version: 66.09
glider: 181
mission: 6
dive: 242
start: 7 25 111 22 44 21
data:
$ID,181
$MISSION,6
$DIVE,242
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,-40823.902
$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,2320
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,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
$GPS1,250711,223736,1859.961,12000.438,34,0.8,41,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.9
$GPS2,250711,224356,1900.028,12000.376,15,0.9,15,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,MIDPOINT
$TGT_LATLONG,2030.000,12000.000
$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,1.8,166629,-15.3,-11.000
$D_GRID,3178
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-70.62,0.000,2,0.000,0.000,203,2593,2476,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.5,-3.8,10,131,7.93,1.95,-24.45,0.000,4,0.226,0.059,2133,3796,3765,0,0,0,0,0,0
$GC,227,-0.52,-219.0,69.7,-45.9,33,235,0.00,1.83,0.00,0.000,6,0.000,0.024,2132,2576,3767,0,0,0,0,0,0
$GC,361,-0.52,-219.0,112.8,-28.2,58,369,0.00,2.03,0.00,0.000,4,0.000,0.025,2132,1200,3769,0,0,0,0,0,0
$GC,428,-0.52,-219.0,126.9,-15.3,70,437,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2577,3767,0,0,0,0,0,0
$GC,562,-0.52,-219.0,152.9,-22.0,95,571,0.00,1.88,0.00,0.000,4,0.000,0.044,2115,3777,3768,0,0,0,0,0,0
$GC,646,-0.52,-219.0,170.3,-19.9,110,655,0.10,1.75,0.00,0.000,6,0.127,0.024,2149,2590,3768,0,0,0,0,0,0
$GC,784,-0.52,-219.0,192.5,-15.1,135,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2588,3769,0,0,0,0,0,0
$GC,919,-0.52,-219.0,211.2,-13.3,152,922,0.00,1.88,0.00,0.000,4,0.000,0.042,2142,3783,3769,0,0,0,0,0,0
$GC,947,-0.52,-219.0,215.1,-13.7,154,955,0.00,1.70,0.00,0.000,6,0.000,0.024,2141,2641,3769,0,0,0,0,0,0
$GC,1274,-0.52,-219.0,259.5,-13.8,185,1278,0.00,2.10,0.00,0.000,4,0.000,0.028,2142,1206,3768,0,0,0,0,0,0
$GC,1351,-0.52,-219.0,268.7,-9.9,191,1358,0.00,2.15,0.00,0.000,6,0.000,0.034,2139,2627,3768,0,0,0,0,0,0
$GC,1676,-0.52,-219.0,309.4,-12.2,222,1680,0.00,1.77,0.00,0.000,4,0.000,0.045,2138,3768,3765,0,0,0,0,0,0
$GC,1726,-0.52,-219.0,315.2,-10.8,226,1733,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2627,3765,0,0,0,0,0,0
$GC,2051,-0.52,-219.0,353.0,-12.0,257,2055,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1197,3761,0,0,0,0,0,0
$GC,2080,-0.52,-219.0,356.4,-11.7,259,2084,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2626,3761,0,0,0,0,0,0
$GC,2406,-0.52,-219.0,393.7,-11.4,289,2409,0.00,1.80,0.00,0.000,4,0.000,0.047,2134,3774,3758,0,0,0,0,0,0
$GC,2467,-0.52,-219.0,399.8,-8.9,294,2474,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2639,3757,0,0,0,0,0,0
$GC,2793,-0.52,-219.0,432.7,-9.9,325,2797,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1201,3754,0,0,0,0,0,0
$GC,2833,-0.52,-219.0,436.7,-9.9,328,2837,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2643,3753,0,0,0,0,0,0
$GC,3158,-0.52,-219.0,471.3,-11.5,358,3162,0.00,1.75,0.00,0.000,4,0.000,0.048,2138,3784,3750,0,0,0,0,0,0
$GC,3208,-0.52,-219.0,476.5,-10.3,362,3215,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2655,3750,0,0,0,0,0,0
$GC,3532,-0.52,-219.0,512.1,-11.3,388,3536,0.00,2.15,0.00,0.000,4,0.000,0.031,2138,1203,3747,0,0,0,0,0,0
$GC,3595,-0.52,-219.0,518.6,-9.6,391,3600,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2640,3747,0,0,0,0,0,0
$GC,3923,-0.52,-219.0,549.1,-9.1,407,3927,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1197,3744,0,0,0,0,0,0
$GC,3945,-0.52,-219.0,551.4,-9.1,408,3949,0.00,2.22,0.00,0.000,6,0.000,0.038,2138,2641,3743,0,0,0,0,0,0
$GC,4267,-0.52,-219.0,578.3,-9.2,424,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2641,3740,0,0,0,0,0,0
$GC,4577,-0.52,-219.0,608.1,-9.5,439,4581,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3776,3739,0,0,0,0,0,0
$GC,4605,-0.52,-219.0,611.0,-9.4,440,4609,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2584,3738,0,0,0,0,0,0
$GC,4933,-0.52,-219.0,641.4,-10.0,456,4937,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1198,3735,0,0,0,0,0,0
$GC,4960,-0.52,-219.0,644.4,-10.1,457,4964,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2624,3736,0,0,0,0,0,0
$GC,5281,-0.52,-219.0,676.4,-10.1,473,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3733,0,0,0,0,0,0
$GC,5591,-0.52,-219.0,703.4,-8.0,488,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2627,3731,0,0,0,0,0,0
$GC,5900,-0.52,-219.0,727.6,-8.1,503,5904,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1204,3730,0,0,0,0,0,0
$GC,5927,-0.52,-219.0,730.1,-8.4,504,5932,0.00,2.20,0.00,0.000,6,0.000,0.039,2136,2626,3730,0,0,0,0,0,0
$GC,6244,-0.52,-219.0,759.2,-10.1,519,6248,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3785,3728,0,0,0,0,0,0
$GC,6272,-0.52,-219.0,762.1,-10.1,520,6276,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2618,3728,0,0,0,0,0,0
$GC,6600,-0.52,-219.0,792.1,-8.8,536,6604,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1210,3727,0,0,0,0,0,0
$GC,6655,-0.52,-219.0,796.8,-8.3,538,6662,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2620,3726,0,0,0,0,0,0
$GC,6971,-0.52,-219.0,820.2,-7.1,554,6975,0.00,1.80,0.00,0.000,4,0.000,0.051,2138,3777,3724,0,0,0,0,0,0
$GC,6999,-0.52,-219.0,822.1,-6.9,555,7003,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2611,3724,0,0,0,0,0,0
$GC,7326,-0.52,-219.0,844.4,-7.4,571,7330,0.00,2.10,0.00,0.000,4,0.000,0.033,2139,1205,3723,0,0,0,0,0,0
$GC,7389,-0.52,-219.0,849.1,-7.5,574,7393,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2609,3723,0,0,0,0,0,0
$GC,7717,-0.52,-219.0,876.8,-9.0,590,7720,0.00,1.83,0.00,0.000,4,0.000,0.051,2137,3782,3721,0,0,0,0,0,0
$GC,7740,-0.52,-219.0,878.9,-9.0,591,7744,0.00,1.75,0.00,0.000,6,0.000,0.028,2135,2598,3721,0,0,0,0,0,0
$GC,8074,-0.52,-219.0,907.0,-8.2,607,8078,0.00,2.10,0.00,0.000,4,0.000,0.032,2138,1194,3720,0,0,0,0,0,0
$GC,8124,-0.52,-219.0,911.2,-8.5,609,8128,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2593,3719,0,0,0,0,0,0
$GC,8446,-0.52,-219.0,933.8,-7.0,625,8449,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3782,3718,0,0,0,0,0,0
$GC,8485,-0.52,-219.0,936.5,-6.8,626,8492,0.00,1.77,0.00,0.000,6,0.000,0.027,2138,2583,3717,0,0,0,0,0,0
$GC,8801,-0.52,-219.0,957.1,-6.4,642,8805,0.00,2.05,0.00,0.000,4,0.000,0.032,2137,1210,3717,0,0,0,0,0,0
$GC,8851,-0.52,-219.0,960.6,-6.6,644,8855,0.00,2.15,0.00,0.000,6,0.000,0.037,2137,2596,3716,0,0,0,0,0,0
$GC,9173,-0.52,-219.0,981.2,-6.6,660,9177,0.00,1.83,0.00,0.000,4,0.000,0.047,2138,3778,3715,0,0,0,0,0,0
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9302,-0.13,0.0,990.4,7.8,665,9473,0.38,0.00,163.70,1.098,4,0.096,0.000,2272,2134,2868,0,0,0,0,0,0
$STATE,9474,end apogee,CONTROL_FINISHED_OK
$STATE,9474,begin climb
$GC,9476,0.52,219.0,1000.8,0.0,673,9661,0.60,2.30,176.20,1.071,4,0.057,0.037,2499,722,1978,0,0,0,0,0,0
$GC,9795,0.52,219.0,975.6,12.3,688,9802,0.00,2.28,0.00,0.000,6,0.000,0.035,2499,2126,1974,0,0,0,0,0,0
$GC,10111,0.52,219.0,935.2,12.6,704,10115,0.00,2.20,0.00,0.000,4,0.000,0.038,2509,722,1973,0,0,0,0,0,0
$GC,10308,0.52,219.0,910.9,12.3,713,10312,0.00,2.22,0.00,0.000,6,0.000,0.036,2509,2147,1973,0,0,0,0,0,0
$GC,10634,0.52,219.0,866.2,14.0,729,10638,0.00,2.20,0.00,0.000,4,0.000,0.047,2509,3541,1971,0,0,0,0,0,0
$GC,10661,0.52,219.0,861.8,15.2,730,10666,0.00,2.17,0.00,0.000,6,0.000,0.029,2518,2113,1971,0,0,0,0,0,0
$GC,10989,0.52,219.0,812.9,15.0,746,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2113,1971,0,0,0,0,0,0
$GC,11298,0.52,219.0,766.9,14.8,761,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2113,1970,0,0,0,0,0,0
$GC,11608,0.52,219.0,722.3,14.2,776,11612,0.00,2.12,0.00,0.000,4,0.000,0.037,2529,706,1970,0,0,0,0,0,0
$GC,11662,0.52,219.0,714.7,13.7,778,11670,0.15,2.25,0.00,0.000,6,0.163,0.034,2490,2144,1970,0,0,0,0,0,0
$GC,11979,0.55,237.0,681.3,10.4,794,12001,0.00,2.20,14.45,0.865,4,0.000,0.044,2490,3542,1902,0,0,0,0,0,0
$GC,12025,0.55,237.0,676.3,11.2,796,12030,0.00,2.12,0.00,0.000,6,0.000,0.027,2497,2139,1902,0,0,0,0,0,0
$GC,12353,0.55,237.0,635.6,12.8,812,12357,0.00,2.17,0.00,0.000,4,0.000,0.038,2508,714,1900,0,0,0,0,0,0
$GC,12403,0.55,237.0,628.8,13.3,814,12407,0.00,2.20,0.00,0.000,6,0.000,0.033,2508,2146,1901,0,0,0,0,0,0
$GC,12724,0.55,237.0,581.9,14.9,830,12728,0.00,2.15,0.00,0.000,4,0.000,0.044,2508,3540,1901,0,0,0,0,0,0
$GC,12779,0.55,237.0,572.7,16.5,832,12786,0.00,2.15,0.00,0.000,6,0.000,0.027,2518,2143,1901,0,0,0,0,0,0
$GC,13096,0.55,237.0,527.8,13.6,848,13100,0.00,2.17,0.00,0.000,4,0.000,0.037,2528,707,1901,0,0,0,0,0,0
$GC,13180,0.55,237.0,516.3,13.5,852,13185,0.12,2.17,0.00,0.000,6,0.163,0.034,2496,2130,1901,0,0,0,0,0,0
$GC,13502,0.55,237.0,477.9,11.8,876,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2130,1901,0,0,0,0,0,0
$GC,13822,0.59,268.9,443.6,9.9,906,13856,0.00,2.25,24.75,0.750,4,0.000,0.045,2500,3528,1772,0,0,0,0,0,0
$GC,13918,0.59,268.9,432.4,12.0,914,13925,0.00,2.17,0.00,0.000,6,0.000,0.028,2500,2117,1771,0,0,0,0,0,0
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$STATE,17803,end climb,SURFACE_DEPTH_REACHED
$STATE,17803,begin surface coast
$FINISH,2.1,1.020489
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17811,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,42.16
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$TCM_TEMP,25.20
$XPDR_PINGS,0
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$10V_AH,9.9,37.207
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322816
$DATA_FILE_SIZE,97064,1435
$CAP_FILE_SIZE,193072,0
$CFSIZE,260165632,228589568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,034336,1902.807,12001.027,26,1.4,26,-2.0