version: 66.09
glider: 181
mission: 6
dive: 459
start: 9 6 111 20 29 41
data:
$ID,181
$MISSION,6
$DIVE,459
$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,200
$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,-41142.105
$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,44
$R_STBD_OVSHOOT,71
$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
$GPS1,060911,202331,1930.073,12001.064,40,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.6
$GPS2,060911,202919,1930.071,12000.975,10,1.4,15,-2.1
$SPEED_LIMITS,0.204,0.312
$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,183.9,55718,-17.4,-11.786
$D_GRID,4165
$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,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,200,2646,2195,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.3,-3.7,11,133,8.10,2.17,-32.30,0.000,4,0.225,0.036,2141,1175,3662,0,0,0,0,0,0
$GC,157,-0.53,-194.6,21.8,-30.6,23,164,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2558,3663,0,0,0,0,0,0
$GC,300,-0.53,-194.6,66.9,-31.3,48,307,0.00,1.88,0.00,0.000,4,0.000,0.044,2129,3786,3663,0,0,0,0,0,0
$GC,393,-0.53,-194.6,90.2,-21.9,64,400,0.00,1.65,0.00,0.000,6,0.000,0.024,2129,2647,3663,0,0,0,0,0,0
$GC,536,-0.53,-194.6,121.3,-18.4,89,542,0.00,2.10,0.00,0.000,4,0.000,0.026,2129,1201,3663,0,0,0,0,0,0
$GC,589,-0.53,-194.6,128.7,-11.8,98,596,0.00,2.15,0.00,0.000,6,0.000,0.033,2124,2607,3663,0,0,0,0,0,0
$GC,734,-0.53,-194.6,148.9,-15.5,123,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2607,3663,0,0,0,0,0,0
$GC,876,-0.53,-194.6,174.4,-16.4,148,882,0.00,1.77,0.00,0.000,4,0.000,0.041,2115,3789,3664,0,0,0,0,0,0
$GC,935,-0.53,-194.6,183.6,-15.0,158,943,0.12,1.75,0.00,0.000,6,0.139,0.023,2151,2576,3664,0,0,0,0,0,0
$GC,1080,-0.53,-194.6,197.2,-7.0,183,1087,0.00,1.98,0.00,0.000,4,0.000,0.027,2151,1204,3665,0,0,0,0,0,0
$GC,1117,-0.53,-194.6,199.4,-6.3,189,1124,0.00,2.10,0.00,0.000,6,0.000,0.031,2151,2602,3664,0,0,0,0,0,0
$GC,1259,-0.53,-194.6,208.6,-6.9,203,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2603,3664,0,0,0,0,0,0
$GC,1580,-0.53,-194.6,236.4,-8.6,233,1584,0.00,2.08,0.00,0.000,4,0.000,0.028,2151,1198,3664,0,0,0,0,0,0
$GC,1647,-0.53,-194.6,242.8,-9.0,238,1654,0.00,2.08,0.00,0.000,6,0.000,0.033,2151,2574,3663,0,0,0,0,0,0
$GC,1974,-0.53,-194.6,269.7,-8.7,269,1977,0.00,1.83,0.00,0.000,4,0.000,0.041,2151,3785,3661,0,0,0,0,0,0
$GC,2080,-0.53,-194.6,278.8,-8.3,278,2086,0.00,1.88,0.00,0.000,6,0.000,0.024,2151,2492,3660,0,0,0,0,0,0
$GC,2406,-0.53,-194.6,306.2,-8.0,309,2410,0.00,1.88,0.00,0.000,4,0.000,0.030,2151,1209,3658,0,0,0,0,0,0
$GC,2419,-0.53,-194.6,307.2,-7.9,310,2422,0.00,1.88,0.00,0.000,6,0.000,0.031,2151,2459,3658,0,0,0,0,0,0
$GC,2750,-0.53,-194.6,332.3,-7.2,341,2754,0.00,2.05,0.00,0.000,4,0.000,0.043,2151,3776,3655,0,0,0,0,0,0
$GC,3010,-0.53,-194.6,351.5,-7.8,364,3013,0.00,1.85,0.00,0.000,6,0.000,0.025,2151,2510,3653,0,0,0,0,0,0
$GC,3341,-0.53,-194.6,376.2,-8.4,395,3345,0.00,1.92,0.00,0.000,4,0.000,0.032,2157,1199,3649,0,0,0,0,0,0
$GC,3601,-0.53,-194.6,400.5,-9.8,418,3605,0.00,1.95,0.00,0.000,6,0.000,0.031,2157,2492,3648,0,0,0,0,0,0
$GC,3933,-0.53,-194.6,430.3,-8.5,449,3937,0.00,2.00,0.00,0.000,4,0.000,0.044,2157,3772,3645,0,0,0,0,0,0
$GC,4147,-0.53,-194.6,449.5,-8.9,468,4150,0.00,1.92,0.00,0.000,6,0.000,0.025,2160,2463,3644,0,0,0,0,0,0
$GC,4479,-0.53,-194.6,471.0,-6.4,499,4482,0.00,1.85,0.00,0.000,4,0.000,0.034,2160,1206,3642,0,0,0,0,0,0
$GC,4738,-0.53,-194.6,490.1,-8.2,522,4742,0.00,1.90,0.00,0.000,6,0.000,0.034,2160,2436,3640,0,0,0,0,0,0
$GC,5063,-0.53,-194.6,520.2,-9.9,543,5067,0.00,1.85,0.00,0.000,4,0.000,0.033,2160,1205,3638,0,0,0,0,0,0
$GC,5087,-0.53,-194.6,522.8,-10.2,544,5091,0.00,1.88,0.00,0.000,6,0.000,0.033,2159,2446,3637,0,0,0,0,0,0
$GC,5421,-0.53,-194.6,555.1,-9.6,560,5425,0.00,2.05,0.00,0.000,4,0.000,0.044,2160,3776,3636,0,0,0,0,0,0
$GC,5679,-0.53,-194.6,582.0,-10.3,571,5683,0.00,2.00,0.00,0.000,6,0.000,0.027,2160,2427,3634,0,0,0,0,0,0
$GC,6002,-0.53,-194.6,607.9,-7.3,587,6005,0.00,1.80,0.00,0.000,4,0.000,0.034,2160,1206,3632,0,0,0,0,0,0
$GC,6260,-0.53,-194.6,625.4,-6.1,598,6264,0.00,1.85,0.00,0.000,6,0.000,0.034,2160,2423,3631,0,0,0,0,0,0
$GC,6583,-0.53,-194.6,645.5,-6.8,614,6586,0.00,1.83,0.00,0.000,4,0.000,0.032,2160,1201,3629,0,0,0,0,0,0
$GC,6841,-0.53,-194.6,666.5,-9.1,625,6845,0.00,1.85,0.00,0.000,6,0.000,0.034,2160,2416,3628,0,0,0,0,0,0
$GC,7163,-0.53,-194.6,696.3,-9.7,641,7167,0.00,2.10,0.00,0.000,4,0.000,0.045,2160,3774,3627,0,0,0,0,0,0
$GC,7421,-0.53,-194.6,724.3,-11.1,652,7428,0.00,2.08,0.00,0.000,6,0.000,0.026,2160,2383,3625,0,0,0,0,0,0
$GC,7738,-0.53,-194.6,752.5,-8.2,668,7741,0.00,1.73,0.00,0.000,4,0.000,0.034,2161,1211,3624,0,0,0,0,0,0
$GC,7995,-0.53,-194.6,773.2,-7.9,679,7999,0.00,1.77,0.00,0.000,6,0.000,0.034,2161,2379,3624,0,0,0,0,0,0
$GC,8317,-0.53,-194.6,796.3,-7.3,695,8321,0.00,1.75,0.00,0.000,4,0.000,0.034,2161,1211,3622,0,0,0,0,0,0
$GC,8575,-0.53,-194.6,817.9,-8.4,706,8578,0.00,1.75,0.00,0.000,6,0.000,0.035,2161,2360,3621,0,0,0,0,0,0
$GC,8897,-0.53,-194.6,846.2,-9.2,722,8901,0.00,2.20,0.00,0.000,4,0.000,0.046,2161,3774,3619,0,0,0,0,0,0
$GC,9154,-0.53,-194.6,872.5,-10.1,733,9161,0.00,2.12,0.00,0.000,6,0.000,0.028,2161,2354,3619,0,0,0,0,0,0
$GC,9472,-0.53,-194.6,900.7,-8.8,749,9475,0.00,1.70,0.00,0.000,4,0.000,0.034,2161,1205,3618,0,0,0,0,0,0
$STATE,9607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9607,begin apogee
$GC,9617,-0.13,0.0,912.9,8.9,755,9771,0.30,0.00,148.35,1.028,4,0.060,0.000,2299,2130,2869,0,0,0,0,0,0
$STATE,9772,end apogee,CONTROL_FINISHED_OK
$STATE,9772,begin climb
$GC,9775,0.53,194.6,923.2,0.0,762,9939,0.52,2.25,156.10,1.011,4,0.047,0.038,2514,745,2074,0,0,0,0,0,0
$GC,10130,0.57,227.3,898.4,10.5,778,10162,0.00,2.15,26.60,0.961,6,0.000,0.034,2515,2127,1942,0,0,0,0,0,0
$GC,10484,0.59,247.9,859.1,10.9,796,10508,0.00,2.20,17.83,0.930,4,0.000,0.039,2524,739,1858,0,0,0,0,0,0
$GC,10671,0.60,253.9,837.8,11.5,804,10682,0.00,2.17,6.60,0.760,6,0.000,0.035,2524,2137,1833,0,0,0,0,0,0
$GC,10992,0.60,253.9,798.1,12.6,819,10996,0.00,2.17,0.00,0.000,4,0.000,0.044,2524,3540,1831,0,0,0,0,0,0
$GC,11011,0.60,253.9,795.7,12.6,820,11016,0.00,2.10,0.00,0.000,6,0.000,0.028,2533,2153,1831,0,0,0,0,0,0
$GC,11339,0.60,253.9,750.0,14.1,836,11343,0.00,2.17,0.00,0.000,4,0.000,0.037,2545,720,1830,0,0,0,0,0,0
$GC,11417,0.60,253.9,738.8,14.1,839,11425,0.12,2.17,0.00,0.000,6,0.172,0.035,2513,2134,1830,0,0,0,0,0,0
$GC,11733,0.60,253.9,699.9,12.0,855,11737,0.00,2.17,0.00,0.000,4,0.000,0.045,2513,3540,1829,0,0,0,0,0,0
$GC,11788,0.60,253.9,692.6,13.5,857,11792,0.00,2.10,0.00,0.000,6,0.000,0.029,2521,2145,1829,0,0,0,0,0,0
$GC,12110,0.60,253.9,652.5,12.4,873,12114,0.00,2.17,0.00,0.000,4,0.000,0.040,2532,715,1831,0,0,0,0,0,0
$GC,12217,0.60,255.5,639.6,11.7,878,12221,0.00,2.17,0.00,0.000,6,0.000,0.034,2532,2132,1830,0,0,0,0,0,0
$GC,12546,0.60,256.0,600.1,11.8,894,12550,0.00,2.17,0.00,0.000,4,0.000,0.044,2532,3540,1830,0,0,0,0,0,0
$GC,12578,0.60,256.0,595.5,13.2,895,12586,0.00,2.12,0.00,0.000,6,0.000,0.029,2542,2133,1830,0,0,0,0,0,0
$GC,12895,0.60,256.0,556.1,12.6,911,12899,0.00,2.15,0.00,0.000,4,0.000,0.039,2552,716,1830,0,0,0,0,0,0
$GC,12962,0.60,256.0,547.6,12.2,914,12967,0.15,2.17,0.00,0.000,6,0.163,0.034,2512,2133,1830,0,0,0,0,0,0
$GC,13285,0.64,283.2,513.2,10.7,930,13315,0.00,2.25,23.62,0.767,4,0.000,0.045,2512,3529,1714,0,0,0,0,0,0
$GC,13379,0.65,291.4,502.3,11.4,934,13397,0.00,2.12,8.35,0.646,6,0.000,0.030,2520,2139,1679,0,0,0,0,0,0
$GC,13715,0.66,299.9,464.3,11.4,964,13730,0.00,2.25,8.70,0.666,4,0.000,0.040,2531,717,1646,0,0,0,0,0,0
$GC,13818,0.67,313.2,452.7,11.2,973,13835,0.00,2.17,11.88,0.668,6,0.000,0.034,2531,2127,1592,0,0,0,0,0,0
$GC,14154,0.67,313.2,412.5,12.0,1004,14158,0.00,2.17,0.00,0.000,4,0.000,0.044,2531,3535,1591,0,0,0,0,0,0
$GC,14250,0.67,313.2,399.9,13.8,1012,14254,0.00,2.12,0.00,0.000,6,0.000,0.030,2540,2138,1590,0,0,0,0,0,0
$GC,14575,0.67,313.2,359.2,11.9,1042,14579,0.00,2.15,0.00,0.000,4,0.000,0.038,2551,723,1590,0,0,0,0,0,0
$GC,14652,0.68,317.0,350.1,11.6,1048,14662,0.00,2.17,5.07,0.576,6,0.000,0.034,2551,2138,1575,0,0,0,0,0,0
$GC,14989,0.68,317.0,310.3,12.2,1080,14993,0.00,2.15,0.00,0.000,4,0.000,0.044,2551,3535,1575,0,0,0,0,0,0
$GC,15040,0.68,317.0,303.4,14.0,1084,15044,0.00,2.12,0.00,0.000,6,0.000,0.028,2560,2132,1575,0,0,0,0,0,0
$GC,15365,0.68,317.0,260.9,12.8,1114,15369,0.00,2.15,0.00,0.000,4,0.000,0.038,2571,714,1575,0,0,0,0,0,0
$GC,15484,0.68,317.0,245.3,13.7,1124,15488,0.12,2.17,0.00,0.000,6,0.154,0.034,2539,2134,1574,0,0,0,0,0,0
$GC,15811,0.73,361.0,209.1,10.0,1154,15854,0.00,2.28,33.42,0.591,4,0.000,0.044,2539,3537,1397,0,0,0,0,0,0
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$STATE,17660,end climb,SURFACE_DEPTH_REACHED
$STATE,17660,begin surface coast
$FINISH,0.4,1.020703
$STATE,17686,end surface coast,CONTROL_FINISHED_OK
$STATE,17686,begin surface
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$TT8_MAMPS,0.025466,0.025466
$HUMID,46.37
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.6,75.049
$10V_AH,9.8,63.897
$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
$DEVICE_SECS,16.550,175.400,632.950,0.000,0.000,25.413,23.512,144.838,0.250,0.000,20.062,3578.565,10170.870,737.152,3198.731,410.987,0.000,2342.751,0.000,2959.305,0.000,0.540,0.000
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$SENSOR_SECS,1017.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,86936,1467
$CAP_FILE_SIZE,202999,0
$CFSIZE,260165632,208343040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070911,012701,1929.775,11959.965,38,1.3,38,-2.1