version: 66.09
glider: 181
mission: 6
dive: 212
start: 7 21 111 4 31 56
data:
$ID,181
$MISSION,6
$DIVE,212
$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,-5
$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,-40786.016
$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,44
$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
$GPS1,210711,042436,1843.863,12034.247,39,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.2
$GPS2,210711,043131,1843.973,12034.330,8,1.2,13,-2.0
$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,196.5,18119,-15.3,-11.000
$D_GRID,1035
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-63.92,0.000,2,0.000,0.000,200,2615,2271,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.8,9,131,7.88,1.80,-30.10,0.000,4,0.225,0.057,2136,3770,3763,0,0,0,0,0,0
$GC,217,-0.52,-219.0,68.6,-62.3,31,226,0.00,1.77,0.00,0.000,6,0.000,0.024,2136,2597,3764,0,0,0,0,0,0
$GC,352,-0.52,-219.0,117.5,-38.1,56,360,0.00,2.08,0.00,0.000,4,0.000,0.024,2136,1183,3764,0,0,0,0,0,0
$GC,368,-0.52,-219.0,122.6,-34.3,58,376,0.00,2.30,0.00,0.000,6,0.000,0.040,2125,2643,3765,0,0,0,0,0,0
$GC,503,-0.52,-219.0,155.7,-27.0,83,511,0.00,2.17,0.00,0.000,4,0.000,0.026,2125,1196,3765,0,0,0,0,0,0
$GC,540,-0.52,-219.0,164.3,-22.9,89,548,0.00,2.17,0.00,0.000,6,0.000,0.037,2121,2587,3766,0,0,0,0,0,0
$GC,674,-0.52,-219.0,191.0,-19.7,114,683,0.00,1.85,0.00,0.000,4,0.000,0.044,2117,3777,3767,0,0,0,0,0,0
$GC,745,-0.52,-219.0,204.3,-15.6,124,755,0.10,1.75,0.00,0.000,6,0.129,0.023,2150,2585,3767,0,0,0,0,0,0
$GC,1073,-0.52,-219.0,250.8,-12.6,155,1076,0.00,1.83,0.00,0.000,4,0.000,0.041,2144,3783,3770,0,0,0,0,0,0
$GC,1088,-0.52,-219.0,253.2,-12.9,156,1097,0.00,1.73,0.00,0.000,6,0.000,0.024,2144,2624,3771,0,0,0,0,0,0
$GC,1415,-0.52,-219.0,297.2,-14.2,187,1419,0.00,2.08,0.00,0.000,4,0.000,0.028,2143,1197,3765,0,0,0,0,0,0
$GC,1436,-0.52,-219.0,301.1,-15.1,188,1443,0.00,2.22,0.00,0.000,6,0.000,0.036,2139,2629,3765,0,0,0,0,0,0
$GC,1763,-0.52,-219.0,346.4,-13.7,219,1767,0.00,1.80,0.00,0.000,4,0.000,0.045,2138,3784,3762,0,0,0,0,0,0
$GC,1809,-0.52,-219.0,352.3,-12.1,223,1812,0.00,1.67,0.00,0.000,6,0.000,0.025,2139,2619,3762,0,0,0,0,0,0
$GC,2139,-0.52,-219.0,399.0,-14.8,254,2143,0.00,2.05,0.00,0.000,4,0.000,0.029,2139,1218,3758,0,0,0,0,0,0
$GC,2197,-0.52,-219.0,405.6,-10.7,259,2202,0.00,2.20,0.00,0.000,6,0.000,0.036,2138,2641,3758,0,0,0,0,0,0
$GC,2523,-0.52,-219.0,441.5,-9.9,289,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2643,3754,0,0,0,0,0,0
$GC,2844,-0.52,-219.0,471.8,-9.7,319,2847,0.00,1.77,0.00,0.000,4,0.000,0.047,2138,3773,3752,0,0,0,0,0,0
$GC,2878,-0.52,-219.0,475.4,-9.7,322,2882,0.00,1.70,0.00,0.000,6,0.000,0.026,2138,2643,3751,0,0,0,0,0,0
$GC,3218,-0.52,-219.0,507.1,-10.4,351,3222,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1197,3748,0,0,0,0,0,0
$GC,3274,-0.52,-219.0,512.6,-8.8,353,3281,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2638,3747,0,0,0,0,0,0
$GC,3591,-0.52,-219.0,543.8,-10.7,369,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2638,3745,0,0,0,0,0,0
$GC,3899,-0.52,-219.0,576.7,-10.3,384,3903,0.00,1.77,0.00,0.000,4,0.000,0.049,2138,3770,3741,0,0,0,0,0,0
$GC,3927,-0.52,-219.0,579.5,-10.0,385,3931,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2609,3741,0,0,0,0,0,0
$GC,4255,-0.52,-219.0,610.2,-9.4,401,4259,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1201,3739,0,0,0,0,0,0
$GC,4299,-0.52,-219.0,614.4,-9.0,403,4303,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2620,3739,0,0,0,0,0,0
$GC,4627,-0.52,-219.0,645.7,-10.0,419,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2621,3736,0,0,0,0,0,0
$GC,4936,-0.52,-219.0,677.0,-9.5,434,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2622,3734,0,0,0,0,0,0
$GC,5245,-0.52,-219.0,704.8,-8.7,449,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2621,3732,0,0,0,0,0,0
$GC,5555,-0.52,-219.0,731.3,-8.2,464,5559,0.00,2.12,0.00,0.000,4,0.000,0.032,2138,1205,3730,0,0,0,0,0,0
$GC,5601,-0.52,-219.0,735.1,-8.2,466,5605,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2612,3730,0,0,0,0,0,0
$GC,5933,-0.52,-219.0,760.4,-8.0,482,5937,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3780,3728,0,0,0,0,0,0
$GC,5980,-0.52,-219.0,763.9,-7.6,484,5984,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2612,3728,0,0,0,0,0,0
$GC,6313,-0.52,-219.0,792.8,-9.2,500,6317,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1196,3727,0,0,0,0,0,0
$GC,6380,-0.52,-219.0,798.5,-8.2,503,6384,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2606,3726,0,0,0,0,0,0
$GC,6707,-0.52,-219.0,824.5,-7.5,519,6711,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3787,3724,0,0,0,0,0,0
$GC,6740,-0.52,-219.0,826.9,-7.2,520,6744,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2600,3724,0,0,0,0,0,0
$GC,7063,-0.52,-219.0,850.2,-7.7,536,7067,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1205,3722,0,0,0,0,0,0
$GC,7103,-0.52,-219.0,853.4,-7.5,538,7107,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2614,3722,0,0,0,0,0,0
$GC,7430,-0.52,-219.0,881.6,-8.9,554,7434,0.00,1.80,0.00,0.000,4,0.000,0.050,2138,3782,3721,0,0,0,0,0,0
$GC,7477,-0.52,-219.0,885.3,-7.9,556,7480,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2613,3720,0,0,0,0,0,0
$GC,7810,-0.52,-219.0,911.0,-7.5,572,7814,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1199,3719,0,0,0,0,0,0
$GC,7871,-0.52,-219.0,915.8,-7.4,574,7878,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2598,3719,0,0,0,0,0,0
$GC,8187,-0.52,-219.0,941.1,-8.8,590,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2598,3717,0,0,0,0,0,0
$GC,8498,-0.52,-219.0,972.3,-10.3,605,8502,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1205,3716,0,0,0,0,0,0
$GC,8531,-0.52,-219.0,976.1,-10.6,606,8538,0.00,2.15,0.00,0.000,6,0.000,0.038,2138,2593,3716,0,0,0,0,0,0
$STATE,8679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8679,begin apogee
$GC,8686,-0.13,0.0,990.6,9.4,614,8855,0.40,0.00,162.90,1.102,4,0.105,0.000,2276,2109,2869,0,0,0,0,0,0
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8858,0.52,219.0,1000.4,0.0,622,9041,0.60,2.25,175.12,1.071,4,0.060,0.038,2497,733,1977,0,0,0,0,0,0
$GC,9245,0.52,219.0,965.1,14.1,639,9250,0.00,2.22,0.00,0.000,6,0.000,0.034,2497,2134,1975,0,0,0,0,0,0
$GC,9572,0.52,219.0,916.1,14.9,655,9577,0.00,2.17,0.00,0.000,4,0.000,0.037,2506,735,1973,0,0,0,0,0,0
$GC,9802,0.52,219.0,882.1,14.3,665,9806,0.00,2.20,0.00,0.000,6,0.000,0.036,2506,2152,1973,0,0,0,0,0,0
$GC,10124,0.52,219.0,835.5,13.7,681,10128,0.00,2.15,0.00,0.000,4,0.000,0.045,2506,3538,1973,0,0,0,0,0,0
$GC,10156,0.52,219.0,830.4,15.3,682,10163,0.00,2.15,0.00,0.000,6,0.000,0.028,2516,2150,1972,0,0,0,0,0,0
$GC,10473,0.52,219.0,783.2,15.9,698,10477,0.00,2.20,0.00,0.000,4,0.000,0.038,2527,714,1972,0,0,0,0,0,0
$GC,10578,0.52,219.0,765.0,17.9,702,10586,0.08,2.20,0.00,0.000,6,0.151,0.035,2493,2112,1972,0,0,0,0,0,0
$GC,10895,0.52,219.0,719.1,13.7,718,10899,0.00,2.22,0.00,0.000,4,0.000,0.046,2492,3546,1971,0,0,0,0,0,0
$GC,11002,0.52,219.0,703.0,15.1,723,11006,0.00,2.15,0.00,0.000,6,0.000,0.029,2502,2134,1971,0,0,0,0,0,0
$GC,11335,0.52,219.0,656.9,14.0,739,11339,0.00,2.15,0.00,0.000,4,0.000,0.038,2512,713,1970,0,0,0,0,0,0
$GC,11434,0.52,219.0,642.7,14.4,743,11442,0.00,2.17,0.00,0.000,6,0.000,0.034,2512,2131,1970,0,0,0,0,0,0
$GC,11751,0.52,219.0,598.1,13.9,759,11755,0.00,2.20,0.00,0.000,4,0.000,0.045,2512,3545,1970,0,0,0,0,0,0
$GC,11778,0.52,219.0,593.7,14.7,760,11783,0.12,2.15,0.00,0.000,6,0.177,0.028,2491,2120,1970,0,0,0,0,0,0
$GC,12105,0.52,219.0,553.8,11.6,776,12109,0.00,2.12,0.00,0.000,4,0.000,0.038,2499,714,1970,0,0,0,0,0,0
$GC,12217,0.52,219.7,541.3,11.0,781,12222,0.00,2.12,0.00,0.000,6,0.000,0.034,2499,2103,1974,0,0,0,0,0,0
$GC,12539,0.54,234.0,505.7,10.5,797,12561,0.00,2.30,12.10,0.763,4,0.000,0.044,2499,3541,1914,0,0,0,0,0,0
$GC,12654,0.54,234.0,492.4,12.3,804,12658,0.00,2.17,0.00,0.000,6,0.000,0.028,2509,2107,1914,0,0,0,0,0,0
$GC,12985,0.54,234.0,453.0,12.0,835,12989,0.00,2.10,0.00,0.000,4,0.000,0.039,2524,722,1914,0,0,0,0,0,0
$GC,13081,0.54,234.0,441.7,11.8,843,13086,0.00,2.15,0.00,0.000,6,0.000,0.034,2520,2115,1914,0,0,0,0,0,0
$GC,13412,0.54,234.0,398.6,13.5,874,13416,0.00,2.20,0.00,0.000,4,0.000,0.044,2520,3541,1914,0,0,0,0,0,0
$GC,13463,0.54,234.0,391.6,14.1,878,13468,0.12,2.17,0.00,0.000,6,0.176,0.028,2500,2104,1914,0,0,0,0,0,0
$GC,13794,0.54,234.0,351.5,12.4,909,13798,0.00,2.10,0.00,0.000,4,0.000,0.039,2508,714,1914,0,0,0,0,0,0
$GC,13846,0.54,234.0,345.1,12.6,913,13850,0.00,2.12,0.00,0.000,6,0.000,0.033,2508,2103,1914,0,0,0,0,0,0
$GC,14177,0.58,260.9,308.1,10.1,944,14203,0.00,2.25,20.85,0.667,4,0.000,0.045,2508,3542,1805,0,0,0,0,0,0
$GC,14291,0.59,272.1,296.4,10.6,954,14308,0.00,2.20,10.15,0.581,6,0.000,0.029,2517,2096,1758,0,0,0,0,0,0
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$STATE,17077,end climb,SURFACE_DEPTH_REACHED
$STATE,17078,begin surface coast
$FINISH,0.3,1.008610
$STATE,17101,end surface coast,CONTROL_FINISHED_OK
$STATE,17102,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,40.35
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,0
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$10V_AH,10.0,33.094
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.175,176.675,634.800,0.000,0.000,28.833,38.811,202.960,0.000,0.000,15.814,3313.912,9680.433,678.588,3522.753,384.748,0.000,2172.784,0.000,2470.093,0.000,0.540,0.000
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$MEM,321788
$DATA_FILE_SIZE,93747,1371
$CAP_FILE_SIZE,188549,0
$CFSIZE,260165632,231149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,091936,1842.171,12033.532,39,1.1,44,-2.0