version: 66.09
glider: 181
mission: 6
dive: 693
start: 10 21 111 6 28 29
data:
$ID,181
$MISSION,6
$DIVE,693
$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,320
$T_MISSION,350
$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,0
$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,-41470.086
$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,2355
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,52
$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
$GPS1,211011,062206,2135.371,12012.859,27,0.9,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.0
$GPS2,211011,062802,2135.345,12012.774,14,1.0,14,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,311.7,28330,-14.3,-10.312
$D_GRID,2642
$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,-0.61,-219.0,0.0,0.0,0,81,0.00,0.00,-61.95,0.000,2,0.000,0.000,198,2564,2178,0,0,0,0,0,0
$GC,84,-0.61,-219.0,3.0,-2.7,11,138,8.20,1.10,-38.12,0.000,4,0.223,0.060,2146,3286,3763,0,0,0,0,0,0
$GC,202,-0.36,-219.0,34.4,-34.7,31,209,0.30,1.00,0.00,0.000,6,0.174,0.024,2228,2585,3763,0,0,0,0,0,0
$GC,550,-0.29,-219.0,103.3,-13.3,92,557,0.10,1.10,0.00,0.000,4,0.159,0.037,2254,3288,3761,0,0,0,0,0,0
$GC,695,-0.29,-219.0,120.6,-11.0,117,703,0.00,1.00,0.00,0.000,6,0.000,0.024,2253,2580,3761,0,0,0,0,0,0
$GC,1044,-0.42,-219.0,152.7,-8.3,178,1053,0.10,0.95,0.00,0.000,4,0.093,0.027,2202,1906,3761,0,0,0,0,0,0
$GC,1079,-0.52,-219.0,155.9,-9.1,183,1086,0.00,1.00,0.00,0.000,6,0.000,0.031,2199,2578,3762,0,0,0,0,0,0
$GC,1425,-0.57,-219.0,190.8,-10.2,244,1432,0.00,1.05,0.00,0.000,4,0.000,0.036,2196,3284,3761,0,0,0,0,0,0
$GC,1530,-0.64,-219.0,201.1,-9.6,262,1534,0.10,0.98,0.00,0.000,6,0.041,0.023,2119,2595,3762,0,0,0,0,0,0
$GC,1861,-0.55,-219.0,249.0,-14.2,293,1865,0.20,0.98,0.00,0.000,4,0.138,0.020,2177,1879,3762,0,0,0,0,0,0
$GC,1922,-0.53,-219.0,255.5,-9.2,298,1929,0.00,1.05,0.00,0.000,6,0.000,0.031,2174,2585,3762,0,0,0,0,0,0
$GC,2248,-0.52,-219.0,286.6,-9.7,329,2251,0.00,1.05,0.00,0.000,4,0.000,0.038,2168,3284,3761,0,0,0,0,0,0
$GC,2287,-0.50,-219.0,290.5,-9.4,332,2294,0.00,1.00,0.00,0.000,6,0.000,0.024,2168,2581,3761,0,0,0,0,0,0
$GC,2613,-0.56,-219.0,321.0,-9.6,363,2617,0.00,1.08,0.00,0.000,4,0.000,0.038,2166,3278,3759,0,0,0,0,0,0
$GC,2686,-0.60,-219.0,328.1,-9.4,369,2693,0.00,0.98,0.00,0.000,6,0.000,0.024,2165,2593,3758,0,0,0,0,0,0
$GC,3012,-0.65,-219.0,357.1,-8.7,400,3016,0.00,0.98,0.00,0.000,4,0.000,0.025,2166,1890,3756,0,0,0,0,0,0
$GC,3070,-0.70,-219.0,362.3,-9.0,405,3075,0.08,1.05,0.00,0.000,6,0.053,0.033,2105,2584,3755,0,0,0,0,0,0
$GC,3401,-0.70,-219.0,399.5,-11.6,436,3405,0.00,0.98,0.00,0.000,4,0.000,0.024,2105,1895,3752,0,0,0,0,0,0
$GC,3463,-0.66,-219.0,407.1,-12.3,441,3470,0.10,1.05,0.00,0.000,6,0.119,0.033,2135,2585,3751,0,0,0,0,0,0
$GC,3789,-0.61,-219.0,444.6,-11.3,472,3792,0.00,1.08,0.00,0.000,4,0.000,0.041,2131,3286,3748,0,0,0,0,0,0
$GC,3816,-0.56,-219.0,448.0,-11.2,474,3824,0.10,1.00,0.00,0.000,6,0.123,0.025,2166,2594,3748,0,0,0,0,0,0
$GC,4144,-0.56,-219.0,479.1,-10.0,505,4147,0.00,0.98,0.00,0.000,4,0.000,0.026,2166,1895,3745,0,0,0,0,0,0
$GC,4213,-0.60,-219.0,486.1,-9.9,511,4217,0.00,1.08,0.00,0.000,6,0.000,0.035,2165,2595,3744,0,0,0,0,0,0
$GC,4553,-0.67,-219.0,517.5,-8.8,534,4556,0.00,1.08,0.00,0.000,4,0.000,0.041,2165,3295,3740,0,0,0,0,0,0
$GC,4570,-0.73,-219.0,519.6,-9.0,534,4577,0.10,1.02,0.00,0.000,6,0.047,0.024,2097,2589,3741,0,0,0,0,0,0
$GC,4888,-0.64,-219.0,563.8,-14.5,550,4892,0.17,1.00,0.00,0.000,4,0.143,0.026,2147,1887,3738,0,0,0,0,0,0
$GC,4926,-0.61,-219.0,568.7,-11.4,551,4933,0.00,1.08,0.00,0.000,6,0.000,0.037,2144,2583,3737,0,0,0,0,0,0
$GC,5244,-0.59,-219.0,600.4,-9.9,567,5248,0.00,1.10,0.00,0.000,4,0.000,0.043,2139,3296,3735,0,0,0,0,0,0
$GC,5300,-0.56,-219.0,606.5,-10.7,569,5304,0.10,1.02,0.00,0.000,6,0.122,0.026,2173,2595,3734,0,0,0,0,0,0
$GC,5623,-0.63,-219.0,632.7,-7.9,585,5627,0.00,1.10,0.00,0.000,4,0.000,0.042,2170,3291,3732,0,0,0,0,0,0
$GC,5688,-0.71,-219.0,638.2,-8.3,587,5696,0.10,1.02,0.00,0.000,6,0.050,0.025,2105,2591,3731,0,0,0,0,0,0
$GC,6004,-0.71,-219.0,671.1,-10.6,603,6008,0.00,1.10,0.00,0.000,4,0.000,0.042,2100,3285,3729,0,0,0,0,0,0
$GC,6119,-0.64,-219.0,685.5,-13.5,608,6124,0.12,1.02,0.00,0.000,6,0.125,0.027,2141,2590,3729,0,0,0,0,0,0
$GC,6454,-0.61,-219.0,722.3,-11.2,624,6458,0.00,1.00,0.00,0.000,4,0.000,0.026,2141,1882,3727,0,0,0,0,0,0
$GC,6493,-0.59,-219.0,727.1,-11.3,625,6500,0.00,1.10,0.00,0.000,6,0.000,0.037,2139,2587,3727,0,0,0,0,0,0
$GC,6812,-0.56,-219.0,760.3,-10.4,641,6816,0.12,1.12,0.00,0.000,4,0.157,0.044,2170,3290,3724,0,0,0,0,0,0
$GC,6845,-0.56,-219.0,763.7,-10.1,642,6848,0.00,1.05,0.00,0.000,6,0.000,0.026,2169,2585,3724,0,0,0,0,0,0
$GC,7168,-0.65,-219.0,788.4,-7.5,658,7172,0.00,1.12,0.00,0.000,4,0.000,0.042,2166,3292,3722,0,0,0,0,0,0
$GC,7208,-0.73,-219.0,791.9,-7.3,659,7215,0.10,1.05,0.00,0.000,6,0.051,0.025,2100,2586,3722,0,0,0,0,0,0
$GC,7525,-0.65,-219.0,831.5,-13.5,675,7530,0.15,1.02,0.00,0.000,4,0.148,0.027,2142,1882,3720,0,0,0,0,0,0
$GC,7572,-0.63,-219.0,836.8,-10.7,677,7576,0.00,1.10,0.00,0.000,6,0.000,0.037,2139,2586,3720,0,0,0,0,0,0
$GC,7906,-0.61,-219.0,870.0,-10.0,693,7909,0.00,1.10,0.00,0.000,4,0.000,0.045,2134,3289,3719,0,0,0,0,0,0
$GC,7980,-0.59,-219.0,877.8,-10.6,696,7983,0.00,1.05,0.00,0.000,6,0.000,0.027,2134,2588,3718,0,0,0,0,0,0
$GC,8307,-0.57,-219.0,914.6,-11.7,712,8312,0.12,1.02,0.00,0.000,4,0.151,0.028,2168,1879,3716,0,0,0,0,0,0
$GC,8342,-0.58,-219.0,918.3,-11.5,713,8345,0.00,1.10,0.00,0.000,6,0.000,0.035,2166,2584,3716,0,0,0,0,0,0
$GC,8664,-0.66,-219.0,950.6,-10.5,729,8668,0.00,1.10,0.00,0.000,4,0.000,0.044,2165,3292,3714,0,0,0,0,0,0
$GC,8725,-0.75,-219.0,957.1,-10.6,731,8733,0.12,1.05,0.00,0.000,6,0.049,0.026,2095,2604,3714,0,0,0,0,0,0
$STATE,8956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8964,-0.19,0.0,991.7,15.7,743,9136,0.62,0.00,166.55,1.066,6,0.129,0.000,2289,2137,2869,0,0,0,0,0,0
$STATE,9137,end apogee,CONTROL_FINISHED_OK
$STATE,9137,begin climb
$GC,9141,0.61,219.0,1006.1,0.0,751,9324,0.70,1.23,175.00,1.053,4,0.050,0.036,2560,2871,1976,0,0,0,0,0,0
$GC,9379,0.52,219.0,996.4,11.1,762,9384,0.12,1.10,0.00,0.000,6,0.155,0.026,2528,2154,1975,0,0,0,0,0,0
$GC,9709,0.50,245.8,965.9,9.5,778,9735,0.00,1.08,22.55,0.984,4,0.000,0.032,2531,1464,1867,0,0,0,0,0,0
$GC,9800,0.46,245.8,956.4,10.9,782,9804,0.00,1.10,0.00,0.000,6,0.000,0.031,2531,2173,1866,0,0,0,0,0,0
$GC,10128,0.42,245.8,921.7,10.5,798,10132,0.15,1.08,0.00,0.000,4,0.156,0.038,2491,2860,1865,0,0,0,0,0,0
$GC,10184,0.43,255.0,916.0,10.0,800,10197,0.00,1.05,8.88,0.857,6,0.000,0.028,2493,2164,1829,0,0,0,0,0,0
$GC,10505,0.49,305.6,887.6,8.7,816,10551,0.00,1.08,41.22,0.977,4,0.000,0.032,2499,1479,1623,0,0,0,0,0,0
$GC,10612,0.55,344.4,878.4,9.1,820,10649,0.00,1.08,32.60,0.949,6,0.000,0.028,2499,2170,1464,0,0,0,0,0,0
$GC,10967,0.69,409.7,848.3,8.2,838,11028,0.22,1.08,52.80,0.957,4,0.066,0.036,2598,2867,1199,0,0,0,0,0,0
$GC,11085,0.64,409.7,833.1,13.9,843,11089,0.12,1.08,0.00,0.000,6,0.142,0.027,2564,2169,1200,0,0,0,0,0,0
$GC,11407,0.65,417.5,800.3,10.1,859,11421,0.00,1.10,8.68,0.799,4,0.000,0.034,2567,1468,1168,0,0,0,0,0,0
$GC,11444,0.65,417.5,796.1,10.5,860,11451,0.00,1.08,0.00,0.000,6,0.000,0.032,2567,2159,1167,0,0,0,0,0,0
$GC,11760,0.65,417.5,760.6,11.3,876,11764,0.00,1.08,0.00,0.000,4,0.000,0.039,2567,2863,1166,0,0,0,0,0,0
$GC,11847,0.63,417.5,750.2,12.4,879,11854,0.00,1.08,0.00,0.000,6,0.000,0.028,2572,2152,1166,0,0,0,0,0,0
$GC,12163,0.63,417.5,712.5,11.9,895,12167,0.00,1.02,0.00,0.000,4,0.000,0.035,2577,1466,1165,0,0,0,0,0,0
$GC,12232,0.61,417.5,703.9,12.8,898,12236,0.00,1.08,0.00,0.000,6,0.000,0.032,2577,2164,1165,0,0,0,0,0,0
$GC,12565,0.61,417.5,663.7,11.8,914,12569,0.00,1.08,0.00,0.000,4,0.000,0.039,2577,2867,1165,0,0,0,0,0,0
$GC,12645,0.58,417.5,654.1,11.9,917,12649,0.10,1.05,0.00,0.000,6,0.127,0.027,2548,2169,1165,0,0,0,0,0,0
$GC,12968,0.67,462.2,624.1,8.9,933,13011,0.00,1.08,35.65,0.825,4,0.000,0.033,2551,1479,985,0,0,0,0,0,0
$GC,13073,0.81,512.9,615.1,8.7,937,13119,0.15,1.08,41.88,0.809,6,0.049,0.030,2629,2174,777,0,0,0,0,0,0
$GC,13431,0.85,519.6,577.0,10.1,954,13445,0.00,1.12,8.00,0.683,4,0.000,0.033,2634,1466,750,0,0,0,0,0,0
$GC,13454,0.88,527.8,574.8,10.1,955,13468,0.00,1.08,8.27,0.660,6,0.000,0.029,2634,2168,717,0,0,0,0,0,0
$GC,13787,0.90,527.8,539.7,11.0,971,13791,0.00,1.05,0.00,0.000,4,0.000,0.037,2634,2860,720,0,0,0,0,0,0
$GC,13835,0.85,527.8,533.4,14.0,973,13838,0.00,1.05,0.00,0.000,6,0.000,0.028,2639,2166,720,0,0,0,0,0,0
$GC,14162,0.82,527.8,487.4,14.8,992,14165,0.00,1.08,0.00,0.000,4,0.000,0.037,2639,2860,719,0,0,0,0,0,0
$GC,14266,0.78,527.8,470.2,17.0,1001,14270,0.10,1.05,0.00,0.000,6,0.134,0.028,2610,2166,720,0,0,0,0,0,0
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$STATE,18426,end climb,SURFACE_DEPTH_REACHED
$STATE,18426,begin surface coast
$FINISH,0.7,1.008527
$STATE,18455,end surface coast,CONTROL_FINISHED_OK
$STATE,18455,begin surface
$SM_CCo,18534,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2127.21,12008.55,211011,000054
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.77
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,23.8,114.767
$10V_AH,9.8,84.033
$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
$DEVICE_SECS,19.950,98.725,666.200,0.000,0.000,27.713,19.198,145.974,0.000,0.000,16.814,3737.914,10978.866,727.111,2953.448,476.871,0.000,2257.284,0.000,2726.385,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1061.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,86929,1536
$CAP_FILE_SIZE,210077,0
$CFSIZE,260165632,189054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211011,113836,2135.004,12011.711,34,1.1,34,-2.6