version: 66.09
glider: 181
mission: 6
dive: 566
start: 9 28 111 19 13 22
data:
$ID,181
$MISSION,6
$DIVE,566
$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,1
$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,-41299.047
$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,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,92
$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
$GPS1,280911,190701,2024.925,11948.198,41,1.2,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.0
$GPS2,280911,191225,2024.962,11948.081,13,1.6,18,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.103,0.295
$KALMAN_X,62766.1,-951.7,-433.2,-79221.8,-1187.1
$KALMAN_Y,67682.1,688.4,60.1,61933.6,-1135.0
$MHEAD_RNG_PITCHd_Wd,21.5,149641,-17.4,-11.786
$D_GRID,3209
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.53,-194.6,0.0,0.0,0,87,0.00,0.00,-67.43,0.000,2,0.000,0.000,125,2561,2338,0,0,0,0,0,0
$GC,91,-0.53,-194.6,3.4,-3.7,12,133,8.60,0.62,-28.20,0.000,4,0.231,0.086,2118,2963,3665,0,0,0,0,0,0
$GC,224,-0.53,-194.6,54.5,-39.4,35,231,0.00,0.47,0.00,0.000,6,0.000,0.029,2118,2601,3665,0,0,0,0,0,0
$GC,367,-0.53,-194.6,89.9,-20.7,60,374,0.00,0.43,0.00,0.000,4,0.000,0.029,2118,2234,3665,0,0,0,0,0,0
$GC,494,-0.53,-194.6,119.9,-24.6,82,501,0.00,0.52,0.00,0.000,6,0.000,0.037,2115,2595,3665,0,0,0,0,0,0
$GC,637,-0.53,-194.6,149.5,-20.5,107,643,0.00,0.47,0.00,0.000,4,0.000,0.038,2113,2947,3665,0,0,0,0,0,0
$GC,718,-0.53,-194.6,163.0,-15.1,121,725,0.00,0.47,0.00,0.000,6,0.000,0.028,2113,2572,3665,0,0,0,0,0,0
$GC,861,-0.53,-194.6,185.1,-16.7,146,867,0.00,0.52,0.00,0.000,4,0.000,0.041,2110,2935,3665,0,0,0,0,0,0
$GC,1046,-0.53,-194.6,220.2,-17.2,169,1053,0.00,0.45,0.00,0.000,6,0.000,0.029,2110,2581,3665,0,0,0,0,0,0
$GC,1372,-0.53,-194.6,262.7,-12.6,200,1375,0.00,0.38,0.00,0.000,4,0.000,0.029,2110,2247,3664,0,0,0,0,0,0
$GC,1430,-0.53,-194.6,269.8,-12.5,205,1433,0.00,0.50,0.00,0.000,6,0.000,0.038,2108,2593,3664,0,0,0,0,0,0
$GC,1761,-0.53,-194.6,304.3,-10.2,236,1764,0.00,0.47,0.00,0.000,4,0.000,0.041,2105,2939,3662,0,0,0,0,0,0
$GC,1877,-0.53,-194.6,317.8,-12.2,246,1880,0.00,0.43,0.00,0.000,6,0.000,0.031,2105,2597,3661,0,0,0,0,0,0
$GC,2207,-0.53,-194.6,357.1,-14.2,277,2212,0.00,0.43,0.00,0.000,4,0.000,0.028,2105,2236,3658,0,0,0,0,0,0
$GC,2258,-0.53,-194.6,366.2,-17.9,281,2265,0.00,0.52,0.00,0.000,6,0.000,0.040,2103,2589,3657,0,0,0,0,0,0
$GC,2583,-0.53,-194.6,424.0,-13.5,312,2587,0.00,0.43,0.00,0.000,4,0.000,0.028,2102,2252,3655,0,0,0,0,0,0
$GC,2681,-0.53,-194.6,437.2,-13.6,320,2687,0.00,0.50,0.00,0.000,6,0.000,0.040,2100,2587,3654,0,0,0,0,0,0
$GC,3006,-0.53,-194.6,494.1,-17.8,351,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2588,3650,0,0,0,0,0,0
$GC,3316,-0.53,-194.6,544.3,-16.8,368,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2587,3647,0,0,0,0,0,0
$GC,3627,-0.53,-194.6,592.5,-14.9,383,3630,0.00,0.50,0.00,0.000,4,0.000,0.044,2097,2938,3644,0,0,0,0,0,0
$GC,3695,-0.53,-194.6,602.1,-13.6,386,3700,0.08,0.45,0.00,0.000,6,0.140,0.031,2122,2593,3643,0,0,0,0,0,0
$GC,4030,-0.53,-194.6,636.4,-9.6,402,4034,0.00,0.43,0.00,0.000,4,0.000,0.029,2122,2250,3640,0,0,0,0,0,0
$GC,4182,-0.53,-194.6,650.3,-8.4,408,4189,0.00,0.52,0.00,0.000,6,0.000,0.041,2121,2596,3639,0,0,0,0,0,0
$GC,4499,-0.53,-194.6,680.0,-9.6,424,4503,0.00,0.47,0.00,0.000,4,0.000,0.043,2118,2933,3636,0,0,0,0,0,0
$GC,4538,-0.53,-194.6,684.2,-10.1,425,4545,0.00,0.45,0.00,0.000,6,0.000,0.030,2118,2587,3636,0,0,0,0,0,0
$GC,4854,-0.53,-194.6,723.1,-13.3,441,4858,0.00,0.43,0.00,0.000,4,0.000,0.030,2119,2234,3634,0,0,0,0,0,0
$GC,4905,-0.53,-194.6,729.9,-12.9,443,4908,0.00,0.55,0.00,0.000,6,0.000,0.041,2116,2593,3633,0,0,0,0,0,0
$GC,5232,-0.53,-194.6,777.1,-14.8,459,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2593,3632,0,0,0,0,0,0
$GC,5541,-0.53,-194.6,824.2,-15.2,474,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2593,3629,0,0,0,0,0,0
$GC,5851,-0.53,-194.6,871.7,-15.4,489,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2593,3627,0,0,0,0,0,0
$GC,6159,-0.53,-194.6,917.4,-14.3,504,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2593,3625,0,0,0,0,0,0
$GC,6469,-0.53,-194.6,958.3,-12.8,519,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2594,3623,0,0,0,0,0,0
$STATE,6735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6735,begin apogee
$GC,6742,-0.13,0.0,991.5,12.3,532,6897,0.43,0.00,150.68,1.064,6,0.129,0.000,2252,2155,2869,0,0,0,0,0,0
$STATE,6898,end apogee,CONTROL_FINISHED_OK
$STATE,6898,begin climb
$GC,6901,0.53,194.6,998.8,0.0,539,7065,0.62,0.45,157.45,1.046,4,0.083,0.025,2473,1803,2074,0,0,0,0,0,0
$GC,7099,0.67,308.6,990.2,7.1,548,7200,0.10,0.55,92.00,1.030,6,0.061,0.029,2526,2187,1610,0,0,0,0,0,0
$GC,7522,0.71,339.6,945.0,10.5,569,7552,0.00,0.45,25.85,0.981,4,0.000,0.032,2526,2502,1484,0,0,0,0,0,0
$GC,7804,0.77,389.4,916.0,9.8,581,7853,0.00,0.47,41.70,0.984,6,0.000,0.029,2528,2139,1280,0,0,0,0,0,0
$GC,8162,0.84,450.8,882.7,9.3,599,8218,0.12,0.57,49.90,0.974,4,0.095,0.035,2584,2500,1031,0,0,0,0,0,0
$GC,8454,0.84,450.8,845.5,13.2,612,8458,0.00,0.45,0.00,0.000,6,0.000,0.030,2586,2156,1034,0,0,0,0,0,0
$GC,8781,0.84,450.8,805.8,12.0,628,8784,0.00,0.50,0.00,0.000,4,0.000,0.034,2586,2509,1033,0,0,0,0,0,0
$GC,8837,0.84,450.8,798.7,12.2,630,8840,0.00,0.45,0.00,0.000,6,0.000,0.028,2589,2155,1033,0,0,0,0,0,0
$GC,9158,0.84,450.8,759.5,12.2,646,9162,0.00,0.50,0.00,0.000,4,0.000,0.035,2589,2509,1032,0,0,0,0,0,0
$GC,9287,0.84,450.8,742.9,12.9,651,9294,0.00,0.43,0.00,0.000,6,0.000,0.031,2590,2167,1033,0,0,0,0,0,0
$GC,9603,0.84,450.8,703.1,12.4,667,9607,0.00,0.47,0.00,0.000,4,0.000,0.035,2590,2506,1032,0,0,0,0,0,0
$GC,9686,0.84,450.8,692.0,13.4,670,9693,0.00,0.45,0.00,0.000,6,0.000,0.028,2593,2156,1032,0,0,0,0,0,0
$GC,10004,0.84,450.8,654.1,12.0,686,10007,0.00,0.47,0.00,0.000,4,0.000,0.035,2592,2500,1032,0,0,0,0,0,0
$GC,10171,0.84,450.8,633.5,11.9,693,10175,0.00,0.43,0.00,0.000,6,0.000,0.031,2594,2171,1032,0,0,0,0,0,0
$GC,10494,0.86,467.6,596.9,11.1,709,10517,0.00,0.50,15.40,0.780,4,0.000,0.030,2594,2507,961,0,0,0,0,0,0
$GC,10590,0.87,473.5,585.7,11.5,713,10599,0.00,0.43,6.78,0.641,6,0.000,0.030,2596,2171,938,0,0,0,0,0,0
$GC,10912,0.91,506.7,551.8,10.4,728,10943,0.00,0.52,27.55,0.771,4,0.000,0.035,2597,2508,802,0,0,0,0,0,0
$GC,11044,0.95,537.2,537.8,10.5,734,11074,0.00,0.43,26.95,0.750,6,0.000,0.030,2597,2172,678,0,0,0,0,0,0
$GC,11391,0.95,537.2,499.8,12.1,751,11394,0.00,0.45,0.00,0.000,4,0.000,0.034,2597,2502,679,0,0,0,0,0,0
$GC,11451,0.95,537.2,491.7,13.2,756,11459,0.00,0.45,0.00,0.000,6,0.000,0.030,2599,2160,679,0,0,0,0,0,0
$GC,11777,0.96,547.5,451.6,11.4,787,11789,0.00,0.00,10.00,0.662,6,0.000,0.000,2599,2160,637,0,0,0,0,0,0
$GC,12107,1.03,601.8,417.5,9.6,818,12151,0.00,0.55,38.45,0.696,4,0.000,0.033,2599,2514,439,0,0,0,0,0,0
$GC,12235,1.11,667.2,405.5,9.1,829,12243,0.12,0.45,1.00,0.085,6,0.059,0.029,2660,2161,441,0,0,0,0,0,0
$GC,12560,1.11,667.2,363.9,14.2,860,12564,0.00,0.50,0.55,0.100,4,0.000,0.029,2660,2502,441,0,0,0,0,0,0
$GC,12722,1.11,667.2,338.1,16.4,874,12730,0.00,0.45,0.28,0.117,6,0.000,0.030,2663,2157,441,0,0,0,0,0,0
$GC,13049,1.11,667.2,284.2,16.8,905,13051,0.00,0.00,0.55,0.100,6,0.000,0.000,2662,2157,441,0,0,0,0,0,0
$GC,13366,1.11,667.2,238.7,13.2,935,13370,0.00,0.50,0.00,0.000,4,0.000,0.034,2662,2513,441,0,0,0,0,0,0
$GC,13411,1.11,667.2,232.3,14.9,939,13416,0.00,0.45,2.12,0.158,6,0.000,0.030,2664,2159,440,0,0,0,0,0,0
$GC,13743,1.11,667.2,184.5,14.8,978,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2159,439,0,0,0,0,0,0
$GC,13885,1.11,667.2,166.6,12.1,1003,13891,0.00,0.40,0.00,0.000,4,0.000,0.036,2666,1833,439,0,0,0,0,0,0
$GC,13933,1.11,667.2,159.0,16.7,1011,13939,0.00,0.45,0.00,0.000,6,0.000,0.032,2666,2165,439,0,0,0,0,0,0
$GC,14076,1.11,667.2,138.3,13.6,1036,14083,0.00,0.45,0.00,0.000,4,0.000,0.038,2666,2503,439,0,0,0,0,0,0
$GC,14192,1.13,683.1,124.5,11.1,1056,14199,0.00,0.43,0.00,0.000,6,0.000,0.031,2667,2172,439,0,0,0,0,0,0
$GC,14336,1.13,683.1,109.8,12.2,1081,14343,0.00,0.43,0.00,0.000,4,0.000,0.034,2670,1829,439,0,0,0,0,0,0
$GC,14378,1.13,683.1,104.1,13.8,1088,14385,0.00,0.45,0.03,0.199,6,0.000,0.031,2670,2166,439,0,0,0,0,0,0
$GC,14522,1.18,720.7,87.7,10.3,1113,14529,0.00,0.45,0.00,0.000,4,0.000,0.037,2670,2506,439,0,0,0,0,0,0
$GC,14576,1.25,784.5,82.8,9.2,1122,14583,0.00,0.45,0.03,0.196,6,0.000,0.031,2671,2161,440,0,0,0,0,0,0
$GC,14720,1.36,868.9,69.8,8.3,1147,14727,0.17,0.43,0.00,0.000,4,0.074,0.036,2748,1833,440,0,0,0,0,0,0
$GC,14983,1.40,905.8,43.6,10.3,1193,14990,0.00,0.45,0.35,0.086,6,0.000,0.031,2748,2169,442,0,0,0,0,0,0
$GC,15128,1.49,975.3,30.3,9.0,1218,15136,0.00,0.50,2.60,0.220,4,0.000,0.030,2749,1817,439,0,0,0,0,0,0
$GC,15194,1.49,975.3,23.0,12.1,1229,15201,0.00,0.47,0.00,0.000,6,0.000,0.030,2749,2173,439,0,0,0,0,0,0
$GC,15339,1.56,1030.2,7.6,9.5,1254,15346,0.15,0.00,0.55,0.090,6,0.073,0.000,2830,2173,441,0,0,0,0,0,0
$STATE,15379,end climb,SURFACE_DEPTH_REACHED
$STATE,15379,begin surface coast
$FINISH,0.3,1.020449
$STATE,15408,end surface coast,CONTROL_FINISHED_OK
$STATE,15409,begin surface
$SM_CCo,15486,0.00,0.000,0,0,440,595.83
$SM_GC,1.33,6.90,0.00,0.00,0.039,0.000,0.000,209,2594,440,-6.47,0.11,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2015.67,11947.26,280911,141409
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.1,93.243
$10V_AH,9.8,73.610
$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,17.300,30.275,650.750,0.000,0.000,29.191,19.484,129.378,0.250,0.000,20.771,3024.825,9168.745,697.626,2555.688,352.240,33.362,2005.951,0.000,2344.034,0.000,0.540,0.000
$DEVICE_MAMPS,231.030,86.445,1064.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,880.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,73656,1266
$CAP_FILE_SIZE,161760,0
$CFSIZE,260165632,199110656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280911,233237,2027.508,11948.968,30,0.9,30,-2.3