version: 66.09
glider: 181
mission: 6
dive: 737
start: 10 30 111 21 54 33
data:
$ID,181
$MISSION,6
$DIVE,737
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$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,1
$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,-41778.539
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,72
$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
$GPS1,301011,214832,2145.047,12018.167,11,1.9,12,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.1
$GPS2,301011,215408,2145.169,12018.278,10,1.7,10,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,188.6,307563,-14.3,-10.312
$D_GRID,528
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.82,0.000,2,0.000,0.000,147,2543,2306,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.7,12,138,8.38,0.85,-33.88,0.000,4,0.221,0.059,2170,1940,3764,0,0,0,0,0,0
$GC,225,-0.50,-219.0,32.7,-25.1,35,233,0.12,0.80,0.00,0.000,6,0.132,0.034,2207,2473,3764,0,0,0,0,0,0
$GC,573,-0.41,-219.0,98.7,-17.5,96,580,0.12,0.85,0.00,0.000,4,0.149,0.037,2241,3034,3763,0,0,0,0,0,0
$GC,666,-0.36,-219.0,112.6,-13.3,112,674,0.00,0.77,0.00,0.000,6,0.000,0.024,2241,2463,3763,0,0,0,0,0,0
$GC,1013,-0.49,-219.0,145.8,-10.5,173,1020,0.00,0.85,0.00,0.000,4,0.000,0.034,2241,3035,3763,0,0,0,0,0,0
$GC,1046,-0.63,-219.0,148.7,-9.3,178,1054,0.15,0.73,0.00,0.000,6,0.047,0.024,2164,2497,3763,0,0,0,0,0,0
$GC,1396,-0.66,-219.0,180.2,-10.2,239,1403,0.00,0.65,0.00,0.000,4,0.000,0.024,2164,1972,3764,0,0,0,0,0,0
$GC,1445,-0.67,-219.0,185.4,-10.0,247,1452,0.00,0.77,0.00,0.000,6,0.000,0.033,2160,2502,3764,0,0,0,0,0,0
$GC,1781,-0.69,-219.0,221.7,-11.4,290,1785,0.00,0.70,0.00,0.000,4,0.000,0.024,2160,1967,3764,0,0,0,0,0,0
$GC,1805,-0.71,-219.0,224.5,-11.4,292,1808,0.00,0.77,0.00,0.000,6,0.000,0.034,2157,2494,3764,0,0,0,0,0,0
$GC,2137,-0.74,-219.0,259.2,-9.3,323,2140,0.00,0.68,0.00,0.000,4,0.000,0.024,2156,1976,3763,0,0,0,0,0,0
$GC,2165,-0.76,-219.0,261.9,-8.6,325,2172,0.00,0.77,0.00,0.000,6,0.000,0.034,2153,2496,3763,0,0,0,0,0,0
$GC,2491,-0.81,-219.0,284.5,-7.4,356,2496,0.12,0.73,0.00,0.000,4,0.078,0.025,2081,1976,3762,0,0,0,0,0,0
$GC,2529,-0.74,-219.0,288.1,-9.8,359,2533,0.17,0.77,0.00,0.000,6,0.129,0.034,2134,2495,3762,0,0,0,0,0,0
$GC,2861,-0.67,-219.0,330.7,-13.4,390,2865,0.00,0.77,0.00,0.000,4,0.000,0.038,2131,3017,3761,0,0,0,0,0,0
$GC,3080,-0.60,-219.0,360.6,-11.9,409,3087,0.15,0.70,0.00,0.000,6,0.119,0.025,2181,2514,3759,0,0,0,0,0,0
$GC,3406,-0.71,-219.0,382.7,-6.1,440,3410,0.00,0.73,0.00,0.000,4,0.000,0.025,2181,1959,3757,0,0,0,0,0,0
$GC,3430,-0.81,-219.0,384.1,-5.9,442,3435,0.17,0.80,0.00,0.000,6,0.037,0.034,2078,2497,3756,0,0,0,0,0,0
$GC,3761,-0.70,-219.0,427.2,-13.9,473,3765,0.25,0.80,0.00,0.000,4,0.142,0.034,2154,3021,3753,0,0,0,0,0,0
$GC,3882,-0.67,-219.0,438.3,-8.8,483,3889,0.00,0.73,0.00,0.000,6,0.000,0.025,2154,2497,3752,0,0,0,0,0,0
$GC,4209,-0.65,-219.0,468.1,-10.0,514,4212,0.00,0.80,0.00,0.000,4,0.000,0.039,2151,3020,3750,0,0,0,0,0,0
$GC,4305,-0.62,-219.0,479.1,-11.4,522,4312,0.00,0.73,0.00,0.000,6,0.000,0.026,2151,2501,3749,0,0,0,0,0,0
$GC,4641,-0.61,-219.0,515.7,-10.6,547,4644,0.00,0.82,0.00,0.000,4,0.000,0.041,2147,3021,3746,0,0,0,0,0,0
$GC,4720,-0.58,-219.0,524.7,-11.0,550,4725,0.10,0.73,0.00,0.000,6,0.116,0.026,2182,2501,3745,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4778,-0.19,0.0,529.4,8.7,553,4947,0.35,0.00,160.75,0.746,6,0.076,0.000,2320,2093,2869,0,0,0,0,0,0
$STATE,4947,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4950,0.61,219.0,542.7,0.0,561,5121,0.65,0.85,162.80,0.738,4,0.041,0.033,2591,2629,1976,0,0,0,0,0,0
$GC,5180,0.50,219.0,534.5,11.0,571,5188,0.17,0.75,0.00,0.000,6,0.138,0.028,2541,2114,1975,0,0,0,0,0,0
$GC,5499,0.52,281.4,507.5,8.3,587,5550,0.00,0.77,47.38,0.720,4,0.000,0.028,2543,1570,1720,0,0,0,0,0,0
$GC,5613,0.53,325.6,498.1,8.9,592,5651,0.00,0.80,34.03,0.689,6,0.000,0.028,2543,2110,1541,0,0,0,0,0,0
$GC,5971,0.55,330.7,465.0,10.2,625,5981,0.00,0.00,6.15,0.604,6,0.000,0.000,2543,2110,1519,0,0,0,0,0,0
$GC,6300,0.56,330.7,430.5,10.6,656,6303,0.00,0.77,0.00,0.000,4,0.000,0.032,2546,1582,1520,0,0,0,0,0,0
$GC,6381,0.59,349.6,422.6,9.7,663,6404,0.00,0.75,16.02,0.653,6,0.000,0.030,2546,2094,1442,0,0,0,0,0,0
$GC,6724,0.63,359.7,388.9,10.0,695,6737,0.00,0.80,8.93,0.601,4,0.000,0.035,2546,2618,1401,0,0,0,0,0,0
$GC,6810,0.69,392.7,380.4,9.3,702,6840,0.10,0.75,25.75,0.636,6,0.052,0.028,2609,2098,1267,0,0,0,0,0,0
$GC,7158,0.71,422.8,346.4,9.4,735,7185,0.00,0.82,23.85,0.623,4,0.000,0.032,2609,2629,1144,0,0,0,0,0,0
$GC,7244,0.66,422.8,338.0,10.5,742,7247,0.00,0.77,0.00,0.000,6,0.000,0.029,2612,2099,1144,0,0,0,0,0,0
$GC,7575,0.67,422.8,302.8,11.0,773,7579,0.00,0.75,0.00,0.000,4,0.000,0.031,2612,2616,1146,0,0,0,0,0,0
$GC,7633,0.62,422.8,296.1,11.9,778,7637,0.12,0.75,0.00,0.000,6,0.130,0.028,2574,2098,1146,0,0,0,0,0,0
$GC,7964,0.65,422.8,262.3,10.3,809,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2098,1146,0,0,0,0,0,0
$GC,8287,0.74,450.4,231.1,9.4,839,8314,0.12,0.82,22.85,0.568,4,0.083,0.031,2639,2632,1031,0,0,0,0,0,0
$GC,8339,0.71,450.4,224.7,11.8,843,8343,0.12,0.77,0.00,0.000,6,0.125,0.027,2602,2101,1030,0,0,0,0,0,0
$GC,8670,0.75,450.4,191.2,10.5,880,8677,0.00,0.77,0.00,0.000,4,0.000,0.031,2601,2629,1031,0,0,0,0,0,0
$GC,8723,0.79,450.4,185.2,10.9,889,8730,0.00,0.77,0.00,0.000,6,0.000,0.029,2603,2097,1032,0,0,0,0,0,0
$GC,9069,0.98,551.7,153.6,7.1,950,9151,0.22,0.80,74.75,0.514,4,0.060,0.033,2713,1572,619,0,0,0,0,0,0
$GC,9184,0.92,551.7,140.3,12.3,969,9192,0.12,0.77,0.00,0.000,6,0.125,0.028,2671,2098,624,0,0,0,0,0,0
$GC,9534,0.98,551.7,105.4,10.5,1030,9541,0.00,0.75,0.00,0.000,4,0.000,0.033,2671,2621,626,0,0,0,0,0,0
$GC,9554,1.04,551.7,102.6,11.4,1033,9561,0.08,0.75,0.00,0.000,6,0.054,0.028,2733,2106,626,0,0,0,0,0,0
$GC,9903,1.02,561.5,61.6,10.0,1094,9923,0.12,0.80,10.43,0.461,4,0.148,0.030,2697,2635,579,0,0,0,0,0,0
$GC,9937,1.08,608.6,58.7,8.8,1099,9968,0.00,0.77,26.25,0.443,6,0.000,0.029,2699,2095,439,0,0,0,0,0,0
$GC,10308,1.15,608.6,22.5,12.3,1164,10315,0.15,0.00,2.58,0.213,6,0.076,0.000,2768,2095,440,0,0,0,0,0,0
$STATE,10466,end climb,SURFACE_DEPTH_REACHED
$STATE,10466,begin surface coast
$FINISH,0.6,1.021826
$STATE,10484,end surface coast,CONTROL_FINISHED_OK
$STATE,10484,begin surface
$SM_CCo,10563,0.00,0.000,0,0,441,595.59
$SM_GC,1.38,6.75,0.00,0.00,0.035,0.000,0.000,206,2492,441,-6.69,-0.23,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12017.22,301011,181821
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.74
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.4,122.844
$10V_AH,9.9,88.399
$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,18.850,36.550,622.500,0.000,0.000,23.445,16.489,150.405,0.250,0.000,14.878,2767.269,4977.140,644.037,2162.571,340.630,0.000,1731.398,0.000,1958.410,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,58.905,745.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,810.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,67026,1195
$CAP_FILE_SIZE,136162,0
$CFSIZE,260165632,184999936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,005200,2144.546,12019.836,39,1.2,46,-2.6