version: 66.09
glider: 181
mission: 6
dive: 68
start: 6 23 111 1 34 52
data:
$ID,181
$MISSION,6
$DIVE,68
$N_DIVES,75
$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,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,-39602.957
$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,43
$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
$GPS1,230611,012737,2029.418,11957.074,36,1.1,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-64.6
$GPS2,230611,013426,2029.417,11956.897,12,1.5,12,-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,177.6,165689,-16.3,-11.000
$D_GRID,3303
$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,-194.6,0.0,0.0,0,101,0.00,0.00,-82.30,0.000,2,0.000,0.000,179,2617,2667,0,0,0,0,0,0
$GC,104,-0.57,-194.6,3.4,-3.6,11,137,7.93,2.20,-18.88,0.000,4,0.239,0.041,2117,1177,3666,0,0,0,0,0,0
$GC,248,-0.57,-194.6,56.8,-33.9,35,256,0.00,2.25,0.00,0.000,6,0.000,0.041,2111,2590,3668,0,0,0,0,0,0
$GC,385,-0.57,-194.6,112.1,-43.4,60,393,0.00,2.12,0.00,0.000,4,0.000,0.029,2110,1192,3669,0,0,0,0,0,0
$GC,507,-0.57,-194.6,143.6,-16.7,82,515,0.00,2.22,0.00,0.000,6,0.000,0.041,2111,2606,3670,0,0,0,0,0,0
$GC,644,-0.57,-194.6,169.8,-19.9,107,652,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3780,3670,0,0,0,0,0,0
$GC,687,-0.57,-194.6,179.6,-23.0,114,695,0.00,1.80,0.00,0.000,6,0.000,0.025,2102,2569,3671,0,0,0,0,0,0
$GC,824,-0.57,-194.6,209.9,-22.7,139,832,0.00,2.03,0.00,0.000,4,0.000,0.028,2102,1202,3671,0,0,0,0,0,0
$GC,883,-0.57,-194.6,221.0,-17.0,149,892,0.00,2.17,0.00,0.000,6,0.000,0.038,2094,2602,3671,0,0,0,0,0,0
$GC,1021,-0.57,-194.6,253.5,-28.8,173,1024,0.00,1.80,0.00,0.000,4,0.000,0.047,2085,3786,3671,0,0,0,0,0,0
$GC,1067,-0.57,-194.6,265.7,-24.0,177,1071,0.12,1.73,0.00,0.000,6,0.161,0.025,2118,2590,3671,0,0,0,0,0,0
$GC,1270,-0.57,-194.6,309.6,-19.4,196,1274,0.00,1.83,0.00,0.000,4,0.000,0.045,2111,3780,3671,0,0,0,0,0,0
$GC,1308,-0.57,-194.6,316.6,-17.4,199,1315,0.00,1.75,0.00,0.000,6,0.000,0.027,2111,2613,3671,0,0,0,0,0,0
$GC,1507,-0.57,-194.6,349.5,-16.6,218,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2610,3669,0,0,0,0,0,0
$GC,1698,-0.57,-194.6,382.2,-16.9,236,1702,0.00,2.08,0.00,0.000,4,0.000,0.031,2111,1191,3669,0,0,0,0,0,0
$GC,1730,-0.57,-194.6,387.9,-16.4,238,1737,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2597,3668,0,0,0,0,0,0
$GC,1928,-0.57,-194.6,419.4,-15.9,257,1932,0.00,1.80,0.00,0.000,4,0.000,0.050,2111,3781,3666,0,0,0,0,0,0
$GC,1977,-0.57,-194.6,427.4,-14.6,261,1986,0.00,1.77,0.00,0.000,6,0.000,0.028,2111,2597,3665,0,0,0,0,0,0
$GC,2175,-0.57,-194.6,457.0,-15.3,280,2179,0.00,1.88,0.00,0.000,4,0.000,0.050,2110,3777,3663,0,0,0,0,0,0
$GC,2199,-0.57,-194.6,460.4,-14.7,282,2203,0.00,1.73,0.00,0.000,6,0.000,0.028,2111,2606,3663,0,0,0,0,0,0
$GC,2403,-0.57,-194.6,489.7,-15.3,301,2407,0.00,2.08,0.00,0.000,4,0.000,0.033,2114,1191,3661,0,0,0,0,0,0
$GC,2446,-0.57,-194.6,496.2,-13.7,304,2453,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2598,3660,0,0,0,0,0,0
$GC,2645,-0.57,-194.6,523.6,-15.0,323,2649,0.00,1.85,0.00,0.000,4,0.000,0.050,2111,3780,3658,0,0,0,0,0,0
$GC,2712,-0.57,-194.6,532.8,-12.7,329,2716,0.00,1.75,0.00,0.000,6,0.000,0.030,2111,2591,3657,0,0,0,0,0,0
$GC,2916,-0.57,-194.6,563.8,-15.9,348,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2587,3655,0,0,0,0,0,0
$GC,3107,-0.57,-194.6,595.6,-16.5,366,3111,0.00,1.85,0.00,0.000,4,0.000,0.049,2102,3787,3653,0,0,0,0,0,0
$GC,3146,-0.57,-194.6,602.0,-15.8,369,3154,0.00,1.80,0.00,0.000,6,0.000,0.031,2103,2595,3652,0,0,0,0,0,0
$GC,3462,-0.57,-194.6,652.9,-15.7,385,3466,0.00,2.08,0.00,0.000,4,0.000,0.034,2102,1189,3649,0,0,0,0,0,0
$GC,3495,-0.57,-194.6,658.2,-15.4,386,3502,0.00,2.22,0.00,0.000,6,0.000,0.042,2095,2605,3649,0,0,0,0,0,0
$GC,3812,-0.57,-194.6,705.1,-14.5,402,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2606,3645,0,0,0,0,0,0
$GC,4121,-0.57,-194.6,747.4,-13.3,417,4125,0.00,1.80,0.00,0.000,4,0.000,0.051,2086,3780,3642,0,0,0,0,0,0
$GC,4170,-0.57,-194.6,754.2,-13.0,419,4175,0.08,1.80,0.00,0.000,6,0.138,0.031,2112,2598,3642,0,0,0,0,0,0
$GC,4497,-0.57,-194.6,793.3,-12.4,435,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2595,3639,0,0,0,0,0,0
$GC,4808,-0.57,-194.6,831.1,-12.0,450,4812,0.00,1.85,0.00,0.000,4,0.000,0.053,2111,3781,3636,0,0,0,0,0,0
$GC,4831,-0.57,-194.6,834.0,-11.9,451,4835,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2598,3636,0,0,0,0,0,0
$GC,5164,-0.57,-194.6,874.9,-12.8,467,5168,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1200,3634,0,0,0,0,0,0
$GC,5191,-0.57,-194.6,878.5,-12.5,468,5194,0.00,2.17,0.00,0.000,6,0.000,0.044,2111,2611,3634,0,0,0,0,0,0
$GC,5512,-0.57,-194.6,918.5,-12.3,484,5516,0.00,1.80,0.00,0.000,4,0.000,0.054,2111,3780,3632,0,0,0,0,0,0
$GC,5580,-0.57,-194.6,926.0,-10.8,487,5584,0.00,1.80,0.00,0.000,6,0.000,0.032,2111,2595,3631,0,0,0,0,0,0
$GC,5913,-0.57,-194.6,965.5,-11.8,503,5917,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1202,3629,0,0,0,0,0,0
$GC,5952,-0.57,-194.6,970.4,-11.7,504,5959,0.00,2.20,0.00,0.000,6,0.000,0.044,2111,2605,3629,0,0,0,0,0,0
$STATE,6143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6143,begin apogee
$GC,6150,-0.16,0.0,991.2,10.9,514,6304,0.40,0.00,149.38,1.109,6,0.130,0.000,2243,2111,2869,0,0,0,0,0,0
$STATE,6304,end apogee,CONTROL_FINISHED_OK
$STATE,6304,begin climb
$GC,6307,0.57,194.6,997.0,0.0,521,6474,0.68,2.28,159.48,1.076,4,0.076,0.041,2489,729,2075,0,0,0,0,0,0
$GC,6496,0.57,194.6,982.8,12.2,530,6500,0.00,2.28,0.00,0.000,6,0.000,0.035,2489,2132,2071,0,0,0,0,0,0
$GC,6818,0.57,194.6,939.3,13.2,546,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2133,2065,0,0,0,0,0,0
$GC,7127,0.57,194.6,899.6,12.6,561,7131,0.00,2.22,0.00,0.000,4,0.000,0.047,2489,3542,2062,0,0,0,0,0,0
$GC,7211,0.57,194.6,887.8,13.9,564,7218,0.00,2.15,0.00,0.000,6,0.000,0.030,2499,2136,2061,0,0,0,0,0,0
$GC,7527,0.57,194.6,847.9,12.8,580,7531,0.00,2.15,0.00,0.000,4,0.000,0.041,2510,723,2060,0,0,0,0,0,0
$GC,7661,0.57,194.6,830.9,12.5,586,7665,0.00,2.17,0.00,0.000,6,0.000,0.037,2505,2143,2060,0,0,0,0,0,0
$GC,7988,0.57,194.6,786.0,13.9,602,7992,0.00,2.15,0.00,0.000,4,0.000,0.046,2509,3536,2059,0,0,0,0,0,0
$GC,8036,0.57,194.6,778.2,16.0,604,8041,0.12,2.17,0.00,0.000,6,0.196,0.031,2490,2133,2058,0,0,0,0,0,0
$GC,8358,0.57,194.6,738.1,12.3,620,8362,0.00,2.15,0.00,0.000,4,0.000,0.041,2500,709,2058,0,0,0,0,0,0
$GC,8444,0.57,194.6,727.7,12.2,624,8448,0.00,2.17,0.00,0.000,6,0.000,0.035,2500,2139,2058,0,0,0,0,0,0
$GC,8771,0.57,194.6,686.6,12.4,640,8775,0.00,2.17,0.00,0.000,4,0.000,0.040,2510,713,2057,0,0,0,0,0,0
$GC,8860,0.57,194.6,675.8,12.0,644,8864,0.00,2.15,0.00,0.000,6,0.000,0.036,2506,2127,2057,0,0,0,0,0,0
$GC,9187,0.57,194.6,635.7,12.3,660,9191,0.00,2.17,0.00,0.000,4,0.000,0.047,2510,3542,2057,0,0,0,0,0,0
$GC,9254,0.57,194.6,626.3,14.3,663,9259,0.12,2.15,0.00,0.000,6,0.188,0.031,2489,2114,2056,0,0,0,0,0,0
$GC,9575,0.57,194.6,588.0,12.8,682,9579,0.00,2.20,0.00,0.000,4,0.000,0.044,2486,3538,2057,0,0,0,0,0,0
$GC,9609,0.57,194.6,583.3,13.4,685,9613,0.00,2.15,0.00,0.000,6,0.000,0.031,2498,2120,2056,0,0,0,0,0,0
$GC,9813,0.57,194.6,557.5,12.7,704,9817,0.00,2.12,0.00,0.000,4,0.000,0.040,2509,709,2056,0,0,0,0,0,0
$GC,9907,0.57,194.6,545.3,12.5,712,9915,0.00,2.20,0.00,0.000,6,0.000,0.035,2509,2131,2057,0,0,0,0,0,0
$GC,10106,0.57,194.6,519.6,13.5,731,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2132,2056,0,0,0,0,0,0
$GC,10297,0.57,194.6,492.7,14.8,749,10301,0.00,2.15,0.00,0.000,4,0.000,0.039,2514,718,2056,0,0,0,0,0,0
$GC,10348,0.57,194.6,485.3,14.6,753,10353,0.12,2.15,0.00,0.000,6,0.174,0.035,2487,2141,2056,0,0,0,0,0,0
$GC,10547,0.57,194.6,460.6,12.1,771,10551,0.00,2.12,0.00,0.000,4,0.000,0.044,2486,3533,2056,0,0,0,0,0,0
$GC,10576,0.57,194.6,456.7,13.0,773,10580,0.00,2.12,0.00,0.000,6,0.000,0.031,2495,2112,2056,0,0,0,0,0,0
$GC,10774,0.57,194.6,432.9,11.7,791,10778,0.00,2.10,0.00,0.000,4,0.000,0.041,2506,709,2056,0,0,0,0,0,0
$GC,10881,0.57,194.6,420.4,11.6,800,10886,0.00,2.15,0.00,0.000,6,0.000,0.035,2506,2131,2054,0,0,0,0,0,0
$GC,11079,0.57,194.6,396.9,11.6,818,11083,0.00,2.12,0.00,0.000,4,0.000,0.039,2515,722,2056,0,0,0,0,0,0
$GC,11119,0.57,194.6,392.2,11.7,821,11123,0.00,2.12,0.00,0.000,6,0.000,0.036,2515,2126,2056,0,0,0,0,0,0
$GC,11317,0.57,194.6,368.8,12.1,839,11321,0.00,2.12,0.00,0.000,4,0.000,0.039,2525,718,2056,0,0,0,0,0,0
$GC,11357,0.57,194.6,364.1,11.7,842,11362,0.15,2.12,0.00,0.000,6,0.166,0.036,2484,2125,2056,0,0,0,0,0,0
$GC,11557,0.61,230.1,344.1,9.6,860,11591,0.00,2.25,25.42,0.714,4,0.000,0.045,2484,3535,1930,0,0,0,0,0,0
$GC,11642,0.61,230.1,334.7,11.3,867,11650,0.00,2.17,0.00,0.000,6,0.000,0.030,2493,2115,1929,0,0,0,0,0,0
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$STATE,14514,end climb,SURFACE_DEPTH_REACHED
$STATE,14516,begin surface coast
$FINISH,-0.1,1.021135
$STATE,14550,end surface coast,CONTROL_FINISHED_OK
$STATE,14550,begin surface
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$IRIDIUM_FIX,2020.26,11959.82,220611,212101
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.56
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,11.116
$10V_AH,10.2,11.447
$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
$DEVICE_SECS,16.275,185.500,615.950,0.000,0.000,25.167,44.598,191.817,0.000,0.000,14.723,3296.291,7277.350,710.280,3408.481,328.679,0.000,2113.590,0.000,2250.263,0.000,0.541,0.000
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$SENSOR_SECS,907.597,1987.695,1590.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322628
$DATA_FILE_SIZE,86891,1305
$CAP_FILE_SIZE,177306,0
$CFSIZE,260165632,244830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,309.4,1
$GPS,230611,053955,2027.610,11956.504,39,1.2,40,-2.3