version: 66.09
glider: 181
mission: 6
dive: 98
start: 6 29 111 9 30 9
data:
$ID,181
$MISSION,6
$DIVE,98
$N_DIVES,100
$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,400
$T_MISSION,440
$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,150
$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,-40545.613
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,290611,092237,2003.428,11953.616,30,0.9,30,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.4
$GPS2,290611,092944,2003.556,11953.674,13,1.1,13,-2.2
$SPEED_LIMITS,0.143,0.243
$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,176.8,118225,-14.5,-8.250
$D_GRID,3490
$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,17,-0.47,-146.0,0.0,0.0,0,89,0.00,0.00,-69.72,0.000,2,0.000,0.000,203,2574,2526,0,0,0,0,0,0
$GC,92,-0.47,-146.0,3.1,-3.5,10,123,7.90,0.00,-19.55,0.000,6,0.235,0.000,2139,2574,3468,0,0,0,0,0,0
$GC,250,-0.47,-146.0,63.9,-35.1,38,258,0.00,1.90,0.00,0.000,4,0.000,0.046,2132,3767,3470,0,0,0,0,0,0
$GC,312,-0.47,-146.0,87.6,-35.0,49,320,0.00,1.75,0.00,0.000,6,0.000,0.025,2132,2598,3471,0,0,0,0,0,0
$GC,447,-0.47,-146.0,126.9,-31.0,74,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2595,3472,0,0,0,0,0,0
$GC,580,-0.47,-146.0,154.2,-16.9,99,588,0.00,2.08,0.00,0.000,4,0.000,0.029,2132,1212,3473,0,0,0,0,0,0
$GC,637,-0.47,-146.0,162.9,-14.4,109,645,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2583,3473,0,0,0,0,0,0
$GC,772,-0.47,-146.0,184.0,-16.9,134,780,0.00,1.85,0.00,0.000,4,0.000,0.044,2115,3775,3473,0,0,0,0,0,0
$GC,865,-0.47,-146.0,199.5,-14.1,151,873,0.10,1.73,0.00,0.000,6,0.134,0.025,2147,2613,3473,0,0,0,0,0,0
$GC,999,-0.47,-146.0,216.1,-11.5,164,1003,0.00,1.80,0.00,0.000,4,0.000,0.042,2140,3793,3473,0,0,0,0,0,0
$GC,1047,-0.47,-146.0,221.8,-11.2,168,1056,0.00,1.67,0.00,0.000,6,0.000,0.025,2140,2663,3473,0,0,0,0,0,0
$GC,1375,-0.47,-146.0,263.3,-14.3,199,1379,0.00,2.12,0.00,0.000,4,0.000,0.030,2140,1211,3472,0,0,0,0,0,0
$GC,1517,-0.47,-146.0,281.3,-11.8,211,1521,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2639,3472,0,0,0,0,0,0
$GC,1842,-0.47,-146.0,323.9,-12.5,241,1846,0.00,2.15,0.00,0.000,4,0.000,0.031,2137,1203,3469,0,0,0,0,0,0
$GC,1904,-0.47,-146.0,330.7,-10.4,246,1908,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2611,3468,0,0,0,0,0,0
$GC,2234,-0.47,-146.0,366.4,-11.2,277,2238,0.00,2.08,0.00,0.000,4,0.000,0.032,2138,1213,3465,0,0,0,0,0,0
$GC,2290,-0.47,-146.0,373.1,-11.2,281,2297,0.00,2.12,0.00,0.000,6,0.000,0.039,2138,2600,3465,0,0,0,0,0,0
$GC,2615,-0.47,-146.0,414.6,-13.5,312,2619,0.00,1.77,0.00,0.000,4,0.000,0.047,2130,3780,3461,0,0,0,0,0,0
$GC,2650,-0.47,-146.0,418.9,-12.5,315,2653,0.00,1.70,0.00,0.000,6,0.000,0.028,2131,2608,3460,0,0,0,0,0,0
$GC,2980,-0.47,-146.0,462.0,-12.6,346,2984,0.00,2.05,0.00,0.000,4,0.000,0.032,2130,1214,3457,0,0,0,0,0,0
$GC,3019,-0.47,-146.0,466.9,-12.6,349,3026,0.00,2.15,0.00,0.000,6,0.000,0.039,2124,2581,3460,0,0,0,0,0,0
$GC,3343,-0.47,-146.0,505.3,-11.7,378,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2582,3454,0,0,0,0,0,0
$GC,3653,-0.47,-146.0,544.2,-12.7,393,3656,0.00,1.83,0.00,0.000,4,0.000,0.049,2117,3782,3451,0,0,0,0,0,0
$GC,3685,-0.47,-146.0,548.3,-11.5,394,3690,0.08,1.80,0.00,0.000,6,0.132,0.028,2142,2592,3451,0,0,0,0,0,0
$GC,4007,-0.47,-146.0,579.6,-9.7,410,4011,0.00,2.05,0.00,0.000,4,0.000,0.034,2142,1204,3448,0,0,0,0,0,0
$GC,4079,-0.47,-146.0,587.0,-9.6,413,4083,0.00,2.15,0.00,0.000,6,0.000,0.039,2139,2603,3448,0,0,0,0,0,0
$GC,4407,-0.47,-146.0,617.2,-9.3,429,4411,0.00,2.12,0.00,0.000,4,0.000,0.034,2139,1200,3445,0,0,0,0,0,0
$GC,4501,-0.47,-146.0,626.1,-8.9,433,4505,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2568,3444,0,0,0,0,0,0
$GC,4828,-0.47,-146.0,656.4,-9.4,449,4832,0.00,1.85,0.00,0.000,4,0.000,0.050,2130,3781,3442,0,0,0,0,0,0
$GC,4851,-0.47,-146.0,658.7,-9.4,450,4855,0.00,1.85,0.00,0.000,6,0.000,0.030,2130,2565,3442,0,0,0,0,0,0
$GC,5185,-0.47,-146.0,690.1,-9.2,466,5188,0.00,2.03,0.00,0.000,4,0.000,0.035,2130,1199,3439,0,0,0,0,0,0
$GC,5257,-0.47,-146.0,696.9,-8.7,469,5261,0.00,2.12,0.00,0.000,6,0.000,0.041,2125,2577,3439,0,0,0,0,0,0
$GC,5585,-0.47,-146.0,726.9,-9.3,485,5589,0.00,2.08,0.00,0.000,4,0.000,0.035,2125,1199,3437,0,0,0,0,0,0
$GC,5606,-0.47,-146.0,729.1,-9.4,486,5610,0.00,2.15,0.00,0.000,6,0.000,0.041,2125,2559,3437,0,0,0,0,0,0
$GC,5933,-0.47,-146.0,761.2,-10.3,502,5937,0.00,2.08,0.00,0.000,4,0.000,0.036,2125,1190,3435,0,0,0,0,0,0
$GC,5966,-0.47,-146.0,764.8,-10.2,503,5970,0.00,2.10,0.00,0.000,6,0.000,0.042,2125,2554,3434,0,0,0,0,0,0
$GC,6288,-0.47,-146.0,798.8,-10.8,519,6292,0.00,2.05,0.00,0.000,4,0.000,0.036,2125,1199,3433,0,0,0,0,0,0
$GC,6311,-0.47,-146.0,801.4,-10.9,520,6315,0.00,2.10,0.00,0.000,6,0.000,0.041,2124,2555,3433,0,0,0,0,0,0
$GC,6639,-0.47,-146.0,837.0,-11.0,536,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2555,3432,0,0,0,0,0,0
$GC,6948,-0.47,-146.0,871.1,-11.2,551,6951,0.00,2.05,0.00,0.000,4,0.000,0.036,2124,1198,3431,0,0,0,0,0,0
$GC,7016,-0.47,-146.0,878.5,-10.5,554,7020,0.00,2.08,0.00,0.000,6,0.000,0.041,2124,2542,3430,0,0,0,0,0,0
$GC,7343,-0.47,-146.0,912.4,-10.0,570,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2542,3429,0,0,0,0,0,0
$GC,7652,-0.47,-146.0,943.7,-10.4,585,7656,0.00,1.92,0.00,0.000,4,0.000,0.051,2116,3790,3428,0,0,0,0,0,0
$GC,7697,-0.47,-146.0,948.1,-9.8,587,7702,0.12,1.85,0.00,0.000,6,0.154,0.030,2149,2544,3427,0,0,0,0,0,0
$GC,8031,-0.47,-146.0,970.8,-6.4,603,8035,0.00,2.03,0.00,0.000,4,0.000,0.037,2150,1194,3426,0,0,0,0,0,0
$GC,8076,-0.47,-146.0,973.9,-6.6,605,8081,0.00,2.10,0.00,0.000,6,0.000,0.041,2149,2545,3426,0,0,0,0,0,0
$STATE,8366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8366,begin apogee
$GC,8372,-0.16,0.0,990.4,5.6,619,8488,0.28,0.00,110.18,1.115,4,0.122,0.000,2243,2105,2869,0,0,0,0,0,0
$STATE,8489,end apogee,CONTROL_FINISHED_OK
$STATE,8489,begin climb
$GC,8491,0.47,146.0,992.7,0.0,624,8622,0.62,2.28,120.40,1.085,4,0.091,0.041,2449,712,2273,0,0,0,0,0,0
$GC,8675,0.47,146.0,979.9,10.7,633,8679,0.00,2.30,0.00,0.000,6,0.000,0.037,2449,2134,2269,0,0,0,0,0,0
$GC,9002,0.47,146.0,941.4,11.9,649,9006,0.00,2.20,0.00,0.000,4,0.000,0.046,2448,3536,2261,0,0,0,0,0,0
$GC,9119,0.47,146.0,926.0,13.0,654,9123,0.00,2.15,0.00,0.000,6,0.000,0.031,2458,2136,2262,0,0,0,0,0,0
$GC,9441,0.47,146.0,887.3,11.8,670,9445,0.00,2.17,0.00,0.000,4,0.000,0.041,2469,718,2259,0,0,0,0,0,0
$GC,9507,0.47,146.0,879.5,11.7,673,9511,0.00,2.20,0.00,0.000,6,0.000,0.034,2469,2140,2261,0,0,0,0,0,0
$GC,9835,0.47,146.0,844.3,10.2,689,9839,0.00,2.20,0.00,0.000,4,0.000,0.039,2485,710,2260,0,0,0,0,0,0
$GC,9875,0.47,146.0,840.2,10.2,691,9879,0.00,2.17,0.00,0.000,6,0.000,0.035,2479,2127,2260,0,0,0,0,0,0
$GC,10202,0.47,146.0,805.8,10.5,707,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2128,2259,0,0,0,0,0,0
$GC,10511,0.47,146.0,774.0,10.2,722,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2128,2258,0,0,0,0,0,0
$GC,10820,0.47,146.0,742.5,10.2,737,10824,0.00,2.17,0.00,0.000,4,0.000,0.041,2489,711,2257,0,0,0,0,0,0
$GC,10864,0.47,146.0,737.7,10.7,739,10869,0.12,2.15,0.00,0.000,6,0.175,0.035,2459,2124,2258,0,0,0,0,0,0
$GC,11192,0.47,146.0,708.5,8.9,755,11196,0.00,2.17,0.00,0.000,4,0.000,0.047,2458,3535,2257,0,0,0,0,0,0
$GC,11252,0.47,146.0,702.2,10.0,757,11260,0.00,2.15,0.00,0.000,6,0.000,0.031,2466,2112,2256,0,0,0,0,0,0
$GC,11569,0.47,146.0,674.5,8.4,773,11573,0.00,2.10,0.00,0.000,4,0.000,0.041,2477,720,2256,0,0,0,0,0,0
$GC,11646,0.47,146.0,667.8,8.4,776,11654,0.00,2.15,0.00,0.000,6,0.000,0.035,2477,2128,2257,0,0,0,0,0,0
$GC,11962,0.47,146.0,641.3,8.4,792,11966,0.00,2.15,0.00,0.000,4,0.000,0.044,2477,3535,2256,0,0,0,0,0,0
$GC,12029,0.47,146.0,634.5,10.5,795,12034,0.12,2.12,0.00,0.000,6,0.187,0.031,2457,2122,2255,0,0,0,0,0,0
$GC,12352,0.48,154.5,610.0,7.9,811,12362,0.00,2.15,5.25,0.740,4,0.000,0.041,2466,715,2238,0,0,0,0,0,0
$GC,12464,0.48,154.5,600.5,8.3,816,12468,0.00,2.15,0.00,0.000,6,0.000,0.036,2463,2121,2239,0,0,0,0,0,0
$GC,12792,0.48,154.5,569.1,9.9,832,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2121,2238,0,0,0,0,0,0
$GC,13101,0.48,154.5,538.9,9.4,847,13102,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2121,2238,0,0,0,0,0,0
$GC,13410,0.48,154.5,510.4,9.1,862,13414,0.00,2.17,0.00,0.000,4,0.000,0.045,2466,3542,2238,0,0,0,0,0,0
$GC,13483,0.48,154.5,502.7,10.6,865,13486,0.00,2.15,0.00,0.000,6,0.000,0.029,2476,2107,2238,0,0,0,0,0,0
$GC,13813,0.48,154.5,472.6,9.1,895,13817,0.00,2.10,0.00,0.000,4,0.000,0.040,2486,722,2237,0,0,0,0,0,0
$GC,13909,0.48,154.5,463.7,9.2,903,13913,0.00,2.12,0.00,0.000,6,0.000,0.034,2486,2117,2238,0,0,0,0,0,0
$GC,14239,0.48,154.5,433.9,8.9,934,14243,0.00,2.17,0.00,0.000,4,0.000,0.044,2486,3542,2237,0,0,0,0,0,0
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$STATE,19127,begin surface coast
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$CFSIZE,260165632,241762304
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