version: 66.09
glider: 181
mission: 6
dive: 30
start: 6 16 111 9 51 27
data:
$ID,181
$MISSION,6
$DIVE,30
$N_DIVES,35
$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,-8
$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,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,-39547.785
$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,2315
$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,43
$R_STBD_OVSHOOT,60
$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,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
$GPS1,160611,094507,2138.719,12001.545,25,1.2,26,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-67.5
$GPS2,160611,095102,2138.746,12001.705,14,1.2,14,-2.6
$SPEED_LIMITS,0.191,0.287
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,228.2,294013,-17.6,-11.000
$D_GRID,2703
$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,-170.3,0.0,0.0,0,86,0.00,0.00,-67.80,0.000,2,0.000,0.000,178,2641,2808,0,0,0,0,0,0
$GC,89,-0.65,-170.3,4.3,-9.1,9,121,7.93,2.25,-13.45,0.000,4,0.243,0.049,2102,1194,3568,0,0,0,0,0,0
$GC,253,-0.65,-170.3,67.1,-28.3,37,261,0.00,2.20,0.00,0.000,6,0.000,0.044,2094,2571,3570,0,0,0,0,0,0
$GC,454,-0.65,-170.3,131.4,-30.2,74,462,0.00,1.90,0.00,0.000,4,0.000,0.044,2085,3789,3571,0,0,0,0,0,0
$GC,476,-0.65,-170.3,138.4,-31.3,77,484,0.00,1.83,0.00,0.000,6,0.000,0.028,2085,2575,3571,0,0,0,0,0,0
$GC,677,-0.65,-170.3,201.0,-31.0,114,685,0.00,2.05,0.00,0.000,4,0.000,0.031,2085,1196,3573,0,0,0,0,0,0
$GC,742,-0.65,-170.3,214.7,-18.9,125,750,0.00,2.20,0.00,0.000,6,0.000,0.040,2076,2602,3574,0,0,0,0,0,0
$GC,947,-0.65,-170.3,261.1,-25.9,159,951,0.00,2.08,0.00,0.000,4,0.000,0.031,2075,1197,3574,0,0,0,0,0,0
$GC,1013,-0.65,-170.3,277.1,-20.7,164,1022,0.10,2.20,0.00,0.000,6,0.159,0.044,2098,2595,3574,0,0,0,0,0,0
$GC,1338,-0.65,-170.3,339.2,-19.9,195,1342,0.00,1.83,0.00,0.000,4,0.000,0.048,2091,3793,3574,0,0,0,0,0,0
$GC,1384,-0.65,-170.3,348.6,-21.7,199,1388,0.00,1.75,0.00,0.000,6,0.000,0.029,2091,2597,3573,0,0,0,0,0,0
$GC,1715,-0.65,-170.3,418.8,-20.6,230,1718,0.00,1.83,0.00,0.000,4,0.000,0.049,2082,3783,3572,0,0,0,0,0,0
$GC,1749,-0.65,-170.3,426.0,-21.3,233,1753,0.00,1.75,0.00,0.000,6,0.000,0.030,2082,2603,3572,0,0,0,0,0,0
$GC,2081,-0.65,-170.3,483.3,-14.0,264,2084,0.00,2.10,0.00,0.000,4,0.000,0.036,2082,1196,3569,0,0,0,0,0,0
$GC,2128,-0.65,-170.3,489.7,-13.2,268,2133,0.12,2.20,0.00,0.000,6,0.165,0.043,2107,2614,3569,0,0,0,0,0,0
$GC,2454,-0.65,-170.3,526.9,-12.5,298,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2614,3566,0,0,0,0,0,0
$GC,2774,-0.65,-170.3,569.7,-13.2,328,2778,0.00,2.12,0.00,0.000,4,0.000,0.037,2106,1194,3562,0,0,0,0,0,0
$GC,2803,-0.65,-170.3,573.8,-13.0,330,2807,0.00,2.17,0.00,0.000,6,0.000,0.044,2099,2605,3562,0,0,0,0,0,0
$GC,3137,-0.65,-170.3,616.9,-13.2,355,3141,0.00,1.85,0.00,0.000,4,0.000,0.053,2091,3783,3559,0,0,0,0,0,0
$GC,3175,-0.65,-170.3,622.5,-13.2,356,3182,0.00,1.77,0.00,0.000,6,0.000,0.033,2090,2606,3558,0,0,0,0,0,0
$GC,3492,-0.65,-170.3,672.1,-17.1,372,3496,0.00,2.10,0.00,0.000,4,0.000,0.039,2090,1190,3556,0,0,0,0,0,0
$GC,3558,-0.65,-170.3,681.9,-13.3,375,3562,0.00,2.20,0.00,0.000,6,0.000,0.045,2084,2615,3555,0,0,0,0,0,0
$GC,3886,-0.65,-170.3,727.9,-12.9,391,3889,0.00,1.80,0.00,0.000,4,0.000,0.054,2077,3787,3553,0,0,0,0,0,0
$GC,3924,-0.65,-170.3,733.1,-12.5,392,3932,0.00,1.83,0.00,0.000,6,0.000,0.034,2075,2590,3552,0,0,0,0,0,0
$GC,4241,-0.65,-170.3,772.6,-12.3,408,4243,0.12,0.00,0.00,0.000,6,0.181,0.000,2107,2586,3549,0,0,0,0,0,0
$GC,4550,-0.65,-170.3,803.1,-10.1,423,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2587,3547,0,0,0,0,0,0
$GC,4859,-0.65,-170.3,834.4,-9.9,438,4863,0.00,2.08,0.00,0.000,4,0.000,0.041,2107,1200,3545,0,0,0,0,0,0
$GC,4901,-0.65,-170.3,838.5,-9.9,440,4905,0.00,2.17,0.00,0.000,6,0.000,0.047,2101,2603,3545,0,0,0,0,0,0
$GC,5229,-0.65,-170.3,870.8,-10.1,456,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2603,3542,0,0,0,0,0,0
$GC,5537,-0.65,-170.3,903.4,-11.0,471,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2604,3539,0,0,0,0,0,0
$GC,5846,-0.65,-170.3,940.9,-12.7,486,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2604,3537,0,0,0,0,0,0
$GC,6155,-0.65,-170.3,983.5,-14.4,501,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2604,3536,0,0,0,0,0,0
$STATE,6216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6216,begin apogee
$GC,6222,-0.20,0.0,992.5,14.7,504,6359,0.45,0.00,132.43,1.136,6,0.131,0.000,2246,2272,2869,0,0,0,0,0,0
$STATE,6360,end apogee,CONTROL_FINISHED_OK
$STATE,6360,begin climb
$GC,6362,0.65,170.3,1003.0,0.0,510,6511,0.75,2.33,141.27,1.105,4,0.054,0.043,2538,871,2175,0,0,0,0,0,0
$GC,6591,0.65,170.3,987.0,14.1,521,6596,0.00,2.28,0.00,0.000,6,0.000,0.043,2538,2272,2167,0,0,0,0,0,0
$GC,6919,0.65,170.3,934.4,16.5,537,6923,0.00,2.20,0.00,0.000,4,0.000,0.044,2548,870,2164,0,0,0,0,0,0
$GC,7052,0.65,170.3,911.6,16.8,543,7056,0.00,2.22,0.00,0.000,6,0.000,0.043,2547,2273,2163,0,0,0,0,0,0
$GC,7380,0.65,170.3,852.1,18.4,559,7384,0.00,2.17,0.00,0.000,4,0.000,0.044,2555,869,2161,0,0,0,0,0,0
$GC,7537,0.65,170.3,823.7,17.2,566,7542,0.12,2.20,0.00,0.000,6,0.195,0.042,2527,2280,2160,0,0,0,0,0,0
$GC,7859,0.65,170.3,772.9,15.5,582,7863,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,869,2159,0,0,0,0,0,0
$GC,7943,0.65,170.3,760.4,14.4,586,7947,0.00,2.17,0.00,0.000,6,0.000,0.042,2535,2272,2158,0,0,0,0,0,0
$GC,8270,0.65,170.3,710.4,15.4,602,8274,0.00,2.17,0.00,0.000,4,0.000,0.045,2545,861,2158,0,0,0,0,0,0
$GC,8359,0.65,170.3,696.7,15.4,606,8363,0.00,2.17,0.00,0.000,6,0.000,0.042,2545,2273,2157,0,0,0,0,0,0
$GC,8686,0.65,170.3,641.8,17.3,622,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2274,2156,0,0,0,0,0,0
$GC,8998,0.65,170.3,586.1,18.3,640,9002,0.00,2.15,0.00,0.000,4,0.000,0.044,2554,870,2156,0,0,0,0,0,0
$GC,9253,0.65,170.3,543.6,15.1,662,9261,0.08,2.20,0.00,0.000,6,0.175,0.041,2523,2270,2155,0,0,0,0,0,0
$GC,9579,0.65,170.3,502.9,12.1,693,9583,0.00,2.15,0.00,0.000,4,0.000,0.044,2531,860,2155,0,0,0,0,0,0
$GC,9836,0.65,170.3,471.5,12.7,715,9844,0.00,2.17,0.00,0.000,6,0.000,0.041,2531,2272,2155,0,0,0,0,0,0
$GC,10161,0.65,170.3,422.0,16.6,746,10165,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,862,2155,0,0,0,0,0,0
$GC,10249,0.65,170.3,407.0,15.9,753,10256,0.00,2.17,0.00,0.000,6,0.000,0.041,2540,2276,2153,0,0,0,0,0,0
$GC,10575,0.65,170.3,354.5,14.4,784,10579,0.00,2.17,0.00,0.000,4,0.000,0.044,2550,867,2154,0,0,0,0,0,0
$GC,10627,0.65,170.3,347.8,12.6,788,10631,0.00,2.15,0.00,0.000,6,0.000,0.040,2550,2270,2153,0,0,0,0,0,0
$GC,10958,0.65,170.8,307.7,11.0,819,10962,0.00,2.17,0.00,0.000,4,0.000,0.049,2550,3683,2155,0,0,0,0,0,0
$GC,10979,0.66,178.2,304.9,10.7,820,10990,0.12,2.15,4.50,0.565,6,0.200,0.034,2532,2262,2141,0,0,0,0,0,0
$GC,11317,0.66,178.2,268.6,11.6,852,11321,0.00,2.10,0.00,0.000,4,0.000,0.043,2540,867,2140,0,0,0,0,0,0
$GC,11570,0.66,178.2,237.6,11.9,883,11579,0.00,2.17,0.00,0.000,6,0.000,0.040,2540,2265,2141,0,0,0,0,0,0
$GC,11772,0.66,178.2,208.9,14.7,920,11781,0.00,2.20,0.00,0.000,4,0.000,0.048,2540,3673,2141,0,0,0,0,0,0
$GC,11867,0.66,178.2,194.0,15.4,937,11876,0.00,2.15,0.00,0.000,6,0.000,0.034,2550,2273,2141,0,0,0,0,0,0
$GC,12069,0.70,214.4,169.2,9.4,974,12108,0.00,2.25,29.42,0.616,4,0.000,0.046,2550,3672,1993,0,0,0,0,0,0
$GC,12137,0.76,261.9,163.2,8.9,984,12184,0.00,2.17,36.50,0.562,6,0.000,0.033,2560,2275,1800,0,0,0,0,0,0
$GC,12378,0.82,313.4,141.0,8.8,1026,12424,0.00,2.28,39.53,0.565,4,0.000,0.041,2571,865,1589,0,0,0,0,0,0
$GC,12587,0.82,313.4,119.6,11.6,1062,12595,0.00,2.22,0.00,0.000,6,0.000,0.039,2571,2261,1584,0,0,0,0,0,0
$GC,12790,0.86,344.8,96.4,9.6,1099,12821,0.00,2.25,23.80,0.564,4,0.000,0.045,2571,3683,1463,0,0,0,0,0,0
$GC,12882,0.92,388.1,88.2,9.1,1114,12922,0.00,2.22,33.92,0.511,6,0.000,0.032,2580,2269,1285,0,0,0,0,0,0
$GC,13115,0.92,388.1,60.1,13.4,1155,13124,0.00,2.20,0.00,0.000,4,0.000,0.040,2591,861,1280,0,0,0,0,0,0
$GC,13222,0.92,388.1,46.8,12.0,1174,13230,0.00,2.22,0.00,0.000,6,0.000,0.036,2591,2278,1280,0,0,0,0,0,0
$GC,13424,0.96,424.0,27.0,9.4,1211,13457,0.00,2.28,27.35,0.535,4,0.000,0.043,2591,3690,1139,0,0,0,0,0,0
$GC,13498,1.01,463.3,20.1,9.3,1222,13537,0.08,2.22,30.48,0.479,6,0.056,0.031,2650,2269,979,0,0,0,0,0,0
$STATE,13624,end climb,SURFACE_DEPTH_REACHED
$STATE,13624,begin surface coast
$FINISH,0.2,1.021380
$STATE,13647,end surface coast,CONTROL_FINISHED_OK
$STATE,13647,begin surface
$SM_CCo,13663,6.00,0.064,0,0,933,475.15
$SM_GC,2.03,0.00,0.00,6.00,0.000,0.000,0.064,203,2615,933,-6.60,0.42,475.15,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,11956.20,160611,060601
$TT8_MAMPS,0.028462,0.028462
$HUMID,40.43
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,5.265
$10V_AH,10.2,5.541
$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,16.225,123.975,499.200,6.000,0.000,23.713,24.618,168.431,0.000,0.000,17.132,3127.559,6818.344,540.489,3234.222,296.722,0.000,1789.014,0.000,2147.094,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,54.315,1136.025,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,867.339,1898.508,1580.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,83741,1247
$CAP_FILE_SIZE,148022,0
$CFSIZE,260165632,248266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,102.3,1
$GPS,160611,134037,2137.256,12002.292,40,1.0,41,-2.6