version: 66.09
glider: 181
mission: 6
dive: 659
start: 10 15 111 5 37 47
data:
$ID,181
$MISSION,6
$DIVE,659
$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,320
$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,-8
$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,-41422.625
$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,2300
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,62
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,151011,053204,2156.993,12031.004,6,2.8,26,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.0
$GPS2,151011,053720,2156.884,12031.090,14,1.0,14,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,347.5,20272,-16.5,-10.313
$D_GRID,643
$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,-0.49,-170.3,0.0,0.0,0,84,0.00,0.00,-64.03,0.000,2,0.000,0.000,195,2580,2269,0,0,0,0,0,0
$GC,87,-0.49,-170.3,3.4,-3.6,11,131,8.02,1.12,-28.52,0.000,4,0.218,0.063,2132,3279,3566,0,0,0,0,0,0
$GC,151,-0.49,-170.3,20.7,-32.1,21,158,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2593,3565,0,0,0,0,0,0
$GC,294,-0.49,-170.3,68.9,-29.0,46,301,0.00,1.08,0.00,0.000,4,0.000,0.039,2126,3279,3562,0,0,0,0,0,0
$GC,330,-0.49,-170.3,79.6,-29.4,52,337,0.00,1.00,0.00,0.000,6,0.000,0.024,2126,2589,3562,0,0,0,0,0,0
$GC,474,-0.49,-170.3,113.4,-22.5,77,482,0.00,0.98,0.00,0.000,4,0.000,0.023,2126,1870,3561,0,0,0,0,0,0
$GC,534,-0.49,-170.3,125.2,-17.1,87,541,0.00,1.05,0.00,0.000,6,0.000,0.034,2121,2564,3561,0,0,0,0,0,0
$GC,677,-0.49,-170.3,149.2,-17.7,112,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2564,3560,0,0,0,0,0,0
$GC,819,-0.49,-170.3,173.6,-18.2,137,826,0.00,0.95,0.00,0.000,4,0.000,0.024,2121,1880,3560,0,0,0,0,0,0
$GC,912,-0.49,-170.3,188.0,-14.1,153,919,0.00,1.08,0.00,0.000,6,0.000,0.034,2116,2590,3560,0,0,0,0,0,0
$GC,1060,-0.49,-170.3,209.2,-14.1,173,1064,0.00,1.08,0.00,0.000,4,0.000,0.038,2111,3289,3560,0,0,0,0,0,0
$GC,1121,-0.49,-170.3,218.8,-14.3,178,1128,0.08,1.02,0.00,0.000,6,0.139,0.022,2136,2575,3560,0,0,0,0,0,0
$GC,1446,-0.49,-170.3,262.2,-14.1,209,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2572,3558,0,0,0,0,0,0
$GC,1768,-0.49,-170.3,305.2,-13.0,239,1772,0.00,1.10,0.00,0.000,4,0.000,0.037,2132,3286,3557,0,0,0,0,0,0
$GC,1850,-0.49,-170.3,316.3,-13.3,246,1854,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2588,3557,0,0,0,0,0,0
$GC,2180,-0.49,-170.3,358.6,-12.3,277,2184,0.00,0.95,0.00,0.000,4,0.000,0.024,2132,1881,3554,0,0,0,0,0,0
$GC,2341,-0.49,-170.3,377.1,-10.6,291,2344,0.00,1.08,0.00,0.000,6,0.000,0.035,2127,2587,3553,0,0,0,0,0,0
$GC,2673,-0.49,-170.3,414.9,-11.9,322,2677,0.00,1.08,0.00,0.000,4,0.000,0.040,2122,3296,3549,0,0,0,0,0,0
$GC,2701,-0.49,-170.3,418.7,-12.1,324,2707,0.00,1.02,0.00,0.000,6,0.000,0.024,2121,2586,3549,0,0,0,0,0,0
$GC,3026,-0.49,-170.3,462.3,-13.5,355,3030,0.00,0.95,0.00,0.000,4,0.000,0.024,2121,1889,3547,0,0,0,0,0,0
$GC,3063,-0.49,-170.3,466.3,-11.5,358,3066,0.00,1.08,0.00,0.000,6,0.000,0.036,2116,2588,3546,0,0,0,0,0,0
$GC,3405,-0.49,-170.3,511.9,-13.9,386,3409,0.00,1.08,0.00,0.000,4,0.000,0.041,2112,3291,3543,0,0,0,0,0,0
$GC,3433,-0.49,-170.3,516.6,-14.1,387,3437,0.08,1.00,0.00,0.000,6,0.136,0.024,2136,2595,3543,0,0,0,0,0,0
$GC,3761,-0.49,-170.3,555.3,-12.2,403,3765,0.00,0.98,0.00,0.000,4,0.000,0.025,2137,1883,3539,0,0,0,0,0,0
$GC,3862,-0.49,-170.3,567.1,-11.4,407,3865,0.00,1.10,0.00,0.000,6,0.000,0.037,2133,2595,3538,0,0,0,0,0,0
$GC,4185,-0.49,-170.3,600.2,-9.8,423,4189,0.00,1.05,0.00,0.000,4,0.000,0.041,2128,3285,3537,0,0,0,0,0,0
$GC,4246,-0.49,-170.3,605.9,-8.6,425,4254,0.00,1.00,0.00,0.000,6,0.000,0.025,2128,2595,3535,0,0,0,0,0,0
$GC,4562,-0.49,-170.3,639.1,-10.9,441,4566,0.00,0.98,0.00,0.000,4,0.000,0.026,2128,1895,3533,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4608,-0.13,0.0,643.7,11.3,442,4744,0.40,0.00,125.82,0.826,6,0.125,0.000,2254,2190,2868,0,0,0,0,0,0
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4748,0.49,170.3,650.3,0.0,449,4889,0.57,1.12,130.88,0.809,4,0.083,0.030,2461,1480,2173,0,0,0,0,0,0
$GC,4985,0.62,276.6,642.6,6.0,459,5073,0.08,1.05,81.15,0.799,6,0.055,0.029,2515,2165,1741,0,0,0,0,0,0
$GC,5383,0.66,315.9,608.4,8.7,478,5416,0.00,0.00,31.25,0.776,6,0.000,0.000,2515,2165,1581,0,0,0,0,0,0
$GC,5715,0.72,359.8,579.2,8.5,494,5759,0.00,1.08,34.83,0.762,4,0.000,0.036,2515,2858,1401,0,0,0,0,0,0
$GC,5798,0.79,419.8,572.1,7.9,497,5849,0.08,1.02,46.97,0.753,6,0.057,0.027,2567,2176,1157,0,0,0,0,0,0
$GC,6157,0.80,423.8,536.0,10.1,515,6167,0.00,1.05,5.97,0.616,4,0.000,0.029,2571,1458,1141,0,0,0,0,0,0
$GC,6227,0.80,423.8,528.5,12.2,518,6230,0.00,1.08,0.00,0.000,6,0.000,0.029,2571,2169,1140,0,0,0,0,0,0
$GC,6552,0.83,446.8,494.4,9.4,536,6577,0.00,1.10,19.02,0.707,4,0.000,0.035,2571,2870,1046,0,0,0,0,0,0
$GC,6650,0.83,450.3,484.5,10.2,544,6657,0.00,1.05,4.28,0.475,6,0.000,0.026,2576,2165,1033,0,0,0,0,0,0
$GC,6975,0.86,477.8,455.0,9.2,575,7001,0.00,1.08,22.17,0.689,4,0.000,0.034,2580,1476,921,0,0,0,0,0,0
$GC,7028,0.89,502.8,449.6,9.3,579,7058,0.00,1.05,20.67,0.664,6,0.000,0.028,2580,2169,818,0,0,0,0,0,0
$GC,7374,0.89,502.8,412.5,10.6,612,7378,0.00,1.05,0.00,0.000,4,0.000,0.032,2580,1475,820,0,0,0,0,0,0
$GC,7422,0.92,519.9,407.9,9.6,616,7446,0.00,1.05,14.80,0.645,6,0.000,0.028,2580,2169,749,0,0,0,0,0,0
$GC,7763,0.92,526.3,374.8,10.1,648,7777,0.00,1.08,6.50,0.568,4,0.000,0.036,2580,2860,723,0,0,0,0,0,0
$GC,7846,0.92,526.3,365.9,11.3,655,7850,0.00,1.05,0.00,0.000,6,0.000,0.028,2583,2165,723,0,0,0,0,0,0
$GC,8178,0.96,552.5,334.8,9.2,686,8203,0.00,1.02,21.62,0.625,4,0.000,0.032,2583,1463,615,0,0,0,0,0,0
$GC,8285,0.98,571.0,324.6,9.6,695,8304,0.00,1.08,15.80,0.588,6,0.000,0.029,2583,2168,542,0,0,0,0,0,0
$GC,8621,0.98,571.0,286.7,12.0,727,8625,0.00,1.02,0.00,0.000,4,0.000,0.037,2583,2852,540,0,0,0,0,0,0
$GC,8680,0.98,571.0,280.0,11.8,732,8684,0.00,1.05,0.00,0.000,6,0.000,0.029,2583,2157,541,0,0,0,0,0,0
$GC,9011,0.98,571.0,242.4,11.3,763,9014,0.00,1.02,0.00,0.000,4,0.000,0.037,2583,1473,541,0,0,0,0,0,0
$GC,9273,0.98,571.0,212.9,12.2,786,9276,0.00,1.02,0.00,0.000,6,0.000,0.026,2583,2163,542,0,0,0,0,0,0
$GC,9612,0.98,571.0,171.6,12.7,836,9619,0.00,1.02,0.00,0.000,4,0.000,0.035,2583,2854,543,0,0,0,0,0,0
$GC,9631,0.98,571.0,168.9,13.3,839,9638,0.00,1.05,0.00,0.000,6,0.000,0.030,2583,2158,543,0,0,0,0,0,0
$GC,9775,0.98,571.0,151.6,11.4,864,9782,0.00,1.05,0.00,0.000,4,0.000,0.032,2583,2855,543,0,0,0,0,0,0
$GC,9823,0.98,571.0,146.0,11.9,872,9830,0.00,1.02,0.00,0.000,6,0.000,0.025,2583,2157,543,0,0,0,0,0,0
$GC,9968,0.98,571.0,130.1,11.5,897,9976,0.00,1.05,0.00,0.000,4,0.000,0.032,2583,2854,544,0,0,0,0,0,0
$GC,10013,0.98,571.0,125.1,11.0,904,10020,0.00,1.00,0.00,0.000,6,0.000,0.026,2583,2170,544,0,0,0,0,0,0
$GC,10158,0.98,571.0,108.9,11.3,929,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2170,545,0,0,0,0,0,0
$GC,10302,1.00,590.7,94.2,9.5,954,10329,0.12,1.08,17.38,0.509,4,0.103,0.032,2634,2858,459,0,0,0,0,0,0
$GC,10529,1.04,623.6,71.3,9.0,993,10542,0.00,1.02,5.62,0.405,6,0.000,0.027,2635,2161,441,0,0,0,0,0,0
$GC,10678,1.04,623.6,55.4,11.5,1019,10686,0.00,1.02,0.70,0.084,4,0.000,0.028,2635,2858,442,0,0,0,0,0,0
$GC,10751,1.04,623.6,46.8,12.0,1031,10759,0.00,1.02,2.58,0.212,6,0.000,0.027,2634,2163,440,0,0,0,0,0,0
$GC,10895,1.04,623.6,30.1,10.9,1056,10903,0.00,1.02,0.35,0.099,4,0.000,0.031,2635,1478,441,0,0,0,0,0,0
$GC,10995,1.04,623.6,20.3,10.5,1073,11003,0.00,1.00,2.30,0.168,6,0.000,0.025,2635,2161,440,0,0,0,0,0,0
$GC,11140,1.04,623.6,4.5,11.2,1098,11147,0.00,1.00,1.17,0.077,4,0.000,0.029,2635,2861,441,0,0,0,0,0,0
$STATE,11152,end climb,SURFACE_DEPTH_REACHED
$STATE,11152,begin surface coast
$FINISH,0.4,1.006887
$STATE,11181,end surface coast,CONTROL_FINISHED_OK
$STATE,11181,begin surface
$SM_CCo,11259,0.00,0.000,0,0,442,595.59
$SM_GC,1.34,6.25,0.00,0.00,0.029,0.000,0.000,199,2564,442,-6.46,-0.74,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12031.94,151011,020254
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.0,109.537
$10V_AH,9.8,81.160
$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,15.675,61.100,611.850,0.000,0.000,25.235,18.104,127.665,0.250,0.000,17.347,2762.237,5687.123,682.838,2114.955,323.930,0.000,1778.355,0.000,1917.044,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,62.730,826.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,754.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321668
$DATA_FILE_SIZE,63596,1105
$CAP_FILE_SIZE,136771,0
$CFSIZE,260165632,191881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.304,148.1,1
$GPS,151011,084637,2157.000,12031.078,33,1.2,34,-2.7