version: 66.09
glider: 181
mission: 6
dive: 801
start: 11 12 111 15 12 1
data:
$ID,181
$MISSION,6
$DIVE,801
$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,-8
$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,1
$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,-41875.441
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,121111,150500,2138.343,12022.817,39,1.3,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.8
$GPS2,121111,151137,2138.348,12022.716,12,1.3,12,-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,290.1,40970,-14.3,-10.312
$D_GRID,1339
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-66.90,0.000,2,0.000,0.000,155,2496,2313,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-2.8,12,138,8.48,0.88,-33.38,0.000,4,0.220,0.070,2166,3030,3764,0,0,0,0,0,0
$GC,259,-0.45,-219.0,39.3,-23.2,41,266,0.20,0.77,0.00,0.000,6,0.142,0.024,2225,2481,3765,0,0,0,0,0,0
$GC,607,-0.38,-219.0,98.8,-17.0,102,614,0.00,0.85,0.00,0.000,4,0.000,0.036,2222,3031,3763,0,0,0,0,0,0
$GC,699,-0.36,-219.0,112.6,-13.5,118,707,0.10,0.75,0.00,0.000,6,0.112,0.024,2257,2495,3762,0,0,0,0,0,0
$GC,1051,-0.49,-219.0,148.9,-8.6,179,1059,0.12,0.82,0.00,0.000,4,0.080,0.036,2191,3026,3763,0,0,0,0,0,0
$GC,1151,-0.49,-219.0,159.8,-11.4,196,1158,0.00,0.73,0.00,0.000,6,0.000,0.025,2191,2501,3763,0,0,0,0,0,0
$GC,1499,-0.53,-219.0,195.0,-10.1,257,1506,0.00,0.82,0.00,0.000,4,0.000,0.036,2191,3030,3763,0,0,0,0,0,0
$GC,1615,-0.54,-219.0,205.8,-8.8,272,1619,0.00,0.73,0.00,0.000,6,0.000,0.024,2191,2507,3763,0,0,0,0,0,0
$GC,1947,-0.59,-219.0,232.9,-7.3,303,1950,0.00,0.70,0.00,0.000,4,0.000,0.024,2191,1967,3763,0,0,0,0,0,0
$GC,2020,-0.64,-219.0,238.4,-7.3,309,2027,0.00,0.80,0.00,0.000,6,0.000,0.033,2191,2499,3763,0,0,0,0,0,0
$GC,2347,-0.75,-219.0,263.1,-7.5,340,2351,0.17,0.75,0.00,0.000,4,0.062,0.027,2089,1962,3763,0,0,0,0,0,0
$GC,2374,-0.78,-219.0,265.6,-7.7,342,2382,0.08,0.80,0.00,0.000,6,0.131,0.032,2111,2492,3762,0,0,0,0,0,0
$GC,2700,-0.69,-219.0,302.0,-10.6,373,2705,0.15,0.82,0.00,0.000,4,0.148,0.038,2151,3021,3761,0,0,0,0,0,0
$GC,2771,-0.64,-219.0,307.9,-8.0,379,2775,0.00,0.73,0.00,0.000,6,0.000,0.024,2151,2501,3761,0,0,0,0,0,0
$GC,3105,-0.68,-219.0,333.1,-8.7,410,3108,0.00,0.80,0.00,0.000,4,0.000,0.037,2148,3022,3758,0,0,0,0,0,0
$GC,3198,-0.68,-219.0,341.9,-9.5,418,3201,0.00,0.73,0.00,0.000,6,0.000,0.024,2148,2505,3757,0,0,0,0,0,0
$GC,3529,-0.74,-219.0,375.2,-10.4,449,3533,0.00,0.73,0.00,0.000,4,0.000,0.026,2148,1959,3755,0,0,0,0,0,0
$GC,3578,-0.76,-219.0,379.7,-9.6,453,3581,0.00,0.82,0.00,0.000,6,0.000,0.034,2144,2500,3754,0,0,0,0,0,0
$GC,3910,-0.79,-219.0,403.6,-5.7,484,3913,0.00,0.73,0.00,0.000,4,0.000,0.025,2144,1973,3752,0,0,0,0,0,0
$GC,3969,-0.81,-219.0,407.2,-6.3,489,3973,0.00,0.80,0.00,0.000,6,0.000,0.034,2141,2500,3751,0,0,0,0,0,0
$GC,4301,-0.85,-219.0,433.3,-9.6,520,4305,0.12,0.75,0.00,0.000,4,0.078,0.028,2072,1973,3749,0,0,0,0,0,0
$GC,4395,-0.74,-219.0,446.1,-15.5,528,4403,0.20,0.80,0.00,0.000,6,0.122,0.036,2131,2491,3748,0,0,0,0,0,0
$GC,4721,-0.75,-219.0,485.2,-11.5,559,4725,0.00,0.73,0.00,0.000,4,0.000,0.027,2131,1970,3746,0,0,0,0,0,0
$GC,4854,-0.77,-219.0,498.9,-9.7,570,4860,0.00,0.82,0.00,0.000,6,0.000,0.036,2129,2505,3744,0,0,0,0,0,0
$GC,5182,-0.80,-219.0,520.9,-5.8,587,5185,0.00,0.75,0.00,0.000,4,0.000,0.026,2129,1965,3741,0,0,0,0,0,0
$GC,5284,-0.82,-219.0,527.2,-6.3,591,5288,0.00,0.82,0.00,0.000,6,0.000,0.036,2126,2500,3740,0,0,0,0,0,0
$GC,5607,-0.83,-219.0,557.3,-11.1,607,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3738,0,0,0,0,0,0
$GC,5917,-0.86,-219.0,596.2,-12.6,622,5921,0.00,0.80,0.00,0.000,4,0.000,0.042,2125,3021,3735,0,0,0,0,0,0
$GC,5963,-0.86,-219.0,602.0,-12.2,624,5967,0.00,0.75,0.00,0.000,6,0.000,0.026,2125,2504,3735,0,0,0,0,0,0
$GC,6297,-0.87,-219.0,638.9,-10.1,640,6300,0.00,0.82,0.00,0.000,4,0.000,0.041,2125,3024,3733,0,0,0,0,0,0
$GC,6315,-0.89,-219.0,640.7,-9.9,640,6324,0.08,0.77,0.00,0.000,6,0.054,0.027,2072,2491,3732,0,0,0,0,0,0
$GC,6632,-0.77,-219.0,682.1,-13.6,656,6636,0.17,0.88,0.00,0.000,4,0.147,0.041,2118,3024,3730,0,0,0,0,0,0
$GC,6679,-0.70,-219.0,687.2,-10.9,658,6683,0.00,0.77,0.00,0.000,6,0.000,0.027,2118,2494,3730,0,0,0,0,0,0
$GC,7013,-0.65,-219.0,716.1,-8.0,674,7018,0.17,0.88,0.00,0.000,4,0.139,0.041,2166,3022,3728,0,0,0,0,0,0
$GC,7030,-0.61,-219.0,717.6,-8.4,674,7037,0.00,0.77,0.00,0.000,6,0.000,0.027,2166,2491,3728,0,0,0,0,0,0
$GC,7348,-0.69,-219.0,741.8,-7.6,690,7352,0.00,0.70,0.00,0.000,4,0.000,0.028,2166,1978,3726,0,0,0,0,0,0
$GC,7382,-0.77,-219.0,744.5,-7.3,691,7386,0.10,0.82,0.00,0.000,6,0.049,0.037,2102,2501,3726,0,0,0,0,0,0
$GC,7706,-0.76,-219.0,776.1,-10.9,707,7710,0.00,0.75,0.00,0.000,4,0.000,0.028,2102,1973,3724,0,0,0,0,0,0
$GC,7790,-0.69,-219.0,786.4,-12.3,710,7797,0.15,0.82,0.00,0.000,6,0.122,0.038,2145,2496,3723,0,0,0,0,0,0
$GC,8108,-0.75,-219.0,820.2,-11.4,726,8112,0.00,0.75,0.00,0.000,4,0.000,0.028,2146,1972,3722,0,0,0,0,0,0
$GC,8222,-0.80,-219.0,833.3,-11.2,731,8226,0.00,0.82,0.00,0.000,6,0.000,0.038,2144,2500,3721,0,0,0,0,0,0
$GC,8557,-0.85,-219.0,869.6,-9.9,747,8562,0.12,0.85,0.00,0.000,4,0.084,0.044,2079,3032,3720,0,0,0,0,0,0
$GC,8652,-0.76,-219.0,883.3,-15.7,751,8657,0.15,0.77,0.00,0.000,6,0.132,0.028,2125,2515,3719,0,0,0,0,0,0
$GC,8984,-0.72,-219.0,920.7,-11.2,767,8987,0.00,0.75,0.00,0.000,4,0.000,0.030,2125,1976,3717,0,0,0,0,0,0
$GC,9057,-0.69,-219.0,930.4,-12.0,770,9061,0.00,0.82,0.00,0.000,6,0.000,0.039,2125,2497,3717,0,0,0,0,0,0
$GC,9385,-0.65,-219.0,963.3,-9.8,786,9389,0.15,0.77,0.00,0.000,4,0.148,0.031,2167,1977,3715,0,0,0,0,0,0
$GC,9414,-0.65,-219.0,965.6,-8.9,787,9418,0.00,0.82,0.00,0.000,6,0.000,0.038,2166,2500,3716,0,0,0,0,0,0
$GC,9743,-0.75,-219.0,989.9,-7.9,803,9747,0.00,0.75,0.00,0.000,4,0.000,0.030,2165,1978,3713,0,0,0,0,0,0
$STATE,9751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9751,begin apogee
$GC,9759,-0.19,0.0,991.1,8.1,803,9944,0.43,0.00,178.77,1.047,6,0.080,0.000,2318,2125,2868,0,0,0,0,0,0
$STATE,9945,end apogee,CONTROL_FINISHED_OK
$STATE,9945,begin climb
$GC,9948,0.61,219.0,1005.4,0.0,812,10153,0.75,0.88,196.88,1.029,4,0.044,0.036,2585,2607,1976,0,0,0,0,0,0
$GC,10176,0.49,219.0,995.4,10.7,823,10180,0.20,0.82,0.00,0.000,6,0.151,0.028,2539,2126,1976,0,0,0,0,0,0
$GC,10506,0.43,222.4,963.6,10.2,839,10516,0.00,0.82,4.70,0.704,4,0.000,0.034,2539,2609,1962,0,0,0,0,0,0
$GC,10568,0.37,222.4,956.2,11.5,841,10575,0.15,0.85,0.00,0.000,6,0.142,0.028,2501,2094,1961,0,0,0,0,0,0
$GC,10885,0.40,244.4,925.2,9.6,857,10908,0.00,0.00,20.38,0.941,6,0.000,0.000,2501,2094,1872,0,0,0,0,0,0
$GC,11214,0.41,244.4,891.4,10.8,873,11217,0.00,0.82,0.00,0.000,4,0.000,0.033,2503,1572,1870,0,0,0,0,0,0
$GC,11306,0.41,244.4,881.3,10.8,877,11310,0.00,0.85,0.00,0.000,6,0.000,0.030,2503,2093,1870,0,0,0,0,0,0
$GC,11640,0.42,244.4,843.5,11.1,893,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2093,1869,0,0,0,0,0,0
$GC,11950,0.44,244.4,809.3,10.7,908,11954,0.00,0.80,0.00,0.000,4,0.000,0.033,2506,1574,1869,0,0,0,0,0,0
$GC,11974,0.45,244.4,806.7,10.7,909,11978,0.00,0.82,0.00,0.000,6,0.000,0.031,2506,2097,1869,0,0,0,0,0,0
$GC,12309,0.56,328.6,777.6,7.6,925,12383,0.15,0.93,69.78,0.910,4,0.079,0.036,2569,2622,1529,0,0,0,0,0,0
$GC,12438,0.53,343.6,764.9,9.8,930,12458,0.00,0.88,14.93,0.811,6,0.000,0.029,2572,2096,1468,0,0,0,0,0,0
$GC,12790,0.49,343.6,728.4,10.6,947,12792,0.15,0.00,0.00,0.000,6,0.139,0.000,2532,2096,1471,0,0,0,0,0,0
$GC,13096,0.69,466.2,706.5,6.4,962,13210,0.20,0.95,104.82,0.861,4,0.069,0.033,2619,2621,968,0,0,0,0,0,0
$GC,13341,0.64,466.2,678.4,12.6,973,13346,0.12,0.88,0.00,0.000,6,0.135,0.029,2588,2098,972,0,0,0,0,0,0
$GC,13672,0.69,469.3,645.1,10.2,989,13682,0.00,0.82,5.80,0.639,4,0.000,0.031,2587,2629,954,0,0,0,0,0,0
$GC,13743,0.68,469.3,637.0,11.6,992,13746,0.00,0.85,0.00,0.000,6,0.000,0.029,2589,2092,954,0,0,0,0,0,0
$GC,14078,0.78,501.3,605.1,9.3,1008,14110,0.12,0.93,27.42,0.786,4,0.083,0.033,2648,2629,825,0,0,0,0,0,0
$GC,14177,0.71,501.3,592.5,14.1,1012,14185,0.15,0.85,0.00,0.000,6,0.134,0.030,2608,2107,826,0,0,0,0,0,0
$GC,14495,0.75,501.3,560.1,10.4,1028,14499,0.00,0.82,0.00,0.000,4,0.000,0.033,2608,2633,830,0,0,0,0,0,0
$GC,14512,0.81,510.9,558.2,10.0,1028,14527,0.00,0.85,10.90,0.697,6,0.000,0.031,2609,2093,785,0,0,0,0,0,0
$GC,14854,0.86,510.9,523.6,10.6,1045,14858,0.12,0.82,0.00,0.000,4,0.087,0.037,2672,1572,789,0,0,0,0,0,0
$GC,14899,0.86,510.9,517.9,12.2,1047,14903,0.00,0.82,0.00,0.000,6,0.000,0.029,2672,2099,789,0,0,0,0,0,0
$GC,15233,0.85,510.9,472.3,13.7,1071,15237,0.00,0.80,0.00,0.000,4,0.000,0.036,2672,2621,789,0,0,0,0,0,0
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$STATE,19126,end climb,SURFACE_DEPTH_REACHED
$STATE,19126,begin surface coast
$FINISH,0.6,1.011909
$STATE,19156,end surface coast,CONTROL_FINISHED_OK
$STATE,19156,begin surface
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$HUMID,50.94
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$TCM_TEMP,25.30
$XPDR_PINGS,1278
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$10V_AH,8.2,94.407
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,321664
$DATA_FILE_SIZE,90324,1573
$CAP_FILE_SIZE,211919,0
$CFSIZE,260165632,179146752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121111,203354,2138.624,12022.809,39,1.1,39,-2.6