version: 66.09
glider: 181
mission: 6
dive: 744
start: 10 31 111 18 51 17
data:
$ID,181
$MISSION,6
$DIVE,744
$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,-41787.434
$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,57
$R_STBD_OVSHOOT,52
$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
$GPS1,311011,184500,2145.110,12020.223,34,0.9,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.1
$GPS2,311011,185050,2145.201,12020.281,9,1.7,9,-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,189.2,308007,-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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.72,0.000,2,0.000,0.000,160,2506,2486,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.4,-3.0,13,138,8.30,0.82,-29.27,0.000,4,0.220,0.074,2170,3020,3764,0,0,0,0,0,0
$GC,305,-0.46,-219.0,49.8,-21.4,49,312,0.17,0.77,0.00,0.000,6,0.139,0.025,2224,2462,3764,0,0,0,0,0,0
$GC,652,-0.39,-219.0,106.0,-15.8,110,659,0.00,0.62,0.00,0.000,4,0.000,0.024,2223,1960,3762,0,0,0,0,0,0
$GC,762,-0.33,-219.0,121.2,-12.9,129,769,0.12,0.80,0.00,0.000,6,0.118,0.034,2264,2497,3762,0,0,0,0,0,0
$GC,1111,-0.48,-219.0,156.0,-8.7,190,1119,0.12,0.70,0.00,0.000,4,0.083,0.026,2208,1976,3762,0,0,0,0,0,0
$GC,1375,-0.59,-219.0,180.7,-9.4,236,1382,0.00,0.77,0.00,0.000,6,0.000,0.033,2208,2504,3763,0,0,0,0,0,0
$GC,1716,-0.74,-219.0,210.4,-9.8,287,1720,0.20,0.70,0.00,0.000,4,0.065,0.020,2117,1975,3763,0,0,0,0,0,0
$GC,1846,-0.65,-219.0,227.1,-15.5,298,1851,0.15,0.77,0.00,0.000,6,0.121,0.035,2162,2497,3763,0,0,0,0,0,0
$GC,2178,-0.69,-219.0,267.1,-9.9,329,2182,0.00,0.70,0.00,0.000,4,0.000,0.025,2162,1969,3763,0,0,0,0,0,0
$GC,2294,-0.69,-219.0,279.0,-10.1,339,2297,0.00,0.80,0.00,0.000,6,0.000,0.034,2163,2505,3763,0,0,0,0,0,0
$GC,2627,-0.72,-219.0,312.1,-9.8,370,2630,0.00,0.75,0.00,0.000,4,0.000,0.036,2163,3024,3763,0,0,0,0,0,0
$GC,2734,-0.77,-219.0,322.8,-8.9,379,2741,0.08,0.73,0.00,0.000,6,0.047,0.025,2100,2498,3762,0,0,0,0,0,0
$GC,3059,-0.67,-219.0,359.2,-12.5,410,3064,0.20,0.70,0.00,0.000,4,0.135,0.028,2158,1988,3760,0,0,0,0,0,0
$GC,3173,-0.67,-219.0,369.4,-8.0,420,3176,0.00,0.77,0.00,0.000,6,0.000,0.036,2156,2504,3759,0,0,0,0,0,0
$GC,3504,-0.72,-219.0,393.9,-8.1,451,3508,0.00,0.70,0.00,0.000,4,0.000,0.026,2156,1981,3756,0,0,0,0,0,0
$GC,3589,-0.74,-219.0,401.7,-9.5,458,3595,0.00,0.77,0.00,0.000,6,0.000,0.037,2154,2497,3756,0,0,0,0,0,0
$GC,3915,-0.82,-219.0,440.0,-13.4,489,3919,0.12,0.73,0.00,0.000,4,0.079,0.028,2080,1981,3753,0,0,0,0,0,0
$GC,4017,-0.71,-219.0,457.8,-18.1,498,4021,0.20,0.77,0.00,0.000,6,0.125,0.039,2140,2489,3752,0,0,0,0,0,0
$GC,4348,-0.71,-219.0,495.7,-8.7,529,4351,0.00,0.80,0.00,0.000,4,0.000,0.040,2138,3023,3750,0,0,0,0,0,0
$GC,4417,-0.72,-219.0,500.9,-7.5,535,4420,0.00,0.73,0.00,0.000,6,0.000,0.028,2139,2509,3749,0,0,0,0,0,0
$GC,4752,-0.75,-219.0,523.1,-6.8,551,4755,0.00,0.80,0.00,0.000,4,0.000,0.041,2138,3026,3746,0,0,0,0,0,0
$GC,4780,-0.79,-219.0,525.7,-7.3,552,4784,0.00,0.75,0.00,0.000,6,0.000,0.028,2138,2504,3746,0,0,0,0,0,0
$STATE,4816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4816,begin apogee
$GC,4825,-0.19,0.0,528.5,7.7,554,4993,0.50,0.00,160.40,0.746,6,0.083,0.000,2318,2089,2868,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4997,0.61,219.0,541.1,0.0,562,5167,0.65,0.88,162.07,0.735,4,0.040,0.034,2596,2641,1976,0,0,0,0,0,0
$GC,5262,0.49,219.0,531.3,10.5,574,5267,0.20,0.77,0.00,0.000,6,0.135,0.029,2537,2112,1975,0,0,0,0,0,0
$GC,5593,0.43,219.0,501.4,10.6,590,5597,0.00,0.77,0.00,0.000,4,0.000,0.033,2540,1569,1973,0,0,0,0,0,0
$GC,5675,0.38,219.0,491.9,11.5,596,5679,0.12,0.80,0.00,0.000,6,0.119,0.031,2498,2113,1973,0,0,0,0,0,0
$GC,6006,0.51,316.4,463.1,7.2,627,6081,0.12,0.00,72.15,0.703,6,0.083,0.000,2559,2114,1579,0,0,0,0,0,0
$GC,6400,0.60,399.5,435.0,7.7,664,6464,0.00,0.00,61.80,0.682,6,0.000,0.000,2559,2114,1240,0,0,0,0,0,0
$GC,6783,0.68,399.5,396.2,11.1,700,6787,0.10,0.82,0.00,0.000,4,0.097,0.034,2623,1570,1239,0,0,0,0,0,0
$GC,6898,0.61,399.5,380.4,15.0,710,6903,0.15,0.77,0.00,0.000,6,0.125,0.030,2574,2099,1239,0,0,0,0,0,0
$GC,7229,0.72,441.1,344.0,9.0,741,7266,0.00,0.80,32.30,0.630,4,0.000,0.031,2575,1570,1069,0,0,0,0,0,0
$GC,7343,0.78,461.7,333.4,9.7,751,7366,0.10,0.77,17.42,0.581,6,0.048,0.031,2643,2094,986,0,0,0,0,0,0
$GC,7684,0.72,461.7,294.7,11.5,783,7688,0.12,0.80,0.00,0.000,4,0.155,0.035,2608,2624,993,0,0,0,0,0,0
$GC,7758,0.68,461.7,286.6,11.1,789,7765,0.00,0.77,0.00,0.000,6,0.000,0.030,2610,2093,993,0,0,0,0,0,0
$GC,8085,0.71,461.7,249.5,11.0,820,8089,0.00,0.73,0.00,0.000,4,0.000,0.036,2614,1585,992,0,0,0,0,0,0
$GC,8136,0.73,463.7,243.9,10.3,824,8144,0.00,0.75,4.60,0.464,6,0.000,0.031,2614,2094,977,0,0,0,0,0,0
$GC,8463,0.81,497.4,214.1,9.2,855,8497,0.00,0.75,26.85,0.557,4,0.000,0.031,2614,2630,840,0,0,0,0,0,0
$GC,8611,0.86,497.4,197.8,11.5,869,8617,0.00,0.77,0.00,0.000,6,0.000,0.030,2617,2099,841,0,0,0,0,0,0
$GC,8959,1.00,533.9,161.9,9.2,930,8995,0.22,0.75,29.33,0.518,4,0.060,0.028,2734,1572,690,0,0,0,0,0,0
$GC,9117,0.92,533.9,140.7,13.9,957,9124,0.20,0.77,0.00,0.000,6,0.129,0.030,2670,2097,690,0,0,0,0,0,0
$GC,9467,1.06,588.1,105.4,8.6,1018,9515,0.12,0.75,40.47,0.477,4,0.081,0.028,2746,1570,470,0,0,0,0,0,0
$GC,9624,1.04,588.1,86.4,12.3,1045,9632,0.10,0.77,0.00,0.000,6,0.109,0.029,2710,2100,473,0,0,0,0,0,0
$GC,9974,1.10,588.1,51.2,11.3,1106,9980,0.00,0.77,0.00,0.000,4,0.000,0.031,2712,1578,473,0,0,0,0,0,0
$GC,10061,1.15,588.1,41.3,10.8,1121,10069,0.08,0.77,0.00,0.000,6,0.050,0.029,2770,2108,474,0,0,0,0,0,0
$STATE,10389,end climb,SURFACE_DEPTH_REACHED
$STATE,10389,begin surface coast
$FINISH,0.6,1.021967
$STATE,10413,end surface coast,CONTROL_FINISHED_OK
$STATE,10413,begin surface
$SM_CCo,10490,0.00,0.000,0,0,476,587.00
$SM_GC,1.28,6.68,0.00,0.00,0.029,0.000,0.000,201,2502,476,-6.70,0.06,587.00,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,12003.69,311011,151511
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.51
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.4,123.754
$10V_AH,9.9,88.889
$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,19.150,33.150,607.400,0.000,0.000,28.406,17.212,158.006,0.250,0.000,12.567,2738.496,4938.474,616.607,2195.728,347.263,0.000,1700.039,0.000,1978.607,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,74.205,745.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,801.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,66967,1183
$CAP_FILE_SIZE,131053,0
$CFSIZE,260165632,184520704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,214715,2145.519,12021.834,10,3.1,29,-2.6