version: 66.09
glider: 181
mission: 6
dive: 565
start: 9 28 111 14 50 55
data:
$ID,181
$MISSION,6
$DIVE,565
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41297.695
$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,10
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,86
$R_STBD_OVSHOOT,39
$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
$GPS1,280911,144407,2022.376,11948.948,29,1.1,29,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.1
$GPS2,280911,144956,2022.434,11948.789,13,1.1,13,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.136,0.281
$KALMAN_X,65827.2,855.2,-1728.0,-81550.1,-1854.3
$KALMAN_Y,67266.3,752.5,414.4,57244.3,-1300.2
$MHEAD_RNG_PITCHd_Wd,42.2,154124,-17.4,-11.786
$D_GRID,3232
$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,-0.53,-194.6,0.0,0.0,0,86,0.00,0.00,-66.43,0.000,2,0.000,0.000,127,2587,2318,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.1,-2.7,11,134,8.65,0.57,-29.92,0.000,4,0.233,0.092,2113,2953,3665,0,0,0,0,0,0
$GC,241,-0.53,-194.6,63.1,-44.6,37,248,0.00,0.47,0.00,0.000,6,0.000,0.028,2112,2578,3665,0,0,0,0,0,0
$GC,382,-0.53,-194.6,104.3,-26.4,62,389,0.00,0.38,0.00,0.000,4,0.000,0.030,2112,2246,3665,0,0,0,0,0,0
$GC,420,-0.53,-194.6,112.1,-21.2,68,427,0.00,0.52,0.00,0.000,6,0.000,0.040,2110,2605,3665,0,0,0,0,0,0
$GC,561,-0.53,-194.6,134.4,-13.8,93,568,0.00,0.45,0.00,0.000,4,0.000,0.041,2107,2937,3665,0,0,0,0,0,0
$GC,681,-0.53,-194.6,158.3,-21.6,114,690,0.00,0.43,0.00,0.000,6,0.000,0.030,2107,2594,3665,0,0,0,0,0,0
$GC,826,-0.53,-194.6,187.3,-18.3,139,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2593,3666,0,0,0,0,0,0
$GC,970,-0.53,-194.6,209.8,-14.3,159,973,0.00,0.50,0.00,0.000,4,0.000,0.040,2104,2942,3666,0,0,0,0,0,0
$GC,1188,-0.53,-194.6,244.8,-16.7,178,1195,0.00,0.45,0.00,0.000,6,0.000,0.030,2104,2591,3666,0,0,0,0,0,0
$GC,1514,-0.53,-194.6,296.5,-16.5,209,1517,0.00,0.52,0.00,0.000,4,0.000,0.041,2101,2939,3665,0,0,0,0,0,0
$GC,1673,-0.53,-194.6,324.2,-16.9,223,1677,0.00,0.45,0.00,0.000,6,0.000,0.031,2101,2585,3664,0,0,0,0,0,0
$GC,2004,-0.53,-194.6,379.0,-16.1,254,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2585,3662,0,0,0,0,0,0
$GC,2325,-0.53,-194.6,429.2,-15.0,284,2329,0.00,0.52,0.00,0.000,4,0.000,0.041,2098,2946,3658,0,0,0,0,0,0
$GC,2392,-0.53,-194.6,439.1,-14.4,290,2396,0.00,0.45,0.00,0.000,6,0.000,0.031,2098,2596,3658,0,0,0,0,0,0
$GC,2723,-0.53,-194.6,486.7,-14.9,321,2726,0.00,0.43,0.00,0.000,4,0.000,0.029,2098,2251,3655,0,0,0,0,0,0
$GC,2773,-0.53,-194.6,494.4,-15.3,325,2781,0.08,0.50,0.00,0.000,6,0.144,0.042,2122,2584,3654,0,0,0,0,0,0
$GC,3090,-0.53,-194.6,539.7,-14.4,343,3094,0.00,0.50,0.00,0.000,4,0.000,0.041,2121,2939,3651,0,0,0,0,0,0
$GC,3174,-0.53,-194.6,552.0,-14.0,346,3181,0.00,0.47,0.00,0.000,6,0.000,0.029,2120,2585,3650,0,0,0,0,0,0
$GC,3491,-0.53,-194.6,598.3,-14.6,362,3495,0.00,0.43,0.00,0.000,4,0.000,0.028,2121,2234,3647,0,0,0,0,0,0
$GC,3530,-0.53,-194.6,604.3,-14.7,363,3537,0.00,0.52,0.00,0.000,6,0.000,0.041,2118,2583,3647,0,0,0,0,0,0
$GC,3846,-0.53,-194.6,649.2,-14.1,379,3850,0.00,0.50,0.00,0.000,4,0.000,0.042,2115,2938,3643,0,0,0,0,0,0
$GC,3938,-0.53,-194.6,662.3,-14.5,383,3941,0.00,0.45,0.00,0.000,6,0.000,0.031,2115,2588,3643,0,0,0,0,0,0
$GC,4270,-0.53,-194.6,708.5,-13.7,399,4274,0.00,0.52,0.00,0.000,4,0.000,0.043,2113,2943,3641,0,0,0,0,0,0
$GC,4361,-0.53,-194.6,720.9,-13.5,403,4365,0.00,0.45,0.00,0.000,6,0.000,0.031,2113,2601,3639,0,0,0,0,0,0
$GC,4694,-0.53,-194.6,767.1,-13.9,419,4698,0.00,0.50,0.00,0.000,4,0.000,0.044,2111,2938,3637,0,0,0,0,0,0
$GC,4777,-0.53,-194.6,778.8,-13.8,422,4784,0.00,0.47,0.00,0.000,6,0.000,0.029,2112,2586,3636,0,0,0,0,0,0
$GC,5094,-0.53,-194.6,818.3,-12.0,438,5098,0.00,0.52,0.00,0.000,4,0.000,0.044,2111,2938,3634,0,0,0,0,0,0
$GC,5173,-0.53,-194.6,827.7,-11.8,441,5177,0.00,0.45,0.00,0.000,6,0.000,0.030,2111,2593,3634,0,0,0,0,0,0
$GC,5496,-0.53,-194.6,864.3,-11.6,457,5500,0.00,0.52,0.00,0.000,4,0.000,0.044,2109,2945,3632,0,0,0,0,0,0
$GC,5557,-0.53,-194.6,872.0,-11.9,459,5565,0.00,0.50,0.00,0.000,6,0.000,0.029,2109,2585,3631,0,0,0,0,0,0
$GC,5873,-0.53,-194.6,910.8,-12.8,475,5877,0.00,0.52,0.00,0.000,4,0.000,0.044,2107,2936,3629,0,0,0,0,0,0
$GC,5924,-0.53,-194.6,917.5,-13.0,477,5927,0.00,0.47,0.00,0.000,6,0.000,0.030,2107,2583,3628,0,0,0,0,0,0
$GC,6251,-0.53,-194.6,960.2,-13.1,493,6255,0.00,0.52,0.00,0.000,4,0.000,0.044,2104,2934,3627,0,0,0,0,0,0
$GC,6323,-0.53,-194.6,969.9,-13.2,496,6327,0.00,0.47,0.00,0.000,6,0.000,0.030,2104,2585,3626,0,0,0,0,0,0
$STATE,6484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6484,begin apogee
$GC,6491,-0.13,0.0,991.3,13.2,504,6647,0.47,0.00,151.15,1.058,6,0.132,0.000,2254,2148,2869,0,0,0,0,0,0
$STATE,6648,end apogee,CONTROL_FINISHED_OK
$STATE,6648,begin climb
$GC,6651,0.53,194.6,999.8,0.0,511,6815,0.60,0.47,157.12,1.043,4,0.083,0.032,2467,1815,2075,0,0,0,0,0,0
$GC,6885,0.69,326.7,991.7,6.4,522,6998,0.12,0.52,106.05,1.030,6,0.050,0.031,2530,2188,1537,0,0,0,0,0,0
$GC,7321,0.79,408.2,953.4,8.5,543,7391,0.00,0.55,65.60,1.009,4,0.000,0.030,2532,1810,1204,0,0,0,0,0,0
$GC,7585,0.86,463.3,930.1,9.5,555,7637,0.10,0.47,45.95,0.988,6,0.060,0.032,2589,2150,980,0,0,0,0,0,0
$GC,7959,0.86,463.3,883.0,13.0,573,7963,0.00,0.43,0.00,0.000,4,0.000,0.030,2590,1809,984,0,0,0,0,0,0
$GC,8166,0.86,463.3,853.3,14.6,582,8170,0.00,0.52,0.00,0.000,6,0.000,0.031,2591,2174,984,0,0,0,0,0,0
$GC,8493,0.86,463.3,804.3,15.6,598,8497,0.00,0.45,0.00,0.000,4,0.000,0.037,2590,2506,983,0,0,0,0,0,0
$GC,8750,0.86,463.3,764.3,14.6,609,8754,0.00,0.47,0.00,0.000,6,0.000,0.028,2592,2140,983,0,0,0,0,0,0
$GC,9072,0.86,463.3,721.2,12.5,625,9075,0.00,0.52,0.00,0.000,4,0.000,0.033,2592,2512,982,0,0,0,0,0,0
$GC,9253,0.86,463.3,698.7,12.1,633,9256,0.00,0.43,0.00,0.000,6,0.000,0.030,2593,2171,982,0,0,0,0,0,0
$GC,9586,0.91,503.4,663.4,10.2,649,9623,0.00,0.52,33.47,0.845,4,0.000,0.034,2593,2509,816,0,0,0,0,0,0
$GC,9740,0.97,554.4,648.0,9.7,655,9787,0.00,0.45,42.53,0.829,6,0.000,0.030,2594,2158,610,0,0,0,0,0,0
$GC,10109,0.98,557.9,608.7,11.6,673,10119,0.00,0.55,6.93,0.685,4,0.000,0.033,2595,2517,594,0,0,0,0,0,0
$GC,10264,0.98,557.9,589.0,13.1,680,10268,0.00,0.47,0.00,0.000,6,0.000,0.028,2596,2160,595,0,0,0,0,0,0
$GC,10593,0.98,557.9,546.6,13.1,696,10597,0.00,0.50,0.00,0.000,4,0.000,0.032,2596,2514,595,0,0,0,0,0,0
$GC,10648,0.98,557.9,538.9,13.2,698,10652,0.00,0.45,0.00,0.000,6,0.000,0.029,2597,2158,594,0,0,0,0,0,0
$GC,10971,0.98,557.9,497.4,13.3,714,10975,0.00,0.47,0.00,0.000,4,0.000,0.033,2597,2505,595,0,0,0,0,0,0
$GC,11061,0.98,557.9,484.8,13.5,722,11065,0.00,0.43,0.00,0.000,6,0.000,0.030,2599,2164,595,0,0,0,0,0,0
$GC,11393,0.99,570.4,443.2,11.3,753,11408,0.00,0.38,11.77,0.685,4,0.000,0.028,2601,1833,541,0,0,0,0,0,0
$GC,11442,1.03,599.7,437.5,10.6,757,11472,0.00,0.45,20.85,0.679,6,0.000,0.030,2601,2173,439,0,0,0,0,0,0
$GC,11790,1.08,646.5,402.5,9.9,790,11794,0.15,0.45,0.00,0.000,4,0.085,0.038,2675,2494,440,0,0,0,0,0,0
$GC,11857,1.08,646.5,394.4,13.2,796,11861,0.00,0.43,0.28,0.096,6,0.000,0.031,2676,2157,441,0,0,0,0,0,0
$GC,12189,1.10,659.3,354.9,11.3,827,12197,0.00,0.00,1.05,0.090,6,0.000,0.000,2676,2156,441,0,0,0,0,0,0
$GC,12515,1.10,659.3,309.7,14.5,858,12519,0.00,0.50,0.05,0.258,4,0.000,0.034,2677,2502,440,0,0,0,0,0,0
$GC,12566,1.10,659.3,302.3,14.9,862,12573,0.00,0.43,0.52,0.089,6,0.000,0.030,2677,2158,441,0,0,0,0,0,0
$GC,12893,1.10,659.3,256.6,13.6,893,12901,0.00,0.00,1.48,0.086,6,0.000,0.000,2678,2158,441,0,0,0,0,0,0
$GC,13220,1.10,659.3,211.2,13.4,924,13224,0.00,0.40,0.55,0.099,4,0.000,0.027,2680,1840,441,0,0,0,0,0,0
$GC,13310,1.10,659.3,198.8,13.9,932,13318,0.00,0.43,0.10,0.115,6,0.000,0.033,2681,2162,441,0,0,0,0,0,0
$GC,13458,1.10,659.3,180.4,12.3,957,13466,0.00,0.47,1.02,0.089,4,0.000,0.030,2681,2503,441,0,0,0,0,0,0
$GC,13556,1.10,659.3,167.6,12.6,974,13564,0.00,0.43,0.43,0.087,6,0.000,0.030,2681,2161,441,0,0,0,0,0,0
$GC,13702,1.10,662.1,150.5,11.7,999,13710,0.00,0.38,1.30,0.086,4,0.000,0.025,2684,1826,441,0,0,0,0,0,0
$GC,13801,1.11,666.7,138.6,11.6,1016,13810,0.00,0.45,0.17,0.100,6,0.000,0.032,2684,2163,441,0,0,0,0,0,0
$GC,13946,1.14,692.1,123.4,10.8,1041,13954,0.00,0.50,2.30,0.190,4,0.000,0.037,2684,2503,440,0,0,0,0,0,0
$GC,14168,1.14,692.1,99.1,12.1,1080,14176,0.00,0.43,0.12,0.108,6,0.000,0.031,2685,2161,440,0,0,0,0,0,0
$GC,14312,1.26,788.3,85.2,7.9,1105,14319,0.00,0.40,0.28,0.113,4,0.000,0.026,2688,1838,441,0,0,0,0,0,0
$GC,14562,1.30,818.4,67.6,10.6,1149,14569,0.00,0.43,0.15,0.100,6,0.000,0.031,2688,2173,441,0,0,0,0,0,0
$GC,14706,1.34,850.4,49.3,10.5,1174,14715,0.12,0.47,2.42,0.196,4,0.090,0.036,2744,2502,439,0,0,0,0,0,0
$GC,14789,1.43,924.1,41.6,8.8,1188,14798,0.00,0.43,0.10,0.112,6,0.000,0.031,2744,2161,440,0,0,0,0,0,0
$GC,14933,1.49,972.8,27.7,9.8,1213,14940,0.00,0.40,0.28,0.111,4,0.000,0.027,2745,1838,441,0,0,0,0,0,0
$STATE,15173,end climb,SURFACE_DEPTH_REACHED
$STATE,15173,begin surface coast
$FINISH,0.6,1.021060
$STATE,15208,end surface coast,CONTROL_FINISHED_OK
$STATE,15208,begin surface
$SM_CCo,15286,0.00,0.000,0,0,443,595.10
$SM_GC,1.24,6.47,0.00,0.00,0.028,0.000,0.000,199,2553,443,-6.46,-1.05,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2011.07,11947.26,280911,101022
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.88
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.3,93.058
$10V_AH,9.8,73.527
$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,16.775,34.075,654.025,0.000,0.000,28.159,42.687,139.318,0.250,0.000,15.850,3227.074,8656.959,699.395,2690.641,353.581,33.354,2060.090,0.000,2444.018,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,91.800,1057.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,872.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,73575,1262
$CAP_FILE_SIZE,166608,0
$CFSIZE,260165632,199184384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,295.3,1
$GPS,280911,190701,2024.925,11948.198,41,1.2,41,-2.3