version: 66.09
glider: 181
mission: 6
dive: 638
start: 10 12 111 4 43 35
data:
$ID,181
$MISSION,6
$DIVE,638
$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,320
$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,175
$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,-41395.457
$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,2300
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,53
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,121011,043737,2157.614,12015.659,24,1.7,25,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.6
$GPS2,121011,044308,2157.536,12015.777,11,1.7,11,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,19.4,37693,-16.5,-10.312
$D_GRID,931
$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,-0.49,-170.3,0.0,0.0,0,86,0.00,0.00,-67.50,0.000,2,0.000,0.000,182,2553,2374,0,0,0,0,0,0
$GC,89,-0.49,-170.3,3.6,-3.7,11,127,8.10,1.17,-25.60,0.000,4,0.221,0.063,2129,3286,3564,0,0,0,0,0,0
$GC,193,-0.49,-170.3,37.5,-40.6,28,200,0.00,1.00,0.00,0.000,6,0.000,0.025,2129,2612,3560,0,0,0,0,0,0
$GC,335,-0.49,-170.3,86.8,-30.7,53,342,0.00,1.02,0.00,0.000,4,0.000,0.023,2129,1861,3558,0,0,0,0,0,0
$GC,349,-0.49,-170.3,91.6,-31.7,55,356,0.00,1.10,0.00,0.000,6,0.000,0.037,2124,2574,3558,0,0,0,0,0,0
$GC,492,-0.49,-170.3,128.5,-22.7,80,498,0.00,1.10,0.00,0.000,4,0.000,0.039,2118,3305,3557,0,0,0,0,0,0
$GC,516,-0.49,-170.3,134.2,-22.3,84,523,0.00,1.05,0.00,0.000,6,0.000,0.024,2118,2590,3557,0,0,0,0,0,0
$GC,660,-0.49,-170.3,159.6,-17.7,109,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2587,3557,0,0,0,0,0,0
$GC,803,-0.49,-170.3,185.1,-17.3,134,809,0.00,1.08,0.00,0.000,4,0.000,0.037,2113,3294,3556,0,0,0,0,0,0
$GC,844,-0.49,-170.3,192.8,-19.0,141,852,0.00,1.05,0.00,0.000,6,0.000,0.024,2113,2576,3557,0,0,0,0,0,0
$GC,985,-0.49,-170.3,216.0,-15.7,157,989,0.12,0.98,0.00,0.000,4,0.164,0.025,2145,1877,3556,0,0,0,0,0,0
$GC,1097,-0.49,-170.3,230.0,-11.1,167,1101,0.00,1.08,0.00,0.000,6,0.000,0.034,2141,2590,3556,0,0,0,0,0,0
$GC,1429,-0.49,-170.3,268.7,-12.4,198,1432,0.00,1.02,0.00,0.000,4,0.000,0.026,2141,1870,3554,0,0,0,0,0,0
$GC,1500,-0.49,-170.3,278.1,-13.1,204,1507,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2593,3554,0,0,0,0,0,0
$GC,1828,-0.49,-170.3,324.5,-14.1,235,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2593,3553,0,0,0,0,0,0
$GC,2146,-0.49,-170.3,370.4,-15.1,265,2150,0.00,1.02,0.00,0.000,4,0.000,0.025,2137,1865,3549,0,0,0,0,0,0
$GC,2294,-0.49,-170.3,391.6,-14.1,278,2298,0.00,1.10,0.00,0.000,6,0.000,0.036,2133,2585,3549,0,0,0,0,0,0
$GC,2625,-0.49,-170.3,438.0,-13.2,309,2629,0.00,1.00,0.00,0.000,4,0.000,0.026,2132,1880,3545,0,0,0,0,0,0
$GC,2694,-0.49,-170.3,446.9,-13.2,315,2698,0.00,1.10,0.00,0.000,6,0.000,0.037,2127,2594,3545,0,0,0,0,0,0
$GC,3026,-0.49,-170.3,488.4,-12.5,346,3029,0.00,1.02,0.00,0.000,4,0.000,0.026,2128,1868,3542,0,0,0,0,0,0
$GC,3061,-0.49,-170.3,492.7,-12.3,349,3065,0.00,1.10,0.00,0.000,6,0.000,0.038,2125,2578,3541,0,0,0,0,0,0
$GC,3395,-0.49,-170.3,538.3,-14.2,368,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2578,3538,0,0,0,0,0,0
$GC,3704,-0.49,-170.3,581.9,-14.6,383,3708,0.00,1.00,0.00,0.000,4,0.000,0.026,2125,1873,3535,0,0,0,0,0,0
$GC,3738,-0.49,-170.3,586.7,-14.0,384,3742,0.00,1.12,0.00,0.000,6,0.000,0.038,2120,2595,3534,0,0,0,0,0,0
$GC,4060,-0.49,-170.3,630.0,-12.6,400,4064,0.00,1.08,0.00,0.000,4,0.000,0.042,2115,3296,3532,0,0,0,0,0,0
$GC,4076,-0.49,-170.3,632.2,-12.8,400,4083,0.00,1.05,0.00,0.000,6,0.000,0.025,2115,2579,3531,0,0,0,0,0,0
$GC,4393,-0.49,-170.3,673.2,-12.6,416,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2578,3529,0,0,0,0,0,0
$GC,4702,-0.49,-170.3,704.7,-10.0,431,4706,0.00,0.98,0.00,0.000,4,0.000,0.028,2115,1886,3526,0,0,0,0,0,0
$GC,4740,-0.49,-170.3,709.0,-10.6,432,4747,0.00,1.10,0.00,0.000,6,0.000,0.040,2112,2590,3526,0,0,0,0,0,0
$GC,5057,-0.49,-170.3,744.1,-11.5,448,5062,0.12,1.12,0.00,0.000,4,0.169,0.045,2141,3298,3524,0,0,0,0,0,0
$GC,5096,-0.49,-170.3,749.1,-11.4,449,5104,0.00,1.02,0.00,0.000,6,0.000,0.026,2141,2593,3524,0,0,0,0,0,0
$GC,5412,-0.49,-170.3,786.0,-10.4,465,5416,0.00,1.00,0.00,0.000,4,0.000,0.028,2141,1882,3521,0,0,0,0,0,0
$GC,5451,-0.49,-170.3,790.5,-11.5,466,5458,0.00,1.12,0.00,0.000,6,0.000,0.041,2139,2594,3521,0,0,0,0,0,0
$GC,5768,-0.49,-170.3,831.7,-9.7,482,5772,0.00,1.02,0.00,0.000,4,0.000,0.028,2139,1889,3519,0,0,0,0,0,0
$GC,5847,-0.49,-170.3,832.1,-6.4,485,5852,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2603,3518,0,0,0,0,0,0
$GC,6169,-0.49,-170.3,834.5,-0.7,501,6174,0.00,1.05,0.00,0.000,4,0.000,0.041,2136,3289,3515,0,0,0,0,0,0
$STATE,6228,end dive,NO_VERTICAL_VELOCITY
$STATE,6228,begin apogee
$GC,6236,-0.13,0.0,835.0,0.0,503,6372,0.35,0.00,126.22,0.956,6,0.108,0.000,2253,2184,2869,0,0,0,0,0,0
$STATE,6373,end apogee,CONTROL_FINISHED_OK
$STATE,6373,begin climb
$GC,6375,0.49,170.3,835.5,0.0,510,6518,0.57,1.10,134.88,0.938,4,0.093,0.027,2451,1447,2173,0,0,0,0,0,0
$GC,6774,0.60,263.0,829.0,6.5,528,6853,0.10,1.12,72.70,0.927,6,0.054,0.031,2512,2180,1797,0,0,0,0,0,0
$GC,7172,0.73,371.9,797.3,5.9,547,7262,0.00,1.12,85.57,0.914,4,0.000,0.038,2512,2868,1352,0,0,0,0,0,0
$GC,7331,0.78,406.2,784.9,8.9,554,7365,0.00,1.10,28.52,0.870,6,0.000,0.028,2516,2147,1213,0,0,0,0,0,0
$GC,7677,0.79,416.6,755.7,9.9,571,7692,0.12,1.10,10.60,0.798,4,0.090,0.034,2581,2869,1170,0,0,0,0,0,0
$GC,7745,0.79,416.6,746.0,15.5,574,7749,0.10,1.08,0.00,0.000,6,0.127,0.028,2553,2153,1171,0,0,0,0,0,0
$GC,8078,0.79,416.6,710.5,10.5,590,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2153,1173,0,0,0,0,0,0
$GC,8386,0.79,416.6,674.4,11.1,605,8390,0.00,1.10,0.00,0.000,4,0.000,0.038,2553,2863,1173,0,0,0,0,0,0
$GC,8458,0.79,416.6,665.3,12.8,608,8462,0.00,1.05,0.00,0.000,6,0.000,0.028,2556,2159,1173,0,0,0,0,0,0
$GC,8787,0.82,439.4,630.1,9.4,624,8812,0.00,1.05,19.83,0.802,4,0.000,0.035,2560,1477,1076,0,0,0,0,0,0
$GC,8885,0.87,484.5,621.4,8.5,628,8927,0.00,1.05,36.90,0.808,6,0.000,0.031,2560,2163,891,0,0,0,0,0,0
$GC,9251,1.01,595.4,597.7,5.8,646,9347,0.17,1.15,87.18,0.803,4,0.070,0.038,2642,2868,441,0,0,0,0,0,0
$GC,9398,1.01,595.4,583.0,10.9,652,9404,0.00,1.08,0.00,0.000,6,0.000,0.027,2646,2160,445,0,0,0,0,0,0
$GC,9714,1.01,595.4,543.4,14.1,668,9717,0.00,1.02,0.00,0.000,4,0.000,0.035,2651,1473,446,0,0,0,0,0,0
$GC,9763,1.01,595.4,535.8,15.3,670,9767,0.00,1.08,0.00,0.000,6,0.000,0.032,2651,2170,447,0,0,0,0,0,0
$GC,10083,1.01,595.4,487.0,16.9,689,10087,0.00,1.05,0.00,0.000,4,0.000,0.039,2651,2861,447,0,0,0,0,0,0
$GC,10163,1.01,595.4,472.9,16.6,696,10167,0.10,1.05,0.00,0.000,6,0.135,0.028,2622,2163,446,0,0,0,0,0,0
$GC,10494,1.01,595.4,421.4,14.3,727,10498,0.00,1.02,0.00,0.000,4,0.000,0.035,2626,1472,446,0,0,0,0,0,0
$GC,10589,1.01,595.4,407.7,13.5,735,10597,0.00,1.05,0.00,0.000,6,0.000,0.029,2626,2169,447,0,0,0,0,0,0
$GC,10915,1.01,595.4,369.5,11.8,766,10919,0.00,1.05,0.00,0.000,4,0.000,0.037,2626,2865,446,0,0,0,0,0,0
$GC,10951,1.01,595.4,365.1,12.6,769,10955,0.00,1.05,0.00,0.000,6,0.000,0.027,2630,2157,447,0,0,0,0,0,0
$GC,11282,1.01,595.4,324.0,11.9,800,11286,0.00,1.00,0.00,0.000,4,0.000,0.034,2635,1478,447,0,0,0,0,0,0
$GC,11396,1.01,595.4,309.8,12.6,810,11399,0.00,1.05,0.00,0.000,6,0.000,0.031,2635,2170,447,0,0,0,0,0,0
$GC,11726,1.01,595.4,270.9,12.4,841,11730,0.00,1.02,0.00,0.000,4,0.000,0.035,2635,2857,447,0,0,0,0,0,0
$GC,11776,1.01,595.4,264.2,13.4,845,11786,0.00,1.02,0.00,0.000,6,0.000,0.028,2638,2174,447,0,0,0,0,0,0
$GC,12100,1.01,595.4,222.1,11.3,876,12104,0.00,1.05,0.00,0.000,4,0.000,0.036,2638,1469,448,0,0,0,0,0,0
$GC,12157,1.01,595.4,216.1,10.8,881,12169,0.00,1.05,3.72,0.404,6,0.000,0.030,2638,2166,441,0,0,0,0,0,0
$GC,12494,1.03,611.3,185.5,9.7,926,12503,0.00,1.12,2.70,0.278,4,0.000,0.033,2642,1456,439,0,0,0,0,0,0
$GC,12577,1.03,611.3,176.3,11.8,940,12584,0.00,1.08,0.00,0.000,6,0.000,0.028,2642,2173,439,0,0,0,0,0,0
$GC,12721,1.03,611.3,159.0,11.9,965,12728,0.00,1.08,0.00,0.000,4,0.000,0.033,2645,1460,440,0,0,0,0,0,0
$GC,12807,1.03,611.3,148.3,12.3,980,12814,0.00,1.05,0.20,0.095,6,0.000,0.029,2645,2158,440,0,0,0,0,0,0
$GC,12952,1.03,611.3,132.2,11.1,1005,12958,0.00,1.05,0.00,0.000,4,0.000,0.035,2645,2862,440,0,0,0,0,0,0
$GC,13214,1.04,622.8,103.0,9.8,1051,13222,0.00,1.05,2.33,0.186,6,0.000,0.027,2645,2152,439,0,0,0,0,0,0
$GC,13357,1.08,652.3,91.3,9.1,1076,13364,0.00,1.08,0.00,0.000,4,0.000,0.034,2645,2862,440,0,0,0,0,0,0
$GC,13620,1.08,652.3,61.6,11.8,1122,13628,0.00,1.02,2.45,0.195,6,0.000,0.027,2645,2161,439,0,0,0,0,0,0
$GC,13765,1.08,652.3,44.8,11.9,1147,13772,0.00,1.08,0.17,0.129,4,0.000,0.031,2644,2864,441,0,0,0,0,0,0
$GC,14011,1.08,652.3,15.3,12.1,1190,14019,0.00,1.02,2.60,0.202,6,0.000,0.026,2645,2161,439,0,0,0,0,0,0
$STATE,14114,end climb,SURFACE_DEPTH_REACHED
$STATE,14114,begin surface coast
$FINISH,0.7,1.005525
$STATE,14139,end surface coast,CONTROL_FINISHED_OK
$STATE,14139,begin surface
$SM_CCo,14215,0.00,0.000,0,0,440,595.83
$SM_GC,1.50,6.32,0.00,0.00,0.033,0.000,0.000,208,2588,440,-6.45,-0.06,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12017.56,121011,000039
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.40
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.7,106.545
$10V_AH,9.8,79.645
$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,16.200,73.550,616.575,0.000,0.000,30.914,33.144,128.668,0.000,0.000,13.797,3094.177,8021.571,671.239,2398.657,354.884,0.000,1912.381,0.000,2180.259,0.000,0.539,0.000
$DEVICE_MAMPS,221.085,63.495,956.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,834.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,70254,1212
$CAP_FILE_SIZE,154646,0
$CFSIZE,260165632,193339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,138.0,1
$GPS,121011,084137,2158.150,12016.778,27,0.9,27,-2.7