version: 66.09
glider: 181
mission: 6
dive: 335
start: 8 12 111 11 52 2
data:
$ID,181
$MISSION,6
$DIVE,335
$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,280
$T_MISSION,320
$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,250
$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,-40957.445
$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,49
$R_STBD_OVSHOOT,30
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,120811,114454,2058.042,12007.637,24,1.0,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.2
$GPS2,120811,115138,2058.021,12007.885,13,1.3,13,-2.4
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,353.5,88055,-15.4,-11.786
$D_GRID,3320
$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,17,-0.56,-243.3,0.0,0.0,0,84,0.00,0.00,-65.07,0.000,2,0.000,0.000,209,2605,2302,0,0,0,0,0,0
$GC,87,-0.56,-243.3,3.5,-3.6,10,135,7.97,1.85,-31.55,0.000,4,0.228,0.054,2122,3783,3863,0,0,0,0,0,0
$GC,164,-0.56,-243.3,34.2,-50.8,22,173,0.00,1.80,0.00,0.000,6,0.000,0.026,2122,2595,3864,0,0,0,0,0,0
$GC,306,-0.56,-243.3,81.7,-25.0,47,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2593,3864,0,0,0,0,0,0
$GC,443,-0.56,-243.3,113.2,-18.3,72,451,0.00,1.88,0.00,0.000,4,0.000,0.044,2113,3778,3864,0,0,0,0,0,0
$GC,469,-0.56,-243.3,117.6,-17.4,76,477,0.00,1.67,0.00,0.000,6,0.000,0.024,2113,2657,3864,0,0,0,0,0,0
$GC,611,-0.56,-243.3,142.7,-17.4,101,618,0.00,2.15,0.00,0.000,4,0.000,0.027,2113,1194,3865,0,0,0,0,0,0
$GC,670,-0.56,-243.3,150.7,-11.6,111,677,0.00,2.25,0.00,0.000,6,0.000,0.035,2112,2660,3865,0,0,0,0,0,0
$GC,808,-0.56,-243.3,173.9,-21.1,136,816,0.00,1.75,0.00,0.000,4,0.000,0.046,2112,3782,3864,0,0,0,0,0,0
$GC,873,-0.56,-243.3,185.8,-17.8,147,880,0.00,1.70,0.00,0.000,6,0.000,0.024,2112,2636,3865,0,0,0,0,0,0
$GC,1016,-0.56,-243.3,212.4,-17.9,167,1020,0.00,2.10,0.00,0.000,4,0.000,0.028,2111,1204,3865,0,0,0,0,0,0
$GC,1061,-0.56,-243.3,219.5,-14.6,171,1065,0.00,2.20,0.00,0.000,6,0.000,0.034,2111,2656,3863,0,0,0,0,0,0
$GC,1387,-0.56,-243.3,275.2,-19.2,201,1390,0.00,1.70,0.00,0.000,4,0.000,0.044,2105,3786,3864,0,0,0,0,0,0
$GC,1478,-0.56,-243.3,289.5,-13.6,209,1482,0.12,1.65,0.00,0.000,6,0.145,0.023,2140,2638,3863,0,0,0,0,0,0
$GC,1809,-0.56,-243.3,326.2,-10.2,240,1813,0.00,2.10,0.00,0.000,4,0.000,0.029,2141,1200,3864,0,0,0,0,0,0
$GC,1861,-0.56,-243.3,330.9,-8.9,244,1865,0.00,2.22,0.00,0.000,6,0.000,0.033,2139,2670,3860,0,0,0,0,0,0
$GC,2186,-0.56,-243.3,362.8,-9.6,274,2190,0.00,2.17,0.00,0.000,4,0.000,0.029,2139,1211,3858,0,0,0,0,0,0
$GC,2238,-0.56,-243.3,367.7,-8.9,278,2243,0.00,2.17,0.00,0.000,6,0.000,0.034,2139,2638,3858,0,0,0,0,0,0
$GC,2570,-0.56,-243.3,402.9,-10.9,309,2573,0.00,1.73,0.00,0.000,4,0.000,0.044,2139,3776,3855,0,0,0,0,0,0
$GC,2605,-0.56,-243.3,406.7,-10.7,312,2608,0.00,1.67,0.00,0.000,6,0.000,0.024,2138,2621,3855,0,0,0,0,0,0
$GC,2936,-0.56,-243.3,442.1,-11.1,343,2940,0.00,2.08,0.00,0.000,4,0.000,0.028,2138,1204,3853,0,0,0,0,0,0
$GC,2987,-0.56,-243.3,447.6,-10.1,347,2992,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2624,3852,0,0,0,0,0,0
$GC,3313,-0.56,-243.3,479.5,-9.6,377,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2624,3851,0,0,0,0,0,0
$GC,3629,-0.56,-243.3,508.4,-9.0,403,3633,0.00,1.75,0.00,0.000,4,0.000,0.047,2138,3771,3846,0,0,0,0,0,0
$GC,3676,-0.56,-243.3,512.3,-8.5,405,3680,0.00,1.70,0.00,0.000,6,0.000,0.025,2138,2611,3846,0,0,0,0,0,0
$GC,4011,-0.56,-243.3,541.6,-9.1,421,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2607,3844,0,0,0,0,0,0
$GC,4319,-0.56,-243.3,569.2,-8.9,436,4323,0.00,2.08,0.00,0.000,4,0.000,0.031,2138,1201,3841,0,0,0,0,0,0
$GC,4352,-0.56,-243.3,572.4,-9.0,437,4359,0.00,1.98,0.00,0.000,6,0.000,0.031,2139,2504,3840,0,0,0,0,0,0
$GC,4670,-0.56,-243.3,600.1,-8.2,453,4674,0.00,1.95,0.00,0.000,4,0.000,0.044,2138,3776,3837,0,0,0,0,0,0
$GC,4800,-0.56,-243.3,611.8,-9.5,458,4806,0.00,1.92,0.00,0.000,6,0.000,0.023,2140,2471,3837,0,0,0,0,0,0
$GC,5116,-0.56,-243.3,640.3,-9.4,474,5120,0.00,1.88,0.00,0.000,4,0.000,0.031,2145,1199,3835,0,0,0,0,0,0
$GC,5149,-0.56,-243.3,643.6,-9.6,475,5153,0.00,1.92,0.00,0.000,6,0.000,0.031,2145,2477,3836,0,0,0,0,0,0
$GC,5471,-0.56,-243.3,671.6,-8.3,491,5475,0.00,2.03,0.00,0.000,4,0.000,0.044,2145,3782,3833,0,0,0,0,0,0
$GC,5585,-0.56,-243.3,682.3,-9.7,496,5589,0.00,1.95,0.00,0.000,6,0.000,0.024,2153,2461,3831,0,0,0,0,0,0
$GC,5921,-0.56,-243.3,716.4,-10.6,512,5924,0.00,1.85,0.00,0.000,4,0.000,0.031,2160,1202,3830,0,0,0,0,0,0
$GC,5948,-0.56,-243.3,719.9,-11.0,513,5952,0.00,1.98,0.00,0.000,6,0.000,0.031,2161,2481,3830,0,0,0,0,0,0
$GC,6277,-0.56,-243.3,754.0,-10.3,529,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2482,3828,0,0,0,0,0,0
$GC,6585,-0.56,-243.3,783.7,-9.4,544,6589,0.00,2.03,0.00,0.000,4,0.000,0.044,2161,3794,3826,0,0,0,0,0,0
$GC,6640,-0.56,-243.3,789.2,-9.7,546,6644,0.00,1.98,0.00,0.000,6,0.000,0.024,2161,2463,3826,0,0,0,0,0,0
$GC,6963,-0.56,-243.3,818.3,-9.3,562,6967,0.00,2.05,0.00,0.000,4,0.000,0.044,2160,3773,3825,0,0,0,0,0,0
$GC,7023,-0.56,-243.3,824.5,-9.9,564,7030,0.00,1.92,0.00,0.000,6,0.000,0.024,2160,2471,3825,0,0,0,0,0,0
$GC,7340,-0.56,-243.3,856.8,-10.7,580,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2470,3823,0,0,0,0,0,0
$GC,7650,-0.56,-243.3,892.3,-11.7,595,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2470,3821,0,0,0,0,0,0
$GC,7958,-0.56,-243.3,926.9,-10.9,610,7962,0.00,2.03,0.00,0.000,4,0.000,0.044,2160,3771,3820,0,0,0,0,0,0
$GC,8019,-0.56,-243.3,933.8,-10.8,612,8026,0.00,1.92,0.00,0.000,6,0.000,0.024,2167,2471,3819,0,0,0,0,0,0
$GC,8337,-0.56,-243.3,964.2,-9.1,628,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2475,3818,0,0,0,0,0,0
$STATE,8643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8643,begin apogee
$GC,8649,-0.13,0.0,990.9,8.3,643,8840,0.30,0.00,185.10,1.086,4,0.065,0.000,2293,2093,2869,0,0,0,0,0,0
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8843,0.56,243.3,1000.3,0.0,652,9055,0.55,2.20,198.50,1.058,4,0.047,0.036,2511,750,1877,0,0,0,0,0,0
$GC,9078,0.56,243.3,983.1,13.3,663,9083,0.00,2.25,0.00,0.000,6,0.000,0.031,2511,2119,1876,0,0,0,0,0,0
$GC,9406,0.56,243.3,937.4,13.9,679,9410,0.00,2.22,0.00,0.000,4,0.000,0.043,2511,3545,1875,0,0,0,0,0,0
$GC,9435,0.56,243.3,933.1,14.3,680,9439,0.00,2.12,0.00,0.000,6,0.000,0.027,2520,2153,1875,0,0,0,0,0,0
$GC,9752,0.56,243.3,889.6,13.3,695,9756,0.00,2.17,0.00,0.000,4,0.000,0.035,2531,718,1873,0,0,0,0,0,0
$GC,9818,0.56,243.3,880.7,12.6,698,9823,0.12,2.15,0.00,0.000,6,0.164,0.033,2499,2116,1874,0,0,0,0,0,0
$GC,10148,0.57,255.9,844.2,11.4,714,10164,0.00,2.22,11.00,0.907,4,0.000,0.041,2499,3544,1825,0,0,0,0,0,0
$GC,10226,0.57,255.9,833.5,13.3,716,10233,0.00,2.17,0.00,0.000,6,0.000,0.027,2507,2121,1824,0,0,0,0,0,0
$GC,10542,0.57,255.9,791.2,13.9,732,10546,0.00,2.12,0.00,0.000,4,0.000,0.037,2518,717,1823,0,0,0,0,0,0
$GC,10575,0.57,255.9,786.5,13.7,733,10582,0.00,2.17,0.00,0.000,6,0.000,0.031,2518,2132,1823,0,0,0,0,0,0
$GC,10893,0.57,255.9,738.7,15.3,749,10897,0.00,2.17,0.00,0.000,4,0.000,0.044,2518,3544,1824,0,0,0,0,0,0
$GC,10933,0.57,255.9,732.1,16.5,751,10937,0.00,2.15,0.00,0.000,6,0.000,0.028,2527,2119,1822,0,0,0,0,0,0
$GC,11261,0.57,255.9,684.0,13.9,767,11265,0.00,2.12,0.00,0.000,4,0.000,0.037,2538,717,1822,0,0,0,0,0,0
$GC,11333,0.57,255.9,674.9,12.0,770,11337,0.12,2.12,0.00,0.000,6,0.163,0.032,2506,2110,1822,0,0,0,0,0,0
$GC,11661,0.63,300.3,641.1,10.3,786,11706,0.00,2.30,34.35,0.864,4,0.000,0.044,2506,3531,1645,0,0,0,0,0,0
$GC,11730,0.63,304.7,633.0,11.6,789,11740,0.00,2.20,5.35,0.616,6,0.000,0.028,2514,2102,1626,0,0,0,0,0,0
$GC,12058,0.63,304.7,593.2,12.6,805,12062,0.00,2.12,0.00,0.000,4,0.000,0.038,2524,713,1627,0,0,0,0,0,0
$GC,12091,0.63,304.7,588.3,13.3,806,12098,0.00,2.17,0.00,0.000,6,0.000,0.031,2524,2098,1627,0,0,0,0,0,0
$GC,12408,0.63,304.7,546.7,12.6,822,12412,0.00,2.25,0.00,0.000,4,0.000,0.044,2524,3542,1628,0,0,0,0,0,0
$GC,12463,0.63,304.7,538.3,15.5,824,12467,0.00,2.17,0.00,0.000,6,0.000,0.028,2533,2109,1628,0,0,0,0,0,0
$GC,12779,0.63,304.7,499.3,12.6,839,12783,0.00,2.22,0.00,0.000,4,0.000,0.041,2534,3541,1628,0,0,0,0,0,0
$GC,12820,0.63,304.7,493.9,13.9,842,12824,0.00,2.12,0.00,0.000,6,0.000,0.028,2544,2135,1628,0,0,0,0,0,0
$GC,13145,0.63,304.7,449.3,14.0,872,13149,0.00,2.15,0.00,0.000,4,0.000,0.037,2555,713,1628,0,0,0,0,0,0
$GC,13220,0.63,304.7,439.8,12.4,878,13225,0.12,2.17,0.00,0.000,6,0.161,0.033,2523,2137,1628,0,0,0,0,0,0
$GC,13545,0.75,398.5,409.6,8.7,908,13624,0.12,2.30,71.20,0.720,4,0.096,0.042,2577,3537,1244,0,0,0,0,0,0
$GC,13684,0.75,398.5,392.1,14.0,920,13688,0.00,2.17,0.00,0.000,6,0.000,0.027,2587,2127,1243,0,0,0,0,0,0
$GC,14009,0.75,398.5,348.7,14.3,950,14013,0.00,2.15,0.00,0.000,4,0.000,0.034,2598,711,1245,0,0,0,0,0,0
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$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.3,1.020502
$STATE,16962,end surface coast,CONTROL_FINISHED_OK
$STATE,16962,begin surface
$SM_CCo,17040,0.00,0.000,0,0,439,595.83
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$IRIDIUM_FIX,2050.21,12002.43,120811,060654
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.18
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,0
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$10V_AH,9.8,50.385
$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
$DEVICE_SECS,16.475,174.900,662.650,0.000,0.000,24.587,44.592,180.068,0.000,0.000,15.811,3279.485,9921.700,722.288,3123.709,378.648,0.000,2136.036,0.000,2384.044,0.000,0.540,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323028
$DATA_FILE_SIZE,93847,1363
$CAP_FILE_SIZE,184262,0
$CFSIZE,260165632,219979776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120811,163706,2059.181,12007.846,26,1.7,26,-2.4