version: 66.09
glider: 181
mission: 6
dive: 352
start: 8 15 111 22 24 2
data:
$ID,181
$MISSION,6
$DIVE,352
$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,-40978.824
$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,74
$R_STBD_OVSHOOT,41
$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
$GPS1,150811,221500,2135.855,12002.958,39,0.9,39,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.6
$GPS2,150811,222337,2135.855,12002.828,10,1.1,16,-2.6
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,346.6,17621,-16.3,-11.786
$D_GRID,2679
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.54,-219.0,0.0,0.0,0,85,0.00,0.00,-65.22,0.000,2,0.000,0.000,202,2567,2295,0,0,0,0,0,0
$GC,88,-0.54,-219.0,3.2,-3.2,10,137,8.00,1.92,-31.85,0.000,4,0.226,0.054,2130,3777,3760,0,0,0,0,0,0
$GC,217,-0.54,-219.0,49.4,-35.7,31,224,0.00,1.75,0.00,0.000,6,0.000,0.023,2126,2598,3761,0,0,0,0,0,0
$GC,355,-0.54,-219.0,87.7,-20.7,56,363,0.00,1.85,0.00,0.000,4,0.000,0.041,2121,3775,3761,0,0,0,0,0,0
$GC,389,-0.54,-219.0,94.1,-20.1,61,396,0.00,1.70,0.00,0.000,6,0.000,0.023,2121,2631,3763,0,0,0,0,0,0
$GC,527,-0.54,-219.0,128.8,-24.2,86,536,0.00,1.80,0.00,0.000,4,0.000,0.041,2112,3776,3760,0,0,0,0,0,0
$GC,593,-0.54,-219.0,139.9,-15.9,97,599,0.00,1.60,0.00,0.000,6,0.000,0.023,2112,2690,3760,0,0,0,0,0,0
$GC,731,-0.54,-219.0,166.8,-22.7,122,739,0.12,1.73,0.00,0.000,4,0.171,0.041,2137,3779,3760,0,0,0,0,0,0
$GC,753,-0.54,-219.0,171.7,-23.2,125,760,0.00,1.55,0.00,0.000,6,0.000,0.023,2136,2728,3761,0,0,0,0,0,0
$GC,891,-0.54,-219.0,192.9,-14.4,150,899,0.00,2.28,0.00,0.000,4,0.000,0.027,2136,1200,3759,0,0,0,0,0,0
$GC,935,-0.54,-219.0,198.3,-12.1,157,942,0.00,2.33,0.00,0.000,6,0.000,0.031,2127,2735,3762,0,0,0,0,0,0
$GC,1071,-0.54,-219.0,216.7,-14.1,171,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2736,3761,0,0,0,0,0,0
$GC,1392,-0.54,-219.0,261.9,-13.4,201,1396,0.00,2.28,0.00,0.000,4,0.000,0.027,2127,1197,3760,0,0,0,0,0,0
$GC,1482,-0.54,-219.0,273.1,-10.6,208,1488,0.00,2.35,0.00,0.000,6,0.000,0.034,2125,2739,3760,0,0,0,0,0,0
$GC,1807,-0.54,-219.0,313.3,-11.8,239,1811,0.00,2.28,0.00,0.000,4,0.000,0.028,2125,1206,3757,0,0,0,0,0,0
$GC,1870,-0.54,-219.0,319.8,-9.5,244,1875,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2703,3757,0,0,0,0,0,0
$GC,2196,-0.54,-219.0,357.8,-11.8,274,2201,0.00,2.22,0.00,0.000,4,0.000,0.028,2125,1204,3754,0,0,0,0,0,0
$GC,2241,-0.54,-219.0,363.0,-11.1,277,2248,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2689,3754,0,0,0,0,0,0
$GC,2566,-0.54,-219.0,396.6,-10.2,308,2570,0.00,2.22,0.00,0.000,4,0.000,0.029,2125,1206,3750,0,0,0,0,0,0
$GC,2607,-0.54,-219.0,400.9,-10.5,311,2614,0.00,2.25,0.00,0.000,6,0.000,0.034,2123,2674,3751,0,0,0,0,0,0
$GC,2932,-0.54,-219.0,435.5,-10.2,342,2936,0.00,2.20,0.00,0.000,4,0.000,0.029,2125,1202,3747,0,0,0,0,0,0
$GC,2954,-0.54,-219.0,438.1,-10.3,343,2961,0.00,2.25,0.00,0.000,6,0.000,0.036,2125,2668,3747,0,0,0,0,0,0
$GC,3280,-0.54,-219.0,470.5,-10.9,374,3284,0.00,2.20,0.00,0.000,4,0.000,0.031,2125,1212,3743,0,0,0,0,0,0
$GC,3314,-0.54,-219.0,473.9,-10.4,377,3318,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2655,3743,0,0,0,0,0,0
$GC,3646,-0.54,-219.0,505.8,-9.2,405,3650,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1211,3740,0,0,0,0,0,0
$GC,3669,-0.54,-219.0,508.3,-9.1,406,3673,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2657,3740,0,0,0,0,0,0
$GC,3997,-0.54,-219.0,540.0,-10.5,422,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2657,3737,0,0,0,0,0,0
$GC,4307,-0.54,-219.0,571.5,-9.8,437,4311,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1212,3734,0,0,0,0,0,0
$GC,4361,-0.54,-219.0,576.8,-9.0,439,4368,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2636,3734,0,0,0,0,0,0
$GC,4680,-0.54,-219.0,602.4,-7.9,455,4684,0.00,2.15,0.00,0.000,4,0.000,0.032,2131,1210,3731,0,0,0,0,0,0
$GC,4701,-0.54,-219.0,604.5,-7.8,456,4705,0.00,2.20,0.00,0.000,6,0.000,0.038,2125,2632,3731,0,0,0,0,0,0
$GC,5023,-0.54,-219.0,628.9,-7.8,472,5027,0.00,1.77,0.00,0.000,4,0.000,0.048,2125,3785,3731,0,0,0,0,0,0
$GC,5053,-0.54,-219.0,631.3,-8.0,473,5057,0.00,1.70,0.00,0.000,6,0.000,0.026,2125,2624,3731,0,0,0,0,0,0
$GC,5382,-0.54,-219.0,662.3,-10.2,489,5386,0.00,2.12,0.00,0.000,4,0.000,0.032,2125,1206,3726,0,0,0,0,0,0
$GC,5473,-0.54,-219.0,671.5,-9.6,493,5477,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2617,3725,0,0,0,0,0,0
$GC,5806,-0.54,-219.0,705.6,-10.0,509,5810,0.00,2.12,0.00,0.000,4,0.000,0.031,2125,1203,3722,0,0,0,0,0,0
$GC,5838,-0.54,-219.0,709.1,-10.2,510,5845,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2605,3723,0,0,0,0,0,0
$GC,6157,-0.54,-219.0,740.7,-9.8,526,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2606,3721,0,0,0,0,0,0
$GC,6465,-0.54,-219.0,768.7,-8.7,541,6469,0.00,2.12,0.00,0.000,4,0.000,0.032,2125,1198,3719,0,0,0,0,0,0
$GC,6497,-0.54,-219.0,771.7,-8.3,542,6504,0.00,2.17,0.00,0.000,6,0.000,0.037,2125,2595,3719,0,0,0,0,0,0
$GC,6815,-0.54,-219.0,799.1,-9.0,558,6819,0.00,1.88,0.00,0.000,4,0.000,0.048,2125,3775,3717,0,0,0,0,0,0
$GC,6838,-0.54,-219.0,801.3,-8.9,559,6842,0.00,1.75,0.00,0.000,6,0.000,0.026,2125,2581,3715,0,0,0,0,0,0
$GC,7172,-0.54,-219.0,834.0,-10.0,575,7176,0.00,2.03,0.00,0.000,4,0.000,0.031,2124,1213,3715,0,0,0,0,0,0
$GC,7241,-0.54,-219.0,840.8,-9.4,578,7245,0.00,2.10,0.00,0.000,6,0.000,0.035,2125,2571,3715,0,0,0,0,0,0
$GC,7568,-0.54,-219.0,871.6,-9.1,594,7572,0.00,1.92,0.00,0.000,4,0.000,0.048,2125,3779,3713,0,0,0,0,0,0
$GC,7608,-0.54,-219.0,874.9,-8.5,595,7615,0.00,1.80,0.00,0.000,6,0.000,0.027,2125,2564,3712,0,0,0,0,0,0
$GC,7924,-0.54,-219.0,897.0,-6.6,611,7928,0.00,1.90,0.00,0.000,4,0.000,0.046,2125,3780,3711,0,0,0,0,0,0
$GC,7957,-0.54,-219.0,899.3,-6.6,612,7961,0.00,1.92,0.00,0.000,6,0.000,0.026,2125,2482,3711,0,0,0,0,0,0
$GC,8280,-0.54,-219.0,919.2,-6.0,628,8284,0.00,2.05,0.00,0.000,4,0.000,0.046,2125,3779,3710,0,0,0,0,0,0
$GC,8303,-0.54,-219.0,920.8,-6.0,629,8307,0.00,2.05,0.00,0.000,6,0.000,0.026,2125,2407,3710,0,0,0,0,0,0
$GC,8637,-0.54,-219.0,941.6,-6.4,645,8641,0.00,2.17,0.00,0.000,4,0.000,0.045,2125,3786,3709,0,0,0,0,0,0
$GC,8812,-0.54,-219.0,954.1,-8.0,653,8816,0.00,2.15,0.00,0.000,6,0.000,0.026,2125,2346,3708,0,0,0,0,0,0
$GC,9142,-0.54,-219.0,977.5,-7.5,669,9146,0.00,2.28,0.00,0.000,4,0.000,0.046,2125,3784,3707,0,0,0,0,0,0
$STATE,9286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9286,begin apogee
$GC,9294,-0.13,0.0,990.2,9.7,675,9468,0.40,0.00,164.27,1.095,4,0.066,0.000,2286,2135,2870,0,0,0,0,0,0
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9472,0.54,219.0,1001.6,0.0,684,9662,0.60,2.33,178.15,1.071,4,0.048,0.042,2515,3541,1975,0,0,0,0,0,0
$GC,9740,0.54,219.0,980.4,14.4,696,9745,0.00,2.25,0.00,0.000,6,0.000,0.028,2525,2128,1976,0,0,0,0,0,0
$GC,10063,0.54,219.0,936.2,13.7,712,10068,0.12,2.17,0.00,0.000,4,0.187,0.037,2506,714,1974,0,0,0,0,0,0
$GC,10163,0.54,219.0,923.7,11.9,716,10170,0.00,2.17,0.00,0.000,6,0.000,0.032,2506,2114,1974,0,0,0,0,0,0
$GC,10482,0.54,219.0,884.3,12.5,732,10486,0.00,2.20,0.00,0.000,4,0.000,0.042,2506,3540,1973,0,0,0,0,0,0
$GC,10508,0.54,219.0,880.1,13.7,733,10513,0.00,2.22,0.00,0.000,6,0.000,0.028,2515,2100,1974,0,0,0,0,0,0
$GC,10830,0.54,219.0,838.7,12.5,749,10834,0.00,2.10,0.00,0.000,4,0.000,0.037,2526,713,1973,0,0,0,0,0,0
$GC,10950,0.54,219.0,824.2,11.8,754,10954,0.12,2.10,0.00,0.000,6,0.169,0.031,2496,2089,1973,0,0,0,0,0,0
$GC,11266,0.60,268.0,792.4,10.0,769,11310,0.00,2.38,38.62,0.958,4,0.000,0.044,2495,3534,1776,0,0,0,0,0,0
$GC,11402,0.61,277.3,777.1,11.4,775,11416,0.00,2.22,8.70,0.798,6,0.000,0.028,2503,2101,1739,0,0,0,0,0,0
$GC,11736,0.61,277.3,738.9,11.8,791,11740,0.00,2.10,0.00,0.000,4,0.000,0.037,2513,722,1739,0,0,0,0,0,0
$GC,11779,0.61,277.3,733.1,12.3,793,11784,0.00,2.12,0.00,0.000,6,0.000,0.032,2513,2106,1737,0,0,0,0,0,0
$GC,12107,0.61,277.3,688.2,14.3,809,12111,0.00,2.22,0.00,0.000,4,0.000,0.044,2514,3535,1740,0,0,0,0,0,0
$GC,12174,0.61,277.3,677.8,15.3,812,12178,0.00,2.17,0.00,0.000,6,0.000,0.028,2523,2101,1740,0,0,0,0,0,0
$GC,12501,0.61,277.3,627.2,15.8,828,12505,0.00,2.10,0.00,0.000,4,0.000,0.037,2533,712,1740,0,0,0,0,0,0
$GC,12522,0.61,277.3,623.5,15.6,829,12526,0.00,2.15,0.00,0.000,6,0.000,0.033,2533,2116,1740,0,0,0,0,0,0
$GC,12851,0.61,277.3,570.6,15.5,845,12855,0.00,2.20,0.00,0.000,4,0.000,0.044,2534,3541,1740,0,0,0,0,0,0
$GC,12940,0.61,277.3,555.9,15.4,849,12944,0.00,2.12,0.00,0.000,6,0.000,0.028,2543,2128,1740,0,0,0,0,0,0
$GC,13271,0.63,290.4,514.3,11.3,865,13292,0.00,2.22,11.88,0.754,4,0.000,0.037,2554,717,1688,0,0,0,0,0,0
$GC,13326,0.65,305.5,507.3,11.2,867,13346,0.00,2.17,13.62,0.717,6,0.000,0.033,2554,2129,1623,0,0,0,0,0,0
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$STATE,17369,begin surface coast
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$FG_AHR_10Vo,0.000
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