version: 66.09
glider: 181
mission: 6
dive: 41
start: 6 18 111 7 2 10
data:
$ID,181
$MISSION,6
$DIVE,41
$N_DIVES,45
$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,200
$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,-39569.004
$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,2305
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,2560
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,65
$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
$GPS1,180611,065536,2117.225,11958.769,27,0.8,28,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.3
$GPS2,180611,070143,2117.342,11958.729,11,0.8,16,-2.5
$SPEED_LIMITS,0.191,0.305
$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,157.2,254368,-16.3,-11.000
$D_GRID,3006
$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,-0.57,-194.6,0.0,0.0,0,93,0.00,0.00,-75.40,0.000,2,0.000,0.000,155,2608,2723,0,0,0,0,0,0
$GC,96,-0.57,-194.6,3.5,-4.2,10,129,8.02,2.25,-17.67,0.000,4,0.242,0.041,2105,1126,3665,0,0,0,0,0,0
$GC,137,-0.57,-194.6,19.3,-33.5,15,145,0.00,2.22,0.00,0.000,6,0.000,0.044,2096,2516,3667,0,0,0,0,0,0
$GC,339,-0.57,-194.6,104.4,-38.9,52,347,0.00,2.03,0.00,0.000,4,0.000,0.051,2086,3789,3667,0,0,0,0,0,0
$GC,493,-0.57,-194.6,167.9,-45.1,80,503,0.10,1.88,0.00,0.000,6,0.176,0.027,2114,2548,3668,0,0,0,0,0,0
$GC,696,-0.57,-194.6,225.4,-28.0,117,704,0.00,2.08,0.00,0.000,4,0.000,0.029,2114,1156,3669,0,0,0,0,0,0
$GC,744,-0.57,-194.6,236.3,-20.3,125,753,0.00,2.22,0.00,0.000,6,0.000,0.044,2112,2566,3670,0,0,0,0,0,0
$GC,948,-0.57,-194.6,271.4,-19.7,151,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2566,3671,0,0,0,0,0,0
$GC,1275,-0.57,-194.6,331.5,-17.8,182,1279,0.00,1.88,0.00,0.000,4,0.000,0.049,2111,3793,3670,0,0,0,0,0,0
$GC,1331,-0.57,-194.6,342.1,-17.2,187,1335,0.00,1.80,0.00,0.000,6,0.000,0.027,2111,2552,3670,0,0,0,0,0,0
$GC,1662,-0.57,-194.6,390.2,-13.8,218,1666,0.00,1.90,0.00,0.000,4,0.000,0.046,2102,3791,3668,0,0,0,0,0,0
$GC,1685,-0.57,-194.6,393.3,-13.6,220,1689,0.00,1.85,0.00,0.000,6,0.000,0.028,2102,2554,3668,0,0,0,0,0,0
$GC,2016,-0.57,-194.6,442.0,-13.8,251,2020,0.00,1.90,0.00,0.000,4,0.000,0.048,2093,3784,3665,0,0,0,0,0,0
$GC,2040,-0.57,-194.6,445.2,-13.3,253,2044,0.00,1.80,0.00,0.000,6,0.000,0.030,2093,2552,3664,0,0,0,0,0,0
$GC,2370,-0.57,-194.6,491.3,-14.7,284,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2550,3660,0,0,0,0,0,0
$GC,2692,-0.57,-194.6,540.9,-15.3,314,2696,0.00,1.92,0.00,0.000,4,0.000,0.050,2084,3792,3657,0,0,0,0,0,0
$GC,2741,-0.57,-194.6,549.1,-14.9,318,2749,0.10,1.85,0.00,0.000,6,0.130,0.031,2119,2567,3656,0,0,0,0,0,0
$GC,3067,-0.57,-194.6,590.9,-13.1,349,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2564,3653,0,0,0,0,0,0
$GC,3388,-0.57,-194.6,633.6,-12.4,368,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2565,3650,0,0,0,0,0,0
$GC,3699,-0.57,-194.6,665.7,-10.0,383,3702,0.00,2.10,0.00,0.000,4,0.000,0.037,2119,1155,3647,0,0,0,0,0,0
$GC,3762,-0.57,-194.6,671.8,-9.3,386,3766,0.00,2.17,0.00,0.000,6,0.000,0.044,2113,2562,3646,0,0,0,0,0,0
$GC,4094,-0.57,-194.6,709.2,-11.9,402,4098,0.00,1.92,0.00,0.000,4,0.000,0.054,2111,3781,3643,0,0,0,0,0,0
$GC,4195,-0.57,-194.6,720.6,-10.4,406,4199,0.00,1.83,0.00,0.000,6,0.000,0.032,2111,2549,3642,0,0,0,0,0,0
$GC,4516,-0.57,-194.6,759.1,-12.1,422,4520,0.00,1.98,0.00,0.000,4,0.000,0.054,2111,3780,3640,0,0,0,0,0,0
$GC,4549,-0.57,-194.6,763.2,-11.8,423,4553,0.00,1.85,0.00,0.000,6,0.000,0.032,2111,2532,3640,0,0,0,0,0,0
$GC,4871,-0.57,-194.6,797.0,-10.1,439,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2530,3638,0,0,0,0,0,0
$GC,5181,-0.57,-194.6,827.9,-10.1,454,5185,0.00,2.00,0.00,0.000,4,0.000,0.055,2111,3777,3635,0,0,0,0,0,0
$GC,5214,-0.57,-194.6,831.5,-9.8,455,5217,0.00,1.83,0.00,0.000,6,0.000,0.033,2111,2550,3635,0,0,0,0,0,0
$GC,5536,-0.57,-194.6,864.8,-10.9,471,5540,0.00,2.08,0.00,0.000,4,0.000,0.038,2111,1157,3633,0,0,0,0,0,0
$GC,5580,-0.57,-194.6,869.7,-10.7,473,5584,0.00,2.17,0.00,0.000,6,0.000,0.045,2111,2564,3633,0,0,0,0,0,0
$GC,5902,-0.57,-194.6,902.6,-9.7,489,5906,0.00,1.90,0.00,0.000,4,0.000,0.055,2111,3790,3631,0,0,0,0,0,0
$GC,5930,-0.57,-194.6,905.5,-9.5,490,5933,0.00,1.83,0.00,0.000,6,0.000,0.034,2111,2560,3630,0,0,0,0,0,0
$GC,6258,-0.57,-194.6,933.6,-8.5,506,6261,0.00,1.92,0.00,0.000,4,0.000,0.054,2111,3790,3628,0,0,0,0,0,0
$GC,6290,-0.57,-194.6,936.9,-8.9,507,6294,0.00,1.83,0.00,0.000,6,0.000,0.034,2110,2560,3628,0,0,0,0,0,0
$GC,6613,-0.57,-194.6,969.2,-10.5,523,6617,0.00,2.10,0.00,0.000,4,0.000,0.039,2111,1152,3626,0,0,0,0,0,0
$GC,6684,-0.57,-194.6,976.9,-10.2,526,6688,0.00,2.20,0.00,0.000,6,0.000,0.045,2111,2561,3626,0,0,0,0,0,0
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6825,-0.16,0.0,991.5,11.0,533,6979,0.40,0.00,148.55,1.122,6,0.125,0.000,2244,2087,2870,0,0,0,0,0,0
$STATE,6979,end apogee,CONTROL_FINISHED_OK
$STATE,6979,begin climb
$GC,6982,0.57,194.6,999.4,0.0,540,7150,0.68,2.28,160.48,1.086,4,0.057,0.041,2506,708,2075,0,0,0,0,0,0
$GC,7239,0.57,194.6,978.1,13.0,552,7244,0.00,2.28,0.00,0.000,6,0.000,0.037,2506,2101,2068,0,0,0,0,0,0
$GC,7561,0.57,194.6,929.9,15.4,568,7565,0.00,2.17,0.00,0.000,4,0.000,0.042,2516,708,2063,0,0,0,0,0,0
$GC,7610,0.57,194.6,922.1,15.5,570,7614,0.00,2.22,0.00,0.000,6,0.000,0.038,2515,2100,2064,0,0,0,0,0,0
$GC,7932,0.57,194.6,869.4,17.2,586,7936,0.00,2.22,0.00,0.000,4,0.000,0.048,2516,3524,2061,0,0,0,0,0,0
$GC,7964,0.57,194.6,863.1,18.6,587,7972,0.10,2.20,0.00,0.000,6,0.179,0.033,2496,2120,2060,0,0,0,0,0,0
$GC,8281,0.57,194.6,814.1,15.4,603,8285,0.00,2.20,0.00,0.000,4,0.000,0.044,2506,688,2059,0,0,0,0,0,0
$GC,8434,0.57,194.6,790.9,15.3,610,8438,0.00,2.17,0.00,0.000,6,0.000,0.039,2506,2108,2059,0,0,0,0,0,0
$GC,8760,0.57,194.6,739.5,15.7,626,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2104,2058,0,0,0,0,0,0
$GC,9070,0.57,194.6,695.1,13.1,641,9074,0.00,2.17,0.00,0.000,4,0.000,0.048,2506,3506,2058,0,0,0,0,0,0
$GC,9111,0.57,194.6,689.6,13.5,643,9115,0.00,2.15,0.00,0.000,6,0.000,0.034,2516,2092,2057,0,0,0,0,0,0
$GC,9438,0.64,255.5,657.5,8.7,659,9491,0.00,2.25,46.20,0.906,4,0.000,0.043,2526,701,1828,0,0,0,0,0,0
$GC,9602,0.64,255.5,639.4,12.4,666,9607,0.00,2.20,0.00,0.000,6,0.000,0.037,2526,2105,1827,0,0,0,0,0,0
$GC,9927,0.64,255.5,580.9,21.1,686,9931,0.00,2.22,0.00,0.000,4,0.000,0.048,2526,3517,1820,0,0,0,0,0,0
$GC,9953,0.64,255.5,574.7,21.9,688,9962,0.00,2.22,0.00,0.000,6,0.000,0.033,2536,2101,1819,0,0,0,0,0,0
$GC,10279,0.64,255.5,503.7,21.5,719,10283,0.00,2.15,0.00,0.000,4,0.000,0.044,2547,693,1818,0,0,0,0,0,0
$GC,10345,0.64,255.5,490.0,19.4,724,10354,0.08,2.20,0.00,0.000,6,0.161,0.037,2515,2095,1815,0,0,0,0,0,0
$GC,10671,0.65,260.8,445.2,10.8,755,10683,0.00,2.25,4.12,0.587,4,0.000,0.048,2514,3501,1804,0,0,0,0,0,0
$GC,10721,0.65,260.8,439.0,12.3,759,10728,0.00,2.17,0.00,0.000,6,0.000,0.032,2523,2102,1806,0,0,0,0,0,0
$GC,11047,0.65,260.8,399.9,12.6,790,11051,0.00,2.15,0.00,0.000,4,0.000,0.044,2533,687,1805,0,0,0,0,0,0
$GC,11131,0.65,260.8,389.2,12.8,797,11135,0.00,2.17,0.00,0.000,6,0.000,0.037,2533,2109,1805,0,0,0,0,0,0
$GC,11458,0.65,260.8,339.8,15.8,827,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2114,1804,0,0,0,0,0,0
$GC,11778,0.65,260.8,289.0,15.9,857,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2110,1804,0,0,0,0,0,0
$GC,12106,0.65,260.8,242.2,14.7,893,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2110,1804,0,0,0,0,0,0
$GC,12307,0.65,260.8,216.2,11.0,930,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2110,1804,0,0,0,0,0,0
$GC,12507,0.65,260.8,193.3,12.1,967,12515,0.00,2.20,0.00,0.000,4,0.000,0.043,2543,694,1803,0,0,0,0,0,0
$GC,12550,0.65,260.8,188.1,12.1,974,12559,0.00,2.17,0.00,0.000,6,0.000,0.037,2543,2098,1804,0,0,0,0,0,0
$GC,12752,0.67,279.9,166.2,10.3,1011,12776,0.00,2.20,16.30,0.628,4,0.000,0.044,2544,3519,1727,0,0,0,0,0,0
$GC,12881,0.72,317.8,153.3,9.6,1033,12920,0.00,2.20,30.02,0.556,6,0.000,0.032,2553,2094,1573,0,0,0,0,0,0
$GC,13117,0.74,340.0,130.5,10.2,1074,13141,0.00,2.30,17.50,0.565,4,0.000,0.041,2553,3516,1483,0,0,0,0,0,0
$GC,13171,0.84,415.7,125.8,8.1,1082,13240,0.00,2.20,57.35,0.519,6,0.000,0.031,2563,2109,1177,0,0,0,0,0,0
$GC,13434,0.85,423.8,103.1,10.7,1127,13450,0.00,0.00,7.22,0.494,6,0.000,0.000,2563,2109,1138,0,0,0,0,0,0
$GC,13645,0.87,443.3,82.3,10.3,1165,13668,0.00,2.17,16.48,0.545,4,0.000,0.038,2574,694,1060,0,0,0,0,0,0
$GC,13705,0.89,460.5,76.1,10.3,1174,13729,0.00,2.22,14.40,0.532,6,0.000,0.032,2574,2112,990,0,0,0,0,0,0
$GC,13924,0.95,507.3,52.6,9.2,1213,13970,0.10,2.25,35.50,0.506,4,0.093,0.043,2633,3505,800,0,0,0,0,0,0
$GC,14043,0.95,507.3,36.7,13.5,1232,14053,0.08,2.20,0.00,0.000,6,0.138,0.028,2617,2093,798,0,0,0,0,0,0
$GC,14247,0.98,533.1,14.4,10.0,1269,14279,0.00,2.25,20.08,0.494,4,0.000,0.039,2616,3501,696,0,0,0,0,0,0
$GC,14346,1.09,622.3,6.3,7.6,1285,14399,0.00,2.17,47.17,0.474,6,0.000,0.028,2623,2093,440,0,0,0,0,0,0
$STATE,14406,end climb,SURFACE_DEPTH_REACHED
$STATE,14406,begin surface coast
$FINISH,-0.1,1.020751
$STATE,14458,end surface coast,CONTROL_FINISHED_OK
$STATE,14458,begin surface
$SM_CCo,14534,0.00,0.000,0,0,436,596.81
$SM_GC,0.77,6.38,0.00,0.00,0.036,0.000,0.000,197,2607,436,-6.48,1.33,596.81,0,0,0,0,0,0
$IRIDIUM_FIX,2113.32,11954.74,180611,020211
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.79
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,24.1,6.914
$10V_AH,10.2,7.212
$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,16.025,131.325,621.375,0.000,0.000,28.763,18.407,173.619,0.000,0.000,21.545,3245.693,7364.464,647.747,3321.048,311.474,0.000,1971.808,0.000,2190.519,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,55.080,1122.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,903.625,1982.104,1639.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,86949,1302
$CAP_FILE_SIZE,156734,0
$CFSIZE,260165632,247296000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 29.2,1
$GPS,180611,110536,2115.986,12000.021,34,1.0,35,-2.5