version: 66.09
glider: 181
mission: 6
dive: 312
start: 8 8 111 1 52 4
data:
$ID,181
$MISSION,6
$DIVE,312
$N_DIVES,0
$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,250
$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,-40919.484
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,48
$R_STBD_OVSHOOT,32
$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,3
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,32.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,14.0
$GPS1,080811,014506,2031.765,12001.099,35,0.9,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.9
$GPS2,080811,015132,2031.881,12001.155,13,1.1,13,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$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,212.2,4019,-23.4,-11.786
$D_GRID,3379
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.53,-110.0,0.0,0.0,0,95,0.00,0.00,-68.18,0.000,2,0.000,0.000,198,2609,2406,0,0,0,0,0,0
$GC,98,-0.66,-221.8,3.5,-3.8,11,138,7.75,2.12,-26.40,0.000,4,0.226,0.041,2099,1183,3776,0,0,0,0,0,0
$GC,165,-0.66,-221.8,30.1,-48.8,21,172,0.00,2.22,0.00,0.000,6,0.000,0.045,2090,2596,3778,0,0,0,0,0,0
$GC,304,-0.66,-221.8,89.5,-42.9,46,312,0.00,1.88,0.00,0.000,4,0.000,0.044,2081,3792,3778,0,0,0,0,0,0
$GC,341,-0.66,-221.8,105.3,-44.6,52,348,0.00,1.88,0.00,0.000,6,0.000,0.024,2081,2548,3777,0,0,0,0,0,0
$GC,481,-0.66,-221.8,136.8,-23.5,77,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2545,3778,0,0,0,0,0,0
$GC,621,-0.66,-221.8,176.3,-28.0,102,629,0.00,1.95,0.00,0.000,4,0.000,0.042,2071,3781,3778,0,0,0,0,0,0
$GC,698,-0.66,-221.8,193.6,-17.3,115,705,0.12,1.65,0.00,0.000,6,0.168,0.024,2104,2629,3779,0,0,0,0,0,0
$GC,841,-0.66,-221.8,214.8,-15.1,131,845,0.00,2.08,0.00,0.000,4,0.000,0.028,2103,1200,3779,0,0,0,0,0,0
$GC,885,-0.66,-221.8,223.4,-18.6,134,893,0.00,2.30,0.00,0.000,6,0.000,0.035,2097,2682,3779,0,0,0,0,0,0
$GC,1212,-0.66,-221.8,293.8,-18.7,165,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2679,3779,0,0,0,0,0,0
$GC,1531,-0.66,-221.8,354.1,-17.6,195,1535,0.00,2.17,0.00,0.000,4,0.000,0.028,2097,1207,3777,0,0,0,0,0,0
$GC,1548,-0.66,-221.8,357.2,-16.8,196,1552,0.00,2.20,0.00,0.000,6,0.000,0.035,2087,2652,3774,0,0,0,0,0,0
$GC,1873,-0.66,-221.8,411.4,-16.8,226,1877,0.00,1.73,0.00,0.000,4,0.000,0.045,2079,3787,3774,0,0,0,0,0,0
$GC,1919,-0.66,-221.8,419.1,-16.2,230,1923,0.00,1.65,0.00,0.000,6,0.000,0.024,2079,2644,3773,0,0,0,0,0,0
$GC,2250,-0.66,-221.8,480.3,-19.3,261,2254,0.00,2.10,0.00,0.000,4,0.000,0.030,2079,1212,3771,0,0,0,0,0,0
$GC,2312,-0.66,-221.8,490.7,-14.5,266,2317,0.12,2.20,0.00,0.000,6,0.155,0.037,2104,2642,3770,0,0,0,0,0,0
$GC,2637,-0.66,-221.8,535.3,-13.1,285,2641,0.00,1.73,0.00,0.000,4,0.000,0.046,2097,3776,3766,0,0,0,0,0,0
$GC,2706,-0.67,-229.2,543.8,-11.3,288,2710,0.00,1.65,0.00,0.000,6,0.000,0.025,2097,2644,3765,0,0,0,0,0,0
$GC,3039,-0.67,-229.2,588.0,-13.0,304,3043,0.00,2.12,0.00,0.000,4,0.000,0.031,2097,1202,3765,0,0,0,0,0,0
$GC,3117,-0.69,-243.3,596.3,-8.6,307,3124,0.00,2.17,0.00,0.000,6,0.000,0.037,2094,2621,3761,0,0,0,0,0,0
$GC,3433,-0.69,-243.3,633.2,-12.0,323,3437,0.00,1.77,0.00,0.000,4,0.000,0.047,2085,3778,3758,0,0,0,0,0,0
$GC,3460,-0.69,-243.3,636.7,-12.0,324,3465,0.00,1.75,0.00,0.000,6,0.000,0.027,2085,2617,3757,0,0,0,0,0,0
$GC,3789,-0.69,-243.3,682.3,-14.7,340,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2615,3754,0,0,0,0,0,0
$GC,4097,-0.69,-243.3,727.1,-14.7,355,4101,0.00,2.10,0.00,0.000,4,0.000,0.031,2085,1198,3751,0,0,0,0,0,0
$GC,4118,-0.69,-243.3,730.5,-14.6,356,4122,0.00,2.22,0.00,0.000,6,0.000,0.040,2075,2628,3751,0,0,0,0,0,0
$GC,4440,-0.69,-243.3,777.7,-15.4,372,4444,0.00,1.83,0.00,0.000,4,0.000,0.049,2067,3776,3748,0,0,0,0,0,0
$GC,4467,-0.69,-243.3,782.3,-15.5,373,4472,0.00,1.75,0.00,0.000,6,0.000,0.028,2067,2618,3747,0,0,0,0,0,0
$GC,4795,-0.69,-243.3,834.6,-16.8,389,4800,0.12,2.12,0.00,0.000,4,0.174,0.032,2099,1203,3746,0,0,0,0,0,0
$GC,4822,-0.69,-243.3,839.0,-15.1,390,4826,0.00,2.20,0.00,0.000,6,0.000,0.040,2097,2625,3743,0,0,0,0,0,0
$GC,5144,-0.69,-243.3,883.8,-14.1,406,5147,0.00,1.80,0.00,0.000,4,0.000,0.048,2088,3787,3742,0,0,0,0,0,0
$GC,5172,-0.69,-243.3,887.6,-13.9,407,5175,0.00,1.73,0.00,0.000,6,0.000,0.028,2088,2615,3742,0,0,0,0,0,0
$GC,5499,-0.69,-243.3,932.6,-13.4,423,5503,0.00,2.10,0.00,0.000,4,0.000,0.032,2088,1204,3740,0,0,0,0,0,0
$GC,5520,-0.69,-243.3,935.8,-13.5,424,5524,0.00,2.22,0.00,0.000,6,0.000,0.040,2084,2632,3740,0,0,0,0,0,0
$GC,5849,-0.69,-243.3,975.2,-11.6,440,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2632,3738,0,0,0,0,0,0
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,5998,-0.13,0.0,990.9,10.9,447,6171,0.57,0.00,167.77,1.077,4,0.129,0.000,2267,2117,2871,0,0,0,0,0,0
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6174,0.69,243.3,996.3,0.0,455,6379,0.77,2.25,195.75,1.050,4,0.057,0.038,2546,733,1877,0,0,0,0,0,0
$GC,6484,0.69,243.3,960.1,16.6,470,6488,0.00,2.22,0.00,0.000,6,0.000,0.034,2546,2127,1875,0,0,0,0,0,0
$GC,6813,0.69,243.3,907.3,15.3,486,6817,0.00,2.15,0.00,0.000,4,0.000,0.037,2555,733,1874,0,0,0,0,0,0
$GC,7069,0.69,243.3,871.7,13.6,497,7077,0.00,2.17,0.00,0.000,6,0.000,0.034,2555,2145,1874,0,0,0,0,0,0
$GC,7386,0.69,243.3,826.2,14.8,513,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2145,1873,0,0,0,0,0,0
$GC,7695,0.69,243.3,776.2,16.8,528,7699,0.00,2.15,0.00,0.000,4,0.000,0.037,2565,736,1872,0,0,0,0,0,0
$GC,7728,0.69,243.3,770.3,16.8,529,7735,0.00,2.12,0.00,0.000,6,0.000,0.034,2565,2120,1872,0,0,0,0,0,0
$GC,8045,0.69,243.3,711.8,18.5,545,8049,0.00,2.20,0.00,0.000,4,0.000,0.044,2565,3538,1871,0,0,0,0,0,0
$GC,8077,0.69,243.3,705.2,19.3,546,8085,0.12,2.12,0.00,0.000,6,0.201,0.026,2547,2123,1871,0,0,0,0,0,0
$GC,8394,0.69,243.3,655.8,15.0,562,8398,0.00,2.10,0.00,0.000,4,0.000,0.035,2556,723,1870,0,0,0,0,0,0
$GC,8501,0.69,243.3,640.6,14.1,567,8505,0.00,2.12,0.00,0.000,6,0.000,0.034,2556,2113,1874,0,0,0,0,0,0
$GC,8828,0.69,243.3,594.0,14.2,583,8832,0.00,2.20,0.00,0.000,4,0.000,0.044,2555,3535,1870,0,0,0,0,0,0
$GC,8883,0.69,243.3,585.1,15.5,585,8890,0.00,2.12,0.00,0.000,6,0.000,0.026,2565,2117,1869,0,0,0,0,0,0
$GC,9199,0.69,243.3,537.8,14.7,601,9203,0.00,2.10,0.00,0.000,4,0.000,0.036,2575,720,1869,0,0,0,0,0,0
$GC,9285,0.69,243.3,525.6,14.7,605,9290,0.12,2.15,0.00,0.000,6,0.174,0.033,2546,2127,1869,0,0,0,0,0,0
$GC,9606,0.69,243.3,485.6,12.5,626,9610,0.00,2.17,0.00,0.000,4,0.000,0.044,2546,3535,1869,0,0,0,0,0,0
$GC,9639,0.69,243.3,480.4,14.7,628,9646,0.00,2.12,0.00,0.000,6,0.000,0.026,2554,2119,1869,0,0,0,0,0,0
$GC,9965,0.69,243.3,434.5,13.7,659,9969,0.00,2.12,0.00,0.000,4,0.000,0.036,2564,714,1869,0,0,0,0,0,0
$GC,10105,0.69,243.3,416.7,12.3,671,10112,0.00,2.12,0.00,0.000,6,0.000,0.032,2564,2115,1869,0,0,0,0,0,0
$GC,10430,0.69,243.3,369.2,15.3,702,10434,0.00,2.20,0.00,0.000,4,0.000,0.042,2564,3542,1869,0,0,0,0,0,0
$GC,10462,0.69,243.3,363.7,16.3,704,10470,0.12,2.15,0.00,0.000,6,0.187,0.026,2545,2106,1869,0,0,0,0,0,0
$GC,10788,0.69,243.3,322.9,11.8,735,10792,0.00,2.08,0.00,0.000,4,0.000,0.036,2554,721,1869,0,0,0,0,0,0
$GC,10997,0.71,263.6,300.1,10.3,753,11021,0.00,2.05,15.65,0.649,6,0.000,0.033,2554,2068,1793,0,0,0,0,0,0
$GC,11339,0.71,263.6,259.1,15.8,785,11343,0.00,2.28,0.00,0.000,4,0.000,0.043,2554,3535,1792,0,0,0,0,0,0
$GC,11427,0.71,263.6,241.9,19.3,792,11435,0.00,2.25,0.00,0.000,6,0.000,0.026,2567,2068,1793,0,0,0,0,0,0
$GC,11754,0.80,331.5,201.7,6.9,823,11810,0.00,2.15,49.55,0.583,4,0.000,0.034,2574,713,1518,0,0,0,0,0,0
$GC,11879,0.83,356.8,191.4,10.0,841,11905,0.00,2.05,20.20,0.532,6,0.000,0.031,2574,2046,1414,0,0,0,0,0,0
$GC,12041,0.83,356.8,161.0,22.2,869,12048,0.00,2.33,0.00,0.000,4,0.000,0.041,2573,3536,1415,0,0,0,0,0,0
$GC,12124,0.83,356.8,144.1,19.9,883,12130,0.00,2.25,0.00,0.000,6,0.000,0.025,2584,2051,1415,0,0,0,0,0,0
$GC,12266,0.95,453.2,130.6,4.9,908,12345,0.12,2.38,70.38,0.520,4,0.087,0.038,2644,3536,1020,0,0,0,0,0,0
$GC,12454,0.95,453.2,109.3,22.5,939,12461,0.00,2.20,0.00,0.000,6,0.000,0.026,2654,2092,1026,0,0,0,0,0,0
$GC,12596,0.95,453.2,79.4,17.7,964,12604,0.00,2.12,0.00,0.000,4,0.000,0.035,2665,724,1026,0,0,0,0,0,0
$GC,12716,0.95,453.2,59.8,14.9,985,12724,0.15,1.98,0.00,0.000,6,0.142,0.031,2622,2018,1027,0,0,0,0,0,0
$GC,12860,1.07,552.3,48.9,4.7,1010,12945,0.12,2.45,72.40,0.461,4,0.085,0.040,2683,3531,615,0,0,0,0,0,0
$GC,13025,1.07,552.3,34.3,14.9,1037,13032,0.00,2.22,0.00,0.000,6,0.000,0.027,2693,2074,622,0,0,0,0,0,0
$GC,13165,1.07,552.3,15.8,12.3,1062,13173,0.00,2.10,0.00,0.000,4,0.000,0.037,2703,717,623,0,0,0,0,0,0
$GC,13224,1.07,552.3,8.2,12.9,1072,13232,0.10,2.10,0.00,0.000,6,0.116,0.029,2668,2078,624,0,0,0,0,0,0
$STATE,13281,end climb,SURFACE_DEPTH_REACHED
$STATE,13281,begin surface coast
$FINISH,0.4,1.020652
$STATE,13322,end surface coast,CONTROL_FINISHED_OK
$STATE,13322,begin surface
$SM_CCo,13399,0.00,0.000,0,0,624,550.70
$SM_GC,1.01,6.40,0.00,0.00,0.034,0.000,0.000,197,2617,624,-6.52,0.48,550.70,0,0,0,0,0,0
$IRIDIUM_FIX,2027.17,11950.69,070811,212131
$TT8_MAMPS,0.02996,0.02996
$HUMID,44.13
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.3,49.876
$10V_AH,9.9,47.003
$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,16.750,139.025,591.700,0.000,0.000,29.274,24.590,152.919,0.250,0.000,25.279,2583.280,7776.492,652.771,2452.257,321.967,0.000,1809.344,0.000,2168.597,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,48.960,1077.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,755.237,0.000,531.742,0.000,0.000,0.000,791.653,14114.910,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,10.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,66932,1089
$CAP_FILE_SIZE,147680,0
$CFSIZE,260165632,222162944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080811,053637,2031.731,12001.796,35,0.9,36,-2.3