version: 66.09
glider: 181
mission: 6
dive: 444
start: 9 3 111 18 30 20
data:
$ID,181
$MISSION,6
$DIVE,444
$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,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,-41123.242
$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,41
$R_STBD_OVSHOOT,41
$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,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
$GPS1,030911,182406,1950.859,12009.384,35,1.1,35,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.3
$GPS2,030911,182955,1950.813,12009.398,12,1.3,17,-2.2
$SPEED_LIMITS,0.204,0.329
$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,192.1,95534,-16.3,-11.786
$D_GRID,3936
$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,-0.54,-219.0,0.0,0.0,0,81,0.00,0.00,-62.42,0.000,2,0.000,0.000,198,2626,2215,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.1,-3.2,11,132,8.12,1.88,-34.22,0.000,4,0.226,0.059,2131,3777,3764,0,0,0,0,0,0
$GC,180,-0.54,-219.0,34.0,-46.8,27,187,0.00,1.77,0.00,0.000,6,0.000,0.025,2131,2577,3763,0,0,0,0,0,0
$GC,323,-0.54,-219.0,77.7,-24.5,52,330,0.00,1.88,0.00,0.000,4,0.000,0.043,2122,3771,3763,0,0,0,0,0,0
$GC,444,-0.54,-219.0,108.0,-21.0,73,451,0.00,1.62,0.00,0.000,6,0.000,0.024,2122,2681,3763,0,0,0,0,0,0
$GC,587,-0.54,-219.0,136.8,-19.5,98,594,0.00,2.17,0.00,0.000,4,0.000,0.028,2122,1199,3763,0,0,0,0,0,0
$GC,612,-0.54,-219.0,141.3,-18.2,102,619,0.12,2.40,0.00,0.000,6,0.148,0.034,2147,2762,3763,0,0,0,0,0,0
$GC,757,-0.54,-219.0,160.6,-12.0,127,764,0.00,2.33,0.00,0.000,4,0.000,0.028,2147,1200,3763,0,0,0,0,0,0
$GC,782,-0.54,-219.0,163.5,-11.0,131,789,0.00,2.35,0.00,0.000,6,0.000,0.034,2140,2740,3764,0,0,0,0,0,0
$GC,928,-0.54,-219.0,177.7,-8.8,156,935,0.00,1.60,0.00,0.000,4,0.000,0.044,2138,3770,3763,0,0,0,0,0,0
$GC,964,-0.54,-219.0,180.8,-7.9,162,971,0.00,1.52,0.00,0.000,6,0.000,0.024,2138,2730,3764,0,0,0,0,0,0
$GC,1109,-0.54,-219.0,195.0,-11.1,187,1116,0.00,2.25,0.00,0.000,4,0.000,0.028,2139,1197,3764,0,0,0,0,0,0
$GC,1151,-0.54,-219.0,199.8,-10.8,194,1158,0.00,2.35,0.00,0.000,6,0.000,0.034,2138,2741,3764,0,0,0,0,0,0
$GC,1286,-0.54,-219.0,214.8,-11.1,207,1289,0.00,1.60,0.00,0.000,4,0.000,0.044,2137,3774,3764,0,0,0,0,0,0
$GC,1325,-0.54,-219.0,219.2,-11.0,210,1332,0.00,1.50,0.00,0.000,6,0.000,0.025,2138,2749,3764,0,0,0,0,0,0
$GC,1651,-0.54,-219.0,255.4,-9.5,241,1655,0.00,2.28,0.00,0.000,4,0.000,0.029,2137,1207,3762,0,0,0,0,0,0
$GC,1725,-0.54,-219.0,260.9,-6.8,247,1730,0.00,2.30,0.00,0.000,6,0.000,0.033,2137,2722,3762,0,0,0,0,0,0
$GC,2051,-0.54,-219.0,280.1,-7.2,277,2055,0.00,2.28,0.00,0.000,4,0.000,0.029,2137,1210,3761,0,0,0,0,0,0
$GC,2112,-0.54,-219.0,285.6,-9.0,282,2119,0.00,2.25,0.00,0.000,6,0.000,0.034,2137,2682,3761,0,0,0,0,0,0
$GC,2438,-0.54,-219.0,316.2,-8.1,313,2442,0.00,2.20,0.00,0.000,4,0.000,0.030,2137,1211,3758,0,0,0,0,0,0
$GC,2483,-0.54,-219.0,319.7,-7.6,316,2489,0.00,2.22,0.00,0.000,6,0.000,0.034,2137,2664,3757,0,0,0,0,0,0
$GC,2808,-0.54,-219.0,346.1,-9.2,347,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2665,3755,0,0,0,0,0,0
$GC,3129,-0.54,-219.0,378.6,-9.7,377,3133,0.00,2.20,0.00,0.000,4,0.000,0.031,2137,1201,3752,0,0,0,0,0,0
$GC,3186,-0.54,-219.0,384.4,-9.8,381,3192,0.00,2.28,0.00,0.000,6,0.000,0.035,2137,2668,3751,0,0,0,0,0,0
$GC,3511,-0.54,-219.0,414.9,-9.1,412,3515,0.00,2.22,0.00,0.000,4,0.000,0.031,2137,1199,3748,0,0,0,0,0,0
$GC,3584,-0.54,-219.0,421.5,-8.8,418,3591,0.00,2.22,0.00,0.000,6,0.000,0.037,2137,2631,3748,0,0,0,0,0,0
$GC,3909,-0.54,-219.0,447.8,-7.1,449,3913,0.00,2.15,0.00,0.000,4,0.000,0.032,2137,1204,3745,0,0,0,0,0,0
$GC,3950,-0.54,-219.0,450.9,-6.9,452,3954,0.00,2.17,0.00,0.000,6,0.000,0.036,2137,2620,3745,0,0,0,0,0,0
$GC,4276,-0.54,-219.0,471.1,-6.1,482,4280,0.00,1.77,0.00,0.000,4,0.000,0.047,2137,3776,3742,0,0,0,0,0,0
$GC,4360,-0.54,-219.0,476.8,-6.7,489,4367,0.00,1.85,0.00,0.000,6,0.000,0.028,2137,2523,3742,0,0,0,0,0,0
$GC,4696,-0.54,-219.0,501.9,-8.2,520,4699,0.00,1.95,0.00,0.000,4,0.000,0.034,2138,1212,3739,0,0,0,0,0,0
$GC,4745,-0.54,-219.0,506.4,-8.9,522,4749,0.00,2.00,0.00,0.000,6,0.000,0.035,2137,2518,3738,0,0,0,0,0,0
$GC,5073,-0.54,-219.0,533.0,-8.0,538,5077,0.00,1.98,0.00,0.000,4,0.000,0.032,2137,1204,3736,0,0,0,0,0,0
$GC,5106,-0.54,-219.0,535.7,-7.9,539,5110,0.00,2.00,0.00,0.000,6,0.000,0.033,2137,2519,3736,0,0,0,0,0,0
$GC,5428,-0.54,-219.0,559.2,-7.5,555,5432,0.00,1.98,0.00,0.000,4,0.000,0.034,2138,1212,3733,0,0,0,0,0,0
$GC,5461,-0.54,-219.0,562.1,-7.8,556,5465,0.00,1.95,0.00,0.000,6,0.000,0.034,2137,2491,3733,0,0,0,0,0,0
$GC,5784,-0.54,-219.0,587.5,-7.9,572,5788,0.00,1.95,0.00,0.000,4,0.000,0.034,2137,1201,3731,0,0,0,0,0,0
$GC,5834,-0.54,-219.0,591.9,-8.5,574,5838,0.00,1.95,0.00,0.000,6,0.000,0.036,2137,2471,3731,0,0,0,0,0,0
$GC,6163,-0.54,-219.0,616.9,-7.5,590,6166,0.00,1.90,0.00,0.000,4,0.000,0.034,2137,1212,3729,0,0,0,0,0,0
$GC,6218,-0.54,-219.0,621.3,-7.7,592,6222,0.00,1.90,0.00,0.000,6,0.000,0.034,2137,2454,3729,0,0,0,0,0,0
$GC,6540,-0.54,-219.0,647.1,-8.6,608,6544,0.00,2.05,0.00,0.000,4,0.000,0.047,2137,3774,3728,0,0,0,0,0,0
$GC,6590,-0.54,-219.0,651.5,-8.7,610,6594,0.00,1.98,0.00,0.000,6,0.000,0.028,2137,2459,3727,0,0,0,0,0,0
$GC,6918,-0.54,-219.0,678.4,-7.5,626,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2456,3726,0,0,0,0,0,0
$GC,7228,-0.54,-219.0,701.2,-7.5,641,7232,0.00,2.08,0.00,0.000,4,0.000,0.047,2137,3773,3724,0,0,0,0,0,0
$GC,7260,-0.54,-219.0,703.9,-7.5,642,7267,0.00,1.92,0.00,0.000,6,0.000,0.028,2137,2475,3723,0,0,0,0,0,0
$GC,7577,-0.54,-219.0,728.3,-7.9,658,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2475,3723,0,0,0,0,0,0
$GC,7887,-0.54,-219.0,753.5,-8.0,673,7891,0.00,2.08,0.00,0.000,4,0.000,0.046,2137,3778,3721,0,0,0,0,0,0
$GC,7933,-0.54,-219.0,757.3,-7.9,675,7937,0.00,2.00,0.00,0.000,6,0.000,0.028,2137,2477,3721,0,0,0,0,0,0
$GC,8265,-0.54,-219.0,785.0,-8.1,691,8269,0.00,1.95,0.00,0.000,4,0.000,0.035,2137,1206,3720,0,0,0,0,0,0
$GC,8367,-0.54,-219.0,794.3,-9.6,695,8371,0.00,2.00,0.00,0.000,6,0.000,0.036,2137,2469,3719,0,0,0,0,0,0
$GC,8689,-0.54,-219.0,820.8,-8.4,711,8692,0.00,1.92,0.00,0.000,4,0.000,0.035,2137,1201,3718,0,0,0,0,0,0
$GC,8723,-0.54,-219.0,824.1,-8.3,712,8726,0.00,1.95,0.00,0.000,6,0.000,0.036,2137,2466,3719,0,0,0,0,0,0
$GC,9044,-0.54,-219.0,850.8,-8.0,728,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2467,3717,0,0,0,0,0,0
$GC,9354,-0.54,-219.0,872.0,-6.6,743,9357,0.00,2.05,0.00,0.000,4,0.000,0.047,2137,3782,3716,0,0,0,0,0,0
$GC,9399,-0.54,-219.0,875.4,-7.3,745,9402,0.00,1.98,0.00,0.000,6,0.000,0.028,2137,2474,3716,0,0,0,0,0,0
$STATE,9620,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9620,begin apogee
$GC,9627,-0.13,0.0,890.8,7.0,756,9798,0.38,0.00,166.77,1.015,4,0.059,0.000,2301,2128,2869,0,0,0,0,0,0
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9801,0.54,219.0,900.0,0.0,764,9986,0.52,2.28,175.38,0.994,4,0.048,0.041,2514,730,1976,0,0,0,0,0,0
$GC,10144,0.58,249.4,874.6,10.7,780,10174,0.00,2.20,25.60,0.939,6,0.000,0.036,2514,2120,1852,0,0,0,0,0,0
$GC,10491,0.64,298.2,838.6,10.0,797,10537,0.00,2.28,39.12,0.949,4,0.000,0.039,2524,734,1653,0,0,0,0,0,0
$GC,10623,0.67,327.1,824.5,10.7,803,10653,0.00,2.22,24.20,0.909,6,0.000,0.036,2525,2150,1535,0,0,0,0,0,0
$GC,10976,0.67,327.1,777.2,14.6,820,10980,0.00,2.20,0.00,0.000,4,0.000,0.047,2524,3542,1534,0,0,0,0,0,0
$GC,11048,0.67,327.1,765.3,15.6,823,11052,0.00,2.10,0.00,0.000,6,0.000,0.031,2533,2172,1535,0,0,0,0,0,0
$GC,11370,0.67,327.1,718.4,14.1,839,11374,0.00,2.22,0.00,0.000,4,0.000,0.041,2544,721,1537,0,0,0,0,0,0
$GC,11402,0.67,327.1,713.9,13.4,840,11409,0.00,2.25,0.00,0.000,6,0.000,0.036,2544,2174,1537,0,0,0,0,0,0
$GC,11719,0.67,327.1,671.6,12.9,856,11723,0.00,2.12,0.00,0.000,4,0.000,0.047,2544,3538,1537,0,0,0,0,0,0
$GC,11785,0.67,327.1,662.2,13.4,859,11789,0.00,2.05,0.00,0.000,6,0.000,0.031,2553,2185,1536,0,0,0,0,0,0
$GC,12113,0.67,327.1,617.7,14.0,875,12117,0.00,2.25,0.00,0.000,4,0.000,0.041,2564,723,1537,0,0,0,0,0,0
$GC,12168,0.67,327.1,609.5,14.2,877,12173,0.00,2.25,0.00,0.000,6,0.000,0.037,2564,2183,1537,0,0,0,0,0,0
$GC,12491,0.67,327.1,560.8,14.9,893,12494,0.00,2.10,0.00,0.000,4,0.000,0.045,2564,3538,1536,0,0,0,0,0,0
$GC,12541,0.67,327.1,552.5,16.5,895,12546,0.15,2.05,0.00,0.000,6,0.168,0.031,2535,2187,1535,0,0,0,0,0,0
$GC,12857,0.67,327.1,513.9,11.9,910,12861,0.00,2.28,0.00,0.000,4,0.000,0.041,2545,715,1536,0,0,0,0,0,0
$GC,12912,0.67,327.1,507.1,11.8,912,12919,0.00,2.30,0.00,0.000,6,0.000,0.036,2545,2187,1537,0,0,0,0,0,0
$GC,13237,0.67,327.1,466.3,12.9,940,13241,0.00,2.10,0.00,0.000,4,0.000,0.045,2545,3535,1536,0,0,0,0,0,0
$GC,13286,0.67,327.1,459.4,13.9,944,13293,0.00,2.05,0.00,0.000,6,0.000,0.031,2554,2185,1536,0,0,0,0,0,0
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$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17043,begin surface coast
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$STATE,17075,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.8,62.474
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$FG_AHR_10Vo,0.000
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$MEM,323064
$DATA_FILE_SIZE,83549,1427
$CAP_FILE_SIZE,195751,0
$CFSIZE,260165632,209723392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,231731,1950.050,12009.549,42,1.2,42,-2.2