version: 66.09
glider: 181
mission: 6
dive: 582
start: 10 1 111 15 50 52
data:
$ID,181
$MISSION,6
$DIVE,582
$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,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,-41320.613
$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,91
$R_STBD_OVSHOOT,67
$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
$GPS1,011011,154437,2055.953,11944.625,38,1.4,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-52.8
$GPS2,011011,155026,2055.986,11944.489,11,1.3,11,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$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,42.5,94613,-17.4,-11.786
$D_GRID,3181
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-67.65,0.000,2,0.000,0.000,127,2644,2343,0,0,0,0,0,0
$GC,90,-0.53,-194.6,3.1,-3.2,11,135,8.45,0.55,-30.27,0.000,4,0.226,0.083,2121,2230,3665,0,0,0,0,0,0
$GC,154,-0.53,-194.6,19.7,-32.8,21,161,0.00,0.50,0.00,0.000,6,0.000,0.044,2120,2564,3665,0,0,0,0,0,0
$GC,297,-0.53,-194.6,61.6,-30.5,46,304,0.00,0.38,0.00,0.000,4,0.000,0.031,2119,2254,3664,0,0,0,0,0,0
$GC,405,-0.53,-194.6,93.4,-21.2,65,413,0.00,0.50,0.00,0.000,6,0.000,0.040,2117,2597,3665,0,0,0,0,0,0
$GC,549,-0.53,-194.6,122.0,-20.1,90,556,0.00,0.47,0.00,0.000,4,0.000,0.040,2114,2942,3664,0,0,0,0,0,0
$GC,753,-0.53,-194.6,161.6,-17.0,126,760,0.00,0.45,0.00,0.000,6,0.000,0.029,2114,2579,3665,0,0,0,0,0,0
$GC,895,-0.53,-194.6,185.0,-16.8,151,902,0.00,0.52,0.00,0.000,4,0.000,0.038,2112,2943,3666,0,0,0,0,0,0
$GC,1114,-0.53,-194.6,224.1,-16.0,178,1121,0.00,0.45,0.00,0.000,6,0.000,0.028,2112,2588,3666,0,0,0,0,0,0
$GC,1440,-0.53,-194.6,275.9,-17.2,209,1444,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2240,3666,0,0,0,0,0,0
$GC,1569,-0.53,-194.6,296.9,-16.2,220,1576,0.00,0.52,0.00,0.000,6,0.000,0.039,2109,2596,3666,0,0,0,0,0,0
$GC,1894,-0.53,-194.6,346.8,-14.4,251,1898,0.00,0.47,0.00,0.000,4,0.000,0.041,2106,2941,3664,0,0,0,0,0,0
$GC,1931,-0.53,-194.6,351.7,-14.4,254,1934,0.00,0.43,0.00,0.000,6,0.000,0.030,2106,2593,3664,0,0,0,0,0,0
$GC,2261,-0.53,-194.6,396.2,-12.4,285,2265,0.00,0.50,0.00,0.000,4,0.000,0.040,2104,2938,3661,0,0,0,0,0,0
$GC,2318,-0.53,-194.6,403.3,-12.7,290,2322,0.00,0.43,0.00,0.000,6,0.000,0.030,2104,2595,3661,0,0,0,0,0,0
$GC,2648,-0.53,-194.6,446.7,-14.5,321,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2595,3657,0,0,0,0,0,0
$GC,2969,-0.53,-194.6,497.7,-16.5,351,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2594,3654,0,0,0,0,0,0
$GC,3296,-0.53,-194.6,558.2,-19.8,368,3299,0.00,0.43,0.00,0.000,4,0.000,0.028,2104,2233,3651,0,0,0,0,0,0
$GC,3390,-0.53,-194.6,578.9,-22.2,372,3394,0.00,0.55,0.00,0.000,6,0.000,0.038,2101,2592,3650,0,0,0,0,0,0
$GC,3718,-0.53,-194.6,664.7,-29.1,388,3722,0.00,0.50,0.00,0.000,4,0.000,0.043,2098,2946,3647,0,0,0,0,0,0
$GC,3809,-0.53,-194.6,692.8,-30.2,392,3813,0.00,0.45,0.00,0.000,6,0.000,0.030,2098,2597,3646,0,0,0,0,0,0
$GC,4143,-0.53,-194.6,764.7,-13.0,408,4145,0.12,0.00,0.00,0.000,6,0.159,0.000,2132,2596,3643,0,0,0,0,0,0
$GC,4451,-0.53,-194.6,771.1,-1.5,423,4456,0.00,0.45,0.00,0.000,4,0.000,0.028,2133,2223,3641,0,0,0,0,0,0
$GC,4498,-0.53,-194.6,772.5,-2.0,425,4502,0.00,0.55,0.00,0.000,6,0.000,0.040,2131,2588,3641,0,0,0,0,0,0
$GC,4831,-0.53,-194.6,793.2,-7.5,441,4835,0.00,0.50,0.00,0.000,4,0.000,0.043,2129,2941,3639,0,0,0,0,0,0
$GC,4864,-0.53,-194.6,796.2,-8.0,442,4867,0.00,0.47,0.00,0.000,6,0.000,0.029,2128,2580,3639,0,0,0,0,0,0
$GC,5187,-0.53,-194.6,828.5,-10.9,458,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2579,3637,0,0,0,0,0,0
$GC,5494,-0.53,-194.6,865.4,-12.4,473,5498,0.00,0.43,0.00,0.000,4,0.000,0.029,2128,2224,3634,0,0,0,0,0,0
$GC,5540,-0.53,-194.6,871.2,-12.5,475,5544,0.00,0.55,0.00,0.000,6,0.000,0.041,2126,2588,3634,0,0,0,0,0,0
$GC,5873,-0.53,-194.6,914.9,-13.5,491,5877,0.00,0.45,0.00,0.000,4,0.000,0.028,2126,2238,3632,0,0,0,0,0,0
$GC,5946,-0.53,-194.6,925.1,-13.4,494,5949,0.00,0.55,0.00,0.000,6,0.000,0.042,2124,2595,3632,0,0,0,0,0,0
$GC,6273,-0.53,-194.6,970.1,-13.7,510,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2595,3630,0,0,0,0,0,0
$STATE,6436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6443,-0.13,0.0,991.5,12.9,518,6601,0.40,0.00,152.38,1.056,6,0.125,0.000,2253,2150,2868,0,0,0,0,0,0
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6606,0.53,194.6,1001.0,0.0,525,6771,0.60,0.50,157.30,1.043,4,0.083,0.031,2468,1802,2075,0,0,0,0,0,0
$GC,6842,0.71,340.4,994.3,5.8,536,6971,0.15,0.55,117.03,1.030,6,0.047,0.030,2543,2189,1480,0,0,0,0,0,0
$GC,7278,0.74,368.3,950.8,10.6,557,7308,0.00,0.47,24.45,0.972,4,0.000,0.038,2543,2505,1367,0,0,0,0,0,0
$GC,7561,0.78,399.6,920.5,10.5,569,7591,0.00,0.47,27.00,0.965,6,0.000,0.028,2545,2137,1238,0,0,0,0,0,0
$GC,7919,0.82,429.0,882.9,10.6,587,7947,0.00,0.57,24.50,0.941,4,0.000,0.034,2545,2505,1120,0,0,0,0,0,0
$GC,8140,0.88,477.5,860.5,9.8,597,8186,0.08,0.43,40.72,0.948,6,0.065,0.030,2593,2165,921,0,0,0,0,0,0
$GC,8516,0.95,537.6,822.9,9.3,615,8569,0.00,0.55,50.05,0.936,4,0.000,0.035,2592,2510,677,0,0,0,0,0,0
$GC,8796,1.03,600.3,796.8,9.2,627,8851,0.08,0.45,48.53,0.915,6,0.057,0.028,2640,2157,439,0,0,0,0,0,0
$GC,9178,1.03,600.3,748.0,13.2,646,9182,0.00,0.50,0.00,0.000,4,0.000,0.036,2640,2508,440,0,0,0,0,0,0
$GC,9435,1.03,600.3,710.0,15.4,657,9439,0.00,0.45,0.00,0.000,6,0.000,0.028,2642,2158,440,0,0,0,0,0,0
$GC,9757,1.03,600.3,659.8,16.2,673,9761,0.00,0.50,0.00,0.000,4,0.000,0.036,2642,2508,440,0,0,0,0,0,0
$GC,10013,1.03,600.3,616.5,16.8,684,10017,0.00,0.45,0.00,0.000,6,0.000,0.029,2644,2159,439,0,0,0,0,0,0
$GC,10337,1.03,600.3,563.2,17.2,700,10341,0.00,0.50,0.00,0.000,4,0.000,0.034,2644,2511,439,0,0,0,0,0,0
$GC,10526,1.03,600.3,528.4,19.0,708,10530,0.00,0.45,0.00,0.000,6,0.000,0.029,2646,2160,439,0,0,0,0,0,0
$GC,10856,1.03,600.3,470.7,15.8,732,10860,0.00,0.47,0.00,0.000,4,0.000,0.034,2646,2505,439,0,0,0,0,0,0
$GC,11008,1.03,600.3,448.0,13.6,745,11015,0.00,0.43,0.00,0.000,6,0.000,0.030,2648,2160,439,0,0,0,0,0,0
$GC,11334,1.05,620.0,410.4,11.0,776,11338,0.00,0.47,0.00,0.000,4,0.000,0.034,2648,2503,439,0,0,0,0,0,0
$GC,11381,1.07,638.5,405.2,11.0,780,11385,0.00,0.43,0.00,0.000,6,0.000,0.030,2650,2162,439,0,0,0,0,0,0
$GC,11712,1.21,747.7,376.4,7.3,811,11714,0.12,0.00,0.00,0.000,6,0.090,0.000,2708,2162,439,0,0,0,0,0,0
$GC,12030,1.21,747.7,333.2,15.8,841,12034,0.00,0.47,0.00,0.000,4,0.000,0.035,2708,2500,439,0,0,0,0,0,0
$GC,12081,1.21,747.7,325.0,16.4,845,12088,0.00,0.43,0.03,0.201,6,0.000,0.030,2710,2156,440,0,0,0,0,0,0
$GC,12407,1.21,747.7,273.7,17.3,876,12410,0.00,0.38,0.00,0.000,4,0.000,0.034,2712,1834,440,0,0,0,0,0,0
$GC,12521,1.21,747.7,251.9,19.3,886,12525,0.00,0.45,0.00,0.000,6,0.000,0.032,2712,2165,439,0,0,0,0,0,0
$GC,12852,1.21,747.7,202.9,13.8,917,12855,0.00,0.45,0.00,0.000,4,0.000,0.038,2713,2503,439,0,0,0,0,0,0
$GC,12971,1.21,747.7,181.6,19.6,936,12978,0.00,0.43,0.00,0.000,6,0.000,0.030,2714,2154,439,0,0,0,0,0,0
$GC,13113,1.21,747.7,155.9,15.1,961,13120,0.00,0.38,0.00,0.000,4,0.000,0.034,2717,1832,439,0,0,0,0,0,0
$GC,13201,1.21,747.7,141.2,17.6,976,13208,0.00,0.45,0.00,0.000,6,0.000,0.032,2717,2168,439,0,0,0,0,0,0
$GC,13344,1.21,747.7,114.7,17.6,1001,13351,0.00,0.45,0.00,0.000,4,0.000,0.039,2716,2505,440,0,0,0,0,0,0
$GC,13420,1.21,747.7,101.4,17.3,1014,13427,0.00,0.43,0.08,0.129,6,0.000,0.031,2718,2163,440,0,0,0,0,0,0
$GC,13562,1.21,747.7,82.5,13.8,1039,13569,0.00,0.40,0.00,0.000,4,0.000,0.035,2720,1828,440,0,0,0,0,0,0
$GC,13639,1.21,747.7,69.7,16.5,1052,13646,0.08,0.45,0.00,0.000,6,0.124,0.032,2693,2171,441,0,0,0,0,0,0
$GC,13781,1.29,811.0,53.4,9.2,1077,13789,0.00,0.50,2.53,0.212,4,0.000,0.035,2693,2510,439,0,0,0,0,0,0
$GC,13973,1.33,847.5,36.7,10.3,1111,13982,0.08,0.43,0.40,0.083,6,0.054,0.031,2745,2172,441,0,0,0,0,0,0
$GC,14119,1.33,847.5,16.4,13.5,1136,14126,0.00,0.47,2.38,0.181,4,0.000,0.034,2746,1834,439,0,0,0,0,0,0
$STATE,14249,end climb,SURFACE_DEPTH_REACHED
$STATE,14249,begin surface coast
$FINISH,1.6,1.020718
$STATE,14282,end surface coast,CONTROL_FINISHED_OK
$STATE,14283,begin surface
$SM_CCo,14360,0.00,0.000,0,0,440,595.83
$SM_GC,1.13,7.00,0.00,0.00,0.060,0.000,0.000,205,2591,440,-6.46,0.00,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2038.68,11939.55,011011,111141
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.34
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.1,96.261
$10V_AH,9.8,74.913
$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,17.150,29.350,647.350,0.000,0.000,25.138,46.125,139.749,0.250,0.000,13.844,2974.137,8199.454,672.159,2523.605,332.174,0.000,1945.332,0.000,2283.645,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,82.620,1055.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,807.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,66857,1165
$CAP_FILE_SIZE,151415,0
$CFSIZE,260165632,197894144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,304.0,1
$GPS,011011,195137,2058.201,11944.055,46,1.3,46,-2.4