version: 66.09
glider: 181
mission: 6
dive: 8
start: 6 12 111 16 14 24
data:
$ID,181
$MISSION,6
$DIVE,8
$N_DIVES,15
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1050
$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,135
$T_MISSION,160
$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,-5
$MAX_BUOY,225
$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,-39520.031
$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,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,40
$C_ROLL_DIVE,2575
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,43
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,120611,160837,2158.120,12019.794,30,1.0,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-69.4
$GPS2,120611,161356,2158.114,12019.829,10,1.8,10,-2.7
$SPEED_LIMITS,0.214,0.334
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,255.2,41872,-17.0,-12.346
$D_GRID,1034
$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,-0.76,-219.0,0.0,0.0,0,101,0.00,0.00,-82.60,0.000,2,0.000,0.000,190,2610,2699,0,0,0,0,0,0
$GC,104,-0.76,-219.0,3.6,-7.4,11,137,7.93,2.22,-18.30,0.000,4,0.246,0.047,2117,1164,3765,0,0,0,0,0,0
$GC,193,-0.69,-219.0,41.7,-29.5,25,202,0.00,2.22,0.00,0.000,6,0.000,0.047,2110,2558,3767,0,0,0,0,0,0
$GC,268,-0.52,-219.0,67.5,-39.7,38,277,0.25,1.95,0.00,0.000,4,0.190,0.050,2172,3788,3768,0,0,0,0,0,0
$GC,318,-0.43,-219.0,83.4,-30.4,46,327,0.12,1.85,0.00,0.000,6,0.137,0.031,2212,2573,3768,0,0,0,0,0,0
$GC,395,-0.43,-219.0,99.9,-18.7,59,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2566,3772,0,0,0,0,0,0
$GC,469,-0.44,-219.0,111.4,-14.0,72,477,0.00,1.92,0.00,0.000,4,0.000,0.047,2204,3785,3769,0,0,0,0,0,0
$GC,529,-0.49,-219.0,118.2,-10.9,82,537,0.00,1.83,0.00,0.000,6,0.000,0.030,2205,2560,3769,0,0,0,0,0,0
$GC,606,-0.53,-219.0,125.9,-10.6,95,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2560,3769,0,0,0,0,0,0
$GC,681,-0.56,-219.0,134.0,-10.4,108,689,0.00,1.92,0.00,0.000,4,0.000,0.047,2198,3783,3769,0,0,0,0,0,0
$GC,709,-0.61,-219.0,136.8,-10.4,112,718,0.08,1.80,0.00,0.000,6,0.050,0.028,2136,2572,3770,0,0,0,0,0,0
$GC,785,-0.55,-219.0,147.2,-17.1,125,794,0.15,2.10,0.00,0.000,4,0.152,0.034,2177,1181,3769,0,0,0,0,0,0
$GC,872,-0.61,-219.0,158.7,-10.4,140,880,0.00,2.17,0.00,0.000,6,0.000,0.041,2177,2582,3770,0,0,0,0,0,0
$GC,947,-0.62,-219.0,167.1,-12.4,153,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2582,3768,0,0,0,0,0,0
$GC,1022,-0.64,-219.0,176.2,-11.9,166,1031,0.00,1.88,0.00,0.000,4,0.000,0.048,2177,3786,3770,0,0,0,0,0,0
$GC,1079,-0.70,-219.0,181.9,-9.8,175,1088,0.10,1.80,0.00,0.000,6,0.046,0.028,2102,2569,3770,0,0,0,0,0,0
$GC,1154,-0.65,-219.0,193.5,-18.4,188,1163,0.17,2.05,0.00,0.000,4,0.148,0.034,2151,1189,3770,0,0,0,0,0,0
$GC,1231,-0.70,-219.0,203.1,-10.2,201,1241,0.00,2.15,0.00,0.000,6,0.000,0.041,2151,2575,3771,0,0,0,0,0,0
$GC,1307,-0.70,-219.0,212.0,-13.5,214,1315,0.00,1.88,0.00,0.000,4,0.000,0.050,2151,3781,3770,0,0,0,0,0,0
$GC,1356,-0.73,-219.0,218.3,-13.0,222,1364,0.00,1.80,0.00,0.000,6,0.000,0.031,2152,2570,3769,0,0,0,0,0,0
$GC,1431,-0.73,-219.0,227.9,-14.2,235,1439,0.00,2.08,0.00,0.000,4,0.000,0.035,2151,1182,3769,0,0,0,0,0,0
$GC,1463,-0.76,-219.0,232.1,-13.1,240,1472,0.08,2.17,0.00,0.000,6,0.057,0.042,2090,2579,3769,0,0,0,0,0,0
$GC,1540,-0.70,-219.0,244.3,-18.8,253,1548,0.15,0.00,0.00,0.000,6,0.162,0.000,2131,2580,3769,0,0,0,0,0,0
$GC,1620,-0.70,-219.0,256.8,-14.2,263,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2580,3769,0,0,0,0,0,0
$GC,1939,-0.70,-219.0,302.3,-13.8,293,1943,0.00,1.85,0.00,0.000,4,0.000,0.050,2125,3773,3768,0,0,0,0,0,0
$GC,1996,-0.73,-219.0,310.0,-12.8,298,2000,0.00,1.75,0.00,0.000,6,0.000,0.031,2125,2579,3768,0,0,0,0,0,0
$GC,2328,-0.73,-219.0,357.0,-13.9,329,2332,0.00,1.85,0.00,0.000,4,0.000,0.050,2117,3785,3766,0,0,0,0,0,0
$GC,2362,-0.73,-219.0,362.1,-14.4,332,2366,0.00,1.77,0.00,0.000,6,0.000,0.032,2117,2568,3765,0,0,0,0,0,0
$GC,2694,-0.73,-219.0,405.7,-11.6,363,2697,0.00,2.05,0.00,0.000,4,0.000,0.037,2117,1176,3764,0,0,0,0,0,0
$GC,2721,-0.75,-219.0,409.1,-11.5,365,2730,0.00,2.17,0.00,0.000,6,0.000,0.044,2112,2584,3763,0,0,0,0,0,0
$GC,3048,-0.75,-219.0,448.0,-12.2,396,3052,0.00,1.83,0.00,0.000,4,0.000,0.054,2112,3783,3760,0,0,0,0,0,0
$GC,3132,-0.79,-219.0,458.0,-10.4,403,3139,0.00,1.80,0.00,0.000,6,0.000,0.033,2112,2566,3759,0,0,0,0,0,0
$GC,3458,-0.79,-219.0,498.5,-12.7,434,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2565,3757,0,0,0,0,0,0
$STATE,3477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3477,begin apogee
$GC,3483,-0.14,0.0,501.3,12.7,436,3655,0.57,0.00,162.30,0.799,6,0.116,0.000,2308,2087,2868,0,0,0,0,0,0
$STATE,3655,end apogee,CONTROL_FINISHED_OK
$STATE,3655,begin climb
$GC,3658,0.76,219.0,510.1,0.0,451,3835,0.77,2.40,169.07,0.772,4,0.040,0.045,2621,3517,1973,0,0,0,0,0,0
$GC,3869,0.58,219.0,490.4,23.8,470,3877,0.32,2.20,0.00,0.000,6,0.183,0.032,2549,2114,1971,0,0,0,0,0,0
$GC,4194,0.48,219.0,435.4,15.9,501,4199,0.12,2.17,0.00,0.000,4,0.189,0.041,2527,692,1966,0,0,0,0,0,0
$GC,4261,0.42,219.0,426.0,12.9,506,4269,0.12,2.20,0.00,0.000,6,0.172,0.038,2496,2115,1963,0,0,0,0,0,0
$GC,4587,0.39,224.2,386.1,12.1,537,4591,0.00,2.15,0.00,0.000,4,0.000,0.047,2496,3518,1963,0,0,0,0,0,0
$GC,4672,0.34,224.2,375.1,12.9,544,4677,0.12,2.15,0.00,0.000,6,0.174,0.034,2473,2096,1961,0,0,0,0,0,0
$GC,5002,0.35,230.6,338.3,12.1,575,5016,0.00,2.20,8.12,0.705,4,0.000,0.043,2482,694,1929,0,0,0,0,0,0
$GC,5088,0.38,254.5,328.2,11.4,582,5117,0.00,2.20,20.27,0.698,6,0.000,0.038,2482,2110,1830,0,0,0,0,0,0
$GC,5437,0.39,275.3,286.0,11.6,615,5461,0.00,2.20,16.52,0.685,4,0.000,0.047,2482,3507,1746,0,0,0,0,0,0
$GC,5554,0.45,324.0,272.9,10.5,625,5603,0.00,2.15,37.92,0.653,6,0.000,0.034,2492,2093,1547,0,0,0,0,0,0
$GC,5920,0.49,351.2,235.1,11.3,672,5952,0.00,2.30,21.52,0.647,4,0.000,0.047,2492,3508,1435,0,0,0,0,0,0
$GC,5987,0.51,351.2,227.2,12.4,682,5995,0.00,2.20,0.00,0.000,6,0.000,0.035,2500,2106,1433,0,0,0,0,0,0
$GC,6062,0.53,351.2,217.9,12.5,695,6070,0.00,2.20,0.00,0.000,4,0.000,0.044,2511,696,1432,0,0,0,0,0,0
$GC,6111,0.59,373.6,212.2,11.5,703,6137,0.08,2.20,18.10,0.620,6,0.064,0.038,2557,2096,1345,0,0,0,0,0,0
$GC,6204,0.56,373.6,197.1,18.1,718,6212,0.00,2.25,0.00,0.000,4,0.000,0.048,2557,3507,1343,0,0,0,0,0,0
$GC,6247,0.52,373.6,188.8,18.8,725,6257,0.12,2.20,0.00,0.000,6,0.134,0.034,2528,2099,1341,0,0,0,0,0,0
$GC,6323,0.52,373.6,177.7,13.8,738,6331,0.00,2.22,0.00,0.000,4,0.000,0.044,2536,687,1340,0,0,0,0,0,0
$GC,6383,0.55,373.6,169.6,12.4,748,6391,0.00,2.22,0.00,0.000,6,0.000,0.039,2536,2099,1340,0,0,0,0,0,0
$GC,6458,0.55,373.6,159.7,13.5,761,6467,0.00,2.22,0.00,0.000,4,0.000,0.049,2536,3513,1340,0,0,0,0,0,0
$GC,6533,0.55,373.6,149.8,13.1,774,6541,0.00,2.20,0.00,0.000,6,0.000,0.035,2546,2094,1339,0,0,0,0,0,0
$GC,6608,0.53,373.6,140.0,13.4,787,6616,0.00,2.17,0.00,0.000,4,0.000,0.044,2557,689,1338,0,0,0,0,0,0
$GC,6667,0.57,390.6,133.0,11.7,797,6691,0.00,2.20,13.90,0.623,6,0.000,0.039,2556,2100,1275,0,0,0,0,0,0
$GC,6757,0.56,390.6,121.0,13.4,812,6765,0.00,2.22,0.00,0.000,4,0.000,0.050,2557,3504,1273,0,0,0,0,0,0
$GC,6822,0.55,390.6,111.8,14.5,823,6830,0.00,2.17,0.00,0.000,6,0.000,0.034,2566,2099,1272,0,0,0,0,0,0
$GC,6896,0.52,390.6,102.0,13.4,836,6906,0.15,2.25,0.00,0.000,4,0.149,0.047,2525,3510,1272,0,0,0,0,0,0
$GC,6938,0.54,396.2,97.3,12.1,842,6954,0.00,2.17,5.22,0.483,6,0.000,0.035,2533,2104,1254,0,0,0,0,0,0
$GC,7021,0.66,465.8,88.9,9.7,856,7082,0.12,0.00,52.85,0.541,6,0.088,0.000,2596,2104,970,0,0,0,0,0,0
$GC,7151,0.65,465.8,69.5,16.2,876,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2104,967,0,0,0,0,0,0
$GC,7226,0.65,465.8,58.5,13.5,889,7235,0.00,2.22,0.00,0.000,4,0.000,0.046,2596,3494,966,0,0,0,0,0,0
$GC,7259,0.65,465.8,54.3,12.8,894,7267,0.10,2.17,0.00,0.000,6,0.128,0.034,2572,2098,965,0,0,0,0,0,0
$GC,7335,0.84,580.0,47.7,8.0,907,7427,0.17,0.00,83.93,0.500,6,0.067,0.000,2655,2097,502,0,0,0,0,0,0
$GC,7498,0.90,603.5,27.3,11.5,931,7522,0.00,2.30,12.43,0.494,4,0.000,0.046,2655,3502,441,0,0,0,0,0,0
$GC,7552,0.95,624.9,20.7,11.5,939,7560,0.00,2.20,0.00,0.000,6,0.000,0.032,2665,2100,438,0,0,0,0,0,0
$GC,7626,0.95,624.9,11.4,13.3,952,7635,0.00,2.20,0.00,0.000,4,0.000,0.041,2677,694,438,0,0,0,0,0,0
$GC,7656,1.00,639.6,8.2,11.8,956,7664,0.00,2.22,0.00,0.000,6,0.000,0.037,2675,2101,438,0,0,0,0,0,0
$STATE,7697,end climb,SURFACE_DEPTH_REACHED
$STATE,7697,begin surface coast
$FINISH,-0.2,1.020975
$STATE,7721,end surface coast,CONTROL_FINISHED_OK
$STATE,7721,begin surface
$SM_CCo,7798,0.00,0.000,0,0,438,596.32
$SM_GC,0.02,6.43,0.00,0.00,0.036,0.000,0.000,208,2589,438,-6.64,0.40,596.32,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12019.57,120611,131314
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.96
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.6,1.758
$10V_AH,10.4,1.993
$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,18.250,123.050,622.175,0.000,0.000,24.112,18.870,153.739,0.000,0.000,14.219,2344.268,2171.456,741.521,2606.063,252.018,0.000,1797.046,0.000,1515.161,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,54.315,798.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,660.331,1473.058,1717.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323184
$DATA_FILE_SIZE,63770,967
$CAP_FILE_SIZE,133326,0
$CFSIZE,260165632,250339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 92.4,1
$GPS,120611,182508,2157.733,12019.134,9,1.2,9,-2.7