version: 66.09
glider: 181
mission: 6
dive: 237
start: 7 24 111 22 16 57
data:
$ID,181
$MISSION,6
$DIVE,237
$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,1
$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,-40817.613
$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,51
$R_STBD_OVSHOOT,42
$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
$GPS1,240711,220955,1852.537,12007.914,37,1.2,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.1
$GPS2,240711,221632,1852.594,12007.855,11,1.4,11,-2.0
$SPEED_LIMITS,0.191,0.321
$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,316.9,19425,-15.3,-11.000
$D_GRID,2000
$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,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-64.05,0.000,2,0.000,0.000,211,2606,2273,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.3,-4.0,9,131,7.93,1.85,-29.88,0.000,4,0.230,0.058,2132,3783,3764,0,0,0,0,0,0
$GC,222,-0.52,-219.0,65.9,-51.3,32,231,0.00,1.80,0.00,0.000,6,0.000,0.025,2133,2594,3765,0,0,0,0,0,0
$GC,356,-0.52,-219.0,109.6,-28.8,57,364,0.00,2.08,0.00,0.000,4,0.000,0.025,2132,1198,3765,0,0,0,0,0,0
$GC,388,-0.52,-219.0,118.9,-29.3,62,396,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2592,3765,0,0,0,0,0,0
$GC,523,-0.52,-219.0,151.9,-25.0,87,531,0.00,1.85,0.00,0.000,4,0.000,0.044,2116,3777,3766,0,0,0,0,0,0
$GC,545,-0.52,-219.0,157.3,-23.2,90,554,0.08,1.80,0.00,0.000,6,0.146,0.024,2139,2564,3767,0,0,0,0,0,0
$GC,683,-0.52,-219.0,183.7,-18.0,115,691,0.00,1.92,0.00,0.000,4,0.000,0.043,2132,3781,3766,0,0,0,0,0,0
$GC,760,-0.52,-219.0,196.6,-13.7,129,768,0.00,1.67,0.00,0.000,6,0.000,0.024,2132,2660,3767,0,0,0,0,0,0
$GC,903,-0.52,-219.0,218.8,-16.6,144,907,0.00,2.12,0.00,0.000,4,0.000,0.028,2132,1207,3766,0,0,0,0,0,0
$GC,924,-0.52,-219.0,222.5,-15.7,145,931,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2677,3770,0,0,0,0,0,0
$GC,1250,-0.52,-219.0,280.8,-19.7,176,1254,0.00,1.67,0.00,0.000,4,0.000,0.045,2121,3784,3767,0,0,0,0,0,0
$GC,1308,-0.52,-219.0,290.8,-15.8,181,1311,0.00,1.62,0.00,0.000,6,0.000,0.024,2121,2689,3766,0,0,0,0,0,0
$GC,1639,-0.52,-219.0,341.2,-14.7,212,1643,0.00,2.17,0.00,0.000,4,0.000,0.029,2121,1208,3761,0,0,0,0,0,0
$GC,1717,-0.52,-219.0,351.2,-11.3,218,1725,0.12,2.25,0.00,0.000,6,0.147,0.036,2147,2672,3763,0,0,0,0,0,0
$GC,2042,-0.52,-219.0,388.2,-11.9,249,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2672,3760,0,0,0,0,0,0
$GC,2364,-0.52,-219.0,427.2,-12.7,279,2368,0.00,2.17,0.00,0.000,4,0.000,0.030,2147,1213,3756,0,0,0,0,0,0
$GC,2399,-0.52,-219.0,431.7,-11.8,281,2405,0.00,2.25,0.00,0.000,6,0.000,0.037,2148,2667,3755,0,0,0,0,0,0
$GC,2724,-0.52,-219.0,464.7,-9.3,312,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2667,3752,0,0,0,0,0,0
$GC,3044,-0.52,-219.0,494.2,-9.5,342,3048,0.00,2.17,0.00,0.000,4,0.000,0.031,2148,1218,3749,0,0,0,0,0,0
$GC,3088,-0.52,-219.0,498.4,-8.9,345,3095,0.00,2.20,0.00,0.000,6,0.000,0.037,2148,2653,3749,0,0,0,0,0,0
$GC,3405,-0.52,-219.0,529.9,-10.6,362,3409,0.00,1.73,0.00,0.000,4,0.000,0.047,2140,3783,3746,0,0,0,0,0,0
$GC,3451,-0.52,-219.0,534.4,-9.7,364,3455,0.00,1.65,0.00,0.000,6,0.000,0.027,2140,2660,3747,0,0,0,0,0,0
$GC,3785,-0.52,-219.0,571.0,-11.6,380,3789,0.00,2.15,0.00,0.000,4,0.000,0.031,2141,1222,3743,0,0,0,0,0,0
$GC,3863,-0.52,-219.0,579.1,-9.2,383,3867,0.00,2.17,0.00,0.000,6,0.000,0.037,2138,2642,3742,0,0,0,0,0,0
$GC,4179,-0.52,-219.0,612.1,-10.4,398,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2643,3740,0,0,0,0,0,0
$GC,4488,-0.52,-219.0,643.3,-9.9,413,4492,0.00,2.15,0.00,0.000,4,0.000,0.032,2139,1218,3739,0,0,0,0,0,0
$GC,4515,-0.52,-219.0,646.4,-10.2,414,4520,0.00,2.20,0.00,0.000,6,0.000,0.038,2139,2639,3737,0,0,0,0,0,0
$GC,4838,-0.52,-219.0,676.5,-9.3,430,4842,0.00,2.15,0.00,0.000,4,0.000,0.033,2139,1215,3734,0,0,0,0,0,0
$GC,4860,-0.52,-219.0,678.8,-8.9,431,4864,0.00,2.20,0.00,0.000,6,0.000,0.038,2139,2637,3734,0,0,0,0,0,0
$GC,5188,-0.52,-219.0,708.0,-9.1,447,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2637,3732,0,0,0,0,0,0
$GC,5496,-0.52,-219.0,735.0,-8.7,462,5500,0.00,2.15,0.00,0.000,4,0.000,0.033,2139,1212,3730,0,0,0,0,0,0
$GC,5524,-0.52,-219.0,737.6,-8.8,463,5527,0.00,2.20,0.00,0.000,6,0.000,0.038,2139,2631,3730,0,0,0,0,0,0
$GC,5846,-0.52,-219.0,766.4,-9.5,479,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2631,3728,0,0,0,0,0,0
$GC,6155,-0.52,-219.0,795.0,-9.3,494,6159,0.00,2.15,0.00,0.000,4,0.000,0.034,2139,1212,3727,0,0,0,0,0,0
$GC,6195,-0.52,-219.0,798.6,-9.1,496,6199,0.00,2.17,0.00,0.000,6,0.000,0.039,2139,2615,3727,0,0,0,0,0,0
$GC,6522,-0.52,-219.0,827.5,-8.7,512,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2615,3724,0,0,0,0,0,0
$GC,6831,-0.52,-219.0,853.5,-8.1,527,6835,0.00,2.12,0.00,0.000,4,0.000,0.033,2139,1212,3723,0,0,0,0,0,0
$GC,6875,-0.52,-219.0,857.3,-8.1,529,6879,0.00,2.17,0.00,0.000,6,0.000,0.038,2139,2619,3722,0,0,0,0,0,0
$GC,7196,-0.52,-219.0,881.2,-7.3,545,7200,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3784,3721,0,0,0,0,0,0
$GC,7224,-0.52,-219.0,883.4,-7.3,546,7228,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2607,3721,0,0,0,0,0,0
$GC,7552,-0.52,-219.0,905.2,-6.7,562,7556,0.00,2.12,0.00,0.000,4,0.000,0.034,2139,1190,3719,0,0,0,0,0,0
$GC,7579,-0.52,-219.0,907.5,-6.7,563,7583,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2609,3719,0,0,0,0,0,0
$GC,7907,-0.52,-219.0,927.3,-6.0,579,7910,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3783,3718,0,0,0,0,0,0
$GC,7945,-0.52,-219.0,929.5,-5.6,580,7952,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2606,3718,0,0,0,0,0,0
$GC,8262,-0.52,-219.0,949.5,-7.0,596,8266,0.00,2.10,0.00,0.000,4,0.000,0.034,2138,1206,3717,0,0,0,0,0,0
$GC,8329,-0.52,-219.0,954.5,-7.4,599,8333,0.00,2.20,0.00,0.000,6,0.000,0.039,2138,2627,3716,0,0,0,0,0,0
$GC,8650,-0.52,-219.0,979.0,-8.2,615,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2625,3715,0,0,0,0,0,0
$STATE,8792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8792,begin apogee
$GC,8799,-0.13,0.0,990.6,8.2,622,8968,0.40,0.00,163.45,1.091,4,0.101,0.000,2277,2116,2869,0,0,0,0,0,0
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8969,begin climb
$GC,8971,0.52,219.0,1000.7,0.0,630,9155,0.57,2.28,176.05,1.068,4,0.050,0.040,2501,734,1976,0,0,0,0,0,0
$GC,9262,0.52,219.0,979.6,12.2,642,9269,0.00,2.28,0.00,0.000,6,0.000,0.034,2501,2128,1974,0,0,0,0,0,0
$GC,9577,0.52,219.0,936.1,13.9,658,9582,0.00,2.17,0.00,0.000,4,0.000,0.037,2510,738,1973,0,0,0,0,0,0
$GC,9767,0.52,219.0,909.5,13.8,666,9775,0.00,2.20,0.00,0.000,6,0.000,0.035,2510,2122,1973,0,0,0,0,0,0
$GC,10084,0.52,219.0,863.7,14.0,682,10088,0.00,2.22,0.00,0.000,4,0.000,0.047,2510,3540,1972,0,0,0,0,0,0
$GC,10178,0.52,219.0,848.7,15.4,686,10183,0.08,2.15,0.00,0.000,6,0.169,0.029,2497,2160,1972,0,0,0,0,0,0
$GC,10505,0.52,219.0,806.6,12.4,702,10509,0.00,2.20,0.00,0.000,4,0.000,0.037,2507,714,1972,0,0,0,0,0,0
$GC,10572,0.52,219.0,798.3,12.2,705,10576,0.00,2.25,0.00,0.000,6,0.000,0.034,2507,2143,1972,0,0,0,0,0,0
$GC,10900,0.52,219.0,757.1,12.5,721,10904,0.00,2.20,0.00,0.000,4,0.000,0.037,2516,713,1971,0,0,0,0,0,0
$GC,10943,0.52,219.0,751.5,12.3,723,10947,0.00,2.20,0.00,0.000,6,0.000,0.035,2516,2138,1972,0,0,0,0,0,0
$GC,11272,0.52,219.0,707.9,13.4,739,11276,0.00,2.17,0.00,0.000,4,0.000,0.045,2517,3541,1971,0,0,0,0,0,0
$GC,11289,0.52,219.0,705.3,13.2,740,11294,0.15,2.15,0.00,0.000,6,0.176,0.027,2489,2117,1974,0,0,0,0,0,0
$GC,11616,0.52,219.0,668.8,11.1,756,11620,0.00,2.12,0.00,0.000,4,0.000,0.039,2498,719,1970,0,0,0,0,0,0
$GC,11694,0.54,234.3,660.1,10.5,759,11711,0.00,2.15,12.18,0.839,6,0.000,0.034,2504,2117,1916,0,0,0,0,0,0
$GC,12029,0.54,234.3,619.7,12.3,776,12033,0.00,2.20,0.00,0.000,4,0.000,0.044,2498,3533,1914,0,0,0,0,0,0
$GC,12117,0.54,234.3,607.5,13.5,780,12121,0.00,2.15,0.00,0.000,6,0.000,0.027,2507,2115,1912,0,0,0,0,0,0
$GC,12439,0.54,234.3,565.8,13.0,796,12443,0.00,2.12,0.00,0.000,4,0.000,0.036,2517,711,1914,0,0,0,0,0,0
$GC,12493,0.54,234.3,558.7,12.8,798,12501,0.00,2.22,0.00,0.000,6,0.000,0.033,2518,2128,1914,0,0,0,0,0,0
$GC,12810,0.54,234.3,516.1,13.6,814,12814,0.00,2.17,0.00,0.000,4,0.000,0.044,2518,3537,1914,0,0,0,0,0,0
$GC,12854,0.54,234.3,509.4,14.7,816,12859,0.12,2.15,0.00,0.000,6,0.177,0.028,2497,2116,1914,0,0,0,0,0,0
$GC,13178,0.54,234.3,469.3,12.2,843,13182,0.00,2.12,0.00,0.000,4,0.000,0.039,2506,714,1914,0,0,0,0,0,0
$GC,13274,0.54,234.3,457.7,12.1,851,13278,0.00,2.17,0.00,0.000,6,0.000,0.034,2507,2134,1914,0,0,0,0,0,0
$GC,13604,0.54,234.3,415.8,12.6,882,13608,0.00,2.17,0.00,0.000,4,0.000,0.044,2507,3542,1914,0,0,0,0,0,0
$GC,13626,0.54,234.3,412.7,12.7,883,13633,0.00,2.12,0.00,0.000,6,0.000,0.026,2514,2124,1915,0,0,0,0,0,0
$GC,13951,0.54,234.3,368.8,13.7,914,13955,0.00,2.12,0.00,0.000,4,0.000,0.037,2523,725,1915,0,0,0,0,0,0
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$STATE,17196,end climb,SURFACE_DEPTH_REACHED
$STATE,17196,begin surface coast
$FINISH,0.1,1.007269
$STATE,17214,end surface coast,CONTROL_FINISHED_OK
$STATE,17214,begin surface
$SM_CCo,17291,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1841.87,12004.74,240711,171707
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.36
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,37.337
$10V_AH,9.9,36.432
$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
$DEVICE_SECS,16.825,188.025,633.175,0.000,0.000,29.591,26.610,191.638,0.000,0.000,13.493,3291.254,9892.314,692.087,3413.933,380.299,0.000,2154.729,0.000,2406.331,0.000,0.541,0.000
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$SENSOR_SECS,947.532,1368.771,1414.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,93606,1359
$CAP_FILE_SIZE,189926,0
$CFSIZE,260165632,229093376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,030624,1854.198,12006.935,38,1.2,38,-2.0