version: 66.09
glider: 181
mission: 6
dive: 83
start: 6 25 111 23 48 35
data:
$ID,181
$MISSION,6
$DIVE,83
$N_DIVES,90
$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,150
$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,-39621.824
$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,53
$R_STBD_OVSHOOT,42
$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
$GPS1,250611,234106,2009.989,11955.367,24,2.0,24,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.2
$GPS2,250611,234808,2010.015,11955.374,13,1.9,13,-2.3
$SPEED_LIMITS,0.143,0.243
$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,136.2,129920,-14.5,-8.250
$D_GRID,3446
$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,-0.47,-146.0,0.0,0.0,0,85,0.00,0.00,-66.82,0.000,2,0.000,0.000,160,2621,2683,0,0,0,0,0,0
$GC,88,-0.47,-146.0,3.8,-5.0,9,121,8.12,1.85,-14.68,0.000,4,0.237,0.059,2136,3777,3468,0,0,0,0,0,0
$GC,193,-0.47,-146.0,56.9,-48.5,26,201,0.00,1.80,0.00,0.000,6,0.000,0.026,2136,2592,3469,0,0,0,0,0,0
$GC,331,-0.47,-146.0,100.4,-30.7,51,339,0.00,2.08,0.00,0.000,4,0.000,0.029,2136,1203,3469,0,0,0,0,0,0
$GC,402,-0.47,-146.0,117.2,-20.3,63,410,0.00,2.17,0.00,0.000,6,0.000,0.041,2126,2586,3471,0,0,0,0,0,0
$GC,539,-0.47,-146.0,148.4,-21.7,88,547,0.00,1.88,0.00,0.000,4,0.000,0.045,2117,3785,3472,0,0,0,0,0,0
$GC,614,-0.47,-146.0,161.2,-14.2,101,623,0.08,1.77,0.00,0.000,6,0.147,0.025,2141,2591,3472,0,0,0,0,0,0
$GC,755,-0.47,-146.0,182.2,-16.7,126,763,0.00,2.08,0.00,0.000,4,0.000,0.029,2141,1198,3473,0,0,0,0,0,0
$GC,813,-0.47,-146.0,191.3,-13.4,136,821,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2601,3473,0,0,0,0,0,0
$GC,956,-0.47,-146.0,216.1,-18.1,154,960,0.00,1.83,0.00,0.000,4,0.000,0.045,2129,3788,3475,0,0,0,0,0,0
$GC,994,-0.47,-146.0,223.3,-17.7,157,1002,0.00,1.77,0.00,0.000,6,0.000,0.025,2129,2594,3472,0,0,0,0,0,0
$GC,1320,-0.47,-146.0,272.7,-14.9,188,1323,0.00,2.03,0.00,0.000,4,0.000,0.030,2129,1208,3471,0,0,0,0,0,0
$GC,1420,-0.47,-146.0,286.7,-13.1,197,1424,0.00,2.12,0.00,0.000,6,0.000,0.038,2124,2600,3471,0,0,0,0,0,0
$GC,1751,-0.47,-146.0,337.5,-16.0,228,1755,0.00,2.05,0.00,0.000,4,0.000,0.031,2124,1215,3469,0,0,0,0,0,0
$GC,1790,-0.47,-146.0,343.9,-15.3,231,1797,0.00,2.17,0.00,0.000,6,0.000,0.040,2124,2602,3469,0,0,0,0,0,0
$GC,2118,-0.47,-146.0,393.2,-14.8,262,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3466,0,0,0,0,0,0
$GC,2435,-0.47,-146.0,436.4,-13.6,292,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2603,3463,0,0,0,0,0,0
$GC,2754,-0.47,-146.0,480.0,-13.2,322,2757,0.00,2.08,0.00,0.000,4,0.000,0.034,2124,1211,3460,0,0,0,0,0,0
$GC,2806,-0.47,-146.0,486.9,-12.5,326,2810,0.00,2.15,0.00,0.000,6,0.000,0.042,2124,2609,3460,0,0,0,0,0,0
$GC,3135,-0.47,-146.0,531.3,-13.9,346,3139,0.00,1.80,0.00,0.000,4,0.000,0.051,2123,3787,3457,0,0,0,0,0,0
$GC,3196,-0.47,-146.0,539.6,-12.1,348,3204,0.00,1.77,0.00,0.000,6,0.000,0.029,2119,2603,3456,0,0,0,0,0,0
$GC,3513,-0.47,-146.0,577.6,-11.9,364,3516,0.00,2.10,0.00,0.000,4,0.000,0.036,2123,1200,3453,0,0,0,0,0,0
$GC,3607,-0.47,-146.0,588.2,-10.3,368,3612,0.12,2.17,0.00,0.000,6,0.166,0.041,2146,2618,3452,0,0,0,0,0,0
$GC,3929,-0.47,-146.0,616.9,-9.1,384,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2619,3450,0,0,0,0,0,0
$GC,4238,-0.47,-146.0,647.0,-9.7,399,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2620,3447,0,0,0,0,0,0
$GC,4548,-0.47,-146.0,675.6,-9.0,414,4552,0.00,2.12,0.00,0.000,4,0.000,0.036,2147,1208,3444,0,0,0,0,0,0
$GC,4614,-0.47,-146.0,681.4,-8.4,417,4618,0.00,2.15,0.00,0.000,6,0.000,0.042,2140,2605,3444,0,0,0,0,0,0
$GC,4941,-0.47,-146.0,709.6,-8.5,433,4945,0.00,2.10,0.00,0.000,4,0.000,0.037,2140,1212,3442,0,0,0,0,0,0
$GC,4985,-0.47,-146.0,713.5,-8.6,435,4990,0.00,2.15,0.00,0.000,6,0.000,0.044,2138,2605,3442,0,0,0,0,0,0
$GC,5307,-0.47,-146.0,739.1,-8.2,451,5311,0.00,2.10,0.00,0.000,4,0.000,0.037,2138,1211,3440,0,0,0,0,0,0
$GC,5335,-0.47,-146.0,741.6,-8.2,452,5339,0.00,2.15,0.00,0.000,6,0.000,0.044,2137,2605,3439,0,0,0,0,0,0
$GC,5657,-0.47,-146.0,768.6,-8.5,468,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2605,3438,0,0,0,0,0,0
$GC,5966,-0.47,-146.0,794.4,-8.1,483,5970,0.00,2.12,0.00,0.000,4,0.000,0.037,2137,1201,3439,0,0,0,0,0,0
$GC,6024,-0.47,-146.0,799.1,-8.1,485,6032,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,2601,3435,0,0,0,0,0,0
$GC,6340,-0.47,-146.0,823.1,-7.4,501,6344,0.00,2.15,0.00,0.000,4,0.000,0.037,2138,1200,3433,0,0,0,0,0,0
$GC,6412,-0.47,-146.0,828.8,-7.5,504,6416,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,2612,3433,0,0,0,0,0,0
$GC,6740,-0.47,-146.0,852.2,-7.3,520,6744,0.00,2.12,0.00,0.000,4,0.000,0.037,2137,1206,3432,0,0,0,0,0,0
$GC,6772,-0.47,-146.0,855.0,-7.6,521,6781,0.00,2.17,0.00,0.000,6,0.000,0.044,2138,2612,3432,0,0,0,0,0,0
$GC,7089,-0.47,-146.0,880.2,-8.0,537,7093,0.00,1.80,0.00,0.000,4,0.000,0.053,2137,3780,3431,0,0,0,0,0,0
$GC,7122,-0.47,-146.0,883.1,-8.0,538,7126,0.00,1.77,0.00,0.000,6,0.000,0.030,2137,2575,3430,0,0,0,0,0,0
$GC,7444,-0.47,-146.0,911.3,-9.1,554,7448,0.00,2.08,0.00,0.000,4,0.000,0.038,2138,1191,3429,0,0,0,0,0,0
$GC,7561,-0.47,-146.0,922.2,-8.8,559,7565,0.00,2.17,0.00,0.000,6,0.000,0.043,2137,2602,3428,0,0,0,0,0,0
$GC,7888,-0.47,-146.0,949.5,-7.9,575,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2603,3427,0,0,0,0,0,0
$GC,8198,-0.47,-146.0,972.6,-7.2,590,8202,0.00,2.12,0.00,0.000,4,0.000,0.038,2137,1209,3426,0,0,0,0,0,0
$GC,8290,-0.47,-146.0,979.6,-7.8,594,8294,0.00,2.15,0.00,0.000,6,0.000,0.044,2137,2599,3425,0,0,0,0,0,0
$STATE,8435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8435,begin apogee
$GC,8441,-0.16,0.0,991.1,7.9,601,8560,0.32,0.00,110.68,1.115,6,0.125,0.000,2246,2123,2869,0,0,0,0,0,0
$STATE,8561,end apogee,CONTROL_FINISHED_OK
$STATE,8561,begin climb
$GC,8563,0.47,146.0,995.1,0.0,606,8693,0.57,2.35,121.25,1.084,4,0.080,0.042,2458,733,2273,0,0,0,0,0,0
$GC,8774,0.47,146.0,982.3,10.1,616,8778,0.00,2.25,0.00,0.000,6,0.000,0.037,2458,2137,2265,0,0,0,0,0,0
$GC,9101,0.47,146.0,947.9,10.5,632,9105,0.00,2.22,0.00,0.000,4,0.000,0.048,2458,3546,2264,0,0,0,0,0,0
$GC,9145,0.47,146.0,942.8,11.2,634,9149,0.00,2.17,0.00,0.000,6,0.000,0.032,2468,2133,2260,0,0,0,0,0,0
$GC,9472,0.47,146.0,906.6,11.1,650,9476,0.00,2.17,0.00,0.000,4,0.000,0.043,2479,718,2259,0,0,0,0,0,0
$GC,9543,0.47,146.0,898.2,11.3,653,9547,0.00,2.17,0.00,0.000,6,0.000,0.037,2479,2127,2258,0,0,0,0,0,0
$GC,9865,0.47,146.0,858.1,12.4,669,9869,0.00,2.20,0.00,0.000,4,0.000,0.049,2479,3537,2257,0,0,0,0,0,0
$GC,9905,0.47,146.0,852.8,13.7,671,9910,0.15,2.15,0.00,0.000,6,0.196,0.032,2453,2126,2256,0,0,0,0,0,0
$GC,10233,0.47,146.0,818.0,10.2,687,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2126,2256,0,0,0,0,0,0
$GC,10541,0.47,146.0,786.4,9.9,702,10545,0.00,2.15,0.00,0.000,4,0.000,0.044,2462,720,2255,0,0,0,0,0,0
$GC,10618,0.47,146.0,778.2,10.3,705,10623,0.00,2.15,0.00,0.000,6,0.000,0.037,2462,2126,2255,0,0,0,0,0,0
$GC,10941,0.47,146.0,744.3,10.5,721,10945,0.00,2.20,0.00,0.000,4,0.000,0.047,2462,3545,2254,0,0,0,0,0,0
$GC,10995,0.47,146.0,737.7,12.2,723,11002,0.00,2.20,0.00,0.000,6,0.000,0.032,2472,2120,2252,0,0,0,0,0,0
$GC,11312,0.47,146.0,702.1,11.1,739,11316,0.00,2.12,0.00,0.000,4,0.000,0.043,2483,722,2253,0,0,0,0,0,0
$GC,11374,0.47,146.0,695.1,11.2,742,11378,0.00,2.15,0.00,0.000,6,0.000,0.037,2483,2136,2253,0,0,0,0,0,0
$GC,11701,0.47,146.0,659.4,10.7,758,11705,0.00,2.15,0.00,0.000,4,0.000,0.047,2483,3533,2252,0,0,0,0,0,0
$GC,11719,0.47,146.0,657.5,10.7,759,11724,0.15,2.12,0.00,0.000,6,0.184,0.033,2455,2125,2253,0,0,0,0,0,0
$GC,12046,0.47,146.0,627.6,9.2,775,12050,0.00,2.12,0.00,0.000,4,0.000,0.043,2465,720,2252,0,0,0,0,0,0
$GC,12086,0.47,146.0,623.7,9.8,777,12090,0.00,2.15,0.00,0.000,6,0.000,0.037,2464,2132,2253,0,0,0,0,0,0
$GC,12413,0.47,146.0,592.0,9.9,793,12417,0.00,2.17,0.00,0.000,4,0.000,0.047,2464,3543,2253,0,0,0,0,0,0
$GC,12490,0.47,146.0,583.0,11.9,796,12497,0.00,2.17,0.00,0.000,6,0.000,0.031,2474,2130,2252,0,0,0,0,0,0
$GC,12807,0.47,146.0,546.0,11.6,812,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2130,2252,0,0,0,0,0,0
$GC,13116,0.47,146.0,508.6,12.1,827,13120,0.00,2.15,0.00,0.000,4,0.000,0.042,2484,712,2252,0,0,0,0,0,0
$GC,13173,0.47,146.0,501.8,12.1,829,13180,0.00,2.15,0.00,0.000,6,0.000,0.035,2484,2126,2253,0,0,0,0,0,0
$GC,13498,0.47,146.0,465.3,10.6,859,13502,0.00,2.17,0.00,0.000,4,0.000,0.046,2485,3542,2252,0,0,0,0,0,0
$GC,13616,0.47,146.0,451.4,11.7,869,13621,0.17,2.15,0.00,0.000,6,0.178,0.031,2449,2112,2252,0,0,0,0,0,0
$GC,13942,0.52,187.3,427.9,6.7,899,13977,0.00,2.22,29.73,0.761,4,0.000,0.041,2458,716,2105,0,0,0,0,0,0
$GC,14070,0.54,201.3,418.2,7.7,910,14090,0.00,2.20,12.25,0.688,6,0.000,0.035,2458,2136,2050,0,0,0,0,0,0
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$STATE,18603,end climb,SURFACE_DEPTH_REACHED
$STATE,18604,begin surface coast
$FINISH,-0.1,1.010070
$STATE,18642,end surface coast,CONTROL_FINISHED_OK
$STATE,18642,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.76
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$XPDR_PINGS,0
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$10V_AH,10.1,13.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322636
$DATA_FILE_SIZE,100429,1516
$CAP_FILE_SIZE,196367,0
$CFSIZE,260165632,243351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,351.7,1
$GPS,260611,050136,2010.484,11957.137,24,1.5,24,-2.3