version: 66.09
glider: 181
mission: 6
dive: 485
start: 9 12 111 9 6 22
data:
$ID,181
$MISSION,6
$DIVE,485
$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,-41182.176
$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,45
$R_STBD_OVSHOOT,68
$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
$GPS1,120911,085607,1854.749,12014.732,40,0.9,40,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.0
$GPS2,120911,090526,1854.854,12014.716,13,1.5,13,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.249,-0.188
$KALMAN_X,6201.7,497.7,2130.7,19865.8,-2225.5
$KALMAN_Y,34704.6,627.2,792.3,-72638.1,675.9
$MHEAD_RNG_PITCHd_Wd,143.6,48117,-17.4,-11.786
$D_GRID,1760
$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,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.67,0.000,2,0.000,0.000,212,2554,2254,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.6,-4.1,11,133,8.07,2.25,-30.20,0.000,4,0.226,0.038,2125,1078,3664,0,0,0,0,0,0
$GC,202,-0.53,-194.6,36.3,-20.4,31,208,0.00,2.12,0.00,0.000,6,0.000,0.034,2116,2468,3663,0,0,0,0,0,0
$GC,345,-0.53,-194.6,74.8,-20.8,56,352,0.00,2.03,0.00,0.000,4,0.000,0.043,2112,3786,3662,0,0,0,0,0,0
$GC,404,-0.53,-194.6,86.5,-18.2,66,410,0.00,1.77,0.00,0.000,6,0.000,0.023,2111,2556,3662,0,0,0,0,0,0
$GC,547,-0.53,-194.6,112.3,-17.5,91,554,0.00,2.15,0.00,0.000,4,0.000,0.027,2111,1084,3661,0,0,0,0,0,0
$GC,578,-0.53,-194.6,117.3,-16.1,96,585,0.00,2.42,0.00,0.000,6,0.000,0.035,2111,2658,3662,0,0,0,0,0,0
$GC,721,-0.53,-194.6,140.4,-16.7,121,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2660,3662,0,0,0,0,0,0
$GC,863,-0.53,-194.6,162.3,-14.1,146,870,0.00,1.70,0.00,0.000,4,0.000,0.041,2104,3789,3662,0,0,0,0,0,0
$GC,916,-0.53,-194.6,170.3,-14.9,155,923,0.00,1.83,0.00,0.000,6,0.000,0.023,2103,2530,3662,0,0,0,0,0,0
$GC,1061,-0.53,-194.6,190.9,-13.9,180,1068,0.00,2.08,0.00,0.000,4,0.000,0.028,2103,1108,3662,0,0,0,0,0,0
$GC,1108,-0.53,-194.6,197.5,-12.9,188,1115,0.00,2.10,0.00,0.000,6,0.000,0.033,2099,2491,3662,0,0,0,0,0,0
$GC,1251,-0.53,-194.6,216.0,-13.2,203,1254,0.00,1.98,0.00,0.000,4,0.000,0.041,2089,3780,3662,0,0,0,0,0,0
$GC,1334,-0.53,-194.6,226.9,-12.4,210,1342,0.10,1.73,0.00,0.000,6,0.124,0.023,2124,2611,3662,0,0,0,0,0,0
$GC,1661,-0.53,-194.6,265.0,-12.3,241,1665,0.00,2.22,0.00,0.000,4,0.000,0.028,2124,1100,3661,0,0,0,0,0,0
$GC,1727,-0.53,-194.6,272.5,-10.5,246,1734,0.00,2.20,0.00,0.000,6,0.000,0.031,2124,2535,3660,0,0,0,0,0,0
$GC,2054,-0.53,-194.6,307.6,-10.8,277,2057,0.00,1.90,0.00,0.000,4,0.000,0.042,2115,3785,3657,0,0,0,0,0,0
$GC,2133,-0.53,-194.6,316.5,-11.0,284,2137,0.00,1.73,0.00,0.000,6,0.000,0.024,2115,2591,3656,0,0,0,0,0,0
$GC,2466,-0.53,-194.6,352.6,-10.2,315,2470,0.00,2.17,0.00,0.000,4,0.000,0.028,2115,1112,3653,0,0,0,0,0,0
$GC,2521,-0.53,-194.6,358.1,-9.2,319,2528,0.00,2.22,0.00,0.000,6,0.000,0.032,2112,2567,3653,0,0,0,0,0,0
$GC,2847,-0.53,-194.6,391.0,-10.6,350,2850,0.00,1.88,0.00,0.000,4,0.000,0.044,2111,3787,3649,0,0,0,0,0,0
$GC,2894,-0.53,-194.6,395.9,-10.6,354,2898,0.00,1.83,0.00,0.000,6,0.000,0.025,2111,2543,3648,0,0,0,0,0,0
$GC,3225,-0.53,-194.6,431.0,-10.8,385,3229,0.00,2.12,0.00,0.000,4,0.000,0.030,2111,1106,3646,0,0,0,0,0,0
$GC,3258,-0.53,-194.6,434.7,-10.5,387,3265,0.00,2.22,0.00,0.000,6,0.000,0.034,2111,2551,3646,0,0,0,0,0,0
$GC,3584,-0.53,-194.6,468.1,-9.9,418,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2552,3643,0,0,0,0,0,0
$GC,3905,-0.53,-194.6,496.1,-8.2,448,3909,0.00,2.17,0.00,0.000,4,0.000,0.030,2111,1110,3640,0,0,0,0,0,0
$GC,3926,-0.53,-194.6,498.3,-8.2,449,3933,0.00,2.20,0.00,0.000,6,0.000,0.035,2111,2536,3640,0,0,0,0,0,0
$GC,4244,-0.53,-194.6,527.2,-10.1,466,4248,0.00,1.92,0.00,0.000,4,0.000,0.047,2111,3780,3637,0,0,0,0,0,0
$GC,4305,-0.53,-194.6,533.9,-10.3,468,4312,0.00,1.80,0.00,0.000,6,0.000,0.025,2111,2566,3636,0,0,0,0,0,0
$GC,4621,-0.53,-194.6,574.2,-13.5,484,4625,0.00,2.17,0.00,0.000,4,0.000,0.031,2111,1110,3634,0,0,0,0,0,0
$GC,4666,-0.53,-194.6,580.2,-12.8,486,4670,0.00,2.30,0.00,0.000,6,0.000,0.034,2111,2594,3634,0,0,0,0,0,0
$GC,4988,-0.53,-194.6,617.6,-11.1,502,4992,0.00,1.83,0.00,0.000,4,0.000,0.046,2110,3781,3631,0,0,0,0,0,0
$GC,5016,-0.53,-194.6,620.8,-10.9,503,5019,0.00,1.80,0.00,0.000,6,0.000,0.026,2109,2563,3631,0,0,0,0,0,0
$GC,5344,-0.53,-194.6,653.0,-9.5,519,5348,0.00,2.17,0.00,0.000,4,0.000,0.031,2109,1106,3628,0,0,0,0,0,0
$GC,5399,-0.53,-194.6,658.6,-9.6,521,5406,0.00,2.17,0.00,0.000,6,0.000,0.034,2101,2515,3629,0,0,0,0,0,0
$GC,5716,-0.53,-194.6,689.9,-9.7,537,5720,0.00,1.98,0.00,0.000,4,0.000,0.047,2097,3786,3626,0,0,0,0,0,0
$GC,5794,-0.53,-194.6,697.5,-9.1,540,5799,0.12,1.80,0.00,0.000,6,0.138,0.026,2133,2570,3626,0,0,0,0,0,0
$GC,6117,-0.53,-194.6,719.0,-6.1,556,6121,0.00,2.20,0.00,0.000,4,0.000,0.031,2134,1101,3624,0,0,0,0,0,0
$GC,6179,-0.53,-194.6,722.9,-6.0,559,6183,0.00,2.17,0.00,0.000,6,0.000,0.033,2129,2511,3624,0,0,0,0,0,0
$GC,6507,-0.53,-194.6,743.4,-6.7,575,6511,0.00,2.12,0.00,0.000,4,0.000,0.031,2128,1111,3621,0,0,0,0,0,0
$GC,6615,-0.53,-194.6,752.0,-8.2,580,6619,0.00,1.88,0.00,0.000,6,0.000,0.034,2126,2301,3621,0,0,0,0,0,0
$GC,6947,-0.53,-194.6,780.8,-9.1,596,6951,0.00,2.35,0.00,0.000,4,0.000,0.046,2125,3786,3619,0,0,0,0,0,0
$GC,7077,-0.53,-194.6,792.8,-9.5,601,7084,0.00,1.65,0.00,0.000,6,0.000,0.025,2125,2661,3619,0,0,0,0,0,0
$GC,7393,-0.53,-194.6,822.7,-9.5,617,7397,0.00,2.35,0.00,0.000,4,0.000,0.031,2125,1107,3617,0,0,0,0,0,0
$GC,7438,-0.53,-194.6,827.3,-10.6,619,7442,0.00,1.98,0.00,0.000,6,0.000,0.034,2125,2389,3617,0,0,0,0,0,0
$GC,7766,-0.53,-194.6,856.2,-7.9,635,7770,0.00,1.95,0.00,0.000,4,0.000,0.033,2125,1104,3615,0,0,0,0,0,0
$GC,7829,-0.53,-194.6,861.3,-7.9,637,7836,0.00,1.70,0.00,0.000,6,0.000,0.034,2125,2209,3615,0,0,0,0,0,0
$GC,8146,-0.53,-194.6,884.1,-6.8,653,8150,0.00,2.50,0.00,0.000,4,0.000,0.047,2125,3785,3613,0,0,0,0,0,0
$GC,8156,-0.53,-194.6,884.8,-6.6,653,8163,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2603,3613,0,0,0,0,0,0
$GC,8473,-0.53,-194.6,903.4,-5.4,669,8477,0.00,2.25,0.00,0.000,4,0.000,0.033,2125,1114,3612,0,0,0,0,0,0
$GC,8495,-0.53,-194.6,904.8,-5.6,670,8499,0.00,1.88,0.00,0.000,6,0.000,0.034,2125,2332,3612,0,0,0,0,0,0
$GC,8823,-0.53,-194.6,922.9,-5.5,686,8826,0.00,1.88,0.00,0.000,4,0.000,0.034,2125,1100,3611,0,0,0,0,0,0
$GC,8874,-0.53,-194.6,926.0,-5.7,688,8878,0.00,2.50,0.00,0.000,6,0.000,0.037,2125,2676,3611,0,0,0,0,0,0
$GC,9201,-0.53,-194.6,946.1,-6.5,704,9205,0.00,1.75,0.00,0.000,4,0.000,0.049,2125,3770,3609,0,0,0,0,0,0
$GC,9234,-0.53,-194.6,948.6,-6.6,705,9237,0.00,2.12,0.00,0.000,6,0.000,0.027,2125,2370,3609,0,0,0,0,0,0
$GC,9557,-0.53,-194.6,972.2,-7.6,721,9560,0.00,1.90,0.00,0.000,4,0.000,0.034,2125,1101,3608,0,0,0,0,0,0
$STATE,9604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9604,begin apogee
$GC,9611,-0.13,0.0,976.5,8.2,723,9765,0.38,0.00,148.38,1.070,4,0.102,0.000,2255,2134,2869,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9768,0.53,194.6,986.6,0.0,730,9935,0.62,2.30,158.90,1.050,4,0.056,0.043,2486,3537,2075,0,0,0,0,0,0
$GC,10086,0.53,194.6,962.0,12.7,744,10093,0.00,2.20,0.00,0.000,6,0.000,0.028,2496,2144,2073,0,0,0,0,0,0
$GC,10403,0.53,194.6,924.4,12.0,760,10407,0.00,2.20,0.00,0.000,4,0.000,0.042,2497,3538,2072,0,0,0,0,0,0
$GC,10516,0.53,194.6,908.2,14.4,765,10521,0.15,2.25,0.00,0.000,6,0.187,0.029,2472,2067,2072,0,0,0,0,0,0
$GC,10846,0.58,235.7,872.8,10.1,781,10889,0.00,2.20,33.25,0.976,4,0.000,0.038,2480,710,1907,0,0,0,0,0,0
$GC,10922,0.66,298.1,864.9,9.2,784,10979,0.00,2.12,50.83,0.968,6,0.000,0.031,2480,2073,1652,0,0,0,0,0,0
$GC,11307,0.74,365.3,829.9,9.0,803,11372,0.17,2.42,54.03,0.957,4,0.076,0.044,2554,3528,1378,0,0,0,0,0,0
$GC,11480,0.74,365.3,805.1,15.1,810,11487,0.00,2.12,0.00,0.000,6,0.000,0.028,2564,2155,1379,0,0,0,0,0,0
$GC,11796,0.74,365.3,756.7,14.9,826,11800,0.00,2.20,0.00,0.000,4,0.000,0.036,2574,717,1382,0,0,0,0,0,0
$GC,11823,0.74,365.3,752.5,14.3,827,11828,0.15,2.28,0.00,0.000,6,0.158,0.034,2536,2186,1382,0,0,0,0,0,0
$GC,12151,0.74,365.3,713.4,12.0,843,12155,0.00,2.10,0.00,0.000,4,0.000,0.044,2535,3538,1381,0,0,0,0,0,0
$GC,12218,0.74,365.3,704.4,13.3,846,12222,0.00,1.98,0.00,0.000,6,0.000,0.028,2543,2236,1381,0,0,0,0,0,0
$GC,12546,0.74,365.3,661.8,13.3,862,12550,0.00,2.33,0.00,0.000,4,0.000,0.037,2553,708,1381,0,0,0,0,0,0
$GC,12589,0.74,365.3,655.8,13.1,864,12593,0.00,2.40,0.00,0.000,6,0.000,0.034,2554,2243,1381,0,0,0,0,0,0
$GC,12917,0.74,365.3,605.2,16.1,880,12921,0.00,2.03,0.00,0.000,4,0.000,0.044,2554,3539,1381,0,0,0,0,0,0
$GC,12956,0.74,365.3,598.5,17.7,881,12962,0.00,2.00,0.00,0.000,6,0.000,0.028,2562,2218,1381,0,0,0,0,0,0
$GC,13272,0.74,365.3,549.6,14.7,897,13276,0.00,2.28,0.00,0.000,4,0.000,0.037,2573,720,1380,0,0,0,0,0,0
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$STATE,17453,end climb,SURFACE_DEPTH_REACHED
$STATE,17453,begin surface coast
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$STATE,17478,end surface coast,CONTROL_FINISHED_OK
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$HUMID,48.18
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$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.8,66.348
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$FG_AHR_10Vo,0.000
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$MEM,322260
$DATA_FILE_SIZE,80098,1406
$CAP_FILE_SIZE,201324,0
$CFSIZE,260165632,205950976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120911,140007,1854.122,12015.981,31,1.3,31,-2.0