version: 66.09
glider: 181
mission: 6
dive: 561
start: 9 27 111 21 34 43
data:
$ID,181
$MISSION,6
$DIVE,561
$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,-41292.277
$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,83
$R_STBD_OVSHOOT,36
$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
$GPS1,270911,212836,2013.451,11952.331,25,1.3,25,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-56.2
$GPS2,270911,213344,2013.482,11952.237,12,1.2,12,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.035,0.310
$KALMAN_X,70532.3,-1171.2,2278.5,-82228.5,-5413.8
$KALMAN_Y,69821.7,-395.6,-66.2,39753.4,-519.9
$MHEAD_RNG_PITCHd_Wd,0.5,170017,-17.4,-11.786
$D_GRID,3339
$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,17,-0.53,-194.6,0.0,0.0,0,95,0.00,0.00,-75.35,0.000,2,0.000,0.000,127,2576,2556,0,0,0,0,0,0
$GC,98,-0.53,-194.6,3.9,-4.2,12,136,8.82,0.57,-21.15,0.000,4,0.240,0.095,2121,2949,3666,0,0,0,0,0,0
$GC,305,-0.53,-194.6,81.3,-28.3,48,312,0.00,0.47,0.00,0.000,6,0.000,0.028,2121,2579,3666,0,0,0,0,0,0
$GC,447,-0.53,-194.6,113.1,-20.8,73,453,0.00,0.55,0.00,0.000,4,0.000,0.037,2118,2962,3666,0,0,0,0,0,0
$GC,620,-0.53,-194.6,150.3,-17.2,103,626,0.00,0.47,0.00,0.000,6,0.000,0.028,2118,2585,3666,0,0,0,0,0,0
$GC,762,-0.53,-194.6,172.5,-15.1,128,769,0.00,0.40,0.00,0.000,4,0.000,0.028,2119,2231,3667,0,0,0,0,0,0
$GC,832,-0.53,-194.6,183.0,-15.1,140,839,0.00,0.55,0.00,0.000,6,0.000,0.038,2116,2607,3667,0,0,0,0,0,0
$GC,972,-0.53,-194.6,207.3,-17.2,161,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2607,3667,0,0,0,0,0,0
$GC,1293,-0.53,-194.6,258.2,-16.7,191,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2608,3668,0,0,0,0,0,0
$GC,1620,-0.53,-194.6,311.7,-16.8,222,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2608,3667,0,0,0,0,0,0
$GC,1939,-0.53,-194.6,364.3,-15.6,252,1943,0.00,0.45,0.00,0.000,4,0.000,0.044,2113,2935,3664,0,0,0,0,0,0
$GC,2034,-0.53,-194.6,379.9,-15.0,260,2041,0.00,0.45,0.00,0.000,6,0.000,0.030,2113,2591,3663,0,0,0,0,0,0
$GC,2360,-0.53,-194.6,428.4,-15.1,291,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2591,3660,0,0,0,0,0,0
$GC,2679,-0.53,-194.6,477.1,-15.7,321,2683,0.00,0.43,0.00,0.000,4,0.000,0.030,2113,2234,3657,0,0,0,0,0,0
$GC,2749,-0.53,-194.6,488.3,-15.7,327,2753,0.00,0.52,0.00,0.000,6,0.000,0.041,2111,2584,3657,0,0,0,0,0,0
$GC,3073,-0.53,-194.6,541.9,-16.1,346,3076,0.00,0.50,0.00,0.000,4,0.000,0.042,2109,2939,3653,0,0,0,0,0,0
$GC,3122,-0.53,-194.6,550.3,-16.3,348,3126,0.00,0.47,0.00,0.000,6,0.000,0.029,2109,2585,3653,0,0,0,0,0,0
$GC,3451,-0.53,-194.6,599.0,-14.4,364,3455,0.00,0.52,0.00,0.000,4,0.000,0.043,2106,2942,3649,0,0,0,0,0,0
$GC,3496,-0.53,-194.6,605.8,-14.5,366,3501,0.00,0.45,0.00,0.000,6,0.000,0.031,2106,2598,3649,0,0,0,0,0,0
$GC,3830,-0.53,-194.6,652.3,-14.0,382,3834,0.00,0.43,0.00,0.000,4,0.000,0.030,2106,2246,3647,0,0,0,0,0,0
$GC,3885,-0.53,-194.6,660.5,-13.8,384,3889,0.00,0.52,0.00,0.000,6,0.000,0.041,2103,2596,3647,0,0,0,0,0,0
$GC,4207,-0.53,-194.6,709.0,-15.9,400,4211,0.00,0.50,0.00,0.000,4,0.000,0.044,2101,2948,3643,0,0,0,0,0,0
$GC,4253,-0.53,-194.6,716.5,-16.8,402,4257,0.00,0.47,0.00,0.000,6,0.000,0.030,2101,2588,3643,0,0,0,0,0,0
$GC,4585,-0.53,-194.6,770.9,-16.2,418,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2589,3641,0,0,0,0,0,0
$GC,4894,-0.53,-194.6,819.6,-15.2,433,4898,0.00,0.52,0.00,0.000,4,0.000,0.044,2098,2941,3638,0,0,0,0,0,0
$GC,4990,-0.53,-194.6,833.9,-14.9,437,4994,0.08,0.47,0.00,0.000,6,0.145,0.031,2122,2588,3638,0,0,0,0,0,0
$GC,5316,-0.53,-194.6,874.1,-11.8,453,5320,0.00,0.43,0.00,0.000,4,0.000,0.030,2123,2245,3635,0,0,0,0,0,0
$GC,5395,-0.53,-194.6,883.9,-12.4,456,5399,0.00,0.52,0.00,0.000,6,0.000,0.042,2122,2590,3635,0,0,0,0,0,0
$GC,5716,-0.53,-194.6,921.5,-11.8,472,5720,0.00,0.50,0.00,0.000,4,0.000,0.045,2119,2939,3633,0,0,0,0,0,0
$GC,5762,-0.53,-194.6,927.2,-12.1,474,5766,0.00,0.47,0.00,0.000,6,0.000,0.031,2119,2585,3633,0,0,0,0,0,0
$GC,6096,-0.53,-194.6,969.5,-13.0,490,6099,0.00,0.52,0.00,0.000,4,0.000,0.044,2116,2938,3631,0,0,0,0,0,0
$GC,6145,-0.53,-194.6,976.7,-13.8,492,6150,0.00,0.47,0.00,0.000,6,0.000,0.030,2116,2588,3630,0,0,0,0,0,0
$STATE,6264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6265,begin apogee
$GC,6271,-0.13,0.0,992.8,13.5,498,6428,0.43,0.00,152.15,1.065,6,0.131,0.000,2251,2154,2870,0,0,0,0,0,0
$STATE,6429,end apogee,CONTROL_FINISHED_OK
$STATE,6429,begin climb
$GC,6431,0.53,194.6,1002.8,0.0,505,6597,0.62,0.50,157.88,1.050,4,0.086,0.031,2470,1809,2074,0,0,0,0,0,0
$GC,6655,0.73,354.1,996.9,5.3,515,6792,0.15,0.52,128.43,1.039,6,0.054,0.031,2539,2177,1424,0,0,0,0,0,0
$GC,7108,0.82,429.8,957.6,8.7,537,7174,0.00,0.50,61.55,1.014,4,0.000,0.038,2539,2502,1116,0,0,0,0,0,0
$GC,7426,0.92,516.1,931.4,8.3,551,7501,0.12,0.45,70.57,1.007,6,0.055,0.029,2605,2150,765,0,0,0,0,0,0
$GC,7811,0.93,519.5,887.1,11.6,569,7821,0.00,0.45,6.75,0.792,4,0.000,0.032,2607,1815,751,0,0,0,0,0,0
$GC,7984,0.93,519.5,865.9,12.4,577,7988,0.00,0.50,0.00,0.000,6,0.000,0.033,2607,2168,752,0,0,0,0,0,0
$GC,8317,0.93,519.5,823.4,12.8,593,8320,0.00,0.47,0.00,0.000,4,0.000,0.039,2607,2509,755,0,0,0,0,0,0
$GC,8574,0.93,519.5,789.2,13.5,604,8578,0.00,0.47,0.00,0.000,6,0.000,0.029,2608,2153,755,0,0,0,0,0,0
$GC,8897,0.93,519.6,751.4,11.8,620,8900,0.00,0.50,0.00,0.000,4,0.000,0.034,2608,2506,755,0,0,0,0,0,0
$GC,9103,0.93,519.6,726.2,12.4,629,9107,0.00,0.45,0.00,0.000,6,0.000,0.029,2610,2159,755,0,0,0,0,0,0
$GC,9430,0.93,519.6,687.2,12.1,645,9434,0.00,0.50,0.00,0.000,4,0.000,0.034,2610,2514,755,0,0,0,0,0,0
$GC,9486,0.93,519.6,680.2,12.3,647,9490,0.00,0.45,0.00,0.000,6,0.000,0.030,2612,2160,755,0,0,0,0,0,0
$GC,9808,0.97,553.0,644.6,10.4,663,9840,0.00,0.55,28.98,0.841,4,0.000,0.035,2612,2513,614,0,0,0,0,0,0
$GC,9918,1.01,583.3,633.7,10.6,668,9948,0.00,0.45,25.50,0.808,6,0.000,0.030,2613,2164,492,0,0,0,0,0,0
$GC,10270,1.06,629.5,599.4,9.9,685,10286,0.00,0.55,12.55,0.754,4,0.000,0.034,2613,2521,440,0,0,0,0,0,0
$GC,10345,1.10,655.9,591.7,10.7,687,10349,0.08,0.45,0.00,0.000,6,0.071,0.029,2657,2174,440,0,0,0,0,0,0
$GC,10666,1.10,655.9,550.2,12.9,703,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2174,439,0,0,0,0,0,0
$GC,10976,1.10,655.9,509.7,13.4,718,10979,0.00,0.47,0.00,0.000,4,0.000,0.037,2657,2508,439,0,0,0,0,0,0
$GC,11078,1.10,655.9,495.3,14.4,723,11081,0.00,0.45,0.00,0.000,6,0.000,0.029,2659,2152,439,0,0,0,0,0,0
$GC,11410,1.15,695.6,456.2,10.2,754,11413,0.00,0.38,0.00,0.000,4,0.000,0.034,2662,1834,438,0,0,0,0,0,0
$GC,11460,1.21,747.8,451.2,9.7,758,11466,0.00,0.45,0.00,0.000,6,0.000,0.033,2661,2164,438,0,0,0,0,0,0
$GC,11786,1.29,810.5,422.3,9.2,789,11790,0.15,0.47,0.00,0.000,4,0.084,0.038,2728,2503,438,0,0,0,0,0,0
$GC,11915,1.29,810.5,402.5,16.2,800,11922,0.00,0.43,0.00,0.000,6,0.000,0.030,2730,2162,439,0,0,0,0,0,0
$GC,12240,1.29,810.5,348.4,16.6,831,12244,0.00,0.47,0.00,0.000,4,0.000,0.036,2730,2500,439,0,0,0,0,0,0
$GC,12297,1.29,810.5,338.8,17.4,836,12301,0.00,0.43,0.00,0.000,6,0.000,0.031,2732,2160,439,0,0,0,0,0,0
$GC,12628,1.29,810.5,279.6,19.2,867,12632,0.00,0.40,0.00,0.000,4,0.000,0.035,2734,1824,439,0,0,0,0,0,0
$GC,12719,1.29,810.5,262.5,18.6,875,12723,0.00,0.47,0.00,0.000,6,0.000,0.034,2734,2164,439,0,0,0,0,0,0
$GC,13050,1.29,810.5,204.0,17.1,906,13053,0.00,0.47,0.00,0.000,4,0.000,0.039,2734,2509,439,0,0,0,0,0,0
$GC,13204,1.29,810.5,177.3,18.0,930,13211,0.00,0.43,0.03,0.199,6,0.000,0.031,2736,2168,439,0,0,0,0,0,0
$GC,13347,1.29,810.5,152.4,16.9,955,13354,0.00,0.40,0.00,0.000,4,0.000,0.035,2738,1836,439,0,0,0,0,0,0
$GC,13562,1.29,810.5,117.5,15.5,993,13569,0.00,0.45,0.00,0.000,6,0.000,0.032,2738,2170,439,0,0,0,0,0,0
$GC,13707,1.29,810.5,95.5,15.2,1018,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2170,439,0,0,0,0,0,0
$GC,13847,1.29,810.5,78.2,12.4,1043,13854,0.00,0.43,0.00,0.000,4,0.000,0.031,2739,1832,439,0,0,0,0,0,0
$GC,13885,1.29,810.5,73.4,13.1,1049,13892,0.00,0.45,0.05,0.148,6,0.000,0.031,2739,2168,440,0,0,0,0,0,0
$GC,14027,1.34,853.4,58.4,10.0,1074,14034,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2168,440,0,0,0,0,0,0
$GC,14171,1.45,939.6,44.2,8.3,1099,14179,0.00,0.47,0.15,0.142,4,0.000,0.040,2740,2506,441,0,0,0,0,0,0
$GC,14220,1.60,1062.0,40.7,6.8,1107,14229,0.17,0.43,0.08,0.123,6,0.045,0.031,2830,2163,441,0,0,0,0,0,0
$GC,14366,1.60,1062.0,17.0,17.1,1132,14374,0.00,0.40,0.95,0.083,4,0.000,0.025,2833,1835,442,0,0,0,0,0,0
$STATE,14445,end climb,SURFACE_DEPTH_REACHED
$STATE,14445,begin surface coast
$FINISH,0.4,1.021016
$STATE,14464,end surface coast,CONTROL_FINISHED_OK
$STATE,14464,begin surface
$SM_CCo,14542,0.00,0.000,0,0,442,595.34
$SM_GC,1.17,6.88,0.00,0.00,0.038,0.000,0.000,213,2570,442,-6.45,-0.57,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2004.18,11953.24,270911,171741
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.5,92.308
$10V_AH,9.8,73.194
$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,17.500,30.500,645.600,0.000,0.000,23.149,18.137,127.920,0.250,0.000,15.461,2938.668,8497.904,664.929,2411.304,330.764,33.360,1918.520,0.000,2214.464,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,94.860,1064.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,799.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66924,1149
$CAP_FILE_SIZE,151927,0
$CFSIZE,260165632,199507968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,293.0,1
$GPS,280911,013825,2015.728,11951.200,40,1.5,40,-2.3