version: 66.09
glider: 181
mission: 6
dive: 367
start: 8 19 111 0 36 45
data:
$ID,181
$MISSION,6
$DIVE,367
$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,-7
$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,-40997.793
$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,48
$R_STBD_OVSHOOT,46
$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
$GPS1,190811,002936,2138.976,11959.119,39,0.8,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.2
$GPS2,190811,003620,2139.082,11959.030,10,1.1,10,-2.6
$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,182.3,294624,-16.3,-11.786
$D_GRID,2799
$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,-219.0,0.0,0.0,0,83,0.00,0.00,-64.88,0.000,2,0.000,0.000,197,2655,2293,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.3,-3.7,10,134,8.10,2.22,-31.20,0.000,4,0.228,0.037,2135,1191,3762,0,0,0,0,0,0
$GC,194,-0.54,-219.0,34.8,-27.7,27,201,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2591,3762,0,0,0,0,0,0
$GC,332,-0.54,-219.0,72.4,-29.1,52,340,0.00,1.88,0.00,0.000,4,0.000,0.044,2116,3784,3762,0,0,0,0,0,0
$GC,420,-0.54,-219.0,100.2,-30.1,67,427,0.00,1.70,0.00,0.000,6,0.000,0.023,2116,2638,3762,0,0,0,0,0,0
$GC,560,-0.54,-219.0,126.4,-19.9,92,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2636,3763,0,0,0,0,0,0
$GC,701,-0.54,-219.0,153.5,-17.0,117,708,0.00,2.08,0.00,0.000,4,0.000,0.025,2116,1199,3764,0,0,0,0,0,0
$GC,727,-0.54,-219.0,158.7,-19.7,121,734,0.12,2.28,0.00,0.000,6,0.155,0.034,2145,2684,3764,0,0,0,0,0,0
$GC,868,-0.54,-219.0,177.8,-13.9,146,876,0.00,1.67,0.00,0.000,4,0.000,0.040,2139,3776,3762,0,0,0,0,0,0
$GC,934,-0.54,-219.0,186.7,-12.4,157,941,0.00,1.58,0.00,0.000,6,0.000,0.023,2139,2701,3762,0,0,0,0,0,0
$GC,1077,-0.54,-219.0,205.2,-13.8,180,1081,0.00,2.17,0.00,0.000,4,0.000,0.027,2138,1207,3764,0,0,0,0,0,0
$GC,1145,-0.54,-219.0,213.4,-10.8,185,1151,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2670,3764,0,0,0,0,0,0
$GC,1470,-0.54,-219.0,255.1,-12.5,216,1474,0.00,2.17,0.00,0.000,4,0.000,0.028,2138,1200,3763,0,0,0,0,0,0
$GC,1514,-0.54,-219.0,260.5,-11.3,219,1521,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2642,3763,0,0,0,0,0,0
$GC,1840,-0.54,-219.0,298.2,-11.0,250,1844,0.00,1.73,0.00,0.000,4,0.000,0.044,2138,3781,3761,0,0,0,0,0,0
$GC,1879,-0.54,-219.0,302.5,-10.6,253,1885,0.00,1.70,0.00,0.000,6,0.000,0.023,2138,2594,3760,0,0,0,0,0,0
$GC,2204,-0.54,-219.0,335.7,-9.6,284,2208,0.00,2.03,0.00,0.000,4,0.000,0.028,2138,1209,3757,0,0,0,0,0,0
$GC,2239,-0.54,-219.0,338.6,-9.1,287,2243,0.00,2.15,0.00,0.000,6,0.000,0.033,2137,2624,3758,0,0,0,0,0,0
$GC,2565,-0.54,-219.0,368.2,-9.9,317,2569,0.00,1.75,0.00,0.000,4,0.000,0.045,2136,3776,3754,0,0,0,0,0,0
$GC,2592,-0.54,-219.0,371.2,-10.1,319,2599,0.00,1.70,0.00,0.000,6,0.000,0.024,2136,2602,3754,0,0,0,0,0,0
$GC,2918,-0.54,-219.0,402.4,-9.6,350,2921,0.00,2.05,0.00,0.000,4,0.000,0.029,2135,1212,3751,0,0,0,0,0,0
$GC,2987,-0.54,-219.0,408.7,-9.0,356,2991,0.00,2.15,0.00,0.000,6,0.000,0.034,2129,2618,3751,0,0,0,0,0,0
$GC,3319,-0.54,-219.0,440.5,-9.1,387,3323,0.00,2.10,0.00,0.000,4,0.000,0.029,2129,1206,3749,0,0,0,0,0,0
$GC,3336,-0.54,-219.0,442.2,-9.1,388,3340,0.00,2.12,0.00,0.000,6,0.000,0.035,2126,2596,3749,0,0,0,0,0,0
$GC,3662,-0.54,-219.0,471.9,-9.6,418,3665,0.00,1.83,0.00,0.000,4,0.000,0.047,2125,3787,3746,0,0,0,0,0,0
$GC,3700,-0.54,-219.0,475.8,-9.6,421,3707,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2598,3745,0,0,0,0,0,0
$GC,4026,-0.54,-219.0,508.8,-10.5,448,4029,0.00,2.05,0.00,0.000,4,0.000,0.030,2125,1212,3742,0,0,0,0,0,0
$GC,4064,-0.54,-219.0,513.3,-10.6,449,4071,0.00,2.15,0.00,0.000,6,0.000,0.035,2125,2611,3742,0,0,0,0,0,0
$GC,4381,-0.54,-219.0,543.7,-9.3,465,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2611,3739,0,0,0,0,0,0
$GC,4691,-0.54,-219.0,571.7,-9.2,480,4695,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1208,3737,0,0,0,0,0,0
$GC,4737,-0.54,-219.0,575.8,-8.8,482,4741,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2607,3737,0,0,0,0,0,0
$GC,5070,-0.54,-219.0,606.4,-9.8,498,5074,0.00,1.80,0.00,0.000,4,0.000,0.047,2124,3777,3733,0,0,0,0,0,0
$GC,5109,-0.54,-219.0,610.1,-8.9,499,5115,0.00,1.73,0.00,0.000,6,0.000,0.026,2125,2602,3733,0,0,0,0,0,0
$GC,5425,-0.54,-219.0,640.9,-10.3,515,5429,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1207,3731,0,0,0,0,0,0
$GC,5476,-0.54,-219.0,646.3,-10.2,517,5480,0.00,2.12,0.00,0.000,6,0.000,0.035,2125,2587,3731,0,0,0,0,0,0
$GC,5798,-0.54,-219.0,680.4,-10.6,533,5801,0.00,1.85,0.00,0.000,4,0.000,0.048,2125,3784,3730,0,0,0,0,0,0
$GC,5831,-0.54,-219.0,683.9,-9.9,534,5834,0.00,1.75,0.00,0.000,6,0.000,0.026,2125,2591,3729,0,0,0,0,0,0
$GC,6153,-0.54,-219.0,712.1,-8.2,550,6157,0.00,2.05,0.00,0.000,4,0.000,0.030,2125,1206,3726,0,0,0,0,0,0
$GC,6203,-0.54,-219.0,716.1,-7.6,552,6207,0.00,2.12,0.00,0.000,6,0.000,0.036,2125,2582,3726,0,0,0,0,0,0
$GC,6532,-0.54,-219.0,738.8,-6.9,568,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2583,3724,0,0,0,0,0,0
$GC,6840,-0.54,-219.0,759.9,-6.7,583,6844,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3784,3722,0,0,0,0,0,0
$GC,6873,-0.54,-219.0,762.2,-7.2,584,6876,0.00,1.77,0.00,0.000,6,0.000,0.026,2125,2570,3722,0,0,0,0,0,0
$GC,7195,-0.54,-219.0,787.2,-7.9,600,7199,0.00,2.03,0.00,0.000,4,0.000,0.032,2125,1214,3721,0,0,0,0,0,0
$GC,7233,-0.54,-219.0,790.5,-7.9,601,7240,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2599,3721,0,0,0,0,0,0
$GC,7550,-0.54,-219.0,815.5,-8.2,617,7554,0.00,2.08,0.00,0.000,4,0.000,0.031,2125,1212,3719,0,0,0,0,0,0
$GC,7572,-0.54,-219.0,817.4,-8.2,618,7576,0.00,2.10,0.00,0.000,6,0.000,0.038,2130,2561,3719,0,0,0,0,0,0
$GC,7899,-0.54,-219.0,845.2,-9.1,634,7903,0.00,1.90,0.00,0.000,4,0.000,0.050,2125,3778,3717,0,0,0,0,0,0
$GC,7945,-0.54,-219.0,849.0,-8.3,636,7948,0.00,1.77,0.00,0.000,6,0.000,0.027,2124,2574,3717,0,0,0,0,0,0
$GC,8278,-0.54,-219.0,879.4,-9.5,652,8282,0.00,2.03,0.00,0.000,4,0.000,0.031,2124,1211,3715,0,0,0,0,0,0
$GC,8306,-0.54,-219.0,882.1,-9.3,653,8310,0.00,2.17,0.00,0.000,6,0.000,0.038,2124,2607,3716,0,0,0,0,0,0
$GC,8634,-0.54,-219.0,910.6,-8.7,669,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2608,3714,0,0,0,0,0,0
$GC,8942,-0.54,-219.0,938.0,-8.6,684,8946,0.00,2.12,0.00,0.000,4,0.000,0.032,2124,1203,3713,0,0,0,0,0,0
$GC,8974,-0.54,-219.0,940.8,-8.6,685,8981,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2588,3713,0,0,0,0,0,0
$GC,9291,-0.54,-219.0,966.9,-8.5,701,9295,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3786,3711,0,0,0,0,0,0
$GC,9319,-0.54,-219.0,969.3,-8.5,702,9322,0.00,1.77,0.00,0.000,6,0.000,0.026,2124,2579,3711,0,0,0,0,0,0
$STATE,9582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9582,begin apogee
$GC,9589,-0.13,0.0,990.6,8.2,715,9760,0.45,0.00,166.07,1.091,4,0.111,0.000,2275,2106,2870,0,0,0,0,0,0
$STATE,9761,end apogee,CONTROL_FINISHED_OK
$STATE,9761,begin climb
$GC,9763,0.54,219.0,1000.3,0.0,723,9951,0.62,2.40,179.50,1.067,4,0.051,0.043,2509,3542,1976,0,0,0,0,0,0
$GC,9957,0.54,219.0,990.0,13.4,732,9961,0.00,2.35,0.00,0.000,6,0.000,0.028,2519,2120,1976,0,0,0,0,0,0
$GC,10274,0.54,219.0,948.2,13.0,747,10278,0.00,2.15,0.00,0.000,4,0.000,0.038,2533,719,1974,0,0,0,0,0,0
$GC,10374,0.54,219.0,935.2,12.9,751,10382,0.12,2.15,0.00,0.000,6,0.163,0.033,2499,2109,1972,0,0,0,0,0,0
$GC,10691,0.56,235.6,900.7,11.2,767,10714,0.00,2.28,14.40,0.956,4,0.000,0.044,2499,3535,1909,0,0,0,0,0,0
$GC,10782,0.56,235.6,889.0,11.8,771,10787,0.00,2.20,0.00,0.000,6,0.000,0.028,2507,2092,1907,0,0,0,0,0,0
$GC,11110,0.56,235.6,851.0,12.5,787,11114,0.00,2.08,0.00,0.000,4,0.000,0.037,2518,723,1906,0,0,0,0,0,0
$GC,11149,0.56,235.6,845.9,12.4,788,11156,0.00,2.17,0.00,0.000,6,0.000,0.032,2518,2110,1907,0,0,0,0,0,0
$GC,11465,0.56,235.6,804.9,13.0,804,11469,0.00,2.22,0.00,0.000,4,0.000,0.044,2517,3541,1906,0,0,0,0,0,0
$GC,11486,0.56,235.6,802.0,13.0,805,11491,0.00,2.20,0.00,0.000,6,0.000,0.028,2524,2098,1906,0,0,0,0,0,0
$GC,11814,0.56,235.6,759.6,13.2,821,11818,0.00,2.08,0.00,0.000,4,0.000,0.037,2538,724,1906,0,0,0,0,0,0
$GC,11846,0.56,235.6,755.1,12.8,822,11854,0.08,2.15,0.00,0.000,6,0.146,0.033,2503,2100,1906,0,0,0,0,0,0
$GC,12164,0.58,247.8,719.0,11.3,838,12179,0.00,2.28,10.95,0.844,4,0.000,0.043,2503,3542,1858,0,0,0,0,0,0
$GC,12235,0.58,247.8,710.1,12.2,840,12239,0.00,2.15,0.00,0.000,6,0.000,0.028,2511,2124,1857,0,0,0,0,0,0
$GC,12558,0.59,262.7,673.5,11.2,856,12580,0.00,2.20,12.88,0.825,4,0.000,0.039,2526,727,1798,0,0,0,0,0,0
$GC,12653,0.61,271.6,662.5,11.5,860,12671,0.00,2.15,8.23,0.734,6,0.000,0.032,2522,2125,1764,0,0,0,0,0,0
$GC,12983,0.63,288.7,625.3,11.2,876,13006,0.00,2.25,15.00,0.807,4,0.000,0.044,2522,3538,1692,0,0,0,0,0,0
$GC,13102,0.63,288.7,610.0,13.2,881,13106,0.00,2.15,0.00,0.000,6,0.000,0.028,2531,2130,1691,0,0,0,0,0,0
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$STATE,18199,end climb,SURFACE_DEPTH_REACHED
$STATE,18201,begin surface coast
$FINISH,0.5,1.020544
$STATE,18223,end surface coast,CONTROL_FINISHED_OK
$STATE,18223,begin surface
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$TT8_MAMPS,0.031458,0.031458
$HUMID,43.81
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,9.8,54.657
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,323556
$DATA_FILE_SIZE,100360,1452
$CAP_FILE_SIZE,202558,0
$CFSIZE,260165632,216784896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190811,054301,2138.140,11959.083,36,1.4,36,-2.6