version: 66.09
glider: 181
mission: 6
dive: 283
start: 8 2 111 23 56 36
data:
$ID,181
$MISSION,6
$DIVE,283
$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,250
$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,-40875.641
$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,2320
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,35
$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,1
$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,3.0
$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
$GPS1,020811,234936,2031.511,12001.822,25,1.3,25,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.1
$GPS2,020811,235608,2031.463,12001.765,12,1.3,12,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$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,342.3,8943,-15.4,-11.786
$D_GRID,3385
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.56,-243.3,0.0,0.0,0,90,0.00,0.00,-65.45,0.000,2,0.000,0.000,206,2563,2293,0,0,0,0,0,0
$GC,94,-0.56,-243.3,3.1,-3.3,10,142,7.88,1.92,-32.65,0.000,4,0.227,0.054,2126,3783,3862,0,0,0,0,0,0
$GC,208,-0.56,-243.3,47.3,-52.5,29,215,0.00,1.75,0.00,0.000,6,0.000,0.023,2125,2617,3863,0,0,0,0,0,0
$GC,340,-0.56,-243.3,95.6,-31.8,54,348,0.00,1.85,0.00,0.000,4,0.000,0.045,2116,3776,3863,0,0,0,0,0,0
$GC,408,-0.56,-243.3,116.1,-31.7,66,415,0.00,1.62,0.00,0.000,6,0.000,0.023,2116,2695,3864,0,0,0,0,0,0
$GC,541,-0.56,-243.3,152.9,-26.3,91,548,0.00,2.22,0.00,0.000,4,0.000,0.025,2116,1196,3863,0,0,0,0,0,0
$GC,607,-0.56,-243.3,167.0,-18.1,103,614,0.00,2.33,0.00,0.000,6,0.000,0.035,2111,2683,3864,0,0,0,0,0,0
$GC,751,-0.56,-243.3,204.5,-26.1,128,754,0.00,1.65,0.00,0.000,4,0.000,0.041,2103,3780,3865,0,0,0,0,0,0
$GC,774,-0.56,-243.3,210.9,-25.9,130,778,0.08,1.60,0.00,0.000,6,0.135,0.023,2137,2692,3865,0,0,0,0,0,0
$GC,1106,-0.56,-243.3,246.4,-3.7,161,1110,0.00,2.17,0.00,0.000,4,0.000,0.026,2137,1200,3865,0,0,0,0,0,0
$GC,1180,-0.56,-243.3,246.5,-2.8,167,1184,0.00,2.28,0.00,0.000,6,0.000,0.032,2137,2700,3866,0,0,0,0,0,0
$GC,1511,-0.56,-243.3,278.0,-15.5,198,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2702,3864,0,0,0,0,0,0
$GC,1832,-0.56,-243.3,329.4,-13.6,228,1835,0.00,1.62,0.00,0.000,4,0.000,0.043,2131,3780,3861,0,0,0,0,0,0
$GC,1855,-0.56,-243.3,332.6,-12.8,230,1858,0.00,1.62,0.00,0.000,6,0.000,0.024,2131,2693,3860,0,0,0,0,0,0
$GC,2186,-0.56,-243.3,376.2,-12.5,261,2190,0.00,2.20,0.00,0.000,4,0.000,0.028,2131,1196,3859,0,0,0,0,0,0
$GC,2253,-0.56,-243.3,383.3,-9.1,266,2260,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2685,3858,0,0,0,0,0,0
$GC,2578,-0.56,-243.3,422.1,-13.6,297,2582,0.00,1.67,0.00,0.000,4,0.000,0.045,2125,3786,3855,0,0,0,0,0,0
$GC,2602,-0.56,-243.3,425.6,-14.7,299,2606,0.00,1.62,0.00,0.000,6,0.000,0.024,2125,2698,3854,0,0,0,0,0,0
$GC,2932,-0.56,-243.3,474.7,-13.8,330,2936,0.00,2.20,0.00,0.000,4,0.000,0.028,2125,1206,3852,0,0,0,0,0,0
$GC,2977,-0.56,-243.3,480.3,-11.7,333,2984,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2692,3852,0,0,0,0,0,0
$GC,3310,-0.56,-243.3,514.0,-8.9,358,3314,0.00,1.65,0.00,0.000,4,0.000,0.046,2124,3776,3849,0,0,0,0,0,0
$GC,3334,-0.56,-243.3,515.9,-8.0,359,3338,0.00,1.62,0.00,0.000,6,0.000,0.025,2125,2692,3848,0,0,0,0,0,0
$GC,3668,-0.56,-243.3,532.2,-4.5,375,3672,0.00,2.20,0.00,0.000,4,0.000,0.029,2125,1208,3844,0,0,0,0,0,0
$GC,3746,-0.56,-243.3,535.2,-4.2,378,3752,0.00,2.25,0.00,0.000,6,0.000,0.034,2124,2673,3844,0,0,0,0,0,0
$GC,4064,-0.56,-243.3,555.7,-7.8,394,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2674,3841,0,0,0,0,0,0
$GC,4371,-0.56,-243.3,582.9,-9.1,409,4375,0.00,2.22,0.00,0.000,4,0.000,0.030,2125,1200,3838,0,0,0,0,0,0
$GC,4403,-0.56,-243.3,586.0,-9.4,410,4410,0.00,2.25,0.00,0.000,6,0.000,0.036,2125,2667,3838,0,0,0,0,0,0
$GC,4720,-0.56,-243.3,615.6,-10.2,426,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2667,3836,0,0,0,0,0,0
$GC,5029,-0.56,-243.3,651.2,-11.9,441,5033,0.00,2.20,0.00,0.000,4,0.000,0.030,2124,1203,3833,0,0,0,0,0,0
$GC,5084,-0.56,-243.3,657.7,-10.6,443,5091,0.00,2.25,0.00,0.000,6,0.000,0.036,2124,2664,3833,0,0,0,0,0,0
$GC,5401,-0.56,-243.3,699.4,-14.4,459,5405,0.00,2.20,0.00,0.000,4,0.000,0.031,2125,1203,3831,0,0,0,0,0,0
$GC,5433,-0.56,-243.3,704.4,-14.3,460,5440,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2651,3830,0,0,0,0,0,0
$GC,5750,-0.56,-243.3,750.9,-14.9,476,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2651,3829,0,0,0,0,0,0
$GC,6059,-0.56,-243.3,795.7,-14.3,491,6063,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1210,3827,0,0,0,0,0,0
$GC,6080,-0.56,-243.3,799.1,-14.0,492,6084,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2643,3826,0,0,0,0,0,0
$GC,6408,-0.56,-243.3,842.5,-13.1,508,6412,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1203,3825,0,0,0,0,0,0
$GC,6436,-0.56,-243.3,846.2,-12.3,509,6440,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2638,3825,0,0,0,0,0,0
$GC,6752,-0.56,-243.3,880.9,-11.0,524,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2639,3824,0,0,0,0,0,0
$GC,7062,-0.56,-243.3,915.3,-11.5,539,7066,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1199,3822,0,0,0,0,0,0
$GC,7102,-0.56,-243.3,920.0,-12.2,541,7106,0.00,2.22,0.00,0.000,6,0.000,0.037,2124,2632,3822,0,0,0,0,0,0
$GC,7429,-0.56,-243.3,961.0,-13.3,557,7432,0.00,1.77,0.00,0.000,4,0.000,0.050,2124,3776,3819,0,0,0,0,0,0
$GC,7452,-0.56,-243.3,964.1,-13.6,558,7456,0.00,1.70,0.00,0.000,6,0.000,0.026,2124,2627,3819,0,0,0,0,0,0
$STATE,7659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7659,begin apogee
$GC,7665,-0.13,0.0,991.0,12.9,568,7856,0.43,0.00,184.45,1.091,4,0.106,0.000,2270,2108,2869,0,0,0,0,0,0
$STATE,7857,end apogee,CONTROL_FINISHED_OK
$STATE,7857,begin climb
$GC,7860,0.56,243.3,1009.4,0.0,577,8068,0.68,2.40,197.65,1.068,4,0.060,0.041,2510,3542,1877,0,0,0,0,0,0
$GC,8097,0.56,243.3,998.4,12.2,588,8101,0.00,2.28,0.00,0.000,6,0.000,0.026,2519,2145,1876,0,0,0,0,0,0
$GC,8419,0.56,243.3,953.9,15.0,604,8423,0.00,2.20,0.00,0.000,4,0.000,0.035,2530,716,1873,0,0,0,0,0,0
$GC,8452,0.56,243.3,948.4,15.4,605,8460,0.12,2.17,0.00,0.000,6,0.163,0.031,2498,2118,1873,0,0,0,0,0,0
$GC,8769,0.56,243.3,906.0,13.2,621,8773,0.00,2.20,0.00,0.000,4,0.000,0.042,2498,3538,1872,0,0,0,0,0,0
$GC,8832,0.56,243.3,896.7,15.0,624,8836,0.00,2.15,0.00,0.000,6,0.000,0.027,2507,2123,1872,0,0,0,0,0,0
$GC,9159,0.56,243.3,849.5,14.5,640,9163,0.00,2.12,0.00,0.000,4,0.000,0.036,2517,722,1873,0,0,0,0,0,0
$GC,9209,0.56,243.3,842.0,14.3,642,9213,0.00,2.15,0.00,0.000,6,0.000,0.032,2517,2125,1874,0,0,0,0,0,0
$GC,9525,0.56,243.3,794.9,14.5,657,9529,0.00,2.22,0.00,0.000,4,0.000,0.043,2517,3537,1872,0,0,0,0,0,0
$GC,9564,0.56,243.3,789.0,15.1,659,9568,0.00,2.12,0.00,0.000,6,0.000,0.027,2527,2129,1873,0,0,0,0,0,0
$GC,9892,0.56,243.3,744.0,13.2,675,9896,0.00,2.15,0.00,0.000,4,0.000,0.037,2537,710,1872,0,0,0,0,0,0
$GC,9999,0.56,243.3,729.6,13.5,680,10004,0.15,2.15,0.00,0.000,6,0.163,0.032,2497,2120,1872,0,0,0,0,0,0
$GC,10326,0.56,243.3,689.4,12.6,696,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2121,1872,0,0,0,0,0,0
$GC,10635,0.56,243.3,650.6,12.5,711,10639,0.00,2.20,0.00,0.000,4,0.000,0.043,2498,3544,1871,0,0,0,0,0,0
$GC,10720,0.56,243.3,639.3,13.8,715,10724,0.00,2.15,0.00,0.000,6,0.000,0.028,2506,2115,1871,0,0,0,0,0,0
$GC,11048,0.65,318.6,603.6,9.3,731,11112,0.00,2.20,56.58,0.849,4,0.000,0.035,2517,717,1570,0,0,0,0,0,0
$GC,11168,0.77,420.7,592.6,8.5,736,11255,0.15,2.17,78.15,0.821,6,0.085,0.031,2580,2103,1154,0,0,0,0,0,0
$GC,11571,0.77,420.7,534.6,13.9,756,11575,0.00,2.25,0.00,0.000,4,0.000,0.044,2580,3534,1161,0,0,0,0,0,0
$GC,11707,0.77,420.7,515.9,12.9,762,11711,0.00,2.15,0.00,0.000,6,0.000,0.026,2590,2121,1160,0,0,0,0,0,0
$GC,12035,0.82,460.6,479.3,10.5,787,12073,0.00,2.28,32.65,0.759,4,0.000,0.041,2590,3541,990,0,0,0,0,0,0
$GC,12122,0.83,463.9,469.5,11.7,794,12134,0.00,2.15,4.75,0.516,6,0.000,0.027,2601,2151,977,0,0,0,0,0,0
$GC,12453,0.83,463.9,420.1,17.3,825,12457,0.00,2.17,0.00,0.000,4,0.000,0.043,2601,3535,976,0,0,0,0,0,0
$GC,12493,0.83,463.9,412.5,19.4,828,12497,0.00,2.08,0.00,0.000,6,0.000,0.025,2611,2164,976,0,0,0,0,0,0
$GC,12818,0.83,463.9,349.2,21.0,858,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2164,976,0,0,0,0,0,0
$GC,13138,0.83,463.9,265.6,29.6,888,13139,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2164,976,0,0,0,0,0,0
$GC,13453,0.83,463.9,183.6,16.5,926,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2164,976,0,0,0,0,0,0
$GC,13586,0.83,463.9,166.7,11.8,951,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2164,976,0,0,0,0,0,0
$GC,13718,0.83,463.9,148.4,15.8,976,13725,0.00,2.22,0.00,0.000,4,0.000,0.034,2621,715,976,0,0,0,0,0,0
$GC,13758,0.83,463.9,141.2,18.1,983,13766,0.10,2.30,0.00,0.000,6,0.113,0.032,2585,2196,976,0,0,0,0,0,0
$GC,13895,0.83,463.9,119.0,14.2,1008,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2197,976,0,0,0,0,0,0
$GC,14028,1.06,656.5,108.2,5.5,1033,14137,0.22,2.17,95.82,0.513,4,0.063,0.041,2682,3535,440,0,0,0,0,0,0
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$GC,14666,1.06,656.5,27.0,12.1,1144,14674,0.00,2.22,1.30,0.080,4,0.000,0.034,2678,723,442,0,0,0,0,0,0
$GC,14703,1.06,656.5,22.2,11.9,1150,14712,0.00,2.25,2.22,0.164,6,0.000,0.027,2678,2188,440,0,0,0,0,0,0
$GC,14838,1.18,748.8,8.5,8.8,1175,14846,0.00,2.10,0.00,0.000,4,0.000,0.038,2678,3538,441,0,0,0,0,0,0
$GC,14869,1.26,813.5,5.4,9.7,1180,14878,0.08,2.08,2.12,0.142,6,0.050,0.026,2745,2178,440,0,0,0,0,0,0
$STATE,14889,end climb,SURFACE_DEPTH_REACHED
$STATE,14889,begin surface coast
$FINISH,0.2,1.020829
$STATE,14916,end surface coast,CONTROL_FINISHED_OK
$STATE,14916,begin surface
$SM_CCo,14993,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2020.26,11956.68,020811,191946
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.66
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.2,45.102
$10V_AH,10.0,43.282
$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
$DEVICE_SECS,16.575,148.400,661.025,0.000,0.000,30.601,21.891,167.913,0.500,0.000,14.839,2837.606,8723.723,705.964,2757.781,354.249,0.000,1959.191,0.000,2491.853,0.000,0.540,0.000
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$SENSOR_SECS,824.766,0.000,972.729,0.000,0.000,0.000,781.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,323016
$DATA_FILE_SIZE,70248,1188
$CAP_FILE_SIZE,162258,0
$CFSIZE,260165632,224698368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,040737,2031.723,12000.348,30,0.9,30,-2.3