version: 66.09
glider: 181
mission: 6
dive: 133
start: 7 5 111 14 4 2
data:
$ID,181
$MISSION,6
$DIVE,133
$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,-40650.047
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,050711,135713,1952.800,11946.087,6,1.7,12,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.1
$GPS2,050711,140337,1952.975,11946.024,39,0.9,39,-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,168.2,101116,-16.3,-11.786
$D_GRID,3524
$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,-71.18,0.000,2,0.000,0.000,207,2615,2449,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-4.1,10,137,7.78,2.17,-25.88,0.000,4,0.238,0.041,2099,1179,3765,0,0,0,0,0,0
$GC,214,-0.60,-219.0,46.1,-25.7,30,223,0.00,2.25,0.00,0.000,6,0.000,0.041,2089,2593,3767,0,0,0,0,0,0
$GC,348,-0.60,-219.0,97.6,-37.9,55,356,0.00,1.85,0.00,0.000,4,0.000,0.044,2082,3780,3767,0,0,0,0,0,0
$GC,370,-0.60,-219.0,105.6,-36.8,58,378,0.00,1.85,0.00,0.000,6,0.000,0.025,2082,2545,3767,0,0,0,0,0,0
$GC,504,-0.60,-219.0,151.7,-28.6,83,512,0.00,1.95,0.00,0.000,4,0.000,0.042,2072,3787,3768,0,0,0,0,0,0
$GC,540,-0.60,-219.0,163.4,-32.3,89,549,0.10,1.77,0.00,0.000,6,0.161,0.024,2105,2594,3768,0,0,0,0,0,0
$GC,677,-0.60,-219.0,196.1,-24.4,114,685,0.00,2.08,0.00,0.000,4,0.000,0.028,2105,1196,3770,0,0,0,0,0,0
$GC,718,-0.60,-219.0,205.5,-19.1,118,726,0.00,2.20,0.00,0.000,6,0.000,0.037,2097,2609,3769,0,0,0,0,0,0
$GC,1045,-0.60,-219.0,270.8,-18.9,149,1049,0.00,1.77,0.00,0.000,4,0.000,0.044,2093,3790,3771,0,0,0,0,0,0
$GC,1127,-0.60,-219.0,284.1,-14.6,156,1136,0.00,1.73,0.00,0.000,6,0.000,0.024,2088,2616,3771,0,0,0,0,0,0
$GC,1453,-0.60,-219.0,348.2,-20.0,187,1456,0.00,1.80,0.00,0.000,4,0.000,0.044,2079,3785,3769,0,0,0,0,0,0
$GC,1480,-0.60,-219.0,354.0,-20.0,189,1487,0.00,1.70,0.00,0.000,6,0.000,0.025,2079,2651,3769,0,0,0,0,0,0
$GC,1806,-0.60,-219.0,426.7,-22.6,220,1811,0.12,2.12,0.00,0.000,4,0.175,0.031,2110,1209,3765,0,0,0,0,0,0
$GC,1861,-0.60,-219.0,436.7,-14.8,224,1868,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2627,3765,0,0,0,0,0,0
$GC,2187,-0.60,-219.0,488.0,-16.0,255,2190,0.00,1.75,0.00,0.000,4,0.000,0.047,2101,3777,3764,0,0,0,0,0,0
$GC,2213,-0.60,-219.0,492.7,-15.8,257,2221,0.00,1.70,0.00,0.000,6,0.000,0.027,2106,2644,3760,0,0,0,0,0,0
$GC,2542,-0.60,-219.0,543.5,-16.0,276,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2641,3757,0,0,0,0,0,0
$GC,2852,-0.60,-219.0,590.3,-14.5,291,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2640,3753,0,0,0,0,0,0
$GC,3160,-0.60,-219.0,634.3,-14.1,306,3164,0.00,2.15,0.00,0.000,4,0.000,0.034,2105,1189,3750,0,0,0,0,0,0
$GC,3194,-0.60,-219.0,638.8,-13.1,307,3201,0.00,2.20,0.00,0.000,6,0.000,0.041,2100,2615,3750,0,0,0,0,0,0
$GC,3511,-0.60,-219.0,685.0,-15.7,323,3514,0.00,1.77,0.00,0.000,4,0.000,0.050,2089,3780,3746,0,0,0,0,0,0
$GC,3543,-0.60,-219.0,690.5,-15.8,324,3548,0.00,1.75,0.00,0.000,6,0.000,0.028,2089,2610,3745,0,0,0,0,0,0
$GC,3865,-0.60,-219.0,745.2,-16.8,340,3869,0.00,1.83,0.00,0.000,4,0.000,0.050,2081,3784,3743,0,0,0,0,0,0
$GC,3915,-0.60,-219.0,753.2,-15.1,342,3919,0.00,1.73,0.00,0.000,6,0.000,0.029,2080,2642,3741,0,0,0,0,0,0
$GC,4242,-0.60,-219.0,808.7,-17.7,358,4246,0.00,2.15,0.00,0.000,4,0.000,0.034,2080,1189,3738,0,0,0,0,0,0
$GC,4275,-0.60,-219.0,814.5,-16.7,359,4283,0.15,2.25,0.00,0.000,6,0.160,0.042,2111,2646,3738,0,0,0,0,0,0
$GC,4592,-0.60,-219.0,850.9,-10.8,375,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2646,3735,0,0,0,0,0,0
$GC,4901,-0.60,-219.0,881.6,-9.7,390,4905,0.00,2.20,0.00,0.000,4,0.000,0.035,2111,1194,3733,0,0,0,0,0,0
$GC,4928,-0.60,-219.0,884.3,-9.5,391,4932,0.00,2.22,0.00,0.000,6,0.000,0.042,2112,2634,3733,0,0,0,0,0,0
$GC,5244,-0.60,-219.0,912.1,-8.7,406,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2635,3730,0,0,0,0,0,0
$GC,5554,-0.60,-219.0,939.5,-8.8,421,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2636,3728,0,0,0,0,0,0
$GC,5863,-0.60,-219.0,967.4,-9.1,436,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2635,3727,0,0,0,0,0,0
$STATE,6128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6128,begin apogee
$GC,6135,-0.16,0.0,991.5,8.9,449,6307,0.40,0.00,167.48,1.102,4,0.125,0.000,2244,2110,2869,0,0,0,0,0,0
$STATE,6308,end apogee,CONTROL_FINISHED_OK
$STATE,6308,begin climb
$GC,6310,0.60,219.0,998.7,0.0,457,6496,0.73,2.25,177.55,1.070,4,0.066,0.041,2496,735,1977,0,0,0,0,0,0
$GC,6614,0.60,219.0,971.0,12.6,471,6621,0.00,2.22,0.00,0.000,6,0.000,0.036,2496,2126,1975,0,0,0,0,0,0
$GC,6931,0.60,219.0,928.9,13.3,487,6935,0.00,2.17,0.00,0.000,4,0.000,0.038,2506,722,1973,0,0,0,0,0,0
$GC,7188,0.60,219.0,894.9,12.9,498,7195,0.00,2.20,0.00,0.000,6,0.000,0.037,2506,2119,1973,0,0,0,0,0,0
$GC,7505,0.60,219.0,848.0,15.5,514,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2119,1971,0,0,0,0,0,0
$GC,7814,0.60,219.0,800.6,15.2,529,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2119,1970,0,0,0,0,0,0
$GC,8123,0.60,219.0,752.8,15.1,544,8128,0.00,2.20,0.00,0.000,4,0.000,0.047,2506,3541,1968,0,0,0,0,0,0
$GC,8195,0.60,219.0,740.8,16.3,547,8200,0.00,2.15,0.00,0.000,6,0.000,0.029,2514,2142,1969,0,0,0,0,0,0
$GC,8518,0.60,219.0,692.3,15.1,563,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2140,1968,0,0,0,0,0,0
$GC,8827,0.60,219.0,646.5,14.9,578,8831,0.00,2.12,0.00,0.000,4,0.000,0.037,2526,724,1968,0,0,0,0,0,0
$GC,8927,0.60,219.0,631.8,14.0,582,8935,0.08,2.17,0.00,0.000,6,0.157,0.036,2501,2118,1969,0,0,0,0,0,0
$GC,9243,0.60,219.0,589.4,13.4,598,9247,0.00,2.17,0.00,0.000,4,0.000,0.045,2501,3537,1967,0,0,0,0,0,0
$GC,9270,0.60,219.0,585.3,14.2,599,9274,0.00,2.17,0.00,0.000,6,0.000,0.029,2510,2091,1967,0,0,0,0,0,0
$GC,9592,0.60,219.0,541.8,13.7,615,9596,0.00,2.05,0.00,0.000,4,0.000,0.038,2520,722,1967,0,0,0,0,0,0
$GC,9633,0.60,219.0,536.5,13.2,617,9637,0.00,2.12,0.00,0.000,6,0.000,0.035,2520,2120,1967,0,0,0,0,0,0
$GC,9950,0.60,219.0,492.7,14.1,634,9954,0.00,2.17,0.00,0.000,4,0.000,0.045,2520,3539,1965,0,0,0,0,0,0
$GC,10005,0.60,219.0,484.0,15.7,638,10013,0.12,2.17,0.00,0.000,6,0.184,0.028,2501,2095,1966,0,0,0,0,0,0
$GC,10331,0.60,219.0,442.0,13.5,669,10335,0.00,2.10,0.00,0.000,4,0.000,0.038,2509,719,1966,0,0,0,0,0,0
$GC,10448,0.60,219.0,426.6,13.2,679,10455,0.00,2.10,0.00,0.000,6,0.000,0.034,2509,2107,1966,0,0,0,0,0,0
$GC,10774,0.60,219.0,382.7,14.2,710,10778,0.00,2.10,0.00,0.000,4,0.000,0.038,2518,720,1966,0,0,0,0,0,0
$GC,10836,0.60,219.0,374.0,14.1,715,10840,0.00,2.10,0.00,0.000,6,0.000,0.036,2518,2102,1966,0,0,0,0,0,0
$GC,11161,0.60,219.0,328.4,13.5,745,11165,0.00,2.20,0.00,0.000,4,0.000,0.045,2518,3537,1966,0,0,0,0,0,0
$GC,11250,0.60,219.0,315.3,14.7,752,11259,0.10,2.20,0.00,0.000,6,0.162,0.029,2497,2105,1966,0,0,0,0,0,0
$GC,11579,0.61,226.9,277.9,11.5,783,11592,0.00,2.10,5.85,0.610,4,0.000,0.038,2507,717,1945,0,0,0,0,0,0
$GC,11629,0.61,226.9,271.5,12.0,787,11637,0.00,2.15,0.00,0.000,6,0.000,0.035,2507,2132,1946,0,0,0,0,0,0
$GC,11955,0.65,259.8,235.8,10.6,818,11992,0.00,2.25,26.12,0.630,4,0.000,0.038,2516,713,1810,0,0,0,0,0,0
$GC,12019,0.71,308.9,228.9,10.0,823,12062,0.00,2.12,37.85,0.593,6,0.000,0.035,2516,2093,1609,0,0,0,0,0,0
$GC,12380,0.76,350.9,197.4,10.3,859,12418,0.00,2.38,32.17,0.591,4,0.000,0.044,2516,3542,1437,0,0,0,0,0,0
$GC,12494,0.76,350.9,183.7,12.3,878,12503,0.00,2.28,0.00,0.000,6,0.000,0.030,2525,2097,1438,0,0,0,0,0,0
$GC,12630,0.79,378.3,168.6,10.8,903,12662,0.00,2.20,21.95,0.565,4,0.000,0.039,2535,714,1325,0,0,0,0,0,0
$GC,12721,0.87,439.9,159.4,9.6,918,12775,0.10,2.17,45.33,0.541,6,0.055,0.034,2591,2089,1074,0,0,0,0,0,0
$GC,12903,0.90,466.5,137.1,10.8,949,12933,0.00,2.35,20.70,0.534,4,0.000,0.044,2591,3529,966,0,0,0,0,0,0
$GC,12983,0.90,468.3,127.9,11.7,962,12992,0.00,2.30,2.70,0.271,6,0.000,0.028,2601,2070,961,0,0,0,0,0,0
$GC,13121,0.90,468.3,111.5,12.4,987,13129,0.00,2.12,0.00,0.000,4,0.000,0.038,2612,712,959,0,0,0,0,0,0
$GC,13224,0.90,468.3,99.0,12.1,1006,13232,0.00,2.05,0.00,0.000,6,0.000,0.033,2612,2020,959,0,0,0,0,0,0
$GC,13362,0.91,476.4,83.1,11.5,1031,13378,0.00,0.00,7.45,0.488,6,0.000,0.000,2612,2021,928,0,0,0,0,0,0
$GC,13507,1.01,555.2,69.2,8.9,1057,13574,0.00,2.10,57.67,0.496,4,0.000,0.038,2620,721,604,0,0,0,0,0,0
$GC,13615,1.16,677.5,60.4,7.3,1073,13653,0.12,2.00,30.02,0.461,6,0.047,0.029,2694,2001,440,0,0,0,0,0,0
$GC,13781,1.16,677.5,39.6,12.9,1102,13790,0.00,2.42,0.65,0.088,4,0.000,0.041,2695,3538,441,0,0,0,0,0,0
$GC,13859,1.16,677.5,29.2,13.2,1116,13869,0.08,2.35,2.15,0.150,6,0.130,0.028,2679,2025,441,0,0,0,0,0,0
$GC,13997,1.25,750.8,14.8,9.1,1141,14006,0.00,2.03,0.22,0.116,4,0.000,0.035,2687,716,442,0,0,0,0,0,0
$GC,14045,1.33,819.0,10.3,9.3,1149,14055,0.10,2.05,0.93,0.076,6,0.050,0.029,2751,2045,442,0,0,0,0,0,0
$STATE,14097,end climb,SURFACE_DEPTH_REACHED
$STATE,14097,begin surface coast
$FINISH,0.1,1.016444
$STATE,14118,end surface coast,CONTROL_FINISHED_OK
$STATE,14118,begin surface
$SM_CCo,14195,0.00,0.000,0,0,443,595.34
$SM_GC,0.83,6.55,0.00,0.00,0.032,0.000,0.000,214,2620,443,-6.45,0.57,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11949.81,050711,101059
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.76
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,20.809
$10V_AH,10.1,21.489
$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,16.525,135.350,636.800,0.000,0.000,30.548,16.942,170.206,0.000,0.000,42.384,2739.633,7874.898,675.879,2972.709,306.492,0.000,1926.098,0.000,1997.654,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,49.725,1102.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,809.272,1206.693,1372.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322604
$DATA_FILE_SIZE,80310,1161
$CAP_FILE_SIZE,153116,0
$CFSIZE,260165632,238727168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,180155,1951.888,11945.577,40,1.0,41,-2.2