version: 66.09
glider: 181
mission: 6
dive: 759
start: 11 3 111 8 49 50
data:
$ID,181
$MISSION,6
$DIVE,759
$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,-41806.469
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,031111,084337,2141.942,12022.808,31,0.8,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.8
$GPS2,031111,084925,2141.963,12022.852,9,1.1,14,-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,190.2,302614,-14.3,-10.312
$D_GRID,684
$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,-73.55,0.000,2,0.000,0.000,181,2498,2461,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.3,-3.0,13,138,8.27,0.80,-29.80,0.000,4,0.222,0.062,2168,1950,3764,0,0,0,0,0,0
$GC,220,-0.49,-219.0,28.8,-20.3,34,227,0.15,0.85,0.00,0.000,6,0.132,0.037,2213,2502,3765,0,0,0,0,0,0
$GC,568,-0.41,-219.0,86.2,-14.7,95,575,0.10,0.80,0.00,0.000,4,0.173,0.038,2238,3030,3763,0,0,0,0,0,0
$GC,667,-0.39,-219.0,97.6,-10.6,112,674,0.00,0.77,0.00,0.000,6,0.000,0.025,2237,2472,3763,0,0,0,0,0,0
$GC,1014,-0.50,-219.0,130.5,-9.2,173,1021,0.00,0.85,0.00,0.000,4,0.000,0.037,2237,3033,3763,0,0,0,0,0,0
$GC,1131,-0.61,-219.0,140.8,-8.4,193,1138,0.15,0.73,0.00,0.000,6,0.046,0.025,2158,2500,3764,0,0,0,0,0,0
$GC,1480,-0.61,-219.0,176.5,-10.0,254,1487,0.00,0.82,0.00,0.000,4,0.000,0.038,2155,3031,3764,0,0,0,0,0,0
$GC,1562,-0.54,-219.0,185.6,-10.6,268,1569,0.12,0.73,0.00,0.000,6,0.121,0.025,2195,2500,3764,0,0,0,0,0,0
$GC,1902,-0.61,-219.0,215.0,-8.9,313,1906,0.00,0.82,0.00,0.000,4,0.000,0.038,2194,3030,3764,0,0,0,0,0,0
$GC,2022,-0.66,-219.0,227.1,-10.1,323,2028,0.00,0.73,0.00,0.000,6,0.000,0.025,2194,2503,3764,0,0,0,0,0,0
$GC,2348,-0.74,-219.0,260.2,-9.8,354,2352,0.17,0.70,0.00,0.000,4,0.063,0.027,2097,1976,3764,0,0,0,0,0,0
$GC,2367,-0.81,-219.0,262.1,-9.7,355,2374,0.00,0.80,0.00,0.000,6,0.000,0.035,2093,2507,3763,0,0,0,0,0,0
$GC,2693,-0.68,-219.0,316.1,-16.7,386,2698,0.22,0.80,0.00,0.000,4,0.146,0.034,2154,3035,3762,0,0,0,0,0,0
$GC,2751,-0.63,-219.0,323.7,-11.6,391,2755,0.00,0.75,0.00,0.000,6,0.000,0.025,2153,2493,3762,0,0,0,0,0,0
$GC,3083,-0.58,-219.0,364.3,-12.3,422,3087,0.12,0.85,0.00,0.000,4,0.142,0.038,2187,3033,3760,0,0,0,0,0,0
$GC,3211,-0.63,-219.0,376.9,-9.3,433,3215,0.00,0.75,0.00,0.000,6,0.000,0.026,2187,2502,3759,0,0,0,0,0,0
$GC,3543,-0.73,-219.0,402.5,-6.8,464,3548,0.15,0.73,0.00,0.000,4,0.072,0.026,2100,1970,3757,0,0,0,0,0,0
$GC,3625,-0.64,-219.0,411.8,-14.2,471,3630,0.20,0.80,0.00,0.000,6,0.125,0.037,2160,2497,3756,0,0,0,0,0,0
$GC,3957,-0.70,-219.0,443.7,-10.1,502,3961,0.00,0.73,0.00,0.000,4,0.000,0.026,2159,1963,3754,0,0,0,0,0,0
$GC,4026,-0.75,-219.0,450.9,-10.3,508,4030,0.00,0.82,0.00,0.000,6,0.000,0.035,2159,2507,3754,0,0,0,0,0,0
$GC,4359,-0.80,-219.0,489.3,-12.5,539,4363,0.12,0.75,0.00,0.000,4,0.080,0.028,2089,1973,3750,0,0,0,0,0,0
$GC,4409,-0.72,-219.0,497.0,-15.6,543,4416,0.17,0.80,0.00,0.000,6,0.126,0.037,2140,2497,3750,0,0,0,0,0,0
$GC,4728,-0.67,-219.0,532.5,-9.3,560,4732,0.00,0.80,0.00,0.000,4,0.000,0.041,2138,3025,3748,0,0,0,0,0,0
$GC,4844,-0.62,-219.0,543.1,-8.9,565,4849,0.10,0.75,0.00,0.000,6,0.124,0.027,2171,2498,3747,0,0,0,0,0,0
$GC,5180,-0.72,-219.0,567.0,-7.5,581,5184,0.00,0.82,0.00,0.000,4,0.000,0.040,2172,3033,3745,0,0,0,0,0,0
$GC,5205,-0.82,-219.0,569.1,-7.2,582,5209,0.15,0.75,0.00,0.000,6,0.041,0.027,2087,2506,3745,0,0,0,0,0,0
$GC,5539,-0.71,-219.0,612.2,-13.2,598,5544,0.20,0.73,0.00,0.000,4,0.142,0.023,2144,1985,3742,0,0,0,0,0,0
$GC,5565,-0.64,-219.0,615.3,-12.9,599,5569,0.00,0.77,0.00,0.000,6,0.000,0.038,2141,2492,3741,0,0,0,0,0,0
$GC,5899,-0.61,-219.0,644.6,-8.9,615,5903,0.12,0.82,0.00,0.000,4,0.151,0.042,2175,3022,3739,0,0,0,0,0,0
$GC,6003,-0.66,-219.0,652.2,-7.0,619,6006,0.00,0.75,0.00,0.000,6,0.000,0.027,2174,2502,3739,0,0,0,0,0,0
$GC,6325,-0.74,-219.0,678.5,-8.8,635,6329,0.12,0.75,0.00,0.000,4,0.086,0.030,2105,1966,3736,0,0,0,0,0,0
$STATE,6372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6372,begin apogee
$GC,6380,-0.19,0.0,684.1,10.9,637,6548,0.65,0.00,162.70,0.851,6,0.122,0.000,2307,2124,2870,0,0,0,0,0,0
$STATE,6549,end apogee,CONTROL_FINISHED_OK
$STATE,6549,begin climb
$GC,6552,0.61,219.0,697.8,0.0,645,6731,0.70,0.75,167.50,0.838,4,0.046,0.031,2592,2609,1975,0,0,0,0,0,0
$GC,6778,0.49,219.0,689.2,11.1,656,6782,0.20,0.75,0.00,0.000,6,0.142,0.029,2536,2110,1974,0,0,0,0,0,0
$GC,7114,0.49,261.6,660.6,9.0,672,7151,0.00,0.82,32.92,0.808,4,0.000,0.033,2539,1574,1802,0,0,0,0,0,0
$GC,7267,0.48,280.7,645.8,9.7,678,7289,0.00,0.77,16.15,0.750,6,0.000,0.029,2539,2096,1723,0,0,0,0,0,0
$GC,7600,0.52,317.8,614.8,9.1,694,7632,0.00,0.00,29.62,0.784,6,0.000,0.000,2539,2096,1573,0,0,0,0,0,0
$GC,7935,0.56,332.2,582.6,9.9,710,7952,0.00,0.80,11.95,0.721,4,0.000,0.037,2539,2617,1514,0,0,0,0,0,0
$GC,8000,0.58,336.1,575.6,10.2,713,8010,0.00,0.77,4.93,0.535,6,0.000,0.030,2540,2094,1496,0,0,0,0,0,0
$GC,8336,0.63,343.5,541.4,10.1,729,8350,0.10,0.80,8.15,0.659,4,0.101,0.034,2593,1568,1468,0,0,0,0,0,0
$GC,8362,0.65,358.0,538.2,9.9,730,8379,0.00,0.80,12.70,0.682,6,0.000,0.029,2593,2103,1409,0,0,0,0,0,0
$GC,8691,0.61,358.0,502.8,10.6,746,8695,0.00,0.75,0.00,0.000,4,0.000,0.036,2593,2618,1409,0,0,0,0,0,0
$GC,8820,0.54,358.0,487.9,11.4,756,8827,0.12,0.77,0.00,0.000,6,0.139,0.030,2557,2096,1408,0,0,0,0,0,0
$GC,9146,0.63,416.5,459.2,8.4,787,9195,0.00,0.80,44.83,0.716,4,0.000,0.036,2558,1580,1170,0,0,0,0,0,0
$GC,9287,0.72,457.6,446.5,9.0,799,9324,0.10,0.77,32.30,0.682,6,0.054,0.030,2623,2098,1004,0,0,0,0,0,0
$GC,9650,0.74,457.6,402.6,13.4,833,9654,0.00,0.77,0.00,0.000,4,0.000,0.035,2623,2627,1009,0,0,0,0,0,0
$GC,9732,0.68,457.6,390.9,15.2,840,9736,0.10,0.77,0.00,0.000,6,0.142,0.030,2595,2104,1009,0,0,0,0,0,0
$GC,10063,0.76,487.4,355.5,9.4,871,10096,0.00,0.82,24.85,0.639,4,0.000,0.036,2595,1572,882,0,0,0,0,0,0
$GC,10115,0.88,528.0,350.5,9.0,875,10155,0.15,0.80,31.88,0.620,6,0.046,0.031,2673,2100,714,0,0,0,0,0,0
$GC,10474,0.88,528.0,306.3,11.7,909,10477,0.00,0.80,0.00,0.000,4,0.000,0.037,2673,2630,718,0,0,0,0,0,0
$GC,10556,0.80,528.0,296.1,13.6,916,10560,0.15,0.77,0.00,0.000,6,0.128,0.031,2628,2110,718,0,0,0,0,0,0
$GC,10888,0.83,528.0,259.8,10.7,947,10891,0.00,0.77,0.00,0.000,4,0.000,0.035,2631,1575,718,0,0,0,0,0,0
$GC,10957,0.89,528.2,252.5,10.3,953,10961,0.00,0.77,0.00,0.000,6,0.000,0.030,2631,2098,718,0,0,0,0,0,0
$GC,11289,0.97,528.2,221.4,10.4,984,11293,0.15,0.77,0.00,0.000,4,0.076,0.036,2705,2619,718,0,0,0,0,0,0
$GC,11398,0.88,528.2,205.3,15.9,993,11406,0.15,0.77,0.00,0.000,6,0.134,0.031,2660,2097,718,0,0,0,0,0,0
$GC,11743,0.91,530.1,172.5,10.3,1050,11751,0.00,0.80,4.20,0.415,4,0.000,0.034,2662,1573,707,0,0,0,0,0,0
$GC,11799,0.93,530.1,165.6,12.1,1059,11806,0.00,0.77,0.00,0.000,6,0.000,0.029,2662,2100,706,0,0,0,0,0,0
$GC,12148,1.02,574.8,122.5,8.9,1120,12190,0.12,0.75,34.42,0.500,4,0.087,0.031,2728,2634,523,0,0,0,0,0,0
$GC,12356,0.95,574.8,93.4,16.3,1156,12363,0.15,0.80,0.00,0.000,6,0.132,0.030,2684,2093,526,0,0,0,0,0,0
$GC,12706,1.14,625.2,57.9,8.7,1217,12731,0.17,0.73,17.60,0.476,4,0.074,0.029,2759,1567,438,0,0,0,0,0,0
$GC,12750,1.23,645.1,53.4,9.7,1224,12757,0.00,0.77,0.00,0.000,6,0.000,0.027,2759,2104,438,0,0,0,0,0,0
$GC,13097,1.23,645.1,15.8,11.5,1285,13104,0.00,0.73,0.00,0.000,4,0.000,0.032,2759,2618,440,0,0,0,0,0,0
$GC,13186,1.16,645.1,4.0,14.1,1300,13192,0.00,0.75,0.00,0.000,6,0.000,0.029,2762,2102,440,0,0,0,0,0,0
$STATE,13197,end climb,SURFACE_DEPTH_REACHED
$STATE,13197,begin surface coast
$FINISH,0.5,1.010101
$STATE,13221,end surface coast,CONTROL_FINISHED_OK
$STATE,13221,begin surface
$SM_CCo,13299,0.00,0.000,0,0,439,596.08
$SM_GC,1.33,6.65,0.00,0.00,0.028,0.000,0.000,209,2528,439,-6.68,0.82,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12021.23,031111,040441
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.70
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.2,126.143
$10V_AH,9.7,90.180
$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,20.350,48.225,636.700,0.000,0.000,25.326,16.680,148.891,0.250,0.000,19.045,3102.850,6993.789,682.065,2451.108,406.610,0.000,1918.764,0.000,2237.840,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,61.965,850.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,891.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322736
$DATA_FILE_SIZE,73597,1306
$CAP_FILE_SIZE,162534,0
$CFSIZE,260165632,183226368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031111,123254,2141.776,12022.356,25,0.9,43,-2.6