version: 66.09
glider: 181
mission: 6
dive: 61
start: 6 21 111 19 47 38
data:
$ID,181
$MISSION,6
$DIVE,61
$N_DIVES,65
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,350
$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,2
$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,-39594.152
$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,67
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,210611,193937,2036.389,11953.180,28,1.4,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-60.3
$GPS2,210611,194638,2036.320,11953.049,11,1.5,11,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.189,-0.239
$KALMAN_X,-35935.8,113.4,-1089.3,28770.7,-3200.9
$KALMAN_Y,14549.3,-277.0,-458.2,-75082.1,1280.1
$MHEAD_RNG_PITCHd_Wd,156.8,178799,-16.3,-11.000
$D_GRID,3266
$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,16,-0.57,-194.6,0.0,0.0,0,102,0.00,0.00,-83.43,0.000,2,0.000,0.000,158,2567,2760,0,0,0,0,0,0
$GC,105,-0.57,-194.6,3.4,-3.9,11,138,8.00,1.98,-16.88,0.000,4,0.239,0.058,2102,3790,3666,0,0,0,0,0,0
$GC,151,-0.57,-194.6,23.1,-42.1,17,159,0.00,1.80,0.00,0.000,6,0.000,0.028,2101,2610,3667,0,0,0,0,0,0
$GC,288,-0.57,-194.6,82.4,-34.4,42,297,0.00,2.12,0.00,0.000,4,0.000,0.028,2102,1190,3668,0,0,0,0,0,0
$GC,343,-0.57,-194.6,96.0,-22.8,51,351,0.00,2.22,0.00,0.000,6,0.000,0.041,2092,2598,3668,0,0,0,0,0,0
$GC,480,-0.57,-194.6,136.3,-26.8,76,488,0.00,1.85,0.00,0.000,4,0.000,0.043,2083,3790,3669,0,0,0,0,0,0
$GC,548,-0.57,-194.6,154.9,-26.9,88,557,0.10,1.80,0.00,0.000,6,0.167,0.027,2112,2590,3670,0,0,0,0,0,0
$GC,689,-0.57,-194.6,186.1,-22.2,113,697,0.00,2.08,0.00,0.000,4,0.000,0.030,2111,1200,3670,0,0,0,0,0,0
$GC,764,-0.57,-194.6,201.6,-17.5,126,773,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2603,3671,0,0,0,0,0,0
$GC,902,-0.57,-194.6,234.3,-25.2,151,910,0.00,1.85,0.00,0.000,4,0.000,0.047,2102,3787,3671,0,0,0,0,0,0
$GC,981,-0.57,-194.6,251.9,-19.3,165,985,0.00,1.77,0.00,0.000,6,0.000,0.026,2102,2591,3671,0,0,0,0,0,0
$GC,1185,-0.57,-194.6,293.8,-18.9,184,1189,0.00,1.83,0.00,0.000,4,0.000,0.044,2093,3785,3675,0,0,0,0,0,0
$GC,1212,-0.57,-194.6,298.7,-16.9,186,1221,0.00,1.75,0.00,0.000,6,0.000,0.027,2093,2601,3671,0,0,0,0,0,0
$GC,1410,-0.57,-194.6,331.5,-17.4,205,1413,0.00,2.03,0.00,0.000,4,0.000,0.030,2093,1210,3670,0,0,0,0,0,0
$GC,1460,-0.57,-194.6,340.5,-16.5,209,1468,0.12,2.15,0.00,0.000,6,0.161,0.039,2117,2605,3670,0,0,0,0,0,0
$GC,1658,-0.57,-194.6,371.7,-16.1,228,1661,0.00,1.80,0.00,0.000,4,0.000,0.047,2111,3788,3669,0,0,0,0,0,0
$GC,1685,-0.57,-194.6,376.4,-16.2,230,1693,0.00,1.77,0.00,0.000,6,0.000,0.028,2112,2605,3668,0,0,0,0,0,0
$GC,1883,-0.57,-194.6,405.9,-14.6,249,1887,0.00,2.05,0.00,0.000,4,0.000,0.031,2111,1205,3666,0,0,0,0,0,0
$GC,1917,-0.57,-194.6,410.4,-13.1,252,1921,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2606,3666,0,0,0,0,0,0
$GC,2115,-0.57,-194.6,433.1,-11.6,270,2118,0.00,1.80,0.00,0.000,4,0.000,0.047,2102,3790,3664,0,0,0,0,0,0
$GC,2165,-0.57,-194.6,439.0,-11.3,274,2173,0.00,1.80,0.00,0.000,6,0.000,0.028,2102,2589,3663,0,0,0,0,0,0
$GC,2363,-0.57,-194.6,464.2,-13.5,293,2366,0.00,2.03,0.00,0.000,4,0.000,0.032,2102,1211,3662,0,0,0,0,0,0
$GC,2401,-0.57,-194.6,469.3,-13.0,296,2408,0.00,2.17,0.00,0.000,6,0.000,0.041,2096,2598,3661,0,0,0,0,0,0
$GC,2600,-0.57,-194.6,497.1,-14.5,315,2603,0.00,1.80,0.00,0.000,4,0.000,0.049,2087,3784,3659,0,0,0,0,0,0
$GC,2679,-0.57,-194.6,508.0,-13.1,322,2683,0.12,1.73,0.00,0.000,6,0.154,0.030,2122,2605,3657,0,0,0,0,0,0
$GC,2882,-0.57,-194.6,532.3,-12.4,341,2886,0.00,2.08,0.00,0.000,4,0.000,0.034,2122,1196,3656,0,0,0,0,0,0
$GC,2913,-0.57,-194.6,536.4,-12.0,343,2921,0.00,2.20,0.00,0.000,6,0.000,0.041,2114,2605,3655,0,0,0,0,0,0
$GC,3112,-0.57,-194.6,562.4,-13.5,362,3115,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3780,3653,0,0,0,0,0,0
$GC,3157,-0.57,-194.6,568.4,-13.2,366,3161,0.00,1.77,0.00,0.000,6,0.000,0.030,2112,2605,3652,0,0,0,0,0,0
$GC,3360,-0.57,-194.6,596.7,-14.0,385,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2601,3651,0,0,0,0,0,0
$GC,3557,-0.57,-194.6,623.8,-13.6,396,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2601,3649,0,0,0,0,0,0
$GC,3867,-0.57,-194.6,661.7,-11.9,411,3870,0.00,2.10,0.00,0.000,4,0.000,0.036,2112,1198,3647,0,0,0,0,0,0
$GC,3914,-0.57,-194.6,666.8,-11.0,413,3918,0.00,2.15,0.00,0.000,6,0.000,0.043,2112,2598,3646,0,0,0,0,0,0
$GC,4241,-0.57,-194.6,703.5,-11.1,429,4245,0.00,1.83,0.00,0.000,4,0.000,0.053,2111,3784,3642,0,0,0,0,0,0
$GC,4291,-0.57,-194.6,708.9,-10.0,431,4295,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2595,3642,0,0,0,0,0,0
$GC,4619,-0.57,-194.6,745.5,-11.9,447,4623,0.00,2.08,0.00,0.000,4,0.000,0.036,2111,1195,3640,0,0,0,0,0,0
$GC,4659,-0.57,-194.6,750.2,-11.7,449,4663,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2605,3640,0,0,0,0,0,0
$GC,4985,-0.57,-194.6,790.6,-12.4,465,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3637,0,0,0,0,0,0
$GC,5295,-0.57,-194.6,829.9,-12.8,480,5299,0.00,1.85,0.00,0.000,4,0.000,0.054,2111,3772,3635,0,0,0,0,0,0
$GC,5322,-0.57,-194.6,833.8,-13.5,481,5326,0.00,1.77,0.00,0.000,6,0.000,0.032,2111,2607,3635,0,0,0,0,0,0
$GC,5649,-0.57,-194.6,873.3,-11.9,497,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2605,3633,0,0,0,0,0,0
$GC,5959,-0.57,-194.6,908.0,-11.1,512,5963,0.00,2.12,0.00,0.000,4,0.000,0.037,2111,1190,3631,0,0,0,0,0,0
$GC,5986,-0.57,-194.6,911.0,-11.1,513,5990,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2609,3631,0,0,0,0,0,0
$GC,6307,-0.57,-194.6,943.9,-10.4,529,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2610,3629,0,0,0,0,0,0
$GC,6617,-0.57,-194.6,976.8,-10.7,544,6621,0.00,1.83,0.00,0.000,4,0.000,0.055,2111,3789,3627,0,0,0,0,0,0
$GC,6663,-0.57,-194.6,981.5,-10.0,546,6667,0.00,1.77,0.00,0.000,6,0.000,0.032,2111,2592,3627,0,0,0,0,0,0
$STATE,6745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6746,begin apogee
$GC,6752,-0.16,0.0,990.1,10.2,550,6906,0.40,0.00,149.50,1.112,6,0.128,0.000,2243,2111,2869,0,0,0,0,0,0
$STATE,6907,end apogee,CONTROL_FINISHED_OK
$STATE,6907,begin climb
$GC,6909,0.57,194.6,997.0,0.0,557,7076,0.68,0.00,160.27,1.079,6,0.060,0.000,2490,2111,2075,0,0,0,0,0,0
$GC,7382,0.57,194.6,946.6,13.1,580,7386,0.00,2.30,0.00,0.000,4,0.000,0.047,2490,3549,2064,0,0,0,0,0,0
$GC,7425,0.57,194.6,939.7,15.3,582,7429,0.00,2.17,0.00,0.000,6,0.000,0.033,2500,2145,2067,0,0,0,0,0,0
$GC,7753,0.57,194.6,891.6,14.8,598,7757,0.00,2.20,0.00,0.000,4,0.000,0.042,2511,713,2061,0,0,0,0,0,0
$GC,7899,0.57,194.6,870.1,14.3,604,7906,0.00,2.20,0.00,0.000,6,0.000,0.037,2511,2130,2060,0,0,0,0,0,0
$GC,8215,0.57,194.6,823.1,14.6,620,8219,0.00,2.17,0.00,0.000,4,0.000,0.047,2510,3536,2059,0,0,0,0,0,0
$GC,8264,0.57,194.6,815.2,16.0,622,8269,0.10,2.20,0.00,0.000,6,0.174,0.033,2492,2126,2059,0,0,0,0,0,0
$GC,8586,0.57,194.6,775.1,12.3,638,8590,0.00,2.15,0.00,0.000,4,0.000,0.043,2501,714,2058,0,0,0,0,0,0
$GC,8657,0.57,194.6,766.2,11.8,641,8661,0.00,2.17,0.00,0.000,6,0.000,0.037,2501,2135,2058,0,0,0,0,0,0
$GC,8979,0.57,194.6,725.2,12.9,657,8983,0.00,2.17,0.00,0.000,4,0.000,0.041,2511,718,2057,0,0,0,0,0,0
$GC,9045,0.57,194.6,716.3,12.4,660,9049,0.00,2.15,0.00,0.000,6,0.000,0.037,2510,2120,2057,0,0,0,0,0,0
$GC,9373,0.57,194.6,668.4,15.1,676,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2125,2057,0,0,0,0,0,0
$GC,9683,0.57,194.6,622.6,15.2,691,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,2057,0,0,0,0,0,0
$GC,9996,0.57,194.6,574.8,16.1,713,10000,0.00,2.17,0.00,0.000,4,0.000,0.047,2511,3541,2057,0,0,0,0,0,0
$GC,10027,0.57,194.6,569.2,16.5,715,10035,0.10,2.20,0.00,0.000,6,0.167,0.033,2481,2117,2057,0,0,0,0,0,0
$GC,10226,0.57,194.6,542.3,13.3,734,10230,0.00,2.12,0.00,0.000,4,0.000,0.043,2490,710,2056,0,0,0,0,0,0
$GC,10291,0.57,194.6,533.6,12.5,739,10298,0.00,2.20,0.00,0.000,6,0.000,0.037,2490,2127,2057,0,0,0,0,0,0
$GC,10490,0.57,194.6,508.5,12.2,758,10494,0.00,2.17,0.00,0.000,4,0.000,0.047,2490,3541,2056,0,0,0,0,0,0
$GC,10541,0.57,194.6,501.8,13.6,762,10545,0.00,2.15,0.00,0.000,6,0.000,0.032,2500,2115,2056,0,0,0,0,0,0
$GC,10738,0.57,194.6,477.8,12.1,780,10742,0.00,2.12,0.00,0.000,4,0.000,0.043,2510,713,2056,0,0,0,0,0,0
$GC,10827,0.57,194.6,467.1,11.6,787,10834,0.00,2.17,0.00,0.000,6,0.000,0.036,2510,2137,2056,0,0,0,0,0,0
$GC,11026,0.57,194.6,443.0,12.4,806,11030,0.00,2.15,0.00,0.000,4,0.000,0.047,2510,3542,2056,0,0,0,0,0,0
$GC,11048,0.57,194.6,439.8,13.1,807,11056,0.10,2.17,0.00,0.000,6,0.167,0.032,2490,2130,2056,0,0,0,0,0,0
$GC,11246,0.57,194.6,414.4,12.8,826,11251,0.00,2.15,0.00,0.000,4,0.000,0.042,2499,713,2056,0,0,0,0,0,0
$GC,11348,0.57,194.6,401.3,13.3,835,11352,0.00,2.15,0.00,0.000,6,0.000,0.037,2499,2129,2056,0,0,0,0,0,0
$GC,11547,0.57,194.6,376.1,11.9,853,11551,0.00,2.15,0.00,0.000,4,0.000,0.047,2499,3536,2056,0,0,0,0,0,0
$GC,11598,0.57,194.6,369.6,12.9,857,11602,0.00,2.15,0.00,0.000,6,0.000,0.033,2509,2110,2056,0,0,0,0,0,0
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$STATE,14855,end climb,SURFACE_DEPTH_REACHED
$STATE,14856,begin surface coast
$FINISH,-0.0,1.021510
$STATE,14890,end surface coast,CONTROL_FINISHED_OK
$STATE,14890,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,39.36
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,10.020
$10V_AH,10.2,10.343
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,322624
$DATA_FILE_SIZE,87003,1331
$CAP_FILE_SIZE,180522,0
$CFSIZE,260165632,245481472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,285.6,1
$GPS,210611,235807,2034.478,11953.221,23,1.5,23,-2.3