version: 66.09
glider: 181
mission: 6
dive: 770
start: 11 5 111 16 7 27
data:
$ID,181
$MISSION,6
$DIVE,770
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,0
$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,1
$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,-41820.398
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,53
$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
$GPS1,051111,160037,2131.346,12025.598,30,1.0,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.9
$GPS2,051111,160702,2131.283,12025.621,15,1.2,15,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,191.7,283745,-14.3,-10.312
$D_GRID,1510
$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,18,-0.61,-219.0,0.0,0.0,0,93,0.00,0.00,-73.25,0.000,2,0.000,0.000,151,2485,2467,0,0,0,0,0,0
$GC,97,-0.61,-219.0,3.1,-2.6,13,139,8.45,0.77,-29.58,0.000,4,0.224,0.062,2173,1954,3764,0,0,0,0,0,0
$GC,249,-0.49,-219.0,33.5,-19.2,39,257,0.12,0.80,0.00,0.000,6,0.131,0.035,2211,2483,3764,0,0,0,0,0,0
$GC,598,-0.43,-219.0,84.9,-10.6,100,604,0.00,0.73,0.00,0.000,4,0.000,0.023,2211,1937,3763,0,0,0,0,0,0
$GC,629,-0.38,-219.0,88.2,-10.5,105,636,0.12,0.85,0.00,0.000,6,0.115,0.033,2250,2501,3763,0,0,0,0,0,0
$GC,977,-0.49,-219.0,125.4,-8.8,166,984,0.00,0.75,0.00,0.000,4,0.000,0.024,2250,1938,3763,0,0,0,0,0,0
$GC,1240,-0.63,-219.0,152.5,-10.5,212,1247,0.20,0.85,0.00,0.000,6,0.047,0.031,2164,2512,3763,0,0,0,0,0,0
$GC,1590,-0.65,-219.0,189.9,-10.4,273,1596,0.00,0.75,0.00,0.000,4,0.000,0.036,2161,3026,3763,0,0,0,0,0,0
$GC,1671,-0.60,-219.0,199.0,-11.6,287,1678,0.00,0.77,0.00,0.000,6,0.000,0.023,2161,2458,3763,0,0,0,0,0,0
$GC,2004,-0.63,-219.0,237.3,-10.8,319,2008,0.00,0.85,0.00,0.000,4,0.000,0.034,2157,3021,3763,0,0,0,0,0,0
$GC,2077,-0.63,-219.0,245.5,-10.9,325,2084,0.00,0.70,0.00,0.000,6,0.000,0.024,2158,2507,3763,0,0,0,0,0,0
$GC,2403,-0.66,-219.0,277.1,-9.7,356,2407,0.00,0.77,0.00,0.000,4,0.000,0.035,2154,3024,3762,0,0,0,0,0,0
$GC,2511,-0.63,-219.0,288.7,-11.2,365,2518,0.00,0.73,0.00,0.000,6,0.000,0.024,2153,2493,3762,0,0,0,0,0,0
$GC,2837,-0.66,-219.0,323.0,-10.4,396,2841,0.00,0.68,0.00,0.000,4,0.000,0.026,2154,1971,3760,0,0,0,0,0,0
$GC,2896,-0.66,-219.0,329.4,-11.3,401,2900,0.00,0.77,0.00,0.000,6,0.000,0.034,2152,2493,3760,0,0,0,0,0,0
$GC,3228,-0.69,-219.0,366.0,-10.3,432,3232,0.00,0.70,0.00,0.000,4,0.000,0.024,2152,1972,3758,0,0,0,0,0,0
$GC,3343,-0.71,-219.0,376.0,-8.1,442,3347,0.00,0.77,0.00,0.000,6,0.000,0.034,2152,2492,3757,0,0,0,0,0,0
$GC,3675,-0.75,-219.0,398.6,-7.4,473,3679,0.00,0.70,0.00,0.000,4,0.000,0.026,2152,1978,3755,0,0,0,0,0,0
$GC,3757,-0.77,-219.0,406.0,-9.4,480,3761,0.00,0.77,0.00,0.000,6,0.000,0.035,2152,2489,3754,0,0,0,0,0,0
$GC,4088,-0.82,-219.0,445.7,-11.5,511,4093,0.12,0.70,0.00,0.000,4,0.080,0.027,2083,1988,3751,0,0,0,0,0,0
$GC,4196,-0.72,-219.0,460.8,-14.6,520,4204,0.17,0.77,0.00,0.000,6,0.124,0.037,2136,2495,3750,0,0,0,0,0,0
$GC,4524,-0.76,-219.0,489.1,-7.6,551,4527,0.00,0.70,0.00,0.000,4,0.000,0.027,2137,1985,3747,0,0,0,0,0,0
$GC,4597,-0.78,-219.0,495.0,-7.7,557,4604,0.00,0.80,0.00,0.000,6,0.000,0.037,2137,2505,3747,0,0,0,0,0,0
$GC,4916,-0.82,-219.0,520.7,-8.5,576,4920,0.00,0.70,0.00,0.000,4,0.000,0.026,2137,1991,3745,0,0,0,0,0,0
$GC,5002,-0.83,-219.0,528.6,-9.5,579,5008,0.00,0.77,0.00,0.000,6,0.000,0.037,2137,2499,3743,0,0,0,0,0,0
$GC,5319,-0.87,-219.0,558.6,-9.7,595,5323,0.12,0.73,0.00,0.000,4,0.081,0.028,2072,1991,3740,0,0,0,0,0,0
$GC,5359,-0.80,-219.0,563.3,-12.2,596,5366,0.12,0.77,0.00,0.000,6,0.137,0.037,2108,2498,3740,0,0,0,0,0,0
$GC,5676,-0.73,-219.0,603.1,-12.5,612,5680,0.12,0.82,0.00,0.000,4,0.156,0.042,2141,3023,3738,0,0,0,0,0,0
$GC,5796,-0.70,-219.0,615.7,-10.6,617,5800,0.00,0.73,0.00,0.000,6,0.000,0.027,2141,2518,3737,0,0,0,0,0,0
$GC,6124,-0.74,-219.0,649.2,-10.2,633,6128,0.00,0.75,0.00,0.000,4,0.000,0.028,2141,1965,3734,0,0,0,0,0,0
$GC,6240,-0.77,-219.0,660.8,-10.2,638,6244,0.00,0.82,0.00,0.000,6,0.000,0.037,2139,2501,3734,0,0,0,0,0,0
$GC,6574,-0.82,-219.0,694.1,-9.9,654,6578,0.00,0.73,0.00,0.000,4,0.000,0.027,2139,1976,3732,0,0,0,0,0,0
$GC,6654,-0.84,-219.0,701.7,-9.1,657,6658,0.08,0.80,0.00,0.000,6,0.054,0.037,2088,2495,3731,0,0,0,0,0,0
$GC,6976,-0.74,-219.0,739.2,-13.2,673,6980,0.17,0.85,0.00,0.000,4,0.145,0.044,2134,3025,3729,0,0,0,0,0,0
$GC,7138,-0.71,-219.0,756.3,-9.5,680,7141,0.00,0.75,0.00,0.000,6,0.000,0.027,2134,2503,3728,0,0,0,0,0,0
$GC,7466,-0.67,-219.0,787.6,-9.7,696,7470,0.00,0.82,0.00,0.000,4,0.000,0.042,2130,3024,3727,0,0,0,0,0,0
$GC,7536,-0.63,-219.0,795.3,-11.4,699,7541,0.12,0.75,0.00,0.000,6,0.123,0.027,2171,2504,3726,0,0,0,0,0,0
$GC,7872,-0.72,-219.0,824.0,-8.5,715,7876,0.00,0.82,0.00,0.000,4,0.000,0.041,2170,3029,3724,0,0,0,0,0,0
$GC,7969,-0.81,-219.0,832.8,-8.9,719,7973,0.12,0.77,0.00,0.000,6,0.047,0.026,2099,2496,3723,0,0,0,0,0,0
$GC,8296,-0.81,-219.0,869.9,-11.7,735,8299,0.00,0.70,0.00,0.000,4,0.000,0.028,2098,1978,3722,0,0,0,0,0,0
$GC,8369,-0.77,-219.0,878.3,-11.3,738,8373,0.08,0.80,0.00,0.000,6,0.132,0.037,2121,2491,3722,0,0,0,0,0,0
$GC,8701,-0.72,-219.0,909.3,-8.6,754,8704,0.00,0.82,0.00,0.000,4,0.000,0.044,2119,3025,3720,0,0,0,0,0,0
$GC,8891,-0.67,-219.0,927.0,-9.2,762,8896,0.10,0.77,0.00,0.000,6,0.136,0.028,2152,2490,3719,0,0,0,0,0,0
$GC,9216,-0.74,-219.0,949.0,-6.8,778,9219,0.00,0.85,0.00,0.000,4,0.000,0.043,2152,3028,3718,0,0,0,0,0,0
$GC,9318,-0.78,-219.0,956.8,-7.5,782,9322,0.00,0.77,0.00,0.000,6,0.000,0.028,2152,2502,3717,0,0,0,0,0,0
$GC,9641,-0.87,-219.0,982.9,-8.6,798,9645,0.17,0.85,0.00,0.000,4,0.074,0.043,2069,3021,3716,0,0,0,0,0,0
$STATE,9699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9699,begin apogee
$GC,9708,-0.19,0.0,990.8,14.8,800,9883,0.80,0.00,167.73,1.062,6,0.140,0.000,2303,2098,2869,0,0,0,0,0,0
$STATE,9883,end apogee,CONTROL_FINISHED_OK
$STATE,9883,begin climb
$GC,9887,0.61,219.0,1003.4,0.0,809,10079,0.75,0.88,182.70,1.045,4,0.050,0.031,2585,1586,1976,0,0,0,0,0,0
$GC,10111,0.52,231.3,995.1,9.9,819,10129,0.15,0.85,12.23,0.896,6,0.145,0.029,2546,2103,1926,0,0,0,0,0,0
$GC,10440,0.45,231.3,962.7,10.5,835,10443,0.00,0.77,0.00,0.000,4,0.000,0.037,2546,2622,1924,0,0,0,0,0,0
$GC,10595,0.40,243.7,946.8,9.9,841,10610,0.12,0.77,11.40,0.908,6,0.149,0.029,2510,2100,1875,0,0,0,0,0,0
$GC,10933,0.48,325.4,919.7,7.7,858,11001,0.00,0.85,64.28,1.001,4,0.000,0.034,2510,2627,1542,0,0,0,0,0,0
$GC,11074,0.61,404.3,908.8,7.8,864,11145,0.15,0.80,63.58,0.983,6,0.050,0.030,2583,2096,1220,0,0,0,0,0,0
$GC,11454,0.59,413.5,871.3,10.0,883,11468,0.00,0.82,9.43,0.838,4,0.000,0.036,2583,2622,1183,0,0,0,0,0,0
$GC,11544,0.55,413.5,860.5,12.5,887,11547,0.00,0.77,0.00,0.000,6,0.000,0.030,2587,2098,1183,0,0,0,0,0,0
$GC,11878,0.53,413.5,818.2,13.0,903,11880,0.15,0.00,0.00,0.000,6,0.148,0.000,2546,2098,1186,0,0,0,0,0,0
$GC,12186,0.60,413.5,782.4,11.7,918,12190,0.00,0.75,0.00,0.000,4,0.000,0.037,2547,1587,1186,0,0,0,0,0,0
$GC,12221,0.66,413.5,778.2,11.9,919,12226,0.10,0.77,0.00,0.000,6,0.057,0.030,2603,2099,1186,0,0,0,0,0,0
$GC,12545,0.64,413.5,732.8,13.6,935,12549,0.00,0.77,0.00,0.000,4,0.000,0.033,2606,1576,1185,0,0,0,0,0,0
$GC,12556,0.62,413.5,730.6,13.6,935,12560,0.08,0.80,0.00,0.000,6,0.131,0.030,2581,2104,1185,0,0,0,0,0,0
$GC,12879,0.64,413.5,692.3,11.4,951,12882,0.00,0.77,0.00,0.000,4,0.000,0.037,2581,2627,1185,0,0,0,0,0,0
$GC,12940,0.62,413.5,684.9,11.3,953,12947,0.00,0.77,0.00,0.000,6,0.000,0.028,2583,2101,1185,0,0,0,0,0,0
$GC,13258,0.70,450.4,653.5,9.1,969,13293,0.00,0.80,30.52,0.836,4,0.000,0.030,2583,2619,1031,0,0,0,0,0,0
$GC,13378,0.75,489.1,642.2,9.1,974,13414,0.00,0.77,32.30,0.816,6,0.000,0.031,2585,2102,874,0,0,0,0,0,0
$GC,13743,0.86,534.9,610.6,8.9,992,13787,0.17,0.82,38.12,0.808,4,0.074,0.034,2666,1573,688,0,0,0,0,0,0
$GC,13839,0.79,534.9,598.8,13.7,996,13844,0.10,0.80,0.00,0.000,6,0.129,0.031,2634,2098,689,0,0,0,0,0,0
$GC,14166,0.79,534.9,554.2,13.7,1012,14170,0.00,0.77,0.00,0.000,4,0.000,0.034,2634,2623,687,0,0,0,0,0,0
$GC,14216,0.75,534.9,547.2,14.0,1014,14220,0.00,0.77,0.00,0.000,6,0.000,0.029,2636,2105,688,0,0,0,0,0,0
$GC,14546,0.83,567.2,512.9,9.3,1030,14574,0.00,0.00,26.65,0.739,6,0.000,0.000,2636,2105,555,0,0,0,0,0,0
$GC,14884,0.86,567.2,476.4,12.1,1055,14888,0.00,0.77,0.00,0.000,4,0.000,0.036,2640,1578,556,0,0,0,0,0,0
$GC,14968,0.90,567.2,465.3,13.1,1062,14975,0.00,0.77,0.00,0.000,6,0.000,0.029,2639,2099,556,0,0,0,0,0,0
$GC,15294,0.98,567.2,422.5,11.5,1093,15298,0.15,0.82,0.00,0.000,4,0.080,0.035,2715,1568,556,0,0,0,0,0,0
$GC,15344,0.93,567.2,415.8,13.5,1097,15351,0.12,0.80,0.00,0.000,6,0.142,0.029,2676,2103,556,0,0,0,0,0,0
$GC,15670,0.94,578.1,382.3,10.0,1128,15683,0.00,0.75,9.85,0.616,4,0.000,0.031,2677,2633,513,0,0,0,0,0,0
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$STATE,18933,end climb,SURFACE_DEPTH_REACHED
$STATE,18933,begin surface coast
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$STATE,18956,end surface coast,CONTROL_FINISHED_OK
$STATE,18956,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,51.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.50
$XPDR_PINGS,1
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$10V_AH,9.6,91.269
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$FG_AHR_10Vo,0.000
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$MEM,322772
$DATA_FILE_SIZE,90258,1574
$CAP_FILE_SIZE,212448,0
$CFSIZE,260165632,182132736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051111,212601,2130.217,12026.100,41,1.2,41,-2.6