version: 66.09
glider: 181
mission: 6
dive: 29
start: 6 16 111 6 5 27
data:
$ID,181
$MISSION,6
$DIVE,29
$N_DIVES,35
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$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,175
$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,-39546.527
$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,2315
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,31
$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
$GPS1,160611,055907,2139.382,12000.742,37,0.9,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-70.7
$GPS2,160611,060502,2139.466,12000.806,8,1.9,8,-2.6
$SPEED_LIMITS,0.191,0.287
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,204.5,295335,-17.6,-11.000
$D_GRID,2703
$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,-0.65,-170.3,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,197,2579,2583,0,0,0,0,0,0
$GC,82,-0.65,-170.3,3.4,-5.1,8,115,7.82,2.15,-18.95,0.000,4,0.243,0.045,2091,1179,3567,0,0,0,0,0,0
$GC,155,-0.65,-170.3,32.2,-39.8,19,163,0.00,2.28,0.00,0.000,6,0.000,0.047,2084,2593,3569,0,0,0,0,0,0
$GC,358,-0.65,-170.3,120.3,-36.0,56,366,0.00,1.88,0.00,0.000,4,0.000,0.050,2071,3777,3570,0,0,0,0,0,0
$GC,400,-0.65,-170.3,133.8,-30.9,63,409,0.08,1.80,0.00,0.000,6,0.174,0.029,2096,2590,3570,0,0,0,0,0,0
$GC,602,-0.65,-170.3,190.7,-22.4,100,610,0.00,2.08,0.00,0.000,4,0.000,0.032,2096,1202,3574,0,0,0,0,0,0
$GC,744,-0.65,-170.3,215.7,-16.4,126,753,0.00,2.20,0.00,0.000,6,0.000,0.040,2089,2606,3571,0,0,0,0,0,0
$GC,950,-0.65,-170.3,254.9,-20.3,162,954,0.00,1.80,0.00,0.000,4,0.000,0.047,2076,3790,3573,0,0,0,0,0,0
$GC,1077,-0.65,-170.3,281.2,-22.2,173,1084,0.00,1.77,0.00,0.000,6,0.000,0.029,2080,2597,3573,0,0,0,0,0,0
$GC,1403,-0.65,-170.3,355.7,-24.6,204,1406,0.00,2.05,0.00,0.000,4,0.000,0.034,2080,1202,3572,0,0,0,0,0,0
$GC,1448,-0.65,-170.3,365.9,-21.0,208,1453,0.12,2.15,0.00,0.000,6,0.171,0.041,2103,2603,3573,0,0,0,0,0,0
$GC,1773,-0.65,-170.3,427.8,-16.9,238,1777,0.00,1.85,0.00,0.000,4,0.000,0.050,2096,3784,3571,0,0,0,0,0,0
$GC,1822,-0.65,-170.3,436.5,-16.6,242,1830,0.00,1.77,0.00,0.000,6,0.000,0.030,2096,2600,3571,0,0,0,0,0,0
$GC,2148,-0.65,-170.3,492.8,-17.7,273,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2599,3568,0,0,0,0,0,0
$GC,2470,-0.65,-170.3,543.1,-15.4,303,2474,0.00,2.08,0.00,0.000,4,0.000,0.037,2096,1196,3566,0,0,0,0,0,0
$GC,2533,-0.65,-170.3,552.3,-12.9,308,2537,0.00,2.17,0.00,0.000,6,0.000,0.044,2086,2611,3567,0,0,0,0,0,0
$GC,2860,-0.65,-170.3,599.0,-13.2,338,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2612,3563,0,0,0,0,0,0
$GC,3178,-0.65,-170.3,642.9,-13.8,354,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2612,3561,0,0,0,0,0,0
$GC,3488,-0.65,-170.3,687.1,-14.3,369,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2612,3558,0,0,0,0,0,0
$GC,3797,-0.65,-170.3,727.0,-12.5,384,3801,0.00,2.12,0.00,0.000,4,0.000,0.038,2087,1200,3555,0,0,0,0,0,0
$GC,3818,-0.65,-170.3,729.9,-12.8,385,3822,0.00,2.20,0.00,0.000,6,0.000,0.047,2084,2605,3555,0,0,0,0,0,0
$GC,4145,-0.65,-170.3,771.3,-12.9,401,4149,0.00,1.83,0.00,0.000,4,0.000,0.056,2075,3789,3552,0,0,0,0,0,0
$GC,4236,-0.65,-170.3,782.8,-11.9,405,4241,0.12,1.75,0.00,0.000,6,0.166,0.034,2108,2607,3551,0,0,0,0,0,0
$GC,4570,-0.65,-170.3,819.0,-10.7,421,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2605,3547,0,0,0,0,0,0
$GC,4878,-0.65,-170.3,853.2,-11.5,436,4882,0.00,2.12,0.00,0.000,4,0.000,0.041,2108,1193,3546,0,0,0,0,0,0
$GC,4927,-0.65,-170.3,859.4,-11.7,438,4931,0.00,2.17,0.00,0.000,6,0.000,0.047,2102,2600,3546,0,0,0,0,0,0
$GC,5255,-0.65,-170.3,902.3,-13.3,454,5259,0.00,2.15,0.00,0.000,4,0.000,0.042,2102,1196,3544,0,0,0,0,0,0
$GC,5289,-0.65,-170.3,907.0,-13.7,455,5296,0.00,2.20,0.00,0.000,6,0.000,0.047,2099,2602,3544,0,0,0,0,0,0
$GC,5605,-0.65,-170.3,948.8,-13.2,471,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3541,0,0,0,0,0,0
$GC,5914,-0.65,-170.3,986.5,-11.4,486,5918,0.00,2.12,0.00,0.000,4,0.000,0.041,2099,1201,3541,0,0,0,0,0,0
$STATE,5944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5944,begin apogee
$GC,5951,-0.20,0.0,990.4,11.3,487,6090,0.45,0.00,132.55,1.130,6,0.129,0.000,2245,2274,2870,0,0,0,0,0,0
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,0.65,170.3,994.8,0.0,494,6243,0.77,2.35,141.57,1.093,4,0.058,0.044,2538,871,2174,0,0,0,0,0,0
$GC,6366,0.65,170.3,960.4,18.0,506,6374,0.00,2.30,0.00,0.000,6,0.000,0.043,2538,2270,2166,0,0,0,0,0,0
$GC,6682,0.65,170.3,901.0,19.0,522,6686,0.00,2.20,0.00,0.000,4,0.000,0.044,2549,861,2162,0,0,0,0,0,0
$GC,6912,0.65,170.3,859.1,18.2,532,6916,0.00,2.22,0.00,0.000,6,0.000,0.042,2549,2284,2161,0,0,0,0,0,0
$GC,7234,0.65,170.3,798.2,19.0,548,7238,0.00,2.17,0.00,0.000,4,0.000,0.043,2558,872,2159,0,0,0,0,0,0
$GC,7491,0.65,170.3,749.7,18.0,559,7499,0.10,2.22,0.00,0.000,6,0.182,0.042,2521,2279,2155,0,0,0,0,0,0
$GC,7807,0.65,170.3,700.0,15.2,575,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2279,2156,0,0,0,0,0,0
$GC,8117,0.65,170.3,657.2,13.2,590,8121,0.00,2.15,0.00,0.000,4,0.000,0.044,2529,871,2155,0,0,0,0,0,0
$GC,8227,0.65,170.3,643.0,12.0,595,8232,0.00,2.15,0.00,0.000,6,0.000,0.041,2529,2277,2155,0,0,0,0,0,0
$GC,8556,0.65,170.3,597.6,15.1,611,8560,0.00,2.15,0.00,0.000,4,0.000,0.043,2538,871,2155,0,0,0,0,0,0
$GC,8588,0.65,170.3,592.0,16.4,613,8595,0.00,2.20,0.00,0.000,6,0.000,0.041,2538,2275,2155,0,0,0,0,0,0
$GC,8915,0.65,170.3,531.6,19.3,644,8919,0.00,2.15,0.00,0.000,4,0.000,0.044,2548,871,2154,0,0,0,0,0,0
$GC,9069,0.65,170.3,503.1,17.8,657,9073,0.00,2.15,0.00,0.000,6,0.000,0.041,2548,2278,2154,0,0,0,0,0,0
$GC,9395,0.65,170.3,452.7,12.9,687,9399,0.00,2.15,0.00,0.000,4,0.000,0.043,2557,870,2154,0,0,0,0,0,0
$GC,9650,0.67,189.7,423.3,10.2,709,9670,0.00,2.15,13.27,0.763,6,0.000,0.041,2557,2275,2095,0,0,0,0,0,0
$GC,9987,0.67,189.7,380.4,15.3,741,9991,0.00,2.15,0.00,0.000,4,0.000,0.042,2567,871,2092,0,0,0,0,0,0
$GC,10032,0.67,189.7,372.9,16.6,745,10037,0.12,2.15,0.00,0.000,6,0.179,0.041,2537,2273,2092,0,0,0,0,0,0
$GC,10358,0.67,189.7,323.3,13.6,775,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2274,2091,0,0,0,0,0,0
$GC,10679,0.67,189.7,285.9,12.2,805,10683,0.00,2.12,0.00,0.000,4,0.000,0.042,2545,871,2091,0,0,0,0,0,0
$GC,10834,0.67,189.7,264.9,13.2,818,10844,0.00,2.17,0.00,0.000,6,0.000,0.038,2545,2271,2090,0,0,0,0,0,0
$GC,11160,0.67,189.7,219.3,13.5,869,11168,0.00,2.15,0.00,0.000,4,0.000,0.041,2555,876,2091,0,0,0,0,0,0
$GC,11186,0.67,189.7,216.1,12.5,873,11195,0.00,2.15,0.00,0.000,6,0.000,0.040,2554,2261,2091,0,0,0,0,0,0
$GC,11389,0.75,250.2,198.4,8.4,910,11443,0.00,2.17,46.72,0.620,4,0.000,0.040,2564,864,1847,0,0,0,0,0,0
$GC,11663,0.75,250.2,165.3,14.3,958,11672,0.00,2.22,0.00,0.000,6,0.000,0.039,2564,2275,1841,0,0,0,0,0,0
$GC,11865,0.75,250.2,133.4,14.3,995,11873,0.00,2.20,0.00,0.000,4,0.000,0.041,2574,868,1840,0,0,0,0,0,0
$GC,12051,0.76,257.4,110.4,10.7,1029,12068,0.00,2.20,5.45,0.487,6,0.000,0.037,2574,2278,1821,0,0,0,0,0,0
$GC,12264,0.86,345.0,95.8,7.2,1067,12339,0.00,2.25,66.85,0.541,4,0.000,0.045,2574,3681,1461,0,0,0,0,0,0
$GC,12401,0.86,345.0,77.9,16.1,1088,12409,0.00,2.22,0.00,0.000,6,0.000,0.032,2583,2271,1458,0,0,0,0,0,0
$GC,12604,0.98,440.8,58.5,6.8,1125,12682,0.12,2.28,70.85,0.500,4,0.083,0.039,2658,862,1071,0,0,0,0,0,0
$GC,12797,1.01,465.8,38.0,9.9,1156,12822,0.00,2.25,19.52,0.513,6,0.000,0.038,2658,2268,971,0,0,0,0,0,0
$GC,13015,1.01,465.8,10.4,13.7,1195,13023,0.00,2.25,0.00,0.000,4,0.000,0.045,2658,3685,967,0,0,0,0,0,0
$GC,13044,1.01,465.8,6.5,14.4,1199,13052,0.00,2.20,0.00,0.000,6,0.000,0.030,2668,2268,966,0,0,0,0,0,0
$STATE,13071,end climb,SURFACE_DEPTH_REACHED
$STATE,13071,begin surface coast
$FINISH,-0.1,1.020695
$STATE,13094,end surface coast,CONTROL_FINISHED_OK
$STATE,13094,begin surface
$SM_CCo,13110,4.10,0.063,0,0,932,475.15
$SM_GC,1.43,0.00,0.00,4.10,0.000,0.000,0.063,207,2644,932,-6.59,1.24,475.15,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,11954.19,160611,020205
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.25
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,5.132
$10V_AH,10.2,5.391
$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,16.150,114.800,496.800,4.100,0.000,24.685,40.636,159.072,0.000,0.000,11.068,3028.024,6412.838,537.592,3198.594,286.901,0.000,1754.942,0.000,2111.248,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,55.845,1129.905,63.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,838.234,1837.715,1583.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,80244,1207
$CAP_FILE_SIZE,140569,0
$CFSIZE,260165632,248369152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 65.6,1
$GPS,160611,094507,2138.719,12001.545,25,1.2,26,-2.6