version: 66.09
glider: 181
mission: 6
dive: 383
start: 8 22 111 10 26 50
data:
$ID,181
$MISSION,6
$DIVE,383
$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,-7
$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,-41017.922
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,220811,101930,2123.348,11949.029,37,1.3,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.7
$GPS2,220811,102625,2123.326,11949.026,10,1.0,14,-2.5
$SPEED_LIMITS,0.204,0.329
$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,178.4,266135,-16.3,-11.786
$D_GRID,3162
$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,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.68,0.000,2,0.000,0.000,208,2611,2275,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.2,-3.2,10,135,8.15,2.15,-32.22,0.000,4,0.232,0.039,2134,1188,3763,0,0,0,0,0,0
$GC,194,-0.54,-219.0,33.0,-22.9,27,201,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2603,3763,0,0,0,0,0,0
$GC,332,-0.54,-219.0,74.2,-31.2,52,340,0.00,1.85,0.00,0.000,4,0.000,0.045,2116,3779,3759,0,0,0,0,0,0
$GC,430,-0.54,-219.0,102.2,-19.5,69,437,0.00,1.75,0.00,0.000,6,0.000,0.024,2116,2603,3762,0,0,0,0,0,0
$GC,571,-0.54,-219.0,132.4,-25.7,94,579,0.00,2.10,0.00,0.000,4,0.000,0.025,2116,1196,3762,0,0,0,0,0,0
$GC,586,-0.54,-219.0,136.9,-25.1,96,595,0.10,2.25,0.00,0.000,6,0.137,0.037,2144,2631,3762,0,0,0,0,0,0
$GC,729,-0.54,-219.0,156.0,-13.9,121,736,0.00,1.75,0.00,0.000,4,0.000,0.043,2138,3783,3762,0,0,0,0,0,0
$GC,813,-0.54,-219.0,167.8,-12.9,136,821,0.00,1.65,0.00,0.000,6,0.000,0.023,2138,2664,3763,0,0,0,0,0,0
$GC,955,-0.54,-219.0,186.9,-13.6,161,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2663,3763,0,0,0,0,0,0
$GC,1097,-0.54,-219.0,206.1,-13.8,183,1101,0.00,1.73,0.00,0.000,4,0.000,0.043,2129,3792,3763,0,0,0,0,0,0
$GC,1121,-0.54,-219.0,209.3,-14.8,185,1125,0.00,1.62,0.00,0.000,6,0.000,0.024,2129,2698,3763,0,0,0,0,0,0
$GC,1452,-0.54,-219.0,255.7,-14.4,216,1456,0.00,2.17,0.00,0.000,4,0.000,0.028,2129,1208,3762,0,0,0,0,0,0
$GC,1493,-0.54,-219.0,261.1,-13.1,219,1497,0.00,2.30,0.00,0.000,6,0.000,0.034,2125,2720,3762,0,0,0,0,0,0
$GC,1818,-0.54,-219.0,300.7,-11.9,249,1822,0.00,2.25,0.00,0.000,4,0.000,0.028,2125,1209,3760,0,0,0,0,0,0
$GC,1904,-0.54,-219.0,309.9,-10.1,256,1908,0.00,2.25,0.00,0.000,6,0.000,0.034,2125,2684,3759,0,0,0,0,0,0
$GC,2229,-0.54,-219.0,347.4,-10.7,286,2233,0.00,1.67,0.00,0.000,4,0.000,0.045,2125,3790,3757,0,0,0,0,0,0
$GC,2252,-0.54,-219.0,349.9,-10.6,288,2256,0.00,1.65,0.00,0.000,6,0.000,0.024,2125,2650,3757,0,0,0,0,0,0
$GC,2583,-0.54,-219.0,388.9,-11.8,319,2587,0.00,2.12,0.00,0.000,4,0.000,0.029,2122,1201,3754,0,0,0,0,0,0
$GC,2616,-0.54,-219.0,393.2,-12.1,321,2623,0.00,2.28,0.00,0.000,6,0.000,0.035,2125,2686,3754,0,0,0,0,0,0
$GC,2943,-0.54,-219.0,430.8,-12.5,352,2947,0.00,2.22,0.00,0.000,4,0.000,0.029,2124,1196,3751,0,0,0,0,0,0
$GC,2972,-0.54,-219.0,434.7,-12.5,354,2976,0.00,2.28,0.00,0.000,6,0.000,0.036,2125,2676,3751,0,0,0,0,0,0
$GC,3303,-0.54,-219.0,473.6,-11.1,385,3307,0.00,2.20,0.00,0.000,4,0.000,0.030,2125,1206,3748,0,0,0,0,0,0
$GC,3354,-0.54,-219.0,479.2,-10.5,389,3358,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2658,3747,0,0,0,0,0,0
$GC,3689,-0.54,-219.0,512.7,-9.8,414,3693,0.00,2.17,0.00,0.000,4,0.000,0.030,2125,1203,3744,0,0,0,0,0,0
$GC,3716,-0.54,-219.0,515.6,-9.5,415,3720,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2639,3744,0,0,0,0,0,0
$GC,4032,-0.54,-219.0,545.4,-9.8,430,4036,0.00,1.75,0.00,0.000,4,0.000,0.047,2125,3783,3741,0,0,0,0,0,0
$GC,4061,-0.54,-219.0,548.4,-9.8,431,4064,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2619,3740,0,0,0,0,0,0
$GC,4388,-0.54,-219.0,583.4,-10.7,447,4392,0.00,2.08,0.00,0.000,4,0.000,0.029,2125,1207,3738,0,0,0,0,0,0
$GC,4444,-0.54,-219.0,589.5,-10.2,449,4452,0.00,2.17,0.00,0.000,6,0.000,0.036,2125,2628,3738,0,0,0,0,0,0
$GC,4761,-0.54,-219.0,619.7,-9.0,465,4765,0.00,2.12,0.00,0.000,4,0.000,0.030,2125,1206,3734,0,0,0,0,0,0
$GC,4788,-0.54,-219.0,622.5,-9.2,466,4792,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2607,3734,0,0,0,0,0,0
$GC,5105,-0.54,-219.0,649.4,-8.7,481,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3732,0,0,0,0,0,0
$GC,5413,-0.54,-219.0,676.5,-9.0,496,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2608,3730,0,0,0,0,0,0
$GC,5723,-0.54,-219.0,705.9,-9.6,511,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2609,3728,0,0,0,0,0,0
$GC,6033,-0.54,-219.0,736.4,-10.5,526,6036,0.00,1.80,0.00,0.000,4,0.000,0.048,2122,3779,3726,0,0,0,0,0,0
$GC,6049,-0.54,-219.0,738.4,-10.4,526,6056,0.00,1.77,0.00,0.000,6,0.000,0.026,2122,2583,3729,0,0,0,0,0,0
$GC,6365,-0.54,-219.0,772.4,-10.9,542,6369,0.00,2.05,0.00,0.000,4,0.000,0.031,2122,1206,3724,0,0,0,0,0,0
$GC,6405,-0.54,-219.0,776.6,-10.3,543,6412,0.00,2.15,0.00,0.000,6,0.000,0.036,2117,2605,3723,0,0,0,0,0,0
$GC,6721,-0.54,-219.0,809.4,-9.8,559,6725,0.10,1.85,0.00,0.000,4,0.164,0.048,2138,3786,3722,0,0,0,0,0,0
$GC,6749,-0.54,-219.0,811.8,-9.5,560,6753,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2598,3722,0,0,0,0,0,0
$GC,7076,-0.54,-219.0,835.8,-7.2,576,7080,0.00,1.90,0.00,0.000,4,0.000,0.046,2138,3781,3719,0,0,0,0,0,0
$GC,7334,-0.54,-219.0,858.9,-10.4,587,7338,0.00,1.85,0.00,0.000,6,0.000,0.025,2138,2546,3718,0,0,0,0,0,0
$GC,7656,-0.54,-219.0,889.1,-9.8,603,7660,0.00,2.00,0.00,0.000,4,0.000,0.031,2143,1199,3718,0,0,0,0,0,0
$GC,7819,-0.54,-219.0,904.8,-10.1,610,7822,0.00,2.05,0.00,0.000,6,0.000,0.034,2143,2534,3717,0,0,0,0,0,0
$GC,8152,-0.54,-219.0,936.6,-9.2,626,8155,0.00,2.03,0.00,0.000,4,0.000,0.032,2149,1198,3715,0,0,0,0,0,0
$GC,8410,-0.54,-219.0,961.7,-10.0,637,8413,0.00,2.05,0.00,0.000,6,0.000,0.034,2149,2531,3714,0,0,0,0,0,0
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8736,-0.13,0.0,991.2,9.3,653,8907,0.32,0.00,166.00,1.089,4,0.060,0.000,2296,2108,2871,0,0,0,0,0,0
$STATE,8908,end apogee,CONTROL_FINISHED_OK
$STATE,8908,begin climb
$GC,8911,0.54,219.0,1003.0,0.0,661,9099,0.55,2.38,178.60,1.068,4,0.046,0.041,2508,3539,1979,0,0,0,0,0,0
$GC,9133,0.54,219.0,989.8,13.6,671,9140,0.00,2.25,0.00,0.000,6,0.000,0.026,2518,2139,1975,0,0,0,0,0,0
$GC,9450,0.54,219.0,947.0,13.5,687,9454,0.00,2.20,0.00,0.000,4,0.000,0.037,2529,711,1974,0,0,0,0,0,0
$GC,9521,0.54,219.0,936.6,13.9,690,9526,0.12,2.17,0.00,0.000,6,0.166,0.032,2497,2124,1974,0,0,0,0,0,0
$GC,9849,0.54,219.0,893.8,13.0,706,9853,0.00,2.17,0.00,0.000,4,0.000,0.043,2497,3534,1973,0,0,0,0,0,0
$GC,9892,0.54,219.0,887.4,14.0,708,9896,0.00,2.15,0.00,0.000,6,0.000,0.028,2506,2117,1973,0,0,0,0,0,0
$GC,10220,0.54,219.0,843.8,12.9,724,10224,0.00,2.12,0.00,0.000,4,0.000,0.037,2516,713,1972,0,0,0,0,0,0
$GC,10337,0.54,219.0,828.4,12.6,729,10341,0.00,2.12,0.00,0.000,6,0.000,0.032,2516,2101,1972,0,0,0,0,0,0
$GC,10653,0.54,219.0,787.1,13.1,744,10657,0.00,2.22,0.00,0.000,4,0.000,0.043,2516,3542,1971,0,0,0,0,0,0
$GC,10716,0.54,219.0,778.1,14.6,747,10721,0.12,2.17,0.00,0.000,6,0.184,0.028,2497,2101,1971,0,0,0,0,0,0
$GC,11045,0.57,241.7,740.8,11.0,763,11070,0.00,2.20,18.65,0.903,4,0.000,0.038,2506,723,1883,0,0,0,0,0,0
$GC,11138,0.61,274.7,730.6,10.6,767,11170,0.00,2.15,26.38,0.893,6,0.000,0.032,2506,2117,1750,0,0,0,0,0,0
$GC,11482,0.61,274.7,692.8,11.8,783,11486,0.00,2.22,0.00,0.000,4,0.000,0.044,2506,3541,1749,0,0,0,0,0,0
$GC,11548,0.61,274.7,683.8,13.5,786,11552,0.00,2.15,0.00,0.000,6,0.000,0.028,2515,2129,1749,0,0,0,0,0,0
$GC,11875,0.61,274.7,642.7,12.2,802,11879,0.00,2.15,0.00,0.000,4,0.000,0.037,2526,716,1749,0,0,0,0,0,0
$GC,11965,0.61,274.7,631.8,12.1,806,11969,0.00,2.15,0.00,0.000,6,0.000,0.031,2526,2122,1749,0,0,0,0,0,0
$GC,12286,0.61,274.7,590.4,13.2,822,12290,0.00,2.20,0.00,0.000,4,0.000,0.043,2526,3542,1749,0,0,0,0,0,0
$GC,12329,0.61,274.7,583.8,14.7,824,12333,0.00,2.15,0.00,0.000,6,0.000,0.028,2535,2119,1750,0,0,0,0,0,0
$GC,12658,0.61,274.7,537.5,14.1,840,12662,0.00,2.12,0.00,0.000,4,0.000,0.037,2546,714,1750,0,0,0,0,0,0
$GC,12825,0.61,274.7,515.2,12.4,847,12832,0.00,2.17,0.00,0.000,6,0.000,0.033,2547,2130,1749,0,0,0,0,0,0
$GC,13150,0.61,274.7,475.7,12.2,872,13154,0.00,2.17,0.00,0.000,4,0.000,0.044,2546,3531,1750,0,0,0,0,0,0
$GC,13216,0.61,274.7,466.4,13.2,877,13224,0.15,2.15,0.00,0.000,6,0.170,0.027,2514,2113,1749,0,0,0,0,0,0
$GC,13542,0.69,340.3,434.2,9.4,908,13598,0.00,2.25,50.45,0.741,4,0.000,0.037,2527,716,1481,0,0,0,0,0,0
$GC,13660,0.77,404.1,423.0,9.5,918,13715,0.12,2.17,49.12,0.708,6,0.095,0.031,2580,2118,1221,0,0,0,0,0,0
$GC,14034,0.77,404.1,367.7,15.5,953,14038,0.00,2.22,0.00,0.000,4,0.000,0.044,2581,3531,1224,0,0,0,0,0,0
$GC,14091,0.77,404.1,358.0,17.7,958,14095,0.00,2.17,0.00,0.000,6,0.000,0.028,2590,2104,1224,0,0,0,0,0,0
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$STATE,16893,end climb,SURFACE_DEPTH_REACHED
$STATE,16893,begin surface coast
$FINISH,0.3,1.018887
$STATE,16926,end surface coast,CONTROL_FINISHED_OK
$STATE,16927,begin surface
$SM_CCo,17004,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2115.63,11955.89,220811,050503
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.40
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.1,62.274
$10V_AH,9.8,56.760
$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
$DEVICE_SECS,16.900,185.875,640.100,0.000,0.000,31.018,46.557,179.381,0.000,0.000,16.827,3277.260,9828.198,707.301,3182.495,406.304,0.000,2164.454,0.000,2482.388,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,90249,1350
$CAP_FILE_SIZE,189980,0
$CFSIZE,260165632,215154688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220811,151130,2121.290,11948.455,38,1.2,38,-2.5