version: 66.09
glider: 181
mission: 6
dive: 512
start: 9 17 111 12 58 14
data:
$ID,181
$MISSION,6
$DIVE,512
$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,-5
$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,-41230.453
$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,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,50
$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
$GPS1,170911,125107,1845.460,12024.496,31,1.2,31,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.7
$GPS2,170911,125719,1845.539,12024.488,8,1.2,13,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.244,0.194
$KALMAN_X,42232.1,-437.0,575.4,3434.9,1346.8
$KALMAN_Y,83266.9,20.6,414.1,-137458.0,-1533.3
$MHEAD_RNG_PITCHd_Wd,310.4,50558,-17.4,-11.786
$D_GRID,3311
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,83,0.00,0.00,-62.72,0.000,2,0.000,0.000,169,2588,2230,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.4,-3.7,11,134,8.23,0.75,-30.98,0.000,4,0.225,0.068,2121,2050,3665,0,0,0,0,0,0
$GC,242,-0.53,-194.6,50.0,-28.2,38,249,0.00,0.85,0.00,0.000,6,0.000,0.039,2118,2606,3666,0,0,0,0,0,0
$GC,385,-0.53,-194.6,83.9,-17.2,63,391,0.00,0.73,0.00,0.000,4,0.000,0.026,2118,2074,3666,0,0,0,0,0,0
$GC,467,-0.53,-194.6,98.6,-19.1,77,473,0.00,0.82,0.00,0.000,6,0.000,0.037,2114,2619,3666,0,0,0,0,0,0
$GC,609,-0.53,-194.6,125.3,-18.2,102,616,0.00,0.75,0.00,0.000,4,0.000,0.040,2111,3130,3666,0,0,0,0,0,0
$GC,652,-0.53,-194.6,132.1,-16.3,109,659,0.00,0.75,0.00,0.000,6,0.000,0.025,2111,2583,3666,0,0,0,0,0,0
$GC,794,-0.53,-194.6,156.0,-14.3,134,801,0.00,0.62,0.00,0.000,4,0.000,0.026,2111,2089,3666,0,0,0,0,0,0
$GC,847,-0.53,-194.6,162.9,-12.8,143,854,0.00,0.77,0.00,0.000,6,0.000,0.037,2107,2607,3666,0,0,0,0,0,0
$GC,991,-0.53,-194.6,184.2,-15.3,168,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2608,3666,0,0,0,0,0,0
$GC,1136,-0.53,-194.6,205.0,-13.7,191,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2608,3667,0,0,0,0,0,0
$GC,1457,-0.53,-194.6,246.1,-13.0,221,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2608,3666,0,0,0,0,0,0
$GC,1784,-0.53,-194.6,280.2,-9.4,252,1788,0.00,0.70,0.00,0.000,4,0.000,0.027,2107,2088,3665,0,0,0,0,0,0
$GC,1898,-0.53,-194.6,291.2,-9.5,262,1902,0.00,0.80,0.00,0.000,6,0.000,0.038,2103,2618,3664,0,0,0,0,0,0
$GC,2229,-0.53,-194.6,326.6,-12.4,293,2232,0.00,0.73,0.00,0.000,4,0.000,0.026,2103,2090,3661,0,0,0,0,0,0
$GC,2279,-0.53,-194.6,333.0,-12.4,297,2286,0.00,0.77,0.00,0.000,6,0.000,0.039,2098,2602,3660,0,0,0,0,0,0
$GC,2604,-0.53,-194.6,377.1,-13.5,328,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3658,0,0,0,0,0,0
$GC,2925,-0.53,-194.6,422.2,-14.7,358,2930,0.10,0.70,0.00,0.000,4,0.165,0.029,2126,2100,3655,0,0,0,0,0,0
$GC,3004,-0.53,-194.6,432.8,-12.8,365,3008,0.00,0.77,0.00,0.000,6,0.000,0.041,2125,2608,3654,0,0,0,0,0,0
$GC,3335,-0.53,-194.6,475.2,-11.6,396,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2608,3651,0,0,0,0,0,0
$GC,3664,-0.53,-194.6,505.7,-7.9,424,3668,0.00,0.70,0.00,0.000,4,0.000,0.029,2125,2100,3648,0,0,0,0,0,0
$GC,3783,-0.53,-194.6,514.5,-6.9,429,3787,0.00,0.77,0.00,0.000,6,0.000,0.042,2122,2606,3647,0,0,0,0,0,0
$GC,4110,-0.53,-194.6,535.9,-6.9,445,4114,0.00,0.70,0.00,0.000,4,0.000,0.029,2122,2103,3644,0,0,0,0,0,0
$GC,4229,-0.53,-194.6,544.7,-7.6,450,4232,0.00,0.77,0.00,0.000,6,0.000,0.041,2118,2607,3644,0,0,0,0,0,0
$GC,4556,-0.53,-194.6,575.4,-10.2,466,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2607,3641,0,0,0,0,0,0
$GC,4866,-0.53,-194.6,606.6,-9.9,481,4870,0.00,0.70,0.00,0.000,4,0.000,0.031,2118,2110,3639,0,0,0,0,0,0
$GC,4946,-0.53,-194.6,614.5,-9.4,484,4950,0.00,0.77,0.00,0.000,6,0.000,0.042,2115,2612,3638,0,0,0,0,0,0
$GC,5268,-0.53,-194.6,644.6,-9.5,500,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2613,3636,0,0,0,0,0,0
$GC,5578,-0.53,-194.6,671.2,-8.1,515,5582,0.00,0.73,0.00,0.000,4,0.000,0.030,2115,2099,3634,0,0,0,0,0,0
$GC,5651,-0.53,-194.6,677.3,-7.9,518,5655,0.00,0.77,0.00,0.000,6,0.000,0.044,2112,2596,3634,0,0,0,0,0,0
$GC,5979,-0.53,-194.6,702.5,-7.7,534,5983,0.00,0.70,0.00,0.000,4,0.000,0.031,2112,2097,3632,0,0,0,0,0,0
$GC,6048,-0.53,-194.6,708.0,-7.7,537,6051,0.00,0.80,0.00,0.000,6,0.000,0.044,2110,2611,3631,0,0,0,0,0,0
$GC,6381,-0.53,-194.6,736.2,-8.7,553,6384,0.00,0.73,0.00,0.000,4,0.000,0.031,2109,2106,3629,0,0,0,0,0,0
$GC,6437,-0.53,-194.6,741.5,-9.1,555,6441,0.00,0.80,0.00,0.000,6,0.000,0.043,2105,2618,3629,0,0,0,0,0,0
$GC,6759,-0.53,-194.6,770.6,-9.0,571,6763,0.00,0.73,0.00,0.000,4,0.000,0.029,2105,2106,3628,0,0,0,0,0,0
$GC,6823,-0.53,-194.6,776.4,-9.4,573,6830,0.00,0.77,0.00,0.000,6,0.000,0.043,2101,2608,3627,0,0,0,0,0,0
$GC,7139,-0.53,-194.6,806.3,-9.5,589,7143,0.00,0.70,0.00,0.000,4,0.000,0.031,2102,2110,3625,0,0,0,0,0,0
$GC,7223,-0.53,-194.6,814.5,-10.1,592,7230,0.00,0.77,0.00,0.000,6,0.000,0.044,2098,2609,3625,0,0,0,0,0,0
$GC,7540,-0.53,-194.6,847.1,-10.6,608,7542,0.12,0.00,0.00,0.000,6,0.158,0.000,2133,2610,3624,0,0,0,0,0,0
$GC,7848,-0.53,-194.6,867.9,-6.3,623,7852,0.00,0.73,0.00,0.000,4,0.000,0.032,2133,2113,3622,0,0,0,0,0,0
$GC,7967,-0.53,-194.6,875.7,-6.8,628,7971,0.00,0.77,0.00,0.000,6,0.000,0.043,2131,2611,3622,0,0,0,0,0,0
$GC,8294,-0.53,-194.6,897.2,-6.1,644,8297,0.00,0.73,0.00,0.000,4,0.000,0.031,2131,2103,3620,0,0,0,0,0,0
$GC,8423,-0.53,-194.6,905.1,-5.8,649,8430,0.00,0.80,0.00,0.000,6,0.000,0.044,2128,2615,3620,0,0,0,0,0,0
$GC,8739,-0.53,-194.6,923.8,-5.9,665,8743,0.00,0.73,0.00,0.000,4,0.000,0.031,2128,2109,3619,0,0,0,0,0,0
$GC,8863,-0.53,-194.6,931.1,-5.8,670,8867,0.00,0.80,0.00,0.000,6,0.000,0.044,2125,2618,3618,0,0,0,0,0,0
$GC,9185,-0.53,-194.6,952.4,-7.4,686,9189,0.00,0.73,0.00,0.000,4,0.000,0.030,2125,2107,3618,0,0,0,0,0,0
$GC,9299,-0.53,-194.6,961.6,-8.2,691,9303,0.00,0.80,0.00,0.000,6,0.000,0.044,2125,2617,3617,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9616,-0.13,0.0,989.7,9.2,706,9770,0.38,0.00,150.20,1.078,6,0.109,0.000,2252,2185,2869,0,0,0,0,0,0
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9774,0.53,194.6,1000.9,0.0,713,9939,0.60,0.88,158.73,1.057,4,0.052,0.041,2490,2702,2075,0,0,0,0,0,0
$GC,10119,0.61,258.8,982.7,9.2,729,10176,0.00,0.82,52.20,1.032,6,0.000,0.031,2493,2151,1813,0,0,0,0,0,0
$GC,10504,0.66,302.4,945.3,10.0,748,10547,0.00,0.88,35.67,1.011,4,0.000,0.036,2493,2696,1637,0,0,0,0,0,0
$GC,10599,0.71,338.3,935.6,10.3,752,10638,0.00,0.80,29.98,0.983,6,0.000,0.031,2497,2163,1490,0,0,0,0,0,0
$GC,10946,0.77,393.7,901.6,9.5,769,10997,0.15,0.88,46.30,0.995,4,0.085,0.038,2562,2699,1264,0,0,0,0,0,0
$GC,11103,0.77,393.7,879.4,14.3,776,11107,0.00,0.80,0.00,0.000,6,0.000,0.030,2566,2159,1264,0,0,0,0,0,0
$GC,11430,0.77,393.7,832.2,14.7,792,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2159,1264,0,0,0,0,0,0
$GC,11740,0.77,393.7,783.9,15.5,807,11744,0.00,0.82,0.00,0.000,4,0.000,0.043,2566,2693,1264,0,0,0,0,0,0
$GC,11857,0.77,393.7,764.5,16.3,812,11861,0.00,0.77,0.00,0.000,6,0.000,0.030,2570,2161,1263,0,0,0,0,0,0
$GC,12184,0.77,393.7,714.1,15.9,828,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2161,1263,0,0,0,0,0,0
$GC,12494,0.77,393.7,663.1,16.4,843,12498,0.00,0.82,0.00,0.000,4,0.000,0.039,2570,2700,1263,0,0,0,0,0,0
$GC,12545,0.77,393.7,654.0,17.0,845,12549,0.00,0.77,0.00,0.000,6,0.000,0.029,2573,2163,1263,0,0,0,0,0,0
$GC,12873,0.77,393.7,602.4,15.1,861,12877,0.00,0.82,0.00,0.000,4,0.000,0.041,2574,2703,1263,0,0,0,0,0,0
$GC,12979,0.77,393.7,586.0,15.2,865,12986,0.00,0.80,0.00,0.000,6,0.000,0.030,2578,2158,1263,0,0,0,0,0,0
$GC,13295,0.77,393.7,541.5,13.8,881,13298,0.00,0.82,0.00,0.000,4,0.000,0.041,2578,2697,1263,0,0,0,0,0,0
$GC,13364,0.77,393.7,531.6,14.9,884,13368,0.10,0.77,0.00,0.000,6,0.144,0.030,2550,2164,1263,0,0,0,0,0,0
$GC,13689,0.77,393.7,492.0,11.8,902,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2164,1263,0,0,0,0,0,0
$GC,14008,0.77,393.7,453.8,12.0,932,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2164,1262,0,0,0,0,0,0
$GC,14327,0.77,393.7,415.7,12.2,962,14330,0.00,0.80,0.00,0.000,4,0.000,0.037,2550,2697,1263,0,0,0,0,0,0
$GC,14362,0.77,393.7,410.9,12.9,965,14366,0.00,0.77,0.00,0.000,6,0.000,0.030,2551,2159,1263,0,0,0,0,0,0
$GC,14692,0.80,415.6,371.1,10.9,996,14713,0.00,0.00,18.80,0.676,6,0.000,0.000,2551,2159,1173,0,0,0,0,0,0
$GC,15031,0.83,443.4,336.5,10.7,1028,15060,0.00,0.00,22.33,0.643,6,0.000,0.000,2551,2158,1061,0,0,0,0,0,0
$GC,15380,0.83,443.4,294.2,13.0,1061,15381,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2158,1064,0,0,0,0,0,0
$GC,15700,0.86,465.6,254.8,10.9,1091,15723,0.00,0.77,19.15,0.604,4,0.000,0.035,2554,1654,970,0,0,0,0,0,0
$GC,15758,0.93,518.1,248.7,9.6,1096,15804,0.10,0.80,40.50,0.582,6,0.057,0.032,2612,2186,756,0,0,0,0,0,0
$GC,16121,0.93,520.9,205.2,11.7,1130,16133,0.00,0.75,5.55,0.514,4,0.000,0.034,2613,2684,744,0,0,0,0,0,0
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$GC,17706,1.38,886.4,22.2,8.8,1400,17713,0.12,0.00,0.00,0.000,6,0.084,0.000,2768,2160,440,0,0,0,0,0,0
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$STATE,17862,end climb,SURFACE_DEPTH_REACHED
$STATE,17863,begin surface coast
$FINISH,0.3,1.007809
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17885,begin surface
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$IRIDIUM_FIX,1832.77,12008.67,170911,070723
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.53
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,1
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$10V_AH,9.8,68.653
$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
$DEVICE_SECS,16.700,55.000,639.375,0.000,0.000,28.113,40.643,151.445,0.250,0.000,16.209,3421.193,10961.555,708.717,2847.498,380.127,33.355,2143.971,0.000,2592.117,0.000,0.540,0.000
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$SENSOR_SECS,995.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321156
$DATA_FILE_SIZE,83456,1431
$CAP_FILE_SIZE,182782,0
$CFSIZE,260165632,203743232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170911,175855,1846.683,12022.181,40,0.9,40,-2.0