version: 66.09
glider: 181
mission: 6
dive: 406
start: 8 27 111 7 7 3
data:
$ID,181
$MISSION,6
$DIVE,406
$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,-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,-41062.992
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,270811,070036,2050.167,11956.771,26,1.5,26,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.9
$GPS2,270811,070638,2050.150,11956.847,10,1.4,10,-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,180.8,204073,-16.3,-11.786
$D_GRID,3435
$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,16,-0.54,-219.0,0.0,0.0,0,81,0.00,0.00,-61.75,0.000,2,0.000,0.000,153,2624,2191,0,0,0,0,0,0
$GC,84,-0.54,-219.0,3.2,-3.8,11,137,8.32,2.17,-36.40,0.000,4,0.230,0.043,2138,1184,3764,0,0,0,0,0,0
$GC,234,-0.54,-219.0,35.9,-17.9,37,241,0.00,2.17,0.00,0.000,6,0.000,0.035,2129,2593,3764,0,0,0,0,0,0
$GC,377,-0.54,-219.0,64.2,-19.9,62,384,0.00,1.83,0.00,0.000,4,0.000,0.041,2121,3791,3764,0,0,0,0,0,0
$GC,430,-0.54,-219.0,74.8,-19.5,71,437,0.00,1.80,0.00,0.000,6,0.000,0.023,2120,2578,3764,0,0,0,0,0,0
$GC,574,-0.54,-219.0,107.4,-22.1,96,580,0.00,1.88,0.00,0.000,4,0.000,0.043,2112,3787,3764,0,0,0,0,0,0
$GC,632,-0.54,-219.0,121.7,-21.7,106,639,0.08,1.60,0.00,0.000,6,0.142,0.023,2144,2699,3764,0,0,0,0,0,0
$GC,778,-0.54,-219.0,142.6,-12.1,131,784,0.00,2.17,0.00,0.000,4,0.000,0.026,2144,1207,3765,0,0,0,0,0,0
$GC,853,-0.54,-219.0,150.6,-9.4,144,860,0.00,2.20,0.00,0.000,6,0.000,0.032,2138,2662,3765,0,0,0,0,0,0
$GC,997,-0.54,-219.0,167.1,-12.1,169,1004,0.00,1.67,0.00,0.000,4,0.000,0.041,2131,3785,3765,0,0,0,0,0,0
$GC,1045,-0.54,-219.0,172.5,-11.3,177,1051,0.00,1.62,0.00,0.000,6,0.000,0.023,2131,2685,3766,0,0,0,0,0,0
$GC,1190,-0.54,-219.0,190.4,-13.2,202,1196,0.00,2.15,0.00,0.000,4,0.000,0.027,2131,1210,3765,0,0,0,0,0,0
$GC,1214,-0.54,-219.0,194.1,-13.4,206,1221,0.00,2.25,0.00,0.000,6,0.000,0.034,2126,2689,3766,0,0,0,0,0,0
$GC,1354,-0.54,-219.0,212.1,-13.4,223,1358,0.00,2.17,0.00,0.000,4,0.000,0.027,2126,1213,3765,0,0,0,0,0,0
$GC,1406,-0.54,-219.0,218.8,-12.2,227,1410,0.00,2.15,0.00,0.000,6,0.000,0.034,2125,2632,3765,0,0,0,0,0,0
$GC,1731,-0.54,-219.0,261.3,-11.5,257,1735,0.00,1.73,0.00,0.000,4,0.000,0.043,2125,3776,3764,0,0,0,0,0,0
$GC,1756,-0.54,-219.0,263.8,-10.9,259,1760,0.00,1.73,0.00,0.000,6,0.000,0.024,2125,2613,3764,0,0,0,0,0,0
$GC,2088,-0.54,-219.0,299.3,-10.7,290,2091,0.00,2.05,0.00,0.000,4,0.000,0.028,2125,1214,3761,0,0,0,0,0,0
$GC,2148,-0.54,-219.0,305.0,-9.0,295,2152,0.00,2.12,0.00,0.000,6,0.000,0.033,2124,2606,3762,0,0,0,0,0,0
$GC,2473,-0.54,-219.0,338.9,-10.4,325,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2606,3759,0,0,0,0,0,0
$GC,2794,-0.54,-219.0,371.5,-10.6,355,2798,0.00,2.08,0.00,0.000,4,0.000,0.028,2124,1210,3756,0,0,0,0,0,0
$GC,2857,-0.54,-219.0,378.0,-9.4,360,2861,0.00,2.10,0.00,0.000,6,0.000,0.034,2124,2586,3756,0,0,0,0,0,0
$GC,3183,-0.54,-219.0,409.7,-9.7,390,3187,0.00,1.83,0.00,0.000,4,0.000,0.045,2124,3778,3752,0,0,0,0,0,0
$GC,3201,-0.54,-219.0,411.4,-9.7,391,3208,0.00,1.75,0.00,0.000,6,0.000,0.024,2124,2575,3752,0,0,0,0,0,0
$GC,3526,-0.54,-219.0,440.5,-8.7,422,3530,0.00,2.00,0.00,0.000,4,0.000,0.030,2124,1216,3750,0,0,0,0,0,0
$GC,3595,-0.54,-219.0,446.0,-7.8,428,3599,0.00,2.08,0.00,0.000,6,0.000,0.035,2124,2571,3749,0,0,0,0,0,0
$GC,3926,-0.54,-219.0,476.2,-9.3,459,3930,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3787,3747,0,0,0,0,0,0
$GC,3953,-0.54,-219.0,479.1,-9.3,461,3960,0.00,1.80,0.00,0.000,6,0.000,0.024,2124,2549,3746,0,0,0,0,0,0
$GC,4289,-0.54,-219.0,510.1,-9.5,488,4293,0.00,1.98,0.00,0.000,4,0.000,0.029,2124,1208,3743,0,0,0,0,0,0
$GC,4322,-0.54,-219.0,513.6,-9.7,489,4326,0.00,2.08,0.00,0.000,6,0.000,0.034,2124,2562,3743,0,0,0,0,0,0
$GC,4644,-0.54,-219.0,543.5,-9.3,505,4648,0.00,1.88,0.00,0.000,4,0.000,0.046,2124,3777,3741,0,0,0,0,0,0
$GC,4668,-0.54,-219.0,545.6,-9.1,506,4672,0.00,1.80,0.00,0.000,6,0.000,0.025,2124,2550,3740,0,0,0,0,0,0
$GC,5002,-0.54,-219.0,577.2,-9.9,522,5005,0.00,1.98,0.00,0.000,4,0.000,0.030,2124,1208,3737,0,0,0,0,0,0
$GC,5051,-0.54,-219.0,582.1,-9.4,524,5055,0.00,2.05,0.00,0.000,6,0.000,0.034,2124,2549,3737,0,0,0,0,0,0
$GC,5379,-0.54,-219.0,613.7,-10.0,540,5383,0.00,1.90,0.00,0.000,4,0.000,0.047,2124,3777,3736,0,0,0,0,0,0
$GC,5407,-0.54,-219.0,616.6,-10.0,541,5411,0.00,1.83,0.00,0.000,6,0.000,0.025,2124,2536,3735,0,0,0,0,0,0
$GC,5735,-0.54,-219.0,647.7,-9.5,557,5739,0.00,1.98,0.00,0.000,4,0.000,0.031,2124,1207,3732,0,0,0,0,0,0
$GC,5774,-0.54,-219.0,651.5,-9.1,558,5781,0.00,2.05,0.00,0.000,6,0.000,0.034,2124,2543,3732,0,0,0,0,0,0
$GC,6090,-0.54,-219.0,681.1,-9.7,574,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2544,3730,0,0,0,0,0,0
$GC,6400,-0.54,-219.0,710.7,-9.5,589,6404,0.00,2.05,0.00,0.000,4,0.000,0.031,2124,1196,3730,0,0,0,0,0,0
$GC,6424,-0.54,-219.0,713.1,-9.3,590,6428,0.00,2.05,0.00,0.000,6,0.000,0.036,2124,2524,3730,0,0,0,0,0,0
$GC,6756,-0.54,-219.0,744.4,-9.3,606,6760,0.00,1.98,0.00,0.000,4,0.000,0.049,2124,3775,3728,0,0,0,0,0,0
$GC,6807,-0.54,-219.0,749.2,-9.2,608,6811,0.00,1.88,0.00,0.000,6,0.000,0.025,2124,2537,3727,0,0,0,0,0,0
$GC,7135,-0.54,-219.0,780.1,-9.6,624,7139,0.00,2.00,0.00,0.000,4,0.000,0.031,2124,1217,3725,0,0,0,0,0,0
$GC,7181,-0.54,-219.0,784.4,-9.6,626,7185,0.00,2.05,0.00,0.000,6,0.000,0.036,2124,2548,3725,0,0,0,0,0,0
$GC,7516,-0.54,-219.0,813.6,-8.4,642,7520,0.00,1.92,0.00,0.000,4,0.000,0.049,2124,3778,3724,0,0,0,0,0,0
$GC,7544,-0.54,-219.0,816.3,-8.2,643,7548,0.00,1.88,0.00,0.000,6,0.000,0.026,2124,2542,3723,0,0,0,0,0,0
$GC,7872,-0.54,-219.0,840.3,-7.1,659,7876,0.00,2.03,0.00,0.000,4,0.000,0.031,2124,1211,3722,0,0,0,0,0,0
$GC,7904,-0.54,-219.0,842.8,-6.9,660,7908,0.00,2.05,0.00,0.000,6,0.000,0.035,2124,2535,3721,0,0,0,0,0,0
$GC,8226,-0.54,-219.0,861.8,-5.7,676,8230,0.00,1.95,0.00,0.000,4,0.000,0.049,2124,3781,3721,0,0,0,0,0,0
$GC,8266,-0.54,-219.0,864.0,-5.5,677,8272,0.00,1.85,0.00,0.000,6,0.000,0.027,2124,2538,3720,0,0,0,0,0,0
$GC,8582,-0.54,-219.0,883.4,-6.4,693,8586,0.00,1.98,0.00,0.000,4,0.000,0.031,2124,1212,3720,0,0,0,0,0,0
$GC,8606,-0.54,-219.0,885.0,-6.7,694,8609,0.00,2.05,0.00,0.000,6,0.000,0.037,2124,2535,3720,0,0,0,0,0,0
$GC,8940,-0.54,-219.0,907.5,-7.0,710,8943,0.00,1.95,0.00,0.000,4,0.000,0.050,2124,3776,3718,0,0,0,0,0,0
$GC,8967,-0.54,-219.0,909.6,-7.2,711,8971,0.00,1.83,0.00,0.000,6,0.000,0.027,2124,2547,3719,0,0,0,0,0,0
$GC,9296,-0.54,-219.0,931.7,-6.7,727,9299,0.00,2.00,0.00,0.000,4,0.000,0.032,2124,1207,3717,0,0,0,0,0,0
$GC,9342,-0.54,-219.0,935.0,-7.0,729,9345,0.00,2.05,0.00,0.000,6,0.000,0.035,2118,2535,3717,0,0,0,0,0,0
$STATE,9610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9610,begin apogee
$GC,9616,-0.13,0.0,956.0,8.3,742,9789,0.45,0.00,167.12,1.060,4,0.106,0.000,2271,2118,2869,0,0,0,0,0,0
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9792,0.54,219.0,965.6,0.0,750,9978,0.65,2.28,177.80,1.040,4,0.057,0.037,2508,726,1975,0,0,0,0,0,0
$GC,10132,0.57,244.6,942.7,10.9,766,10159,0.00,2.22,21.75,0.970,6,0.000,0.033,2508,2134,1872,0,0,0,0,0,0
$GC,10481,0.58,247.2,902.6,11.7,783,10491,0.00,2.25,3.95,0.662,4,0.000,0.037,2518,727,1861,0,0,0,0,0,0
$GC,10648,0.58,247.2,882.4,12.1,790,10652,0.00,2.22,0.00,0.000,6,0.000,0.034,2518,2138,1860,0,0,0,0,0,0
$GC,10970,0.58,247.2,842.3,12.4,806,10974,0.00,2.17,0.00,0.000,4,0.000,0.044,2518,3541,1859,0,0,0,0,0,0
$GC,11035,0.58,247.2,833.8,13.9,809,11039,0.00,2.10,0.00,0.000,6,0.000,0.027,2527,2148,1859,0,0,0,0,0,0
$GC,11362,0.58,247.2,790.8,13.1,825,11366,0.00,2.15,0.00,0.000,4,0.000,0.037,2538,723,1858,0,0,0,0,0,0
$GC,11480,0.58,247.2,775.2,12.3,830,11485,0.12,2.17,0.00,0.000,6,0.173,0.034,2507,2140,1858,0,0,0,0,0,0
$GC,11796,0.58,247.2,737.1,11.9,845,11800,0.00,2.17,0.00,0.000,4,0.000,0.043,2507,3544,1858,0,0,0,0,0,0
$GC,11862,0.58,247.2,728.2,13.4,848,11866,0.00,2.15,0.00,0.000,6,0.000,0.027,2515,2150,1857,0,0,0,0,0,0
$GC,12193,0.58,247.2,687.4,12.3,864,12197,0.00,2.17,0.00,0.000,4,0.000,0.038,2526,720,1857,0,0,0,0,0,0
$GC,12322,0.58,247.2,671.3,12.0,870,12326,0.00,2.15,0.00,0.000,6,0.000,0.034,2526,2124,1857,0,0,0,0,0,0
$GC,12650,0.58,250.3,632.0,11.7,886,12660,0.00,2.28,3.83,0.579,4,0.000,0.044,2526,3536,1848,0,0,0,0,0,0
$GC,12687,0.58,250.3,626.9,12.4,887,12695,0.00,2.15,0.00,0.000,6,0.000,0.027,2536,2113,1847,0,0,0,0,0,0
$GC,13005,0.58,252.7,589.9,11.7,903,13014,0.00,2.20,3.80,0.565,4,0.000,0.037,2547,714,1838,0,0,0,0,0,0
$GC,13134,0.59,257.8,574.9,11.6,908,13146,0.15,2.15,5.93,0.680,6,0.159,0.033,2506,2115,1817,0,0,0,0,0,0
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$STATE,17793,end climb,SURFACE_DEPTH_REACHED
$STATE,17793,begin surface coast
$FINISH,0.7,1.020951
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17811,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,47.04
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$TCM_TEMP,24.70
$XPDR_PINGS,0
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$10V_AH,9.8,59.073
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$FG_AHR_10Vo,0.000
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$MEM,323020
$DATA_FILE_SIZE,83565,1443
$CAP_FILE_SIZE,201743,0
$CFSIZE,260165632,213004288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270811,120631,2048.623,11958.745,41,1.9,41,-2.4