version: 66.09
glider: 181
mission: 6
dive: 239
start: 7 25 111 8 16 50
data:
$ID,181
$MISSION,6
$DIVE,239
$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,300
$T_MISSION,340
$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,-40820.129
$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,47
$R_STBD_OVSHOOT,59
$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
$GPS1,250711,080936,1855.779,12006.001,33,0.9,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.6
$GPS2,250711,081625,1855.782,12006.056,10,0.9,15,-2.0
$SPEED_LIMITS,0.191,0.321
$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,308.4,13171,-15.3,-11.000
$D_GRID,2332
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,208,2637,2276,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.2,-3.6,9,131,7.95,2.20,-30.40,0.000,4,0.229,0.037,2142,1179,3764,0,0,0,0,0,0
$GC,181,-0.52,-219.0,34.7,-27.5,24,189,0.00,2.22,0.00,0.000,6,0.000,0.039,2138,2576,3766,0,0,0,0,0,0
$GC,315,-0.52,-219.0,78.0,-34.7,49,323,0.00,1.90,0.00,0.000,4,0.000,0.047,2129,3777,3765,0,0,0,0,0,0
$GC,413,-0.52,-219.0,106.5,-21.6,67,421,0.00,1.73,0.00,0.000,6,0.000,0.023,2128,2625,3765,0,0,0,0,0,0
$GC,548,-0.52,-219.0,139.9,-22.8,92,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2622,3766,0,0,0,0,0,0
$GC,682,-0.52,-219.0,168.7,-20.1,117,690,0.00,2.12,0.00,0.000,4,0.000,0.026,2129,1195,3767,0,0,0,0,0,0
$GC,711,-0.52,-219.0,174.5,-21.5,121,719,0.00,2.30,0.00,0.000,6,0.000,0.035,2125,2667,3767,0,0,0,0,0,0
$GC,845,-0.52,-219.0,197.3,-17.6,146,853,0.00,2.22,0.00,0.000,4,0.000,0.027,2125,1196,3766,0,0,0,0,0,0
$GC,874,-0.52,-219.0,202.6,-19.2,149,878,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2648,3768,0,0,0,0,0,0
$GC,1200,-0.52,-219.0,258.1,-16.6,179,1204,0.00,1.70,0.00,0.000,4,0.000,0.044,2117,3776,3767,0,0,0,0,0,0
$GC,1272,-0.52,-219.0,268.3,-11.6,185,1279,0.12,1.67,0.00,0.000,6,0.136,0.024,2154,2654,3767,0,0,0,0,0,0
$GC,1597,-0.52,-219.0,303.7,-11.2,216,1601,0.00,2.12,0.00,0.000,4,0.000,0.028,2154,1202,3764,0,0,0,0,0,0
$GC,1664,-0.52,-219.0,310.4,-8.9,221,1671,0.00,2.17,0.00,0.000,6,0.000,0.033,2152,2641,3764,0,0,0,0,0,0
$GC,1990,-0.52,-219.0,343.1,-10.0,252,1993,0.00,1.77,0.00,0.000,4,0.000,0.045,2152,3780,3761,0,0,0,0,0,0
$GC,2013,-0.52,-219.0,345.4,-9.8,254,2017,0.00,1.67,0.00,0.000,6,0.000,0.024,2152,2629,3760,0,0,0,0,0,0
$GC,2344,-0.52,-219.0,375.1,-10.2,285,2348,0.00,2.10,0.00,0.000,4,0.000,0.029,2152,1200,3757,0,0,0,0,0,0
$GC,2377,-0.52,-219.0,378.7,-10.6,287,2384,0.00,2.17,0.00,0.000,6,0.000,0.034,2154,2629,3756,0,0,0,0,0,0
$GC,2702,-0.52,-219.0,411.9,-10.0,318,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2629,3753,0,0,0,0,0,0
$GC,3024,-0.52,-219.0,441.6,-9.7,348,3028,0.00,1.75,0.00,0.000,4,0.000,0.046,2151,3775,3750,0,0,0,0,0,0
$GC,3040,-0.52,-219.0,443.6,-9.7,349,3047,0.00,1.75,0.00,0.000,6,0.000,0.026,2151,2611,3750,0,0,0,0,0,0
$GC,3366,-0.52,-219.0,473.1,-8.8,380,3370,0.00,2.08,0.00,0.000,4,0.000,0.030,2151,1199,3747,0,0,0,0,0,0
$GC,3411,-0.52,-219.0,476.9,-8.1,383,3418,0.00,2.15,0.00,0.000,6,0.000,0.035,2151,2608,3747,0,0,0,0,0,0
$GC,3746,-0.52,-219.0,503.8,-8.4,413,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2608,3744,0,0,0,0,0,0
$GC,4056,-0.52,-219.0,529.8,-8.3,428,4060,0.00,2.12,0.00,0.000,4,0.000,0.031,2151,1194,3740,0,0,0,0,0,0
$GC,4083,-0.52,-219.0,532.2,-8.0,429,4087,0.00,2.17,0.00,0.000,6,0.000,0.036,2151,2608,3740,0,0,0,0,0,0
$GC,4405,-0.52,-219.0,557.5,-7.9,445,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2608,3738,0,0,0,0,0,0
$GC,4715,-0.52,-219.0,581.9,-7.8,460,4719,0.00,1.85,0.00,0.000,4,0.000,0.048,2151,3777,3736,0,0,0,0,0,0
$GC,4738,-0.52,-219.0,583.9,-8.0,461,4742,0.00,1.75,0.00,0.000,6,0.000,0.027,2151,2591,3735,0,0,0,0,0,0
$GC,5072,-0.52,-219.0,609.0,-7.7,477,5076,0.00,2.08,0.00,0.000,4,0.000,0.031,2152,1207,3733,0,0,0,0,0,0
$GC,5133,-0.52,-219.0,614.1,-7.8,479,5140,0.00,2.15,0.00,0.000,6,0.000,0.035,2152,2592,3732,0,0,0,0,0,0
$GC,5450,-0.52,-219.0,638.4,-8.0,495,5454,0.00,1.85,0.00,0.000,4,0.000,0.046,2151,3774,3731,0,0,0,0,0,0
$GC,5708,-0.52,-219.0,662.9,-9.6,506,5711,0.00,1.85,0.00,0.000,6,0.000,0.024,2158,2512,3729,0,0,0,0,0,0
$GC,6030,-0.52,-219.0,693.2,-9.8,522,6034,0.00,1.95,0.00,0.000,4,0.000,0.033,2165,1202,3728,0,0,0,0,0,0
$GC,6125,-0.52,-219.0,702.6,-9.6,526,6129,0.00,1.98,0.00,0.000,6,0.000,0.034,2166,2502,3727,0,0,0,0,0,0
$GC,6453,-0.52,-219.0,733.9,-9.5,542,6456,0.00,1.95,0.00,0.000,4,0.000,0.033,2166,1203,3725,0,0,0,0,0,0
$GC,6553,-0.52,-219.0,744.0,-9.8,546,6557,0.00,1.98,0.00,0.000,6,0.000,0.032,2166,2498,3725,0,0,0,0,0,0
$GC,6875,-0.52,-219.0,773.5,-9.3,562,6879,0.00,1.95,0.00,0.000,4,0.000,0.033,2172,1203,3723,0,0,0,0,0,0
$GC,6922,-0.52,-219.0,777.9,-10.1,564,6926,0.00,1.98,0.00,0.000,6,0.000,0.034,2172,2493,3723,0,0,0,0,0,0
$GC,7255,-0.52,-219.0,807.8,-8.9,580,7259,0.00,1.98,0.00,0.000,4,0.000,0.034,2172,1203,3721,0,0,0,0,0,0
$GC,7333,-0.52,-219.0,815.0,-9.9,583,7336,0.00,1.95,0.00,0.000,6,0.000,0.034,2172,2475,3721,0,0,0,0,0,0
$GC,7655,-0.52,-219.0,844.2,-9.6,599,7658,0.00,2.03,0.00,0.000,4,0.000,0.047,2172,3781,3720,0,0,0,0,0,0
$GC,7716,-0.52,-219.0,850.8,-10.4,601,7723,0.00,1.95,0.00,0.000,6,0.000,0.028,2172,2469,3720,0,0,0,0,0,0
$GC,8033,-0.52,-219.0,882.4,-10.1,617,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2469,3719,0,0,0,0,0,0
$GC,8342,-0.52,-219.0,913.4,-10.1,632,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2469,3718,0,0,0,0,0,0
$GC,8651,-0.52,-219.0,944.5,-10.0,647,8655,0.00,2.05,0.00,0.000,4,0.000,0.046,2173,3775,3716,0,0,0,0,0,0
$GC,8692,-0.52,-219.0,948.7,-10.2,649,8695,0.00,1.95,0.00,0.000,6,0.000,0.027,2173,2469,3716,0,0,0,0,0,0
$GC,9025,-0.52,-219.0,980.9,-9.7,665,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2467,3715,0,0,0,0,0,0
$STATE,9125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9125,begin apogee
$GC,9132,-0.13,0.0,990.9,9.7,670,9301,0.28,0.00,163.50,1.095,4,0.067,0.000,2298,2113,2869,0,0,0,0,0,0
$STATE,9302,end apogee,CONTROL_FINISHED_OK
$STATE,9302,begin climb
$GC,9304,0.52,219.0,1001.8,0.0,678,9489,0.52,2.25,176.32,1.068,4,0.049,0.038,2502,738,1974,0,0,0,0,0,0
$GC,9707,0.52,219.0,963.9,13.0,695,9714,0.00,2.20,0.00,0.000,6,0.000,0.034,2503,2123,1974,0,0,0,0,0,0
$GC,10023,0.52,219.0,919.7,14.3,711,10027,0.00,2.15,0.00,0.000,4,0.000,0.037,2512,737,1973,0,0,0,0,0,0
$GC,10224,0.52,219.0,890.9,13.7,720,10229,0.00,2.20,0.00,0.000,6,0.000,0.035,2512,2119,1973,0,0,0,0,0,0
$GC,10552,0.52,219.0,840.6,15.6,736,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2120,1972,0,0,0,0,0,0
$GC,10861,0.52,219.0,793.2,14.9,751,10866,0.00,2.20,0.00,0.000,4,0.000,0.045,2512,3539,1971,0,0,0,0,0,0
$GC,10917,0.52,219.0,784.3,15.6,753,10925,0.12,2.15,0.00,0.000,6,0.187,0.028,2493,2121,1971,0,0,0,0,0,0
$GC,11234,0.52,219.0,745.9,11.7,769,11238,0.00,2.15,0.00,0.000,4,0.000,0.038,2501,713,1971,0,0,0,0,0,0
$GC,11339,0.52,219.0,733.8,11.1,773,11346,0.00,2.15,0.00,0.000,6,0.000,0.034,2502,2114,1969,0,0,0,0,0,0
$GC,11655,0.52,219.0,696.5,12.1,789,11659,0.00,2.20,0.00,0.000,4,0.000,0.045,2501,3534,1971,0,0,0,0,0,0
$GC,11700,0.52,219.0,690.5,13.2,791,11704,0.00,2.15,0.00,0.000,6,0.000,0.028,2511,2107,1971,0,0,0,0,0,0
$GC,12021,0.52,219.0,646.8,14.3,807,12025,0.00,2.10,0.00,0.000,4,0.000,0.039,2521,722,1969,0,0,0,0,0,0
$GC,12133,0.52,219.0,631.2,13.7,812,12138,0.12,2.12,0.00,0.000,6,0.161,0.034,2489,2105,1970,0,0,0,0,0,0
$GC,12456,0.53,223.7,594.6,10.8,828,12465,0.00,2.25,4.65,0.675,4,0.000,0.045,2489,3545,1956,0,0,0,0,0,0
$GC,12527,0.53,223.7,585.8,12.2,831,12531,0.00,2.17,0.00,0.000,6,0.000,0.028,2497,2108,1956,0,0,0,0,0,0
$GC,12848,0.55,239.2,551.8,10.5,847,12871,0.00,2.17,13.48,0.774,4,0.000,0.039,2508,722,1893,0,0,0,0,0,0
$GC,12932,0.55,239.2,542.3,11.5,850,12939,0.00,2.17,0.00,0.000,6,0.000,0.034,2508,2101,1893,0,0,0,0,0,0
$GC,13249,0.55,239.2,504.3,12.0,866,13253,0.00,2.22,0.00,0.000,4,0.000,0.044,2508,3536,1892,0,0,0,0,0,0
$GC,13300,0.55,239.2,497.4,14.0,869,13304,0.00,2.20,0.00,0.000,6,0.000,0.028,2517,2100,1892,0,0,0,0,0,0
$GC,13630,0.55,239.2,454.2,13.2,900,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2100,1892,0,0,0,0,0,0
$GC,13951,0.55,241.3,415.9,10.9,930,13955,0.00,2.10,0.00,0.000,4,0.000,0.039,2528,716,1892,0,0,0,0,0,0
$GC,14037,0.59,271.1,407.3,10.0,937,14071,0.00,2.15,24.80,0.725,6,0.000,0.033,2528,2119,1761,0,0,0,0,0,0
$GC,14389,0.59,271.1,367.0,12.3,970,14393,0.00,2.22,0.00,0.000,4,0.000,0.044,2528,3544,1760,0,0,0,0,0,0
$GC,14443,0.59,271.1,358.9,14.2,974,14451,0.00,2.17,0.00,0.000,6,0.000,0.028,2537,2139,1761,0,0,0,0,0,0
$GC,14770,0.59,271.1,311.5,14.7,1005,14774,0.00,2.17,0.00,0.000,4,0.000,0.038,2549,709,1761,0,0,0,0,0,0
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$STATE,17618,end climb,SURFACE_DEPTH_REACHED
$STATE,17618,begin surface coast
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$STATE,17650,end surface coast,CONTROL_FINISHED_OK
$STATE,17651,begin surface
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$FG_AHR_10Vo,0.000
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$MEM,322804
$DATA_FILE_SIZE,96933,1420
$CAP_FILE_SIZE,193868,0
$CFSIZE,260165632,228884480
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