version: 66.09
glider: 181
mission: 6
dive: 77
start: 6 24 111 17 14 39
data:
$ID,181
$MISSION,6
$DIVE,77
$N_DIVES,85
$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,400
$T_MISSION,440
$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,-39614.277
$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,75
$R_STBD_OVSHOOT,42
$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
$GPS1,240611,170736,2017.201,11956.977,24,1.4,24,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-64.6
$GPS2,240611,171414,2017.181,11956.983,11,1.5,11,-2.3
$SPEED_LIMITS,0.143,0.275
$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,186.6,143037,-12.1,-8.250
$D_GRID,3380
$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,-0.48,-194.6,0.0,0.0,0,96,0.00,0.00,-77.75,0.000,2,0.000,0.000,145,2564,2528,0,0,0,0,0,0
$GC,99,-0.48,-194.6,3.0,-3.2,10,138,8.18,1.92,-21.70,0.000,4,0.238,0.058,2129,3766,3665,0,0,0,0,0,0
$GC,249,-0.48,-194.6,67.9,-31.6,35,257,0.00,1.73,0.00,0.000,6,0.000,0.026,2129,2620,3667,0,0,0,0,0,0
$GC,386,-0.48,-194.6,106.9,-28.0,60,395,0.00,2.12,0.00,0.000,4,0.000,0.029,2129,1203,3668,0,0,0,0,0,0
$GC,445,-0.48,-194.6,121.4,-20.4,70,453,0.00,2.17,0.00,0.000,6,0.000,0.038,2122,2592,3668,0,0,0,0,0,0
$GC,584,-0.48,-194.6,155.5,-23.8,95,592,0.00,1.85,0.00,0.000,4,0.000,0.042,2113,3785,3670,0,0,0,0,0,0
$GC,655,-0.48,-194.6,171.8,-20.1,107,664,0.08,1.77,0.00,0.000,6,0.147,0.025,2138,2600,3669,0,0,0,0,0,0
$GC,795,-0.48,-194.6,198.8,-21.0,132,803,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1201,3670,0,0,0,0,0,0
$GC,889,-0.48,-194.6,214.8,-14.1,141,898,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2606,3669,0,0,0,0,0,0
$GC,1215,-0.48,-194.6,274.6,-17.7,172,1219,0.00,1.77,0.00,0.000,4,0.000,0.044,2129,3784,3669,0,0,0,0,0,0
$GC,1274,-0.48,-194.6,285.5,-16.5,177,1283,0.00,1.77,0.00,0.000,6,0.000,0.025,2129,2584,3669,0,0,0,0,0,0
$GC,1600,-0.48,-194.6,335.6,-16.4,208,1604,0.00,2.00,0.00,0.000,4,0.000,0.029,2129,1212,3667,0,0,0,0,0,0
$GC,1649,-0.48,-194.6,342.6,-13.1,212,1656,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2598,3667,0,0,0,0,0,0
$GC,1975,-0.48,-194.6,391.9,-15.5,243,1979,0.00,1.85,0.00,0.000,4,0.000,0.046,2116,3790,3664,0,0,0,0,0,0
$GC,2068,-0.48,-194.6,404.5,-11.8,251,2075,0.00,1.75,0.00,0.000,6,0.000,0.027,2116,2610,3662,0,0,0,0,0,0
$GC,2396,-0.48,-194.6,453.7,-15.0,282,2400,0.00,2.08,0.00,0.000,4,0.000,0.031,2116,1195,3659,0,0,0,0,0,0
$GC,2450,-0.48,-194.6,462.0,-13.0,286,2458,0.08,2.20,0.00,0.000,6,0.140,0.039,2148,2604,3658,0,0,0,0,0,0
$GC,2776,-0.48,-194.6,497.3,-11.0,317,2780,0.00,1.83,0.00,0.000,4,0.000,0.047,2142,3776,3655,0,0,0,0,0,0
$GC,2813,-0.48,-194.6,501.6,-11.0,320,2820,0.00,1.75,0.00,0.000,6,0.000,0.028,2142,2605,3655,0,0,0,0,0,0
$GC,3129,-0.48,-194.6,537.7,-11.5,336,3133,0.00,2.08,0.00,0.000,4,0.000,0.033,2142,1196,3651,0,0,0,0,0,0
$GC,3179,-0.48,-194.6,543.2,-10.9,338,3183,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2601,3651,0,0,0,0,0,0
$GC,3500,-0.48,-194.6,579.6,-11.7,354,3504,0.00,1.85,0.00,0.000,4,0.000,0.050,2138,3783,3647,0,0,0,0,0,0
$GC,3539,-0.48,-194.6,584.1,-11.1,355,3546,0.00,1.77,0.00,0.000,6,0.000,0.028,2144,2601,3647,0,0,0,0,0,0
$GC,3855,-0.48,-194.6,621.3,-12.1,371,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2599,3644,0,0,0,0,0,0
$GC,4165,-0.48,-194.6,656.1,-10.6,386,4169,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1196,3643,0,0,0,0,0,0
$GC,4228,-0.48,-194.6,662.3,-9.5,389,4232,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2601,3641,0,0,0,0,0,0
$GC,4555,-0.48,-194.6,698.8,-11.8,405,4558,0.00,1.80,0.00,0.000,4,0.000,0.051,2138,3777,3636,0,0,0,0,0,0
$GC,4587,-0.48,-194.6,702.7,-11.5,406,4591,0.00,1.77,0.00,0.000,6,0.000,0.029,2138,2601,3637,0,0,0,0,0,0
$GC,4910,-0.48,-194.6,742.9,-13.0,422,4914,0.00,2.08,0.00,0.000,4,0.000,0.034,2140,1198,3635,0,0,0,0,0,0
$GC,4972,-0.48,-194.6,750.5,-11.5,425,4976,0.00,2.15,0.00,0.000,6,0.000,0.041,2136,2600,3635,0,0,0,0,0,0
$GC,5304,-0.48,-194.6,789.5,-11.4,441,5308,0.00,1.85,0.00,0.000,4,0.000,0.051,2134,3780,3633,0,0,0,0,0,0
$GC,5342,-0.48,-194.6,793.8,-10.9,442,5350,0.00,1.77,0.00,0.000,6,0.000,0.030,2133,2602,3632,0,0,0,0,0,0
$GC,5659,-0.48,-194.6,828.9,-11.3,458,5663,0.00,2.08,0.00,0.000,4,0.000,0.035,2134,1202,3631,0,0,0,0,0,0
$GC,5731,-0.48,-194.6,836.8,-10.4,461,5735,0.00,2.15,0.00,0.000,6,0.000,0.041,2125,2606,3630,0,0,0,0,0,0
$GC,6053,-0.48,-194.6,873.1,-11.1,477,6056,0.00,1.80,0.00,0.000,4,0.000,0.052,2125,3779,3628,0,0,0,0,0,0
$GC,6102,-0.48,-194.6,878.6,-10.5,479,6106,0.00,1.77,0.00,0.000,6,0.000,0.030,2125,2609,3627,0,0,0,0,0,0
$GC,6430,-0.48,-194.6,915.3,-11.7,495,6434,0.00,2.10,0.00,0.000,4,0.000,0.035,2125,1196,3625,0,0,0,0,0,0
$GC,6519,-0.48,-194.6,926.0,-11.0,499,6523,0.00,2.17,0.00,0.000,6,0.000,0.042,2125,2605,3626,0,0,0,0,0,0
$GC,6847,-0.48,-194.6,962.4,-11.0,515,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2605,3624,0,0,0,0,0,0
$STATE,7113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7113,begin apogee
$GC,7119,-0.16,0.0,991.3,10.8,528,7272,0.38,0.00,148.60,1.108,6,0.125,0.000,2249,2114,2869,0,0,0,0,0,0
$STATE,7273,end apogee,CONTROL_FINISHED_OK
$STATE,7274,begin climb
$GC,7276,0.48,194.6,999.2,0.0,535,7447,0.57,2.47,160.27,1.077,4,0.065,0.044,2459,3536,2074,0,0,0,0,0,0
$GC,7492,0.48,194.6,985.2,12.6,545,7501,0.00,2.25,0.00,0.000,6,0.000,0.030,2468,2135,2069,0,0,0,0,0,0
$GC,7808,0.48,194.6,946.8,12.3,561,7812,0.00,2.20,0.00,0.000,4,0.000,0.040,2479,713,2064,0,0,0,0,0,0
$GC,7879,0.48,194.6,938.0,11.8,564,7883,0.00,2.20,0.00,0.000,6,0.000,0.035,2479,2131,2063,0,0,0,0,0,0
$GC,8201,0.48,194.6,897.6,12.5,580,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2131,2061,0,0,0,0,0,0
$GC,8510,0.48,194.6,859.3,11.9,595,8514,0.00,2.17,0.00,0.000,4,0.000,0.046,2479,3535,2058,0,0,0,0,0,0
$GC,8577,0.48,194.6,850.5,13.4,598,8582,0.12,2.17,0.00,0.000,6,0.194,0.031,2460,2109,2060,0,0,0,0,0,0
$GC,8905,0.48,194.6,816.5,10.3,614,8909,0.00,2.12,0.00,0.000,4,0.000,0.041,2469,709,2059,0,0,0,0,0,0
$GC,8983,0.48,194.6,808.4,10.0,617,8991,0.00,2.22,0.00,0.000,6,0.000,0.036,2469,2129,2059,0,0,0,0,0,0
$GC,9299,0.48,194.6,773.5,11.2,633,9303,0.00,2.17,0.00,0.000,4,0.000,0.046,2469,3539,2058,0,0,0,0,0,0
$GC,9338,0.48,194.6,768.5,12.5,634,9345,0.00,2.20,0.00,0.000,6,0.000,0.031,2478,2116,2058,0,0,0,0,0,0
$GC,9655,0.48,194.6,730.0,12.0,650,9659,0.00,2.12,0.00,0.000,4,0.000,0.041,2485,709,2057,0,0,0,0,0,0
$GC,9727,0.48,194.6,721.0,11.9,653,9732,0.12,2.15,0.00,0.000,6,0.168,0.034,2458,2125,2057,0,0,0,0,0,0
$GC,10043,0.48,194.6,689.4,9.8,668,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2127,2057,0,0,0,0,0,0
$GC,10353,0.48,194.6,660.3,9.3,683,10357,0.00,2.17,0.00,0.000,4,0.000,0.046,2458,3538,2056,0,0,0,0,0,0
$GC,10393,0.48,194.6,656.5,9.4,685,10397,0.00,2.15,0.00,0.000,6,0.000,0.031,2466,2115,2057,0,0,0,0,0,0
$GC,10720,0.48,194.6,623.3,10.3,701,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2114,2056,0,0,0,0,0,0
$GC,11030,0.48,194.6,591.0,10.4,716,11034,0.00,2.10,0.00,0.000,4,0.000,0.041,2476,719,2055,0,0,0,0,0,0
$GC,11073,0.48,194.6,586.2,10.2,718,11077,0.00,2.15,0.00,0.000,6,0.000,0.034,2477,2138,2057,0,0,0,0,0,0
$GC,11401,0.48,194.6,552.0,10.1,734,11405,0.00,2.15,0.00,0.000,4,0.000,0.045,2476,3540,2056,0,0,0,0,0,0
$GC,11441,0.48,194.6,547.5,11.2,736,11445,0.00,2.12,0.00,0.000,6,0.000,0.031,2486,2124,2056,0,0,0,0,0,0
$GC,11768,0.48,194.6,514.9,9.9,752,11772,0.00,2.12,0.00,0.000,4,0.000,0.041,2497,715,2056,0,0,0,0,0,0
$GC,11852,0.48,194.6,506.4,10.2,756,11857,0.15,2.15,0.00,0.000,6,0.165,0.036,2457,2138,2056,0,0,0,0,0,0
$GC,12176,0.48,194.6,480.0,8.5,783,12180,0.00,2.12,0.00,0.000,4,0.000,0.045,2457,3531,2056,0,0,0,0,0,0
$GC,12226,0.48,194.6,475.3,9.7,787,12230,0.00,2.12,0.00,0.000,6,0.000,0.032,2465,2118,2057,0,0,0,0,0,0
$GC,12553,0.48,194.6,436.3,13.5,817,12557,0.00,2.12,0.00,0.000,4,0.000,0.041,2476,707,2056,0,0,0,0,0,0
$GC,12585,0.48,194.6,431.5,14.0,819,12593,0.00,2.15,0.00,0.000,6,0.000,0.034,2476,2124,2059,0,0,0,0,0,0
$GC,12911,0.48,194.6,387.9,12.1,850,12915,0.00,2.15,0.00,0.000,4,0.000,0.044,2476,3535,2057,0,0,0,0,0,0
$GC,12951,0.48,194.6,382.7,12.5,853,12956,0.00,2.12,0.00,0.000,6,0.000,0.030,2486,2116,2056,0,0,0,0,0,0
$GC,13277,0.48,194.6,343.7,11.8,883,13281,0.00,2.12,0.00,0.000,4,0.000,0.040,2496,712,2057,0,0,0,0,0,0
$GC,13490,0.48,194.6,319.8,11.1,902,13495,0.15,2.15,0.00,0.000,6,0.158,0.034,2455,2140,2057,0,0,0,0,0,0
$GC,13815,0.51,216.9,293.8,7.6,932,13841,0.00,2.20,15.62,0.687,4,0.000,0.044,2456,3529,1984,0,0,0,0,0,0
$GC,13868,0.52,226.8,289.2,8.0,936,13888,0.00,2.17,9.12,0.570,6,0.000,0.029,2463,2116,1945,0,0,0,0,0,0
$GC,14207,0.62,306.2,264.8,6.0,968,14272,0.12,0.00,61.62,0.634,6,0.090,0.000,2523,2116,1619,0,0,0,0,0,0
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$STATE,16781,end climb,SURFACE_DEPTH_REACHED
$STATE,16781,begin surface coast
$FINISH,-0.1,1.021272
$STATE,16814,end surface coast,CONTROL_FINISHED_OK
$STATE,16814,begin surface
$SM_CCo,16892,0.00,0.000,0,0,434,597.06
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$IRIDIUM_FIX,2011.07,11954.38,240611,121252
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.64
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,12.524
$10V_AH,10.2,12.899
$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
$DEVICE_SECS,16.850,179.675,613.150,0.000,0.000,25.035,41.420,186.018,0.000,0.000,14.024,3464.221,9242.207,718.771,3494.602,352.365,0.000,2152.623,0.000,2370.359,0.000,0.541,0.000
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$SENSOR_SECS,952.488,2077.149,1539.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322636
$DATA_FILE_SIZE,90327,1365
$CAP_FILE_SIZE,178777,0
$CFSIZE,260165632,243978240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,293.1,1
$GPS,240611,215730,2015.390,11955.416,35,1.1,41,-2.3