version: 66.09
glider: 181
mission: 6
dive: 129
start: 7 4 111 22 45 26
data:
$ID,181
$MISSION,6
$DIVE,129
$N_DIVES,135
$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,-40645.016
$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,43
$R_STBD_OVSHOOT,74
$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
$GPS1,040711,223906,1952.975,11947.828,36,0.9,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.9
$GPS2,040711,224501,1953.053,11947.748,10,1.7,10,-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,169.9,100569,-16.3,-11.786
$D_GRID,3557
$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,-71.18,0.000,2,0.000,0.000,201,2665,2429,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.7,10,137,7.80,2.25,-26.42,0.000,4,0.237,0.041,2101,1180,3766,0,0,0,0,0,0
$GC,186,-0.60,-219.0,39.1,-35.0,25,194,0.00,2.17,0.00,0.000,6,0.000,0.042,2092,2549,3767,0,0,0,0,0,0
$GC,321,-0.60,-219.0,97.3,-45.4,50,329,0.00,1.88,0.00,0.000,4,0.000,0.049,2083,3736,3767,0,0,0,0,0,0
$GC,393,-0.60,-219.0,123.2,-29.2,63,401,0.00,1.62,0.00,0.000,6,0.000,0.024,2083,2643,3768,0,0,0,0,0,0
$GC,528,-0.60,-219.0,165.0,-36.6,88,537,0.00,1.73,0.00,0.000,4,0.000,0.044,2075,3735,3768,0,0,0,0,0,0
$GC,586,-0.60,-219.0,182.5,-28.0,98,595,0.10,1.55,0.00,0.000,6,0.162,0.024,2105,2676,3769,0,0,0,0,0,0
$GC,723,-0.60,-219.0,217.2,-25.7,117,727,0.00,2.15,0.00,0.000,4,0.000,0.027,2105,1203,3770,0,0,0,0,0,0
$GC,784,-0.60,-219.0,230.6,-18.8,122,788,0.00,2.17,0.00,0.000,6,0.000,0.035,2096,2640,3770,0,0,0,0,0,0
$GC,1109,-0.60,-219.0,307.5,-21.2,152,1113,0.00,1.75,0.00,0.000,4,0.000,0.044,2087,3775,3770,0,0,0,0,0,0
$GC,1154,-0.60,-219.0,317.8,-22.5,156,1158,0.00,1.62,0.00,0.000,6,0.000,0.025,2088,2682,3770,0,0,0,0,0,0
$GC,1485,-0.60,-219.0,390.4,-21.5,187,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2681,3769,0,0,0,0,0,0
$GC,1805,-0.60,-219.0,454.9,-19.1,217,1809,0.00,1.73,0.00,0.000,4,0.000,0.045,2079,3778,3765,0,0,0,0,0,0
$GC,1865,-0.60,-219.0,466.5,-17.3,222,1873,0.08,1.60,0.00,0.000,6,0.145,0.027,2104,2702,3765,0,0,0,0,0,0
$GC,2199,-0.60,-219.0,523.7,-18.2,248,2203,0.00,2.17,0.00,0.000,4,0.000,0.030,2104,1212,3761,0,0,0,0,0,0
$GC,2276,-0.60,-219.0,537.1,-14.7,251,2283,0.00,2.22,0.00,0.000,6,0.000,0.039,2097,2670,3760,0,0,0,0,0,0
$GC,2592,-0.60,-219.0,593.2,-17.6,267,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2670,3760,0,0,0,0,0,0
$GC,2902,-0.60,-219.0,645.1,-16.2,282,2905,0.00,1.67,0.00,0.000,4,0.000,0.048,2089,3774,3753,0,0,0,0,0,0
$GC,2940,-0.60,-219.0,651.6,-16.4,283,2947,0.00,1.65,0.00,0.000,6,0.000,0.028,2089,2681,3752,0,0,0,0,0,0
$GC,3256,-0.60,-219.0,703.3,-15.8,299,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2676,3749,0,0,0,0,0,0
$GC,3565,-0.60,-219.0,750.1,-14.1,314,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2676,3746,0,0,0,0,0,0
$GC,3875,-0.60,-219.0,792.9,-13.8,329,3879,0.00,2.17,0.00,0.000,4,0.000,0.034,2089,1207,3742,0,0,0,0,0,0
$GC,3907,-0.60,-219.0,797.4,-13.2,330,3914,0.00,2.30,0.00,0.000,6,0.000,0.042,2082,2666,3742,0,0,0,0,0,0
$GC,4224,-0.60,-219.0,842.2,-14.8,346,4227,0.00,1.73,0.00,0.000,4,0.000,0.051,2073,3768,3739,0,0,0,0,0,0
$GC,4251,-0.60,-219.0,846.4,-14.6,347,4255,0.10,1.62,0.00,0.000,6,0.140,0.030,2109,2684,3738,0,0,0,0,0,0
$GC,4578,-0.60,-219.0,886.1,-12.9,363,4582,0.00,2.20,0.00,0.000,4,0.000,0.035,2107,1210,3736,0,0,0,0,0,0
$GC,4628,-0.60,-219.0,892.1,-11.3,365,4632,0.00,2.25,0.00,0.000,6,0.000,0.042,2098,2672,3734,0,0,0,0,0,0
$GC,4944,-0.60,-219.0,932.7,-13.2,380,4948,0.00,2.20,0.00,0.000,4,0.000,0.034,2099,1209,3733,0,0,0,0,0,0
$GC,4976,-0.60,-219.0,937.2,-12.8,381,4983,0.00,2.25,0.00,0.000,6,0.000,0.042,2096,2666,3733,0,0,0,0,0,0
$GC,5293,-0.60,-219.0,979.0,-13.3,397,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2667,3730,0,0,0,0,0,0
$STATE,5393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5393,begin apogee
$GC,5400,-0.16,0.0,992.4,13.0,402,5573,0.45,0.00,167.95,1.099,4,0.131,0.000,2242,2119,2869,0,0,0,0,0,0
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5576,0.60,219.0,1002.0,0.0,410,5762,0.73,2.25,177.68,1.068,4,0.065,0.040,2497,733,1974,0,0,0,0,0,0
$GC,5891,0.60,219.0,974.5,12.1,425,5895,0.00,2.22,0.00,0.000,6,0.000,0.035,2497,2130,1974,0,0,0,0,0,0
$GC,6219,0.60,219.0,928.8,14.1,441,6223,0.00,2.15,0.00,0.000,4,0.000,0.038,2507,741,1971,0,0,0,0,0,0
$GC,6420,0.60,219.0,902.1,12.4,450,6424,0.00,2.20,0.00,0.000,6,0.000,0.036,2507,2133,1972,0,0,0,0,0,0
$GC,6748,0.60,219.0,858.9,13.2,466,6752,0.00,2.17,0.00,0.000,4,0.000,0.045,2507,3539,1969,0,0,0,0,0,0
$GC,6797,0.60,219.0,851.2,15.0,468,6801,0.00,2.10,0.00,0.000,6,0.000,0.029,2516,2151,1968,0,0,0,0,0,0
$GC,7124,0.60,219.0,806.4,13.7,484,7129,0.00,2.17,0.00,0.000,4,0.000,0.041,2527,714,1967,0,0,0,0,0,0
$GC,7264,0.60,219.0,787.0,13.6,490,7269,0.00,2.15,0.00,0.000,6,0.000,0.035,2527,2118,1967,0,0,0,0,0,0
$GC,7580,0.60,219.0,740.1,14.7,505,7585,0.12,2.20,0.00,0.000,4,0.184,0.045,2496,3538,1966,0,0,0,0,0,0
$GC,7604,0.60,219.0,736.8,14.5,506,7608,0.00,2.15,0.00,0.000,6,0.000,0.031,2505,2115,1966,0,0,0,0,0,0
$GC,7931,0.60,219.0,692.6,13.4,522,7934,0.00,2.10,0.00,0.000,4,0.000,0.039,2515,719,1965,0,0,0,0,0,0
$GC,7986,0.60,219.0,684.9,13.5,524,7993,0.00,2.17,0.00,0.000,6,0.000,0.034,2515,2117,1965,0,0,0,0,0,0
$GC,8302,0.60,219.0,637.3,15.4,540,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2117,1964,0,0,0,0,0,0
$GC,8611,0.60,219.0,588.2,15.4,555,8615,0.00,2.17,0.00,0.000,4,0.000,0.045,2516,3538,1963,0,0,0,0,0,0
$GC,8652,0.60,219.0,581.3,17.5,557,8656,0.12,2.15,0.00,0.000,6,0.185,0.031,2494,2109,1964,0,0,0,0,0,0
$GC,8979,0.60,219.0,540.7,12.0,573,8983,0.00,2.10,0.00,0.000,4,0.000,0.041,2504,713,1963,0,0,0,0,0,0
$GC,9072,0.61,227.4,529.6,11.5,577,9085,0.00,2.12,5.88,0.727,6,0.000,0.035,2504,2120,1943,0,0,0,0,0,0
$GC,9397,0.61,227.4,490.3,13.1,596,9401,0.00,2.17,0.00,0.000,4,0.000,0.046,2504,3538,1943,0,0,0,0,0,0
$GC,9438,0.61,227.4,484.6,13.6,599,9442,0.00,2.15,0.00,0.000,6,0.000,0.030,2513,2110,1943,0,0,0,0,0,0
$GC,9763,0.61,227.4,440.7,13.2,629,9767,0.00,2.10,0.00,0.000,4,0.000,0.039,2524,715,1943,0,0,0,0,0,0
$GC,9847,0.61,227.4,429.4,13.4,636,9854,0.00,2.12,0.00,0.000,6,0.000,0.035,2524,2106,1943,0,0,0,0,0,0
$GC,10173,0.65,260.9,391.1,10.6,667,10207,0.00,2.25,26.73,0.731,4,0.000,0.043,2524,3543,1804,0,0,0,0,0,0
$GC,10219,0.65,260.9,385.4,11.9,671,10223,0.00,2.20,0.00,0.000,6,0.000,0.030,2535,2103,1805,0,0,0,0,0,0
$GC,10544,0.65,260.9,338.2,15.5,701,10548,0.00,2.10,0.00,0.000,4,0.000,0.040,2544,716,1805,0,0,0,0,0,0
$GC,10719,0.65,260.9,313.2,14.3,716,10724,0.12,2.10,0.00,0.000,6,0.168,0.035,2512,2090,1805,0,0,0,0,0,0
$GC,11044,0.71,313.0,274.4,9.9,746,11092,0.00,2.15,39.83,0.649,4,0.000,0.037,2520,711,1592,0,0,0,0,0,0
$GC,11128,0.81,397.4,266.9,8.7,753,11199,0.12,2.12,63.45,0.612,6,0.092,0.034,2576,2085,1247,0,0,0,0,0,0
$GC,11516,0.81,397.4,207.4,16.4,789,11520,0.00,2.28,0.00,0.000,4,0.000,0.044,2576,3541,1250,0,0,0,0,0,0
$GC,11619,0.81,397.4,190.0,16.5,803,11627,0.00,2.22,0.00,0.000,6,0.000,0.029,2586,2111,1253,0,0,0,0,0,0
$GC,11755,0.81,397.4,171.1,12.9,828,11763,0.00,2.15,0.00,0.000,4,0.000,0.038,2597,722,1249,0,0,0,0,0,0
$GC,11849,0.83,406.6,159.0,11.5,845,11865,0.00,2.15,9.02,0.563,6,0.000,0.036,2597,2090,1210,0,0,0,0,0,0
$GC,11992,0.83,406.6,140.6,12.8,871,12000,0.00,2.28,0.00,0.000,4,0.000,0.044,2597,3533,1210,0,0,0,0,0,0
$GC,12086,0.83,406.6,128.2,13.7,888,12094,0.10,2.15,0.00,0.000,6,0.142,0.028,2574,2139,1210,0,0,0,0,0,0
$GC,12223,0.87,445.1,113.8,10.4,913,12260,0.00,2.17,29.20,0.548,4,0.000,0.037,2583,723,1053,0,0,0,0,0,0
$GC,12299,0.93,491.9,105.5,10.1,925,12343,0.00,2.22,34.83,0.495,6,0.000,0.032,2582,2143,861,0,0,0,0,0,0
$GC,12472,1.13,652.1,92.9,6.0,955,12555,0.22,2.25,74.80,0.487,4,0.058,0.042,2687,3542,438,0,0,0,0,0,0
$GC,12582,1.13,652.1,74.3,19.1,970,12590,0.10,2.25,0.00,0.000,6,0.138,0.027,2666,2118,438,0,0,0,0,0,0
$GC,12718,1.13,652.1,53.4,12.9,995,12726,0.00,2.17,0.00,0.000,4,0.000,0.037,2675,720,440,0,0,0,0,0,0
$GC,12760,1.13,652.1,48.4,11.9,1002,12769,0.00,2.17,0.05,0.144,6,0.000,0.031,2680,2117,441,0,0,0,0,0,0
$GC,12897,1.21,714.7,34.8,9.5,1027,12906,0.00,2.22,0.28,0.110,4,0.000,0.038,2674,3529,438,0,0,0,0,0,0
$GC,12941,1.24,742.8,30.2,10.8,1034,12949,0.00,2.17,0.40,0.081,6,0.000,0.027,2684,2116,441,0,0,0,0,0,0
$GC,13077,1.24,745.4,14.3,11.7,1059,13086,0.00,2.10,1.38,0.077,4,0.000,0.035,2695,720,443,0,0,0,0,0,0
$GC,13156,1.26,760.3,5.1,11.2,1073,13165,0.00,2.08,2.25,0.166,6,0.000,0.030,2695,2073,440,0,0,0,0,0,0
$STATE,13171,end climb,SURFACE_DEPTH_REACHED
$STATE,13171,begin surface coast
$FINISH,0.3,1.020765
$STATE,13199,end surface coast,CONTROL_FINISHED_OK
$STATE,13199,begin surface
$SM_CCo,13276,0.00,0.000,0,0,441,595.59
$SM_GC,0.89,6.47,0.00,0.00,0.038,0.000,0.000,210,2643,441,-6.46,1.22,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11946.68,040711,181802
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.32
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.0,20.163
$10V_AH,10.2,20.970
$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,16.650,139.375,633.700,0.000,0.000,28.385,24.348,165.861,0.000,0.000,12.916,2578.679,7267.523,660.530,2814.151,301.032,0.000,1865.237,0.000,1932.335,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,51.255,1099.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,750.510,1126.502,1258.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322632
$DATA_FILE_SIZE,73806,1080
$CAP_FILE_SIZE,148994,0
$CFSIZE,260165632,239063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,022800,1952.016,11946.639,35,0.9,41,-2.2