version: 66.09
glider: 181
mission: 6
dive: 35
start: 6 17 111 5 57 23
data:
$ID,181
$MISSION,6
$DIVE,35
$N_DIVES,40
$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,-39561.461
$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,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,46
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,170611,055100,2129.077,12000.968,36,1.3,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.2
$GPS2,170611,055656,2129.162,12001.039,13,1.3,13,-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,187.6,276254,-16.3,-11.000
$D_GRID,2932
$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,-0.59,-194.6,0.0,0.0,0,86,0.00,0.00,-67.85,0.000,2,0.000,0.000,141,2584,2787,0,0,0,0,0,0
$GC,89,-0.59,-194.6,4.1,-7.0,9,121,8.02,2.17,-15.70,0.000,4,0.239,0.040,2107,1136,3666,0,0,0,0,0,0
$GC,135,-0.59,-194.6,25.6,-47.7,15,144,0.00,2.28,0.00,0.000,6,0.000,0.050,2097,2541,3666,0,0,0,0,0,0
$GC,337,-0.59,-194.6,113.7,-39.2,52,345,0.00,1.98,0.00,0.000,4,0.000,0.052,2087,3784,3667,0,0,0,0,0,0
$GC,476,-0.59,-194.6,171.3,-32.5,77,484,0.00,1.88,0.00,0.000,6,0.000,0.028,2087,2544,3668,0,0,0,0,0,0
$GC,677,-0.59,-194.6,229.4,-27.7,114,686,0.12,2.08,0.00,0.000,4,0.192,0.030,2119,1162,3670,0,0,0,0,0,0
$GC,747,-0.59,-194.6,243.1,-15.2,126,755,0.00,2.20,0.00,0.000,6,0.000,0.039,2112,2571,3670,0,0,0,0,0,0
$GC,955,-0.59,-194.6,280.6,-19.0,149,958,0.00,1.85,0.00,0.000,4,0.000,0.049,2111,3780,3671,0,0,0,0,0,0
$GC,991,-0.59,-194.6,287.3,-18.7,152,994,0.00,1.80,0.00,0.000,6,0.000,0.028,2111,2545,3671,0,0,0,0,0,0
$GC,1321,-0.59,-194.6,343.2,-18.3,183,1325,0.00,1.90,0.00,0.000,4,0.000,0.047,2102,3781,3670,0,0,0,0,0,0
$GC,1393,-0.59,-194.6,356.3,-18.1,189,1401,0.00,1.83,0.00,0.000,6,0.000,0.028,2102,2572,3670,0,0,0,0,0,0
$GC,1720,-0.59,-194.6,411.1,-16.0,220,1724,0.00,1.88,0.00,0.000,4,0.000,0.048,2093,3786,3668,0,0,0,0,0,0
$GC,1790,-0.59,-194.6,422.6,-15.1,226,1794,0.00,1.83,0.00,0.000,6,0.000,0.030,2093,2539,3667,0,0,0,0,0,0
$GC,2121,-0.59,-194.6,474.8,-16.0,257,2125,0.00,1.92,0.00,0.000,4,0.000,0.050,2084,3783,3664,0,0,0,0,0,0
$GC,2156,-0.59,-194.6,480.4,-16.6,260,2160,0.12,1.80,0.00,0.000,6,0.156,0.031,2119,2555,3664,0,0,0,0,0,0
$GC,2486,-0.59,-194.6,524.7,-14.8,291,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2552,3661,0,0,0,0,0,0
$GC,2806,-0.59,-194.6,565.4,-12.2,321,2810,0.00,1.92,0.00,0.000,4,0.000,0.052,2111,3789,3657,0,0,0,0,0,0
$GC,2830,-0.59,-194.6,568.3,-11.7,323,2833,0.00,1.83,0.00,0.000,6,0.000,0.031,2109,2554,3657,0,0,0,0,0,0
$GC,3170,-0.59,-194.6,607.7,-12.0,352,3173,0.00,1.95,0.00,0.000,4,0.000,0.054,2111,3784,3654,0,0,0,0,0,0
$GC,3231,-0.59,-194.6,614.7,-10.4,354,3238,0.00,1.83,0.00,0.000,6,0.000,0.033,2111,2560,3653,0,0,0,0,0,0
$GC,3547,-0.59,-194.6,648.5,-11.0,370,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2558,3651,0,0,0,0,0,0
$GC,3856,-0.59,-194.6,683.0,-11.2,385,3860,0.00,1.90,0.00,0.000,4,0.000,0.054,2111,3777,3648,0,0,0,0,0,0
$GC,3880,-0.59,-194.6,685.4,-11.1,386,3884,0.00,1.80,0.00,0.000,6,0.000,0.034,2111,2563,3647,0,0,0,0,0,0
$GC,4213,-0.59,-194.6,715.1,-8.6,402,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2559,3644,0,0,0,0,0,0
$GC,4522,-0.59,-194.6,744.8,-10.7,417,4526,0.00,1.90,0.00,0.000,4,0.000,0.056,2110,3775,3641,0,0,0,0,0,0
$GC,4550,-0.59,-194.6,748.1,-11.0,418,4554,0.00,1.85,0.00,0.000,6,0.000,0.034,2110,2565,3642,0,0,0,0,0,0
$GC,4876,-0.59,-194.6,789.8,-13.9,434,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2559,3640,0,0,0,0,0,0
$GC,5186,-0.59,-194.6,832.5,-13.3,449,5189,0.00,1.90,0.00,0.000,4,0.000,0.057,2110,3774,3637,0,0,0,0,0,0
$GC,5232,-0.59,-194.6,837.8,-11.4,451,5236,0.00,1.83,0.00,0.000,6,0.000,0.035,2110,2552,3637,0,0,0,0,0,0
$GC,5565,-0.59,-194.6,872.7,-10.3,467,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2550,3635,0,0,0,0,0,0
$GC,5874,-0.59,-194.6,906.4,-11.2,482,5878,0.00,1.98,0.00,0.000,4,0.000,0.058,2110,3775,3637,0,0,0,0,0,0
$GC,5935,-0.59,-194.6,913.0,-9.9,484,5942,0.00,1.85,0.00,0.000,6,0.000,0.036,2110,2564,3632,0,0,0,0,0,0
$GC,6251,-0.59,-194.6,948.0,-11.2,500,6255,0.00,2.10,0.00,0.000,4,0.000,0.042,2110,1162,3631,0,0,0,0,0,0
$GC,6279,-0.59,-194.6,951.2,-11.2,501,6283,0.00,2.17,0.00,0.000,6,0.000,0.047,2110,2560,3631,0,0,0,0,0,0
$GC,6596,-0.59,-194.6,983.0,-9.5,516,6600,0.00,1.90,0.00,0.000,4,0.000,0.058,2110,3780,3629,0,0,0,0,0,0
$GC,6653,-0.59,-194.6,988.0,-8.1,518,6657,0.00,1.85,0.00,0.000,6,0.000,0.035,2110,2548,3628,0,0,0,0,0,0
$STATE,6684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6684,begin apogee
$GC,6690,-0.17,0.0,990.5,8.0,520,6845,0.43,0.00,149.68,1.123,6,0.127,0.000,2252,2092,2869,0,0,0,0,0,0
$STATE,6846,end apogee,CONTROL_FINISHED_OK
$STATE,6846,begin climb
$GC,6848,0.59,194.6,994.5,0.0,527,7015,0.70,0.00,161.27,1.086,6,0.060,0.000,2513,2092,2075,0,0,0,0,0,0
$GC,7314,0.59,194.6,933.1,15.8,550,7318,0.00,2.30,0.00,0.000,4,0.000,0.051,2507,3522,2064,0,0,0,0,0,0
$GC,7354,0.59,194.6,926.3,17.3,552,7359,0.00,2.22,0.00,0.000,6,0.000,0.036,2517,2097,2063,0,0,0,0,0,0
$GC,7682,0.59,194.6,873.9,15.8,568,7686,0.00,2.17,0.00,0.000,4,0.000,0.046,2528,690,2062,0,0,0,0,0,0
$GC,7736,0.59,194.6,864.8,15.9,570,7744,0.00,2.25,0.00,0.000,6,0.000,0.041,2528,2107,2062,0,0,0,0,0,0
$GC,8053,0.59,194.6,811.9,16.5,586,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2107,2061,0,0,0,0,0,0
$GC,8362,0.59,194.6,766.0,13.9,601,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2107,2059,0,0,0,0,0,0
$GC,8672,0.59,194.6,724.6,12.9,616,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2107,2058,0,0,0,0,0,0
$GC,8981,0.59,194.6,687.1,12.2,631,8985,0.00,2.17,0.00,0.000,4,0.000,0.045,2537,691,2058,0,0,0,0,0,0
$GC,9143,0.59,194.6,667.2,11.9,638,9148,0.12,2.17,0.00,0.000,6,0.186,0.041,2507,2103,2058,0,0,0,0,0,0
$GC,9459,0.59,194.6,628.7,12.6,653,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2104,2057,0,0,0,0,0,0
$GC,9771,0.59,194.6,586.3,14.4,672,9775,0.00,2.17,0.00,0.000,4,0.000,0.045,2516,684,2056,0,0,0,0,0,0
$GC,9848,0.59,194.6,574.5,14.8,678,9855,0.00,2.20,0.00,0.000,6,0.000,0.041,2516,2112,2057,0,0,0,0,0,0
$GC,10173,0.59,194.6,527.5,13.6,709,10177,0.00,2.15,0.00,0.000,4,0.000,0.050,2516,3508,2056,0,0,0,0,0,0
$GC,10203,0.59,194.6,523.1,15.2,711,10207,0.00,2.15,0.00,0.000,6,0.000,0.036,2525,2090,2056,0,0,0,0,0,0
$GC,10528,0.59,194.6,474.0,15.1,741,10532,0.00,2.12,0.00,0.000,4,0.000,0.047,2537,694,2056,0,0,0,0,0,0
$GC,10663,0.59,194.6,453.8,15.2,753,10668,0.12,2.15,0.00,0.000,6,0.182,0.040,2504,2101,2056,0,0,0,0,0,0
$GC,10988,0.59,194.6,408.8,13.5,783,10992,0.00,2.20,0.00,0.000,4,0.000,0.050,2501,3516,2056,0,0,0,0,0,0
$GC,11082,0.59,194.6,394.9,14.0,791,11090,0.00,2.17,0.00,0.000,6,0.000,0.035,2514,2087,2053,0,0,0,0,0,0
$GC,11410,0.64,232.9,355.7,9.5,822,11440,0.00,0.00,28.15,0.721,6,0.000,0.000,2514,2087,1919,0,0,0,0,0,0
$GC,11757,0.64,232.9,321.8,13.6,855,11761,0.00,2.22,0.00,0.000,4,0.000,0.049,2514,3511,1912,0,0,0,0,0,0
$GC,11811,0.64,232.9,312.4,17.5,859,11819,0.00,2.20,0.00,0.000,6,0.000,0.034,2524,2099,1912,0,0,0,0,0,0
$GC,12137,0.64,232.9,262.2,12.1,890,12141,0.00,2.15,0.00,0.000,4,0.000,0.044,2535,690,1910,0,0,0,0,0,0
$GC,12222,0.64,232.9,252.6,11.3,897,12226,0.00,2.17,0.00,0.000,6,0.000,0.039,2535,2108,1911,0,0,0,0,0,0
$GC,12547,0.77,335.1,218.9,7.1,955,12631,0.00,2.33,77.15,0.613,4,0.000,0.041,2545,693,1505,0,0,0,0,0,0
$GC,12678,0.77,335.1,206.3,12.0,974,12686,0.00,2.25,0.00,0.000,6,0.000,0.036,2545,2097,1499,0,0,0,0,0,0
$GC,12880,0.77,335.1,175.7,16.2,1011,12889,0.00,2.28,0.00,0.000,4,0.000,0.048,2545,3516,1496,0,0,0,0,0,0
$GC,13001,0.77,335.1,154.8,16.5,1033,13010,0.00,2.22,0.00,0.000,6,0.000,0.033,2558,2090,1494,0,0,0,0,0,0
$GC,13204,0.86,413.3,132.8,8.0,1070,13272,0.00,2.25,58.65,0.552,4,0.000,0.041,2565,691,1182,0,0,0,0,0,0
$GC,13375,1.01,531.8,120.9,6.5,1097,13475,0.15,2.25,88.20,0.517,6,0.047,0.036,2645,2103,700,0,0,0,0,0,0
$GC,13669,1.01,531.8,69.9,16.1,1146,13677,0.00,2.28,0.00,0.000,4,0.000,0.047,2646,3516,695,0,0,0,0,0,0
$GC,13764,1.01,531.8,54.1,16.2,1163,13773,0.00,2.22,0.00,0.000,6,0.000,0.030,2655,2090,695,0,0,0,0,0,0
$GC,13967,1.01,531.8,22.0,14.8,1200,13975,0.00,2.15,0.00,0.000,4,0.000,0.037,2666,695,697,0,0,0,0,0,0
$GC,14016,1.01,531.8,15.9,12.2,1208,14024,0.08,2.20,0.00,0.000,6,0.108,0.034,2638,2103,694,0,0,0,0,0,0
$STATE,14139,end climb,SURFACE_DEPTH_REACHED
$STATE,14139,begin surface coast
$FINISH,-0.1,0.998515
$STATE,14167,end surface coast,CONTROL_FINISHED_OK
$STATE,14167,begin surface
$SM_CCo,14244,0.00,0.000,0,0,694,533.53
$SM_GC,0.67,6.30,0.00,0.00,0.036,0.000,0.000,207,2559,694,-6.50,-0.03,533.53,0,0,0,0,0,0
$IRIDIUM_FIX,2122.58,11957.05,170611,010136
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.68
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,5.997
$10V_AH,10.2,6.292
$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,16.175,121.075,563.100,0.000,0.000,27.891,19.025,168.774,0.000,0.000,16.095,3086.588,7569.144,601.713,3045.187,288.556,0.000,1807.144,0.000,2045.086,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,58.140,1123.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,859.588,1881.019,1391.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83693,1235
$CAP_FILE_SIZE,144879,0
$CFSIZE,260165632,247836672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141, 74.8,1
$GPS,170611,095600,2127.386,12001.810,35,1.3,36,-2.5