version: 66.09
glider: 181
mission: 6
dive: 488
start: 9 13 111 0 11 4
data:
$ID,181
$MISSION,6
$DIVE,488
$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,1
$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,-41185.953
$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,2300
$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,2500
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,130911,000401,1854.266,12019.596,38,1.2,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.5
$GPS2,130911,001008,1854.214,12019.647,8,1.8,8,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.079,-0.302
$KALMAN_X,12103.4,-737.0,-206.9,26177.4,87.3
$KALMAN_Y,45525.9,-233.8,-62.7,-82944.2,2630.2
$MHEAD_RNG_PITCHd_Wd,167.3,42242,-17.4,-11.786
$D_GRID,1848
$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,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.15,0.000,2,0.000,0.000,205,2542,2225,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.3,-3.7,11,131,8.02,2.22,-30.67,0.000,4,0.225,0.039,2124,1059,3664,0,0,0,0,0,0
$GC,222,-0.53,-194.6,42.5,-24.5,35,229,0.00,2.17,0.00,0.000,6,0.000,0.034,2115,2472,3664,0,0,0,0,0,0
$GC,365,-0.53,-194.6,80.8,-21.7,60,372,0.00,2.03,0.00,0.000,4,0.000,0.044,2111,3786,3663,0,0,0,0,0,0
$GC,475,-0.53,-194.6,102.6,-16.6,79,482,0.00,1.92,0.00,0.000,6,0.000,0.023,2111,2470,3662,0,0,0,0,0,0
$GC,618,-0.53,-194.6,127.4,-20.1,104,625,0.00,2.03,0.00,0.000,4,0.000,0.039,2101,3789,3663,0,0,0,0,0,0
$GC,648,-0.53,-194.6,133.0,-18.4,109,655,0.00,1.90,0.00,0.000,6,0.000,0.023,2101,2496,3663,0,0,0,0,0,0
$GC,792,-0.53,-194.6,160.0,-19.2,134,799,0.00,1.98,0.00,0.000,4,0.000,0.039,2091,3783,3663,0,0,0,0,0,0
$GC,839,-0.53,-194.6,169.5,-19.3,142,847,0.12,1.88,0.00,0.000,6,0.147,0.024,2126,2493,3663,0,0,0,0,0,0
$GC,985,-0.53,-194.6,188.7,-12.8,167,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2490,3664,0,0,0,0,0,0
$GC,1125,-0.53,-194.6,205.6,-11.7,188,1129,0.00,2.00,0.00,0.000,4,0.000,0.041,2122,3790,3664,0,0,0,0,0,0
$GC,1176,-0.53,-194.6,211.2,-10.6,192,1182,0.00,1.88,0.00,0.000,6,0.000,0.024,2122,2497,3664,0,0,0,0,0,0
$GC,1501,-0.53,-194.6,245.9,-10.6,223,1505,0.00,2.00,0.00,0.000,4,0.000,0.040,2112,3789,3664,0,0,0,0,0,0
$GC,1550,-0.53,-194.6,250.6,-10.5,227,1554,0.00,1.88,0.00,0.000,6,0.000,0.024,2112,2501,3663,0,0,0,0,0,0
$GC,1881,-0.53,-194.6,286.9,-11.3,258,1885,0.00,2.05,0.00,0.000,4,0.000,0.042,2111,3777,3661,0,0,0,0,0,0
$GC,1928,-0.53,-194.6,291.9,-11.0,262,1932,0.00,1.88,0.00,0.000,6,0.000,0.024,2112,2492,3660,0,0,0,0,0,0
$GC,2259,-0.53,-194.6,331.6,-12.3,293,2263,0.00,2.00,0.00,0.000,4,0.000,0.042,2112,3780,3657,0,0,0,0,0,0
$GC,2281,-0.53,-194.6,334.2,-12.3,295,2285,0.00,1.88,0.00,0.000,6,0.000,0.024,2111,2500,3657,0,0,0,0,0,0
$GC,2613,-0.53,-194.6,370.8,-10.4,326,2616,0.00,2.00,0.00,0.000,4,0.000,0.042,2111,3786,3654,0,0,0,0,0,0
$GC,2640,-0.53,-194.6,373.8,-10.0,328,2647,0.00,1.90,0.00,0.000,6,0.000,0.025,2111,2492,3653,0,0,0,0,0,0
$GC,2966,-0.53,-194.6,408.0,-11.2,359,2969,0.00,2.00,0.00,0.000,4,0.000,0.043,2111,3779,3650,0,0,0,0,0,0
$GC,2989,-0.53,-194.6,410.7,-11.5,361,2993,0.00,1.90,0.00,0.000,6,0.000,0.026,2111,2490,3650,0,0,0,0,0,0
$GC,3320,-0.53,-194.6,451.8,-12.9,392,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2489,3647,0,0,0,0,0,0
$GC,3641,-0.53,-194.6,487.9,-10.2,422,3644,0.00,2.00,0.00,0.000,4,0.000,0.044,2111,3778,3644,0,0,0,0,0,0
$GC,3664,-0.53,-194.6,490.5,-10.2,424,3668,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2506,3643,0,0,0,0,0,0
$GC,4000,-0.53,-194.6,521.3,-8.9,445,4004,0.00,2.00,0.00,0.000,4,0.000,0.045,2111,3775,3640,0,0,0,0,0,0
$GC,4027,-0.53,-194.6,523.9,-8.7,446,4031,0.00,1.90,0.00,0.000,6,0.000,0.026,2111,2498,3640,0,0,0,0,0,0
$GC,4356,-0.53,-194.6,553.8,-9.4,462,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2496,3638,0,0,0,0,0,0
$GC,4664,-0.53,-194.6,583.7,-9.5,477,4668,0.00,2.03,0.00,0.000,4,0.000,0.045,2111,3778,3635,0,0,0,0,0,0
$GC,4710,-0.53,-194.6,588.0,-9.7,479,4714,0.00,1.95,0.00,0.000,6,0.000,0.027,2111,2501,3634,0,0,0,0,0,0
$GC,5044,-0.53,-194.6,619.2,-9.1,495,5048,0.00,2.10,0.00,0.000,4,0.000,0.031,2111,1106,3632,0,0,0,0,0,0
$GC,5077,-0.53,-194.6,622.4,-8.9,496,5081,0.00,2.15,0.00,0.000,6,0.000,0.034,2112,2497,3632,0,0,0,0,0,0
$GC,5394,-0.53,-194.6,648.5,-8.4,511,5398,0.00,2.00,0.00,0.000,4,0.000,0.047,2111,3780,3630,0,0,0,0,0,0
$GC,5467,-0.53,-194.6,654.9,-8.5,514,5471,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2491,3629,0,0,0,0,0,0
$GC,5795,-0.53,-194.6,684.0,-9.0,530,5798,0.00,2.05,0.00,0.000,4,0.000,0.047,2111,3785,3627,0,0,0,0,0,0
$GC,5835,-0.53,-194.6,687.6,-8.8,531,5841,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2495,3627,0,0,0,0,0,0
$GC,6151,-0.53,-194.6,715.9,-9.0,547,6155,0.00,2.10,0.00,0.000,4,0.000,0.032,2111,1104,3625,0,0,0,0,0,0
$GC,6174,-0.53,-194.6,718.2,-9.2,548,6178,0.00,2.17,0.00,0.000,6,0.000,0.036,2111,2508,3625,0,0,0,0,0,0
$GC,6503,-0.53,-194.6,748.6,-9.2,564,6506,0.00,2.00,0.00,0.000,4,0.000,0.047,2111,3789,3623,0,0,0,0,0,0
$GC,6581,-0.53,-194.6,756.2,-9.0,567,6584,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2500,3622,0,0,0,0,0,0
$GC,6903,-0.53,-194.6,789.3,-10.8,583,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2498,3621,0,0,0,0,0,0
$GC,7212,-0.53,-194.6,822.7,-10.5,598,7216,0.00,2.05,0.00,0.000,4,0.000,0.047,2111,3779,3619,0,0,0,0,0,0
$GC,7244,-0.53,-194.6,826.3,-10.2,599,7248,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2490,3620,0,0,0,0,0,0
$GC,7567,-0.53,-194.6,854.7,-8.1,615,7571,0.00,2.05,0.00,0.000,4,0.000,0.047,2111,3782,3618,0,0,0,0,0,0
$GC,7594,-0.53,-194.6,857.1,-7.7,616,7598,0.00,1.92,0.00,0.000,6,0.000,0.027,2111,2495,3618,0,0,0,0,0,0
$GC,7916,-0.53,-194.6,880.6,-7.4,632,7919,0.00,2.05,0.00,0.000,4,0.000,0.047,2109,3787,3617,0,0,0,0,0,0
$GC,7950,-0.53,-194.6,883.3,-7.6,633,7954,0.00,1.92,0.00,0.000,6,0.000,0.027,2109,2501,3616,0,0,0,0,0,0
$GC,8272,-0.53,-194.6,911.5,-9.8,649,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2499,3615,0,0,0,0,0,0
$GC,8581,-0.53,-194.6,947.1,-12.2,664,8585,0.00,2.08,0.00,0.000,4,0.000,0.047,2099,3808,3614,0,0,0,0,0,0
$GC,8614,-0.53,-194.6,951.5,-12.2,665,8618,0.00,2.00,0.00,0.000,6,0.000,0.028,2099,2504,3613,0,0,0,0,0,0
$STATE,8913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8913,begin apogee
$GC,8919,-0.13,0.0,990.6,12.9,680,9074,0.47,0.00,149.40,1.077,6,0.119,0.000,2254,2101,2868,0,0,0,0,0,0
$STATE,9075,end apogee,CONTROL_FINISHED_OK
$STATE,9075,begin climb
$GC,9077,0.53,194.6,1004.0,0.0,687,9241,0.57,0.00,159.48,1.059,6,0.056,0.000,2477,2101,2075,0,0,0,0,0,0
$GC,9540,0.62,266.6,978.1,8.9,710,9604,0.00,2.42,58.03,1.040,4,0.000,0.043,2477,3538,1782,0,0,0,0,0,0
$GC,9639,0.67,310.3,968.1,10.0,714,9681,0.00,2.17,36.33,1.004,6,0.000,0.028,2486,2144,1604,0,0,0,0,0,0
$GC,9997,0.67,310.3,926.9,12.3,732,10001,0.00,2.20,0.00,0.000,4,0.000,0.038,2497,711,1602,0,0,0,0,0,0
$GC,10046,0.67,310.3,920.6,12.2,734,10050,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,2129,1603,0,0,0,0,0,0
$GC,10369,0.67,310.3,880.8,12.2,750,10373,0.00,2.17,0.00,0.000,4,0.000,0.043,2497,3536,1602,0,0,0,0,0,0
$GC,10431,0.67,310.3,872.7,13.2,753,10435,0.00,2.15,0.00,0.000,6,0.000,0.029,2507,2124,1601,0,0,0,0,0,0
$GC,10759,0.71,341.1,836.4,10.5,769,10789,0.00,2.20,25.45,0.950,4,0.000,0.040,2518,721,1477,0,0,0,0,0,0
$GC,10869,0.76,383.6,825.1,10.1,774,10910,0.00,2.20,34.85,0.942,6,0.000,0.033,2518,2135,1304,0,0,0,0,0,0
$GC,11238,0.81,426.7,788.8,10.0,792,11282,0.12,2.25,36.50,0.927,4,0.095,0.043,2573,3534,1128,0,0,0,0,0,0
$GC,11383,0.81,426.7,766.4,16.1,798,11387,0.00,2.20,0.00,0.000,6,0.000,0.029,2583,2124,1129,0,0,0,0,0,0
$GC,11704,0.81,426.7,715.8,15.5,814,11708,0.00,2.15,0.00,0.000,4,0.000,0.037,2594,715,1130,0,0,0,0,0,0
$GC,11753,0.81,426.7,708.1,14.9,816,11758,0.12,2.17,0.00,0.000,6,0.157,0.033,2562,2125,1130,0,0,0,0,0,0
$GC,12076,0.81,426.7,664.8,13.1,832,12080,0.00,2.22,0.00,0.000,4,0.000,0.044,2562,3533,1130,0,0,0,0,0,0
$GC,12148,0.81,426.7,654.1,14.2,835,12152,0.00,2.15,0.00,0.000,6,0.000,0.029,2569,2124,1129,0,0,0,0,0,0
$GC,12470,0.81,426.7,609.0,14.3,851,12474,0.00,2.15,0.00,0.000,4,0.000,0.039,2580,717,1129,0,0,0,0,0,0
$GC,12537,0.81,426.7,599.3,13.8,854,12541,0.00,2.17,0.00,0.000,6,0.000,0.033,2580,2128,1129,0,0,0,0,0,0
$GC,12864,0.81,426.7,549.4,15.4,870,12868,0.00,2.20,0.00,0.000,4,0.000,0.044,2580,3542,1129,0,0,0,0,0,0
$GC,12943,0.81,426.7,536.8,16.3,873,12950,0.00,2.17,0.00,0.000,6,0.000,0.029,2591,2115,1130,0,0,0,0,0,0
$GC,13260,0.81,426.7,487.9,15.0,892,13264,0.00,2.12,0.00,0.000,4,0.000,0.039,2601,720,1129,0,0,0,0,0,0
$GC,13339,0.81,426.7,476.0,14.9,898,13346,0.15,2.17,0.00,0.000,6,0.150,0.033,2561,2134,1130,0,0,0,0,0,0
$GC,13664,0.81,426.7,432.8,13.4,929,13668,0.00,2.17,0.00,0.000,4,0.000,0.043,2561,3535,1130,0,0,0,0,0,0
$GC,13742,0.81,426.7,421.4,14.4,935,13749,0.00,2.15,0.00,0.000,6,0.000,0.028,2568,2123,1130,0,0,0,0,0,0
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$STATE,17187,end climb,SURFACE_DEPTH_REACHED
$STATE,17187,begin surface coast
$FINISH,0.3,1.012877
$STATE,17216,end surface coast,CONTROL_FINISHED_OK
$STATE,17218,begin surface
$SM_CCo,17296,0.00,0.000,0,0,442,595.34
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$IRIDIUM_FIX,1850.98,12017.19,120911,191921
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.62
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,79.974
$10V_AH,9.8,66.624
$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
$DEVICE_SECS,17.000,189.250,641.875,0.000,0.000,23.442,43.338,149.433,0.000,0.000,11.516,3345.045,10470.800,765.970,2672.458,394.099,33.365,2149.042,0.000,2429.356,0.000,0.540,0.000
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$SENSOR_SECS,972.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,80137,1399
$CAP_FILE_SIZE,188958,0
$CFSIZE,260165632,205692928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,050037,1853.599,12021.039,38,0.9,38,-2.0