version: 66.09
glider: 181
mission: 6
dive: 670
start: 10 16 111 21 58 5
data:
$ID,181
$MISSION,6
$DIVE,670
$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,-41436.758
$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,55
$R_STBD_OVSHOOT,61
$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
$GPS1,161011,215206,2150.999,12029.325,30,0.9,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.1
$GPS2,161011,215738,2150.819,12029.387,13,1.2,13,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,300.4,51686,-16.5,-10.313
$D_GRID,683
$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,14,begin dive
$GC,16,-0.49,-170.3,0.0,0.0,0,82,0.00,0.00,-62.75,0.000,2,0.000,0.000,196,2632,2209,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.0,-2.8,10,130,8.07,1.05,-32.67,0.000,4,0.218,0.067,2129,3281,3566,0,0,0,0,0,0
$GC,337,-0.49,-170.3,80.5,-25.7,54,345,0.00,1.02,0.00,0.000,6,0.000,0.024,2128,2568,3565,0,0,0,0,0,0
$GC,482,-0.49,-170.3,110.0,-18.7,79,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2564,3564,0,0,0,0,0,0
$GC,623,-0.49,-170.3,135.3,-18.1,104,630,0.00,1.08,0.00,0.000,4,0.000,0.037,2124,3273,3563,0,0,0,0,0,0
$GC,681,-0.49,-170.3,146.1,-17.4,114,690,0.00,0.98,0.00,0.000,6,0.000,0.024,2123,2588,3563,0,0,0,0,0,0
$GC,827,-0.49,-170.3,170.4,-16.7,139,834,0.00,0.95,0.00,0.000,4,0.000,0.023,2124,1875,3563,0,0,0,0,0,0
$GC,853,-0.49,-170.3,174.8,-17.0,143,859,0.00,1.05,0.00,0.000,6,0.000,0.033,2118,2572,3563,0,0,0,0,0,0
$GC,997,-0.49,-170.3,194.8,-13.1,168,1003,0.00,1.08,0.00,0.000,4,0.000,0.036,2113,3292,3563,0,0,0,0,0,0
$GC,1066,-0.49,-170.3,204.7,-14.3,177,1070,0.00,1.00,0.00,0.000,6,0.000,0.023,2113,2593,3563,0,0,0,0,0,0
$GC,1397,-0.49,-170.3,252.2,-15.3,208,1401,0.00,0.98,0.00,0.000,4,0.000,0.025,2113,1891,3563,0,0,0,0,0,0
$GC,1489,-0.49,-170.3,266.2,-15.0,216,1494,0.08,1.05,0.00,0.000,6,0.136,0.034,2136,2581,3562,0,0,0,0,0,0
$GC,1822,-0.49,-170.3,315.0,-13.8,247,1826,0.00,1.08,0.00,0.000,4,0.000,0.039,2132,3294,3560,0,0,0,0,0,0
$GC,1869,-0.49,-170.3,321.5,-13.1,251,1873,0.00,1.02,0.00,0.000,6,0.000,0.024,2132,2579,3559,0,0,0,0,0,0
$GC,2200,-0.49,-170.3,362.1,-12.0,282,2203,0.00,0.95,0.00,0.000,4,0.000,0.025,2132,1890,3558,0,0,0,0,0,0
$GC,2259,-0.49,-170.3,369.4,-12.6,287,2262,0.00,1.08,0.00,0.000,6,0.000,0.035,2127,2595,3557,0,0,0,0,0,0
$GC,2590,-0.49,-170.3,410.1,-12.8,318,2593,0.00,1.00,0.00,0.000,4,0.000,0.024,2127,1878,3555,0,0,0,0,0,0
$GC,2629,-0.49,-170.3,414.9,-11.9,321,2636,0.00,1.10,0.00,0.000,6,0.000,0.036,2123,2596,3554,0,0,0,0,0,0
$GC,2955,-0.49,-170.3,452.4,-10.9,352,2958,0.00,1.00,0.00,0.000,4,0.000,0.025,2123,1880,3551,0,0,0,0,0,0
$GC,3036,-0.49,-170.3,460.8,-10.6,359,3040,0.00,1.08,0.00,0.000,6,0.000,0.036,2118,2586,3550,0,0,0,0,0,0
$GC,3377,-0.49,-170.3,502.9,-12.7,390,3381,0.00,1.08,0.00,0.000,4,0.000,0.041,2113,3292,3547,0,0,0,0,0,0
$GC,3455,-0.49,-170.3,513.0,-12.6,393,3459,0.00,1.00,0.00,0.000,6,0.000,0.024,2113,2597,3546,0,0,0,0,0,0
$GC,3777,-0.49,-170.3,560.4,-15.4,409,3780,0.00,0.98,0.00,0.000,4,0.000,0.026,2113,1884,3544,0,0,0,0,0,0
$GC,3882,-0.49,-170.3,575.7,-13.6,413,3889,0.00,1.08,0.00,0.000,6,0.000,0.039,2112,2583,3543,0,0,0,0,0,0
$GC,4199,-0.49,-170.3,617.5,-13.0,429,4204,0.12,1.10,0.00,0.000,4,0.168,0.043,2141,3289,3540,0,0,0,0,0,0
$GC,4222,-0.49,-170.3,620.8,-14.3,430,4226,0.00,1.02,0.00,0.000,6,0.000,0.026,2141,2585,3539,0,0,0,0,0,0
$GC,4555,-0.49,-170.3,655.7,-11.9,446,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2583,3536,0,0,0,0,0,0
$STATE,4800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4800,begin apogee
$GC,4808,-0.13,0.0,685.1,11.5,458,4943,0.35,0.00,126.80,0.856,6,0.121,0.000,2254,2154,2869,0,0,0,0,0,0
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4947,0.49,170.3,691.8,0.0,464,5087,0.57,1.00,131.65,0.837,4,0.083,0.029,2462,1478,2175,0,0,0,0,0,0
$GC,5189,0.56,230.2,682.2,7.9,475,5241,0.00,1.08,47.03,0.815,6,0.000,0.030,2462,2184,1930,0,0,0,0,0,0
$GC,5552,0.67,320.6,650.8,6.6,492,5626,0.15,1.15,69.18,0.816,4,0.075,0.031,2543,1466,1562,0,0,0,0,0,0
$GC,5708,0.67,320.6,634.9,11.5,499,5712,0.00,1.08,0.00,0.000,6,0.000,0.030,2543,2167,1561,0,0,0,0,0,0
$GC,6036,0.67,320.6,598.3,12.2,515,6040,0.00,1.05,0.00,0.000,4,0.000,0.037,2543,2867,1560,0,0,0,0,0,0
$GC,6107,0.67,320.6,589.5,12.6,518,6111,0.08,1.05,0.00,0.000,6,0.132,0.028,2520,2164,1559,0,0,0,0,0,0
$GC,6439,0.67,323.2,555.7,10.2,534,6443,0.00,1.02,0.00,0.000,4,0.000,0.034,2524,1472,1558,0,0,0,0,0,0
$GC,6581,0.76,393.7,544.5,7.4,540,6642,0.00,1.05,55.95,0.768,6,0.000,0.030,2524,2170,1263,0,0,0,0,0,0
$GC,6949,0.78,406.2,510.7,9.8,558,6964,0.00,1.10,12.00,0.689,4,0.000,0.037,2524,2870,1212,0,0,0,0,0,0
$GC,7076,0.80,425.2,498.3,9.5,562,7096,0.00,1.08,16.65,0.689,6,0.000,0.028,2526,2159,1135,0,0,0,0,0,0
$GC,7415,0.80,425.6,465.5,10.3,594,7419,0.00,1.02,0.00,0.000,4,0.000,0.037,2526,1469,1137,0,0,0,0,0,0
$GC,7618,0.80,425.6,444.1,10.9,612,7622,0.00,1.05,0.00,0.000,6,0.000,0.029,2526,2168,1137,0,0,0,0,0,0
$GC,7951,0.85,464.3,413.0,8.7,643,7987,0.12,1.10,31.48,0.684,4,0.095,0.036,2576,2868,976,0,0,0,0,0,0
$GC,8094,0.90,503.7,400.7,8.7,655,8134,0.00,1.08,31.42,0.660,6,0.000,0.028,2579,2158,814,0,0,0,0,0,0
$GC,8452,0.93,532.3,368.6,9.1,689,8478,0.00,1.12,22.98,0.640,4,0.000,0.034,2579,2864,698,0,0,0,0,0,0
$GC,8730,0.93,532.3,338.5,11.9,713,8738,0.00,1.05,0.00,0.000,6,0.000,0.028,2579,2164,697,0,0,0,0,0,0
$GC,9056,0.93,532.3,301.1,11.2,744,9060,0.00,1.05,0.00,0.000,4,0.000,0.033,2580,2857,697,0,0,0,0,0,0
$GC,9196,0.93,532.3,283.5,13.0,756,9203,0.00,1.05,0.00,0.000,6,0.000,0.028,2580,2157,697,0,0,0,0,0,0
$GC,9522,0.93,532.3,242.2,11.3,787,9525,0.00,1.02,0.00,0.000,4,0.000,0.034,2580,1462,698,0,0,0,0,0,0
$GC,9717,0.93,532.3,220.5,10.6,804,9724,0.00,1.05,0.00,0.000,6,0.000,0.028,2580,2167,698,0,0,0,0,0,0
$GC,10053,0.93,532.3,184.4,11.4,847,10060,0.00,1.02,0.00,0.000,4,0.000,0.035,2580,2859,699,0,0,0,0,0,0
$GC,10316,0.93,532.3,150.2,11.7,893,10322,0.00,1.05,0.00,0.000,6,0.000,0.030,2580,2161,700,0,0,0,0,0,0
$GC,10461,0.95,550.3,136.5,9.6,918,10481,0.00,1.12,15.90,0.534,4,0.000,0.034,2580,2867,624,0,0,0,0,0,0
$GC,10736,0.95,550.3,105.6,12.6,966,10743,0.00,1.05,0.00,0.000,6,0.000,0.028,2580,2164,625,0,0,0,0,0,0
$GC,10883,0.99,578.9,90.6,9.1,991,10916,0.12,1.10,22.90,0.487,4,0.114,0.033,2625,2863,507,0,0,0,0,0,0
$GC,11171,0.99,578.9,63.7,10.7,1041,11179,0.00,1.05,0.00,0.000,6,0.000,0.028,2625,2156,513,0,0,0,0,0,0
$GC,11317,0.99,578.9,47.0,12.1,1066,11324,0.00,1.05,0.00,0.000,4,0.000,0.032,2625,2856,514,0,0,0,0,0,0
$GC,11579,0.99,578.9,19.0,10.3,1112,11587,0.00,1.02,3.25,0.272,6,0.000,0.027,2625,2155,508,0,0,0,0,0,0
$GC,11725,1.00,589.0,4.0,9.9,1137,11738,0.00,0.00,9.43,0.405,6,0.000,0.000,2625,2155,466,0,0,0,0,0,0
$STATE,11742,end climb,SURFACE_DEPTH_REACHED
$STATE,11742,begin surface coast
$FINISH,0.5,0.999887
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11783,begin surface
$SM_CCo,11859,0.00,0.000,0,0,467,589.21
$SM_GC,1.36,6.25,0.00,0.00,0.032,0.000,0.000,207,2578,467,-6.45,-0.34,589.21,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12029.93,161011,181815
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.29
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.0,111.209
$10V_AH,9.8,81.991
$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,15.925,55.725,596.600,0.000,0.000,29.809,20.993,136.058,0.000,0.000,16.484,2886.942,6059.186,630.605,2270.832,337.261,0.000,1774.737,0.000,2065.744,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,67.320,856.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,784.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321696
$DATA_FILE_SIZE,66948,1147
$CAP_FILE_SIZE,135115,0
$CFSIZE,260165632,191078400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.359, 46.9,1
$GPS,171011,011701,2150.133,12029.772,38,1.3,39,-2.7