version: 66.09
glider: 181
mission: 6
dive: 560
start: 9 27 111 17 11 55
data:
$ID,181
$MISSION,6
$DIVE,560
$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,-41290.922
$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,77
$R_STBD_OVSHOOT,43
$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
$GPS1,270911,170531,2011.140,11951.835,62,0.9,62,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-55.6
$GPS2,270911,171056,2011.219,11951.788,13,1.8,13,-2.3
$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,71204.1,1375.8,-1198.9,-82779.6,-180.5
$KALMAN_Y,70121.0,225.2,49.4,34540.1,-788.8
$MHEAD_RNG_PITCHd_Wd,26.1,174256,-17.4,-11.786
$D_GRID,3357
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,93,0.00,0.00,-72.72,0.000,2,0.000,0.000,125,2587,2510,0,0,0,0,0,0
$GC,96,-0.53,-194.6,3.1,-2.9,12,135,8.57,0.57,-26.17,0.000,4,0.231,0.092,2117,2955,3665,0,0,0,0,0,0
$GC,360,-0.53,-194.6,97.8,-30.3,58,367,0.00,0.47,0.00,0.000,6,0.000,0.029,2117,2581,3665,0,0,0,0,0,0
$GC,503,-0.53,-194.6,125.1,-18.7,83,510,0.00,0.52,0.00,0.000,4,0.000,0.038,2114,2946,3665,0,0,0,0,0,0
$GC,686,-0.53,-194.6,160.5,-16.2,115,693,0.00,0.45,0.00,0.000,6,0.000,0.029,2114,2588,3666,0,0,0,0,0,0
$GC,830,-0.53,-194.6,183.4,-14.6,140,836,0.00,0.40,0.00,0.000,4,0.000,0.028,2114,2241,3666,0,0,0,0,0,0
$GC,854,-0.53,-194.6,187.2,-14.8,144,861,0.00,0.52,0.00,0.000,6,0.000,0.038,2112,2600,3666,0,0,0,0,0,0
$GC,994,-0.53,-194.6,212.0,-18.8,163,998,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2946,3666,0,0,0,0,0,0
$GC,1106,-0.53,-194.6,230.5,-16.6,173,1110,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2591,3666,0,0,0,0,0,0
$GC,1436,-0.53,-194.6,280.8,-14.4,204,1440,0.00,0.40,0.00,0.000,4,0.000,0.028,2109,2251,3666,0,0,0,0,0,0
$GC,1611,-0.53,-194.6,305.1,-13.4,219,1618,0.00,0.50,0.00,0.000,6,0.000,0.039,2107,2595,3664,0,0,0,0,0,0
$GC,1936,-0.53,-194.6,351.0,-14.3,250,1940,0.00,0.43,0.00,0.000,4,0.000,0.028,2107,2246,3661,0,0,0,0,0,0
$GC,1998,-0.53,-194.6,360.0,-13.7,255,2005,0.00,0.50,0.00,0.000,6,0.000,0.039,2104,2586,3661,0,0,0,0,0,0
$GC,2323,-0.53,-194.6,407.7,-14.3,286,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2586,3657,0,0,0,0,0,0
$GC,2644,-0.53,-194.6,453.4,-13.5,316,2648,0.00,0.43,0.00,0.000,4,0.000,0.029,2104,2253,3654,0,0,0,0,0,0
$GC,2713,-0.53,-194.6,463.0,-12.8,322,2716,0.00,0.50,0.00,0.000,6,0.000,0.041,2102,2586,3654,0,0,0,0,0,0
$GC,3053,-0.53,-194.6,508.5,-13.3,351,3057,0.00,0.50,0.00,0.000,4,0.000,0.042,2099,2941,3651,0,0,0,0,0,0
$GC,3181,-0.53,-194.6,527.5,-14.9,356,3188,0.00,0.47,0.00,0.000,6,0.000,0.029,2099,2585,3649,0,0,0,0,0,0
$GC,3499,-0.53,-194.6,577.2,-15.9,372,3502,0.00,0.43,0.00,0.000,4,0.000,0.029,2099,2230,3647,0,0,0,0,0,0
$GC,3526,-0.53,-194.6,581.9,-15.7,373,3530,0.12,0.55,0.00,0.000,6,0.164,0.040,2130,2589,3647,0,0,0,0,0,0
$GC,3853,-0.53,-194.6,622.3,-12.4,389,3856,0.00,0.43,0.00,0.000,4,0.000,0.029,2130,2252,3643,0,0,0,0,0,0
$GC,3922,-0.53,-194.6,630.6,-11.7,392,3925,0.00,0.50,0.00,0.000,6,0.000,0.041,2128,2585,3642,0,0,0,0,0,0
$GC,4254,-0.53,-194.6,675.2,-13.7,408,4258,0.00,0.43,0.00,0.000,4,0.000,0.029,2129,2254,3639,0,0,0,0,0,0
$GC,4315,-0.53,-194.6,684.0,-13.7,410,4323,0.00,0.52,0.00,0.000,6,0.000,0.041,2126,2591,3639,0,0,0,0,0,0
$GC,4633,-0.53,-194.6,725.8,-13.1,426,4636,0.00,0.45,0.00,0.000,4,0.000,0.028,2126,2239,3637,0,0,0,0,0,0
$GC,4761,-0.53,-194.6,742.5,-12.2,431,4768,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2590,3636,0,0,0,0,0,0
$GC,5079,-0.53,-194.6,783.4,-12.7,447,5082,0.00,0.47,0.00,0.000,4,0.000,0.030,2125,2238,3633,0,0,0,0,0,0
$GC,5128,-0.53,-194.6,789.9,-12.5,449,5132,0.00,0.55,0.00,0.000,6,0.000,0.041,2122,2588,3633,0,0,0,0,0,0
$GC,5456,-0.53,-194.6,833.4,-14.1,465,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2589,3631,0,0,0,0,0,0
$GC,5766,-0.53,-194.6,877.3,-14.4,480,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2589,3629,0,0,0,0,0,0
$GC,6075,-0.53,-194.6,920.9,-13.6,495,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2589,3626,0,0,0,0,0,0
$GC,6385,-0.53,-194.6,956.7,-10.6,510,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2589,3625,0,0,0,0,0,0
$GC,6693,-0.53,-194.6,985.0,-8.8,525,6697,0.00,0.45,0.00,0.000,4,0.000,0.029,2122,2248,3623,0,0,0,0,0,0
$GC,6743,-0.53,-194.6,989.3,-8.4,527,6747,0.00,0.52,0.00,0.000,6,0.000,0.041,2120,2591,3623,0,0,0,0,0,0
$STATE,6751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6758,-0.13,0.0,990.3,8.7,527,6916,0.43,0.00,151.02,1.060,6,0.129,0.000,2254,2155,2869,0,0,0,0,0,0
$STATE,6916,end apogee,CONTROL_FINISHED_OK
$STATE,6916,begin climb
$GC,6919,0.53,194.6,991.9,0.0,535,7083,0.60,0.50,157.55,1.038,4,0.084,0.033,2466,1811,2075,0,0,0,0,0,0
$GC,7141,0.57,228.7,976.0,10.4,544,7174,0.00,0.52,28.52,0.982,6,0.000,0.032,2467,2180,1936,0,0,0,0,0,0
$GC,7485,0.68,320.0,945.2,8.1,561,7563,0.15,0.50,73.43,1.012,4,0.083,0.039,2532,2504,1564,0,0,0,0,0,0
$GC,7637,0.75,371.3,930.4,9.7,567,7683,0.00,0.47,42.22,0.982,6,0.000,0.028,2534,2151,1355,0,0,0,0,0,0
$GC,8006,0.88,481.8,900.9,7.3,585,8103,0.15,0.50,89.43,0.991,4,0.086,0.031,2599,2505,904,0,0,0,0,0,0
$GC,8356,0.91,504.9,863.3,10.8,600,8384,0.00,0.45,22.12,0.926,6,0.000,0.029,2601,2156,810,0,0,0,0,0,0
$GC,8695,0.91,508.1,825.6,11.7,617,8704,0.00,0.52,4.97,0.679,4,0.000,0.037,2601,2504,797,0,0,0,0,0,0
$GC,8957,0.91,508.1,790.6,13.8,628,8964,0.00,0.45,0.00,0.000,6,0.000,0.028,2604,2153,797,0,0,0,0,0,0
$GC,9273,0.91,508.1,745.9,14.6,644,9277,0.00,0.50,0.00,0.000,4,0.000,0.036,2603,2505,797,0,0,0,0,0,0
$GC,9530,0.91,508.1,706.9,15.0,655,9534,0.00,0.45,0.00,0.000,6,0.000,0.029,2606,2160,795,0,0,0,0,0,0
$GC,9852,0.91,508.1,662.8,13.5,671,9856,0.00,0.47,0.00,0.000,4,0.000,0.036,2606,2500,796,0,0,0,0,0,0
$GC,10022,0.91,508.1,639.7,13.5,678,10026,0.00,0.43,0.00,0.000,6,0.000,0.031,2608,2164,796,0,0,0,0,0,0
$GC,10344,0.91,508.1,598.8,12.7,694,10347,0.00,0.47,0.00,0.000,4,0.000,0.035,2608,2505,796,0,0,0,0,0,0
$GC,10491,0.91,508.1,579.5,13.1,700,10495,0.00,0.43,0.00,0.000,6,0.000,0.031,2610,2164,796,0,0,0,0,0,0
$GC,10813,0.91,508.1,536.7,13.5,716,10816,0.00,0.47,0.00,0.000,4,0.000,0.034,2610,2505,796,0,0,0,0,0,0
$GC,10886,0.91,508.1,526.0,14.8,719,10889,0.00,0.43,0.00,0.000,6,0.000,0.031,2611,2165,795,0,0,0,0,0,0
$GC,11207,0.91,508.1,480.9,13.8,740,11211,0.00,0.50,0.00,0.000,4,0.000,0.035,2611,2505,796,0,0,0,0,0,0
$GC,11391,0.91,508.1,455.4,13.2,756,11398,0.00,0.45,0.00,0.000,6,0.000,0.030,2613,2160,796,0,0,0,0,0,0
$GC,11717,0.92,515.2,416.2,11.5,787,11730,0.00,0.55,7.32,0.639,4,0.000,0.034,2613,2513,768,0,0,0,0,0,0
$GC,11792,0.92,515.6,407.3,11.8,793,11799,0.00,0.45,0.00,0.000,6,0.000,0.030,2614,2163,768,0,0,0,0,0,0
$GC,12118,0.94,531.8,370.4,11.1,824,12137,0.00,0.00,14.80,0.647,6,0.000,0.000,2614,2162,698,0,0,0,0,0,0
$GC,12456,0.95,534.4,332.4,11.7,856,12468,0.00,0.52,4.03,0.491,4,0.000,0.034,2614,2505,690,0,0,0,0,0,0
$GC,12526,0.95,534.4,323.9,12.3,862,12529,0.00,0.45,0.00,0.000,6,0.000,0.030,2616,2156,690,0,0,0,0,0,0
$GC,12857,0.96,541.2,285.7,11.5,893,12869,0.00,0.55,7.20,0.570,4,0.000,0.032,2616,2517,662,0,0,0,0,0,0
$GC,12953,0.97,549.2,274.3,11.5,901,12964,0.00,0.45,7.93,0.519,6,0.000,0.030,2618,2166,629,0,0,0,0,0,0
$GC,13284,1.01,582.7,240.7,10.4,932,13315,0.00,0.00,26.67,0.581,6,0.000,0.000,2618,2165,492,0,0,0,0,0,0
$GC,13633,1.08,639.9,205.4,9.5,965,13649,0.00,0.40,12.68,0.545,4,0.000,0.029,2618,1835,439,0,0,0,0,0,0
$GC,13656,1.15,697.1,203.2,9.5,967,13661,0.10,0.45,0.00,0.000,6,0.059,0.031,2685,2166,438,0,0,0,0,0,0
$GC,13999,1.17,712.0,159.8,11.2,1025,14006,0.00,0.45,0.00,0.000,4,0.000,0.037,2686,2505,438,0,0,0,0,0,0
$GC,14092,1.17,712.0,148.4,12.0,1041,14100,0.00,0.43,0.00,0.000,6,0.000,0.031,2687,2165,438,0,0,0,0,0,0
$GC,14236,1.17,712.0,130.0,13.0,1066,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2165,438,0,0,0,0,0,0
$GC,14379,1.24,769.0,114.0,9.5,1091,14386,0.00,0.40,0.00,0.000,4,0.000,0.035,2690,1838,438,0,0,0,0,0,0
$GC,14426,1.31,826.8,109.6,9.4,1099,14433,0.00,0.45,0.00,0.000,6,0.000,0.031,2690,2171,438,0,0,0,0,0,0
$GC,14570,1.31,826.8,91.1,15.4,1124,14577,0.00,0.45,0.00,0.000,4,0.000,0.037,2690,2508,438,0,0,0,0,0,0
$GC,14638,1.31,826.8,79.7,16.5,1136,14645,0.00,0.43,0.00,0.000,6,0.000,0.031,2691,2177,438,0,0,0,0,0,0
$GC,14782,1.43,928.3,62.6,7.6,1161,14791,0.20,0.45,0.00,0.000,4,0.068,0.036,2787,1835,439,0,0,0,0,0,0
$GC,15042,1.43,928.3,28.6,14.5,1207,15049,0.00,0.45,0.00,0.000,6,0.000,0.032,2787,2170,439,0,0,0,0,0,0
$GC,15186,1.43,928.3,9.9,13.5,1232,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2171,440,0,0,0,0,0,0
$STATE,15242,end climb,SURFACE_DEPTH_REACHED
$STATE,15242,begin surface coast
$FINISH,0.3,1.011138
$STATE,15260,end surface coast,CONTROL_FINISHED_OK
$STATE,15260,begin surface
$SM_CCo,15337,0.00,0.000,0,0,440,595.83
$SM_GC,0.93,6.70,0.00,0.00,0.036,0.000,0.000,210,2567,440,-6.45,-0.62,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2001.88,11950.10,270911,121227
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.58
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.5,92.116
$10V_AH,9.8,73.116
$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,17.025,30.500,649.900,0.000,0.000,23.489,29.538,132.028,0.250,0.000,15.860,3157.618,8846.794,702.483,2605.707,340.264,33.360,2019.940,0.000,2382.730,0.000,0.539,0.000
$DEVICE_MAMPS,231.030,91.800,1060.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,865.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,70196,1245
$CAP_FILE_SIZE,159563,0
$CFSIZE,260165632,199577600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 29.7,1
$GPS,270911,212836,2013.451,11952.331,25,1.3,25,-2.3