version: 66.09
glider: 181
mission: 6
dive: 473
start: 9 9 111 19 45 28
data:
$ID,181
$MISSION,6
$DIVE,473
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41159.707
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$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
$GPS1,090911,193755,1907.355,11959.354,38,1.5,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.0
$GPS2,090911,194432,1907.309,11959.311,12,1.5,12,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.003,-0.312
$KALMAN_X,72.4,-115.8,-125.8,1955.3,242.5
$KALMAN_Y,6735.5,-437.1,-186.5,-19547.4,1938.1
$MHEAD_RNG_PITCHd_Wd,176.9,13590,-17.4,-11.786
$D_GRID,3452
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.58,0.000,2,0.000,0.000,185,2514,2235,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.4,-3.7,11,131,8.07,2.20,-30.50,0.000,4,0.225,0.040,2119,1073,3664,0,0,0,0,0,0
$GC,155,-0.53,-194.6,23.0,-29.6,23,162,0.00,2.20,0.00,0.000,6,0.000,0.036,2111,2495,3664,0,0,0,0,0,0
$GC,298,-0.53,-194.6,67.7,-29.5,48,305,0.00,1.98,0.00,0.000,4,0.000,0.040,2101,3792,3661,0,0,0,0,0,0
$GC,374,-0.53,-194.6,88.5,-23.6,61,381,0.00,1.60,0.00,0.000,6,0.000,0.024,2101,2711,3661,0,0,0,0,0,0
$GC,517,-0.53,-194.6,123.3,-23.1,86,524,0.00,2.42,0.00,0.000,4,0.000,0.028,2101,1084,3661,0,0,0,0,0,0
$GC,553,-0.53,-194.6,130.9,-20.2,92,561,0.12,2.65,0.00,0.000,6,0.161,0.035,2124,2800,3662,0,0,0,0,0,0
$GC,699,-0.53,-194.6,153.7,-14.7,117,706,0.00,2.58,0.00,0.000,4,0.000,0.028,2124,1080,3662,0,0,0,0,0,0
$GC,713,-0.53,-194.6,156.1,-14.6,119,719,0.00,2.55,0.00,0.000,6,0.000,0.034,2124,2739,3662,0,0,0,0,0,0
$GC,857,-0.53,-194.6,174.7,-12.4,144,863,0.00,1.62,0.00,0.000,4,0.000,0.042,2117,3789,3663,0,0,0,0,0,0
$GC,944,-0.53,-194.6,184.8,-11.0,159,950,0.00,1.42,0.00,0.000,6,0.000,0.024,2118,2812,3663,0,0,0,0,0,0
$GC,1086,-0.53,-194.6,201.5,-11.8,183,1090,0.00,2.58,0.00,0.000,4,0.000,0.029,2118,1090,3663,0,0,0,0,0,0
$GC,1131,-0.53,-194.6,207.0,-11.6,186,1138,0.00,2.67,0.00,0.000,6,0.000,0.034,2113,2830,3663,0,0,0,0,0,0
$GC,1457,-0.53,-194.6,246.0,-9.7,217,1462,0.00,2.62,0.00,0.000,4,0.000,0.029,2113,1085,3663,0,0,0,0,0,0
$GC,1524,-0.53,-194.6,252.0,-8.4,222,1531,0.00,2.53,0.00,0.000,6,0.000,0.034,2112,2727,3663,0,0,0,0,0,0
$GC,1849,-0.53,-194.6,287.4,-12.1,253,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2727,3660,0,0,0,0,0,0
$GC,2170,-0.53,-194.6,324.4,-12.5,283,2175,0.00,2.47,0.00,0.000,4,0.000,0.031,2112,1085,3657,0,0,0,0,0,0
$GC,2227,-0.53,-194.6,331.7,-11.8,287,2234,0.00,2.55,0.00,0.000,6,0.000,0.036,2112,2734,3657,0,0,0,0,0,0
$GC,2553,-0.53,-194.6,371.2,-11.7,318,2557,0.00,2.50,0.00,0.000,4,0.000,0.031,2112,1084,3654,0,0,0,0,0,0
$GC,2608,-0.53,-194.6,377.5,-10.7,322,2614,0.00,2.45,0.00,0.000,6,0.000,0.036,2112,2667,3653,0,0,0,0,0,0
$GC,2933,-0.53,-194.6,409.9,-9.1,353,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2669,3650,0,0,0,0,0,0
$GC,3253,-0.53,-194.6,437.9,-8.7,383,3258,0.00,2.40,0.00,0.000,4,0.000,0.032,2112,1090,3647,0,0,0,0,0,0
$GC,3287,-0.53,-194.6,441.1,-8.8,385,3294,0.00,2.47,0.00,0.000,6,0.000,0.037,2112,2678,3647,0,0,0,0,0,0
$GC,3613,-0.53,-194.6,471.9,-10.8,416,3617,0.00,2.40,0.00,0.000,4,0.000,0.032,2111,1096,3644,0,0,0,0,0,0
$GC,3665,-0.53,-194.6,477.4,-10.1,420,3669,0.00,2.35,0.00,0.000,6,0.000,0.037,2111,2608,3643,0,0,0,0,0,0
$GC,3989,-0.53,-194.6,511.4,-10.7,445,3992,0.00,1.83,0.00,0.000,4,0.000,0.047,2112,3791,3640,0,0,0,0,0,0
$GC,4062,-0.53,-194.6,519.5,-10.4,448,4066,0.00,1.75,0.00,0.000,6,0.000,0.028,2111,2603,3639,0,0,0,0,0,0
$GC,4391,-0.53,-194.6,555.9,-11.2,464,4395,0.00,2.28,0.00,0.000,4,0.000,0.034,2112,1090,3637,0,0,0,0,0,0
$GC,4446,-0.53,-194.6,562.4,-10.8,466,4453,0.00,2.38,0.00,0.000,6,0.000,0.037,2111,2614,3637,0,0,0,0,0,0
$GC,4763,-0.53,-194.6,596.0,-10.6,482,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2615,3634,0,0,0,0,0,0
$GC,5071,-0.53,-194.6,624.8,-8.7,497,5075,0.00,2.33,0.00,0.000,4,0.000,0.033,2112,1090,3631,0,0,0,0,0,0
$GC,5107,-0.53,-194.6,627.8,-8.6,498,5114,0.00,2.35,0.00,0.000,6,0.000,0.037,2111,2597,3632,0,0,0,0,0,0
$GC,5423,-0.53,-194.6,653.2,-8.1,514,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2596,3630,0,0,0,0,0,0
$GC,5732,-0.53,-194.6,679.9,-9.2,529,5736,0.00,2.33,0.00,0.000,4,0.000,0.034,2111,1090,3628,0,0,0,0,0,0
$GC,5774,-0.53,-194.6,683.8,-9.6,531,5778,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2574,3628,0,0,0,0,0,0
$GC,6101,-0.53,-194.6,715.7,-10.3,547,6105,0.00,1.88,0.00,0.000,4,0.000,0.050,2112,3780,3625,0,0,0,0,0,0
$GC,6147,-0.53,-194.6,720.5,-10.4,549,6151,0.00,1.83,0.00,0.000,6,0.000,0.028,2111,2555,3625,0,0,0,0,0,0
$GC,6481,-0.53,-194.6,756.2,-10.6,565,6485,0.00,2.22,0.00,0.000,4,0.000,0.035,2111,1092,3623,0,0,0,0,0,0
$GC,6553,-0.53,-194.6,763.8,-10.0,568,6557,0.00,2.22,0.00,0.000,6,0.000,0.037,2111,2519,3623,0,0,0,0,0,0
$GC,6872,-0.53,-194.6,794.9,-9.5,583,6876,0.00,1.98,0.00,0.000,4,0.000,0.050,2111,3780,3621,0,0,0,0,0,0
$GC,6928,-0.53,-194.6,800.7,-9.3,585,6931,0.00,1.85,0.00,0.000,6,0.000,0.028,2111,2545,3620,0,0,0,0,0,0
$GC,7250,-0.53,-194.6,827.6,-7.8,601,7254,0.00,2.17,0.00,0.000,4,0.000,0.034,2111,1104,3619,0,0,0,0,0,0
$GC,7290,-0.53,-194.6,830.6,-7.6,603,7294,0.00,2.28,0.00,0.000,6,0.000,0.038,2111,2560,3619,0,0,0,0,0,0
$GC,7618,-0.53,-194.6,852.0,-6.4,619,7621,0.00,1.92,0.00,0.000,4,0.000,0.050,2111,3786,3618,0,0,0,0,0,0
$GC,7642,-0.53,-194.6,853.6,-6.3,620,7646,0.00,1.92,0.00,0.000,6,0.000,0.029,2111,2534,3617,0,0,0,0,0,0
$GC,7975,-0.53,-194.6,874.6,-6.4,636,7979,0.00,2.17,0.00,0.000,4,0.000,0.036,2111,1104,3616,0,0,0,0,0,0
$GC,8003,-0.53,-194.6,876.6,-6.5,637,8007,0.00,2.28,0.00,0.000,6,0.000,0.039,2111,2553,3616,0,0,0,0,0,0
$GC,8325,-0.53,-194.6,899.0,-7.3,653,8329,0.00,1.92,0.00,0.000,4,0.000,0.051,2111,3778,3615,0,0,0,0,0,0
$GC,8352,-0.53,-194.6,901.3,-7.5,654,8356,0.00,1.85,0.00,0.000,6,0.000,0.030,2111,2546,3614,0,0,0,0,0,0
$GC,8681,-0.53,-194.6,926.5,-8.2,670,8685,0.00,2.20,0.00,0.000,4,0.000,0.036,2111,1106,3613,0,0,0,0,0,0
$GC,8702,-0.53,-194.6,928.7,-8.5,671,8706,0.00,2.33,0.00,0.000,6,0.000,0.040,2111,2579,3613,0,0,0,0,0,0
$GC,9024,-0.53,-194.6,956.3,-9.0,687,9028,0.00,1.90,0.00,0.000,4,0.000,0.052,2111,3784,3612,0,0,0,0,0,0
$GC,9049,-0.53,-194.6,958.2,-9.1,688,9053,0.00,1.88,0.00,0.000,6,0.000,0.030,2111,2569,3612,0,0,0,0,0,0
$STATE,9379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9380,begin apogee
$GC,9386,-0.13,0.0,991.3,10.0,704,9541,0.43,0.00,149.07,1.076,4,0.112,0.000,2253,2104,2868,0,0,0,0,0,0
$STATE,9541,end apogee,CONTROL_FINISHED_OK
$STATE,9542,begin climb
$GC,9544,0.53,194.6,1001.6,0.0,711,9712,0.62,2.40,158.85,1.057,4,0.062,0.044,2479,3539,2075,0,0,0,0,0,0
$GC,9838,0.54,205.2,983.8,11.4,725,9853,0.00,2.20,10.10,0.895,6,0.000,0.030,2489,2126,2032,0,0,0,0,0,0
$GC,10166,0.54,205.2,946.7,12.1,740,10170,0.00,2.22,0.00,0.000,4,0.000,0.042,2489,3541,2030,0,0,0,0,0,0
$GC,10277,0.54,205.2,931.4,13.2,745,10281,0.00,2.25,0.00,0.000,6,0.000,0.030,2500,2100,2030,0,0,0,0,0,0
$GC,10605,0.54,205.2,890.1,12.3,761,10609,0.00,2.15,0.00,0.000,4,0.000,0.041,2510,710,2029,0,0,0,0,0,0
$GC,10661,0.54,205.2,882.8,12.5,763,10665,0.12,2.12,0.00,0.000,6,0.169,0.034,2479,2091,2029,0,0,0,0,0,0
$GC,10982,0.62,267.1,850.8,9.3,779,11038,0.00,2.40,49.20,0.978,4,0.000,0.045,2479,3534,1780,0,0,0,0,0,0
$GC,11122,0.66,303.5,836.9,10.3,785,11159,0.00,2.17,30.35,0.936,6,0.000,0.030,2487,2136,1630,0,0,0,0,0,0
$GC,11487,0.71,341.4,799.8,10.2,803,11524,0.12,2.22,31.30,0.927,4,0.092,0.037,2553,721,1477,0,0,0,0,0,0
$GC,11608,0.71,341.4,783.4,13.1,807,11615,0.00,2.15,0.00,0.000,6,0.000,0.034,2553,2092,1477,0,0,0,0,0,0
$GC,11925,0.71,341.4,739.1,13.8,823,11930,0.00,2.28,0.00,0.000,4,0.000,0.046,2553,3540,1479,0,0,0,0,0,0
$GC,11981,0.71,341.4,730.6,14.7,825,11989,0.10,2.20,0.00,0.000,6,0.153,0.029,2531,2135,1479,0,0,0,0,0,0
$GC,12298,0.71,341.4,691.9,12.3,841,12302,0.00,2.20,0.00,0.000,4,0.000,0.040,2541,705,1479,0,0,0,0,0,0
$GC,12347,0.71,341.4,685.5,12.5,843,12351,0.00,2.20,0.00,0.000,6,0.000,0.034,2541,2134,1478,0,0,0,0,0,0
$GC,12669,0.71,341.4,643.5,13.1,859,12673,0.00,2.20,0.00,0.000,4,0.000,0.045,2541,3534,1478,0,0,0,0,0,0
$GC,12759,0.71,341.4,630.5,14.9,863,12763,0.00,2.05,0.00,0.000,6,0.000,0.030,2550,2184,1478,0,0,0,0,0,0
$GC,13092,0.71,341.4,584.5,13.8,879,13096,0.00,2.25,0.00,0.000,4,0.000,0.040,2561,714,1478,0,0,0,0,0,0
$GC,13170,0.71,341.4,573.6,13.8,882,13175,0.12,2.22,0.00,0.000,6,0.160,0.034,2529,2155,1478,0,0,0,0,0,0
$GC,13486,0.71,341.4,534.6,12.6,897,13490,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,3538,1479,0,0,0,0,0,0
$GC,13548,0.71,341.4,525.9,14.8,900,13552,0.00,2.08,0.00,0.000,6,0.000,0.029,2537,2169,1479,0,0,0,0,0,0
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$STATE,17998,begin surface coast
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$STATE,18020,end surface coast,CONTROL_FINISHED_OK
$STATE,18021,begin surface
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$10V_AH,9.8,65.218
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,83491,1442
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$CFSIZE,260165632,207060992
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