version: 66.09
glider: 181
mission: 6
dive: 291
start: 8 4 111 9 19 30
data:
$ID,181
$MISSION,6
$DIVE,291
$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,-40885.703
$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,51
$R_STBD_OVSHOOT,64
$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,11.0
$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
$GPS1,040811,090537,2030.733,11959.010,41,0.9,41,-2.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.2
$GPS2,040811,091902,2030.619,11959.104,9,1.8,9,-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,11.2,10086,-15.4,-11.786
$D_GRID,3368
$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,-243.3,0.0,0.0,0,94,0.00,0.00,-68.50,0.000,2,0.000,0.000,189,2644,2396,0,0,0,0,0,0
$GC,97,-0.56,-243.3,3.3,-3.7,11,142,7.97,2.17,-28.95,0.000,4,0.228,0.036,2130,1181,3864,0,0,0,0,0,0
$GC,208,-0.56,-243.3,39.4,-25.0,29,215,0.00,2.15,0.00,0.000,6,0.000,0.037,2125,2572,3865,0,0,0,0,0,0
$GC,349,-0.56,-243.3,88.2,-24.9,54,356,0.00,1.90,0.00,0.000,4,0.000,0.041,2115,3786,3864,0,0,0,0,0,0
$GC,436,-0.56,-243.3,106.1,-16.2,69,443,0.00,1.65,0.00,0.000,6,0.000,0.023,2114,2658,3864,0,0,0,0,0,0
$GC,575,-0.56,-243.3,136.8,-26.7,94,583,0.00,1.77,0.00,0.000,4,0.000,0.041,2106,3783,3864,0,0,0,0,0,0
$GC,600,-0.56,-243.3,144.1,-28.9,98,608,0.10,1.62,0.00,0.000,6,0.159,0.023,2136,2699,3864,0,0,0,0,0,0
$GC,745,-0.56,-243.3,174.3,-20.0,123,752,0.00,2.20,0.00,0.000,4,0.000,0.025,2136,1187,3865,0,0,0,0,0,0
$GC,820,-0.56,-243.3,189.2,-17.2,136,828,0.00,2.35,0.00,0.000,6,0.000,0.032,2136,2707,3866,0,0,0,0,0,0
$GC,965,-0.56,-243.3,217.0,-19.1,154,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2707,3866,0,0,0,0,0,0
$GC,1285,-0.56,-243.3,261.9,-9.4,184,1289,0.00,2.25,0.00,0.000,4,0.000,0.026,2136,1183,3866,0,0,0,0,0,0
$GC,1336,-0.56,-243.3,266.3,-7.9,188,1340,0.00,2.33,0.00,0.000,6,0.000,0.032,2136,2715,3866,0,0,0,0,0,0
$GC,1661,-0.56,-243.3,299.1,-12.0,218,1665,0.00,2.25,0.00,0.000,4,0.000,0.027,2136,1196,3863,0,0,0,0,0,0
$GC,1694,-0.56,-243.3,303.3,-12.1,220,1701,0.00,2.28,0.00,0.000,6,0.000,0.033,2136,2690,3862,0,0,0,0,0,0
$GC,2020,-0.56,-243.3,342.0,-11.1,251,2024,0.00,2.22,0.00,0.000,4,0.000,0.028,2136,1196,3859,0,0,0,0,0,0
$GC,2041,-0.56,-243.3,344.4,-10.7,252,2048,0.00,2.28,0.00,0.000,6,0.000,0.034,2136,2685,3859,0,0,0,0,0,0
$GC,2367,-0.56,-243.3,378.1,-11.5,283,2371,0.00,1.67,0.00,0.000,4,0.000,0.044,2135,3790,3856,0,0,0,0,0,0
$GC,2428,-0.56,-243.3,385.0,-10.1,288,2435,0.00,1.67,0.00,0.000,6,0.000,0.023,2135,2656,3855,0,0,0,0,0,0
$GC,2754,-0.56,-243.3,424.6,-11.3,319,2758,0.00,2.15,0.00,0.000,4,0.000,0.028,2135,1196,3853,0,0,0,0,0,0
$GC,2832,-0.56,-243.3,432.5,-8.9,325,2839,0.00,2.22,0.00,0.000,6,0.000,0.034,2128,2663,3852,0,0,0,0,0,0
$GC,3158,-0.56,-243.3,459.7,-8.0,356,3162,0.00,2.22,0.00,0.000,4,0.000,0.028,2128,1186,3848,0,0,0,0,0,0
$GC,3181,-0.56,-243.3,461.7,-8.2,358,3185,0.00,2.25,0.00,0.000,6,0.000,0.035,2127,2657,3849,0,0,0,0,0,0
$GC,3507,-0.56,-243.3,489.7,-9.1,388,3510,0.00,1.73,0.00,0.000,4,0.000,0.046,2125,3785,3845,0,0,0,0,0,0
$GC,3545,-0.56,-243.3,493.1,-9.1,391,3552,0.00,1.70,0.00,0.000,6,0.000,0.024,2125,2652,3844,0,0,0,0,0,0
$GC,3875,-0.56,-243.3,528.1,-11.8,411,3879,0.00,2.15,0.00,0.000,4,0.000,0.029,2125,1199,3842,0,0,0,0,0,0
$GC,3919,-0.56,-243.3,533.0,-10.8,413,3923,0.00,2.22,0.00,0.000,6,0.000,0.035,2125,2651,3841,0,0,0,0,0,0
$GC,4240,-0.56,-243.3,569.6,-12.2,429,4243,0.00,1.73,0.00,0.000,4,0.000,0.047,2124,3780,3838,0,0,0,0,0,0
$GC,4268,-0.56,-243.3,573.1,-11.7,430,4272,0.00,1.67,0.00,0.000,6,0.000,0.025,2124,2640,3838,0,0,0,0,0,0
$GC,4595,-0.56,-243.3,611.8,-12.1,446,4599,0.00,2.12,0.00,0.000,4,0.000,0.029,2124,1204,3835,0,0,0,0,0,0
$GC,4658,-0.56,-243.3,618.5,-10.2,449,4662,0.00,2.20,0.00,0.000,6,0.000,0.035,2124,2638,3835,0,0,0,0,0,0
$GC,4990,-0.56,-243.3,652.7,-10.3,465,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2638,3831,0,0,0,0,0,0
$GC,5300,-0.56,-243.3,685.6,-10.5,480,5304,0.00,2.15,0.00,0.000,4,0.000,0.029,2124,1204,3830,0,0,0,0,0,0
$GC,5345,-0.56,-243.3,690.1,-10.1,482,5349,0.00,2.17,0.00,0.000,6,0.000,0.035,2124,2625,3830,0,0,0,0,0,0
$GC,5666,-0.56,-243.3,721.0,-9.5,498,5670,0.00,1.77,0.00,0.000,4,0.000,0.047,2124,3775,3827,0,0,0,0,0,0
$GC,5690,-0.56,-243.3,723.4,-9.5,499,5694,0.00,1.70,0.00,0.000,6,0.000,0.026,2124,2619,3827,0,0,0,0,0,0
$GC,6023,-0.56,-243.3,755.7,-9.6,515,6027,0.00,2.12,0.00,0.000,4,0.000,0.031,2124,1193,3825,0,0,0,0,0,0
$GC,6068,-0.56,-243.3,759.8,-8.7,517,6072,0.00,2.20,0.00,0.000,6,0.000,0.036,2123,2615,3824,0,0,0,0,0,0
$GC,6390,-0.56,-243.3,787.3,-8.5,533,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2617,3823,0,0,0,0,0,0
$GC,6699,-0.56,-243.3,811.6,-7.4,548,6703,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1204,3821,0,0,0,0,0,0
$GC,6722,-0.56,-243.3,813.3,-7.4,549,6727,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2606,3821,0,0,0,0,0,0
$GC,7050,-0.56,-243.3,834.4,-6.5,565,7054,0.00,1.83,0.00,0.000,4,0.000,0.048,2121,3783,3818,0,0,0,0,0,0
$GC,7078,-0.56,-243.3,836.7,-6.5,566,7081,0.00,1.75,0.00,0.000,6,0.000,0.026,2121,2601,3819,0,0,0,0,0,0
$GC,7406,-0.56,-243.3,859.8,-7.1,582,7410,0.00,2.10,0.00,0.000,4,0.000,0.031,2121,1196,3817,0,0,0,0,0,0
$GC,7455,-0.56,-243.3,863.4,-6.8,584,7459,0.00,2.17,0.00,0.000,6,0.000,0.036,2114,2602,3817,0,0,0,0,0,0
$GC,7777,-0.56,-243.3,887.5,-7.8,600,7781,0.00,1.85,0.00,0.000,4,0.000,0.050,2112,3787,3816,0,0,0,0,0,0
$GC,7811,-0.56,-243.3,890.1,-7.8,601,7815,0.00,1.77,0.00,0.000,6,0.000,0.027,2112,2589,3815,0,0,0,0,0,0
$GC,8133,-0.56,-243.3,917.3,-9.4,617,8137,0.00,2.08,0.00,0.000,4,0.000,0.031,2111,1200,3814,0,0,0,0,0,0
$GC,8174,-0.56,-243.3,921.1,-9.1,619,8178,0.00,2.17,0.00,0.000,6,0.000,0.037,2112,2600,3814,0,0,0,0,0,0
$GC,8502,-0.56,-243.3,953.6,-10.6,635,8505,0.00,1.85,0.00,0.000,4,0.000,0.050,2112,3784,3812,0,0,0,0,0,0
$GC,8540,-0.56,-243.3,957.6,-9.6,636,8547,0.00,1.77,0.00,0.000,6,0.000,0.027,2112,2585,3811,0,0,0,0,0,0
$STATE,8854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8854,begin apogee
$GC,8861,-0.13,0.0,992.0,11.5,652,9050,0.47,0.00,183.30,1.100,4,0.113,0.000,2270,2119,2869,0,0,0,0,0,0
$STATE,9051,end apogee,CONTROL_FINISHED_OK
$STATE,9051,begin climb
$GC,9054,0.56,243.3,1007.3,0.0,661,9264,0.68,2.40,198.15,1.076,4,0.058,0.043,2512,3539,1876,0,0,0,0,0,0
$GC,9288,0.56,250.8,997.1,11.5,672,9303,0.00,2.33,8.12,0.850,6,0.000,0.026,2522,2119,1845,0,0,0,0,0,0
$GC,9621,0.56,250.8,956.9,12.5,688,9625,0.00,2.25,0.00,0.000,4,0.000,0.041,2522,3542,1842,0,0,0,0,0,0
$GC,9775,0.56,250.8,932.8,16.3,695,9779,0.00,2.20,0.00,0.000,6,0.000,0.028,2532,2106,1843,0,0,0,0,0,0
$GC,10101,0.56,250.8,873.9,19.1,711,10105,0.00,2.12,0.00,0.000,4,0.000,0.037,2543,711,1842,0,0,0,0,0,0
$GC,10180,0.56,250.8,858.6,19.1,714,10187,0.15,2.17,0.00,0.000,6,0.169,0.032,2504,2124,1841,0,0,0,0,0,0
$GC,10496,0.56,250.8,802.4,17.9,730,10500,0.00,2.22,0.00,0.000,4,0.000,0.044,2504,3539,1840,0,0,0,0,0,0
$GC,10539,0.56,250.8,793.7,19.2,732,10544,0.00,2.15,0.00,0.000,6,0.000,0.028,2512,2124,1841,0,0,0,0,0,0
$GC,10868,0.56,250.8,732.2,19.4,748,10872,0.00,2.15,0.00,0.000,4,0.000,0.038,2523,711,1840,0,0,0,0,0,0
$GC,10962,0.56,250.8,713.9,18.5,752,10966,0.00,2.15,0.00,0.000,6,0.000,0.032,2523,2116,1840,0,0,0,0,0,0
$GC,11285,0.56,250.8,654.9,17.8,768,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2116,1839,0,0,0,0,0,0
$GC,11594,0.56,250.8,609.4,13.2,783,11598,0.00,2.20,0.00,0.000,4,0.000,0.044,2523,3538,1840,0,0,0,0,0,0
$GC,11656,0.56,250.8,601.2,13.4,786,11660,0.00,2.20,0.00,0.000,6,0.000,0.028,2533,2084,1839,0,0,0,0,0,0
$GC,11984,0.61,287.4,564.6,10.6,802,12019,0.00,2.17,27.80,0.826,4,0.000,0.037,2543,723,1696,0,0,0,0,0,0
$GC,12116,0.63,303.4,549.7,11.3,808,12139,0.00,2.15,13.80,0.748,6,0.000,0.033,2543,2099,1631,0,0,0,0,0,0
$GC,12449,0.63,303.4,505.6,14.0,824,12453,0.00,2.25,0.00,0.000,4,0.000,0.044,2543,3541,1631,0,0,0,0,0,0
$GC,12481,0.63,303.4,500.2,15.6,825,12488,0.00,2.22,0.00,0.000,6,0.000,0.027,2553,2084,1631,0,0,0,0,0,0
$GC,12807,0.63,303.4,454.6,14.3,856,12811,0.00,2.08,0.00,0.000,4,0.000,0.037,2563,720,1631,0,0,0,0,0,0
$GC,12850,0.63,303.4,448.5,13.5,859,12858,0.15,2.12,0.00,0.000,6,0.161,0.032,2524,2080,1632,0,0,0,0,0,0
$GC,13176,0.63,303.4,410.5,12.2,890,13180,0.00,2.25,0.00,0.000,4,0.000,0.042,2524,3537,1632,0,0,0,0,0,0
$GC,13230,0.63,303.4,403.3,12.9,894,13237,0.00,2.20,0.00,0.000,6,0.000,0.027,2532,2087,1632,0,0,0,0,0,0
$GC,13556,0.63,303.4,360.7,14.2,925,13560,0.00,2.08,0.00,0.000,4,0.000,0.037,2543,716,1632,0,0,0,0,0,0
$GC,13585,0.63,303.4,356.7,13.8,927,13589,0.00,2.12,0.00,0.000,6,0.000,0.031,2543,2108,1632,0,0,0,0,0,0
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$STATE,16307,end climb,SURFACE_DEPTH_REACHED
$STATE,16307,begin surface coast
$FINISH,0.1,1.008109
$STATE,16329,end surface coast,CONTROL_FINISHED_OK
$STATE,16329,begin surface
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$IRIDIUM_FIX,2020.26,12003.80,040811,090928
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.76
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.1,46.446
$10V_AH,10.0,44.317
$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,16.975,182.050,656.950,0.000,0.000,80.354,147.550,270.942,0.000,0.000,12.224,3108.647,9867.642,738.475,3106.704,385.567,0.000,2101.584,0.000,2538.021,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,49.725,1100.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,906.082,0.000,592.915,0.000,0.000,0.000,934.263,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,322992
$DATA_FILE_SIZE,76965,1303
$CAP_FILE_SIZE,185620,0
$CFSIZE,260165632,223973376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040811,135407,2032.941,12001.554,32,1.3,32,-2.3