version: 66.09
glider: 181
mission: 6
dive: 106
start: 7 1 111 4 36 18
data:
$ID,181
$MISSION,6
$DIVE,106
$N_DIVES,115
$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,350
$T_MISSION,380
$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,150
$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,-40585.438
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,56
$R_STBD_OVSHOOT,55
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,010711,042925,1958.712,11948.877,41,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.5
$GPS2,010711,043555,1958.845,11948.940,10,1.3,10,-2.2
$SPEED_LIMITS,0.163,0.255
$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,172.1,110688,-16.6,-9.429
$D_GRID,3487
$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,14,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,76,0.00,0.00,-57.67,0.000,2,0.000,0.000,205,2622,2571,0,0,0,0,0,0
$GC,79,-0.51,-146.0,3.9,-5.8,8,111,7.85,2.22,-17.38,0.000,4,0.236,0.047,2131,1194,3466,0,0,0,0,0,0
$GC,217,-0.51,-146.0,53.6,-23.3,32,225,0.00,2.20,0.00,0.000,6,0.000,0.041,2123,2579,3469,0,0,0,0,0,0
$GC,351,-0.51,-146.0,93.7,-28.2,57,359,0.00,1.88,0.00,0.000,4,0.000,0.044,2113,3780,3470,0,0,0,0,0,0
$GC,413,-0.51,-146.0,109.6,-22.7,68,421,0.00,1.73,0.00,0.000,6,0.000,0.025,2113,2630,3471,0,0,0,0,0,0
$GC,548,-0.51,-146.0,139.8,-22.1,93,557,0.00,2.12,0.00,0.000,4,0.000,0.028,2114,1203,3470,0,0,0,0,0,0
$GC,627,-0.51,-146.0,155.1,-18.4,107,635,0.00,2.15,0.00,0.000,6,0.000,0.037,2109,2580,3473,0,0,0,0,0,0
$GC,761,-0.51,-146.0,183.4,-21.0,132,769,0.00,1.85,0.00,0.000,4,0.000,0.042,2100,3782,3473,0,0,0,0,0,0
$GC,783,-0.51,-146.0,188.2,-20.5,135,792,0.10,1.80,0.00,0.000,6,0.150,0.025,2132,2574,3473,0,0,0,0,0,0
$GC,919,-0.51,-146.0,210.1,-14.6,154,923,0.00,2.00,0.00,0.000,4,0.000,0.028,2132,1200,3473,0,0,0,0,0,0
$GC,977,-0.51,-146.0,218.0,-12.8,159,981,0.00,2.08,0.00,0.000,6,0.000,0.035,2124,2573,3473,0,0,0,0,0,0
$GC,1303,-0.51,-146.0,265.6,-14.5,189,1307,0.00,1.80,0.00,0.000,4,0.000,0.043,2116,3781,3473,0,0,0,0,0,0
$GC,1381,-0.51,-146.0,276.7,-13.2,196,1385,0.00,1.75,0.00,0.000,6,0.000,0.024,2115,2570,3473,0,0,0,0,0,0
$GC,1711,-0.51,-146.0,327.8,-15.2,227,1715,0.00,1.98,0.00,0.000,4,0.000,0.029,2115,1209,3469,0,0,0,0,0,0
$GC,1839,-0.51,-146.0,345.3,-12.6,238,1846,0.00,2.12,0.00,0.000,6,0.000,0.036,2108,2578,3470,0,0,0,0,0,0
$GC,2164,-0.51,-146.0,391.4,-14.0,269,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2578,3467,0,0,0,0,0,0
$GC,2486,-0.51,-146.0,433.7,-12.9,299,2490,0.00,1.83,0.00,0.000,4,0.000,0.045,2102,3789,3464,0,0,0,0,0,0
$GC,2514,-0.51,-146.0,438.0,-13.2,301,2521,0.12,1.80,0.00,0.000,6,0.159,0.026,2136,2558,3463,0,0,0,0,0,0
$GC,2839,-0.51,-146.0,472.1,-10.6,332,2843,0.00,1.98,0.00,0.000,4,0.000,0.031,2135,1202,3460,0,0,0,0,0,0
$GC,2877,-0.51,-146.0,476.1,-9.9,335,2884,0.00,2.15,0.00,0.000,6,0.000,0.037,2135,2580,3460,0,0,0,0,0,0
$GC,3203,-0.51,-146.0,506.7,-9.6,363,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2580,3456,0,0,0,0,0,0
$GC,3510,-0.51,-146.0,535.5,-9.6,378,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2580,3454,0,0,0,0,0,0
$GC,3820,-0.51,-146.0,563.7,-8.6,393,3824,0.00,2.05,0.00,0.000,4,0.000,0.034,2136,1210,3451,0,0,0,0,0,0
$GC,3926,-0.51,-146.0,572.4,-7.7,397,3933,0.00,2.08,0.00,0.000,6,0.000,0.038,2132,2569,3450,0,0,0,0,0,0
$GC,4243,-0.51,-146.0,600.0,-8.7,413,4247,0.00,2.05,0.00,0.000,4,0.000,0.034,2129,1203,3448,0,0,0,0,0,0
$GC,4282,-0.51,-146.0,603.8,-9.3,414,4289,0.00,2.10,0.00,0.000,6,0.000,0.041,2125,2559,3448,0,0,0,0,0,0
$GC,4598,-0.51,-146.0,634.1,-10.0,430,4602,0.00,1.88,0.00,0.000,4,0.000,0.050,2124,3784,3445,0,0,0,0,0,0
$GC,4622,-0.51,-146.0,636.5,-10.2,431,4625,0.00,1.80,0.00,0.000,6,0.000,0.029,2124,2567,3444,0,0,0,0,0,0
$GC,4954,-0.51,-146.0,669.8,-9.7,447,4958,0.00,2.03,0.00,0.000,4,0.000,0.035,2130,1201,3443,0,0,0,0,0,0
$GC,4993,-0.51,-146.0,673.9,-10.1,448,5000,0.00,2.12,0.00,0.000,6,0.000,0.040,2124,2556,3443,0,0,0,0,0,0
$GC,5309,-0.51,-146.0,705.7,-10.0,464,5313,0.00,1.88,0.00,0.000,4,0.000,0.050,2116,3784,3440,0,0,0,0,0,0
$GC,5336,-0.51,-146.0,708.7,-10.1,465,5341,0.00,1.88,0.00,0.000,6,0.000,0.030,2116,2546,3440,0,0,0,0,0,0
$GC,5664,-0.51,-146.0,743.5,-10.4,481,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2545,3438,0,0,0,0,0,0
$GC,5973,-0.51,-146.0,775.5,-10.2,496,5977,0.00,2.00,0.00,0.000,4,0.000,0.036,2115,1196,3437,0,0,0,0,0,0
$GC,6073,-0.51,-146.0,785.5,-9.5,500,6077,0.00,2.10,0.00,0.000,6,0.000,0.040,2112,2537,3439,0,0,0,0,0,0
$GC,6396,-0.51,-146.0,817.4,-9.7,516,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2538,3434,0,0,0,0,0,0
$GC,6705,-0.51,-146.0,848.1,-10.4,531,6709,0.00,1.95,0.00,0.000,4,0.000,0.052,2108,3775,3432,0,0,0,0,0,0
$GC,6765,-0.51,-146.0,854.7,-10.2,533,6772,0.00,1.85,0.00,0.000,6,0.000,0.030,2111,2557,3431,0,0,0,0,0,0
$GC,7082,-0.51,-146.0,890.5,-11.9,549,7086,0.00,2.03,0.00,0.000,4,0.000,0.037,2111,1196,3431,0,0,0,0,0,0
$GC,7160,-0.51,-146.0,900.0,-11.8,552,7164,0.00,2.12,0.00,0.000,6,0.000,0.041,2111,2539,3431,0,0,0,0,0,0
$GC,7482,-0.51,-146.0,939.6,-12.1,568,7486,0.00,1.92,0.00,0.000,4,0.000,0.052,2111,3790,3430,0,0,0,0,0,0
$GC,7531,-0.51,-146.0,945.3,-11.1,570,7535,0.00,1.90,0.00,0.000,6,0.000,0.030,2111,2539,3430,0,0,0,0,0,0
$GC,7859,-0.51,-146.0,983.5,-11.2,586,7862,0.00,2.00,0.00,0.000,4,0.000,0.037,2110,1194,3428,0,0,0,0,0,0
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7925,-0.16,0.0,990.5,10.8,588,8041,0.43,0.00,110.53,1.113,4,0.131,0.000,2244,2131,2869,0,0,0,0,0,0
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8044,0.51,146.0,994.9,0.0,594,8173,0.68,2.33,119.75,1.082,4,0.085,0.040,2473,725,2273,0,0,0,0,0,0
$GC,8179,0.56,183.1,989.4,7.8,600,8216,0.00,2.30,31.45,1.030,6,0.000,0.035,2472,2124,2122,0,0,0,0,0,0
$GC,8532,0.56,183.1,947.7,12.0,618,8536,0.00,2.22,0.00,0.000,4,0.000,0.045,2473,3536,2116,0,0,0,0,0,0
$GC,8571,0.56,183.1,942.6,13.1,620,8575,0.00,2.17,0.00,0.000,6,0.000,0.031,2482,2128,2116,0,0,0,0,0,0
$GC,8898,0.56,183.1,899.1,13.2,636,8902,0.00,2.17,0.00,0.000,4,0.000,0.041,2493,715,2113,0,0,0,0,0,0
$GC,8971,0.56,183.1,889.2,13.1,639,8975,0.00,2.15,0.00,0.000,6,0.000,0.034,2489,2114,2113,0,0,0,0,0,0
$GC,9292,0.56,183.1,843.4,14.5,655,9297,0.00,2.20,0.00,0.000,4,0.000,0.045,2493,3539,2112,0,0,0,0,0,0
$GC,9378,0.56,183.1,829.6,16.4,659,9382,0.00,2.15,0.00,0.000,6,0.000,0.031,2503,2121,2111,0,0,0,0,0,0
$GC,9705,0.56,183.1,782.2,14.0,675,9709,0.00,2.15,0.00,0.000,4,0.000,0.041,2514,717,2110,0,0,0,0,0,0
$GC,9836,0.56,183.1,764.1,14.3,681,9840,0.12,2.12,0.00,0.000,6,0.180,0.035,2483,2107,2110,0,0,0,0,0,0
$GC,10162,0.56,183.1,726.1,11.6,697,10166,0.00,2.20,0.00,0.000,4,0.000,0.045,2483,3536,2109,0,0,0,0,0,0
$GC,10189,0.56,183.1,722.2,13.1,698,10194,0.00,2.17,0.00,0.000,6,0.000,0.031,2492,2100,2109,0,0,0,0,0,0
$GC,10512,0.56,183.1,680.9,13.2,714,10516,0.00,2.10,0.00,0.000,4,0.000,0.041,2502,717,2109,0,0,0,0,0,0
$GC,10611,0.56,183.1,667.2,13.9,718,10619,0.00,2.15,0.00,0.000,6,0.000,0.035,2503,2098,2109,0,0,0,0,0,0
$GC,10928,0.56,183.1,622.0,14.6,734,10932,0.00,2.22,0.00,0.000,4,0.000,0.045,2502,3543,2108,0,0,0,0,0,0
$GC,10967,0.56,183.1,615.6,15.9,736,10972,0.00,2.20,0.00,0.000,6,0.000,0.031,2512,2084,2108,0,0,0,0,0,0
$GC,11295,0.56,183.1,568.6,13.3,752,11298,0.00,2.08,0.00,0.000,4,0.000,0.041,2522,722,2108,0,0,0,0,0,0
$GC,11479,0.56,183.1,544.7,12.3,760,11484,0.12,2.10,0.00,0.000,6,0.153,0.035,2484,2074,2108,0,0,0,0,0,0
$GC,11807,0.56,183.1,512.5,9.5,776,11810,0.00,2.08,0.00,0.000,4,0.000,0.040,2491,718,2107,0,0,0,0,0,0
$GC,11856,0.56,183.1,507.7,9.8,778,11860,0.00,2.08,0.00,0.000,6,0.000,0.034,2491,2082,2107,0,0,0,0,0,0
$GC,12180,0.56,183.1,476.1,10.0,804,12184,0.00,2.22,0.00,0.000,4,0.000,0.046,2487,3533,2107,0,0,0,0,0,0
$GC,12269,0.56,183.1,465.3,12.8,811,12275,0.00,2.20,0.00,0.000,6,0.000,0.031,2501,2073,2107,0,0,0,0,0,0
$GC,12594,0.56,183.1,426.1,13.2,842,12597,0.00,2.05,0.00,0.000,4,0.000,0.041,2511,710,2107,0,0,0,0,0,0
$GC,12677,0.56,183.1,414.6,13.6,849,12684,0.00,2.05,0.00,0.000,6,0.000,0.034,2512,2070,2107,0,0,0,0,0,0
$GC,13003,0.56,183.1,367.9,13.9,880,13007,0.00,2.25,0.00,0.000,4,0.000,0.045,2511,3536,2108,0,0,0,0,0,0
$GC,13065,0.56,183.1,358.6,15.0,885,13070,0.15,2.20,0.00,0.000,6,0.183,0.031,2480,2072,2107,0,0,0,0,0,0
$GC,13391,0.57,196.0,325.3,8.9,915,13406,0.00,2.30,8.68,0.676,4,0.000,0.042,2484,3526,2070,0,0,0,0,0,0
$GC,13470,0.57,196.0,317.6,10.3,922,13474,0.00,2.17,0.00,0.000,6,0.000,0.031,2493,2084,2071,0,0,0,0,0,0
$GC,13795,0.57,196.0,285.1,10.8,952,13799,0.00,2.08,0.00,0.000,4,0.000,0.041,2503,722,2070,0,0,0,0,0,0
$GC,13973,0.57,196.0,265.2,11.1,968,13977,0.00,2.08,0.00,0.000,6,0.000,0.034,2503,2077,2070,0,0,0,0,0,0
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$GC,16492,1.00,546.0,28.2,6.6,1367,16552,0.15,2.17,48.25,0.457,4,0.086,0.037,2627,727,641,0,0,0,0,0,0
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$STATE,16763,end climb,SURFACE_DEPTH_REACHED
$STATE,16763,begin surface coast
$FINISH,0.0,1.019772
$STATE,16795,end surface coast,CONTROL_FINISHED_OK
$STATE,16795,begin surface
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$IRIDIUM_FIX,1950.41,11956.07,300611,232323
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.97
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.00
$XPDR_PINGS,0
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$10V_AH,10.2,17.995
$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
$DEVICE_SECS,16.100,175.475,540.975,0.000,0.000,30.417,40.558,181.409,0.000,0.000,12.844,3411.915,9213.598,598.580,3667.352,355.803,0.000,2072.255,0.000,2509.033,0.000,0.541,0.000
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$SENSOR_SECS,989.491,1498.137,1728.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
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$MEM,322696
$DATA_FILE_SIZE,97220,1420
$CAP_FILE_SIZE,182549,0
$CFSIZE,260165632,240943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,091837,1959.704,11949.962,29,1.0,29,-2.2