version: 66.09
glider: 181
mission: 6
dive: 414
start: 8 28 111 22 57 9
data:
$ID,181
$MISSION,6
$DIVE,414
$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,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,-41073.047
$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,45
$R_STBD_OVSHOOT,39
$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,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
$GPS1,280811,225055,2034.851,12005.806,37,1.4,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-52.9
$GPS2,280811,225644,2034.862,12005.869,11,1.3,11,-2.4
$SPEED_LIMITS,0.204,0.329
$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,185.7,175984,-16.3,-11.786
$D_GRID,3666
$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,13,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,86,0.00,0.00,-68.03,0.000,2,0.000,0.000,142,2625,2333,0,0,0,0,0,0
$GC,89,-0.54,-219.0,3.2,-3.5,12,137,8.40,1.85,-29.95,0.000,4,0.230,0.056,2128,3776,3765,0,0,0,0,0,0
$GC,219,-0.54,-219.0,46.0,-43.3,34,226,0.00,1.75,0.00,0.000,6,0.000,0.024,2128,2582,3765,0,0,0,0,0,0
$GC,362,-0.54,-219.0,88.2,-26.6,59,369,0.00,2.03,0.00,0.000,4,0.000,0.026,2128,1194,3765,0,0,0,0,0,0
$GC,382,-0.54,-219.0,92.1,-21.3,62,389,0.00,2.17,0.00,0.000,6,0.000,0.034,2119,2611,3765,0,0,0,0,0,0
$GC,525,-0.54,-219.0,119.0,-18.8,87,531,0.00,2.10,0.00,0.000,4,0.000,0.026,2119,1192,3765,0,0,0,0,0,0
$GC,572,-0.54,-219.0,126.0,-13.9,95,579,0.12,2.08,0.00,0.000,6,0.153,0.034,2146,2540,3765,0,0,0,0,0,0
$GC,718,-0.54,-219.0,147.8,-14.9,120,725,0.00,1.92,0.00,0.000,4,0.000,0.041,2139,3788,3765,0,0,0,0,0,0
$GC,793,-0.54,-219.0,158.9,-12.8,133,800,0.00,1.77,0.00,0.000,6,0.000,0.023,2139,2555,3765,0,0,0,0,0,0
$GC,939,-0.54,-219.0,176.2,-11.4,158,945,0.00,1.95,0.00,0.000,4,0.000,0.027,2139,1213,3766,0,0,0,0,0,0
$GC,963,-0.54,-219.0,179.5,-11.8,162,970,0.00,2.05,0.00,0.000,6,0.000,0.033,2138,2564,3766,0,0,0,0,0,0
$GC,1106,-0.54,-219.0,196.0,-12.4,187,1113,0.00,1.85,0.00,0.000,4,0.000,0.043,2138,3779,3766,0,0,0,0,0,0
$GC,1131,-0.54,-219.0,199.3,-13.2,191,1138,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2568,3766,0,0,0,0,0,0
$GC,1267,-0.54,-219.0,216.4,-13.0,204,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2566,3766,0,0,0,0,0,0
$GC,1585,-0.54,-219.0,257.2,-12.0,234,1589,0.00,2.00,0.00,0.000,4,0.000,0.028,2138,1199,3765,0,0,0,0,0,0
$GC,1642,-0.54,-219.0,263.4,-10.1,239,1646,0.00,2.10,0.00,0.000,6,0.000,0.033,2137,2579,3765,0,0,0,0,0,0
$GC,1968,-0.54,-219.0,293.0,-8.3,269,1971,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3778,3763,0,0,0,0,0,0
$GC,2003,-0.54,-219.0,295.9,-8.3,272,2007,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2554,3763,0,0,0,0,0,0
$GC,2335,-0.54,-219.0,328.0,-11.3,303,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2551,3761,0,0,0,0,0,0
$GC,2654,-0.54,-219.0,364.8,-10.9,333,2658,0.00,2.00,0.00,0.000,4,0.000,0.030,2138,1196,3758,0,0,0,0,0,0
$GC,2681,-0.54,-219.0,368.0,-10.6,335,2688,0.00,2.10,0.00,0.000,6,0.000,0.034,2138,2571,3757,0,0,0,0,0,0
$GC,3006,-0.54,-219.0,399.4,-8.5,366,3010,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3777,3755,0,0,0,0,0,0
$GC,3034,-0.54,-219.0,401.9,-8.4,368,3041,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2557,3754,0,0,0,0,0,0
$GC,3360,-0.54,-219.0,422.1,-5.3,399,3363,0.00,1.98,0.00,0.000,4,0.000,0.029,2138,1212,3752,0,0,0,0,0,0
$GC,3428,-0.54,-219.0,425.8,-5.6,405,3432,0.00,2.05,0.00,0.000,6,0.000,0.033,2138,2555,3752,0,0,0,0,0,0
$GC,3760,-0.54,-219.0,444.0,-4.9,436,3763,0.00,1.88,0.00,0.000,4,0.000,0.046,2138,3776,3749,0,0,0,0,0,0
$GC,3787,-0.54,-219.0,445.4,-4.9,438,3794,0.00,1.80,0.00,0.000,6,0.000,0.025,2138,2545,3749,0,0,0,0,0,0
$GC,4114,-0.54,-219.0,465.4,-8.2,469,4118,0.00,1.98,0.00,0.000,4,0.000,0.029,2138,1206,3748,0,0,0,0,0,0
$GC,4152,-0.54,-219.0,469.1,-9.0,472,4159,0.00,2.05,0.00,0.000,6,0.000,0.033,2138,2547,3747,0,0,0,0,0,0
$GC,4488,-0.54,-219.0,502.6,-10.2,503,4492,0.00,1.90,0.00,0.000,4,0.000,0.045,2137,3776,3744,0,0,0,0,0,0
$GC,4512,-0.54,-219.0,505.0,-10.2,504,4515,0.00,1.80,0.00,0.000,6,0.000,0.025,2138,2551,3744,0,0,0,0,0,0
$GC,4845,-0.54,-219.0,535.0,-8.4,520,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2549,3742,0,0,0,0,0,0
$GC,5155,-0.54,-219.0,558.8,-7.0,535,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2549,3740,0,0,0,0,0,0
$GC,5463,-0.54,-219.0,579.0,-6.4,550,5467,0.00,1.98,0.00,0.000,4,0.000,0.029,2137,1210,3738,0,0,0,0,0,0
$GC,5510,-0.54,-219.0,581.8,-6.1,552,5514,0.00,2.08,0.00,0.000,6,0.000,0.034,2138,2561,3738,0,0,0,0,0,0
$GC,5843,-0.54,-219.0,604.4,-7.3,568,5847,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3776,3737,0,0,0,0,0,0
$GC,6101,-0.54,-219.0,628.3,-10.2,579,6105,0.00,1.92,0.00,0.000,6,0.000,0.025,2138,2475,3735,0,0,0,0,0,0
$GC,6423,-0.54,-219.0,655.1,-8.2,595,6427,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3787,3733,0,0,0,0,0,0
$GC,6515,-0.54,-219.0,663.4,-9.2,599,6519,0.00,1.92,0.00,0.000,6,0.000,0.025,2143,2488,3732,0,0,0,0,0,0
$GC,6848,-0.54,-219.0,693.4,-8.8,615,6852,0.00,1.90,0.00,0.000,4,0.000,0.032,2147,1205,3732,0,0,0,0,0,0
$GC,7051,-0.54,-219.0,712.3,-9.3,624,7055,0.00,1.95,0.00,0.000,6,0.000,0.031,2148,2482,3731,0,0,0,0,0,0
$GC,7385,-0.54,-219.0,740.3,-8.6,640,7388,0.00,1.90,0.00,0.000,4,0.000,0.030,2148,1210,3729,0,0,0,0,0,0
$GC,7522,-0.54,-219.0,753.2,-9.7,646,7525,0.00,1.90,0.00,0.000,6,0.000,0.032,2148,2457,3729,0,0,0,0,0,0
$GC,7855,-0.54,-219.0,784.8,-9.5,662,7858,0.00,1.88,0.00,0.000,4,0.000,0.031,2148,1204,3728,0,0,0,0,0,0
$GC,7992,-0.54,-219.0,798.2,-9.8,668,7995,0.00,1.90,0.00,0.000,6,0.000,0.032,2148,2452,3727,0,0,0,0,0,0
$GC,8325,-0.54,-219.0,826.9,-8.8,684,8329,0.00,1.88,0.00,0.000,4,0.000,0.031,2148,1201,3726,0,0,0,0,0,0
$GC,8520,-0.54,-219.0,845.6,-10.1,692,8527,0.00,1.90,0.00,0.000,6,0.000,0.033,2148,2450,3725,0,0,0,0,0,0
$GC,8837,-0.54,-219.0,878.5,-10.9,708,8840,0.00,1.85,0.00,0.000,4,0.000,0.031,2148,1210,3724,0,0,0,0,0,0
$GC,9007,-0.54,-219.0,898.2,-12.0,715,9011,0.00,1.90,0.00,0.000,6,0.000,0.034,2148,2419,3724,0,0,0,0,0,0
$GC,9328,-0.54,-219.0,934.7,-11.1,731,9332,0.00,1.83,0.00,0.000,4,0.000,0.032,2147,1203,3722,0,0,0,0,0,0
$GC,9489,-0.54,-219.0,951.4,-10.6,738,9493,0.00,1.92,0.00,0.000,6,0.000,0.033,2148,2433,3722,0,0,0,0,0,0
$STATE,9613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9613,begin apogee
$GC,9620,-0.13,0.0,964.3,10.0,744,9793,0.32,0.00,168.90,1.060,4,0.063,0.000,2294,2116,2869,0,0,0,0,0,0
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9796,0.54,219.0,976.5,0.0,752,9983,0.57,2.35,178.25,1.040,4,0.047,0.041,2514,3537,1976,0,0,0,0,0,0
$GC,9988,0.54,219.0,967.0,13.1,761,9995,0.00,2.25,0.00,0.000,6,0.000,0.027,2524,2157,1975,0,0,0,0,0,0
$GC,10304,0.54,219.0,924.7,13.6,777,10308,0.00,2.22,0.00,0.000,4,0.000,0.036,2534,710,1973,0,0,0,0,0,0
$GC,10383,0.54,219.0,913.8,13.7,780,10388,0.15,2.20,0.00,0.000,6,0.164,0.033,2495,2134,1974,0,0,0,0,0,0
$GC,10700,0.54,219.3,875.9,11.8,795,10704,0.00,2.17,0.00,0.000,4,0.000,0.043,2495,3535,1973,0,0,0,0,0,0
$GC,10756,0.54,219.3,868.5,13.1,797,10763,0.00,2.15,0.00,0.000,6,0.000,0.028,2504,2117,1973,0,0,0,0,0,0
$GC,11072,0.54,219.3,830.4,11.8,813,11076,0.00,2.12,0.00,0.000,4,0.000,0.037,2515,717,1972,0,0,0,0,0,0
$GC,11158,0.54,219.3,820.3,11.9,817,11162,0.00,2.17,0.00,0.000,6,0.000,0.032,2515,2136,1972,0,0,0,0,0,0
$GC,11485,0.54,219.3,776.6,14.2,833,11489,0.00,2.17,0.00,0.000,4,0.000,0.044,2515,3535,1971,0,0,0,0,0,0
$GC,11517,0.54,219.3,771.4,14.9,834,11524,0.00,2.15,0.00,0.000,6,0.000,0.028,2525,2119,1972,0,0,0,0,0,0
$GC,11835,0.54,219.3,725.0,14.7,850,11839,0.12,2.15,0.00,0.000,4,0.181,0.037,2503,714,1971,0,0,0,0,0,0
$GC,11968,0.55,225.6,709.4,11.6,856,11979,0.00,2.20,6.38,0.761,6,0.000,0.032,2502,2117,1949,0,0,0,0,0,0
$GC,12290,0.55,225.6,669.9,12.4,871,12294,0.00,2.22,0.00,0.000,4,0.000,0.044,2503,3542,1947,0,0,0,0,0,0
$GC,12322,0.55,225.6,665.2,13.8,872,12329,0.00,2.15,0.00,0.000,6,0.000,0.028,2512,2122,1947,0,0,0,0,0,0
$GC,12638,0.55,225.6,625.0,12.6,888,12642,0.00,2.12,0.00,0.000,4,0.000,0.038,2523,721,1947,0,0,0,0,0,0
$GC,12769,0.55,225.6,609.0,12.4,894,12773,0.00,2.12,0.00,0.000,6,0.000,0.034,2523,2095,1947,0,0,0,0,0,0
$GC,13102,0.56,235.3,570.2,11.4,910,13117,0.00,2.28,9.50,0.747,4,0.000,0.044,2523,3538,1908,0,0,0,0,0,0
$GC,13193,0.56,235.3,558.6,12.6,914,13198,0.12,2.17,0.00,0.000,6,0.181,0.028,2503,2108,1907,0,0,0,0,0,0
$GC,13521,0.66,311.8,527.9,9.0,930,13586,0.00,2.28,58.85,0.783,4,0.000,0.037,2511,710,1596,0,0,0,0,0,0
$GC,13605,0.76,398.3,520.1,8.6,933,13678,0.15,2.20,66.68,0.757,6,0.089,0.032,2571,2108,1245,0,0,0,0,0,0
$GC,14005,0.76,398.3,462.7,16.1,964,14009,0.00,2.25,0.00,0.000,4,0.000,0.044,2571,3540,1249,0,0,0,0,0,0
$GC,14101,0.76,398.3,446.2,17.5,972,14105,0.00,2.15,0.00,0.000,6,0.000,0.027,2581,2129,1250,0,0,0,0,0,0
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$STATE,17566,end climb,SURFACE_DEPTH_REACHED
$STATE,17566,begin surface coast
$FINISH,0.3,1.010434
$STATE,17590,end surface coast,CONTROL_FINISHED_OK
$STATE,17590,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.84
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,59.826
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.125,186.050,645.175,0.000,0.000,30.454,23.899,148.689,0.000,0.000,15.035,3455.332,10482.980,755.305,2922.676,386.389,0.000,2257.820,0.000,2680.607,0.000,0.540,0.000
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$SENSOR_SECS,994.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322996
$DATA_FILE_SIZE,83582,1435
$CAP_FILE_SIZE,197846,0
$CFSIZE,260165632,212291584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290811,035255,2032.717,12004.603,41,0.9,41,-2.3