version: 66.09
glider: 181
mission: 6
dive: 111
start: 7 2 111 2 33 9
data:
$ID,181
$MISSION,6
$DIVE,111
$N_DIVES,120
$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,225
$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,-40591.73
$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,2302
$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,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,46
$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,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
$GPS1,020711,022636,1957.376,11948.312,26,1.4,27,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.1
$GPS2,020711,023244,1957.519,11948.203,12,1.6,12,-2.2
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,171.2,108509,-16.3,-11.786
$D_GRID,3496
$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,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-71.22,0.000,2,0.000,0.000,203,2625,2438,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-3.6,10,137,7.68,2.20,-26.25,0.000,4,0.234,0.043,2104,1183,3765,0,0,0,0,0,0
$GC,151,-0.60,-219.0,27.6,-48.4,18,159,0.00,2.25,0.00,0.000,6,0.000,0.047,2094,2579,3766,0,0,0,0,0,0
$GC,284,-0.60,-219.0,85.3,-41.2,43,292,0.00,1.88,0.00,0.000,4,0.000,0.041,2085,3790,3766,0,0,0,0,0,0
$GC,367,-0.60,-219.0,122.3,-39.0,58,375,0.00,1.75,0.00,0.000,6,0.000,0.027,2087,2630,3768,0,0,0,0,0,0
$GC,502,-0.60,-219.0,168.1,-34.2,83,510,0.00,1.83,0.00,0.000,4,0.000,0.046,2079,3784,3768,0,0,0,0,0,0
$GC,590,-0.60,-219.0,204.0,-35.7,98,594,0.12,1.62,0.00,0.000,6,0.177,0.026,2109,2690,3769,0,0,0,0,0,0
$GC,921,-0.60,-219.0,288.7,-18.7,129,925,0.00,2.20,0.00,0.000,4,0.000,0.030,2109,1188,3770,0,0,0,0,0,0
$GC,982,-0.60,-219.0,298.1,-13.8,134,986,0.00,2.33,0.00,0.000,6,0.000,0.038,2108,2706,3770,0,0,0,0,0,0
$GC,1307,-0.60,-219.0,353.3,-18.9,164,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2706,3770,0,0,0,0,0,0
$GC,1627,-0.60,-219.0,408.9,-18.1,194,1631,0.00,1.62,0.00,0.000,4,0.000,0.047,2099,3790,3766,0,0,0,0,0,0
$GC,1688,-0.60,-219.0,419.4,-14.9,199,1695,0.00,1.62,0.00,0.000,6,0.000,0.027,2099,2703,3767,0,0,0,0,0,0
$GC,2014,-0.60,-219.0,476.5,-17.6,230,2018,0.00,2.22,0.00,0.000,4,0.000,0.031,2099,1191,3763,0,0,0,0,0,0
$GC,2091,-0.60,-219.0,488.3,-13.5,236,2098,0.00,2.35,0.00,0.000,6,0.000,0.041,2091,2711,3763,0,0,0,0,0,0
$GC,2420,-0.60,-219.0,549.4,-19.0,256,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2711,3758,0,0,0,0,0,0
$GC,2730,-0.60,-219.0,609.7,-19.5,271,2734,0.00,2.28,0.00,0.000,4,0.000,0.033,2091,1189,3754,0,0,0,0,0,0
$GC,2773,-0.60,-219.0,618.2,-17.9,273,2778,0.00,2.33,0.00,0.000,6,0.000,0.043,2082,2692,3755,0,0,0,0,0,0
$GC,3101,-0.60,-219.0,680.9,-19.1,289,3105,0.00,1.67,0.00,0.000,4,0.000,0.051,2074,3790,3751,0,0,0,0,0,0
$GC,3162,-0.60,-219.0,692.1,-16.0,291,3170,0.08,1.65,0.00,0.000,6,0.148,0.031,2114,2702,3750,0,0,0,0,0,0
$GC,3479,-0.60,-219.0,729.9,-11.3,307,3483,0.00,2.25,0.00,0.000,4,0.000,0.036,2114,1200,3747,0,0,0,0,0,0
$GC,3579,-0.60,-219.0,739.8,-9.0,311,3584,0.00,2.33,0.00,0.000,6,0.000,0.042,2113,2702,3745,0,0,0,0,0,0
$GC,3896,-0.60,-219.0,772.5,-10.9,326,3899,0.00,1.65,0.00,0.000,4,0.000,0.053,2112,3784,3743,0,0,0,0,0,0
$GC,3921,-0.60,-219.0,775.1,-11.3,327,3925,0.00,1.65,0.00,0.000,6,0.000,0.031,2112,2667,3743,0,0,0,0,0,0
$GC,4255,-0.60,-219.0,811.8,-11.5,343,4259,0.00,2.20,0.00,0.000,4,0.000,0.037,2111,1193,3739,0,0,0,0,0,0
$GC,4317,-0.60,-219.0,818.7,-10.3,346,4321,0.00,2.35,0.00,0.000,6,0.000,0.044,2111,2703,3739,0,0,0,0,0,0
$GC,4644,-0.60,-219.0,857.5,-11.9,362,4648,0.00,2.28,0.00,0.000,4,0.000,0.037,2111,1200,3736,0,0,0,0,0,0
$GC,4710,-0.60,-219.0,865.1,-10.5,365,4714,0.00,2.30,0.00,0.000,6,0.000,0.044,2111,2683,3739,0,0,0,0,0,0
$GC,5032,-0.60,-219.0,903.4,-12.3,381,5036,0.00,2.25,0.00,0.000,4,0.000,0.037,2111,1199,3733,0,0,0,0,0,0
$GC,5072,-0.60,-219.0,908.3,-12.3,383,5076,0.00,2.28,0.00,0.000,6,0.000,0.044,2111,2679,3733,0,0,0,0,0,0
$GC,5399,-0.60,-219.0,948.0,-12.0,399,5403,0.00,2.22,0.00,0.000,4,0.000,0.037,2111,1208,3730,0,0,0,0,0,0
$GC,5448,-0.60,-219.0,954.1,-11.7,401,5452,0.00,2.25,0.00,0.000,6,0.000,0.044,2111,2665,3729,0,0,0,0,0,0
$STATE,5762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5762,begin apogee
$GC,5769,-0.16,0.0,992.5,12.8,416,5941,0.40,0.00,166.98,1.102,4,0.129,0.000,2243,2118,2870,0,0,0,0,0,0
$STATE,5942,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5944,0.60,219.0,1004.4,0.0,424,6130,0.73,2.28,177.43,1.074,4,0.070,0.042,2494,725,1976,0,0,0,0,0,0
$GC,6241,0.65,259.5,985.3,10.3,438,6282,0.00,2.25,33.30,1.029,6,0.000,0.037,2494,2138,1811,0,0,0,0,0,0
$GC,6604,0.65,259.5,941.1,12.2,456,6608,0.00,2.20,0.00,0.000,4,0.000,0.041,2504,726,1807,0,0,0,0,0,0
$GC,6745,0.67,276.3,924.5,11.2,462,6766,0.00,2.20,14.40,0.989,6,0.000,0.038,2503,2139,1741,0,0,0,0,0,0
$GC,7090,0.67,276.3,877.3,14.2,479,7094,0.00,2.17,0.00,0.000,4,0.000,0.049,2504,3536,1740,0,0,0,0,0,0
$GC,7138,0.67,276.3,869.2,16.0,481,7142,0.00,2.15,0.00,0.000,6,0.000,0.031,2513,2151,1739,0,0,0,0,0,0
$GC,7461,0.67,276.3,819.2,15.4,497,7465,0.00,2.20,0.00,0.000,4,0.000,0.041,2524,710,1738,0,0,0,0,0,0
$GC,7515,0.67,276.3,810.5,15.0,499,7519,0.00,2.20,0.00,0.000,6,0.000,0.039,2524,2139,1736,0,0,0,0,0,0
$GC,7837,0.67,276.3,754.2,18.5,515,7841,0.00,2.17,0.00,0.000,4,0.000,0.048,2524,3545,1738,0,0,0,0,0,0
$GC,7932,0.67,276.3,735.1,19.3,519,7936,0.00,2.12,0.00,0.000,6,0.000,0.033,2533,2144,1735,0,0,0,0,0,0
$GC,8254,0.67,276.3,670.7,19.9,535,8258,0.00,2.15,0.00,0.000,4,0.000,0.041,2544,720,1737,0,0,0,0,0,0
$GC,8348,0.67,276.3,653.1,18.0,539,8352,0.00,2.20,0.00,0.000,6,0.000,0.038,2544,2152,1737,0,0,0,0,0,0
$GC,8664,0.67,276.3,592.0,20.1,554,8668,0.00,2.12,0.00,0.000,4,0.000,0.049,2544,3535,1736,0,0,0,0,0,0
$GC,8719,0.67,276.3,580.1,20.7,556,8726,0.10,2.12,0.00,0.000,6,0.160,0.031,2524,2154,1736,0,0,0,0,0,0
$GC,9035,0.67,276.3,525.3,17.0,572,9039,0.00,2.17,0.00,0.000,4,0.000,0.041,2533,711,1735,0,0,0,0,0,0
$GC,9113,0.67,276.3,512.2,15.8,575,9120,0.00,2.20,0.00,0.000,6,0.000,0.038,2533,2149,1736,0,0,0,0,0,0
$GC,9440,0.67,276.3,456.6,17.8,602,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2150,1735,0,0,0,0,0,0
$GC,9766,0.67,276.3,395.5,19.1,633,9770,0.00,2.17,0.00,0.000,4,0.000,0.041,2542,720,1735,0,0,0,0,0,0
$GC,9823,0.67,276.3,384.9,17.3,637,9830,0.00,2.17,0.00,0.000,6,0.000,0.038,2542,2141,1735,0,0,0,0,0,0
$GC,10149,0.67,276.3,321.8,18.8,668,10153,0.00,2.17,0.00,0.000,4,0.000,0.040,2551,707,1739,0,0,0,0,0,0
$GC,10159,0.67,276.3,319.4,18.9,668,10167,0.10,2.20,0.00,0.000,6,0.155,0.036,2521,2126,1735,0,0,0,0,0,0
$GC,10486,0.67,276.3,270.2,15.2,699,10490,0.00,2.20,0.00,0.000,4,0.000,0.048,2520,3540,1736,0,0,0,0,0,0
$GC,10582,0.67,276.3,253.9,16.8,707,10587,0.00,2.12,0.00,0.000,6,0.000,0.031,2528,2126,1735,0,0,0,0,0,0
$GC,10909,0.67,276.3,200.6,14.7,737,10913,0.00,2.10,0.00,0.000,4,0.000,0.041,2538,723,1735,0,0,0,0,0,0
$GC,11019,0.67,276.3,186.5,12.5,757,11027,0.00,2.17,0.00,0.000,6,0.000,0.038,2538,2122,1734,0,0,0,0,0,0
$GC,11157,0.69,294.6,170.9,11.1,782,11180,0.00,2.25,13.93,0.614,4,0.000,0.047,2538,3541,1668,0,0,0,0,0,0
$GC,11219,0.69,294.6,162.5,12.9,792,11227,0.00,2.12,0.00,0.000,6,0.000,0.031,2548,2160,1670,0,0,0,0,0,0
$GC,11356,0.70,307.0,146.3,11.3,817,11372,0.00,2.28,10.68,0.554,4,0.000,0.040,2558,712,1619,0,0,0,0,0,0
$GC,11427,0.70,307.0,137.6,12.1,829,11436,0.08,2.28,0.00,0.000,6,0.146,0.036,2534,2173,1619,0,0,0,0,0,0
$GC,11563,0.77,361.3,123.2,9.8,854,11616,0.00,2.20,41.08,0.539,4,0.000,0.045,2534,3533,1397,0,0,0,0,0,0
$GC,11718,0.89,460.5,108.9,8.2,880,11799,0.10,2.08,74.18,0.513,6,0.058,0.030,2600,2201,989,0,0,0,0,0,0
$GC,11926,0.89,460.5,84.7,12.5,915,11935,0.00,2.33,0.00,0.000,4,0.000,0.038,2611,719,990,0,0,0,0,0,0
$GC,12004,0.89,460.5,74.7,12.5,929,12012,0.00,2.33,0.00,0.000,6,0.000,0.036,2611,2191,990,0,0,0,0,0,0
$GC,12139,0.89,460.5,55.2,14.5,954,12148,0.00,2.12,0.00,0.000,4,0.000,0.044,2611,3537,990,0,0,0,0,0,0
$GC,12218,0.89,460.5,44.3,12.4,968,12227,0.08,2.05,0.00,0.000,6,0.130,0.029,2593,2216,990,0,0,0,0,0,0
$GC,12356,1.11,640.8,35.0,5.2,993,12461,0.20,2.42,97.32,0.462,4,0.064,0.037,2699,711,439,0,0,0,0,0,0
$GC,12548,1.15,669.1,15.2,10.8,1023,12557,0.00,2.33,1.75,0.073,6,0.000,0.032,2699,2187,441,0,0,0,0,0,0
$STATE,12650,end climb,SURFACE_DEPTH_REACHED
$STATE,12650,begin surface coast
$FINISH,-0.2,1.007316
$STATE,12674,end surface coast,CONTROL_FINISHED_OK
$STATE,12674,begin surface
$SM_CCo,12751,0.00,0.000,0,0,442,595.34
$SM_GC,0.63,6.57,0.00,0.00,0.039,0.000,0.000,213,2618,442,-6.46,0.51,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11947.82,010711,232325
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.00
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.1,17.202
$10V_AH,10.2,18.691
$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,16.225,138.275,631.025,0.000,0.000,30.567,40.009,165.745,0.250,0.000,15.135,2493.413,6907.702,638.477,2789.660,283.473,0.000,1818.398,0.000,1885.193,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,52.785,1102.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,727.486,1105.411,1263.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322644
$DATA_FILE_SIZE,70461,1046
$CAP_FILE_SIZE,142130,0
$CFSIZE,260165632,240549888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,060655,1958.150,11948.280,37,1.4,38,-2.2