version: 66.09
glider: 181
mission: 6
dive: 183
start: 7 15 111 8 9 57
data:
$ID,181
$MISSION,6
$DIVE,183
$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,-40749.543
$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,57
$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
$GPS1,150711,080301,1931.187,12028.089,42,1.0,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.1
$GPS2,150711,080932,1931.448,12028.247,15,1.0,15,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,178.9,105646,-15.3,-11.000
$D_GRID,3040
$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,-71.25,0.000,2,0.000,0.000,196,2627,2453,0,0,0,0,0,0
$GC,92,-0.52,-219.0,3.3,-3.7,10,137,7.85,1.80,-26.12,0.000,4,0.227,0.059,2132,3754,3766,0,0,0,0,0,0
$GC,198,-0.52,-219.0,50.0,-55.9,27,206,0.00,1.77,0.00,0.000,6,0.000,0.025,2132,2567,3767,0,0,0,0,0,0
$GC,332,-0.52,-219.0,96.7,-31.4,52,340,0.00,1.90,0.00,0.000,4,0.000,0.044,2122,3763,3768,0,0,0,0,0,0
$GC,389,-0.52,-219.0,113.5,-27.0,62,397,0.00,1.60,0.00,0.000,6,0.000,0.024,2122,2695,3769,0,0,0,0,0,0
$GC,523,-0.52,-219.0,148.6,-26.5,87,531,0.00,2.20,0.00,0.000,4,0.000,0.028,2122,1218,3770,0,0,0,0,0,0
$GC,570,-0.52,-219.0,160.3,-22.1,95,579,0.10,2.17,0.00,0.000,6,0.137,0.035,2146,2615,3769,0,0,0,0,0,0
$GC,708,-0.52,-219.0,183.8,-16.8,120,716,0.00,1.80,0.00,0.000,4,0.000,0.042,2139,3776,3770,0,0,0,0,0,0
$GC,775,-0.52,-219.0,195.8,-15.4,132,783,0.00,1.60,0.00,0.000,6,0.000,0.023,2139,2690,3770,0,0,0,0,0,0
$GC,918,-0.52,-219.0,219.0,-17.7,148,921,0.00,2.15,0.00,0.000,4,0.000,0.027,2139,1212,3774,0,0,0,0,0,0
$GC,946,-0.52,-219.0,223.9,-17.1,150,950,0.00,2.25,0.00,0.000,6,0.000,0.035,2138,2686,3771,0,0,0,0,0,0
$GC,1271,-0.52,-219.0,273.2,-16.6,180,1275,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1210,3770,0,0,0,0,0,0
$GC,1303,-0.52,-219.0,278.2,-14.8,182,1312,0.00,2.28,0.00,0.000,6,0.000,0.036,2142,2670,3770,0,0,0,0,0,0
$GC,1629,-0.52,-219.0,321.0,-11.8,213,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2671,3768,0,0,0,0,0,0
$GC,1949,-0.52,-219.0,358.5,-12.4,243,1953,0.00,2.17,0.00,0.000,4,0.000,0.030,2139,1212,3765,0,0,0,0,0,0
$GC,1982,-0.52,-219.0,363.3,-13.1,245,1989,0.00,2.25,0.00,0.000,6,0.000,0.037,2139,2678,3765,0,0,0,0,0,0
$GC,2308,-0.52,-219.0,413.1,-16.3,276,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2679,3761,0,0,0,0,0,0
$GC,2628,-0.52,-219.0,459.4,-13.3,306,2632,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1218,3758,0,0,0,0,0,0
$GC,2656,-0.52,-219.0,463.1,-12.9,308,2661,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2666,3758,0,0,0,0,0,0
$GC,2992,-0.52,-219.0,502.6,-11.4,338,2996,0.00,2.17,0.00,0.000,4,0.000,0.032,2138,1209,3755,0,0,0,0,0,0
$GC,3018,-0.52,-219.0,505.5,-11.2,339,3022,0.00,2.22,0.00,0.000,6,0.000,0.040,2138,2657,3754,0,0,0,0,0,0
$GC,3341,-0.52,-219.0,533.7,-8.7,355,3344,0.00,2.17,0.00,0.000,4,0.000,0.033,2138,1218,3751,0,0,0,0,0,0
$GC,3373,-0.52,-219.0,536.8,-8.4,356,3377,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2653,3750,0,0,0,0,0,0
$GC,3696,-0.52,-219.0,562.1,-9.0,372,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2654,3748,0,0,0,0,0,0
$GC,4005,-0.52,-219.0,591.7,-9.5,387,4009,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1222,3745,0,0,0,0,0,0
$GC,4032,-0.52,-219.0,594.4,-9.4,388,4037,0.00,2.20,0.00,0.000,6,0.000,0.040,2138,2648,3744,0,0,0,0,0,0
$GC,4355,-0.52,-219.0,623.7,-9.7,404,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2649,3742,0,0,0,0,0,0
$GC,4664,-0.52,-219.0,652.7,-9.5,419,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2649,3740,0,0,0,0,0,0
$GC,4973,-0.52,-219.0,681.9,-9.5,434,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2650,3738,0,0,0,0,0,0
$GC,5283,-0.52,-219.0,712.3,-9.8,449,5286,0.00,2.15,0.00,0.000,4,0.000,0.035,2138,1222,3735,0,0,0,0,0,0
$GC,5332,-0.52,-219.0,717.1,-9.2,451,5336,0.00,2.20,0.00,0.000,6,0.000,0.041,2138,2646,3735,0,0,0,0,0,0
$GC,5655,-0.52,-219.0,746.6,-9.4,467,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2647,3733,0,0,0,0,0,0
$GC,5964,-0.52,-219.0,773.9,-8.8,482,5968,0.00,2.15,0.00,0.000,4,0.000,0.035,2138,1222,3731,0,0,0,0,0,0
$GC,6019,-0.52,-219.0,778.8,-8.2,484,6026,0.00,2.20,0.00,0.000,6,0.000,0.041,2138,2637,3731,0,0,0,0,0,0
$GC,6336,-0.52,-219.0,803.7,-8.2,500,6340,0.00,1.80,0.00,0.000,4,0.000,0.051,2138,3773,3729,0,0,0,0,0,0
$GC,6382,-0.52,-219.0,807.5,-8.0,502,6386,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2652,3726,0,0,0,0,0,0
$GC,6715,-0.52,-219.0,832.1,-7.7,518,6719,0.00,2.12,0.00,0.000,4,0.000,0.034,2140,1222,3728,0,0,0,0,0,0
$GC,6793,-0.52,-219.0,838.2,-7.4,521,6800,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2618,3727,0,0,0,0,0,0
$GC,7110,-0.52,-219.0,861.9,-7.2,537,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2618,3725,0,0,0,0,0,0
$GC,7419,-0.52,-219.0,883.7,-7.2,552,7423,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1212,3724,0,0,0,0,0,0
$GC,7447,-0.52,-219.0,885.8,-7.1,553,7451,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2605,3725,0,0,0,0,0,0
$GC,7769,-0.52,-219.0,908.1,-7.1,569,7773,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1222,3723,0,0,0,0,0,0
$GC,7807,-0.52,-219.0,911.2,-7.0,570,7814,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2600,3723,0,0,0,0,0,0
$GC,8123,-0.52,-219.0,933.9,-7.3,586,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3722,0,0,0,0,0,0
$GC,8433,-0.52,-219.0,957.4,-7.7,601,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2601,3721,0,0,0,0,0,0
$GC,8742,-0.52,-219.0,981.6,-8.1,616,8746,0.00,2.10,0.00,0.000,4,0.000,0.036,2138,1215,3720,0,0,0,0,0,0
$GC,8782,-0.52,-219.0,984.8,-7.9,618,8786,0.00,2.15,0.00,0.000,6,0.000,0.041,2137,2598,3720,0,0,0,0,0,0
$STATE,8859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8859,begin apogee
$GC,8866,-0.13,0.0,990.9,7.7,622,9038,0.40,0.00,166.45,1.104,4,0.107,0.000,2276,2134,2869,0,0,0,0,0,0
$STATE,9038,end apogee,CONTROL_FINISHED_OK
$STATE,9039,begin climb
$GC,9041,0.52,219.0,999.9,0.0,630,9227,0.60,2.30,176.35,1.074,4,0.048,0.041,2507,735,1976,0,0,0,0,0,0
$GC,9255,0.52,219.0,984.8,13.8,640,9259,0.00,2.30,0.00,0.000,6,0.000,0.035,2507,2125,1976,0,0,0,0,0,0
$GC,9577,0.52,219.0,936.4,14.9,656,9581,0.00,2.30,0.00,0.000,4,0.000,0.047,2507,3546,1976,0,0,0,0,0,0
$GC,9615,0.52,219.0,930.0,16.6,657,9622,0.00,2.17,0.00,0.000,6,0.000,0.028,2516,2138,1976,0,0,0,0,0,0
$GC,9932,0.52,219.0,882.0,15.1,673,9936,0.00,2.17,0.00,0.000,4,0.000,0.039,2527,722,1976,0,0,0,0,0,0
$GC,10062,0.52,219.0,862.8,14.7,679,10067,0.15,2.17,0.00,0.000,6,0.170,0.037,2489,2121,1977,0,0,0,0,0,0
$GC,10391,0.52,219.0,821.0,12.5,695,10395,0.00,2.20,0.00,0.000,4,0.000,0.047,2489,3537,1976,0,0,0,0,0,0
$GC,10430,0.52,219.0,815.4,13.9,697,10435,0.00,2.15,0.00,0.000,6,0.000,0.028,2498,2120,1976,0,0,0,0,0,0
$GC,10758,0.52,219.0,771.1,13.6,713,10762,0.00,2.12,0.00,0.000,4,0.000,0.040,2508,720,1977,0,0,0,0,0,0
$GC,10813,0.52,219.0,763.2,13.5,715,10820,0.00,2.17,0.00,0.000,6,0.000,0.036,2509,2132,1977,0,0,0,0,0,0
$GC,11129,0.52,219.0,716.1,14.9,731,11133,0.00,2.20,0.00,0.000,4,0.000,0.047,2509,3541,1976,0,0,0,0,0,0
$GC,11176,0.52,219.0,709.1,16.3,733,11180,0.00,2.15,0.00,0.000,6,0.000,0.029,2517,2117,1979,0,0,0,0,0,0
$GC,11504,0.52,219.0,661.2,14.3,749,11507,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,714,1975,0,0,0,0,0,0
$GC,11553,0.52,219.0,654.1,13.6,751,11558,0.15,2.15,0.00,0.000,6,0.165,0.035,2489,2116,1975,0,0,0,0,0,0
$GC,11876,0.52,219.0,617.3,11.2,767,11880,0.00,2.20,0.00,0.000,4,0.000,0.045,2488,3540,1975,0,0,0,0,0,0
$GC,11953,0.52,219.0,607.0,12.8,770,11960,0.00,2.20,0.00,0.000,6,0.000,0.028,2497,2114,1975,0,0,0,0,0,0
$GC,12270,0.52,219.0,564.0,14.2,786,12274,0.00,2.10,0.00,0.000,4,0.000,0.038,2508,720,1975,0,0,0,0,0,0
$GC,12313,0.52,219.0,557.5,14.1,788,12318,0.00,2.12,0.00,0.000,6,0.000,0.032,2508,2116,1978,0,0,0,0,0,0
$GC,12641,0.52,219.0,509.8,14.2,804,12645,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,3537,1975,0,0,0,0,0,0
$GC,12668,0.52,219.0,505.7,14.6,805,12672,0.00,2.17,0.00,0.000,6,0.000,0.028,2517,2092,1975,0,0,0,0,0,0
$GC,12997,0.52,219.0,462.1,12.4,834,13001,0.00,2.08,0.00,0.000,4,0.000,0.037,2528,710,1975,0,0,0,0,0,0
$GC,13083,0.52,219.0,451.5,12.2,841,13088,0.15,2.10,0.00,0.000,6,0.164,0.033,2488,2096,1975,0,0,0,0,0,0
$GC,13408,0.53,224.7,418.6,10.8,871,13421,0.00,2.22,6.25,0.684,4,0.000,0.043,2488,3538,1952,0,0,0,0,0,0
$GC,13482,0.53,224.7,408.9,13.2,877,13489,0.00,2.17,0.00,0.000,6,0.000,0.029,2496,2098,1952,0,0,0,0,0,0
$GC,13808,0.53,224.7,364.3,14.0,908,13812,0.00,2.10,0.00,0.000,4,0.000,0.038,2507,716,1952,0,0,0,0,0,0
$GC,13902,0.53,224.7,351.3,13.2,916,13910,0.00,2.15,0.00,0.000,6,0.000,0.033,2507,2099,1952,0,0,0,0,0,0
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$STATE,17029,end climb,SURFACE_DEPTH_REACHED
$STATE,17029,begin surface coast
$FINISH,0.2,1.021122
$STATE,17051,end surface coast,CONTROL_FINISHED_OK
$STATE,17051,begin surface
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$IRIDIUM_FIX,1927.51,12028.40,150711,030312
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.20
$XPDR_PINGS,0
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$10V_AH,10.0,28.786
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.175,168.525,634.100,0.000,0.000,22.977,44.411,178.434,0.000,0.000,17.726,3254.820,9835.984,690.344,3380.615,348.076,0.000,2112.650,0.000,2335.864,0.000,0.539,0.000
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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,322640
$DATA_FILE_SIZE,93900,1361
$CAP_FILE_SIZE,180638,0
$CFSIZE,260165632,233979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,125637,1929.712,12030.193,31,1.2,31,-2.2