version: 66.09
glider: 181
mission: 6
dive: 289
start: 8 4 111 1 2 36
data:
$ID,181
$MISSION,6
$DIVE,289
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,-40883.188
$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,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$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,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,1
$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,9.0
$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
$GPS1,040811,005530,2030.297,12001.446,37,1.1,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.2
$GPS2,040811,010208,2030.245,12001.469,13,1.1,13,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,262.2,2588,-27.5,-11.786
$D_GRID,3379
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.56,-80.5,0.0,0.0,0,94,0.00,0.00,-68.57,0.000,2,0.000,0.000,197,2612,2392,0,0,0,0,0,0
$GC,97,-0.66,-164.8,3.3,-3.5,11,136,7.78,1.83,-24.33,0.000,4,0.227,0.054,2090,3776,3541,0,0,0,0,0,0
$GC,195,-0.66,-164.8,42.0,-53.3,27,202,0.00,1.77,0.00,0.000,6,0.000,0.024,2091,2576,3540,0,0,0,0,0,0
$GC,338,-0.66,-164.8,109.6,-44.2,52,345,0.00,2.05,0.00,0.000,4,0.000,0.028,2090,1210,3540,0,0,0,0,0,0
$GC,428,-0.66,-164.8,140.7,-25.7,68,435,0.00,2.12,0.00,0.000,6,0.000,0.037,2082,2562,3543,0,0,0,0,0,0
$GC,573,-0.66,-164.8,173.8,-19.2,93,580,0.00,1.85,0.00,0.000,4,0.000,0.039,2073,3789,3541,0,0,0,0,0,0
$GC,593,-0.66,-164.8,177.6,-16.3,96,601,0.08,1.88,0.00,0.000,6,0.161,0.024,2098,2536,3541,0,0,0,0,0,0
$GC,735,-0.66,-164.8,194.8,-14.8,121,742,0.00,1.92,0.00,0.000,4,0.000,0.028,2097,1206,3541,0,0,0,0,0,0
$GC,778,-0.66,-164.8,200.1,-16.2,126,786,0.00,2.08,0.00,0.000,6,0.000,0.033,2093,2549,3542,0,0,0,0,0,0
$GC,1105,-0.66,-164.8,277.7,-23.6,157,1108,0.00,1.88,0.00,0.000,4,0.000,0.041,2083,3792,3542,0,0,0,0,0,0
$GC,1153,-0.66,-164.8,289.3,-21.0,161,1160,0.00,1.85,0.00,0.000,6,0.000,0.023,2084,2545,3542,0,0,0,0,0,0
$GC,1479,-0.68,-178.3,338.2,-10.5,192,1483,0.00,1.95,0.00,0.000,4,0.000,0.028,2084,1203,3541,0,0,0,0,0,0
$GC,1514,-0.69,-192.4,341.8,-10.4,195,1518,0.00,2.03,0.00,0.000,6,0.000,0.034,2075,2539,3541,0,0,0,0,0,0
$GC,1845,-0.69,-192.4,387.3,-15.5,226,1849,0.00,1.90,0.00,0.000,4,0.000,0.044,2065,3787,3537,0,0,0,0,0,0
$GC,1981,-0.69,-192.4,408.7,-15.0,238,1985,0.12,1.77,0.00,0.000,6,0.166,0.024,2097,2571,3537,0,0,0,0,0,0
$GC,2311,-0.69,-192.4,461.6,-17.1,269,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2568,3533,0,0,0,0,0,0
$GC,2637,-0.69,-192.4,519.6,-18.1,295,2640,0.00,2.03,0.00,0.000,4,0.000,0.031,2097,1200,3530,0,0,0,0,0,0
$GC,2670,-0.69,-192.4,525.5,-17.1,296,2674,0.00,2.12,0.00,0.000,6,0.000,0.037,2097,2574,3530,0,0,0,0,0,0
$GC,2986,-0.69,-192.4,568.6,-11.8,311,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2576,3526,0,0,0,0,0,0
$GC,3296,-0.71,-203.1,602.4,-10.7,326,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2575,3523,0,0,0,0,0,0
$GC,3605,-0.71,-203.1,637.9,-11.9,341,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2575,3520,0,0,0,0,0,0
$GC,3914,-0.71,-203.7,674.6,-11.7,356,3918,0.00,2.08,0.00,0.000,4,0.000,0.031,2097,1196,3517,0,0,0,0,0,0
$GC,3941,-0.71,-203.7,678.4,-12.3,357,3946,0.00,2.15,0.00,0.000,6,0.000,0.040,2089,2550,3517,0,0,0,0,0,0
$GC,4263,-0.71,-203.7,721.7,-14.1,373,4267,0.00,1.92,0.00,0.000,4,0.000,0.048,2081,3790,3514,0,0,0,0,0,0
$GC,4313,-0.71,-203.7,729.2,-14.1,375,4317,0.00,1.85,0.00,0.000,6,0.000,0.026,2082,2576,3513,0,0,0,0,0,0
$GC,4641,-0.71,-203.7,782.3,-16.9,391,4644,0.00,2.05,0.00,0.000,4,0.000,0.031,2082,1200,3510,0,0,0,0,0,0
$GC,4713,-0.71,-203.7,795.0,-16.4,394,4717,0.00,2.12,0.00,0.000,6,0.000,0.038,2073,2566,3510,0,0,0,0,0,0
$GC,5040,-0.71,-203.7,856.2,-19.6,410,5044,0.00,1.88,0.00,0.000,4,0.000,0.047,2063,3778,3507,0,0,0,0,0,0
$GC,5064,-0.71,-203.7,860.6,-19.6,411,5068,0.00,1.88,0.00,0.000,6,0.000,0.028,2063,2551,3507,0,0,0,0,0,0
$GC,5397,-0.71,-203.7,926.0,-18.7,427,5401,0.00,2.03,0.00,0.000,4,0.000,0.031,2063,1194,3506,0,0,0,0,0,0
$GC,5447,-0.71,-203.7,934.7,-16.1,429,5452,0.15,2.12,0.00,0.000,6,0.170,0.039,2093,2556,3506,0,0,0,0,0,0
$GC,5769,-0.73,-221.1,971.9,-10.1,445,5773,0.00,1.92,0.00,0.000,4,0.000,0.049,2085,3782,3504,0,0,0,0,0,0
$GC,5819,-0.76,-243.3,976.3,-8.6,447,5822,0.00,1.83,0.00,0.000,6,0.000,0.027,2085,2554,3503,0,0,0,0,0,0
$STATE,5979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5979,begin apogee
$GC,5985,-0.13,0.0,992.1,10.1,455,6115,0.60,0.00,122.85,1.086,4,0.134,0.000,2274,2102,2868,0,0,0,0,0,0
$STATE,6115,end apogee,CONTROL_FINISHED_OK
$STATE,6115,begin climb
$GC,6118,0.76,243.3,994.1,0.0,461,6320,0.80,2.22,194.15,1.057,4,0.049,0.037,2579,724,1877,0,0,0,0,0,0
$GC,6506,0.76,243.3,938.4,18.4,478,6510,0.00,2.22,0.00,0.000,6,0.000,0.033,2579,2136,1875,0,0,0,0,0,0
$GC,6827,0.76,243.3,886.0,14.4,494,6831,0.00,2.17,0.00,0.000,4,0.000,0.043,2579,3534,1873,0,0,0,0,0,0
$GC,6981,0.76,243.3,866.2,11.9,501,6985,0.00,2.17,0.00,0.000,6,0.000,0.027,2589,2104,1872,0,0,0,0,0,0
$GC,7309,0.76,246.6,827.9,11.5,517,7313,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,713,1871,0,0,0,0,0,0
$GC,7409,0.78,259.0,816.5,10.6,521,7428,0.00,2.12,12.82,0.914,6,0.000,0.033,2601,2101,1812,0,0,0,0,0,0
$GC,7747,0.78,259.0,764.3,17.6,538,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2102,1811,0,0,0,0,0,0
$GC,8056,0.78,259.0,699.5,22.1,553,8060,0.00,2.12,0.00,0.000,4,0.000,0.034,2610,710,1810,0,0,0,0,0,0
$GC,8127,0.78,259.0,682.6,22.9,556,8132,0.12,2.15,0.00,0.000,6,0.160,0.033,2573,2088,1810,0,0,0,0,0,0
$GC,8448,0.78,259.0,607.4,24.4,572,8453,0.00,2.25,0.00,0.000,4,0.000,0.043,2573,3540,1810,0,0,0,0,0,0
$GC,8470,0.78,259.0,601.4,25.0,573,8475,0.00,2.20,0.00,0.000,6,0.000,0.026,2581,2084,1810,0,0,0,0,0,0
$GC,8792,0.78,259.0,524.3,22.4,589,8796,0.00,2.08,0.00,0.000,4,0.000,0.036,2592,725,1809,0,0,0,0,0,0
$GC,8864,0.78,259.0,507.6,21.7,592,8868,0.00,2.15,0.00,0.000,6,0.000,0.032,2592,2101,1809,0,0,0,0,0,0
$GC,9190,0.78,259.0,434.4,20.7,621,9194,0.00,2.22,0.00,0.000,4,0.000,0.042,2592,3544,1809,0,0,0,0,0,0
$GC,9222,0.78,259.0,427.2,20.7,623,9230,0.12,2.17,0.00,0.000,6,0.199,0.027,2574,2095,1808,0,0,0,0,0,0
$GC,9548,0.78,259.0,380.2,11.9,654,9552,0.00,2.08,0.00,0.000,4,0.000,0.036,2582,716,1809,0,0,0,0,0,0
$GC,9603,0.80,274.5,374.2,10.3,658,9621,0.00,2.12,12.70,0.688,6,0.000,0.032,2582,2115,1748,0,0,0,0,0,0
$GC,9939,0.80,274.5,325.9,19.9,690,9943,0.00,2.20,0.00,0.000,4,0.000,0.041,2583,3542,1748,0,0,0,0,0,0
$GC,9971,0.80,274.5,317.7,24.5,692,9978,0.00,2.15,0.00,0.000,6,0.000,0.027,2592,2113,1748,0,0,0,0,0,0
$GC,10298,0.80,274.5,224.0,26.5,723,10301,0.00,2.10,0.00,0.000,4,0.000,0.036,2603,719,1748,0,0,0,0,0,0
$GC,10492,0.85,315.9,196.9,7.7,743,10531,0.00,2.05,31.17,0.588,6,0.000,0.031,2603,2073,1581,0,0,0,0,0,0
$GC,10664,0.94,393.1,188.2,4.2,773,10728,0.00,2.35,56.55,0.562,4,0.000,0.041,2603,3535,1264,0,0,0,0,0,0
$GC,10865,0.94,393.1,153.8,26.5,807,10872,0.00,2.17,0.00,0.000,6,0.000,0.028,2613,2117,1269,0,0,0,0,0,0
$GC,11007,0.94,393.1,117.7,23.7,832,11014,0.00,2.17,0.00,0.000,4,0.000,0.037,2623,720,1270,0,0,0,0,0,0
$GC,11107,0.96,407.6,102.5,10.4,849,11127,0.00,2.12,13.05,0.523,6,0.000,0.031,2623,2112,1206,0,0,0,0,0,0
$GC,11260,1.07,501.0,97.6,2.6,876,11335,0.12,2.33,67.38,0.494,4,0.090,0.042,2681,3532,826,0,0,0,0,0,0
$GC,11360,1.17,578.1,94.0,4.2,891,11424,0.00,2.20,57.08,0.475,6,0.000,0.025,2690,2097,511,0,0,0,0,0,0
$GC,11562,1.17,578.1,72.8,14.0,925,11569,0.00,2.10,0.00,0.000,4,0.000,0.034,2701,721,516,0,0,0,0,0,0
$GC,11632,1.18,590.2,65.1,10.6,937,11652,0.00,2.10,11.40,0.499,6,0.000,0.030,2701,2097,462,0,0,0,0,0,0
$GC,11785,1.18,590.2,42.0,16.7,964,11793,0.00,2.25,0.00,0.000,4,0.000,0.040,2701,3529,463,0,0,0,0,0,0
$GC,11872,1.18,590.2,29.0,13.9,979,11880,0.00,2.08,0.00,0.000,6,0.000,0.026,2711,2148,465,0,0,0,0,0,0
$GC,12013,1.18,590.2,11.5,12.5,1004,12020,0.00,2.17,0.00,0.000,4,0.000,0.034,2722,729,466,0,0,0,0,0,0
$GC,12045,1.18,590.2,7.6,11.8,1009,12052,0.00,2.17,0.00,0.000,6,0.000,0.031,2722,2164,466,0,0,0,0,0,0
$STATE,12079,end climb,SURFACE_DEPTH_REACHED
$STATE,12079,begin surface coast
$FINISH,0.2,1.020752
$STATE,12103,end surface coast,CONTROL_FINISHED_OK
$STATE,12103,begin surface
$SM_CCo,12181,0.00,0.000,0,0,466,589.46
$SM_GC,1.25,6.50,0.00,0.00,0.035,0.000,0.000,208,2602,466,-6.50,0.06,589.46,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,11954.68,030811,202037
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.14
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,23.4,46.083
$10V_AH,10.0,44.057
$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,16.400,125.450,579.150,0.000,0.000,40.142,22.815,164.782,0.250,0.000,15.633,2409.016,6932.034,621.028,2302.139,310.837,0.000,1697.784,0.000,2017.887,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,54.315,1085.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,704.945,0.000,513.049,0.000,0.000,0.000,812.944,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,323016
$DATA_FILE_SIZE,60195,1019
$CAP_FILE_SIZE,136599,0
$CFSIZE,260165632,224206848
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040811,042654,2028.911,11959.883,21,1.1,39,-2.3