version: 66.09
glider: 181
mission: 6
dive: 66
start: 6 22 111 17 9 12
data:
$ID,181
$MISSION,6
$DIVE,66
$N_DIVES,70
$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,1
$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,-39600.441
$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,42
$R_STBD_OVSHOOT,61
$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
$GPS1,220611,170155,2031.073,11955.989,37,1.5,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-65.4
$GPS2,220611,170814,2031.017,11955.948,11,1.3,11,-2.3
$SPEED_LIMITS,0.191,0.305
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-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,103.8,168712,-16.3,-11.000
$D_GRID,3282
$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,-0.57,-194.6,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,2,0.000,0.000,144,2643,2536,0,0,0,0,0,0
$GC,99,-0.57,-194.6,3.1,-3.2,11,138,8.07,2.17,-22.00,0.000,4,0.239,0.040,2117,1180,3665,0,0,0,0,0,0
$GC,146,-0.57,-194.6,21.4,-41.1,17,155,0.00,2.22,0.00,0.000,6,0.000,0.044,2108,2565,3666,0,0,0,0,0,0
$GC,280,-0.57,-194.6,82.1,-49.8,42,288,0.00,1.92,0.00,0.000,4,0.000,0.045,2098,3790,3666,0,0,0,0,0,0
$GC,312,-0.57,-194.6,99.5,-54.7,47,320,0.00,1.83,0.00,0.000,6,0.000,0.026,2100,2579,3666,0,0,0,0,0,0
$GC,445,-0.57,-194.6,151.5,-33.1,72,453,0.00,2.05,0.00,0.000,4,0.000,0.027,2100,1193,3667,0,0,0,0,0,0
$GC,466,-0.57,-194.6,158.1,-30.9,75,475,0.00,2.22,0.00,0.000,6,0.000,0.039,2094,2608,3668,0,0,0,0,0,0
$GC,601,-0.57,-194.6,189.2,-21.2,100,609,0.00,1.83,0.00,0.000,4,0.000,0.043,2085,3782,3669,0,0,0,0,0,0
$GC,622,-0.57,-194.6,194.1,-22.3,103,631,0.10,1.77,0.00,0.000,6,0.155,0.026,2116,2601,3669,0,0,0,0,0,0
$GC,759,-0.57,-194.6,219.4,-19.6,128,768,0.00,2.12,0.00,0.000,4,0.000,0.029,2121,1192,3670,0,0,0,0,0,0
$GC,802,-0.57,-194.6,227.0,-16.3,135,810,0.00,2.20,0.00,0.000,6,0.000,0.040,2111,2595,3670,0,0,0,0,0,0
$GC,935,-0.57,-194.6,249.4,-17.7,160,943,0.00,1.85,0.00,0.000,4,0.000,0.045,2103,3787,3670,0,0,0,0,0,0
$GC,1020,-0.57,-194.6,265.1,-16.3,168,1029,0.00,1.77,0.00,0.000,6,0.000,0.025,2103,2593,3670,0,0,0,0,0,0
$GC,1218,-0.57,-194.6,302.2,-20.0,187,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2592,3670,0,0,0,0,0,0
$GC,1409,-0.57,-194.6,337.0,-18.2,205,1413,0.00,2.03,0.00,0.000,4,0.000,0.030,2102,1206,3669,0,0,0,0,0,0
$GC,1459,-0.57,-194.6,344.9,-14.7,209,1466,0.00,2.17,0.00,0.000,6,0.000,0.040,2097,2615,3669,0,0,0,0,0,0
$GC,1657,-0.57,-194.6,378.3,-17.4,228,1660,0.00,1.77,0.00,0.000,4,0.000,0.047,2088,3787,3666,0,0,0,0,0,0
$GC,1729,-0.57,-194.6,390.8,-16.4,234,1736,0.00,1.77,0.00,0.000,6,0.000,0.028,2088,2592,3665,0,0,0,0,0,0
$GC,1927,-0.57,-194.6,426.7,-20.1,253,1929,0.12,0.00,0.00,0.000,6,0.168,0.000,2122,2587,3663,0,0,0,0,0,0
$GC,2118,-0.57,-194.6,454.5,-13.3,271,2122,0.00,1.88,0.00,0.000,4,0.000,0.047,2114,3777,3662,0,0,0,0,0,0
$GC,2167,-0.57,-194.6,461.0,-12.2,275,2174,0.00,1.75,0.00,0.000,6,0.000,0.028,2113,2614,3660,0,0,0,0,0,0
$GC,2365,-0.57,-194.6,487.3,-13.9,294,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2611,3658,0,0,0,0,0,0
$GC,2557,-0.57,-194.6,510.5,-11.6,312,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2611,3656,0,0,0,0,0,0
$GC,2748,-0.57,-194.6,533.4,-12.5,330,2752,0.00,2.08,0.00,0.000,4,0.000,0.034,2114,1201,3654,0,0,0,0,0,0
$GC,2765,-0.57,-194.6,535.8,-12.9,331,2769,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2603,3654,0,0,0,0,0,0
$GC,2963,-0.57,-194.6,562.7,-14.3,349,2967,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3780,3652,0,0,0,0,0,0
$GC,3013,-0.57,-194.6,569.5,-12.9,353,3020,0.00,1.77,0.00,0.000,6,0.000,0.030,2111,2608,3651,0,0,0,0,0,0
$GC,3211,-0.57,-194.6,596.2,-14.2,372,3215,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1199,3649,0,0,0,0,0,0
$GC,3240,-0.57,-194.6,600.3,-14.2,374,3244,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2601,3652,0,0,0,0,0,0
$GC,3556,-0.57,-194.6,644.4,-14.2,389,3559,0.00,1.80,0.00,0.000,4,0.000,0.052,2111,3777,3646,0,0,0,0,0,0
$GC,3612,-0.57,-194.6,651.9,-12.8,391,3616,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2595,3645,0,0,0,0,0,0
$GC,3933,-0.57,-194.6,697.7,-14.5,407,3937,0.00,2.08,0.00,0.000,4,0.000,0.036,2111,1193,3642,0,0,0,0,0,0
$GC,3983,-0.57,-194.6,704.8,-13.3,409,3987,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2607,3642,0,0,0,0,0,0
$GC,4310,-0.57,-194.6,748.1,-12.7,425,4314,0.00,1.80,0.00,0.000,4,0.000,0.053,2111,3780,3639,0,0,0,0,0,0
$GC,4356,-0.57,-194.6,753.6,-11.8,427,4360,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2593,3639,0,0,0,0,0,0
$GC,4689,-0.57,-194.6,793.1,-11.9,443,4693,0.00,2.05,0.00,0.000,4,0.000,0.036,2111,1202,3636,0,0,0,0,0,0
$GC,4710,-0.57,-194.6,795.9,-12.0,444,4714,0.00,2.15,0.00,0.000,6,0.000,0.043,2111,2598,3634,0,0,0,0,0,0
$GC,5038,-0.57,-194.6,833.7,-12.1,460,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2599,3634,0,0,0,0,0,0
$GC,5348,-0.57,-194.6,871.4,-12.3,475,5352,0.00,1.83,0.00,0.000,4,0.000,0.054,2111,3783,3632,0,0,0,0,0,0
$GC,5375,-0.57,-194.6,875.2,-12.0,476,5380,0.00,1.80,0.00,0.000,6,0.000,0.031,2111,2606,3631,0,0,0,0,0,0
$GC,5703,-0.57,-194.6,914.0,-11.9,492,5707,0.00,2.10,0.00,0.000,4,0.000,0.037,2111,1194,3628,0,0,0,0,0,0
$GC,5746,-0.57,-194.6,919.3,-11.3,494,5750,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2607,3627,0,0,0,0,0,0
$GC,6074,-0.57,-194.6,958.0,-12.2,510,6077,0.00,1.80,0.00,0.000,4,0.000,0.054,2110,3780,3627,0,0,0,0,0,0
$GC,6120,-0.57,-194.6,963.4,-11.1,512,6123,0.00,1.77,0.00,0.000,6,0.000,0.032,2111,2584,3626,0,0,0,0,0,0
$STATE,6368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6368,begin apogee
$GC,6374,-0.16,0.0,992.1,11.9,524,6530,0.40,0.00,149.35,1.111,6,0.132,0.000,2243,2117,2868,0,0,0,0,0,0
$STATE,6530,end apogee,CONTROL_FINISHED_OK
$STATE,6530,begin climb
$GC,6533,0.57,194.6,999.9,0.0,531,6702,0.68,2.35,160.00,1.078,4,0.067,0.040,2496,719,2074,0,0,0,0,0,0
$GC,6714,0.57,194.6,988.0,12.6,540,6718,0.00,2.30,0.00,0.000,6,0.000,0.036,2496,2126,2071,0,0,0,0,0,0
$GC,7042,0.57,194.6,943.0,13.1,556,7046,0.00,2.22,0.00,0.000,4,0.000,0.047,2496,3539,2064,0,0,0,0,0,0
$GC,7096,0.57,194.6,934.8,14.9,558,7104,0.00,2.22,0.00,0.000,6,0.000,0.032,2506,2130,2063,0,0,0,0,0,0
$GC,7414,0.57,194.6,889.4,14.7,574,7418,0.00,2.17,0.00,0.000,4,0.000,0.041,2517,710,2061,0,0,0,0,0,0
$GC,7477,0.57,194.6,880.1,14.1,577,7482,0.12,2.20,0.00,0.000,6,0.175,0.037,2487,2132,2061,0,0,0,0,0,0
$GC,7804,0.57,194.6,835.0,13.7,593,7808,0.00,2.17,0.00,0.000,4,0.000,0.041,2494,713,2060,0,0,0,0,0,0
$GC,7847,0.57,194.6,828.8,13.2,595,7852,0.00,2.17,0.00,0.000,6,0.000,0.037,2494,2125,2060,0,0,0,0,0,0
$GC,8175,0.57,194.6,784.0,13.6,611,8179,0.00,2.20,0.00,0.000,4,0.000,0.047,2495,3542,2059,0,0,0,0,0,0
$GC,8202,0.57,194.6,779.9,14.0,612,8206,0.00,2.17,0.00,0.000,6,0.000,0.032,2505,2112,2058,0,0,0,0,0,0
$GC,8524,0.57,194.6,734.7,14.2,628,8528,0.00,2.12,0.00,0.000,4,0.000,0.043,2515,719,2058,0,0,0,0,0,0
$GC,8630,0.57,194.6,719.6,13.6,632,8638,0.08,2.20,0.00,0.000,6,0.164,0.037,2483,2127,2058,0,0,0,0,0,0
$GC,8946,0.57,194.6,679.4,13.1,648,8951,0.00,2.17,0.00,0.000,4,0.000,0.047,2482,3540,2057,0,0,0,0,0,0
$GC,8991,0.57,194.6,672.7,15.0,650,8994,0.00,2.15,0.00,0.000,6,0.000,0.032,2490,2118,2057,0,0,0,0,0,0
$GC,9318,0.57,194.6,627.6,13.8,666,9322,0.00,2.12,0.00,0.000,4,0.000,0.043,2501,713,2057,0,0,0,0,0,0
$GC,9451,0.57,194.6,609.8,12.9,672,9455,0.00,2.15,0.00,0.000,6,0.000,0.037,2501,2127,2057,0,0,0,0,0,0
$GC,9777,0.57,194.6,567.1,13.0,699,9781,0.00,2.17,0.00,0.000,4,0.000,0.047,2501,3546,2056,0,0,0,0,0,0
$GC,9832,0.57,194.6,558.9,14.6,703,9839,0.00,2.20,0.00,0.000,6,0.000,0.033,2511,2121,2056,0,0,0,0,0,0
$GC,10030,0.57,194.6,530.9,14.3,722,10034,0.00,2.15,0.00,0.000,4,0.000,0.042,2521,707,2057,0,0,0,0,0,0
$GC,10112,0.57,194.6,519.6,13.6,729,10120,0.08,2.20,0.00,0.000,6,0.157,0.037,2487,2125,2056,0,0,0,0,0,0
$GC,10311,0.57,194.6,496.0,11.6,748,10315,0.00,2.17,0.00,0.000,4,0.000,0.047,2487,3546,2056,0,0,0,0,0,0
$GC,10362,0.57,194.6,489.6,12.9,752,10366,0.00,2.15,0.00,0.000,6,0.000,0.033,2495,2119,2057,0,0,0,0,0,0
$GC,10560,0.57,194.6,466.4,11.6,770,10564,0.00,2.12,0.00,0.000,4,0.000,0.043,2506,714,2056,0,0,0,0,0,0
$GC,10600,0.57,194.6,461.6,12.0,773,10604,0.00,2.15,0.00,0.000,6,0.000,0.037,2506,2129,2056,0,0,0,0,0,0
$GC,10798,0.57,194.6,436.7,12.5,791,10802,0.00,2.15,0.00,0.000,4,0.000,0.047,2506,3537,2056,0,0,0,0,0,0
$GC,10838,0.57,194.6,431.2,13.9,794,10842,0.00,2.12,0.00,0.000,6,0.000,0.033,2516,2126,2056,0,0,0,0,0,0
$GC,11036,0.57,194.6,404.9,12.7,812,11040,0.12,2.12,0.00,0.000,4,0.184,0.042,2494,719,2056,0,0,0,0,0,0
$GC,11132,0.60,218.7,394.9,10.1,820,11156,0.00,2.15,17.02,0.741,6,0.000,0.036,2494,2138,1977,0,0,0,0,0,0
$GC,11348,0.61,233.4,373.3,10.4,840,11366,0.00,0.00,12.90,0.691,6,0.000,0.000,2494,2138,1917,0,0,0,0,0,0
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$STATE,14637,end climb,SURFACE_DEPTH_REACHED
$STATE,14637,begin surface coast
$FINISH,1.0,1.021055
$STATE,14649,end surface coast,CONTROL_FINISHED_OK
$STATE,14649,begin surface
$SM_CCo,14727,0.00,0.000,0,0,435,597.06
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$IRIDIUM_FIX,2022.56,11959.82,220611,121225
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.07
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,10.800
$10V_AH,10.2,11.134
$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
$DEVICE_SECS,16.800,179.275,618.425,0.000,0.000,27.550,17.484,190.423,0.000,0.000,13.854,3193.845,7424.621,683.279,3461.887,326.489,33.357,2117.996,0.000,2303.636,0.000,0.541,0.000
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$SENSOR_SECS,931.499,2036.014,1661.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322680
$DATA_FILE_SIZE,87046,1338
$CAP_FILE_SIZE,178471,0
$CFSIZE,260165632,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,211555,2031.050,11957.286,38,1.2,39,-2.3