version: 66.09
glider: 181
mission: 6
dive: 559
start: 9 27 111 12 45 4
data:
$ID,181
$MISSION,6
$DIVE,559
$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,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,-41289.566
$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,81
$R_STBD_OVSHOOT,49
$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
$GPS1,270911,123815,2008.610,11952.692,67,3.3,86,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-60.5
$GPS2,270911,124407,2008.743,11952.562,13,1.3,31,-2.2
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.033,0.310
$KALMAN_X,70769.5,2380.5,237.0,-83394.2,-5698.8
$KALMAN_Y,70981.6,440.6,-447.8,29359.4,1415.8
$MHEAD_RNG_PITCHd_Wd,21.8,178727,-17.4,-11.786
$D_GRID,3402
$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,-194.6,0.0,0.0,0,92,0.00,0.00,-73.00,0.000,2,0.000,0.000,124,2595,2517,0,0,0,0,0,0
$GC,95,-0.53,-194.6,3.2,-3.3,12,133,8.73,0.55,-23.45,0.000,4,0.236,0.099,2119,2937,3664,0,0,0,0,0,0
$GC,260,-0.53,-194.6,64.6,-29.5,40,266,0.00,0.45,0.00,0.000,6,0.000,0.031,2118,2595,3658,0,0,0,0,0,0
$GC,401,-0.53,-194.6,102.9,-22.4,65,408,0.00,0.45,0.00,0.000,4,0.000,0.028,2118,2220,3657,0,0,0,0,0,0
$GC,432,-0.53,-194.6,108.8,-20.0,70,439,0.00,0.55,0.00,0.000,6,0.000,0.040,2116,2591,3657,0,0,0,0,0,0
$GC,574,-0.53,-194.6,137.0,-21.7,95,581,0.00,0.50,0.00,0.000,4,0.000,0.042,2113,2950,3657,0,0,0,0,0,0
$GC,743,-0.53,-194.6,170.9,-18.8,124,750,0.00,0.47,0.00,0.000,6,0.000,0.029,2113,2577,3658,0,0,0,0,0,0
$GC,886,-0.53,-194.6,197.6,-15.2,149,893,0.00,0.52,0.00,0.000,4,0.000,0.040,2111,2941,3658,0,0,0,0,0,0
$GC,994,-0.53,-194.6,214.2,-15.4,160,1000,0.00,0.45,0.00,0.000,6,0.000,0.031,2111,2586,3658,0,0,0,0,0,0
$GC,1319,-0.53,-194.6,265.2,-16.2,191,1322,0.00,0.52,0.00,0.000,4,0.000,0.040,2108,2952,3658,0,0,0,0,0,0
$GC,1472,-0.53,-194.6,288.3,-15.7,204,1479,0.00,0.45,0.00,0.000,6,0.000,0.029,2108,2594,3657,0,0,0,0,0,0
$GC,1797,-0.53,-194.6,338.5,-15.4,235,1801,0.00,0.50,0.00,0.000,4,0.000,0.040,2106,2942,3655,0,0,0,0,0,0
$GC,1889,-0.53,-194.6,352.2,-14.8,243,1892,0.00,0.45,0.00,0.000,6,0.000,0.031,2106,2586,3654,0,0,0,0,0,0
$GC,2220,-0.53,-194.6,402.1,-15.5,274,2223,0.00,0.40,0.00,0.000,4,0.000,0.028,2106,2251,3651,0,0,0,0,0,0
$GC,2300,-0.53,-194.6,413.3,-14.0,281,2304,0.00,0.50,0.00,0.000,6,0.000,0.041,2104,2591,3650,0,0,0,0,0,0
$GC,2631,-0.53,-194.6,461.3,-14.1,312,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2591,3647,0,0,0,0,0,0
$GC,2960,-0.53,-194.6,511.0,-15.8,340,2964,0.00,0.47,0.00,0.000,4,0.000,0.043,2100,2933,3644,0,0,0,0,0,0
$GC,3066,-0.53,-194.6,528.6,-16.2,344,3073,0.00,0.45,0.00,0.000,6,0.000,0.030,2100,2589,3643,0,0,0,0,0,0
$GC,3383,-0.53,-194.6,579.5,-16.4,360,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2589,3640,0,0,0,0,0,0
$GC,3691,-0.53,-194.6,630.5,-16.3,375,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2589,3637,0,0,0,0,0,0
$GC,4001,-0.53,-194.6,679.8,-15.9,390,4004,0.00,0.43,0.00,0.000,4,0.000,0.029,2100,2241,3634,0,0,0,0,0,0
$GC,4141,-0.53,-194.6,702.1,-15.8,396,4145,0.00,0.52,0.00,0.000,6,0.000,0.041,2098,2585,3633,0,0,0,0,0,0
$GC,4469,-0.53,-194.6,751.7,-14.7,412,4471,0.12,0.00,0.00,0.000,6,0.170,0.000,2131,2585,3631,0,0,0,0,0,0
$GC,4779,-0.53,-194.6,786.6,-11.0,427,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2585,3628,0,0,0,0,0,0
$GC,5087,-0.53,-194.6,821.4,-11.2,442,5091,0.00,0.43,0.00,0.000,4,0.000,0.029,2131,2255,3626,0,0,0,0,0,0
$GC,5150,-0.53,-194.6,827.9,-10.2,444,5156,0.00,0.50,0.00,0.000,6,0.000,0.041,2130,2584,3625,0,0,0,0,0,0
$GC,5468,-0.53,-194.6,860.1,-9.8,460,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2584,3623,0,0,0,0,0,0
$GC,5775,-0.53,-194.6,889.7,-9.5,475,5779,0.00,0.43,0.00,0.000,4,0.000,0.028,2130,2254,3621,0,0,0,0,0,0
$GC,5836,-0.53,-194.6,895.7,-9.7,477,5843,0.00,0.50,0.00,0.000,6,0.000,0.041,2128,2583,3621,0,0,0,0,0,0
$GC,6153,-0.53,-194.6,929.4,-11.4,493,6157,0.00,0.52,0.00,0.000,4,0.000,0.044,2125,2948,3619,0,0,0,0,0,0
$GC,6199,-0.53,-194.6,934.9,-11.8,495,6203,0.00,0.47,0.00,0.000,6,0.000,0.030,2125,2591,3619,0,0,0,0,0,0
$GC,6532,-0.53,-194.6,978.5,-13.6,511,6535,0.00,0.45,0.00,0.000,4,0.000,0.031,2125,2242,3617,0,0,0,0,0,0
$GC,6610,-0.53,-194.6,989.2,-13.7,514,6614,0.00,0.52,0.00,0.000,6,0.000,0.043,2124,2583,3616,0,0,0,0,0,0
$STATE,6620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6620,begin apogee
$GC,6626,-0.13,0.0,990.6,13.3,515,6781,0.40,0.00,149.57,1.062,6,0.129,0.000,2252,2155,2869,0,0,0,0,0,0
$STATE,6781,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6784,0.53,194.6,1000.9,0.0,522,6950,0.62,0.50,157.98,1.046,4,0.086,0.033,2472,1811,2074,0,0,0,0,0,0
$GC,7012,0.69,326.4,993.9,6.4,532,7129,0.12,0.52,106.25,1.032,6,0.055,0.031,2532,2183,1537,0,0,0,0,0,0
$GC,7435,0.70,331.8,948.5,11.6,553,7445,0.00,0.47,6.68,0.826,4,0.000,0.040,2532,2503,1516,0,0,0,0,0,0
$GC,7681,0.70,331.8,918.3,12.2,564,7685,0.00,0.45,0.00,0.000,6,0.000,0.030,2535,2154,1516,0,0,0,0,0,0
$GC,8008,0.72,350.5,880.8,11.0,580,8029,0.00,0.00,16.67,0.929,6,0.000,0.000,2534,2154,1440,0,0,0,0,0,0
$GC,8339,0.80,417.1,849.1,9.1,596,8396,0.00,0.47,53.62,0.965,4,0.000,0.029,2534,2501,1167,0,0,0,0,0,0
$GC,8464,0.90,494.6,837.9,8.6,601,8536,0.12,0.45,63.08,0.951,6,0.056,0.029,2599,2158,852,0,0,0,0,0,0
$GC,8843,0.91,502.4,795.8,11.5,620,8857,0.00,0.52,10.25,0.833,4,0.000,0.031,2599,2506,820,0,0,0,0,0,0
$GC,9032,0.91,502.4,772.5,12.5,628,9035,0.00,0.45,0.00,0.000,6,0.000,0.029,2601,2157,822,0,0,0,0,0,0
$GC,9353,0.91,502.4,731.5,13.2,644,9357,0.00,0.50,0.00,0.000,4,0.000,0.034,2601,2511,821,0,0,0,0,0,0
$GC,9443,0.91,502.4,718.8,15.1,648,9447,0.00,0.45,0.00,0.000,6,0.000,0.030,2603,2156,821,0,0,0,0,0,0
$GC,9777,0.91,502.4,674.1,13.4,664,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2156,820,0,0,0,0,0,0
$GC,10085,0.91,502.4,633.2,13.1,679,10089,0.00,0.47,0.00,0.000,4,0.000,0.035,2603,2498,820,0,0,0,0,0,0
$GC,10192,0.91,502.4,619.0,13.6,683,10199,0.00,0.43,0.00,0.000,6,0.000,0.031,2605,2162,820,0,0,0,0,0,0
$GC,10508,0.91,505.0,580.9,11.7,699,10517,0.00,0.52,3.97,0.577,4,0.000,0.036,2605,2502,810,0,0,0,0,0,0
$GC,10693,0.92,512.4,559.1,11.5,707,10704,0.00,0.45,7.65,0.696,6,0.000,0.030,2607,2155,780,0,0,0,0,0,0
$GC,11016,0.95,534.1,524.7,10.9,722,11038,0.00,0.55,18.42,0.741,4,0.000,0.034,2607,2509,691,0,0,0,0,0,0
$GC,11141,0.98,559.7,510.8,10.7,727,11166,0.00,0.45,21.73,0.725,6,0.000,0.030,2608,2162,587,0,0,0,0,0,0
$GC,11490,0.98,559.7,471.1,12.0,755,11493,0.00,0.47,0.00,0.000,4,0.000,0.034,2609,2502,590,0,0,0,0,0,0
$GC,11593,0.98,559.7,458.1,13.1,764,11596,0.00,0.43,0.00,0.000,6,0.000,0.031,2610,2165,589,0,0,0,0,0,0
$GC,11923,0.98,559.7,418.3,11.9,795,11927,0.00,0.45,0.00,0.000,4,0.000,0.036,2612,1820,590,0,0,0,0,0,0
$GC,11972,0.98,564.1,412.5,11.6,799,11982,0.00,0.47,6.22,0.608,6,0.000,0.031,2612,2168,568,0,0,0,0,0,0
$GC,12309,1.02,594.0,374.8,10.6,831,12337,0.00,0.50,24.27,0.659,4,0.000,0.039,2612,2504,447,0,0,0,0,0,0
$GC,12507,1.02,594.1,352.5,11.8,848,12510,0.00,0.45,0.00,0.000,6,0.000,0.030,2613,2157,445,0,0,0,0,0,0
$GC,12838,1.03,602.4,314.7,11.4,879,12844,0.00,0.55,2.97,0.360,4,0.000,0.032,2613,2520,439,0,0,0,0,0,0
$GC,12872,1.05,614.5,310.7,11.3,881,12880,0.00,0.45,0.00,0.000,6,0.000,0.031,2613,2180,439,0,0,0,0,0,0
$GC,13198,1.11,669.1,277.3,9.6,912,13200,0.12,0.00,0.00,0.000,6,0.094,0.000,2680,2180,440,0,0,0,0,0,0
$GC,13515,1.11,669.1,239.2,12.9,942,13520,0.00,0.47,0.40,0.106,4,0.000,0.027,2681,1819,441,0,0,0,0,0,0
$GC,13719,1.11,669.1,208.2,16.2,960,13723,0.00,0.47,0.65,0.088,6,0.000,0.032,2682,2163,441,0,0,0,0,0,0
$GC,14059,1.11,669.1,157.6,12.1,1016,14067,0.00,0.47,0.08,0.210,4,0.000,0.041,2681,2503,441,0,0,0,0,0,0
$GC,14224,1.11,669.1,136.3,13.1,1045,14232,0.00,0.45,0.25,0.095,6,0.000,0.030,2683,2155,441,0,0,0,0,0,0
$GC,14368,1.11,669.1,116.8,12.8,1070,14376,0.00,0.43,0.10,0.179,4,0.000,0.035,2686,1820,440,0,0,0,0,0,0
$GC,14416,1.14,689.9,111.5,10.9,1078,14423,0.00,0.47,0.47,0.086,6,0.000,0.031,2686,2169,441,0,0,0,0,0,0
$GC,14556,1.14,689.9,95.2,12.0,1103,14565,0.00,0.47,0.08,0.206,4,0.000,0.037,2686,2513,440,0,0,0,0,0,0
$GC,14634,1.14,689.9,85.1,13.7,1116,14642,0.00,0.45,1.20,0.080,6,0.000,0.031,2687,2167,441,0,0,0,0,0,0
$GC,14775,1.19,732.2,69.4,10.1,1141,14782,0.00,0.45,0.08,0.209,4,0.000,0.035,2689,1822,441,0,0,0,0,0,0
$GC,14841,1.24,772.0,62.9,10.2,1152,14848,0.00,0.47,0.00,0.000,6,0.000,0.031,2689,2179,441,0,0,0,0,0,0
$GC,14985,1.34,856.3,50.2,8.4,1177,14993,0.12,0.43,0.17,0.130,4,0.090,0.028,2750,2502,443,0,0,0,0,0,0
$GC,15073,1.34,856.3,40.6,11.9,1192,15080,0.00,0.45,2.50,0.206,6,0.000,0.032,2753,2160,440,0,0,0,0,0,0
$GC,15218,1.41,912.4,26.9,9.5,1217,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2160,440,0,0,0,0,0,0
$GC,15360,1.41,912.4,12.5,12.1,1242,15367,0.00,0.47,0.25,0.112,4,0.000,0.027,2753,2503,441,0,0,0,0,0,0
$GC,15397,1.41,912.4,7.0,14.5,1248,15404,0.00,0.45,0.70,0.077,6,0.000,0.031,2755,2158,442,0,0,0,0,0,0
$STATE,15425,end climb,SURFACE_DEPTH_REACHED
$STATE,15425,begin surface coast
$FINISH,0.4,1.020963
$STATE,15449,end surface coast,CONTROL_FINISHED_OK
$STATE,15449,begin surface
$SM_CCo,15526,0.00,0.000,0,0,442,595.34
$SM_GC,0.95,6.57,0.00,0.00,0.032,0.000,0.000,210,2580,442,-6.45,-0.28,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1957.29,11950.95,270911,070732
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.11
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.5,91.931
$10V_AH,9.8,73.031
$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,16.950,31.550,656.275,0.000,0.000,29.145,18.140,138.360,0.250,0.000,34.323,3204.469,9011.327,699.333,2598.912,352.417,33.358,2017.254,0.000,2368.877,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,98.685,1061.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,872.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,73650,1257
$CAP_FILE_SIZE,165316,0
$CFSIZE,260165632,199647232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,313.5,1
$GPS,270911,170531,2011.140,11951.835,62,0.9,62,-2.3