version: 66.09
glider: 181
mission: 6
dive: 25
start: 6 15 111 14 41 50
data:
$ID,181
$MISSION,6
$DIVE,25
$N_DIVES,30
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,300
$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,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$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,500
$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,-39541.496
$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,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,150611,143507,2144.445,12001.087,39,1.0,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-71.8
$GPS2,150611,144125,2144.382,12001.277,11,1.5,16,-2.6
$SPEED_LIMITS,0.191,0.287
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,300.6,2477,-17.6,-11.000
$D_GRID,2348
$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,-0.65,-170.3,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,2,0.000,0.000,199,2636,2489,0,0,0,0,0,0
$GC,83,-0.65,-170.3,3.1,-4.4,8,122,7.95,2.25,-21.35,0.000,4,0.243,0.050,2116,1185,3566,0,0,0,0,0,0
$GC,279,-0.65,-170.3,61.7,-25.8,42,288,0.00,2.20,0.00,0.000,6,0.000,0.042,2111,2568,3568,0,0,0,0,0,0
$GC,480,-0.65,-170.3,123.8,-26.9,79,488,0.00,1.90,0.00,0.000,4,0.000,0.047,2102,3781,3569,0,0,0,0,0,0
$GC,509,-0.65,-170.3,130.7,-25.6,83,517,0.00,1.83,0.00,0.000,6,0.000,0.029,2102,2573,3569,0,0,0,0,0,0
$GC,710,-0.65,-170.3,183.3,-25.2,120,719,0.00,2.05,0.00,0.000,4,0.000,0.032,2102,1200,3570,0,0,0,0,0,0
$GC,753,-0.65,-170.3,192.6,-20.0,127,762,0.00,2.25,0.00,0.000,6,0.000,0.042,2097,2629,3571,0,0,0,0,0,0
$GC,955,-0.65,-170.3,237.4,-21.3,164,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2626,3571,0,0,0,0,0,0
$GC,1154,-0.65,-170.3,280.3,-20.3,188,1158,0.00,2.12,0.00,0.000,4,0.000,0.033,2097,1199,3571,0,0,0,0,0,0
$GC,1221,-0.65,-170.3,292.1,-15.4,193,1228,0.00,2.22,0.00,0.000,6,0.000,0.041,2090,2618,3574,0,0,0,0,0,0
$GC,1547,-0.65,-170.3,356.0,-21.2,224,1551,0.12,1.77,0.00,0.000,4,0.182,0.050,2114,3778,3570,0,0,0,0,0,0
$GC,1606,-0.65,-170.3,365.1,-12.3,229,1613,0.00,1.73,0.00,0.000,6,0.000,0.030,2114,2627,3569,0,0,0,0,0,0
$GC,1932,-0.65,-170.3,406.8,-14.1,260,1936,0.00,2.10,0.00,0.000,4,0.000,0.036,2114,1201,3567,0,0,0,0,0,0
$GC,1987,-0.65,-170.3,414.3,-12.4,264,1994,0.00,2.22,0.00,0.000,6,0.000,0.043,2112,2619,3567,0,0,0,0,0,0
$GC,2313,-0.65,-170.3,461.3,-14.9,295,2317,0.00,2.12,0.00,0.000,4,0.000,0.036,2112,1199,3564,0,0,0,0,0,0
$GC,2368,-0.65,-170.3,469.6,-13.4,299,2375,0.00,2.22,0.00,0.000,6,0.000,0.044,2117,2617,3564,0,0,0,0,0,0
$GC,2694,-0.65,-170.3,517.8,-14.6,330,2698,0.00,2.12,0.00,0.000,4,0.000,0.037,2112,1199,3561,0,0,0,0,0,0
$GC,2722,-0.65,-170.3,522.2,-15.3,332,2726,0.00,2.20,0.00,0.000,6,0.000,0.045,2112,2624,3562,0,0,0,0,0,0
$GC,3047,-0.65,-170.3,573.0,-14.6,362,3051,0.00,1.77,0.00,0.000,4,0.000,0.054,2112,3784,3557,0,0,0,0,0,0
$GC,3074,-0.65,-170.3,577.3,-15.0,364,3081,0.00,1.75,0.00,0.000,6,0.000,0.032,2112,2621,3558,0,0,0,0,0,0
$GC,3406,-0.65,-170.3,625.2,-14.6,388,3410,0.00,2.10,0.00,0.000,4,0.000,0.039,2111,1203,3556,0,0,0,0,0,0
$GC,3478,-0.65,-170.3,635.3,-12.4,391,3482,0.00,2.17,0.00,0.000,6,0.000,0.045,2111,2618,3555,0,0,0,0,0,0
$GC,3801,-0.65,-170.3,675.5,-12.4,407,3805,0.00,2.12,0.00,0.000,4,0.000,0.039,2112,1205,3553,0,0,0,0,0,0
$GC,3856,-0.65,-170.3,682.4,-11.5,409,3863,0.00,2.20,0.00,0.000,6,0.000,0.045,2111,2601,3552,0,0,0,0,0,0
$GC,4172,-0.65,-170.3,720.1,-12.1,425,4176,0.00,1.83,0.00,0.000,4,0.000,0.055,2112,3789,3550,0,0,0,0,0,0
$GC,4219,-0.65,-170.3,725.5,-11.1,427,4223,0.00,1.77,0.00,0.000,6,0.000,0.034,2111,2592,3549,0,0,0,0,0,0
$GC,4552,-0.65,-170.3,763.8,-11.6,443,4556,0.00,2.08,0.00,0.000,4,0.000,0.041,2112,1198,3547,0,0,0,0,0,0
$GC,4595,-0.65,-170.3,769.0,-11.7,445,4599,0.00,2.17,0.00,0.000,6,0.000,0.047,2112,2602,3548,0,0,0,0,0,0
$GC,4923,-0.65,-170.3,804.6,-10.7,461,4927,0.00,2.12,0.00,0.000,4,0.000,0.041,2112,1199,3544,0,0,0,0,0,0
$GC,4964,-0.65,-170.3,808.7,-10.2,463,4968,0.00,2.15,0.00,0.000,6,0.000,0.047,2111,2584,3544,0,0,0,0,0,0
$GC,5292,-0.65,-170.3,844.2,-11.0,479,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2585,3541,0,0,0,0,0,0
$GC,5600,-0.65,-170.3,879.9,-12.0,494,5604,0.00,2.10,0.00,0.000,4,0.000,0.042,2111,1199,3539,0,0,0,0,0,0
$GC,5640,-0.65,-170.3,884.5,-11.8,496,5644,0.00,2.15,0.00,0.000,6,0.000,0.047,2112,2583,3539,0,0,0,0,0,0
$GC,5967,-0.65,-170.3,922.5,-11.7,512,5971,0.00,2.10,0.00,0.000,4,0.000,0.042,2111,1199,3537,0,0,0,0,0,0
$GC,6001,-0.65,-170.3,926.8,-12.2,513,6008,0.00,2.15,0.00,0.000,6,0.000,0.048,2111,2570,3537,0,0,0,0,0,0
$GC,6317,-0.65,-170.3,964.5,-12.0,529,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2569,3536,0,0,0,0,0,0
$STATE,6541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6547,-0.12,0.0,991.1,11.7,540,6687,0.52,0.00,132.10,1.131,4,0.130,0.000,2285,2269,2870,0,0,0,0,0,0
$STATE,6687,end apogee,CONTROL_FINISHED_OK
$STATE,6687,begin climb
$GC,6690,0.65,170.3,998.4,0.0,546,6839,0.70,2.30,141.73,1.105,4,0.045,0.046,2554,878,2174,0,0,0,0,0,0
$GC,7090,0.65,170.3,947.9,17.5,564,7097,0.00,2.28,0.00,0.000,6,0.000,0.043,2552,2290,2165,0,0,0,0,0,0
$GC,7407,0.65,170.3,888.6,18.4,580,7411,0.00,2.20,0.00,0.000,4,0.000,0.051,2552,3685,2160,0,0,0,0,0,0
$GC,7523,0.65,170.3,865.9,19.2,585,7528,0.00,2.22,0.00,0.000,6,0.000,0.037,2560,2276,2158,0,0,0,0,0,0
$GC,7845,0.65,170.3,810.0,16.7,601,7849,0.00,2.17,0.00,0.000,4,0.000,0.046,2570,857,2159,0,0,0,0,0,0
$GC,8068,0.65,170.3,774.1,15.2,611,8073,0.15,2.22,0.00,0.000,6,0.191,0.043,2535,2254,2158,0,0,0,0,0,0
$GC,8397,0.65,170.3,726.1,15.1,627,8401,0.00,2.15,0.00,0.000,4,0.000,0.044,2543,857,2157,0,0,0,0,0,0
$GC,8437,0.65,170.3,720.1,15.0,629,8441,0.00,2.15,0.00,0.000,6,0.000,0.042,2543,2242,2157,0,0,0,0,0,0
$GC,8764,0.65,170.3,668.5,15.9,645,8768,0.00,2.22,0.00,0.000,4,0.000,0.051,2544,3679,2156,0,0,0,0,0,0
$GC,8781,0.65,170.3,665.5,16.3,646,8785,0.00,2.20,0.00,0.000,6,0.000,0.037,2553,2232,2156,0,0,0,0,0,0
$GC,9108,0.65,170.3,607.9,17.9,662,9112,0.00,2.08,0.00,0.000,4,0.000,0.046,2564,867,2155,0,0,0,0,0,0
$GC,9363,0.65,170.3,567.5,14.7,682,9371,0.00,2.15,0.00,0.000,6,0.000,0.041,2564,2231,2154,0,0,0,0,0,0
$GC,9691,0.65,170.3,515.8,16.4,713,9695,0.00,2.10,0.00,0.000,4,0.000,0.044,2574,861,2154,0,0,0,0,0,0
$GC,9854,0.65,170.3,487.3,18.7,727,9859,0.12,2.10,0.00,0.000,6,0.186,0.041,2544,2230,2154,0,0,0,0,0,0
$GC,10179,0.65,170.3,429.0,18.2,757,10183,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,854,2154,0,0,0,0,0,0
$GC,10303,0.65,170.3,408.6,15.9,768,10307,0.00,2.10,0.00,0.000,6,0.000,0.041,2552,2213,2154,0,0,0,0,0,0
$GC,10628,0.65,170.3,360.6,13.6,798,10632,0.00,2.08,0.00,0.000,4,0.000,0.044,2561,860,2154,0,0,0,0,0,0
$GC,10854,0.65,170.3,332.3,12.0,818,10858,0.00,2.05,0.00,0.000,6,0.000,0.040,2561,2202,2153,0,0,0,0,0,0
$GC,11186,0.65,170.3,283.3,17.3,849,11190,0.00,2.05,0.00,0.000,4,0.000,0.042,2570,858,2154,0,0,0,0,0,0
$GC,11265,0.65,170.3,270.0,16.5,856,11270,0.12,2.05,0.00,0.000,6,0.181,0.039,2540,2203,2154,0,0,0,0,0,0
$GC,11592,0.65,170.3,225.7,12.0,902,11601,0.00,2.08,0.00,0.000,4,0.000,0.043,2547,869,2154,0,0,0,0,0,0
$GC,11796,0.68,197.7,205.4,9.8,939,11820,0.00,2.05,18.88,0.653,6,0.000,0.040,2548,2181,2064,0,0,0,0,0,0
$GC,12014,0.78,278.1,185.8,7.5,978,12085,0.10,2.40,61.33,0.598,4,0.112,0.046,2590,3685,1735,0,0,0,0,0,0
$GC,12099,0.78,278.1,174.1,17.0,989,12107,0.00,2.38,0.00,0.000,6,0.000,0.034,2600,2192,1733,0,0,0,0,0,0
$GC,12300,0.78,278.1,138.2,17.8,1026,12309,0.00,2.08,0.00,0.000,4,0.000,0.042,2611,870,1728,0,0,0,0,0,0
$GC,12549,0.79,289.4,103.1,10.5,1072,12565,0.00,2.03,8.88,0.564,6,0.000,0.037,2611,2155,1690,0,0,0,0,0,0
$GC,12758,0.79,289.4,78.6,11.5,1110,12768,0.00,2.03,0.00,0.000,4,0.000,0.040,2620,863,1688,0,0,0,0,0,0
$GC,12997,0.79,289.4,46.8,11.9,1154,13006,0.10,1.95,0.00,0.000,6,0.147,0.035,2588,2117,1688,0,0,0,0,0,0
$GC,13202,0.89,365.8,29.4,7.7,1191,13265,0.00,2.03,58.12,0.510,4,0.000,0.038,2595,863,1375,0,0,0,0,0,0
$GC,13290,0.98,438.1,22.6,7.9,1203,13351,0.10,1.92,53.47,0.460,6,0.048,0.033,2655,2081,1083,0,0,0,0,0,0
$STATE,13460,end climb,SURFACE_DEPTH_REACHED
$STATE,13461,begin surface coast
$FINISH,0.2,1.021005
$STATE,13484,end surface coast,CONTROL_FINISHED_OK
$STATE,13484,begin surface
$SM_CCo,13500,31.25,0.062,0,0,830,500.17
$SM_GC,0.84,0.00,0.00,31.25,0.000,0.000,0.062,208,2628,830,-6.63,0.82,500.17,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,12003.69,150611,101011
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.64
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,4.605
$10V_AH,10.3,4.801
$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,16.450,131.250,474.500,31.250,0.000,28.794,17.122,181.200,0.000,0.000,19.186,3121.954,6612.833,562.236,3307.398,296.257,0.000,1822.386,0.000,2195.552,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,55.080,1131.435,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,857.612,1880.947,1581.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,83764,1235
$CAP_FILE_SIZE,149067,0
$CFSIZE,260165632,248692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,145.6,1
$GPS,150611,182837,2144.272,12000.661,33,1.3,34,-2.6