version: 66.09
glider: 181
mission: 6
dive: 43
start: 6 18 111 15 29 23
data:
$ID,181
$MISSION,6
$DIVE,43
$N_DIVES,45
$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,200
$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,-39571.516
$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,2305
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$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,2560
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,46
$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
$GPS1,180611,152036,2114.264,11959.905,36,1.1,37,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-67.0
$GPS2,180611,152856,2114.172,12000.042,12,1.3,12,-2.5
$SPEED_LIMITS,0.191,0.305
$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,187.1,248487,-16.3,-11.000
$D_GRID,3234
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-194.6,0.0,0.0,0,102,0.00,0.00,-82.88,0.000,2,0.000,0.000,149,2597,2739,0,0,0,0,0,0
$GC,105,-0.57,-194.6,3.6,-3.9,11,137,8.10,0.00,-17.38,0.000,6,0.242,0.000,2110,2590,3666,0,0,0,0,0,0
$GC,331,-0.57,-194.6,90.8,-31.0,51,339,0.00,1.88,0.00,0.000,4,0.000,0.047,2102,3771,3667,0,0,0,0,0,0
$GC,436,-0.57,-194.6,120.5,-23.0,70,445,0.00,1.85,0.00,0.000,6,0.000,0.027,2102,2549,3669,0,0,0,0,0,0
$GC,638,-0.57,-194.6,182.6,-27.5,107,646,0.00,1.90,0.00,0.000,4,0.000,0.041,2093,3764,3669,0,0,0,0,0,0
$GC,670,-0.57,-194.6,190.6,-24.4,112,678,0.00,1.83,0.00,0.000,6,0.000,0.026,2093,2550,3669,0,0,0,0,0,0
$GC,872,-0.57,-194.6,242.6,-26.2,149,880,0.00,2.08,0.00,0.000,4,0.000,0.029,2093,1158,3670,0,0,0,0,0,0
$GC,900,-0.57,-194.6,249.5,-25.3,153,909,0.10,2.15,0.00,0.000,6,0.143,0.038,2116,2538,3670,0,0,0,0,0,0
$GC,1100,-0.57,-194.6,291.6,-18.8,172,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2538,3670,0,0,0,0,0,0
$GC,1418,-0.57,-194.6,346.4,-16.3,202,1422,0.00,1.90,0.00,0.000,4,0.000,0.046,2111,3786,3669,0,0,0,0,0,0
$GC,1468,-0.57,-194.6,354.6,-14.5,206,1476,0.00,1.85,0.00,0.000,6,0.000,0.027,2111,2546,3668,0,0,0,0,0,0
$GC,1795,-0.57,-194.6,408.7,-15.5,237,1798,0.00,1.90,0.00,0.000,4,0.000,0.045,2102,3787,3666,0,0,0,0,0,0
$GC,1896,-0.57,-194.6,423.5,-13.6,246,1899,0.00,1.80,0.00,0.000,6,0.000,0.028,2103,2550,3665,0,0,0,0,0,0
$GC,2226,-0.57,-194.6,474.6,-15.9,277,2230,0.00,1.90,0.00,0.000,4,0.000,0.047,2094,3788,3662,0,0,0,0,0,0
$GC,2254,-0.57,-194.6,479.1,-15.4,279,2261,0.00,1.83,0.00,0.000,6,0.000,0.029,2094,2551,3661,0,0,0,0,0,0
$GC,2579,-0.57,-194.6,530.2,-15.4,310,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2548,3658,0,0,0,0,0,0
$GC,2899,-0.57,-194.6,578.2,-15.0,340,2901,0.10,0.00,0.00,0.000,6,0.187,0.000,2119,2548,3654,0,0,0,0,0,0
$GC,3222,-0.57,-194.6,618.8,-12.5,364,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2548,3651,0,0,0,0,0,0
$GC,3532,-0.57,-194.6,657.4,-12.5,379,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2548,3647,0,0,0,0,0,0
$GC,3841,-0.57,-194.6,697.2,-12.8,394,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2548,3645,0,0,0,0,0,0
$GC,4150,-0.57,-194.6,734.9,-12.1,409,4154,0.00,1.90,0.00,0.000,4,0.000,0.051,2112,3777,3642,0,0,0,0,0,0
$GC,4219,-0.57,-194.6,742.9,-10.6,412,4223,0.00,1.80,0.00,0.000,6,0.000,0.031,2112,2559,3641,0,0,0,0,0,0
$GC,4551,-0.57,-194.6,783.6,-12.6,428,4555,0.00,2.08,0.00,0.000,4,0.000,0.037,2112,1161,3639,0,0,0,0,0,0
$GC,4628,-0.57,-194.6,793.5,-12.2,431,4635,0.00,2.17,0.00,0.000,6,0.000,0.042,2112,2550,3638,0,0,0,0,0,0
$GC,4945,-0.57,-194.6,837.0,-14.4,447,4949,0.00,1.90,0.00,0.000,4,0.000,0.053,2112,3783,3635,0,0,0,0,0,0
$GC,5000,-0.57,-194.6,845.2,-13.5,449,5004,0.00,1.85,0.00,0.000,6,0.000,0.031,2111,2568,3635,0,0,0,0,0,0
$GC,5322,-0.57,-194.6,896.2,-16.4,465,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2566,3633,0,0,0,0,0,0
$GC,5631,-0.57,-194.6,946.5,-16.0,480,5635,0.00,2.10,0.00,0.000,4,0.000,0.037,2111,1162,3631,0,0,0,0,0,0
$GC,5669,-0.57,-194.6,952.7,-15.8,481,5676,0.00,2.20,0.00,0.000,6,0.000,0.043,2111,2564,3631,0,0,0,0,0,0
$STATE,5942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5942,begin apogee
$GC,5949,-0.16,0.0,990.7,13.4,495,6103,0.43,0.00,149.40,1.115,6,0.126,0.000,2252,2083,2869,0,0,0,0,0,0
$STATE,6104,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6106,0.57,194.6,1000.6,0.0,502,6278,0.65,2.47,160.27,1.082,4,0.054,0.045,2503,3511,2073,0,0,0,0,0,0
$GC,6300,0.57,194.6,985.6,15.6,511,6304,0.00,2.22,0.00,0.000,6,0.000,0.031,2512,2120,2073,0,0,0,0,0,0
$GC,6628,0.57,194.6,929.8,17.4,527,6632,0.00,2.22,0.00,0.000,4,0.000,0.041,2523,683,2063,0,0,0,0,0,0
$GC,6695,0.57,194.6,917.5,17.2,530,6700,0.12,2.22,0.00,0.000,6,0.181,0.036,2494,2110,2062,0,0,0,0,0,0
$GC,7017,0.57,194.6,866.9,14.8,546,7021,0.00,2.20,0.00,0.000,4,0.000,0.047,2494,3516,2060,0,0,0,0,0,0
$GC,7109,0.57,194.6,853.1,15.1,550,7113,0.00,2.17,0.00,0.000,6,0.000,0.032,2502,2092,2060,0,0,0,0,0,0
$GC,7435,0.57,194.6,811.8,11.7,566,7439,0.00,2.15,0.00,0.000,4,0.000,0.042,2513,693,2058,0,0,0,0,0,0
$GC,7541,0.57,194.6,799.3,11.9,570,7549,0.00,2.17,0.00,0.000,6,0.000,0.037,2512,2105,2057,0,0,0,0,0,0
$GC,7857,0.57,194.6,757.0,13.9,586,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2106,2057,0,0,0,0,0,0
$GC,8166,0.57,194.6,710.5,15.2,601,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2106,2056,0,0,0,0,0,0
$GC,8475,0.57,194.6,665.8,13.9,616,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2106,2056,0,0,0,0,0,0
$GC,8785,0.57,194.6,621.6,14.5,631,8789,0.00,2.15,0.00,0.000,4,0.000,0.040,2522,696,2055,0,0,0,0,0,0
$GC,8939,0.57,194.6,598.6,15.5,638,8944,0.12,2.15,0.00,0.000,6,0.177,0.036,2491,2112,2055,0,0,0,0,0,0
$GC,9264,0.57,194.6,552.3,14.5,668,9268,0.00,2.17,0.00,0.000,4,0.000,0.047,2491,3518,2055,0,0,0,0,0,0
$GC,9332,0.57,194.6,541.9,15.6,674,9336,0.00,2.15,0.00,0.000,6,0.000,0.032,2499,2091,2055,0,0,0,0,0,0
$GC,9659,0.57,194.6,495.1,13.1,704,9663,0.00,2.10,0.00,0.000,4,0.000,0.041,2510,689,2054,0,0,0,0,0,0
$GC,9688,0.57,194.6,491.4,12.8,706,9692,0.00,2.15,0.00,0.000,6,0.000,0.034,2510,2106,2054,0,0,0,0,0,0
$GC,10018,0.57,194.6,446.0,14.5,737,10022,0.00,2.15,0.00,0.000,4,0.000,0.045,2510,3516,2054,0,0,0,0,0,0
$GC,10058,0.57,194.6,440.0,16.0,740,10063,0.12,2.12,0.00,0.000,6,0.190,0.031,2490,2098,2055,0,0,0,0,0,0
$GC,10383,0.57,194.6,400.6,11.1,770,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2098,2054,0,0,0,0,0,0
$GC,10705,0.62,236.1,367.9,9.4,800,10741,0.00,2.22,30.05,0.721,4,0.000,0.041,2499,696,1905,0,0,0,0,0,0
$GC,10814,0.65,261.0,356.4,10.1,809,10844,0.00,2.20,20.12,0.674,6,0.000,0.035,2499,2123,1804,0,0,0,0,0,0
$GC,11162,0.65,261.0,313.8,13.2,842,11166,0.00,2.17,0.00,0.000,4,0.000,0.045,2501,3518,1798,0,0,0,0,0,0
$GC,11188,0.65,261.0,309.9,14.2,844,11196,0.00,2.20,0.00,0.000,6,0.000,0.031,2509,2106,1797,0,0,0,0,0,0
$GC,11516,0.65,261.0,271.7,12.3,875,11519,0.00,2.12,0.00,0.000,4,0.000,0.039,2519,693,1797,0,0,0,0,0,0
$GC,11570,0.65,261.0,264.9,11.5,879,11577,0.00,2.17,0.00,0.000,6,0.000,0.034,2519,2095,1797,0,0,0,0,0,0
$GC,11899,0.65,265.6,228.0,10.8,928,11908,0.00,2.22,3.65,0.437,4,0.000,0.038,2529,686,1786,0,0,0,0,0,0
$GC,11970,0.65,265.6,220.0,11.2,940,11978,0.00,2.20,0.00,0.000,6,0.000,0.035,2529,2098,1787,0,0,0,0,0,0
$GC,12171,0.68,289.3,198.6,10.1,977,12203,0.00,2.25,20.38,0.624,4,0.000,0.044,2532,3508,1687,0,0,0,0,0,0
$GC,12297,0.74,333.4,186.8,9.3,998,12337,0.00,2.17,34.62,0.569,6,0.000,0.030,2539,2103,1508,0,0,0,0,0,0
$GC,12532,0.80,382.4,164.6,9.1,1039,12577,0.00,2.20,37.67,0.561,4,0.000,0.037,2549,690,1309,0,0,0,0,0,0
$GC,12613,0.87,439.7,157.3,8.8,1051,12666,0.08,2.25,44.17,0.530,6,0.062,0.033,2600,2104,1074,0,0,0,0,0,0
$GC,12860,0.87,439.7,123.1,13.5,1094,12869,0.00,2.25,0.00,0.000,4,0.000,0.044,2600,3514,1069,0,0,0,0,0,0
$GC,12903,0.87,439.7,116.9,14.6,1101,12911,0.00,2.20,0.00,0.000,6,0.000,0.029,2611,2101,1068,0,0,0,0,0,0
$GC,13106,0.87,444.3,93.9,10.8,1138,13116,0.00,2.28,3.95,0.376,4,0.000,0.041,2610,3511,1056,0,0,0,0,0,0
$GC,13134,0.87,444.3,90.4,11.6,1142,13144,0.10,2.17,0.00,0.000,6,0.138,0.028,2587,2103,1056,0,0,0,0,0,0
$GC,13338,0.95,505.5,72.6,8.7,1179,13392,0.00,2.25,46.55,0.516,4,0.000,0.037,2596,685,806,0,0,0,0,0,0
$GC,13452,1.04,582.4,63.5,8.1,1196,13515,0.10,2.22,56.97,0.467,6,0.045,0.031,2663,2103,498,0,0,0,0,0,0
$GC,13710,1.04,582.4,22.8,14.7,1240,13718,0.00,2.20,0.00,0.000,4,0.000,0.041,2664,3501,492,0,0,0,0,0,0
$GC,13849,1.04,582.4,3.1,11.5,1265,13857,0.10,2.17,0.00,0.000,6,0.115,0.028,2638,2092,492,0,0,0,0,0,0
$STATE,13864,end climb,SURFACE_DEPTH_REACHED
$STATE,13865,begin surface coast
$FINISH,-0.0,0.997363
$STATE,13888,end surface coast,CONTROL_FINISHED_OK
$STATE,13889,begin surface
$SM_CCo,13965,0.00,0.000,0,0,490,583.57
$SM_GC,0.78,6.38,0.00,0.00,0.041,0.000,0.000,198,2609,490,-6.47,1.39,583.57,0,0,0,0,0,0
$IRIDIUM_FIX,2104.07,12002.75,180611,151545
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.58
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.1,7.229
$10V_AH,10.3,7.522
$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,16.500,119.425,607.825,0.000,0.000,58.332,63.769,176.179,0.000,0.000,14.812,3148.992,7094.335,641.882,3267.865,300.063,0.000,1895.776,0.000,2096.347,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,52.785,1115.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,881.414,1935.384,1575.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323176
$DATA_FILE_SIZE,83570,1271
$CAP_FILE_SIZE,148053,0
$CFSIZE,260165632,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136,253.1,1
$GPS,180611,192324,2111.742,11958.666,38,1.1,39,-2.5