version: 66.09
glider: 181
mission: 6
dive: 166
start: 7 11 111 22 38 8
data:
$ID,181
$MISSION,6
$DIVE,166
$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,300
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,-40728.07
$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,2320
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,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
$GPS1,110711,222906,1920.850,12014.658,24,1.9,24,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.9
$GPS2,110711,223743,1920.911,12014.772,9,1.9,14,-2.1
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1913.274,12022.859
$TGT_RADIUS,1852.000
$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,137.1,20000,-15.3,-11.000
$D_GRID,3118
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.52,-219.0,0.0,0.0,0,98,0.00,0.00,-78.50,0.000,2,0.000,0.000,168,2609,2656,0,0,0,0,0,0
$GC,102,-0.52,-219.0,3.7,-4.1,11,141,8.02,1.85,-20.40,0.000,4,0.232,0.059,2132,3780,3766,0,0,0,0,0,0
$GC,252,-0.52,-219.0,78.5,-41.9,37,260,0.00,1.80,0.00,0.000,6,0.000,0.024,2128,2577,3768,0,0,0,0,0,0
$GC,386,-0.52,-219.0,124.2,-30.8,62,394,0.00,2.05,0.00,0.000,4,0.000,0.026,2132,1194,3768,0,0,0,0,0,0
$GC,417,-0.52,-219.0,132.3,-25.7,67,425,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2616,3768,0,0,0,0,0,0
$GC,551,-0.52,-219.0,159.2,-18.0,92,559,0.00,1.80,0.00,0.000,4,0.000,0.044,2115,3776,3769,0,0,0,0,0,0
$GC,584,-0.52,-219.0,166.2,-20.6,97,593,0.10,1.77,0.00,0.000,6,0.151,0.024,2145,2579,3770,0,0,0,0,0,0
$GC,721,-0.52,-219.0,192.6,-16.8,122,729,0.00,1.88,0.00,0.000,4,0.000,0.043,2137,3775,3770,0,0,0,0,0,0
$GC,738,-0.52,-219.0,195.9,-16.7,124,746,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2603,3773,0,0,0,0,0,0
$GC,882,-0.52,-219.0,220.0,-17.9,139,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2602,3770,0,0,0,0,0,0
$GC,1201,-0.52,-219.0,268.5,-14.4,169,1205,0.00,1.80,0.00,0.000,4,0.000,0.043,2138,3781,3770,0,0,0,0,0,0
$GC,1236,-0.52,-219.0,273.2,-12.8,172,1240,0.00,1.70,0.00,0.000,6,0.000,0.024,2138,2593,3769,0,0,0,0,0,0
$GC,1566,-0.52,-219.0,313.7,-14.0,203,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2592,3767,0,0,0,0,0,0
$GC,1889,-0.52,-219.0,360.9,-13.5,233,1892,0.00,1.83,0.00,0.000,4,0.000,0.045,2138,3781,3764,0,0,0,0,0,0
$GC,1916,-0.52,-219.0,364.9,-12.2,235,1923,0.00,1.70,0.00,0.000,6,0.000,0.025,2137,2636,3764,0,0,0,0,0,0
$GC,2241,-0.52,-219.0,400.2,-12.2,266,2245,0.00,1.75,0.00,0.000,4,0.000,0.045,2138,3777,3760,0,0,0,0,0,0
$GC,2264,-0.52,-219.0,403.0,-12.3,268,2268,0.00,1.67,0.00,0.000,6,0.000,0.027,2137,2620,3760,0,0,0,0,0,0
$GC,2595,-0.52,-219.0,445.1,-13.1,299,2599,0.00,2.08,0.00,0.000,4,0.000,0.030,2138,1200,3756,0,0,0,0,0,0
$GC,2613,-0.52,-219.0,447.5,-13.1,300,2618,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2645,3756,0,0,0,0,0,0
$GC,2938,-0.52,-219.0,486.9,-11.3,330,2942,0.00,1.73,0.00,0.000,4,0.000,0.048,2138,3782,3753,0,0,0,0,0,0
$GC,2966,-0.52,-219.0,489.9,-10.6,332,2973,0.00,1.70,0.00,0.000,6,0.000,0.027,2138,2646,3753,0,0,0,0,0,0
$GC,3286,-0.52,-219.0,520.2,-9.4,353,3290,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1190,3749,0,0,0,0,0,0
$GC,3353,-0.52,-219.0,525.9,-7.7,356,3357,0.00,2.20,0.00,0.000,6,0.000,0.037,2138,2634,3749,0,0,0,0,0,0
$GC,3675,-0.52,-219.0,554.7,-9.5,372,3679,0.00,1.75,0.00,0.000,4,0.000,0.049,2138,3782,3745,0,0,0,0,0,0
$GC,3721,-0.52,-219.0,558.4,-7.9,374,3725,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2614,3744,0,0,0,0,0,0
$GC,4054,-0.52,-219.0,587.9,-9.5,390,4058,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1200,3741,0,0,0,0,0,0
$GC,4087,-0.52,-219.0,591.1,-9.5,391,4094,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2640,3741,0,0,0,0,0,0
$GC,4404,-0.52,-219.0,620.4,-9.4,407,4407,0.00,1.75,0.00,0.000,4,0.000,0.050,2138,3783,3739,0,0,0,0,0,0
$GC,4427,-0.52,-219.0,622.6,-9.5,408,4431,0.00,1.70,0.00,0.000,6,0.000,0.028,2138,2619,3738,0,0,0,0,0,0
$GC,4760,-0.52,-219.0,654.4,-10.8,424,4764,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1208,3736,0,0,0,0,0,0
$GC,4804,-0.52,-219.0,659.3,-10.7,426,4808,0.00,2.17,0.00,0.000,6,0.000,0.037,2137,2629,3735,0,0,0,0,0,0
$GC,5126,-0.52,-219.0,696.2,-11.6,442,5129,0.00,1.75,0.00,0.000,4,0.000,0.050,2137,3775,3731,0,0,0,0,0,0
$GC,5165,-0.52,-219.0,700.6,-10.6,443,5171,0.00,1.67,0.00,0.000,6,0.000,0.028,2138,2633,3733,0,0,0,0,0,0
$GC,5481,-0.52,-219.0,731.2,-8.9,459,5485,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1196,3731,0,0,0,0,0,0
$GC,5526,-0.52,-219.0,734.6,-7.7,461,5530,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2637,3730,0,0,0,0,0,0
$GC,5848,-0.52,-219.0,757.7,-7.3,477,5852,0.00,1.80,0.00,0.000,4,0.000,0.051,2137,3777,3728,0,0,0,0,0,0
$GC,5887,-0.52,-219.0,760.6,-7.2,478,5894,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2633,3728,0,0,0,0,0,0
$GC,6203,-0.52,-219.0,785.4,-8.5,494,6207,0.00,2.12,0.00,0.000,4,0.000,0.033,2138,1199,3727,0,0,0,0,0,0
$GC,6270,-0.52,-219.0,790.6,-7.2,497,6275,0.00,2.20,0.00,0.000,6,0.000,0.038,2137,2632,3727,0,0,0,0,0,0
$GC,6592,-0.52,-219.0,815.9,-7.8,513,6596,0.00,1.75,0.00,0.000,4,0.000,0.050,2137,3775,3724,0,0,0,0,0,0
$GC,6620,-0.52,-219.0,818.2,-7.9,514,6624,0.00,1.75,0.00,0.000,6,0.000,0.027,2138,2618,3724,0,0,0,0,0,0
$GC,6947,-0.52,-219.0,843.9,-8.4,530,6951,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1199,3722,0,0,0,0,0,0
$GC,7020,-0.52,-219.0,850.4,-7.5,533,7024,0.00,2.17,0.00,0.000,6,0.000,0.039,2137,2612,3723,0,0,0,0,0,0
$GC,7337,-0.52,-219.0,875.2,-7.7,548,7341,0.00,2.12,0.00,0.000,4,0.000,0.033,2137,1196,3721,0,0,0,0,0,0
$GC,7359,-0.52,-219.0,877.3,-7.5,549,7363,0.00,2.17,0.00,0.000,6,0.000,0.038,2137,2608,3721,0,0,0,0,0,0
$GC,7681,-0.52,-219.0,903.5,-9.2,565,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2609,3720,0,0,0,0,0,0
$GC,7990,-0.52,-219.0,936.5,-11.1,580,7994,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1200,3718,0,0,0,0,0,0
$GC,8016,-0.52,-219.0,939.6,-11.2,581,8020,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2599,3719,0,0,0,0,0,0
$GC,8339,-0.52,-219.0,971.2,-9.7,597,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2600,3718,0,0,0,0,0,0
$STATE,8542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8542,begin apogee
$GC,8550,-0.13,0.0,990.2,9.2,607,8721,0.40,0.00,166.57,1.098,4,0.105,0.000,2274,2112,2871,0,0,0,0,0,0
$STATE,8722,end apogee,CONTROL_FINISHED_OK
$STATE,8722,begin climb
$GC,8725,0.52,219.0,1000.3,0.0,615,8912,0.57,2.22,177.48,1.069,4,0.048,0.039,2498,744,1976,0,0,0,0,0,0
$GC,9066,0.52,219.0,968.5,13.7,631,9070,0.00,2.20,0.00,0.000,6,0.000,0.034,2498,2126,1978,0,0,0,0,0,0
$GC,9393,0.52,219.0,917.9,15.6,647,9398,0.00,2.22,0.00,0.000,4,0.000,0.045,2498,3542,1976,0,0,0,0,0,0
$GC,9623,0.52,219.0,879.2,16.6,657,9627,0.00,2.20,0.00,0.000,6,0.000,0.029,2508,2103,1975,0,0,0,0,0,0
$GC,9945,0.52,219.0,828.6,15.8,673,9949,0.00,2.12,0.00,0.000,4,0.000,0.038,2519,715,1975,0,0,0,0,0,0
$GC,10017,0.52,219.0,817.7,14.2,676,10022,0.00,2.15,0.00,0.000,6,0.000,0.034,2519,2118,1975,0,0,0,0,0,0
$GC,10345,0.52,219.0,767.5,15.3,692,10349,0.00,2.20,0.00,0.000,4,0.000,0.044,2519,3542,1975,0,0,0,0,0,0
$GC,10391,0.52,219.0,760.5,15.6,694,10395,0.15,2.17,0.00,0.000,6,0.186,0.029,2492,2107,1975,0,0,0,0,0,0
$GC,10723,0.52,219.0,718.0,12.7,710,10727,0.00,2.10,0.00,0.000,4,0.000,0.040,2501,719,1974,0,0,0,0,0,0
$GC,10763,0.52,219.0,713.2,11.7,712,10767,0.00,2.12,0.00,0.000,6,0.000,0.035,2501,2114,1975,0,0,0,0,0,0
$GC,11089,0.52,219.0,670.4,13.8,728,11093,0.00,2.20,0.00,0.000,4,0.000,0.045,2501,3542,1974,0,0,0,0,0,0
$GC,11178,0.52,219.0,656.2,16.4,732,11182,0.00,2.15,0.00,0.000,6,0.000,0.030,2510,2118,1974,0,0,0,0,0,0
$GC,11506,0.52,219.0,607.7,14.2,748,11510,0.00,2.12,0.00,0.000,4,0.000,0.040,2521,712,1972,0,0,0,0,0,0
$GC,11560,0.52,219.0,599.9,13.6,750,11568,0.05,2.17,0.00,0.000,6,0.158,0.034,2493,2111,1974,0,0,0,0,0,0
$GC,11877,0.53,224.6,564.0,10.8,766,11888,0.00,2.20,6.07,0.717,4,0.000,0.044,2493,3536,1952,0,0,0,0,0,0
$GC,11933,0.53,224.6,557.2,12.1,768,11940,0.00,2.17,0.00,0.000,6,0.000,0.030,2501,2128,1952,0,0,0,0,0,0
$GC,12249,0.53,224.6,518.4,12.9,784,12253,0.00,2.12,0.00,0.000,4,0.000,0.040,2511,720,1952,0,0,0,0,0,0
$GC,12384,0.53,224.6,501.2,12.6,790,12388,0.00,2.10,0.00,0.000,6,0.000,0.035,2512,2101,1952,0,0,0,0,0,0
$GC,12716,0.53,224.6,454.1,13.5,821,12720,0.00,2.22,0.00,0.000,4,0.000,0.045,2512,3538,1952,0,0,0,0,0,0
$GC,12765,0.53,224.6,446.7,14.1,825,12773,0.12,2.17,0.00,0.000,6,0.181,0.029,2491,2088,1952,0,0,0,0,0,0
$GC,13091,0.56,251.1,412.3,10.1,856,13117,0.00,2.15,20.50,0.731,4,0.000,0.039,2500,720,1847,0,0,0,0,0,0
$GC,13151,0.58,266.0,405.6,10.5,861,13170,0.00,2.12,12.82,0.657,6,0.000,0.033,2500,2109,1784,0,0,0,0,0,0
$GC,13487,0.58,266.0,366.4,11.7,893,13491,0.00,2.22,0.00,0.000,4,0.000,0.045,2500,3541,1783,0,0,0,0,0,0
$GC,13542,0.58,266.0,359.2,12.5,897,13549,0.00,2.17,0.00,0.000,6,0.000,0.029,2510,2109,1784,0,0,0,0,0,0
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$GC,16469,1.21,779.4,23.1,7.8,1306,16478,0.10,2.10,2.75,0.243,4,0.113,0.036,2724,3542,438,0,0,0,0,0,0
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$STATE,16608,end climb,SURFACE_DEPTH_REACHED
$STATE,16608,begin surface coast
$FINISH,-0.0,1.021198
$STATE,16627,end surface coast,CONTROL_FINISHED_OK
$STATE,16628,begin surface
$SM_CCo,16705,0.00,0.000,0,0,439,595.83
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$IRIDIUM_FIX,1913.80,12011.61,110711,171716
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.24
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.7,26.220
$10V_AH,10.0,26.278
$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,16.800,182.225,632.775,0.000,0.000,54.073,67.919,187.592,0.250,0.000,17.344,3221.830,9471.472,686.986,3459.819,368.245,0.000,2140.459,0.000,2375.337,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,58.905,1097.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,930.871,1359.663,1444.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322676
$DATA_FILE_SIZE,90580,1334
$CAP_FILE_SIZE,186532,0
$CFSIZE,260165632,235601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,031736,1920.849,12017.152,25,1.0,26,-2.1