version: 66.09
glider: 181
mission: 6
dive: 79
start: 6 25 111 3 15 13
data:
$ID,181
$MISSION,6
$DIVE,79
$N_DIVES,85
$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,400
$T_MISSION,440
$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,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,-39616.793
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,39
$R_STBD_OVSHOOT,38
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,250611,030736,2014.876,11956.548,35,1.0,35,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-57.2
$GPS2,250611,031449,2014.876,11956.482,12,1.0,15,-2.3
$SPEED_LIMITS,0.143,0.275
$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,175.5,138807,-12.1,-8.250
$D_GRID,3385
$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,-0.48,-194.6,0.0,0.0,0,103,0.00,0.00,-83.80,0.000,2,0.000,0.000,186,2617,2759,0,0,0,0,0,0
$GC,106,-0.48,-194.6,4.0,-7.2,11,138,8.02,1.80,-15.80,0.000,4,0.239,0.054,2129,3781,3664,0,0,0,0,0,0
$GC,157,-0.48,-194.6,32.4,-59.0,18,166,0.00,1.83,0.00,0.000,6,0.000,0.028,2128,2594,3666,0,0,0,0,0,0
$GC,294,-0.48,-194.6,94.3,-35.5,43,302,0.00,2.10,0.00,0.000,4,0.000,0.027,2128,1174,3667,0,0,0,0,0,0
$GC,311,-0.48,-194.6,99.4,-31.3,45,319,0.00,2.25,0.00,0.000,6,0.000,0.040,2123,2598,3667,0,0,0,0,0,0
$GC,448,-0.48,-194.6,133.3,-26.9,70,457,0.00,1.85,0.00,0.000,4,0.000,0.046,2111,3777,3668,0,0,0,0,0,0
$GC,488,-0.48,-194.6,142.2,-22.3,76,496,0.00,1.80,0.00,0.000,6,0.000,0.026,2111,2579,3669,0,0,0,0,0,0
$GC,626,-0.48,-194.6,174.1,-27.5,101,634,0.12,0.00,0.00,0.000,6,0.179,0.000,2141,2578,3669,0,0,0,0,0,0
$GC,767,-0.48,-194.6,201.7,-16.1,126,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2577,3670,0,0,0,0,0,0
$GC,1087,-0.48,-194.6,248.6,-14.6,156,1091,0.00,1.85,0.00,0.000,4,0.000,0.045,2137,3783,3669,0,0,0,0,0,0
$GC,1155,-0.48,-194.6,257.6,-12.0,162,1159,0.00,1.73,0.00,0.000,6,0.000,0.026,2134,2588,3669,0,0,0,0,0,0
$GC,1486,-0.48,-194.6,308.5,-15.0,193,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2585,3667,0,0,0,0,0,0
$GC,1806,-0.48,-194.6,355.8,-15.3,223,1810,0.00,2.03,0.00,0.000,4,0.000,0.032,2134,1206,3665,0,0,0,0,0,0
$GC,1844,-0.48,-194.6,361.7,-13.9,226,1853,0.00,2.17,0.00,0.000,6,0.000,0.039,2126,2603,3664,0,0,0,0,0,0
$GC,2172,-0.48,-194.6,412.1,-17.0,257,2175,0.00,1.83,0.00,0.000,4,0.000,0.050,2121,3784,3661,0,0,0,0,0,0
$GC,2244,-0.48,-194.6,423.8,-13.0,263,2251,0.00,1.75,0.00,0.000,6,0.000,0.028,2122,2614,3660,0,0,0,0,0,0
$GC,2569,-0.48,-194.6,471.1,-14.2,294,2573,0.00,2.08,0.00,0.000,4,0.000,0.034,2121,1201,3657,0,0,0,0,0,0
$GC,2643,-0.48,-194.6,479.5,-9.9,300,2648,0.12,2.15,0.00,0.000,6,0.162,0.040,2146,2606,3656,0,0,0,0,0,0
$GC,2966,-0.48,-194.6,506.8,-8.2,326,2970,0.00,1.80,0.00,0.000,4,0.000,0.048,2139,3790,3653,0,0,0,0,0,0
$GC,3004,-0.48,-194.6,510.0,-7.9,327,3011,0.00,1.80,0.00,0.000,6,0.000,0.030,2135,2593,3652,0,0,0,0,0,0
$GC,3321,-0.48,-194.6,540.2,-10.1,343,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2590,3649,0,0,0,0,0,0
$GC,3629,-0.48,-194.6,571.6,-9.9,358,3633,0.00,2.08,0.00,0.000,4,0.000,0.036,2139,1201,3646,0,0,0,0,0,0
$GC,3692,-0.48,-194.6,577.4,-8.9,361,3696,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2603,3647,0,0,0,0,0,0
$GC,4019,-0.48,-194.6,611.4,-11.1,377,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2609,3642,0,0,0,0,0,0
$GC,4328,-0.48,-194.6,646.8,-11.1,392,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2603,3641,0,0,0,0,0,0
$GC,4638,-0.48,-194.6,679.4,-10.2,407,4642,0.00,1.88,0.00,0.000,4,0.000,0.053,2138,3777,3638,0,0,0,0,0,0
$GC,4676,-0.48,-194.6,683.4,-9.8,408,4683,0.00,1.77,0.00,0.000,6,0.000,0.030,2138,2605,3638,0,0,0,0,0,0
$GC,4992,-0.48,-194.6,711.3,-8.7,424,4996,0.00,2.08,0.00,0.000,4,0.000,0.036,2137,1203,3633,0,0,0,0,0,0
$GC,5025,-0.48,-194.6,714.3,-8.8,425,5032,0.00,2.17,0.00,0.000,6,0.000,0.041,2138,2594,3635,0,0,0,0,0,0
$GC,5342,-0.48,-194.6,739.5,-7.9,441,5346,0.00,2.10,0.00,0.000,4,0.000,0.036,2137,1196,3633,0,0,0,0,0,0
$GC,5385,-0.48,-194.6,743.0,-7.7,443,5389,0.00,2.17,0.00,0.000,6,0.000,0.042,2137,2613,3633,0,0,0,0,0,0
$GC,5713,-0.48,-194.6,768.8,-8.1,459,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2614,3632,0,0,0,0,0,0
$GC,6021,-0.48,-194.6,794.4,-8.5,474,6025,0.00,2.15,0.00,0.000,4,0.000,0.037,2138,1200,3629,0,0,0,0,0,0
$GC,6047,-0.48,-194.6,796.9,-8.7,475,6051,0.00,2.17,0.00,0.000,6,0.000,0.043,2138,2609,3629,0,0,0,0,0,0
$GC,6375,-0.48,-194.6,826.2,-9.3,491,6379,0.00,1.80,0.00,0.000,4,0.000,0.053,2134,3781,3627,0,0,0,0,0,0
$GC,6402,-0.48,-194.6,828.9,-9.1,492,6406,0.00,1.80,0.00,0.000,6,0.000,0.031,2134,2593,3627,0,0,0,0,0,0
$GC,6730,-0.48,-194.6,857.5,-8.7,508,6734,0.00,2.08,0.00,0.000,4,0.000,0.036,2134,1195,3625,0,0,0,0,0,0
$GC,6815,-0.48,-194.6,864.5,-7.9,512,6819,0.00,2.17,0.00,0.000,6,0.000,0.041,2127,2609,3625,0,0,0,0,0,0
$GC,7141,-0.48,-194.6,894.4,-9.4,528,7145,0.00,1.80,0.00,0.000,4,0.000,0.053,2125,3782,3623,0,0,0,0,0,0
$GC,7187,-0.48,-194.6,898.5,-8.9,530,7191,0.00,1.75,0.00,0.000,6,0.000,0.030,2124,2595,3623,0,0,0,0,0,0
$GC,7520,-0.48,-194.6,931.9,-10.5,546,7524,0.00,2.05,0.00,0.000,4,0.000,0.035,2124,1210,3621,0,0,0,0,0,0
$GC,7580,-0.48,-194.6,938.3,-10.0,548,7588,0.00,2.17,0.00,0.000,6,0.000,0.042,2125,2592,3621,0,0,0,0,0,0
$GC,7897,-0.48,-194.6,970.6,-10.4,564,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2600,3620,0,0,0,0,0,0
$STATE,8101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8101,begin apogee
$GC,8107,-0.16,0.0,990.8,9.7,574,8261,0.38,0.00,148.43,1.110,6,0.127,0.000,2249,2113,2868,0,0,0,0,0,0
$STATE,8262,end apogee,CONTROL_FINISHED_OK
$STATE,8262,begin climb
$GC,8264,0.48,194.6,997.7,0.0,581,8434,0.57,2.45,160.12,1.079,4,0.062,0.046,2459,3529,2074,0,0,0,0,0,0
$GC,8456,0.48,194.6,987.5,10.5,590,8460,0.00,2.22,0.00,0.000,6,0.000,0.031,2469,2141,2071,0,0,0,0,0,0
$GC,8783,0.48,194.6,952.7,10.3,606,8787,0.00,2.22,0.00,0.000,4,0.000,0.040,2480,715,2064,0,0,0,0,0,0
$GC,8855,0.48,194.6,945.2,10.0,609,8859,0.00,2.20,0.00,0.000,6,0.000,0.034,2480,2126,2063,0,0,0,0,0,0
$GC,9178,0.48,194.6,910.3,10.8,625,9181,0.00,2.22,0.00,0.000,4,0.000,0.046,2480,3546,2062,0,0,0,0,0,0
$GC,9249,0.48,194.6,901.5,12.2,628,9254,0.12,2.17,0.00,0.000,6,0.196,0.031,2462,2124,2061,0,0,0,0,0,0
$GC,9576,0.48,194.6,870.4,9.2,644,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2124,2060,0,0,0,0,0,0
$GC,9886,0.48,194.6,841.0,9.8,659,9890,0.00,2.17,0.00,0.000,4,0.000,0.041,2471,712,2059,0,0,0,0,0,0
$GC,9940,0.48,194.6,835.2,10.3,661,9945,0.00,2.17,0.00,0.000,6,0.000,0.034,2470,2132,2059,0,0,0,0,0,0
$GC,10263,0.48,194.6,800.4,10.8,677,10267,0.00,2.17,0.00,0.000,4,0.000,0.046,2471,3538,2058,0,0,0,0,0,0
$GC,10358,0.48,194.6,788.6,12.7,681,10362,0.00,2.15,0.00,0.000,6,0.000,0.030,2480,2115,2058,0,0,0,0,0,0
$GC,10679,0.48,194.6,750.6,12.0,697,10683,0.00,2.12,0.00,0.000,4,0.000,0.041,2491,719,2058,0,0,0,0,0,0
$GC,10774,0.48,194.6,738.9,12.4,701,10779,0.12,2.15,0.00,0.000,6,0.171,0.036,2460,2128,2058,0,0,0,0,0,0
$GC,11095,0.48,194.6,702.9,11.2,717,11099,0.00,2.17,0.00,0.000,4,0.000,0.046,2460,3535,2057,0,0,0,0,0,0
$GC,11218,0.48,194.6,687.3,12.3,722,11222,0.00,2.15,0.00,0.000,6,0.000,0.031,2468,2106,2057,0,0,0,0,0,0
$GC,11540,0.48,194.6,652.0,10.5,738,11544,0.00,2.10,0.00,0.000,4,0.000,0.041,2479,719,2057,0,0,0,0,0,0
$GC,11580,0.48,194.6,647.9,10.3,740,11584,0.00,2.12,0.00,0.000,6,0.000,0.036,2478,2124,2057,0,0,0,0,0,0
$GC,11906,0.48,194.6,614.9,9.6,756,11910,0.00,2.17,0.00,0.000,4,0.000,0.046,2479,3546,2058,0,0,0,0,0,0
$GC,11970,0.48,194.6,608.5,10.6,759,11974,0.00,2.15,0.00,0.000,6,0.000,0.031,2488,2116,2056,0,0,0,0,0,0
$GC,12302,0.48,194.6,577.6,9.5,775,12307,0.00,2.12,0.00,0.000,4,0.000,0.041,2499,715,2057,0,0,0,0,0,0
$GC,12450,0.48,194.6,563.8,9.4,781,12455,0.15,2.15,0.00,0.000,6,0.167,0.035,2459,2128,2057,0,0,0,0,0,0
$GC,12766,0.48,194.6,537.9,8.6,796,12770,0.00,2.17,0.00,0.000,4,0.000,0.046,2459,3535,2054,0,0,0,0,0,0
$GC,12866,0.48,194.6,527.2,10.8,800,12870,0.00,2.12,0.00,0.000,6,0.000,0.030,2467,2118,2056,0,0,0,0,0,0
$GC,13190,0.48,194.6,490.7,11.8,819,13194,0.00,2.12,0.00,0.000,4,0.000,0.041,2478,712,2056,0,0,0,0,0,0
$GC,13212,0.48,194.6,487.8,12.0,820,13219,0.00,2.15,0.00,0.000,6,0.000,0.034,2478,2124,2056,0,0,0,0,0,0
$GC,13538,0.48,194.6,447.8,12.8,851,13542,0.00,2.15,0.00,0.000,4,0.000,0.040,2487,713,2057,0,0,0,0,0,0
$GC,13570,0.48,194.6,443.8,11.8,853,13577,0.00,2.17,0.00,0.000,6,0.000,0.036,2488,2120,2057,0,0,0,0,0,0
$GC,13897,0.48,194.6,405.1,10.6,884,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2120,2057,0,0,0,0,0,0
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$GC,14344,0.48,194.6,362.3,10.8,925,14349,0.15,2.12,0.00,0.000,6,0.174,0.030,2459,2120,2056,0,0,0,0,0,0
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$STATE,18383,end climb,SURFACE_DEPTH_REACHED
$STATE,18383,begin surface coast
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$STATE,18422,end surface coast,CONTROL_FINISHED_OK
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.09
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$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.2,13.243
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$FG_AHR_10Vo,0.000
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$MEM,322624
$DATA_FILE_SIZE,97072,1481
$CAP_FILE_SIZE,189603,0
$CFSIZE,260165632,243761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,349.3,1
$GPS,250611,082436,2013.962,11956.659,26,1.2,26,-2.3