version: 66.09
glider: 181
mission: 6
dive: 575
start: 9 30 111 10 6 23
data:
$ID,181
$MISSION,6
$DIVE,575
$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,-41311.133
$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,84
$R_STBD_OVSHOOT,46
$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
$GPS1,300911,095507,2044.240,11947.472,35,1.0,35,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.6
$GPS2,300911,100526,2044.208,11947.370,16,1.1,16,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.304,0.069
$KALMAN_X,35434.8,68.1,339.3,-54925.1,-4945.1
$KALMAN_Y,69725.1,-211.1,-45.1,96554.6,-297.9
$MHEAD_RNG_PITCHd_Wd,79.6,114663,-17.4,-11.786
$D_GRID,3169
$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,-62.47,0.000,2,0.000,0.000,124,2591,2229,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.2,-3.2,11,132,8.52,0.43,-31.48,0.000,4,0.228,0.089,2119,2235,3662,0,0,0,0,0,0
$GC,229,-0.53,-194.6,51.1,-30.8,36,235,0.00,0.52,0.00,0.000,6,0.000,0.041,2118,2587,3661,0,0,0,0,0,0
$GC,372,-0.53,-194.6,96.9,-33.4,61,379,0.00,0.43,0.00,0.000,4,0.000,0.027,2118,2232,3661,0,0,0,0,0,0
$GC,436,-0.53,-194.6,115.3,-26.3,72,443,0.00,0.52,0.00,0.000,6,0.000,0.041,2116,2590,3660,0,0,0,0,0,0
$GC,579,-0.53,-194.6,148.6,-21.1,97,585,0.00,0.52,0.00,0.000,4,0.000,0.043,2113,2951,3660,0,0,0,0,0,0
$GC,840,-0.53,-194.6,190.9,-12.9,143,846,0.00,0.47,0.00,0.000,6,0.000,0.028,2113,2570,3660,0,0,0,0,0,0
$GC,978,-0.53,-194.6,215.4,-17.8,160,982,0.00,0.55,0.00,0.000,4,0.000,0.039,2112,2951,3661,0,0,0,0,0,0
$GC,1063,-0.53,-194.6,230.5,-17.8,167,1070,0.00,0.45,0.00,0.000,6,0.000,0.028,2112,2588,3661,0,0,0,0,0,0
$GC,1389,-0.53,-194.6,273.7,-13.9,198,1393,0.00,0.40,0.00,0.000,4,0.000,0.029,2112,2238,3660,0,0,0,0,0,0
$GC,1495,-0.53,-194.6,290.4,-16.3,207,1502,0.00,0.55,0.00,0.000,6,0.000,0.039,2112,2599,3660,0,0,0,0,0,0
$GC,1823,-0.53,-194.6,344.4,-17.1,238,1827,0.00,0.47,0.00,0.000,4,0.000,0.042,2111,2943,3657,0,0,0,0,0,0
$GC,1903,-0.53,-194.6,359.1,-18.3,245,1907,0.00,0.43,0.00,0.000,6,0.000,0.030,2111,2595,3656,0,0,0,0,0,0
$GC,2234,-0.53,-194.6,416.8,-14.8,276,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2595,3653,0,0,0,0,0,0
$GC,2554,-0.53,-194.6,454.3,-11.8,306,2557,0.00,0.50,0.00,0.000,4,0.000,0.041,2109,2940,3649,0,0,0,0,0,0
$GC,2690,-0.53,-194.6,472.3,-13.4,318,2694,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2588,3648,0,0,0,0,0,0
$GC,3019,-0.53,-194.6,519.1,-14.5,343,3023,0.00,0.40,0.00,0.000,4,0.000,0.030,2109,2245,3644,0,0,0,0,0,0
$GC,3080,-0.53,-194.6,528.7,-15.0,345,3087,0.00,0.52,0.00,0.000,6,0.000,0.039,2106,2590,3643,0,0,0,0,0,0
$GC,3397,-0.53,-194.6,581.5,-17.3,361,3401,0.00,0.50,0.00,0.000,4,0.000,0.043,2103,2945,3640,0,0,0,0,0,0
$GC,3446,-0.53,-194.6,591.0,-18.3,363,3450,0.00,0.47,0.00,0.000,6,0.000,0.030,2103,2588,3640,0,0,0,0,0,0
$GC,3774,-0.53,-194.6,649.4,-17.3,379,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2588,3636,0,0,0,0,0,0
$GC,4084,-0.53,-194.6,696.4,-14.2,394,4087,0.00,0.52,0.00,0.000,4,0.000,0.043,2100,2944,3633,0,0,0,0,0,0
$GC,4212,-0.53,-194.6,714.6,-14.0,399,4219,0.00,0.45,0.00,0.000,6,0.000,0.030,2100,2598,3632,0,0,0,0,0,0
$GC,4529,-0.53,-194.6,754.7,-12.6,415,4533,0.00,0.43,0.00,0.000,4,0.000,0.029,2100,2235,3629,0,0,0,0,0,0
$GC,4556,-0.53,-194.6,758.4,-12.9,416,4561,0.12,0.55,0.00,0.000,6,0.161,0.041,2137,2591,3629,0,0,0,0,0,0
$GC,4883,-0.53,-194.6,793.7,-12.3,432,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2592,3626,0,0,0,0,0,0
$GC,5194,-0.53,-194.6,838.0,-15.1,447,5197,0.00,0.45,0.00,0.000,4,0.000,0.028,2137,2235,3624,0,0,0,0,0,0
$GC,5279,-0.53,-194.6,851.4,-15.4,450,5285,0.00,0.55,0.00,0.000,6,0.000,0.042,2137,2593,3623,0,0,0,0,0,0
$GC,5597,-0.53,-194.6,896.8,-13.7,466,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2593,3621,0,0,0,0,0,0
$GC,5904,-0.53,-194.6,932.3,-10.5,481,5908,0.00,0.45,0.00,0.000,4,0.000,0.028,2137,2245,3619,0,0,0,0,0,0
$GC,5982,-0.53,-194.6,939.7,-8.7,484,5986,0.00,0.52,0.00,0.000,6,0.000,0.042,2137,2595,3619,0,0,0,0,0,0
$GC,6305,-0.53,-194.6,963.4,-6.6,500,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2595,3617,0,0,0,0,0,0
$GC,6613,-0.53,-194.6,983.8,-6.8,515,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2595,3615,0,0,0,0,0,0
$STATE,6714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6714,begin apogee
$GC,6720,-0.13,0.0,991.5,7.4,520,6874,0.35,0.00,149.38,1.058,6,0.122,0.000,2253,2152,2869,0,0,0,0,0,0
$STATE,6875,end apogee,CONTROL_FINISHED_OK
$STATE,6875,begin climb
$GC,6877,0.53,194.6,995.8,0.0,527,7042,0.60,0.47,157.32,1.041,4,0.083,0.025,2466,1802,2074,0,0,0,0,0,0
$GC,7107,0.69,322.0,985.5,6.6,538,7218,0.12,0.55,102.22,1.026,6,0.051,0.031,2532,2191,1556,0,0,0,0,0,0
$GC,7546,0.82,431.1,949.8,7.3,559,7638,0.00,0.55,87.70,1.014,4,0.000,0.024,2535,1801,1109,0,0,0,0,0,0
$GC,7837,0.96,548.8,929.2,7.0,572,7942,0.17,0.50,97.12,1.001,6,0.050,0.033,2622,2158,631,0,0,0,0,0,0
$GC,8246,0.96,548.8,880.3,12.4,592,8250,0.00,0.45,0.00,0.000,4,0.000,0.030,2624,1806,636,0,0,0,0,0,0
$GC,8400,0.96,548.8,860.0,13.3,598,8406,0.00,0.50,0.00,0.000,6,0.000,0.034,2624,2161,638,0,0,0,0,0,0
$GC,8715,0.96,548.8,816.2,14.0,614,8719,0.00,0.45,0.00,0.000,4,0.000,0.029,2626,1807,638,0,0,0,0,0,0
$GC,8912,0.96,548.8,788.8,14.0,622,8919,0.00,0.52,0.00,0.000,6,0.000,0.034,2626,2175,638,0,0,0,0,0,0
$GC,9228,0.96,548.8,744.7,14.0,638,9231,0.00,0.45,0.00,0.000,4,0.000,0.040,2626,2505,638,0,0,0,0,0,0
$GC,9486,0.96,548.8,707.9,14.5,649,9490,0.00,0.47,0.00,0.000,6,0.000,0.027,2629,2134,637,0,0,0,0,0,0
$GC,9808,0.96,548.8,662.4,14.4,665,9811,0.00,0.35,0.00,0.000,4,0.000,0.034,2630,1817,637,0,0,0,0,0,0
$GC,9840,0.96,548.8,657.5,14.0,666,9845,0.00,0.50,0.00,0.000,6,0.000,0.032,2630,2168,637,0,0,0,0,0,0
$GC,10163,0.96,548.8,611.7,14.5,682,10167,0.00,0.43,0.00,0.000,4,0.000,0.030,2632,1826,637,0,0,0,0,0,0
$GC,10388,0.96,548.8,579.5,14.5,692,10392,0.00,0.47,0.00,0.000,6,0.000,0.034,2632,2165,637,0,0,0,0,0,0
$GC,10722,0.96,548.8,534.2,13.4,708,10725,0.00,0.45,0.00,0.000,4,0.000,0.032,2634,1820,637,0,0,0,0,0,0
$GC,10918,0.96,548.8,508.2,13.0,716,10925,0.00,0.47,0.00,0.000,6,0.000,0.034,2634,2162,637,0,0,0,0,0,0
$GC,11243,0.96,548.8,466.8,12.9,744,11247,0.00,0.47,0.00,0.000,4,0.000,0.039,2634,2511,637,0,0,0,0,0,0
$GC,11503,0.96,548.8,433.1,12.2,767,11507,0.00,0.45,0.00,0.000,6,0.000,0.029,2636,2153,637,0,0,0,0,0,0
$GC,11834,0.96,548.8,388.5,15.0,798,11838,0.00,0.50,0.00,0.000,4,0.000,0.034,2636,2509,637,0,0,0,0,0,0
$GC,11995,0.96,548.8,364.1,15.2,812,11998,0.00,0.43,0.00,0.000,6,0.000,0.031,2638,2163,637,0,0,0,0,0,0
$GC,12325,0.96,548.8,318.8,12.2,843,12329,0.00,0.47,0.00,0.000,4,0.000,0.034,2638,2508,638,0,0,0,0,0,0
$GC,12386,0.96,548.9,311.4,11.8,848,12393,0.00,0.43,0.00,0.000,6,0.000,0.030,2640,2159,637,0,0,0,0,0,0
$GC,12713,0.96,548.9,272.4,12.3,879,12716,0.00,0.50,0.00,0.000,4,0.000,0.034,2640,2515,638,0,0,0,0,0,0
$GC,12773,0.96,548.9,264.5,13.0,884,12781,0.12,0.45,0.00,0.000,6,0.155,0.029,2607,2169,638,0,0,0,0,0,0
$GC,13102,0.96,548.9,229.6,13.4,915,13105,0.00,0.47,0.00,0.000,4,0.000,0.033,2607,2513,638,0,0,0,0,0,0
$GC,13136,0.96,548.9,224.4,13.8,918,13141,0.00,0.45,0.00,0.000,6,0.000,0.031,2607,2171,638,0,0,0,0,0,0
$GC,13467,1.10,657.8,194.3,7.3,955,13510,0.12,0.50,38.80,0.557,4,0.090,0.035,2677,1820,439,0,0,0,0,0,0
$GC,13629,1.10,657.8,175.2,13.6,983,13637,0.00,0.47,3.30,0.350,6,0.000,0.031,2678,2170,440,0,0,0,0,0,0
$GC,13774,1.10,659.6,156.4,11.7,1008,13780,0.00,0.45,0.00,0.000,4,0.000,0.031,2678,1821,440,0,0,0,0,0,0
$GC,13804,1.12,672.8,153.0,11.2,1013,13811,0.00,0.45,0.00,0.000,6,0.000,0.031,2678,2160,440,0,0,0,0,0,0
$GC,13949,1.17,719.7,138.9,9.9,1038,13956,0.00,0.45,0.00,0.000,4,0.000,0.037,2678,2503,440,0,0,0,0,0,0
$GC,13986,1.22,757.2,135.0,10.3,1044,13993,0.00,0.45,0.03,0.199,6,0.000,0.032,2680,2164,440,0,0,0,0,0,0
$GC,14130,1.22,757.2,116.8,13.1,1069,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2164,440,0,0,0,0,0,0
$GC,14271,1.34,857.8,102.4,7.7,1094,14279,0.15,0.45,0.00,0.000,4,0.075,0.034,2751,1815,440,0,0,0,0,0,0
$GC,14359,1.40,900.4,94.3,10.0,1109,14366,0.00,0.47,0.05,0.149,6,0.000,0.032,2751,2165,440,0,0,0,0,0,0
$GC,14504,1.40,900.4,73.6,14.8,1134,14511,0.00,0.45,0.00,0.000,4,0.000,0.038,2751,2505,440,0,0,0,0,0,0
$GC,14738,1.45,945.1,45.4,10.0,1175,14745,0.00,0.45,0.22,0.092,6,0.000,0.031,2752,2157,441,0,0,0,0,0,0
$GC,14881,1.55,1021.9,33.7,8.7,1200,14889,0.12,0.43,0.20,0.122,4,0.080,0.024,2823,1815,442,0,0,0,0,0,0
$GC,15077,1.55,1021.9,6.3,14.5,1234,15084,0.00,0.47,2.58,0.206,6,0.000,0.032,2823,2167,440,0,0,0,0,0,0
$STATE,15100,end climb,SURFACE_DEPTH_REACHED
$STATE,15100,begin surface coast
$FINISH,0.6,1.020527
$STATE,15124,end surface coast,CONTROL_FINISHED_OK
$STATE,15124,begin surface
$SM_CCo,15202,0.00,0.000,0,0,439,596.08
$SM_GC,1.41,6.80,0.00,0.00,0.034,0.000,0.000,202,2583,439,-6.46,-0.23,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2031.77,11946.69,300911,090927
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.36
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.10
$XPDR_PINGS,4
$24V_AH,23.5,94.929
$10V_AH,9.8,74.347
$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,17.225,31.450,638.925,0.000,0.000,74.443,151.821,125.812,1.000,0.000,18.454,2985.728,9022.114,673.286,2784.346,345.495,33.387,2001.646,0.000,2387.929,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,88.740,1057.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,861.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,70273,1242
$CAP_FILE_SIZE,161301,0
$CFSIZE,260165632,198414336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,142101,2044.783,11947.642,37,1.6,37,-2.4