version: 66.09
glider: 181
mission: 6
dive: 544
start: 9 24 111 8 34 5
data:
$ID,181
$MISSION,6
$DIVE,544
$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,-41270.695
$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,10
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,30
$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
$GPS1,240911,082701,1929.840,11959.484,42,1.0,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.3
$GPS2,240911,083308,1929.971,11959.406,12,1.8,12,-2.1
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.075,0.303
$KALMAN_X,96440.2,2645.1,-402.4,-96734.2,-1248.4
$KALMAN_Y,65015.9,2121.4,-281.9,-38326.6,-922.9
$MHEAD_RNG_PITCHd_Wd,359.9,250075,-17.4,-11.786
$D_GRID,4158
$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,-194.6,0.0,0.0,0,80,0.00,0.00,-61.38,0.000,2,0.000,0.000,141,2561,2175,0,0,0,0,0,0
$GC,83,-0.53,-194.6,3.1,-3.3,10,134,8.38,0.65,-33.50,0.000,4,0.223,0.088,2120,2973,3664,0,0,0,0,0,0
$GC,387,-0.53,-194.6,84.4,-21.9,63,394,0.00,0.50,0.00,0.000,6,0.000,0.028,2119,2581,3663,0,0,0,0,0,0
$GC,529,-0.53,-194.6,111.2,-17.3,88,536,0.00,0.55,0.00,0.000,4,0.000,0.038,2116,2965,3663,0,0,0,0,0,0
$GC,571,-0.53,-194.6,118.1,-16.0,95,578,0.00,0.47,0.00,0.000,6,0.000,0.028,2116,2586,3663,0,0,0,0,0,0
$GC,713,-0.53,-194.6,141.0,-16.7,120,720,0.00,0.52,0.00,0.000,4,0.000,0.039,2113,2955,3663,0,0,0,0,0,0
$GC,828,-0.53,-194.6,159.0,-15.3,140,835,0.00,0.45,0.00,0.000,6,0.000,0.028,2114,2588,3664,0,0,0,0,0,0
$GC,971,-0.53,-194.6,178.7,-14.0,165,978,0.00,0.40,0.00,0.000,4,0.000,0.028,2114,2237,3665,0,0,0,0,0,0
$GC,1068,-0.53,-194.6,191.7,-13.3,182,1076,0.00,0.55,0.00,0.000,6,0.000,0.038,2112,2613,3664,0,0,0,0,0,0
$GC,1213,-0.53,-194.6,208.6,-11.3,201,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2615,3664,0,0,0,0,0,0
$GC,1535,-0.53,-194.6,243.2,-11.4,231,1538,0.00,0.45,0.00,0.000,4,0.000,0.026,2112,2241,3664,0,0,0,0,0,0
$GC,1640,-0.53,-194.6,256.1,-11.4,240,1647,0.00,0.50,0.00,0.000,6,0.000,0.039,2111,2583,3664,0,0,0,0,0,0
$GC,1966,-0.53,-194.6,289.7,-9.9,271,1970,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2254,3661,0,0,0,0,0,0
$GC,2040,-0.53,-194.6,297.3,-10.4,277,2047,0.00,0.50,0.00,0.000,6,0.000,0.040,2112,2588,3660,0,0,0,0,0,0
$GC,2366,-0.53,-194.6,331.6,-10.4,308,2370,0.00,0.43,0.00,0.000,4,0.000,0.028,2112,2246,3658,0,0,0,0,0,0
$GC,2468,-0.53,-194.6,342.3,-10.5,317,2472,0.00,0.52,0.00,0.000,6,0.000,0.040,2112,2597,3656,0,0,0,0,0,0
$GC,2799,-0.53,-194.6,377.5,-10.6,348,2803,0.00,0.43,0.00,0.000,4,0.000,0.028,2112,2254,3653,0,0,0,0,0,0
$GC,2890,-0.53,-194.6,386.8,-9.7,356,2894,0.00,0.50,0.00,0.000,6,0.000,0.041,2112,2588,3652,0,0,0,0,0,0
$GC,3222,-0.53,-194.6,419.8,-9.7,387,3225,0.00,0.43,0.00,0.000,4,0.000,0.028,2112,2255,3648,0,0,0,0,0,0
$GC,3271,-0.53,-194.6,424.9,-10.0,391,3278,0.00,0.50,0.00,0.000,6,0.000,0.041,2112,2585,3648,0,0,0,0,0,0
$GC,3597,-0.53,-194.6,456.2,-9.4,422,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2585,3645,0,0,0,0,0,0
$GC,3917,-0.53,-194.6,487.8,-10.1,452,3920,0.00,0.43,0.00,0.000,4,0.000,0.029,2112,2251,3643,0,0,0,0,0,0
$GC,4001,-0.53,-194.6,496.6,-10.1,459,4008,0.00,0.52,0.00,0.000,6,0.000,0.041,2111,2595,3641,0,0,0,0,0,0
$GC,4329,-0.53,-194.6,530.6,-10.7,477,4332,0.00,0.43,0.00,0.000,4,0.000,0.028,2112,2259,3639,0,0,0,0,0,0
$GC,4420,-0.53,-194.6,540.1,-10.5,481,4424,0.00,0.50,0.00,0.000,6,0.000,0.042,2111,2591,3639,0,0,0,0,0,0
$GC,4753,-0.53,-194.6,573.6,-9.4,497,4757,0.00,0.45,0.00,0.000,4,0.000,0.032,2111,2260,3636,0,0,0,0,0,0
$GC,4827,-0.53,-194.6,580.4,-9.3,500,4831,0.00,0.50,0.00,0.000,6,0.000,0.044,2112,2586,3636,0,0,0,0,0,0
$GC,5154,-0.53,-194.6,611.0,-9.5,516,5158,0.00,0.43,0.00,0.000,4,0.000,0.028,2111,2251,3633,0,0,0,0,0,0
$GC,5260,-0.53,-194.6,621.7,-10.2,520,5266,0.00,0.52,0.00,0.000,6,0.000,0.042,2111,2596,3633,0,0,0,0,0,0
$GC,5577,-0.53,-194.6,652.7,-9.7,536,5581,0.00,0.43,0.00,0.000,4,0.000,0.028,2111,2257,3630,0,0,0,0,0,0
$GC,5655,-0.53,-194.6,660.7,-9.9,539,5659,0.00,0.50,0.00,0.000,6,0.000,0.043,2111,2586,3630,0,0,0,0,0,0
$GC,5978,-0.53,-194.6,690.3,-9.1,555,5982,0.00,0.43,0.00,0.000,4,0.000,0.029,2112,2246,3628,0,0,0,0,0,0
$GC,6070,-0.53,-194.6,698.4,-9.0,559,6073,0.00,0.52,0.00,0.000,6,0.000,0.042,2111,2590,3628,0,0,0,0,0,0
$GC,6403,-0.53,-194.6,726.1,-8.4,575,6407,0.00,0.45,0.00,0.000,4,0.000,0.032,2111,2256,3626,0,0,0,0,0,0
$GC,6551,-0.53,-194.6,738.9,-9.1,581,6555,0.00,0.50,0.00,0.000,6,0.000,0.043,2111,2583,3625,0,0,0,0,0,0
$GC,6873,-0.53,-194.6,768.3,-9.3,597,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2583,3623,0,0,0,0,0,0
$GC,7183,-0.53,-194.6,797.5,-9.6,612,7187,0.00,0.40,0.00,0.000,4,0.000,0.030,2111,2260,3622,0,0,0,0,0,0
$GC,7289,-0.53,-194.6,808.0,-9.5,616,7295,0.00,0.50,0.00,0.000,6,0.000,0.043,2111,2590,3622,0,0,0,0,0,0
$GC,7606,-0.53,-194.6,838.1,-9.4,632,7610,0.00,0.45,0.00,0.000,4,0.000,0.032,2111,2251,3620,0,0,0,0,0,0
$GC,7712,-0.53,-194.6,848.0,-9.1,636,7719,0.00,0.50,0.00,0.000,6,0.000,0.043,2111,2583,3620,0,0,0,0,0,0
$GC,8029,-0.53,-194.6,877.4,-9.4,652,8033,0.00,0.40,0.00,0.000,4,0.000,0.030,2111,2257,3619,0,0,0,0,0,0
$GC,8198,-0.53,-194.6,894.3,-10.0,659,8202,0.00,0.50,0.00,0.000,6,0.000,0.044,2111,2586,3618,0,0,0,0,0,0
$GC,8521,-0.53,-194.6,925.3,-9.5,675,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2586,3617,0,0,0,0,0,0
$GC,8829,-0.53,-194.6,953.7,-9.1,690,8833,0.00,0.43,0.00,0.000,4,0.000,0.031,2112,2254,3616,0,0,0,0,0,0
$GC,8981,-0.53,-194.6,966.9,-8.4,696,8988,0.00,0.52,0.00,0.000,6,0.000,0.044,2111,2595,3615,0,0,0,0,0,0
$STATE,9275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9275,begin apogee
$GC,9282,-0.13,0.0,990.7,7.8,711,9437,0.43,0.00,150.07,1.071,6,0.110,0.000,2254,2175,2869,0,0,0,0,0,0
$STATE,9438,end apogee,CONTROL_FINISHED_OK
$STATE,9438,begin climb
$GC,9442,0.53,194.6,999.1,0.0,718,9607,0.57,0.00,159.38,1.050,6,0.050,0.000,2486,2175,2075,0,0,0,0,0,0
$GC,9909,0.58,232.2,963.0,10.3,741,9943,0.00,0.00,31.25,0.998,6,0.000,0.000,2486,2175,1922,0,0,0,0,0,0
$GC,10242,0.62,269.7,928.0,10.3,757,10277,0.00,0.52,31.38,0.987,4,0.000,0.033,2485,2521,1768,0,0,0,0,0,0
$GC,10336,0.66,299.9,917.7,10.6,761,10366,0.00,0.50,25.65,0.961,6,0.000,0.030,2488,2158,1645,0,0,0,0,0,0
$GC,10683,0.71,340.1,881.3,10.1,778,10720,0.12,0.52,33.30,0.968,4,0.091,0.031,2542,2523,1481,0,0,0,0,0,0
$GC,10790,0.71,340.1,866.4,15.2,782,10793,0.00,0.50,0.00,0.000,6,0.000,0.028,2545,2156,1480,0,0,0,0,0,0
$GC,11122,0.71,340.1,821.8,13.1,798,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2155,1482,0,0,0,0,0,0
$GC,11432,0.71,340.1,780.4,13.7,813,11436,0.00,0.40,0.00,0.000,4,0.000,0.034,2547,1819,1484,0,0,0,0,0,0
$GC,11482,0.71,340.1,773.4,13.5,815,11486,0.00,0.52,0.00,0.000,6,0.000,0.032,2547,2187,1484,0,0,0,0,0,0
$GC,11810,0.71,340.1,728.8,13.9,831,11813,0.00,0.43,0.00,0.000,4,0.000,0.041,2547,2503,1484,0,0,0,0,0,0
$GC,11866,0.71,340.1,720.7,14.4,833,11870,0.00,0.45,0.00,0.000,6,0.000,0.030,2549,2156,1484,0,0,0,0,0,0
$GC,12187,0.71,340.1,675.6,13.7,849,12191,0.00,0.40,0.00,0.000,4,0.000,0.034,2551,1819,1484,0,0,0,0,0,0
$GC,12312,0.71,340.1,659.1,13.0,854,12316,0.00,0.47,0.00,0.000,6,0.000,0.034,2551,2161,1483,0,0,0,0,0,0
$GC,12635,0.71,340.1,616.8,13.0,870,12639,0.00,0.47,0.00,0.000,4,0.000,0.039,2551,2509,1483,0,0,0,0,0,0
$GC,12758,0.71,340.1,600.4,13.2,875,12762,0.00,0.47,0.00,0.000,6,0.000,0.029,2553,2156,1483,0,0,0,0,0,0
$GC,13081,0.71,340.1,560.0,12.7,891,13085,0.00,0.40,0.00,0.000,4,0.000,0.034,2555,1824,1483,0,0,0,0,0,0
$GC,13159,0.71,340.1,549.4,13.3,894,13163,0.00,0.50,0.00,0.000,6,0.000,0.033,2556,2167,1483,0,0,0,0,0,0
$GC,13482,0.71,340.1,506.3,13.3,910,13485,0.00,0.47,0.00,0.000,4,0.000,0.040,2555,2514,1483,0,0,0,0,0,0
$GC,13567,0.71,340.1,494.0,14.1,915,13573,0.00,0.45,0.00,0.000,6,0.000,0.031,2557,2172,1483,0,0,0,0,0,0
$GC,13892,0.71,340.1,451.9,12.0,946,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2172,1484,0,0,0,0,0,0
$GC,14212,0.71,340.1,413.2,12.2,976,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2173,1483,0,0,0,0,0,0
$GC,14532,0.71,340.1,372.2,13.2,1006,14536,0.00,0.43,0.00,0.000,4,0.000,0.035,2560,1830,1484,0,0,0,0,0,0
$GC,14716,0.71,340.1,347.8,12.7,1022,14725,0.12,0.50,0.00,0.000,6,0.158,0.033,2526,2181,1484,0,0,0,0,0,0
$GC,15042,0.75,377.4,314.3,10.3,1053,15077,0.00,0.50,30.58,0.643,4,0.000,0.040,2527,2509,1330,0,0,0,0,0,0
$GC,15163,0.77,390.8,301.4,11.2,1063,15181,0.00,0.45,12.50,0.574,6,0.000,0.031,2527,2172,1274,0,0,0,0,0,0
$GC,15500,0.79,408.3,264.4,11.1,1095,15523,0.00,0.50,14.75,0.583,4,0.000,0.034,2529,1817,1203,0,0,0,0,0,0
$GC,15581,0.79,409.0,255.2,11.8,1102,15585,0.00,0.47,0.00,0.000,6,0.000,0.034,2529,2157,1203,0,0,0,0,0,0
$GC,15912,0.88,479.4,223.7,8.9,1133,15972,0.15,0.50,54.62,0.574,4,0.080,0.034,2595,2502,914,0,0,0,0,0,0
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$FG_AHR_10Vo,0.000
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$CFSIZE,260165632,200925184
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