version: 66.09
glider: 181
mission: 6
dive: 531
start: 9 21 111 13 31 34
data:
$ID,181
$MISSION,6
$DIVE,531
$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,2
$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,-41254.344
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,42
$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,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
$GPS1,210911,132425,1859.085,12001.303,41,1.7,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.9
$GPS2,210911,133036,1859.084,12001.316,10,1.6,14,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.033,0.310
$KALMAN_X,86441.4,219.5,-22.0,-81346.5,534.0
$KALMAN_Y,69913.3,-1163.5,-1.1,-97418.2,-1638.4
$MHEAD_RNG_PITCHd_Wd,342.1,307284,-17.4,-11.786
$D_GRID,3001
$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,-0.53,-194.6,0.0,0.0,0,85,0.00,0.00,-65.88,0.000,2,0.000,0.000,166,2613,2322,0,0,0,0,0,0
$GC,88,-0.53,-194.6,3.5,-3.7,11,133,8.25,0.80,-28.17,0.000,4,0.226,0.071,2118,3146,3664,0,0,0,0,0,0
$GC,292,-0.53,-194.6,71.0,-20.0,46,299,0.00,0.75,0.00,0.000,6,0.000,0.024,2117,2594,3664,0,0,0,0,0,0
$GC,435,-0.53,-194.6,97.6,-19.5,71,442,0.00,0.82,0.00,0.000,4,0.000,0.037,2114,3139,3664,0,0,0,0,0,0
$GC,500,-0.53,-194.6,108.7,-15.8,82,506,0.00,0.73,0.00,0.000,6,0.000,0.024,2113,2602,3664,0,0,0,0,0,0
$GC,642,-0.53,-194.6,131.9,-15.8,107,649,0.00,0.65,0.00,0.000,4,0.000,0.024,2113,2085,3664,0,0,0,0,0,0
$GC,757,-0.53,-194.6,148.7,-14.6,127,763,0.00,0.77,0.00,0.000,6,0.000,0.037,2112,2604,3664,0,0,0,0,0,0
$GC,899,-0.53,-194.6,169.4,-13.6,152,906,0.00,0.77,0.00,0.000,4,0.000,0.038,2107,3133,3665,0,0,0,0,0,0
$GC,992,-0.53,-194.6,181.2,-11.8,168,999,0.00,0.70,0.00,0.000,6,0.000,0.024,2108,2605,3665,0,0,0,0,0,0
$GC,1136,-0.53,-194.6,197.9,-12.2,193,1143,0.00,0.65,0.00,0.000,4,0.000,0.024,2108,2089,3664,0,0,0,0,0,0
$GC,1195,-0.53,-194.6,204.8,-11.2,200,1198,0.00,0.77,0.00,0.000,6,0.000,0.035,2104,2611,3665,0,0,0,0,0,0
$GC,1525,-0.53,-194.6,244.5,-13.2,231,1529,0.00,0.77,0.00,0.000,4,0.000,0.040,2100,3138,3664,0,0,0,0,0,0
$GC,1622,-0.53,-194.6,258.1,-14.4,239,1628,0.00,0.70,0.00,0.000,6,0.000,0.025,2100,2614,3663,0,0,0,0,0,0
$GC,1947,-0.53,-194.6,300.8,-12.7,270,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2613,3661,0,0,0,0,0,0
$GC,2268,-0.53,-194.6,333.8,-9.9,300,2272,0.00,0.68,0.00,0.000,4,0.000,0.025,2100,2089,3658,0,0,0,0,0,0
$GC,2325,-0.53,-194.6,339.8,-10.0,305,2329,0.00,0.77,0.00,0.000,6,0.000,0.037,2098,2605,3657,0,0,0,0,0,0
$GC,2656,-0.53,-194.6,377.4,-11.3,336,2661,0.10,0.82,0.00,0.000,4,0.166,0.041,2122,3144,3655,0,0,0,0,0,0
$GC,2760,-0.53,-194.6,387.6,-9.3,345,2764,0.00,0.73,0.00,0.000,6,0.000,0.026,2122,2614,3654,0,0,0,0,0,0
$GC,3091,-0.53,-194.6,418.4,-9.2,376,3095,0.00,0.68,0.00,0.000,4,0.000,0.026,2122,2090,3651,0,0,0,0,0,0
$GC,3197,-0.53,-194.6,428.3,-9.5,385,3204,0.00,0.80,0.00,0.000,6,0.000,0.037,2118,2620,3650,0,0,0,0,0,0
$GC,3522,-0.53,-194.6,458.1,-9.1,416,3526,0.00,0.73,0.00,0.000,4,0.000,0.024,2118,2088,3647,0,0,0,0,0,0
$GC,3561,-0.53,-194.6,462.0,-9.6,419,3567,0.00,0.80,0.00,0.000,6,0.000,0.037,2115,2617,3647,0,0,0,0,0,0
$GC,3886,-0.53,-194.6,494.8,-10.5,450,3890,0.00,0.77,0.00,0.000,4,0.000,0.042,2112,3133,3644,0,0,0,0,0,0
$GC,3921,-0.53,-194.6,498.4,-10.7,453,3925,0.00,0.73,0.00,0.000,6,0.000,0.025,2112,2607,3644,0,0,0,0,0,0
$GC,4254,-0.53,-194.6,532.7,-10.1,470,4258,0.00,0.68,0.00,0.000,4,0.000,0.024,2112,2087,3641,0,0,0,0,0,0
$GC,4316,-0.53,-194.6,539.4,-10.8,472,4323,0.00,0.80,0.00,0.000,6,0.000,0.038,2112,2613,3641,0,0,0,0,0,0
$GC,4632,-0.53,-194.6,572.8,-10.4,488,4636,0.00,0.70,0.00,0.000,4,0.000,0.025,2112,2096,3639,0,0,0,0,0,0
$GC,4680,-0.53,-194.6,577.7,-10.8,490,4684,0.00,0.77,0.00,0.000,6,0.000,0.038,2112,2606,3638,0,0,0,0,0,0
$GC,5014,-0.53,-194.6,614.5,-11.5,506,5017,0.00,0.70,0.00,0.000,4,0.000,0.024,2112,2084,3636,0,0,0,0,0,0
$GC,5114,-0.53,-194.6,626.1,-11.6,510,5117,0.00,0.80,0.00,0.000,6,0.000,0.038,2112,2608,3635,0,0,0,0,0,0
$GC,5437,-0.53,-194.6,663.8,-11.7,526,5441,0.00,0.70,0.00,0.000,4,0.000,0.024,2112,2087,3633,0,0,0,0,0,0
$GC,5498,-0.53,-194.6,670.8,-10.9,528,5504,0.00,0.80,0.00,0.000,6,0.000,0.039,2112,2612,3633,0,0,0,0,0,0
$GC,5815,-0.53,-194.6,705.7,-11.3,544,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2612,3631,0,0,0,0,0,0
$GC,6123,-0.53,-194.6,740.4,-10.9,559,6127,0.00,0.70,0.00,0.000,4,0.000,0.025,2111,2092,3630,0,0,0,0,0,0
$GC,6229,-0.53,-194.6,751.9,-10.6,563,6235,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2617,3629,0,0,0,0,0,0
$GC,6546,-0.53,-194.6,782.2,-9.2,579,6550,0.00,0.73,0.00,0.000,4,0.000,0.024,2112,2085,3627,0,0,0,0,0,0
$GC,6592,-0.53,-194.6,786.2,-8.4,581,6596,0.00,0.80,0.00,0.000,6,0.000,0.039,2112,2606,3627,0,0,0,0,0,0
$GC,6926,-0.53,-194.6,811.9,-7.5,597,6930,0.00,0.70,0.00,0.000,4,0.000,0.025,2112,2086,3625,0,0,0,0,0,0
$GC,7017,-0.53,-194.6,818.7,-7.2,601,7021,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2610,3624,0,0,0,0,0,0
$GC,7350,-0.53,-194.6,843.3,-7.5,617,7353,0.00,0.70,0.00,0.000,4,0.000,0.026,2112,2092,3623,0,0,0,0,0,0
$GC,7451,-0.53,-194.6,851.6,-8.2,621,7455,0.00,0.80,0.00,0.000,6,0.000,0.040,2112,2611,3623,0,0,0,0,0,0
$GC,7773,-0.53,-194.6,879.5,-8.5,637,7777,0.00,0.77,0.00,0.000,4,0.000,0.042,2112,3129,3621,0,0,0,0,0,0
$GC,7829,-0.53,-194.6,884.7,-8.7,639,7833,0.00,0.73,0.00,0.000,6,0.000,0.027,2112,2616,3621,0,0,0,0,0,0
$GC,8151,-0.53,-194.6,915.2,-9.6,655,8155,0.00,0.70,0.00,0.000,4,0.000,0.027,2111,2088,3620,0,0,0,0,0,0
$GC,8252,-0.53,-194.6,925.1,-9.4,659,8255,0.00,0.80,0.00,0.000,6,0.000,0.038,2111,2611,3619,0,0,0,0,0,0
$GC,8574,-0.53,-194.6,956.2,-9.5,675,8577,0.00,0.80,0.00,0.000,4,0.000,0.043,2112,3139,3618,0,0,0,0,0,0
$GC,8691,-0.53,-194.6,966.8,-8.7,680,8695,0.00,0.75,0.00,0.000,6,0.000,0.026,2112,2608,3618,0,0,0,0,0,0
$STATE,8975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8975,begin apogee
$GC,8982,-0.13,0.0,990.3,7.8,694,9138,0.40,0.00,150.25,1.071,6,0.090,0.000,2255,2159,2869,0,0,0,0,0,0
$STATE,9139,end apogee,CONTROL_FINISHED_OK
$STATE,9139,begin climb
$GC,9141,0.53,194.6,999.4,0.0,701,9308,0.57,0.85,158.50,1.050,4,0.051,0.035,2486,2690,2075,0,0,0,0,0,0
$GC,9366,0.54,202.7,986.9,11.5,711,9378,0.00,0.77,8.10,0.835,6,0.000,0.025,2490,2156,2042,0,0,0,0,0,0
$GC,9702,0.56,222.2,950.0,11.0,728,9724,0.00,0.75,16.95,0.965,4,0.000,0.031,2493,1653,1963,0,0,0,0,0,0
$GC,9843,0.61,263.4,935.6,10.1,734,9885,0.00,0.77,34.00,0.989,6,0.000,0.030,2493,2178,1794,0,0,0,0,0,0
$GC,10195,0.66,304.8,899.7,10.1,751,10238,0.00,0.80,34.03,0.979,4,0.000,0.037,2493,2686,1626,0,0,0,0,0,0
$GC,10344,0.70,334.1,883.8,10.6,757,10373,0.00,0.75,24.52,0.944,6,0.000,0.025,2496,2160,1506,0,0,0,0,0,0
$GC,10685,0.74,364.8,848.8,10.5,774,10715,0.12,0.00,27.42,0.942,6,0.096,0.000,2552,2160,1381,0,0,0,0,0,0
$GC,11011,0.74,364.8,803.8,13.6,790,11014,0.00,0.77,0.00,0.000,4,0.000,0.037,2553,2677,1381,0,0,0,0,0,0
$GC,11089,0.74,364.8,792.5,14.4,793,11093,0.00,0.73,0.00,0.000,6,0.000,0.025,2555,2160,1381,0,0,0,0,0,0
$GC,11412,0.74,364.8,752.5,11.9,809,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2160,1381,0,0,0,0,0,0
$GC,11720,0.74,366.4,716.6,11.7,824,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2160,1380,0,0,0,0,0,0
$GC,12030,0.74,366.4,678.3,12.9,839,12034,0.00,0.77,0.00,0.000,4,0.000,0.034,2555,2684,1380,0,0,0,0,0,0
$GC,12107,0.74,366.4,667.5,14.1,842,12111,0.00,0.73,0.00,0.000,6,0.000,0.025,2558,2162,1380,0,0,0,0,0,0
$GC,12431,0.74,366.4,622.6,14.3,858,12434,0.00,0.70,0.00,0.000,4,0.000,0.031,2562,1653,1380,0,0,0,0,0,0
$GC,12486,0.74,366.4,613.9,15.3,860,12490,0.00,0.75,0.00,0.000,6,0.000,0.031,2562,2162,1380,0,0,0,0,0,0
$GC,12808,0.74,366.4,564.2,15.4,876,12811,0.00,0.75,0.00,0.000,4,0.000,0.036,2562,2683,1380,0,0,0,0,0,0
$GC,12948,0.74,366.4,541.7,15.5,882,12951,0.00,0.73,0.00,0.000,6,0.000,0.026,2565,2164,1380,0,0,0,0,0,0
$GC,13265,0.74,366.4,496.5,13.8,898,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2164,1380,0,0,0,0,0,0
$GC,13586,0.74,366.4,453.1,13.9,928,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2164,1380,0,0,0,0,0,0
$GC,13913,0.74,366.4,406.3,14.6,959,13916,0.00,0.70,0.00,0.000,4,0.000,0.031,2568,1658,1380,0,0,0,0,0,0
$GC,13986,0.74,366.4,394.3,16.5,965,13994,0.08,0.75,0.00,0.000,6,0.138,0.030,2543,2170,1380,0,0,0,0,0,0
$GC,14311,0.74,366.4,346.3,14.0,996,14314,0.00,0.75,0.00,0.000,4,0.000,0.036,2543,2689,1381,0,0,0,0,0,0
$GC,14406,0.74,366.4,332.4,14.1,1004,14413,0.00,0.73,0.00,0.000,6,0.000,0.025,2545,2167,1381,0,0,0,0,0,0
$GC,14731,0.74,366.4,290.9,12.2,1035,14735,0.00,0.70,0.00,0.000,4,0.000,0.031,2547,1660,1381,0,0,0,0,0,0
$GC,14858,0.74,368.7,276.3,11.7,1046,14870,0.00,0.73,4.95,0.526,6,0.000,0.031,2548,2155,1366,0,0,0,0,0,0
$GC,15189,0.79,404.0,240.9,10.3,1077,15224,0.00,0.75,28.15,0.594,4,0.000,0.031,2548,2687,1221,0,0,0,0,0,0
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$STATE,17380,end climb,SURFACE_DEPTH_REACHED
$STATE,17380,begin surface coast
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$STATE,17404,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,24.90
$XPDR_PINGS,2
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$10V_AH,9.7,70.413
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322248
$DATA_FILE_SIZE,80291,1427
$CAP_FILE_SIZE,185894,0
$CFSIZE,260165632,202080256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,174.2,1
$GPS,210911,182407,1900.393,12000.476,33,1.1,33,-2.0