version: 66.09
glider: 181
mission: 6
dive: 398
start: 8 25 111 14 17 57
data:
$ID,181
$MISSION,6
$DIVE,398
$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,-41045.551
$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,52
$R_STBD_OVSHOOT,52
$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
$GPS1,250811,141137,2101.435,11952.383,30,1.0,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.6
$GPS2,250811,141732,2101.381,11952.402,14,1.4,14,-2.4
$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,179.0,225190,-16.3,-11.786
$D_GRID,3363
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,175,2628,2363,0,0,0,0,0,0
$GC,91,-0.54,-219.0,3.4,-3.5,12,138,8.12,2.20,-29.58,0.000,4,0.226,0.037,2137,1178,3764,0,0,0,0,0,0
$GC,213,-0.54,-219.0,33.6,-18.5,33,220,0.00,2.15,0.00,0.000,6,0.000,0.034,2128,2581,3764,0,0,0,0,0,0
$GC,356,-0.54,-219.0,65.7,-23.8,58,362,0.00,1.85,0.00,0.000,4,0.000,0.045,2119,3786,3764,0,0,0,0,0,0
$GC,460,-0.54,-219.0,94.2,-29.2,76,466,0.00,1.67,0.00,0.000,6,0.000,0.022,2119,2635,3764,0,0,0,0,0,0
$GC,604,-0.54,-219.0,125.6,-18.1,101,611,0.00,2.08,0.00,0.000,4,0.000,0.026,2119,1203,3764,0,0,0,0,0,0
$GC,629,-0.54,-219.0,130.2,-17.3,105,636,0.12,2.22,0.00,0.000,6,0.164,0.034,2144,2666,3764,0,0,0,0,0,0
$GC,776,-0.54,-219.0,152.1,-14.4,130,782,0.00,1.67,0.00,0.000,4,0.000,0.041,2139,3783,3764,0,0,0,0,0,0
$GC,789,-0.54,-219.0,154.6,-14.5,132,796,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2640,3764,0,0,0,0,0,0
$GC,934,-0.54,-219.0,175.4,-15.1,157,941,0.00,2.12,0.00,0.000,4,0.000,0.026,2138,1194,3765,0,0,0,0,0,0
$GC,1010,-0.54,-219.0,185.0,-11.0,170,1017,0.00,2.17,0.00,0.000,6,0.000,0.033,2138,2635,3765,0,0,0,0,0,0
$GC,1159,-0.54,-219.0,203.2,-13.0,194,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2636,3765,0,0,0,0,0,0
$GC,1477,-0.54,-219.0,238.3,-10.7,224,1481,0.00,1.77,0.00,0.000,4,0.000,0.043,2133,3783,3765,0,0,0,0,0,0
$GC,1512,-0.54,-219.0,242.3,-10.9,227,1516,0.00,1.73,0.00,0.000,6,0.000,0.023,2133,2586,3765,0,0,0,0,0,0
$GC,1843,-0.54,-219.0,279.8,-10.6,258,1846,0.00,1.83,0.00,0.000,4,0.000,0.041,2126,3776,3763,0,0,0,0,0,0
$GC,1866,-0.54,-219.0,282.3,-10.7,260,1870,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2600,3763,0,0,0,0,0,0
$GC,2197,-0.54,-219.0,319.1,-11.1,291,2201,0.00,2.05,0.00,0.000,4,0.000,0.028,2125,1196,3760,0,0,0,0,0,0
$GC,2253,-0.54,-219.0,324.8,-9.5,295,2260,0.00,2.10,0.00,0.000,6,0.000,0.034,2125,2581,3760,0,0,0,0,0,0
$GC,2579,-0.54,-219.0,359.8,-10.7,326,2582,0.00,1.83,0.00,0.000,4,0.000,0.043,2117,3778,3757,0,0,0,0,0,0
$GC,2606,-0.54,-219.0,363.3,-11.3,328,2613,0.00,1.75,0.00,0.000,6,0.000,0.024,2117,2567,3756,0,0,0,0,0,0
$GC,2932,-0.54,-219.0,401.9,-12.1,359,2935,0.00,1.98,0.00,0.000,4,0.000,0.029,2116,1217,3754,0,0,0,0,0,0
$GC,2955,-0.54,-219.0,404.8,-12.4,361,2960,0.12,2.10,0.00,0.000,6,0.142,0.035,2149,2593,3754,0,0,0,0,0,0
$GC,3280,-0.54,-219.0,433.2,-8.4,391,3284,0.00,2.05,0.00,0.000,4,0.000,0.028,2148,1220,3751,0,0,0,0,0,0
$GC,3304,-0.54,-219.0,435.2,-8.3,393,3308,0.00,2.10,0.00,0.000,6,0.000,0.034,2144,2593,3751,0,0,0,0,0,0
$GC,3629,-0.54,-219.0,462.8,-8.3,423,3633,0.00,2.05,0.00,0.000,4,0.000,0.029,2143,1218,3748,0,0,0,0,0,0
$GC,3668,-0.54,-219.0,466.3,-8.6,426,3675,0.00,2.08,0.00,0.000,6,0.000,0.034,2139,2571,3748,0,0,0,0,0,0
$GC,3994,-0.54,-219.0,493.3,-8.0,457,3997,0.00,1.85,0.00,0.000,4,0.000,0.046,2138,3776,3745,0,0,0,0,0,0
$GC,4021,-0.54,-219.0,495.8,-8.1,459,4028,0.00,1.75,0.00,0.000,6,0.000,0.024,2138,2583,3745,0,0,0,0,0,0
$GC,4350,-0.54,-219.0,521.2,-7.8,478,4353,0.00,2.03,0.00,0.000,4,0.000,0.029,2138,1210,3742,0,0,0,0,0,0
$GC,4406,-0.54,-219.0,525.7,-7.7,480,4410,0.00,2.08,0.00,0.000,6,0.000,0.033,2138,2566,3742,0,0,0,0,0,0
$GC,4728,-0.54,-219.0,548.5,-7.0,496,4731,0.00,1.85,0.00,0.000,4,0.000,0.044,2138,3780,3739,0,0,0,0,0,0
$GC,4801,-0.54,-219.0,554.1,-7.3,499,4805,0.00,1.92,0.00,0.000,6,0.000,0.024,2138,2473,3739,0,0,0,0,0,0
$GC,5129,-0.54,-219.0,577.8,-7.5,515,5132,0.00,1.88,0.00,0.000,4,0.000,0.031,2138,1197,3737,0,0,0,0,0,0
$GC,5190,-0.54,-219.0,582.4,-7.3,517,5197,0.00,1.95,0.00,0.000,6,0.000,0.032,2138,2482,3736,0,0,0,0,0,0
$GC,5507,-0.54,-219.0,605.0,-7.5,533,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2482,3734,0,0,0,0,0,0
$GC,5815,-0.54,-219.0,628.3,-7.7,548,5819,0.00,2.00,0.00,0.000,4,0.000,0.044,2138,3779,3732,0,0,0,0,0,0
$GC,5871,-0.54,-219.0,632.7,-7.7,550,5875,0.00,1.92,0.00,0.000,6,0.000,0.024,2138,2477,3731,0,0,0,0,0,0
$GC,6193,-0.54,-219.0,657.1,-7.5,566,6197,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3779,3730,0,0,0,0,0,0
$GC,6346,-0.54,-219.0,670.4,-9.4,572,6353,0.00,1.90,0.00,0.000,6,0.000,0.024,2138,2489,3729,0,0,0,0,0,0
$GC,6663,-0.54,-219.0,697.2,-8.6,588,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2489,3727,0,0,0,0,0,0
$GC,6971,-0.54,-219.0,723.6,-8.4,603,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2489,3726,0,0,0,0,0,0
$GC,7281,-0.54,-219.0,749.8,-8.5,618,7285,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3786,3724,0,0,0,0,0,0
$GC,7406,-0.54,-219.0,761.9,-10.0,623,7410,0.00,1.92,0.00,0.000,6,0.000,0.024,2142,2484,3724,0,0,0,0,0,0
$GC,7730,-0.54,-219.0,790.6,-8.8,639,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2482,3722,0,0,0,0,0,0
$GC,8037,-0.54,-219.0,817.7,-8.7,654,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2482,3721,0,0,0,0,0,0
$GC,8346,-0.54,-219.0,846.6,-9.8,669,8350,0.00,2.05,0.00,0.000,4,0.000,0.044,2143,3779,3721,0,0,0,0,0,0
$GC,8536,-0.54,-219.0,868.2,-11.6,677,8540,0.00,1.90,0.00,0.000,6,0.000,0.024,2143,2497,3719,0,0,0,0,0,0
$GC,8859,-0.54,-219.0,902.5,-10.7,693,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2495,3718,0,0,0,0,0,0
$GC,9169,-0.54,-219.0,933.5,-9.5,708,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2495,3717,0,0,0,0,0,0
$GC,9477,-0.54,-219.0,961.1,-8.5,723,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2495,3715,0,0,0,0,0,0
$STATE,9619,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9619,begin apogee
$GC,9625,-0.13,0.0,973.2,8.2,730,9797,0.35,0.00,167.05,1.069,4,0.065,0.000,2290,2100,2869,0,0,0,0,0,0
$STATE,9798,end apogee,CONTROL_FINISHED_OK
$STATE,9798,begin climb
$GC,9800,0.54,219.0,982.8,0.0,738,9986,0.55,2.20,177.77,1.047,4,0.049,0.035,2511,736,1976,0,0,0,0,0,0
$GC,10043,0.54,219.0,966.6,12.9,750,10047,0.00,2.22,0.00,0.000,6,0.000,0.031,2511,2125,1974,0,0,0,0,0,0
$GC,10370,0.54,219.0,924.5,12.7,766,10374,0.00,2.20,0.00,0.000,4,0.000,0.041,2511,3538,1973,0,0,0,0,0,0
$GC,10392,0.54,219.0,921.2,12.2,767,10396,0.00,2.12,0.00,0.000,6,0.000,0.026,2521,2136,1973,0,0,0,0,0,0
$GC,10720,0.54,219.0,878.5,12.9,783,10724,0.00,2.15,0.00,0.000,4,0.000,0.036,2531,718,1972,0,0,0,0,0,0
$GC,10797,0.54,219.0,868.2,12.7,786,10805,0.15,2.15,0.00,0.000,6,0.161,0.031,2493,2123,1972,0,0,0,0,0,0
$GC,11115,0.59,259.6,835.0,10.3,802,11158,0.00,2.33,32.62,0.962,4,0.000,0.041,2493,3541,1809,0,0,0,0,0,0
$GC,11210,0.59,259.6,824.0,12.5,806,11214,0.00,2.20,0.00,0.000,6,0.000,0.027,2501,2123,1808,0,0,0,0,0,0
$GC,11536,0.59,259.6,785.1,12.2,822,11540,0.00,2.15,0.00,0.000,4,0.000,0.037,2512,721,1807,0,0,0,0,0,0
$GC,11628,0.59,259.6,773.8,12.7,826,11632,0.00,2.12,0.00,0.000,6,0.000,0.032,2512,2108,1807,0,0,0,0,0,0
$GC,11955,0.59,259.6,731.7,12.8,842,11959,0.00,2.22,0.00,0.000,4,0.000,0.043,2512,3541,1809,0,0,0,0,0,0
$GC,12027,0.59,259.6,721.6,14.4,845,12031,0.00,2.17,0.00,0.000,6,0.000,0.028,2522,2106,1808,0,0,0,0,0,0
$GC,12345,0.62,279.2,684.8,11.1,860,12368,0.00,2.20,16.70,0.851,4,0.000,0.037,2532,720,1729,0,0,0,0,0,0
$GC,12426,0.66,313.6,675.5,10.5,863,12459,0.00,2.15,27.77,0.851,6,0.000,0.033,2532,2111,1590,0,0,0,0,0,0
$GC,12769,0.67,320.2,636.0,11.5,880,12784,0.00,2.33,7.15,0.721,4,0.000,0.044,2532,3539,1563,0,0,0,0,0,0
$GC,12859,0.67,320.2,623.8,14.1,884,12863,0.00,2.17,0.00,0.000,6,0.000,0.028,2542,2115,1563,0,0,0,0,0,0
$GC,13185,0.67,320.2,579.2,14.1,900,13189,0.00,2.12,0.00,0.000,4,0.000,0.037,2553,713,1562,0,0,0,0,0,0
$GC,13252,0.67,320.2,569.9,13.4,903,13256,0.00,2.17,0.00,0.000,6,0.000,0.032,2553,2119,1562,0,0,0,0,0,0
$GC,13579,0.67,320.2,522.3,14.8,919,13583,0.00,2.22,0.00,0.000,4,0.000,0.044,2553,3542,1562,0,0,0,0,0,0
$GC,13663,0.67,320.2,508.5,16.1,922,13670,0.00,2.15,0.00,0.000,6,0.000,0.027,2562,2120,1563,0,0,0,0,0,0
$GC,13986,0.67,320.2,458.1,15.1,950,13990,0.00,2.12,0.00,0.000,4,0.000,0.036,2573,713,1562,0,0,0,0,0,0
$GC,14027,0.67,320.2,452.2,14.1,953,14031,0.15,2.17,0.00,0.000,6,0.151,0.032,2533,2137,1562,0,0,0,0,0,0
$GC,14354,0.68,328.8,413.1,11.5,983,14366,0.00,2.25,8.30,0.676,4,0.000,0.043,2532,3532,1528,0,0,0,0,0,0
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$STATE,17837,end climb,SURFACE_DEPTH_REACHED
$STATE,17838,begin surface coast
$FINISH,0.3,1.020871
$STATE,17870,end surface coast,CONTROL_FINISHED_OK
$STATE,17870,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,44.92
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$XPDR_PINGS,0
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$10V_AH,9.8,58.314
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$FG_AHR_10Vo,0.000
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$MEM,323576
$DATA_FILE_SIZE,83593,1450
$CAP_FILE_SIZE,193340,0
$CFSIZE,260165632,213749760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250811,191807,2058.969,11952.790,24,1.2,24,-2.4