version: 66.09
glider: 181
mission: 6
dive: 304
start: 8 6 111 16 5 59
data:
$ID,181
$MISSION,6
$DIVE,304
$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,-40902.047
$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,35
$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,24.0
$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
$GPS1,060811,155837,2029.655,12000.971,32,0.9,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.0
$GPS2,060811,160531,2029.702,12001.002,11,1.1,16,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$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,353.8,11792,-15.4,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.56,-243.3,0.0,0.0,0,95,0.00,0.00,-68.55,0.000,2,0.000,0.000,201,2615,2427,0,0,0,0,0,0
$GC,98,-0.56,-243.3,3.5,-3.8,11,143,7.97,2.17,-27.58,0.000,4,0.230,0.041,2130,1184,3865,0,0,0,0,0,0
$GC,234,-0.56,-243.3,43.8,-17.9,34,242,0.00,2.22,0.00,0.000,6,0.000,0.037,2125,2598,3866,0,0,0,0,0,0
$GC,374,-0.56,-243.3,89.6,-38.7,59,381,0.00,1.80,0.00,0.000,4,0.000,0.044,2116,3781,3865,0,0,0,0,0,0
$GC,436,-0.56,-243.3,114.2,-36.5,70,444,0.00,1.80,0.00,0.000,6,0.000,0.024,2116,2578,3865,0,0,0,0,0,0
$GC,580,-0.56,-243.3,148.3,-19.9,95,587,0.00,1.85,0.00,0.000,4,0.000,0.044,2108,3782,3866,0,0,0,0,0,0
$GC,665,-0.56,-243.3,166.4,-17.4,110,673,0.08,1.65,0.00,0.000,6,0.135,0.024,2134,2673,3867,0,0,0,0,0,0
$GC,811,-0.56,-243.3,187.0,-15.8,135,818,0.00,2.15,0.00,0.000,4,0.000,0.028,2134,1200,3867,0,0,0,0,0,0
$GC,882,-0.56,-243.3,196.5,-11.1,147,889,0.00,2.20,0.00,0.000,6,0.000,0.034,2126,2653,3867,0,0,0,0,0,0
$GC,1032,-0.56,-243.3,219.0,-16.4,163,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2653,3867,0,0,0,0,0,0
$GC,1353,-0.56,-243.3,271.0,-14.9,193,1356,0.00,1.70,0.00,0.000,4,0.000,0.043,2122,3783,3866,0,0,0,0,0,0
$GC,1413,-0.56,-243.3,279.3,-11.6,198,1421,0.00,1.70,0.00,0.000,6,0.000,0.024,2122,2633,3866,0,0,0,0,0,0
$GC,1739,-0.56,-243.3,323.0,-13.1,229,1743,0.00,2.10,0.00,0.000,4,0.000,0.029,2122,1208,3864,0,0,0,0,0,0
$GC,1777,-0.56,-243.3,327.4,-11.0,232,1784,0.00,2.17,0.00,0.000,6,0.000,0.034,2113,2644,3864,0,0,0,0,0,0
$GC,2102,-0.56,-243.3,368.4,-12.8,263,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2644,3861,0,0,0,0,0,0
$GC,2425,-0.56,-243.3,411.5,-14.1,293,2428,0.00,1.73,0.00,0.000,4,0.000,0.047,2112,3773,3858,0,0,0,0,0,0
$GC,2463,-0.56,-243.3,417.9,-14.0,296,2470,0.00,1.70,0.00,0.000,6,0.000,0.027,2112,2609,3858,0,0,0,0,0,0
$GC,2789,-0.56,-243.3,462.2,-11.8,327,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2607,3855,0,0,0,0,0,0
$GC,3109,-0.56,-243.3,500.6,-12.7,357,3113,0.00,2.08,0.00,0.000,4,0.000,0.032,2112,1203,3852,0,0,0,0,0,0
$GC,3142,-0.56,-243.3,505.2,-12.9,358,3149,0.00,2.22,0.00,0.000,6,0.000,0.039,2112,2644,3851,0,0,0,0,0,0
$GC,3458,-0.56,-243.3,545.2,-12.8,374,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2644,3849,0,0,0,0,0,0
$GC,3768,-0.56,-243.3,579.2,-10.4,389,3772,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3776,3845,0,0,0,0,0,0
$GC,3801,-0.56,-243.3,582.5,-9.9,390,3805,0.00,1.70,0.00,0.000,6,0.000,0.028,2113,2629,3844,0,0,0,0,0,0
$GC,4123,-0.56,-243.3,617.5,-11.7,406,4127,0.00,2.12,0.00,0.000,4,0.000,0.033,2112,1200,3841,0,0,0,0,0,0
$GC,4189,-0.56,-243.3,624.6,-10.0,409,4193,0.00,2.20,0.00,0.000,6,0.000,0.039,2112,2621,3841,0,0,0,0,0,0
$GC,4515,-0.56,-243.3,668.7,-14.3,425,4519,0.00,1.80,0.00,0.000,4,0.000,0.050,2112,3779,3838,0,0,0,0,0,0
$GC,4570,-0.56,-243.3,676.4,-13.0,427,4575,0.00,1.75,0.00,0.000,6,0.000,0.028,2112,2627,3838,0,0,0,0,0,0
$GC,4893,-0.56,-243.3,725.3,-15.8,443,4897,0.00,2.15,0.00,0.000,4,0.000,0.034,2112,1198,3835,0,0,0,0,0,0
$GC,4916,-0.56,-243.3,728.9,-15.4,444,4920,0.00,2.25,0.00,0.000,6,0.000,0.041,2112,2640,3835,0,0,0,0,0,0
$GC,5238,-0.56,-243.3,773.6,-13.5,460,5241,0.00,1.77,0.00,0.000,4,0.000,0.051,2112,3776,3831,0,0,0,0,0,0
$GC,5277,-0.56,-243.3,778.4,-11.8,461,5284,0.00,1.70,0.00,0.000,6,0.000,0.028,2112,2632,3831,0,0,0,0,0,0
$GC,5593,-0.56,-243.3,815.3,-12.4,477,5597,0.00,2.15,0.00,0.000,4,0.000,0.034,2112,1202,3829,0,0,0,0,0,0
$GC,5649,-0.56,-243.3,821.8,-10.7,479,5653,0.00,2.22,0.00,0.000,6,0.000,0.039,2112,2630,3829,0,0,0,0,0,0
$GC,5965,-0.56,-243.3,860.3,-13.1,494,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2631,3827,0,0,0,0,0,0
$GC,6274,-0.56,-243.3,907.8,-15.2,509,6278,0.00,2.17,0.00,0.000,4,0.000,0.034,2112,1200,3824,0,0,0,0,0,0
$GC,6302,-0.56,-243.3,912.3,-15.4,510,6306,0.00,2.22,0.00,0.000,6,0.000,0.041,2112,2625,3825,0,0,0,0,0,0
$GC,6618,-0.56,-243.3,954.4,-12.4,525,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2625,3823,0,0,0,0,0,0
$GC,6927,-0.56,-243.3,985.1,-8.8,540,6931,0.00,1.83,0.00,0.000,4,0.000,0.053,2112,3787,3821,0,0,0,0,0,0
$GC,6952,-0.56,-243.3,987.0,-8.5,541,6956,0.00,1.75,0.00,0.000,6,0.000,0.029,2112,2608,3821,0,0,0,0,0,0
$STATE,7014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7014,begin apogee
$GC,7021,-0.13,0.0,991.5,7.0,544,7211,0.47,0.00,184.25,1.085,4,0.112,0.000,2270,2111,2868,0,0,0,0,0,0
$STATE,7213,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7215,0.56,243.3,996.2,0.0,553,7417,0.60,0.00,195.93,1.051,6,0.049,0.000,2509,2111,1876,0,0,0,0,0,0
$GC,7734,0.56,243.3,925.0,16.0,578,7738,0.00,2.28,0.00,0.000,4,0.000,0.045,2509,3541,1875,0,0,0,0,0,0
$GC,7857,0.56,243.3,904.4,16.1,583,7864,0.00,2.15,0.00,0.000,6,0.000,0.030,2518,2140,1875,0,0,0,0,0,0
$GC,8173,0.56,243.3,859.7,13.7,599,8177,0.00,2.20,0.00,0.000,4,0.000,0.041,2529,712,1873,0,0,0,0,0,0
$GC,8336,0.56,243.3,839.4,12.2,606,8340,0.00,2.15,0.00,0.000,6,0.000,0.035,2529,2100,1873,0,0,0,0,0,0
$GC,8658,0.56,243.3,794.7,14.5,622,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2101,1872,0,0,0,0,0,0
$GC,8967,0.56,243.3,753.0,13.4,637,8971,0.00,2.25,0.00,0.000,4,0.000,0.047,2529,3542,1871,0,0,0,0,0,0
$GC,9057,0.56,243.3,739.3,15.1,641,9062,0.15,2.17,0.00,0.000,6,0.181,0.030,2502,2109,1871,0,0,0,0,0,0
$GC,9378,0.56,243.3,700.7,12.2,657,9382,0.00,2.12,0.00,0.000,4,0.000,0.041,2511,716,1871,0,0,0,0,0,0
$GC,9418,0.56,243.3,695.9,12.2,659,9422,0.00,2.15,0.00,0.000,6,0.000,0.036,2511,2110,1870,0,0,0,0,0,0
$GC,9745,0.56,243.3,655.9,12.0,675,9749,0.00,2.22,0.00,0.000,4,0.000,0.046,2511,3539,1870,0,0,0,0,0,0
$GC,9788,0.56,243.3,650.0,13.5,677,9792,0.00,2.17,0.00,0.000,6,0.000,0.029,2521,2099,1869,0,0,0,0,0,0
$GC,10116,0.56,243.3,609.6,12.5,693,10120,0.00,2.10,0.00,0.000,4,0.000,0.040,2531,716,1870,0,0,0,0,0,0
$GC,10134,0.56,243.3,607.2,12.7,694,10139,0.12,2.15,0.00,0.000,6,0.159,0.034,2498,2118,1870,0,0,0,0,0,0
$GC,10463,0.56,243.3,568.6,12.1,710,10467,0.00,2.20,0.00,0.000,4,0.000,0.044,2498,3539,1869,0,0,0,0,0,0
$GC,10575,0.56,243.3,553.1,13.1,715,10579,0.00,2.12,0.00,0.000,6,0.000,0.028,2506,2129,1870,0,0,0,0,0,0
$GC,10902,0.62,293.2,515.6,10.2,731,10946,0.00,2.25,37.33,0.789,4,0.000,0.037,2517,722,1672,0,0,0,0,0,0
$GC,11024,0.75,404.0,504.8,8.2,736,11116,0.15,2.17,83.60,0.765,6,0.086,0.034,2582,2120,1221,0,0,0,0,0,0
$GC,11434,0.75,404.0,442.2,16.9,772,11438,0.00,2.22,0.00,0.000,4,0.000,0.045,2582,3535,1223,0,0,0,0,0,0
$GC,11488,0.75,404.0,431.8,18.2,776,11496,0.00,2.15,0.00,0.000,6,0.000,0.028,2591,2118,1223,0,0,0,0,0,0
$GC,11814,0.75,404.0,371.0,19.8,807,11818,0.00,2.12,0.00,0.000,4,0.000,0.036,2602,716,1223,0,0,0,0,0,0
$GC,11876,0.75,404.0,359.1,18.6,812,11881,0.15,2.17,0.00,0.000,6,0.154,0.034,2562,2121,1223,0,0,0,0,0,0
$GC,12207,0.79,431.0,311.6,10.9,843,12234,0.00,2.22,21.95,0.651,4,0.000,0.043,2562,3537,1110,0,0,0,0,0,0
$GC,12297,0.86,490.1,302.5,9.9,850,12349,0.00,2.15,45.00,0.625,6,0.000,0.028,2570,2126,870,0,0,0,0,0,0
$GC,12667,0.95,566.6,267.5,9.3,885,12731,0.15,2.33,57.90,0.607,4,0.080,0.043,2638,3534,558,0,0,0,0,0,0
$GC,12750,0.95,566.6,254.5,17.7,893,12754,0.00,2.17,0.00,0.000,6,0.000,0.027,2647,2129,560,0,0,0,0,0,0
$GC,13079,0.95,566.6,179.4,23.2,931,13086,0.00,2.22,0.00,0.000,4,0.000,0.044,2648,3541,560,0,0,0,0,0,0
$GC,13138,0.95,566.6,165.1,24.9,941,13145,0.12,2.10,0.00,0.000,6,0.161,0.027,2626,2154,560,0,0,0,0,0,0
$GC,13278,0.95,566.6,137.6,16.2,966,13286,0.00,2.22,0.00,0.000,4,0.000,0.038,2634,722,560,0,0,0,0,0,0
$GC,13343,1.07,662.9,131.6,8.6,977,13376,0.00,2.17,23.42,0.536,6,0.000,0.032,2634,2141,438,0,0,0,0,0,0
$GC,13511,1.27,822.0,121.7,6.6,1006,13520,0.25,2.20,0.82,0.080,4,0.061,0.041,2742,3540,442,0,0,0,0,0,0
$GC,13556,1.27,822.0,114.2,20.4,1013,13564,0.00,2.10,2.38,0.209,6,0.000,0.026,2751,2149,440,0,0,0,0,0,0
$GC,13698,1.27,822.0,76.5,30.1,1038,13706,0.00,2.20,0.00,0.000,4,0.000,0.034,2762,717,439,0,0,0,0,0,0
$GC,13779,1.27,822.0,53.2,25.9,1052,13787,0.10,2.17,0.03,0.199,6,0.142,0.034,2730,2108,439,0,0,0,0,0,0
$GC,13924,1.27,822.0,26.3,14.3,1077,13931,0.00,2.20,0.00,0.000,4,0.000,0.042,2730,3539,440,0,0,0,0,0,0
$GC,13982,1.27,823.0,18.8,11.8,1087,13989,0.00,2.10,0.00,0.000,6,0.000,0.028,2739,2141,440,0,0,0,0,0,0
$STATE,14107,end climb,SURFACE_DEPTH_REACHED
$STATE,14107,begin surface coast
$FINISH,0.1,1.020622
$STATE,14126,end surface coast,CONTROL_FINISHED_OK
$STATE,14127,begin surface
$SM_CCo,14204,0.00,0.000,0,0,440,595.83
$SM_GC,0.98,6.60,0.00,0.00,0.039,0.000,0.000,207,2600,440,-6.51,0.00,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,12004.95,060811,121230
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.3,48.577
$10V_AH,9.9,45.928
$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,16.925,138.400,652.600,0.000,0.000,30.560,45.228,164.889,0.000,0.000,19.159,2666.409,8421.798,699.205,2490.890,336.504,0.000,1874.470,0.000,2185.056,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,52.785,1084.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,771.725,0.000,498.097,0.000,0.000,0.000,968.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,66939,1113
$CAP_FILE_SIZE,152838,0
$CFSIZE,260165632,222851072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060811,200401,2031.167,12000.251,39,1.4,39,-2.3