version: 66.09
glider: 181
mission: 6
dive: 440
start: 9 2 111 22 36 27
data:
$ID,181
$MISSION,6
$DIVE,440
$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,-41118.203
$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,60
$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
$GPS1,020911,223025,1957.355,12011.186,39,1.5,39,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.9
$GPS2,020911,223602,1957.348,12011.229,8,1.6,8,-2.2
$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,192.7,108013,-16.3,-11.786
$D_GRID,3846
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-62.97,0.000,2,0.000,0.000,197,2637,2221,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.2,-3.3,11,138,8.10,2.22,-35.08,0.000,4,0.227,0.041,2136,1193,3763,0,0,0,0,0,0
$GC,146,-0.54,-219.0,18.1,-31.6,21,153,0.00,2.15,0.00,0.000,6,0.000,0.042,2127,2568,3765,0,0,0,0,0,0
$GC,289,-0.54,-219.0,65.6,-25.5,46,296,0.00,1.88,0.00,0.000,4,0.000,0.044,2118,3792,3764,0,0,0,0,0,0
$GC,405,-0.54,-219.0,82.2,-11.0,66,411,0.00,1.65,0.00,0.000,6,0.000,0.024,2118,2659,3764,0,0,0,0,0,0
$GC,548,-0.54,-219.0,104.5,-17.4,91,554,0.00,2.17,0.00,0.000,4,0.000,0.028,2118,1179,3764,0,0,0,0,0,0
$GC,589,-0.54,-219.0,111.5,-16.3,98,597,0.12,2.35,0.00,0.000,6,0.158,0.034,2146,2713,3764,0,0,0,0,0,0
$GC,735,-0.54,-219.0,131.4,-13.9,123,742,0.00,1.62,0.00,0.000,4,0.000,0.042,2139,3793,3765,0,0,0,0,0,0
$GC,838,-0.54,-219.0,147.4,-15.3,141,845,0.00,1.60,0.00,0.000,6,0.000,0.024,2139,2714,3765,0,0,0,0,0,0
$GC,983,-0.54,-219.0,169.4,-13.3,166,989,0.00,2.25,0.00,0.000,4,0.000,0.028,2139,1179,3765,0,0,0,0,0,0
$GC,1075,-0.54,-219.0,178.0,-7.7,182,1081,0.00,2.35,0.00,0.000,6,0.000,0.033,2138,2724,3765,0,0,0,0,0,0
$GC,1220,-0.54,-219.0,188.8,-8.5,207,1227,0.00,2.30,0.00,0.000,4,0.000,0.028,2138,1189,3765,0,0,0,0,0,0
$GC,1262,-0.54,-219.0,193.2,-9.8,214,1269,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2682,3766,0,0,0,0,0,0
$GC,1402,-0.54,-219.0,209.2,-12.1,232,1405,0.00,1.67,0.00,0.000,4,0.000,0.043,2138,3794,3766,0,0,0,0,0,0
$GC,1429,-0.54,-219.0,213.1,-12.7,234,1436,0.00,1.73,0.00,0.000,6,0.000,0.024,2138,2637,3766,0,0,0,0,0,0
$GC,1755,-0.54,-219.0,250.5,-10.1,265,1759,0.00,2.10,0.00,0.000,4,0.000,0.029,2138,1202,3764,0,0,0,0,0,0
$GC,1799,-0.54,-219.0,255.1,-9.9,268,1806,0.00,2.22,0.00,0.000,6,0.000,0.033,2138,2664,3764,0,0,0,0,0,0
$GC,2125,-0.54,-219.0,285.6,-9.7,299,2129,0.00,2.17,0.00,0.000,4,0.000,0.029,2138,1202,3762,0,0,0,0,0,0
$GC,2166,-0.54,-219.0,289.6,-10.1,302,2170,0.00,2.20,0.00,0.000,6,0.000,0.034,2138,2647,3763,0,0,0,0,0,0
$GC,2491,-0.54,-219.0,321.4,-9.8,332,2495,0.00,2.17,0.00,0.000,4,0.000,0.031,2138,1197,3759,0,0,0,0,0,0
$GC,2550,-0.54,-219.0,326.6,-9.0,337,2554,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2606,3758,0,0,0,0,0,0
$GC,2875,-0.54,-219.0,352.1,-8.4,367,2879,0.00,1.83,0.00,0.000,4,0.000,0.044,2137,3773,3756,0,0,0,0,0,0
$GC,2933,-0.54,-219.0,356.9,-8.3,372,2937,0.00,1.90,0.00,0.000,6,0.000,0.026,2138,2482,3755,0,0,0,0,0,0
$GC,3265,-0.54,-219.0,386.6,-8.5,403,3268,0.00,2.03,0.00,0.000,4,0.000,0.043,2138,3785,3752,0,0,0,0,0,0
$GC,3439,-0.54,-219.0,401.8,-9.1,418,3442,0.00,2.00,0.00,0.000,6,0.000,0.026,2138,2430,3751,0,0,0,0,0,0
$GC,3770,-0.54,-219.0,430.5,-7.6,449,3774,0.00,2.12,0.00,0.000,4,0.000,0.043,2138,3780,3748,0,0,0,0,0,0
$GC,4007,-0.54,-219.0,454.1,-10.1,470,4011,0.00,1.98,0.00,0.000,6,0.000,0.026,2138,2453,3746,0,0,0,0,0,0
$GC,4338,-0.54,-219.0,482.0,-7.7,501,4342,0.00,2.10,0.00,0.000,4,0.000,0.044,2138,3784,3743,0,0,0,0,0,0
$GC,4597,-0.54,-219.0,505.8,-10.0,521,4600,0.00,1.95,0.00,0.000,6,0.000,0.026,2140,2472,3741,0,0,0,0,0,0
$GC,4918,-0.54,-219.0,536.0,-9.7,537,4922,0.00,1.88,0.00,0.000,4,0.000,0.033,2145,1204,3739,0,0,0,0,0,0
$GC,5176,-0.54,-219.0,562.6,-10.4,548,5179,0.00,1.98,0.00,0.000,6,0.000,0.034,2145,2502,3738,0,0,0,0,0,0
$GC,5498,-0.54,-219.0,592.1,-9.1,564,5501,0.00,1.98,0.00,0.000,4,0.000,0.045,2145,3783,3735,0,0,0,0,0,0
$GC,5616,-0.54,-219.0,603.4,-9.6,569,5620,0.00,1.90,0.00,0.000,6,0.000,0.027,2145,2504,3735,0,0,0,0,0,0
$GC,5943,-0.54,-219.0,629.7,-8.1,585,5947,0.00,2.00,0.00,0.000,4,0.000,0.045,2145,3781,3733,0,0,0,0,0,0
$GC,6156,-0.54,-219.0,647.7,-8.7,594,6160,0.00,1.85,0.00,0.000,6,0.000,0.027,2147,2534,3731,0,0,0,0,0,0
$GC,6478,-0.54,-219.0,674.0,-8.8,610,6482,0.00,1.98,0.00,0.000,4,0.000,0.046,2147,3782,3730,0,0,0,0,0,0
$GC,6548,-0.54,-219.0,680.4,-9.3,613,6552,0.00,1.88,0.00,0.000,6,0.000,0.028,2147,2521,3730,0,0,0,0,0,0
$GC,6881,-0.54,-219.0,710.4,-10.3,629,6885,0.00,1.98,0.00,0.000,4,0.000,0.047,2147,3774,3729,0,0,0,0,0,0
$GC,7093,-0.54,-219.0,733.5,-10.3,638,7097,0.00,1.85,0.00,0.000,6,0.000,0.028,2147,2533,3728,0,0,0,0,0,0
$GC,7415,-0.54,-219.0,763.2,-9.1,654,7419,0.00,1.95,0.00,0.000,4,0.000,0.046,2147,3774,3726,0,0,0,0,0,0
$GC,7586,-0.54,-219.0,778.6,-9.8,661,7590,0.00,1.85,0.00,0.000,6,0.000,0.028,2148,2569,3725,0,0,0,0,0,0
$GC,7907,-0.54,-219.0,804.2,-7.8,677,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2566,3724,0,0,0,0,0,0
$GC,8217,-0.54,-219.0,829.6,-8.4,692,8221,0.00,2.08,0.00,0.000,4,0.000,0.034,2148,1187,3723,0,0,0,0,0,0
$GC,8289,-0.54,-219.0,836.3,-8.9,695,8293,0.00,2.12,0.00,0.000,6,0.000,0.035,2148,2561,3722,0,0,0,0,0,0
$GC,8611,-0.54,-219.0,866.1,-9.6,711,8615,0.00,1.92,0.00,0.000,4,0.000,0.047,2148,3788,3721,0,0,0,0,0,0
$GC,8684,-0.54,-219.0,873.3,-9.8,714,8688,0.00,1.88,0.00,0.000,6,0.000,0.028,2148,2533,3721,0,0,0,0,0,0
$GC,9011,-0.54,-219.0,903.1,-9.2,730,9015,0.00,2.00,0.00,0.000,4,0.000,0.034,2148,1197,3720,0,0,0,0,0,0
$GC,9058,-0.54,-219.0,907.2,-8.9,732,9062,0.00,2.10,0.00,0.000,6,0.000,0.036,2147,2552,3720,0,0,0,0,0,0
$GC,9386,-0.54,-219.0,934.2,-8.1,748,9390,0.00,1.90,0.00,0.000,4,0.000,0.048,2148,3776,3719,0,0,0,0,0,0
$GC,9442,-0.54,-219.0,939.0,-8.4,750,9446,0.00,1.88,0.00,0.000,6,0.000,0.028,2148,2552,3719,0,0,0,0,0,0
$STATE,9616,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9617,begin apogee
$GC,9623,-0.13,0.0,952.4,7.6,759,9799,0.32,0.00,168.50,1.052,4,0.063,0.000,2294,2106,2869,0,0,0,0,0,0
$STATE,9800,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9803,0.54,219.0,960.7,0.0,767,9988,0.55,2.25,176.90,1.034,4,0.047,0.039,2517,721,1976,0,0,0,0,0,0
$GC,10161,0.54,219.0,929.2,12.2,784,10166,0.00,2.20,0.00,0.000,6,0.000,0.035,2517,2123,1975,0,0,0,0,0,0
$GC,10490,0.54,219.0,888.4,12.3,800,10494,0.00,2.17,0.00,0.000,4,0.000,0.038,2527,714,1973,0,0,0,0,0,0
$GC,10656,0.54,219.0,867.9,12.2,807,10664,0.12,2.22,0.00,0.000,6,0.166,0.036,2495,2151,1973,0,0,0,0,0,0
$GC,10973,0.59,259.4,834.9,10.3,823,11016,0.00,2.30,32.80,0.959,4,0.000,0.045,2494,3543,1810,0,0,0,0,0,0
$GC,11099,0.59,259.4,819.8,12.9,828,11107,0.00,2.17,0.00,0.000,6,0.000,0.030,2503,2151,1809,0,0,0,0,0,0
$GC,11417,0.59,259.4,780.8,12.6,844,11421,0.00,2.20,0.00,0.000,4,0.000,0.041,2514,717,1808,0,0,0,0,0,0
$GC,11483,0.59,259.4,771.9,12.9,847,11487,0.00,2.22,0.00,0.000,6,0.000,0.036,2514,2155,1808,0,0,0,0,0,0
$GC,11804,0.59,259.4,728.2,13.6,863,11808,0.00,2.17,0.00,0.000,4,0.000,0.047,2514,3541,1807,0,0,0,0,0,0
$GC,11831,0.59,259.4,724.5,13.3,864,11835,0.00,2.17,0.00,0.000,6,0.000,0.030,2523,2132,1807,0,0,0,0,0,0
$GC,12153,0.59,259.4,682.8,12.9,880,12157,0.00,2.15,0.00,0.000,4,0.000,0.039,2534,717,1807,0,0,0,0,0,0
$GC,12231,0.59,259.4,672.8,12.5,883,12237,0.00,2.17,0.00,0.000,6,0.000,0.034,2534,2130,1807,0,0,0,0,0,0
$GC,12547,0.59,259.4,632.2,12.8,899,12551,0.00,2.20,0.00,0.000,4,0.000,0.045,2534,3544,1806,0,0,0,0,0,0
$GC,12602,0.59,259.4,624.2,14.1,901,12609,0.12,2.15,0.00,0.000,6,0.173,0.031,2512,2134,1806,0,0,0,0,0,0
$GC,12919,0.60,269.8,588.2,11.4,917,12933,0.00,2.25,9.20,0.758,4,0.000,0.041,2522,719,1769,0,0,0,0,0,0
$GC,12964,0.60,269.8,582.5,12.1,919,12968,0.00,2.20,0.00,0.000,6,0.000,0.034,2522,2140,1768,0,0,0,0,0,0
$GC,13291,0.60,269.8,542.5,12.1,935,13295,0.00,2.17,0.00,0.000,4,0.000,0.045,2522,3538,1768,0,0,0,0,0,0
$GC,13376,0.60,269.8,531.4,13.4,939,13380,0.00,2.10,0.00,0.000,6,0.000,0.030,2531,2160,1768,0,0,0,0,0,0
$GC,13697,0.60,269.8,489.8,12.7,958,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2159,1768,0,0,0,0,0,0
$GC,14014,0.60,269.8,449.7,12.9,988,14018,0.00,2.15,0.00,0.000,4,0.000,0.043,2532,3538,1768,0,0,0,0,0,0
$GC,14058,0.60,269.8,442.9,14.3,991,14065,0.00,2.08,0.00,0.000,6,0.000,0.030,2541,2176,1768,0,0,0,0,0,0
$GC,14385,0.64,299.1,403.4,10.7,1022,14419,0.00,2.33,23.83,0.706,4,0.000,0.039,2552,721,1648,0,0,0,0,0,0
$GC,14502,0.71,355.2,392.0,9.7,1032,14550,0.00,2.28,42.92,0.687,6,0.000,0.035,2552,2187,1421,0,0,0,0,0,0
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$STATE,17756,end climb,SURFACE_DEPTH_REACHED
$STATE,17757,begin surface coast
$FINISH,0.2,1.020841
$STATE,17785,end surface coast,CONTROL_FINISHED_OK
$STATE,17785,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,46.49
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.3,71.952
$10V_AH,9.8,62.104
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,1015.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,83593,1463
$CAP_FILE_SIZE,200825,0
$CFSIZE,260165632,210075648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,033530,1956.495,12011.674,35,0.9,41,-2.2