version: 66.09
glider: 181
mission: 6
dive: 757
start: 11 3 111 0 25 51
data:
$ID,181
$MISSION,6
$DIVE,757
$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,-41803.953
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,031111,001855,2144.546,12022.277,36,1.3,36,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.2
$GPS2,031111,002526,2144.536,12022.367,10,1.8,10,-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,189.9,307228,-14.3,-10.313
$D_GRID,809
$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,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-72.97,0.000,2,0.000,0.000,164,2491,2465,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.1,-2.7,13,138,8.32,0.80,-30.02,0.000,4,0.220,0.063,2172,1940,3762,0,0,0,0,0,0
$GC,214,-0.49,-219.0,25.2,-18.0,33,222,0.12,0.88,0.00,0.000,6,0.132,0.035,2208,2508,3764,0,0,0,0,0,0
$GC,562,-0.42,-219.0,81.5,-13.7,94,569,0.10,0.80,0.00,0.000,4,0.161,0.038,2234,3033,3762,0,0,0,0,0,0
$GC,628,-0.40,-219.0,89.3,-11.1,105,634,0.00,0.80,0.00,0.000,6,0.000,0.024,2234,2461,3762,0,0,0,0,0,0
$GC,974,-0.55,-219.0,124.7,-11.7,166,982,0.10,0.90,0.00,0.000,4,0.093,0.037,2186,3037,3762,0,0,0,0,0,0
$GC,1030,-0.66,-219.0,131.4,-12.3,175,1037,0.00,0.75,0.00,0.000,6,0.000,0.025,2186,2497,3762,0,0,0,0,0,0
$GC,1379,-0.70,-219.0,164.2,-8.9,236,1386,0.12,0.70,0.00,0.000,4,0.074,0.026,2107,1976,3762,0,0,0,0,0,0
$GC,1411,-0.68,-219.0,168.0,-10.2,241,1418,0.15,0.80,0.00,0.000,6,0.122,0.033,2151,2510,3763,0,0,0,0,0,0
$GC,1760,-0.62,-219.0,212.2,-10.8,293,1763,0.00,0.75,0.00,0.000,4,0.000,0.037,2149,3021,3763,0,0,0,0,0,0
$GC,1833,-0.55,-219.0,220.7,-10.7,299,1842,0.12,0.73,0.00,0.000,6,0.115,0.024,2191,2495,3763,0,0,0,0,0,0
$GC,2159,-0.67,-219.0,246.4,-8.7,330,2162,0.00,0.68,0.00,0.000,4,0.000,0.024,2192,1975,3763,0,0,0,0,0,0
$GC,2256,-0.77,-219.0,255.0,-8.6,338,2263,0.15,0.77,0.00,0.000,6,0.038,0.033,2096,2499,3762,0,0,0,0,0,0
$GC,2582,-0.67,-219.0,300.9,-13.6,369,2586,0.22,0.77,0.00,0.000,4,0.141,0.035,2159,3009,3761,0,0,0,0,0,0
$GC,2721,-0.63,-219.0,314.3,-9.7,381,2725,0.00,0.70,0.00,0.000,6,0.000,0.026,2159,2504,3760,0,0,0,0,0,0
$GC,3053,-0.69,-219.0,347.0,-9.9,412,3057,0.00,0.77,0.00,0.000,4,0.000,0.038,2156,3013,3758,0,0,0,0,0,0
$GC,3134,-0.75,-219.0,354.8,-9.5,419,3138,0.00,0.73,0.00,0.000,6,0.000,0.027,2156,2502,3757,0,0,0,0,0,0
$GC,3466,-0.80,-219.0,381.7,-7.3,450,3468,0.12,0.00,0.00,0.000,6,0.078,0.000,2082,2500,3755,0,0,0,0,0,0
$GC,3784,-0.69,-219.0,423.0,-13.9,480,3788,0.22,0.80,0.00,0.000,4,0.139,0.035,2144,3006,3752,0,0,0,0,0,0
$GC,3843,-0.65,-219.0,429.3,-9.9,485,3847,0.00,0.73,0.00,0.000,6,0.000,0.028,2144,2493,3751,0,0,0,0,0,0
$GC,4175,-0.70,-219.0,459.2,-9.2,516,4178,0.00,0.80,0.00,0.000,4,0.000,0.040,2141,3013,3749,0,0,0,0,0,0
$GC,4279,-0.72,-219.0,469.1,-9.4,525,4283,0.00,0.73,0.00,0.000,6,0.000,0.028,2140,2506,3747,0,0,0,0,0,0
$GC,4611,-0.76,-219.0,500.1,-9.1,556,4614,0.00,0.80,0.00,0.000,4,0.000,0.040,2139,3019,3745,0,0,0,0,0,0
$GC,4704,-0.78,-219.0,509.1,-9.8,560,4708,0.00,0.75,0.00,0.000,6,0.000,0.028,2138,2500,3744,0,0,0,0,0,0
$GC,5038,-0.83,-219.0,544.4,-10.6,576,5041,0.00,0.73,0.00,0.000,4,0.000,0.028,2139,1960,3741,0,0,0,0,0,0
$GC,5134,-0.85,-219.0,554.9,-10.5,580,5139,0.08,0.80,0.00,0.000,6,0.054,0.037,2085,2484,3740,0,0,0,0,0,0
$GC,5464,-0.75,-219.0,596.2,-13.1,596,5468,0.17,0.85,0.00,0.000,4,0.144,0.042,2131,3022,3738,0,0,0,0,0,0
$GC,5475,-0.66,-219.0,598.0,-13.0,596,5478,0.00,0.77,0.00,0.000,6,0.000,0.028,2131,2490,3738,0,0,0,0,0,0
$GC,5798,-0.63,-219.0,631.6,-11.3,612,5803,0.15,0.73,0.00,0.000,4,0.145,0.030,2174,1972,3735,0,0,0,0,0,0
$GC,5940,-0.71,-219.0,645.3,-9.8,618,5944,0.00,0.80,0.00,0.000,6,0.000,0.037,2174,2496,3734,0,0,0,0,0,0
$GC,6270,-0.81,-219.0,673.8,-8.1,634,6274,0.17,0.82,0.00,0.000,4,0.070,0.043,2087,3024,3733,0,0,0,0,0,0
$GC,6452,-0.71,-219.0,695.0,-10.8,642,6456,0.15,0.77,0.00,0.000,6,0.133,0.028,2135,2488,3731,0,0,0,0,0,0
$GC,6787,-0.68,-219.0,730.0,-10.8,658,6790,0.00,0.85,0.00,0.000,4,0.000,0.044,2133,3027,3728,0,0,0,0,0,0
$GC,6906,-0.65,-219.0,743.1,-10.2,663,6911,0.08,0.77,0.00,0.000,6,0.127,0.029,2160,2497,3728,0,0,0,0,0,0
$GC,7236,-0.72,-219.0,769.2,-7.8,679,7240,0.00,0.82,0.00,0.000,4,0.000,0.043,2158,3024,3726,0,0,0,0,0,0
$GC,7351,-0.77,-219.0,778.8,-8.2,684,7355,0.00,0.77,0.00,0.000,6,0.000,0.028,2158,2494,3726,0,0,0,0,0,0
$GC,7685,-0.86,-219.0,806.0,-8.4,700,7689,0.17,0.73,0.00,0.000,4,0.070,0.030,2075,1976,3724,0,0,0,0,0,0
$STATE,7710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7710,begin apogee
$GC,7718,-0.19,0.0,809.5,8.9,701,7887,0.77,0.00,163.77,0.942,6,0.128,0.000,2309,2119,2869,0,0,0,0,0,0
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7891,0.61,219.0,824.3,0.0,709,8073,0.70,0.80,170.93,0.929,4,0.048,0.036,2585,2611,1975,0,0,0,0,0,0
$GC,8215,0.50,219.0,807.3,11.2,724,8219,0.17,0.75,0.00,0.000,6,0.149,0.029,2537,2110,1974,0,0,0,0,0,0
$GC,8544,0.50,271.2,781.6,8.6,740,8590,0.00,0.80,41.00,0.894,4,0.000,0.038,2538,2610,1762,0,0,0,0,0,0
$GC,8635,0.50,309.4,772.9,9.1,744,8670,0.00,0.77,31.25,0.866,6,0.000,0.030,2539,2094,1606,0,0,0,0,0,0
$GC,8989,0.47,309.4,736.1,11.1,761,8992,0.00,0.80,0.00,0.000,4,0.000,0.034,2539,2622,1604,0,0,0,0,0,0
$GC,9029,0.43,309.4,731.3,11.3,762,9036,0.00,0.77,0.00,0.000,6,0.000,0.031,2542,2102,1604,0,0,0,0,0,0
$GC,9346,0.45,348.8,699.1,9.1,778,9379,0.00,0.00,31.25,0.849,6,0.000,0.000,2542,2102,1446,0,0,0,0,0,0
$GC,9677,0.52,405.9,668.0,8.5,794,9727,0.00,0.85,45.22,0.839,4,0.000,0.034,2542,2625,1214,0,0,0,0,0,0
$GC,9795,0.54,405.9,655.7,10.4,799,9799,0.00,0.80,0.00,0.000,6,0.000,0.031,2544,2098,1217,0,0,0,0,0,0
$GC,10119,0.60,405.9,619.6,11.7,815,10123,0.00,0.77,0.00,0.000,4,0.000,0.034,2545,2617,1218,0,0,0,0,0,0
$GC,10136,0.63,405.9,617.2,11.7,815,10142,0.00,0.77,0.00,0.000,6,0.000,0.032,2547,2100,1218,0,0,0,0,0,0
$GC,10452,0.71,424.4,583.1,9.7,831,10473,0.17,0.82,16.83,0.757,4,0.072,0.037,2635,1571,1137,0,0,0,0,0,0
$GC,10525,0.63,424.4,573.6,14.1,834,10530,0.17,0.80,0.00,0.000,6,0.131,0.032,2580,2095,1137,0,0,0,0,0,0
$GC,10855,0.73,490.3,544.2,8.2,850,10908,0.00,0.00,50.97,0.767,6,0.000,0.000,2580,2096,870,0,0,0,0,0,0
$GC,11211,0.80,497.8,511.5,10.1,867,11226,0.15,0.80,10.05,0.663,4,0.078,0.029,2652,1570,838,0,0,0,0,0,0
$GC,11291,0.74,497.8,500.6,14.7,870,11295,0.12,0.80,0.00,0.000,6,0.129,0.031,2612,2099,838,0,0,0,0,0,0
$GC,11623,0.76,497.8,459.9,12.6,901,11627,0.00,0.77,0.00,0.000,4,0.000,0.037,2612,2625,839,0,0,0,0,0,0
$GC,11719,0.76,497.8,447.5,13.0,909,11726,0.00,0.77,0.00,0.000,6,0.000,0.031,2613,2104,840,0,0,0,0,0,0
$GC,12045,0.78,497.8,405.0,13.3,940,12049,0.00,0.77,0.00,0.000,4,0.000,0.037,2617,1574,840,0,0,0,0,0,0
$GC,12108,0.79,497.8,396.8,13.0,945,12115,0.00,0.80,0.00,0.000,6,0.000,0.031,2618,2107,840,0,0,0,0,0,0
$GC,12434,0.79,508.0,363.2,10.0,976,12449,0.00,0.85,9.80,0.610,4,0.000,0.034,2621,1566,797,0,0,0,0,0,0
$GC,12474,0.83,562.7,359.8,8.6,979,12524,0.00,0.80,42.92,0.642,6,0.000,0.030,2620,2097,574,0,0,0,0,0,0
$GC,12844,0.91,562.7,321.0,10.9,1014,12848,0.15,0.82,0.00,0.000,4,0.080,0.035,2696,1570,577,0,0,0,0,0,0
$GC,12890,0.88,562.7,315.2,13.4,1018,12894,0.10,0.80,0.00,0.000,6,0.128,0.030,2664,2102,577,0,0,0,0,0,0
$GC,13222,0.86,562.7,271.3,13.7,1049,13226,0.00,0.75,0.00,0.000,4,0.000,0.037,2664,2613,577,0,0,0,0,0,0
$GC,13261,0.83,562.7,265.5,13.4,1052,13268,0.00,0.77,0.00,0.000,6,0.000,0.031,2665,2092,576,0,0,0,0,0,0
$GC,13588,0.85,562.7,226.9,10.8,1083,13592,0.00,0.80,0.00,0.000,4,0.000,0.033,2665,2630,576,0,0,0,0,0,0
$GC,13614,0.86,562.7,223.9,11.1,1085,13618,0.00,0.80,0.00,0.000,6,0.000,0.032,2668,2099,576,0,0,0,0,0,0
$GC,13948,0.88,562.7,184.3,11.8,1127,13955,0.00,0.77,0.00,0.000,4,0.000,0.036,2672,1570,577,0,0,0,0,0,0
$GC,13963,0.90,562.7,182.6,11.4,1129,13969,0.00,0.80,0.00,0.000,6,0.000,0.030,2672,2104,576,0,0,0,0,0,0
$GC,14312,0.93,563.6,144.1,10.3,1190,14319,0.00,0.80,0.00,0.000,4,0.000,0.034,2675,1568,578,0,0,0,0,0,0
$GC,14410,0.95,563.6,133.6,10.8,1207,14417,0.00,0.80,0.00,0.000,6,0.000,0.030,2675,2103,578,0,0,0,0,0,0
$GC,14757,1.02,563.6,95.9,10.9,1268,14764,0.00,0.75,0.00,0.000,4,0.000,0.035,2675,2619,579,0,0,0,0,0,0
$GC,14823,1.04,563.6,89.0,10.8,1279,14831,0.00,0.77,3.62,0.337,6,0.000,0.031,2677,2092,571,0,0,0,0,0,0
$GC,15174,1.21,592.5,57.0,9.4,1340,15204,0.25,0.75,22.98,0.469,4,0.067,0.031,2792,1585,453,0,0,0,0,0,0
$GC,15253,1.13,592.5,47.4,13.4,1353,15261,0.17,0.77,0.00,0.000,6,0.122,0.028,2736,2114,452,0,0,0,0,0,0
$GC,15602,1.13,592.5,9.0,10.7,1414,15609,0.00,0.73,0.00,0.000,4,0.000,0.034,2737,2619,453,0,0,0,0,0,0
$GC,15629,1.11,593.5,6.3,10.3,1418,15636,0.00,0.75,0.00,0.000,6,0.000,0.029,2738,2103,454,0,0,0,0,0,0
$STATE,15657,end climb,SURFACE_DEPTH_REACHED
$STATE,15658,begin surface coast
$FINISH,0.5,1.008495
$STATE,15687,end surface coast,CONTROL_FINISHED_OK
$STATE,15687,begin surface
$SM_CCo,15765,0.00,0.000,0,0,453,592.40
$SM_GC,1.21,6.72,0.00,0.00,0.035,0.000,0.000,217,2513,453,-6.67,0.37,592.40,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12025.58,021111,191929
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.32
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.0,125.838
$10V_AH,9.7,90.018
$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,20.425,56.250,640.600,0.000,0.000,28.858,38.201,161.684,0.000,0.000,13.185,3441.871,8764.606,693.944,2777.478,461.226,0.000,2086.164,0.000,2531.567,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,63.495,942.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,982.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322716
$DATA_FILE_SIZE,80342,1428
$CAP_FILE_SIZE,184084,0
$CFSIZE,260165632,183361536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031111,044955,2143.093,12023.311,39,1.3,39,-2.6