456,5810,0.00,2.22,0.00,0.000,4,0.000,0.032,2124,1195,3835,0,0,0,0,0,0
$GC,5857,-0.56,-243.3,780.1,-6.2,458,5861,0.00,2.28,0.00,0.000,6,0.000,0.037,2124,2662,3835,0,0,0,0,0,0
$GC,6173,-0.56,-243.3,801.8,-7.6,473,6177,0.00,2.25,0.00,0.000,4,0.000,0.031,2124,1190,3833,0,0,0,0,0,0
$GC,6207,-0.56,-243.3,804.5,-7.7,474,6211,0.00,2.25,0.00,0.000,6,0.000,0.037,2124,2643,3833,0,0,0,0,0,0
$GC,6523,-0.56,-243.3,829.9,-8.6,489,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2643,3831,0,0,0,0,0,0
$GC,6832,-0.56,-243.3,857.2,-8.8,504,6836,0.00,2.20,0.00,0.000,4,0.000,0.033,2124,1194,3830,0,0,0,0,0,0
$GC,6860,-0.56,-243.3,860.0,-8.8,505,6864,0.00,2.25,0.00,0.000,6,0.000,0.039,2124,2643,3830,0,0,0,0,0,0
$GC,7182,-0.56,-243.3,889.2,-9.7,521,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2644,3828,0,0,0,0,0,0
$GC,7491,-0.56,-243.3,916.9,-8.5,536,7496,0.00,2.20,0.00,0.000,4,0.000,0.033,2124,1196,3827,0,0,0,0,0,0
$GC,7519,-0.56,-243.3,919.4,-8.5,537,7524,0.00,2.22,0.00,0.000,6,0.000,0.039,2124,2627,3827,0,0,0,0,0,0
$GC,7842,-0.56,-243.3,945.3,-8.1,553,7845,0.00,1.80,0.00,0.000,4,0.000,0.050,2124,3783,3827,0,0,0,0,0,0
$GC,7880,-0.56,-243.3,948.4,-7.7,554,7887,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2635,3826,0,0,0,0,0,0
$GC,8197,-0.56,-243.3,973.2,-8.1,570,8201,0.00,2.15,0.00,0.000,4,0.000,0.033,2124,1200,3824,0,0,0,0,0,0
$GC,8241,-0.56,-243.3,977.0,-8.1,572,8246,0.00,2.22,0.00,0.000,6,0.000,0.038,2124,2636,3824,0,0,0,0,0,0
$STATE,8396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8396,begin apogee
$GC,8403,-0.13,0.0,990.3,9.1,580,8593,0.45,0.00,184.98,1.094,4,0.106,0.000,2277,2115,2869,0,0,0,0,0,0
$STATE,8594,end apogee,CONTROL_FINISHED_OK
$STATE,8594,begin climb
$GC,8597,0.56,243.3,1004.0,0.0,589,8808,0.62,2.28,197.65,1.066,4,0.050,0.038,2515,729,1877,0,0,0,0,0,0
$GC,8816,0.63,306.0,996.6,9.7,599,8875,0.00,2.33,52.75,1.030,6,0.000,0.034,2515,2121,1621,0,0,0,0,0,0
$GC,9184,0.68,344.3,956.8,10.5,617,9220,0.00,2.30,31.45,1.022,4,0.000,0.044,2515,3542,1464,0,0,0,0,0,0
$GC,9315,0.70,363.7,942.2,11.2,622,9337,0.00,2.20,16.77,0.958,6,0.000,0.027,2524,2150,1386,0,0,0,0,0,0
$GC,9661,0.70,363.7,902.2,12.4,639,9665,0.00,2.20,0.00,0.000,4,0.000,0.044,2525,3542,1385,0,0,0,0,0,0
$GC,9694,0.70,363.7,897.3,13.5,640,9701,0.00,2.17,0.00,0.000,6,0.000,0.028,2534,2151,1385,0,0,0,0,0,0
$GC,10010,0.70,363.7,854.3,13.8,656,10014,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,3541,1385,0,0,0,0,0,0
$GC,10043,0.70,363.7,848.8,15.8,657,10050,0.00,2.10,0.00,0.000,6,0.000,0.028,2545,2156,1384,0,0,0,0,0,0
$GC,10359,0.70,363.7,799.8,15.6,673,10363,0.00,2.17,0.00,0.000,4,0.000,0.036,2556,723,1385,0,0,0,0,0,0
$GC,10415,0.70,363.7,791.5,13.9,675,10423,0.00,2.22,0.00,0.000,6,0.000,0.035,2556,2170,1386,0,0,0,0,0,0
$GC,10732,0.70,363.7,741.5,15.9,691,10736,0.00,2.10,0.00,0.000,4,0.000,0.046,2556,3534,1386,0,0,0,0,0,0
$GC,10809,0.70,363.7,727.6,17.4,694,10816,0.00,2.10,0.00,0.000,6,0.000,0.028,2565,2176,1385,0,0,0,0,0,0
$GC,11126,0.70,363.7,671.9,18.5,710,11130,0.00,2.20,0.00,0.000,4,0.000,0.037,2576,723,1385,0,0,0,0,0,0
$GC,11181,0.70,363.7,661.5,17.5,712,11189,0.00,2.28,0.00,0.000,6,0.000,0.036,2576,2194,1385,0,0,0,0,0,0
$GC,11498,0.70,363.7,595.6,21.2,728,11502,0.00,2.08,0.00,0.000,4,0.000,0.045,2576,3541,1385,0,0,0,0,0,0
$GC,11525,0.70,363.7,589.3,21.9,729,11530,0.15,2.08,0.00,0.000,6,0.173,0.028,2548,2166,1385,0,0,0,0,0,0
$GC,11841,0.70,363.7,533.6,16.6,744,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2165,1384,0,0,0,0,0,0
$GC,12153,0.70,363.7,488.0,13.4,763,12157,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,3533,1385,0,0,0,0,0,0
$GC,12227,0.70,363.7,477.5,13.9,769,12231,0.00,2.05,0.00,0.000,6,0.000,0.028,2556,2179,1385,0,0,0,0,0,0
$GC,12558,0.71,366.1,435.7,11.7,800,12562,0.00,2.20,0.00,0.000,4,0.000,0.037,2567,724,1384,0,0,0,0,0,0
$GC,12621,0.74,397.2,428.7,10.8,805,12656,0.00,2.22,26.38,0.738,6,0.000,0.034,2567,2187,1248,0,0,0,0,0,0
$GC,12974,0.74,397.2,374.4,16.3,838,12978,0.00,2.10,0.00,0.000,4,0.000,0.045,2567,3547,1250,0,0,0,0,0,0
$GC,13029,0.74,397.2,364.7,16.0,842,13036,0.00,2.08,0.00,0.000,6,0.000,0.027,2576,2200,1251,0,0,0,0,0,0
$GC,13355,0.74,397.2,304.1,21.3,873,13359,0.00,2.25,0.00,0.000,4,0.000,0.035,2588,713,1254,0,0,0,0,0,0
$GC,13373,0.74,397.2,300.1,21.4,874,13377,0.00,2.28,0.00,0.000,6,0.000,0.033,2587,2200,1251,0,0,0,0,0,0
$GC,13698,0.74,397.2,238.0,16.9,904,13702,0.00,2.05,0.00,0.000,4,0.000,0.044,2587,3534,1251,0,0,0,0,0,0
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$GC,15295,1.07,662.9,23.2,11.6,1159,15305,0.08,2.20,0.05,0.148,6,0.118,0.029,2667,2162,440,0,0,0,0,0,0
$GC,15434,1.19,755.3,10.0,8.8,1184,15442,0.10,0.00,0.50,0.093,6,0.096,0.000,2724,2163,441,0,0,0,0,0,0
$STATE,15494,end climb,SURFACE_DEPTH_REACHED
$STATE,15495,begin surface coast
$FINISH,0.1,1.020564
$STATE,15519,end surface coast,CONTROL_FINISHED_OK
$STATE,15519,begin surface
$SM_CCo,15596,0.00,0.000,0,0,441,595.34
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.93
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,9.9,41.817
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.350,173.625,661.825,0.000,0.000,30.823,19.667,174.285,0.000,0.000,16.710,2875.760,9037.561,718.841,2974.994,351.188,0.000,2026.200,0.000,2091.398,0.000,0.539,0.000
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$SENSOR_SECS,834.409,1199.757,1216.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,323016
$DATA_FILE_SIZE,83573,1199
$CAP_FILE_SIZE,168061,0
$CFSIZE,260165632,225640448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,061355,2014.530,11955.913,36,1.7,37,-2.3