version: 66.09
glider: 181
mission: 6
dive: 663
start: 10 15 111 18 23 16
data:
$ID,181
$MISSION,6
$DIVE,663
$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,-8
$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,-41427.754
$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,72
$R_STBD_OVSHOOT,48
$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
$GPS1,151011,181707,2156.624,12031.057,27,1.2,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.6
$GPS2,151011,182250,2156.440,12031.146,13,1.2,13,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,274.1,57614,-16.5,-10.313
$D_GRID,791
$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,18,-0.49,-170.3,0.0,0.0,0,81,0.00,0.00,-60.78,0.000,2,0.000,0.000,197,2567,2180,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.0,-3.0,10,129,8.02,1.17,-30.60,0.000,4,0.220,0.063,2129,3292,3563,0,0,0,0,0,0
$GC,272,-0.49,-170.3,64.4,-35.0,42,280,0.00,1.02,-0.10,0.000,6,0.000,0.024,2129,2588,3566,0,0,0,0,0,0
$GC,418,-0.49,-170.3,102.8,-24.7,67,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2584,3564,0,0,0,0,0,0
$GC,560,-0.49,-170.3,131.6,-17.3,92,567,0.00,1.08,0.00,0.000,4,0.000,0.037,2124,3285,3563,0,0,0,0,0,0
$GC,608,-0.49,-170.3,140.3,-18.0,100,614,0.00,1.00,0.00,0.000,6,0.000,0.024,2124,2588,3562,0,0,0,0,0,0
$GC,749,-0.49,-170.3,162.0,-14.9,125,757,0.00,1.08,0.00,0.000,4,0.000,0.037,2119,3289,3562,0,0,0,0,0,0
$GC,858,-0.49,-170.3,177.9,-15.6,144,864,0.00,1.00,0.00,0.000,6,0.000,0.024,2119,2584,3562,0,0,0,0,0,0
$GC,1000,-0.49,-170.3,198.2,-14.5,169,1007,0.00,1.08,0.00,0.000,4,0.000,0.036,2114,3292,3562,0,0,0,0,0,0
$GC,1118,-0.49,-170.3,217.0,-17.7,180,1125,0.00,1.00,0.00,0.000,6,0.000,0.023,2113,2584,3562,0,0,0,0,0,0
$GC,1444,-0.49,-170.3,264.6,-13.9,211,1448,0.00,0.95,0.00,0.000,4,0.000,0.024,2113,1886,3560,0,0,0,0,0,0
$GC,1515,-0.49,-170.3,274.6,-12.9,217,1524,0.08,1.05,0.00,0.000,6,0.143,0.036,2136,2573,3560,0,0,0,0,0,0
$GC,1841,-0.49,-170.3,316.2,-14.5,248,1845,0.00,1.08,0.00,0.000,4,0.000,0.037,2132,3290,3558,0,0,0,0,0,0
$GC,1890,-0.49,-170.3,323.3,-13.5,252,1897,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2589,3558,0,0,0,0,0,0
$GC,2217,-0.49,-170.3,369.4,-13.8,283,2220,0.00,0.95,0.00,0.000,4,0.000,0.025,2132,1886,3556,0,0,0,0,0,0
$GC,2275,-0.49,-170.3,377.4,-13.6,288,2278,0.00,1.08,0.00,0.000,6,0.000,0.036,2127,2591,3555,0,0,0,0,0,0
$GC,2606,-0.49,-170.3,424.6,-13.8,319,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2591,3552,0,0,0,0,0,0
$GC,2929,-0.49,-170.3,462.2,-11.8,349,2932,0.00,1.08,0.00,0.000,4,0.000,0.042,2121,3294,3549,0,0,0,0,0,0
$GC,2986,-0.49,-170.3,469.7,-12.3,354,2990,0.00,1.02,0.00,0.000,6,0.000,0.025,2121,2587,3548,0,0,0,0,0,0
$GC,3318,-0.49,-170.3,509.0,-11.0,381,3321,0.00,0.98,0.00,0.000,4,0.000,0.027,2121,1888,3545,0,0,0,0,0,0
$GC,3446,-0.49,-170.3,523.1,-10.6,386,3453,0.00,1.08,0.00,0.000,6,0.000,0.037,2116,2585,3544,0,0,0,0,0,0
$GC,3764,-0.49,-170.3,557.0,-10.9,402,3768,0.00,1.08,0.00,0.000,4,0.000,0.043,2112,3283,3541,0,0,0,0,0,0
$GC,3819,-0.49,-170.3,564.3,-12.9,404,3823,0.08,1.00,0.00,0.000,6,0.134,0.026,2136,2598,3540,0,0,0,0,0,0
$GC,4140,-0.49,-170.3,601.5,-11.9,420,4144,0.00,1.00,0.00,0.000,4,0.000,0.028,2137,1888,3537,0,0,0,0,0,0
$GC,4330,-0.49,-170.3,621.4,-9.4,428,4334,0.00,1.10,0.00,0.000,6,0.000,0.039,2133,2593,3536,0,0,0,0,0,0
$GC,4652,-0.49,-170.3,652.3,-10.5,444,4656,0.00,1.02,0.00,0.000,4,0.000,0.027,2133,1877,3533,0,0,0,0,0,0
$GC,4691,-0.49,-170.3,656.4,-9.9,445,4699,0.00,1.12,0.00,0.000,6,0.000,0.041,2128,2595,3533,0,0,0,0,0,0
$GC,5007,-0.49,-170.3,689.8,-11.5,461,5011,0.00,1.02,0.00,0.000,4,0.000,0.027,2127,1885,3531,0,0,0,0,0,0
$GC,5063,-0.49,-170.3,696.2,-11.6,463,5067,0.00,1.10,0.00,0.000,6,0.000,0.041,2126,2586,3530,0,0,0,0,0,0
$GC,5385,-0.49,-170.3,732.7,-11.6,479,5389,0.00,1.10,0.00,0.000,4,0.000,0.046,2120,3294,3528,0,0,0,0,0,0
$GC,5440,-0.49,-170.3,739.3,-11.9,481,5444,0.00,1.02,0.00,0.000,6,0.000,0.028,2120,2595,3527,0,0,0,0,0,0
$GC,5763,-0.49,-170.3,779.9,-13.2,497,5767,0.00,1.10,0.00,0.000,4,0.000,0.044,2115,3289,3526,0,0,0,0,0,0
$GC,5791,-0.49,-170.3,784.2,-14.1,498,5794,0.00,1.02,0.00,0.000,6,0.000,0.028,2114,2591,3525,0,0,0,0,0,0
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5854,-0.13,0.0,792.0,13.4,501,5988,0.43,0.00,126.65,0.927,6,0.132,0.000,2248,2151,2869,0,0,0,0,0,0
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,0.49,170.3,799.6,0.0,507,6132,0.57,1.00,133.57,0.910,4,0.086,0.031,2454,1469,2173,0,0,0,0,0,0
$GC,6154,0.63,289.9,794.3,5.4,514,6257,0.10,1.10,93.53,0.895,6,0.054,0.032,2517,2173,1686,0,0,0,0,0,0
$GC,6580,0.67,319.7,750.1,9.1,535,6611,0.00,1.12,24.02,0.857,4,0.000,0.038,2517,2873,1565,0,0,0,0,0,0
$GC,6696,0.73,370.7,740.6,8.2,540,6743,0.00,1.08,40.95,0.861,6,0.000,0.028,2521,2158,1357,0,0,0,0,0,0
$GC,7066,0.80,426.7,710.8,8.0,558,7114,0.10,0.00,44.40,0.855,6,0.100,0.000,2573,2158,1129,0,0,0,0,0,0
$GC,7419,0.83,447.0,678.4,9.5,575,7441,0.00,0.00,18.83,0.806,6,0.000,0.000,2573,2158,1046,0,0,0,0,0,0
$GC,7751,0.83,447.0,640.1,10.9,591,7754,0.00,1.02,0.00,0.000,4,0.000,0.034,2578,1469,1045,0,0,0,0,0,0
$GC,7783,0.83,447.0,636.0,11.8,592,7787,0.00,1.05,0.00,0.000,6,0.000,0.031,2578,2161,1045,0,0,0,0,0,0
$GC,8106,0.83,447.0,602.2,10.6,608,8110,0.00,1.05,0.00,0.000,4,0.000,0.037,2578,2857,1045,0,0,0,0,0,0
$GC,8178,0.83,447.0,594.0,11.4,611,8183,0.00,1.02,0.00,0.000,6,0.000,0.028,2582,2172,1045,0,0,0,0,0,0
$GC,8509,0.83,447.0,557.7,11.7,627,8512,0.00,1.05,0.00,0.000,4,0.000,0.035,2587,1468,1044,0,0,0,0,0,0
$GC,8555,0.83,447.0,552.0,11.6,629,8558,0.00,1.05,0.00,0.000,6,0.000,0.031,2587,2160,1044,0,0,0,0,0,0
$GC,8888,0.83,452.2,515.9,10.1,645,8897,0.00,1.05,5.50,0.616,4,0.000,0.034,2587,2864,1026,0,0,0,0,0,0
$GC,8958,0.83,452.2,508.0,12.4,648,8961,0.00,1.05,0.00,0.000,6,0.000,0.028,2591,2163,1026,0,0,0,0,0,0
$GC,9288,0.83,452.2,467.4,12.3,676,9291,0.00,1.08,0.00,0.000,4,0.000,0.035,2591,2863,1027,0,0,0,0,0,0
$GC,9395,0.83,452.2,453.7,11.9,685,9403,0.08,1.05,0.00,0.000,6,0.130,0.029,2570,2169,1027,0,0,0,0,0,0
$GC,9721,0.84,458.3,421.4,10.1,716,9731,0.00,1.10,7.30,0.612,4,0.000,0.036,2572,1468,1000,0,0,0,0,0,0
$GC,9749,0.84,458.3,418.2,10.6,718,9756,0.00,1.08,0.00,0.000,6,0.000,0.031,2573,2174,1000,0,0,0,0,0,0
$GC,10074,0.84,458.3,381.3,10.5,749,10078,0.00,1.02,0.00,0.000,4,0.000,0.037,2573,2854,1002,0,0,0,0,0,0
$GC,10161,0.84,461.6,372.6,10.2,756,10171,0.00,1.05,4.70,0.530,6,0.000,0.029,2576,2158,987,0,0,0,0,0,0
$GC,10497,0.88,490.7,341.3,9.1,788,10531,0.00,1.05,23.98,0.631,4,0.000,0.036,2580,1479,867,0,0,0,0,0,0
$GC,10578,0.91,515.1,333.8,9.3,795,10602,0.00,1.05,19.62,0.600,6,0.000,0.031,2580,2167,769,0,0,0,0,0,0
$GC,10919,0.94,542.9,301.3,9.2,827,10946,0.00,1.05,22.58,0.606,4,0.000,0.031,2580,1462,654,0,0,0,0,0,0
$GC,11040,0.94,542.9,288.4,11.2,837,11047,0.00,1.08,0.00,0.000,6,0.000,0.029,2580,2169,655,0,0,0,0,0,0
$GC,11366,0.94,542.9,249.2,11.6,868,11370,0.00,1.05,0.00,0.000,4,0.000,0.037,2580,2866,658,0,0,0,0,0,0
$GC,11625,0.94,542.9,220.2,11.4,891,11629,0.00,1.05,0.00,0.000,6,0.000,0.028,2580,2159,658,0,0,0,0,0,0
$GC,11960,0.94,542.9,183.0,10.4,935,11966,0.00,1.00,0.00,0.000,4,0.000,0.034,2580,1480,660,0,0,0,0,0,0
$GC,12143,0.95,550.3,163.7,10.0,967,12157,0.00,1.05,8.88,0.532,6,0.000,0.030,2580,2178,624,0,0,0,0,0,0
$GC,12293,0.95,550.3,145.7,13.0,993,12300,0.00,1.02,0.00,0.000,4,0.000,0.039,2580,2856,624,0,0,0,0,0,0
$GC,12556,0.98,576.4,117.0,9.2,1039,12583,0.08,1.02,21.00,0.506,6,0.087,0.029,2615,2171,518,0,0,0,0,0,0
$GC,12721,0.99,581.9,101.0,10.1,1067,12736,0.00,1.10,6.47,0.447,4,0.000,0.036,2616,2860,495,0,0,0,0,0,0
$GC,12992,0.99,581.9,68.6,11.4,1114,12999,0.00,1.05,0.00,0.000,6,0.000,0.028,2616,2159,499,0,0,0,0,0,0
$GC,13137,1.01,598.9,54.9,9.6,1139,13157,0.00,1.08,12.77,0.470,4,0.000,0.031,2615,2854,440,0,0,0,0,0,0
$GC,13283,1.01,598.9,38.0,11.5,1164,13290,0.00,1.02,0.00,0.000,6,0.000,0.026,2615,2156,440,0,0,0,0,0,0
$GC,13428,1.01,598.9,21.9,11.5,1189,13434,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2156,440,0,0,0,0,0,0
$GC,13571,1.01,598.9,6.3,11.2,1214,13578,0.00,0.00,0.95,0.080,6,0.000,0.000,2615,2156,442,0,0,0,0,0,0
$STATE,13599,end climb,SURFACE_DEPTH_REACHED
$STATE,13599,begin surface coast
$FINISH,0.5,0.997679
$STATE,13628,end surface coast,CONTROL_FINISHED_OK
$STATE,13628,begin surface
$SM_CCo,13705,0.00,0.000,0,0,442,595.34
$SM_GC,1.23,6.22,0.00,0.00,0.031,0.000,0.000,208,2607,442,-6.45,0.48,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,11950.46,151011,151540
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.20
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,23.9,110.099
$10V_AH,9.8,81.446
$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,15.750,66.325,615.700,0.000,0.000,27.149,16.882,158.051,1.000,0.000,16.357,3089.297,7511.048,668.479,2393.689,381.383,0.000,1897.960,0.000,2187.271,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,62.730,927.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,840.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321844
$DATA_FILE_SIZE,70224,1224
$CAP_FILE_SIZE,152086,0
$CFSIZE,260165632,191569920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.301, 62.2,1
$GPS,151011,221301,2156.388,12031.249,39,1.7,39,-2.7