version: 66.09
glider: 181
mission: 6
dive: 704
start: 10 23 111 18 22 57
data:
$ID,181
$MISSION,6
$DIVE,704
$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,-41491.594
$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,2375
$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,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,55
$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
$GPS1,231011,181607,2141.702,12003.482,39,0.9,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.5
$GPS2,231011,182232,2141.839,12003.344,12,1.4,12,-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,318.1,8208,-14.3,-10.312
$D_GRID,2422
$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
$GC,16,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.65,0.000,2,0.000,0.000,145,2603,2338,0,0,0,0,0,0
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$GC,645,-0.36,-219.0,114.1,-14.2,109,651,0.00,0.68,0.00,0.000,4,0.000,0.024,2242,1952,3760,0,0,0,0,0,0
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$GC,1526,-0.64,-219.0,201.1,-10.5,262,1530,0.00,0.70,0.00,0.000,4,0.000,0.024,2159,1961,3761,0,0,0,0,0,0
$GC,1595,-0.61,-219.0,209.0,-11.5,268,1599,0.00,0.77,0.00,0.000,6,0.000,0.033,2155,2492,3761,0,0,0,0,0,0
$GC,1926,-0.56,-219.0,248.0,-11.1,299,1928,0.15,0.00,0.00,0.000,6,0.137,0.000,2198,2492,3761,0,0,0,0,0,0
$GC,2245,-0.66,-219.0,273.8,-8.5,329,2250,0.12,0.80,0.00,0.000,4,0.079,0.039,2119,3020,3759,0,0,0,0,0,0
$GC,2304,-0.65,-219.0,280.0,-11.2,334,2309,0.12,0.73,0.00,0.000,6,0.111,0.025,2163,2493,3759,0,0,0,0,0,0
$GC,2637,-0.70,-219.0,310.6,-8.8,365,2641,0.00,0.68,0.00,0.000,4,0.000,0.026,2163,1974,3757,0,0,0,0,0,0
$GC,2718,-0.74,-219.0,317.6,-8.6,372,2722,0.00,0.77,0.00,0.000,6,0.000,0.034,2163,2493,3756,0,0,0,0,0,0
$GC,3051,-0.80,-219.0,344.5,-8.1,403,3055,0.15,0.73,0.00,0.000,4,0.069,0.027,2083,1974,3753,0,0,0,0,0,0
$GC,3100,-0.70,-219.0,350.8,-13.8,407,3108,0.20,0.80,0.00,0.000,6,0.124,0.037,2144,2500,3753,0,0,0,0,0,0
$GC,3427,-0.66,-219.0,388.2,-11.5,438,3431,0.00,0.80,0.00,0.000,4,0.000,0.041,2141,3020,3750,0,0,0,0,0,0
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$GC,3850,-0.71,-219.0,430.2,-9.6,477,3853,0.00,0.80,0.00,0.000,4,0.000,0.040,2176,3026,3746,0,0,0,0,0,0
$GC,3945,-0.79,-219.0,439.2,-8.7,485,3953,0.12,0.75,0.00,0.000,6,0.042,0.026,2098,2501,3745,0,0,0,0,0,0
$GC,4271,-0.70,-219.0,482.1,-13.1,516,4275,0.17,0.82,0.00,0.000,4,0.142,0.041,2146,3022,3742,0,0,0,0,0,0
$GC,4356,-0.67,-219.0,491.0,-10.1,523,4362,0.00,0.75,0.00,0.000,6,0.000,0.026,2146,2489,3741,0,0,0,0,0,0
$GC,4689,-0.64,-219.0,522.8,-9.9,544,4692,0.00,0.82,0.00,0.000,4,0.000,0.040,2142,3026,3738,0,0,0,0,0,0
$GC,4722,-0.62,-219.0,526.8,-10.2,545,4727,0.08,0.75,0.00,0.000,6,0.122,0.027,2169,2497,3738,0,0,0,0,0,0
$GC,5048,-0.71,-219.0,554.3,-8.6,561,5051,0.00,0.80,0.00,0.000,4,0.000,0.041,2167,3024,3735,0,0,0,0,0,0
$GC,5140,-0.76,-219.0,562.6,-8.9,565,5144,0.08,0.75,0.00,0.000,6,0.051,0.026,2110,2492,3734,0,0,0,0,0,0
$GC,5474,-0.78,-219.0,597.2,-10.4,581,5477,0.00,0.82,0.00,0.000,4,0.000,0.040,2108,3025,3732,0,0,0,0,0,0
$GC,5558,-0.73,-219.0,606.6,-10.6,584,5565,0.00,0.75,0.00,0.000,6,0.000,0.026,2108,2496,3731,0,0,0,0,0,0
$GC,5876,-0.66,-219.0,644.2,-11.6,600,5880,0.17,0.85,0.00,0.000,4,0.143,0.041,2156,3028,3730,0,0,0,0,0,0
$GC,5922,-0.64,-219.0,648.7,-9.7,602,5926,0.00,0.75,0.00,0.000,6,0.000,0.027,2156,2499,3729,0,0,0,0,0,0
$GC,6255,-0.71,-219.0,675.9,-8.3,618,6259,0.00,0.82,0.00,0.000,4,0.000,0.040,2153,3033,3727,0,0,0,0,0,0
$GC,6285,-0.79,-219.0,678.2,-8.5,619,6288,0.00,0.75,0.00,0.000,6,0.000,0.028,2152,2510,3727,0,0,0,0,0,0
$GC,6613,-0.85,-219.0,706.4,-8.7,635,6617,0.15,0.75,0.00,0.000,4,0.075,0.029,2076,1966,3724,0,0,0,0,0,0
$GC,6660,-0.81,-219.0,711.6,-11.7,637,6664,0.10,0.82,0.00,0.000,6,0.132,0.036,2105,2504,3723,0,0,0,0,0,0
$GC,6994,-0.75,-219.0,758.0,-14.5,653,6998,0.00,0.77,0.00,0.000,4,0.000,0.043,2103,3015,3721,0,0,0,0,0,0
$GC,7184,-0.67,-219.0,786.2,-14.6,661,7189,0.15,0.75,0.00,0.000,6,0.125,0.026,2152,2494,3720,0,0,0,0,0,0
$GC,7506,-0.67,-219.0,817.9,-9.2,677,7510,0.00,0.82,0.00,0.000,4,0.000,0.042,2150,3026,3719,0,0,0,0,0,0
$GC,7592,-0.67,-219.0,825.6,-9.2,680,7598,0.00,0.75,0.00,0.000,6,0.000,0.027,2150,2499,3719,0,0,0,0,0,0
$GC,7908,-0.67,-219.0,853.0,-8.8,696,7912,0.00,0.82,0.00,0.000,4,0.000,0.044,2147,3028,3717,0,0,0,0,0,0
$GC,8010,-0.66,-219.0,862.4,-9.0,700,8014,0.00,0.75,0.00,0.000,6,0.000,0.028,2147,2508,3716,0,0,0,0,0,0
$GC,8332,-0.66,-219.0,891.2,-8.8,716,8336,0.00,0.80,0.00,0.000,4,0.000,0.044,2143,3021,3714,0,0,0,0,0,0
$GC,8433,-0.65,-219.0,900.4,-8.8,720,8437,0.00,0.75,0.00,0.000,6,0.000,0.028,2143,2499,3714,0,0,0,0,0,0
$GC,8757,-0.64,-219.0,927.2,-8.2,736,8761,0.00,0.82,0.00,0.000,4,0.000,0.044,2139,3024,3712,0,0,0,0,0,0
$GC,8905,-0.62,-219.0,940.5,-9.1,742,8909,0.10,0.75,0.00,0.000,6,0.122,0.028,2174,2503,3711,0,0,0,0,0,0
$GC,9230,-0.73,-219.0,964.0,-7.2,758,9234,0.12,0.75,0.00,0.000,4,0.091,0.030,2117,1975,3711,0,0,0,0,0,0
$GC,9343,-0.73,-219.0,974.4,-9.3,763,9346,0.00,0.80,0.00,0.000,6,0.000,0.036,2113,2501,3710,0,0,0,0,0,0
$STATE,9529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9529,begin apogee
$GC,9537,-0.19,0.0,992.0,9.3,772,9707,0.57,0.00,165.65,1.067,6,0.095,0.000,2310,2094,2869,0,0,0,0,0,0
$STATE,9708,end apogee,CONTROL_FINISHED_OK
$STATE,9708,begin climb
$GC,9712,0.61,219.0,1004.3,0.0,780,9897,0.70,0.80,174.85,1.056,4,0.047,0.032,2588,2629,1975,0,0,0,0,0,0
$GC,10021,0.49,219.0,982.5,12.6,794,10025,0.17,0.77,0.00,0.000,6,0.155,0.028,2540,2103,1974,0,0,0,0,0,0
$GC,10345,0.47,248.9,951.9,9.4,810,10375,0.00,0.82,24.83,0.985,4,0.000,0.037,2540,2625,1854,0,0,0,0,0,0
$GC,10445,0.42,263.6,941.9,9.8,814,10463,0.08,0.77,13.10,0.907,6,0.158,0.028,2519,2101,1794,0,0,0,0,0,0
$GC,10785,0.46,311.0,912.5,8.8,831,10829,0.00,0.88,38.78,0.988,4,0.000,0.034,2519,2642,1601,0,0,0,0,0,0
$GC,10900,0.49,352.1,902.1,9.0,836,10943,0.00,0.80,33.97,0.963,6,0.000,0.029,2521,2103,1433,0,0,0,0,0,0
$GC,11252,0.55,389.8,870.1,9.1,853,11288,0.00,0.80,31.80,0.955,4,0.000,0.031,2521,2640,1278,0,0,0,0,0,0
$GC,11330,0.59,408.0,862.7,9.7,856,11351,0.10,0.82,15.88,0.888,6,0.060,0.029,2575,2092,1204,0,0,0,0,0,0
$GC,11674,0.58,408.0,822.0,11.7,873,11677,0.00,0.80,0.00,0.000,4,0.000,0.034,2576,2625,1209,0,0,0,0,0,0
$GC,11738,0.54,408.0,814.2,12.9,875,11745,0.00,0.77,0.00,0.000,6,0.000,0.028,2579,2092,1210,0,0,0,0,0,0
$GC,12054,0.52,408.0,777.5,11.4,891,12059,0.12,0.82,0.00,0.000,4,0.150,0.035,2545,2625,1209,0,0,0,0,0,0
$GC,12138,0.53,414.0,768.5,10.1,894,12149,0.00,0.77,7.35,0.766,6,0.000,0.029,2547,2097,1181,0,0,0,0,0,0
$GC,12474,0.54,414.0,735.0,10.4,911,12478,0.00,0.80,0.00,0.000,4,0.000,0.034,2547,2632,1180,0,0,0,0,0,0
$GC,12507,0.54,414.0,731.0,10.3,912,12511,0.00,0.77,0.00,0.000,6,0.000,0.029,2550,2105,1180,0,0,0,0,0,0
$GC,12831,0.58,431.5,698.7,9.8,928,12853,0.00,0.80,15.32,0.833,4,0.000,0.032,2553,1574,1109,0,0,0,0,0,0
$GC,12893,0.69,473.6,692.4,9.0,930,12933,0.10,0.80,34.22,0.855,6,0.054,0.030,2609,2110,938,0,0,0,0,0,0
$GC,13250,0.66,473.6,647.5,12.8,948,13254,0.00,0.80,0.00,0.000,4,0.000,0.032,2612,1567,942,0,0,0,0,0,0
$GC,13342,0.63,473.6,635.5,13.3,952,13346,0.10,0.80,0.00,0.000,6,0.121,0.031,2579,2097,942,0,0,0,0,0,0
$GC,13677,0.63,475.3,600.3,10.3,968,13687,0.00,0.82,4.05,0.555,4,0.000,0.032,2580,1569,931,0,0,0,0,0,0
$GC,13760,0.62,475.3,591.1,10.4,971,13767,0.00,0.80,0.00,0.000,6,0.000,0.030,2580,2104,931,0,0,0,0,0,0
$GC,14077,0.65,496.0,560.5,9.7,987,14100,0.00,0.85,17.83,0.757,4,0.000,0.033,2583,1564,845,0,0,0,0,0,0
$GC,14184,0.65,496.0,549.4,10.4,991,14191,0.00,0.80,0.00,0.000,6,0.000,0.030,2583,2101,847,0,0,0,0,0,0
$GC,14502,0.72,505.3,518.1,10.0,1007,14517,0.00,0.80,10.02,0.689,4,0.000,0.034,2585,1582,809,0,0,0,0,0,0
$GC,14552,0.76,505.6,512.7,10.3,1009,14556,0.08,0.77,0.00,0.000,6,0.060,0.030,2635,2099,810,0,0,0,0,0,0
$GC,14877,0.74,505.6,470.3,13.2,1035,14880,0.00,0.77,0.00,0.000,4,0.000,0.032,2638,1573,812,0,0,0,0,0,0
$GC,14991,0.69,505.6,454.2,14.1,1045,14995,0.10,0.80,0.00,0.000,6,0.128,0.032,2605,2098,812,0,0,0,0,0,0
$GC,15321,0.73,505.6,415.7,11.3,1076,15325,0.00,0.77,0.00,0.000,4,0.000,0.033,2606,1573,812,0,0,0,0,0,0
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$STATE,19140,end climb,SURFACE_DEPTH_REACHED
$STATE,19140,begin surface coast
$FINISH,0.7,1.020736
$STATE,19163,end surface coast,CONTROL_FINISHED_OK
$STATE,19164,begin surface
$SM_CCo,19242,0.00,0.000,0,0,440,595.59
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$IRIDIUM_FIX,2131.85,12318.25,231011,121210
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.92
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.60
$XPDR_PINGS,1
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$10V_AH,9.7,85.135
$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
$DEVICE_SECS,20.450,71.250,666.375,0.000,0.000,22.447,42.256,153.092,0.250,0.000,19.195,3895.451,11295.261,717.917,3204.249,494.943,0.000,2336.414,0.000,2941.218,0.000,0.541,0.000
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$SENSOR_SECS,1101.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90291,1593
$CAP_FILE_SIZE,218347,0
$CFSIZE,260165632,187998208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231011,234501,2143.053,12002.677,41,0.9,41,-2.6