version: 66.09
glider: 181
mission: 6
dive: 587
start: 10 2 111 12 53 33
data:
$ID,181
$MISSION,6
$DIVE,587
$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,-7
$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,-41327.383
$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,74
$R_STBD_OVSHOOT,68
$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
$GPS1,021011,124731,2107.369,11944.985,41,1.3,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-59.6
$GPS2,021011,125307,2107.346,11944.884,13,1.3,30,-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,49.7,74424,-17.4,-11.786
$D_GRID,3258
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,86,0.00,0.00,-66.97,0.000,2,0.000,0.000,126,2628,2327,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.5,-3.8,11,133,8.60,0.40,-27.80,0.000,4,0.230,0.110,2123,2925,3665,0,0,0,0,0,0
$GC,343,-0.53,-194.6,91.0,-33.2,55,350,0.00,0.45,0.00,0.000,6,0.000,0.028,2123,2564,3665,0,0,0,0,0,0
$GC,486,-0.53,-194.6,130.1,-30.7,80,492,0.00,0.35,0.00,0.000,4,0.000,0.031,2123,2251,3665,0,0,0,0,0,0
$GC,538,-0.53,-194.6,143.1,-21.0,89,546,0.00,0.45,0.00,0.000,6,0.000,0.040,2121,2571,3665,0,0,0,0,0,0
$GC,683,-0.53,-194.6,168.3,-16.4,114,690,0.00,0.40,0.00,0.000,4,0.000,0.028,2121,2234,3665,0,0,0,0,0,0
$GC,720,-0.53,-194.6,174.2,-15.6,120,727,0.00,0.50,0.00,0.000,6,0.000,0.039,2118,2582,3666,0,0,0,0,0,0
$GC,861,-0.53,-194.6,194.8,-13.8,145,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2583,3666,0,0,0,0,0,0
$GC,998,-0.53,-194.6,214.8,-15.2,161,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2583,3667,0,0,0,0,0,0
$GC,1319,-0.53,-194.6,273.6,-17.6,191,1323,0.00,0.40,0.00,0.000,4,0.000,0.028,2118,2249,3667,0,0,0,0,0,0
$GC,1424,-0.53,-194.6,291.1,-14.3,200,1431,0.00,0.50,0.00,0.000,6,0.000,0.038,2116,2587,3667,0,0,0,0,0,0
$GC,1751,-0.53,-194.6,332.3,-14.6,231,1755,0.00,0.47,0.00,0.000,4,0.000,0.041,2113,2934,3666,0,0,0,0,0,0
$GC,1923,-0.53,-194.6,362.8,-18.2,246,1926,0.00,0.43,0.00,0.000,6,0.000,0.030,2113,2589,3664,0,0,0,0,0,0
$GC,2253,-0.53,-194.6,419.4,-14.6,277,2257,0.00,0.40,0.00,0.000,4,0.000,0.029,2113,2241,3661,0,0,0,0,0,0
$GC,2292,-0.53,-194.6,424.9,-13.8,280,2299,0.00,0.52,0.00,0.000,6,0.000,0.039,2111,2585,3660,0,0,0,0,0,0
$GC,2618,-0.53,-194.6,464.8,-11.6,311,2621,0.00,0.50,0.00,0.000,4,0.000,0.043,2109,2941,3657,0,0,0,0,0,0
$GC,2703,-0.53,-194.6,475.6,-13.1,318,2709,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2587,3656,0,0,0,0,0,0
$GC,3035,-0.53,-194.6,522.1,-14.4,343,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2587,3653,0,0,0,0,0,0
$GC,3344,-0.53,-194.6,569.2,-15.5,358,3347,0.00,0.40,0.00,0.000,4,0.000,0.029,2109,2252,3650,0,0,0,0,0,0
$GC,3382,-0.53,-194.6,575.5,-15.1,359,3389,0.00,0.52,0.00,0.000,6,0.000,0.039,2106,2595,3650,0,0,0,0,0,0
$GC,3699,-0.53,-194.6,622.9,-14.6,375,3703,0.00,0.47,0.00,0.000,4,0.000,0.043,2104,2934,3647,0,0,0,0,0,0
$GC,3779,-0.53,-194.6,634.5,-14.5,378,3782,0.00,0.43,0.00,0.000,6,0.000,0.031,2104,2596,3646,0,0,0,0,0,0
$GC,4102,-0.53,-194.6,678.5,-13.5,394,4106,0.00,0.50,0.00,0.000,4,0.000,0.043,2101,2937,3643,0,0,0,0,0,0
$GC,4196,-0.53,-194.6,691.9,-13.9,398,4200,0.00,0.47,0.00,0.000,6,0.000,0.029,2101,2582,3642,0,0,0,0,0,0
$GC,4524,-0.53,-194.6,736.6,-13.9,414,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2582,3640,0,0,0,0,0,0
$GC,4833,-0.53,-194.6,781.4,-14.8,429,4837,0.00,0.52,0.00,0.000,4,0.000,0.042,2098,2937,3638,0,0,0,0,0,0
$GC,4939,-0.53,-194.6,797.9,-15.4,433,4948,0.10,0.47,0.00,0.000,6,0.168,0.029,2123,2585,3637,0,0,0,0,0,0
$GC,5256,-0.53,-194.6,839.5,-13.4,449,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2585,3635,0,0,0,0,0,0
$GC,5565,-0.53,-194.6,880.4,-13.2,464,5568,0.00,0.52,0.00,0.000,4,0.000,0.044,2122,2938,3633,0,0,0,0,0,0
$GC,5610,-0.53,-194.6,886.2,-13.1,466,5614,0.00,0.45,0.00,0.000,6,0.000,0.030,2122,2589,3633,0,0,0,0,0,0
$GC,5945,-0.53,-194.6,926.1,-11.0,482,5949,0.00,0.43,0.00,0.000,4,0.000,0.028,2122,2234,3631,0,0,0,0,0,0
$GC,6045,-0.53,-194.6,937.2,-10.4,486,6048,0.00,0.52,0.00,0.000,6,0.000,0.041,2120,2585,3630,0,0,0,0,0,0
$GC,6368,-0.53,-194.6,971.4,-10.9,502,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2585,3628,0,0,0,0,0,0
$STATE,6549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6549,begin apogee
$GC,6556,-0.13,0.0,992.0,11.4,511,6713,0.40,0.00,152.10,1.057,6,0.129,0.000,2247,2157,2869,0,0,0,0,0,0
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6717,0.53,194.6,1000.1,0.0,518,6883,0.60,0.50,157.60,1.040,4,0.086,0.031,2459,1809,2075,0,0,0,0,0,0
$GC,6946,0.73,357.4,993.0,5.2,528,7085,0.17,0.52,130.90,1.030,6,0.047,0.031,2544,2183,1411,0,0,0,0,0,0
$GC,7415,0.81,426.8,949.4,9.0,551,7480,0.00,0.52,56.17,1.004,4,0.000,0.023,2546,1803,1129,0,0,0,0,0,0
$GC,7667,0.89,484.8,926.8,9.4,562,7720,0.08,0.50,48.92,0.985,6,0.069,0.032,2589,2159,892,0,0,0,0,0,0
$GC,8029,0.93,520.4,888.2,10.3,579,8064,0.00,0.43,31.90,0.956,4,0.000,0.023,2591,1819,747,0,0,0,0,0,0
$GC,8274,0.93,520.4,861.3,12.1,590,8278,0.00,0.50,0.00,0.000,6,0.000,0.032,2591,2168,748,0,0,0,0,0,0
$GC,8609,0.93,520.4,821.4,12.4,606,8613,0.00,0.45,0.00,0.000,4,0.000,0.030,2593,1812,752,0,0,0,0,0,0
$GC,8811,0.93,520.4,795.2,13.6,615,8815,0.00,0.50,0.00,0.000,6,0.000,0.033,2593,2171,752,0,0,0,0,0,0
$GC,9146,0.93,520.4,751.8,13.3,631,9149,0.00,0.47,0.00,0.000,4,0.000,0.030,2594,1801,751,0,0,0,0,0,0
$GC,9341,0.93,520.4,724.7,13.4,639,9349,0.00,0.52,0.00,0.000,6,0.000,0.031,2594,2168,751,0,0,0,0,0,0
$GC,9659,0.93,520.4,684.0,12.6,655,9663,0.00,0.45,0.00,0.000,4,0.000,0.030,2596,1811,750,0,0,0,0,0,0
$GC,9849,0.93,520.5,660.5,11.8,663,9853,0.00,0.47,0.00,0.000,6,0.000,0.032,2596,2163,750,0,0,0,0,0,0
$GC,10172,0.97,552.0,625.7,10.5,679,10203,0.00,0.50,27.42,0.815,4,0.000,0.031,2597,1809,618,0,0,0,0,0,0
$GC,10378,0.98,561.5,602.8,11.4,688,10391,0.00,0.50,9.27,0.705,6,0.000,0.031,2597,2170,580,0,0,0,0,0,0
$GC,10699,0.98,565.1,566.6,11.6,704,10708,0.00,0.50,4.90,0.581,4,0.000,0.031,2599,1805,565,0,0,0,0,0,0
$GC,10879,0.98,565.1,543.6,13.9,712,10883,0.00,0.50,0.00,0.000,6,0.000,0.031,2599,2169,565,0,0,0,0,0,0
$GC,11212,0.98,565.1,502.2,12.2,728,11215,0.00,0.45,0.00,0.000,4,0.000,0.037,2599,2506,565,0,0,0,0,0,0
$GC,11382,1.01,586.0,483.6,10.9,742,11405,0.00,0.47,18.20,0.716,6,0.000,0.030,2601,2138,478,0,0,0,0,0,0
$GC,11723,1.10,661.0,452.4,8.7,774,11738,0.15,0.57,9.88,0.647,4,0.084,0.032,2677,2516,440,0,0,0,0,0,0
$GC,11767,1.11,666.6,447.2,11.6,777,11774,0.00,0.45,0.00,0.000,6,0.000,0.030,2678,2160,439,0,0,0,0,0,0
$GC,12092,1.11,666.6,395.6,17.2,808,12096,0.00,0.47,0.00,0.000,4,0.000,0.034,2678,2502,439,0,0,0,0,0,0
$GC,12128,1.11,666.6,389.6,17.5,811,12132,0.00,0.43,0.03,0.198,6,0.000,0.031,2680,2159,439,0,0,0,0,0,0
$GC,12459,1.11,666.6,333.1,16.6,842,12463,0.00,0.47,0.00,0.000,4,0.000,0.034,2680,2503,439,0,0,0,0,0,0
$GC,12584,1.11,666.6,311.9,17.8,853,12588,0.00,0.43,0.00,0.000,6,0.000,0.031,2681,2159,439,0,0,0,0,0,0
$GC,12915,1.11,666.6,256.3,15.4,884,12919,0.00,0.47,0.00,0.000,4,0.000,0.034,2682,2505,438,0,0,0,0,0,0
$GC,12988,1.11,666.6,245.3,14.5,890,12995,0.00,0.43,0.00,0.000,6,0.000,0.031,2684,2164,439,0,0,0,0,0,0
$GC,13313,1.11,666.6,202.7,13.6,921,13316,0.00,0.40,0.00,0.000,4,0.000,0.034,2686,1826,439,0,0,0,0,0,0
$GC,13382,1.11,666.6,193.0,14.5,931,13389,0.08,0.47,0.00,0.000,6,0.122,0.032,2660,2173,439,0,0,0,0,0,0
$GC,13525,1.11,666.6,173.9,13.0,956,13532,0.00,0.45,0.00,0.000,4,0.000,0.037,2660,2511,439,0,0,0,0,0,0
$GC,13613,1.11,666.6,162.5,12.5,971,13620,0.00,0.43,0.00,0.000,6,0.000,0.030,2660,2163,440,0,0,0,0,0,0
$GC,13758,1.13,680.2,146.4,11.2,996,13764,0.00,0.40,0.00,0.000,4,0.000,0.034,2662,1828,439,0,0,0,0,0,0
$GC,13811,1.13,680.2,139.4,13.7,1005,13818,0.00,0.45,0.00,0.000,6,0.000,0.033,2662,2165,439,0,0,0,0,0,0
$GC,13953,1.13,680.2,120.2,13.3,1030,13961,0.00,0.43,0.00,0.000,4,0.000,0.038,2662,2489,439,0,0,0,0,0,0
$GC,14054,1.13,680.2,107.0,12.6,1047,14060,0.00,0.40,0.00,0.000,6,0.000,0.032,2663,2164,439,0,0,0,0,0,0
$GC,14196,1.26,792.5,94.4,7.2,1072,14203,0.12,0.43,0.00,0.000,4,0.087,0.037,2734,1838,440,0,0,0,0,0,0
$GC,14272,1.35,859.8,87.8,9.0,1085,14279,0.00,0.43,0.00,0.000,6,0.000,0.033,2734,2160,440,0,0,0,0,0,0
$GC,14414,1.35,859.8,71.5,13.1,1110,14422,0.00,0.40,0.00,0.000,4,0.000,0.031,2735,1837,440,0,0,0,0,0,0
$GC,14506,1.35,859.8,58.2,13.8,1126,14514,0.00,0.43,0.00,0.000,6,0.000,0.032,2734,2157,440,0,0,0,0,0,0
$GC,14652,1.43,924.1,43.6,9.2,1151,14658,0.00,0.45,0.00,0.000,4,0.000,0.038,2735,2500,440,0,0,0,0,0,0
$GC,14754,1.50,982.7,33.5,9.4,1169,14762,0.10,0.43,0.12,0.107,6,0.057,0.031,2798,2166,441,0,0,0,0,0,0
$GC,14899,1.50,982.7,16.0,12.1,1194,14906,0.00,0.00,0.93,0.083,6,0.000,0.000,2797,2167,442,0,0,0,0,0,0
$STATE,15001,end climb,SURFACE_DEPTH_REACHED
$STATE,15001,begin surface coast
$FINISH,0.4,1.020782
$STATE,15028,end surface coast,CONTROL_FINISHED_OK
$STATE,15028,begin surface
$SM_CCo,15104,0.00,0.000,0,0,444,594.85
$SM_GC,1.22,6.65,0.00,0.00,0.029,0.000,0.000,200,2602,444,-6.45,0.34,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2054.83,11939.83,021011,080811
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.22
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.5,97.214
$10V_AH,9.8,75.315
$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,17.050,31.625,648.350,0.000,0.000,29.824,17.314,127.968,0.000,0.000,32.826,3104.440,8673.240,707.294,2604.484,342.926,0.000,2032.629,0.000,2371.648,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,110.160,1057.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,843.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322784
$DATA_FILE_SIZE,70351,1216
$CAP_FILE_SIZE,161417,0
$CFSIZE,260165632,197496832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,267.2,1
$GPS,021011,170636,2108.404,11944.944,35,0.9,40,-2.4