version: 66.09
glider: 181
mission: 6
dive: 573
start: 9 30 111 1 19 40
data:
$ID,181
$MISSION,6
$DIVE,573
$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,-41308.523
$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,80
$R_STBD_OVSHOOT,87
$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
$GPS1,300911,011307,2040.764,11948.020,30,1.1,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.5
$GPS2,300911,011843,2040.747,11947.997,11,1.6,16,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.283,0.132
$KALMAN_X,43627.6,99.6,674.4,-62414.9,-4301.9
$KALMAN_Y,69422.5,391.4,-27.5,89818.0,313.2
$MHEAD_RNG_PITCHd_Wd,67.3,120774,-17.4,-11.786
$D_GRID,3178
$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,-194.6,0.0,0.0,0,82,0.00,0.00,-62.78,0.000,2,0.000,0.000,132,2617,2245,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.4,11,133,8.45,0.43,-31.35,0.000,4,0.228,0.105,2122,2906,3664,0,0,0,0,0,0
$GC,224,-0.53,-194.6,60.8,-51.8,35,231,0.00,0.40,0.00,0.000,6,0.000,0.030,2121,2580,3664,0,0,0,0,0,0
$GC,367,-0.53,-194.6,102.5,-23.1,60,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2580,3663,0,0,0,0,0,0
$GC,510,-0.53,-194.6,131.0,-19.4,85,516,0.00,0.45,0.00,0.000,4,0.000,0.041,2119,2898,3663,0,0,0,0,0,0
$GC,771,-0.53,-194.6,181.5,-16.7,131,777,0.00,0.38,0.00,0.000,6,0.000,0.031,2119,2591,3663,0,0,0,0,0,0
$GC,912,-0.53,-194.6,208.0,-18.7,152,916,0.00,0.43,0.00,0.000,4,0.000,0.039,2117,2897,3663,0,0,0,0,0,0
$GC,971,-0.53,-194.6,217.4,-16.0,157,974,0.00,0.38,0.00,0.000,6,0.000,0.031,2117,2586,3663,0,0,0,0,0,0
$GC,1301,-0.53,-194.6,263.1,-12.8,188,1305,0.00,0.45,0.00,0.000,4,0.000,0.040,2115,2907,3662,0,0,0,0,0,0
$GC,1370,-0.53,-194.6,273.2,-14.9,194,1373,0.00,0.38,0.00,0.000,6,0.000,0.031,2115,2592,3661,0,0,0,0,0,0
$GC,1700,-0.53,-194.6,327.3,-16.9,225,1704,0.00,0.43,0.00,0.000,4,0.000,0.041,2112,2894,3659,0,0,0,0,0,0
$GC,1925,-0.53,-194.6,361.5,-13.8,245,1929,0.00,0.35,0.00,0.000,6,0.000,0.032,2112,2606,3656,0,0,0,0,0,0
$GC,2256,-0.53,-194.6,409.5,-15.0,276,2260,0.00,0.45,0.00,0.000,4,0.000,0.027,2112,2224,3653,0,0,0,0,0,0
$GC,2336,-0.53,-194.6,421.5,-14.4,283,2340,0.00,0.47,0.00,0.000,6,0.000,0.041,2112,2549,3652,0,0,0,0,0,0
$GC,2666,-0.53,-194.6,467.7,-13.7,314,2670,0.00,0.55,0.00,0.000,4,0.000,0.041,2109,2937,3648,0,0,0,0,0,0
$GC,2725,-0.53,-194.6,475.6,-13.9,319,2729,0.00,0.45,0.00,0.000,6,0.000,0.029,2109,2583,3648,0,0,0,0,0,0
$GC,3064,-0.53,-194.6,526.6,-15.1,343,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2583,3644,0,0,0,0,0,0
$GC,3371,-0.53,-194.6,573.7,-16.1,358,3374,0.00,0.40,0.00,0.000,4,0.000,0.029,2109,2241,3641,0,0,0,0,0,0
$GC,3433,-0.53,-194.6,584.5,-16.5,360,3440,0.00,0.52,0.00,0.000,6,0.000,0.041,2106,2593,3640,0,0,0,0,0,0
$GC,3750,-0.53,-194.6,637.2,-16.3,376,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2594,3637,0,0,0,0,0,0
$GC,4058,-0.53,-194.6,684.5,-15.0,391,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2594,3634,0,0,0,0,0,0
$GC,4369,-0.53,-194.6,728.1,-13.6,406,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2594,3631,0,0,0,0,0,0
$GC,4677,-0.53,-194.6,769.5,-13.3,421,4680,0.00,0.50,0.00,0.000,4,0.000,0.043,2103,2944,3629,0,0,0,0,0,0
$GC,4715,-0.53,-194.6,775.2,-14.5,422,4722,0.00,0.47,0.00,0.000,6,0.000,0.030,2103,2593,3628,0,0,0,0,0,0
$GC,5032,-0.53,-194.6,819.3,-13.8,438,5036,0.00,0.43,0.00,0.000,4,0.000,0.029,2103,2242,3626,0,0,0,0,0,0
$GC,5078,-0.53,-194.6,826.0,-13.6,440,5082,0.00,0.52,0.00,0.000,6,0.000,0.042,2100,2591,3626,0,0,0,0,0,0
$GC,5411,-0.53,-194.6,874.3,-14.6,456,5414,0.00,0.50,0.00,0.000,4,0.000,0.044,2098,2939,3623,0,0,0,0,0,0
$GC,5495,-0.53,-194.6,887.3,-15.1,459,5502,0.00,0.47,0.00,0.000,6,0.000,0.030,2098,2585,3622,0,0,0,0,0,0
$GC,5811,-0.53,-194.6,934.5,-15.1,475,5815,0.12,0.45,0.00,0.000,4,0.164,0.030,2132,2222,3620,0,0,0,0,0,0
$GC,5856,-0.53,-194.6,940.4,-12.4,477,5860,0.00,0.55,0.00,0.000,6,0.000,0.041,2131,2585,3620,0,0,0,0,0,0
$GC,6190,-0.53,-194.6,981.9,-12.7,493,6193,0.00,0.45,0.00,0.000,4,0.000,0.028,2131,2234,3618,0,0,0,0,0,0
$GC,6236,-0.53,-194.6,987.9,-12.8,495,6239,0.00,0.55,0.00,0.000,6,0.000,0.041,2129,2595,3618,0,0,0,0,0,0
$STATE,6249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6249,begin apogee
$GC,6257,-0.13,0.0,990.1,12.5,495,6412,0.38,0.00,149.80,1.058,6,0.125,0.000,2249,2153,2868,0,0,0,0,0,0
$STATE,6413,end apogee,CONTROL_FINISHED_OK
$STATE,6413,begin climb
$GC,6415,0.53,194.6,1000.1,0.0,503,6581,0.62,0.50,157.02,1.045,4,0.086,0.031,2468,1806,2075,0,0,0,0,0,0
$GC,6651,0.72,350.2,994.3,5.4,514,6784,0.15,0.52,124.80,1.036,6,0.052,0.031,2541,2180,1441,0,0,0,0,0,0
$GC,7112,0.84,443.7,956.8,8.0,536,7196,0.00,0.50,75.50,1.017,4,0.000,0.039,2541,2505,1059,0,0,0,0,0,0
$GC,7451,0.95,538.3,930.2,7.9,551,7537,0.15,0.47,77.38,1.003,6,0.051,0.029,2617,2139,675,0,0,0,0,0,0
$GC,7865,0.98,557.3,884.8,11.0,571,7887,0.00,0.57,19.35,0.933,4,0.000,0.036,2617,2506,597,0,0,0,0,0,0
$GC,8140,0.98,557.3,853.2,12.2,583,8144,0.00,0.45,0.00,0.000,6,0.000,0.028,2619,2156,596,0,0,0,0,0,0
$GC,8468,0.98,560.7,815.6,11.6,599,8478,0.00,0.52,4.70,0.676,4,0.000,0.036,2619,2505,583,0,0,0,0,0,0
$GC,8651,0.98,560.7,794.2,11.9,607,8655,0.00,0.45,0.00,0.000,6,0.000,0.028,2621,2156,584,0,0,0,0,0,0
$GC,8980,0.98,560.7,755.9,12.1,623,8983,0.00,0.50,0.00,0.000,4,0.000,0.036,2621,2507,585,0,0,0,0,0,0
$GC,9237,0.98,560.7,722.7,13.6,634,9241,0.00,0.45,0.00,0.000,6,0.000,0.028,2623,2155,584,0,0,0,0,0,0
$GC,9560,0.98,560.7,676.8,14.7,650,9563,0.00,0.50,0.00,0.000,4,0.000,0.034,2623,2507,584,0,0,0,0,0,0
$GC,9817,0.98,560.7,638.8,13.8,661,9821,0.00,0.45,0.00,0.000,6,0.000,0.028,2625,2158,584,0,0,0,0,0,0
$GC,10140,0.98,560.7,594.9,13.3,677,10144,0.00,0.47,0.00,0.000,4,0.000,0.037,2625,2499,584,0,0,0,0,0,0
$GC,10399,0.98,560.7,560.5,13.0,688,10402,0.00,0.43,0.00,0.000,6,0.000,0.031,2627,2162,584,0,0,0,0,0,0
$GC,10720,0.98,560.7,521.8,11.8,704,10724,0.00,0.47,0.00,0.000,4,0.000,0.035,2627,2503,584,0,0,0,0,0,0
$GC,10979,0.98,560.7,489.3,12.6,719,10983,0.00,0.43,0.00,0.000,6,0.000,0.031,2629,2159,584,0,0,0,0,0,0
$GC,11310,0.98,560.7,447.4,12.9,750,11314,0.00,0.47,0.00,0.000,4,0.000,0.035,2629,2500,584,0,0,0,0,0,0
$GC,11451,0.98,560.7,428.4,13.2,762,11457,0.00,0.43,0.00,0.000,6,0.000,0.031,2631,2161,584,0,0,0,0,0,0
$GC,11777,0.98,560.7,386.5,11.9,793,11780,0.00,0.47,0.00,0.000,4,0.000,0.034,2631,2503,584,0,0,0,0,0,0
$GC,11833,0.98,560.7,379.5,12.1,798,11837,0.00,0.43,0.00,0.000,6,0.000,0.030,2633,2161,584,0,0,0,0,0,0
$GC,12164,0.98,560.7,338.4,13.4,829,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2161,585,0,0,0,0,0,0
$GC,12487,0.98,560.7,294.6,12.8,859,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2160,585,0,0,0,0,0,0
$GC,12814,0.98,560.7,256.8,12.3,890,12818,0.00,0.47,0.00,0.000,4,0.000,0.037,2634,2503,585,0,0,0,0,0,0
$GC,12963,0.98,560.7,237.8,13.0,903,12967,0.00,0.43,0.00,0.000,6,0.000,0.031,2635,2163,585,0,0,0,0,0,0
$GC,13293,1.03,603.1,200.0,10.1,934,13328,0.00,0.38,28.62,0.569,4,0.000,0.028,2635,1841,438,0,0,0,0,0,0
$GC,13481,1.10,658.8,182.9,9.5,966,13489,0.00,0.43,3.05,0.327,6,0.000,0.031,2635,2166,439,0,0,0,0,0,0
$GC,13626,1.12,673.4,167.9,11.2,991,13633,0.00,0.43,0.00,0.000,4,0.000,0.037,2635,2498,439,0,0,0,0,0,0
$GC,13887,1.12,673.4,134.7,13.3,1037,13895,0.00,0.43,0.17,0.099,6,0.000,0.032,2635,2164,440,0,0,0,0,0,0
$GC,14031,1.24,769.0,120.1,7.9,1062,14039,0.17,0.47,0.15,0.138,4,0.077,0.025,2711,2503,442,0,0,0,0,0,0
$GC,14192,1.24,776.4,103.3,11.5,1090,14200,0.00,0.43,0.80,0.080,6,0.000,0.030,2713,2155,442,0,0,0,0,0,0
$GC,14337,1.24,776.4,87.2,12.3,1115,14344,0.00,0.43,2.55,0.230,4,0.000,0.034,2716,1830,440,0,0,0,0,0,0
$GC,14437,1.24,776.4,73.8,14.0,1132,14443,0.00,0.45,0.00,0.000,6,0.000,0.031,2716,2174,440,0,0,0,0,0,0
$GC,14582,1.24,776.4,54.6,11.9,1157,14589,0.00,0.43,0.00,0.000,4,0.000,0.030,2718,1832,440,0,0,0,0,0,0
$GC,14630,1.29,811.7,49.4,10.3,1165,14637,0.00,0.43,0.10,0.112,6,0.000,0.031,2717,2168,440,0,0,0,0,0,0
$GC,14774,1.47,962.2,39.8,5.7,1190,14781,0.15,0.00,0.05,0.254,6,0.081,0.000,2792,2167,441,0,0,0,0,0,0
$GC,14917,1.48,968.1,24.6,11.5,1215,14925,0.00,0.43,0.57,0.090,4,0.000,0.022,2794,1835,441,0,0,0,0,0,0
$GC,15060,1.48,968.1,7.7,12.9,1239,15067,0.00,0.43,0.40,0.081,6,0.000,0.031,2794,2163,442,0,0,0,0,0,0
$STATE,15094,end climb,SURFACE_DEPTH_REACHED
$STATE,15094,begin surface coast
$FINISH,0.5,1.020443
$STATE,15118,end surface coast,CONTROL_FINISHED_OK
$STATE,15118,begin surface
$SM_CCo,15195,0.00,0.000,0,0,442,595.34
$SM_GC,1.28,6.75,0.00,0.00,0.037,0.000,0.000,209,2599,442,-6.45,0.23,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2031.77,11935.27,290911,202002
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.81
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.6,94.551
$10V_AH,9.8,74.180
$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,16.950,28.525,645.025,0.000,0.000,24.051,27.767,138.754,0.000,0.000,19.528,3019.138,8799.653,663.879,2695.661,342.943,33.364,2016.165,0.000,2456.680,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,104.805,1057.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,866.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,73615,1249
$CAP_FILE_SIZE,159714,0
$CFSIZE,260165632,198574080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,053407,2042.242,11948.017,31,1.0,31,-2.4