version: 66.09
glider: 181
mission: 6
dive: 153
start: 7 9 111 8 23 39
data:
$ID,181
$MISSION,6
$DIVE,153
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40704.34
$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,35
$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
$GPS1,090711,081706,1937.281,11948.700,38,1.0,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.1
$GPS2,090711,082314,1937.243,11948.608,12,1.3,12,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1929.607,11956.709
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,3815
$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,-0.52,-219.0,0.0,0.0,0,89,0.00,0.00,-71.07,0.000,2,0.000,0.000,173,2611,2431,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.2,-3.7,10,137,8.05,1.88,-26.60,0.000,4,0.234,0.062,2131,3775,3766,0,0,0,0,0,0
$GC,218,-0.52,-219.0,56.2,-37.6,31,227,0.00,1.80,0.00,0.000,6,0.000,0.027,2131,2597,3768,0,0,0,0,0,0
$GC,352,-0.52,-219.0,93.9,-25.9,56,360,0.00,2.10,0.00,0.000,4,0.000,0.028,2131,1189,3768,0,0,0,0,0,0
$GC,389,-0.52,-219.0,103.1,-24.6,62,397,0.00,2.17,0.00,0.000,6,0.000,0.040,2125,2567,3768,0,0,0,0,0,0
$GC,524,-0.52,-219.0,131.3,-24.8,87,532,0.00,1.90,0.00,0.000,4,0.000,0.044,2115,3783,3769,0,0,0,0,0,0
$GC,571,-0.52,-219.0,143.9,-25.6,95,581,0.10,1.83,0.00,0.000,6,0.136,0.025,2148,2565,3770,0,0,0,0,0,0
$GC,709,-0.52,-219.0,171.8,-21.7,120,717,0.00,2.03,0.00,0.000,4,0.000,0.028,2148,1200,3770,0,0,0,0,0,0
$GC,751,-0.52,-219.0,180.4,-16.8,127,759,0.00,2.15,0.00,0.000,6,0.000,0.037,2141,2581,3770,0,0,0,0,0,0
$GC,890,-0.52,-219.0,206.5,-19.2,150,893,0.00,1.83,0.00,0.000,4,0.000,0.044,2139,3784,3770,0,0,0,0,0,0
$GC,905,-0.52,-219.0,209.2,-17.0,151,912,0.00,1.83,0.00,0.000,6,0.000,0.026,2138,2551,3770,0,0,0,0,0,0
$GC,1231,-0.52,-219.0,260.7,-17.1,182,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2549,3770,0,0,0,0,0,0
$GC,1550,-0.52,-219.0,307.5,-14.2,212,1554,0.00,1.90,0.00,0.000,4,0.000,0.046,2138,3783,3769,0,0,0,0,0,0
$GC,1596,-0.52,-219.0,313.6,-12.8,216,1600,0.00,1.77,0.00,0.000,6,0.000,0.026,2138,2551,3769,0,0,0,0,0,0
$GC,1926,-0.52,-219.0,355.2,-12.5,247,1930,0.00,1.95,0.00,0.000,4,0.000,0.031,2138,1212,3766,0,0,0,0,0,0
$GC,1951,-0.52,-219.0,358.1,-12.1,249,1955,0.00,2.08,0.00,0.000,6,0.000,0.039,2141,2572,3765,0,0,0,0,0,0
$GC,2277,-0.52,-219.0,398.7,-13.0,279,2280,0.00,1.85,0.00,0.000,4,0.000,0.047,2139,3786,3761,0,0,0,0,0,0
$GC,2338,-0.52,-219.0,406.0,-10.6,284,2345,0.00,1.80,0.00,0.000,6,0.000,0.027,2138,2574,3761,0,0,0,0,0,0
$GC,2663,-0.52,-219.0,445.3,-13.4,315,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2573,3758,0,0,0,0,0,0
$GC,2983,-0.52,-219.0,486.4,-12.7,345,2987,0.00,2.03,0.00,0.000,4,0.000,0.033,2138,1210,3754,0,0,0,0,0,0
$GC,3041,-0.52,-219.0,493.4,-10.9,350,3045,0.00,2.08,0.00,0.000,6,0.000,0.039,2138,2562,3754,0,0,0,0,0,0
$GC,3359,-0.52,-219.0,533.1,-12.6,368,3362,0.00,1.88,0.00,0.000,4,0.000,0.050,2137,3783,3751,0,0,0,0,0,0
$GC,3404,-0.52,-219.0,538.5,-11.1,370,3408,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2565,3751,0,0,0,0,0,0
$GC,3738,-0.52,-219.0,573.9,-10.4,386,3741,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1211,3747,0,0,0,0,0,0
$GC,3761,-0.52,-219.0,576.4,-10.3,387,3765,0.00,2.08,0.00,0.000,6,0.000,0.040,2138,2564,3746,0,0,0,0,0,0
$GC,4089,-0.52,-219.0,608.4,-9.7,403,4093,0.00,1.92,0.00,0.000,4,0.000,0.051,2137,3782,3744,0,0,0,0,0,0
$GC,4151,-0.52,-219.0,613.7,-8.0,405,4157,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2567,3743,0,0,0,0,0,0
$GC,4467,-0.52,-219.0,642.4,-9.8,421,4471,0.00,2.00,0.00,0.000,4,0.000,0.034,2138,1215,3740,0,0,0,0,0,0
$GC,4536,-0.52,-219.0,648.6,-8.1,424,4540,0.00,2.08,0.00,0.000,6,0.000,0.041,2138,2564,3740,0,0,0,0,0,0
$GC,4869,-0.52,-219.0,680.3,-9.8,440,4872,0.00,1.88,0.00,0.000,4,0.000,0.052,2138,3781,3737,0,0,0,0,0,0
$GC,4931,-0.52,-219.0,685.6,-7.8,442,4938,0.00,1.77,0.00,0.000,6,0.000,0.031,2138,2580,3737,0,0,0,0,0,0
$GC,5247,-0.52,-219.0,713.7,-9.2,458,5251,0.00,2.05,0.00,0.000,4,0.000,0.036,2138,1201,3734,0,0,0,0,0,0
$GC,5310,-0.52,-219.0,718.9,-8.1,461,5314,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2578,3734,0,0,0,0,0,0
$GC,5638,-0.52,-219.0,746.1,-8.5,477,5642,0.00,1.88,0.00,0.000,4,0.000,0.053,2138,3786,3732,0,0,0,0,0,0
$GC,5688,-0.52,-219.0,750.1,-7.7,479,5692,0.00,1.83,0.00,0.000,6,0.000,0.031,2138,2577,3731,0,0,0,0,0,0
$GC,6016,-0.52,-219.0,778.2,-9.3,495,6020,0.00,2.05,0.00,0.000,4,0.000,0.037,2138,1202,3729,0,0,0,0,0,0
$GC,6055,-0.52,-219.0,781.9,-8.9,496,6062,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2581,3729,0,0,0,0,0,0
$GC,6371,-0.52,-219.0,808.4,-8.3,512,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2581,3728,0,0,0,0,0,0
$GC,6681,-0.52,-219.0,831.7,-7.1,527,6685,0.00,1.88,0.00,0.000,4,0.000,0.054,2138,3788,3725,0,0,0,0,0,0
$GC,6709,-0.52,-219.0,833.7,-7.1,528,6713,0.00,1.80,0.00,0.000,6,0.000,0.031,2138,2569,3725,0,0,0,0,0,0
$GC,7037,-0.52,-219.0,854.1,-6.1,544,7041,0.00,2.03,0.00,0.000,4,0.000,0.036,2138,1207,3724,0,0,0,0,0,0
$GC,7063,-0.52,-219.0,856.0,-6.2,545,7067,0.00,2.12,0.00,0.000,6,0.000,0.042,2138,2585,3724,0,0,0,0,0,0
$GC,7391,-0.52,-219.0,878.6,-7.2,561,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2584,3722,0,0,0,0,0,0
$GC,7701,-0.52,-219.0,901.2,-7.3,576,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2581,3724,0,0,0,0,0,0
$GC,8010,-0.52,-219.0,923.2,-7.1,591,8014,0.00,2.10,0.00,0.000,4,0.000,0.037,2138,1202,3720,0,0,0,0,0,0
$GC,8044,-0.52,-219.0,925.7,-7.1,592,8051,0.00,2.15,0.00,0.000,6,0.000,0.042,2138,2574,3719,0,0,0,0,0,0
$GC,8361,-0.52,-219.0,947.1,-6.8,608,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3718,0,0,0,0,0,0
$GC,8670,-0.52,-219.0,969.6,-7.7,623,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2577,3718,0,0,0,0,0,0
$STATE,8935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8935,begin apogee
$GC,8942,-0.13,0.0,990.5,8.0,636,9115,0.40,0.00,166.52,1.105,4,0.110,0.000,2278,2122,2869,0,0,0,0,0,0
$STATE,9116,end apogee,CONTROL_FINISHED_OK
$STATE,9116,begin climb
$GC,9118,0.52,219.0,999.6,0.0,644,9305,0.62,2.40,177.35,1.075,4,0.056,0.047,2504,3543,1976,0,0,0,0,0,0
$GC,9496,0.52,219.0,955.7,16.0,661,9500,0.00,2.20,0.00,0.000,6,0.000,0.031,2514,2140,1975,0,0,0,0,0,0
$GC,9812,0.52,219.0,906.8,15.8,676,9816,0.00,2.25,0.00,0.000,4,0.000,0.044,2514,3548,1975,0,0,0,0,0,0
$GC,9934,0.52,219.0,885.5,17.6,681,9939,0.15,2.22,0.00,0.000,6,0.194,0.031,2489,2098,1974,0,0,0,0,0,0
$GC,10250,0.52,219.0,840.6,14.2,696,10254,0.00,2.12,0.00,0.000,4,0.000,0.042,2498,716,1974,0,0,0,0,0,0
$GC,10300,0.52,219.0,833.5,14.1,698,10304,0.00,2.15,0.00,0.000,6,0.000,0.037,2498,2101,1974,0,0,0,0,0,0
$GC,10628,0.52,219.0,786.2,14.6,714,10632,0.00,2.25,0.00,0.000,4,0.000,0.047,2498,3545,1973,0,0,0,0,0,0
$GC,10699,0.52,219.0,774.2,16.6,717,10703,0.00,2.20,0.00,0.000,6,0.000,0.031,2507,2097,1973,0,0,0,0,0,0
$GC,11021,0.52,219.0,725.1,15.3,733,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2097,1973,0,0,0,0,0,0
$GC,11330,0.52,219.0,681.2,14.3,748,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2097,1972,0,0,0,0,0,0
$GC,11640,0.52,219.0,638.6,13.8,763,11644,0.00,2.10,0.00,0.000,4,0.000,0.041,2518,710,1972,0,0,0,0,0,0
$GC,11667,0.52,219.0,634.7,13.9,764,11671,0.00,2.12,0.00,0.000,6,0.000,0.037,2519,2097,1972,0,0,0,0,0,0
$GC,11984,0.52,219.0,588.8,14.6,779,11988,0.00,2.10,0.00,0.000,4,0.000,0.040,2528,718,1972,0,0,0,0,0,0
$GC,12027,0.52,219.0,582.0,14.5,781,12032,0.10,2.15,0.00,0.000,6,0.146,0.037,2487,2091,1971,0,0,0,0,0,0
$GC,12355,0.52,219.0,541.5,12.2,797,12359,0.00,2.25,0.00,0.000,4,0.000,0.048,2487,3542,1972,0,0,0,0,0,0
$GC,12422,0.52,219.0,532.5,13.3,800,12426,0.00,2.17,0.00,0.000,6,0.000,0.029,2496,2097,1972,0,0,0,0,0,0
$GC,12740,0.52,219.0,494.3,11.9,817,12744,0.00,2.08,0.00,0.000,4,0.000,0.041,2506,722,1971,0,0,0,0,0,0
$GC,12836,0.52,219.0,482.7,12.4,825,12840,0.00,2.10,0.00,0.000,6,0.000,0.037,2509,2095,1972,0,0,0,0,0,0
$GC,13161,0.52,219.0,439.5,13.5,855,13166,0.00,2.22,0.00,0.000,4,0.000,0.047,2506,3536,1972,0,0,0,0,0,0
$GC,13190,0.52,219.0,435.4,13.9,857,13194,0.00,2.20,0.00,0.000,6,0.000,0.029,2516,2083,1972,0,0,0,0,0,0
$GC,13521,0.52,219.0,389.5,13.7,888,13525,0.00,2.05,0.00,0.000,4,0.000,0.040,2527,724,1972,0,0,0,0,0,0
$GC,13567,0.52,219.0,383.2,14.2,892,13572,0.15,2.08,0.00,0.000,6,0.158,0.037,2486,2082,1972,0,0,0,0,0,0
$GC,13893,0.57,253.3,348.1,9.8,922,13927,0.00,2.30,26.12,0.701,4,0.000,0.047,2486,3535,1836,0,0,0,0,0,0
$GC,13978,0.57,253.3,338.6,11.8,929,13985,0.00,2.22,0.00,0.000,6,0.000,0.031,2495,2080,1835,0,0,0,0,0,0
$GC,14303,0.57,253.3,297.9,12.4,960,14307,0.00,2.08,0.00,0.000,4,0.000,0.041,2510,715,1835,0,0,0,0,0,0
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$STATE,16966,end climb,SURFACE_DEPTH_REACHED
$STATE,16967,begin surface coast
$FINISH,0.3,1.020971
$STATE,16994,end surface coast,CONTROL_FINISHED_OK
$STATE,16994,begin surface
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$HUMID,41.41
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$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.1,24.341
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.475,167.250,626.300,0.000,0.000,24.903,17.219,180.987,0.000,0.000,15.478,3261.254,9760.572,668.883,3378.106,356.673,0.000,2104.213,0.000,2356.202,0.000,0.541,0.000
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$MEM,322720
$DATA_FILE_SIZE,93642,1359
$CAP_FILE_SIZE,181736,0
$CFSIZE,260165632,236863488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,130930,1935.373,11950.172,35,1.1,41,-2.1