version: 66.09
glider: 181
mission: 6
dive: 562
start: 9 28 111 1 44 48
data:
$ID,181
$MISSION,6
$DIVE,562
$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,-41293.633
$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,94
$R_STBD_OVSHOOT,35
$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
$GPS1,280911,013825,2015.728,11951.200,40,1.5,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.2
$GPS2,280911,014349,2015.863,11951.043,10,1.2,15,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.079,0.302
$KALMAN_X,71523.8,-1606.6,-959.9,-81651.6,1865.0
$KALMAN_Y,69407.2,-702.5,-146.6,44965.6,510.5
$MHEAD_RNG_PITCHd_Wd,26.3,165799,-17.4,-11.786
$D_GRID,3287
$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,-73.00,0.000,2,0.000,0.000,127,2568,2458,0,0,0,0,0,0
$GC,95,-0.53,-194.6,3.4,-3.4,12,133,8.82,0.62,-24.88,0.000,4,0.239,0.089,2117,2965,3665,0,0,0,0,0,0
$GC,386,-0.53,-194.6,104.9,-25.9,63,393,0.00,0.47,0.00,0.000,6,0.000,0.030,2117,2598,3665,0,0,0,0,0,0
$GC,528,-0.53,-194.6,135.9,-21.1,88,535,0.00,0.43,0.00,0.000,4,0.000,0.029,2117,2232,3666,0,0,0,0,0,0
$GC,587,-0.53,-194.6,147.9,-20.4,98,594,0.00,0.55,0.00,0.000,6,0.000,0.040,2114,2606,3666,0,0,0,0,0,0
$GC,731,-0.53,-194.6,178.7,-18.7,123,738,0.00,0.47,0.00,0.000,4,0.000,0.041,2111,2948,3667,0,0,0,0,0,0
$GC,830,-0.53,-194.6,196.3,-17.9,140,836,0.00,0.47,0.00,0.000,6,0.000,0.029,2111,2579,3667,0,0,0,0,0,0
$GC,972,-0.53,-194.6,221.2,-17.1,155,975,0.00,0.52,0.00,0.000,4,0.000,0.040,2109,2942,3667,0,0,0,0,0,0
$GC,1010,-0.53,-194.6,228.0,-16.9,158,1018,0.00,0.47,0.00,0.000,6,0.000,0.028,2109,2579,3667,0,0,0,0,0,0
$GC,1335,-0.53,-194.6,279.4,-16.4,189,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2579,3667,0,0,0,0,0,0
$GC,1659,-0.53,-194.6,332.4,-14.7,219,1663,0.00,0.52,0.00,0.000,4,0.000,0.041,2106,2940,3666,0,0,0,0,0,0
$GC,1795,-0.53,-194.6,352.9,-13.7,231,1798,0.00,0.45,0.00,0.000,6,0.000,0.031,2106,2588,3665,0,0,0,0,0,0
$GC,2125,-0.53,-194.6,402.3,-16.3,262,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2588,3663,0,0,0,0,0,0
$GC,2446,-0.53,-194.6,453.8,-15.5,292,2449,0.00,0.50,0.00,0.000,4,0.000,0.041,2103,2934,3659,0,0,0,0,0,0
$GC,2507,-0.53,-194.6,464.5,-16.5,297,2514,0.00,0.45,0.00,0.000,6,0.000,0.031,2103,2586,3658,0,0,0,0,0,0
$GC,2833,-0.53,-194.6,519.0,-17.5,323,2837,0.00,0.43,0.00,0.000,4,0.000,0.030,2103,2228,3655,0,0,0,0,0,0
$GC,2871,-0.53,-194.6,526.6,-16.9,324,2879,0.00,0.55,0.00,0.000,6,0.000,0.039,2100,2587,3655,0,0,0,0,0,0
$GC,3189,-0.53,-194.6,582.1,-17.6,340,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2587,3652,0,0,0,0,0,0
$GC,3497,-0.53,-194.6,630.8,-14.9,355,3501,0.00,0.43,0.00,0.000,4,0.000,0.030,2100,2261,3649,0,0,0,0,0,0
$GC,3581,-0.53,-194.6,642.3,-13.0,358,3589,0.12,0.52,0.00,0.000,6,0.163,0.041,2132,2596,3648,0,0,0,0,0,0
$GC,3898,-0.53,-194.6,674.8,-10.1,374,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2596,3646,0,0,0,0,0,0
$GC,4207,-0.53,-194.6,704.5,-9.4,389,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2597,3642,0,0,0,0,0,0
$GC,4516,-0.53,-194.6,735.3,-9.8,404,4520,0.00,0.45,0.00,0.000,4,0.000,0.028,2132,2251,3640,0,0,0,0,0,0
$GC,4594,-0.53,-194.6,743.3,-9.7,407,4598,0.00,0.52,0.00,0.000,6,0.000,0.041,2130,2596,3640,0,0,0,0,0,0
$GC,4916,-0.53,-194.6,776.7,-10.4,423,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2597,3638,0,0,0,0,0,0
$GC,5226,-0.53,-194.6,810.1,-10.9,438,5230,0.00,0.45,0.00,0.000,4,0.000,0.028,2130,2245,3635,0,0,0,0,0,0
$GC,5310,-0.53,-194.6,819.7,-10.8,441,5317,0.00,0.52,0.00,0.000,6,0.000,0.041,2128,2592,3634,0,0,0,0,0,0
$GC,5627,-0.53,-194.6,858.1,-12.4,457,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2592,3633,0,0,0,0,0,0
$GC,5935,-0.53,-194.6,897.1,-12.3,472,5939,0.00,0.45,0.00,0.000,4,0.000,0.029,2128,2249,3631,0,0,0,0,0,0
$GC,6117,-0.53,-194.6,917.5,-10.6,480,6120,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2592,3630,0,0,0,0,0,0
$GC,6450,-0.53,-194.6,955.6,-11.5,496,6453,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2237,3628,0,0,0,0,0,0
$GC,6483,-0.53,-194.6,959.7,-11.5,497,6486,0.00,0.55,0.00,0.000,6,0.000,0.044,2125,2592,3627,0,0,0,0,0,0
$STATE,6761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6761,begin apogee
$GC,6768,-0.13,0.0,991.7,11.8,511,6925,0.40,0.00,151.75,1.061,6,0.126,0.000,2253,2156,2869,0,0,0,0,0,0
$STATE,6926,end apogee,CONTROL_FINISHED_OK
$STATE,6926,begin climb
$GC,6929,0.53,194.6,1000.1,0.0,518,7095,0.62,0.50,157.50,1.047,4,0.086,0.033,2473,1812,2075,0,0,0,0,0,0
$GC,7170,0.68,317.3,991.1,6.8,529,7277,0.10,0.52,98.78,1.032,6,0.059,0.030,2525,2187,1575,0,0,0,0,0,0
$GC,7594,0.72,348.3,948.6,10.5,550,7624,0.00,0.45,26.05,0.985,4,0.000,0.032,2526,2500,1448,0,0,0,0,0,0
$GC,7876,0.72,348.3,916.0,12.0,562,7883,0.00,0.50,0.00,0.000,6,0.000,0.029,2527,2137,1449,0,0,0,0,0,0
$GC,8193,0.72,348.3,878.7,11.8,578,8197,0.00,0.52,0.00,0.000,4,0.000,0.034,2528,2505,1451,0,0,0,0,0,0
$GC,8288,0.72,348.3,867.2,12.1,582,8292,0.00,0.47,0.00,0.000,6,0.000,0.029,2529,2153,1451,0,0,0,0,0,0
$GC,8616,0.74,367.7,831.0,11.0,598,8639,0.00,0.55,17.73,0.921,4,0.000,0.034,2529,2506,1369,0,0,0,0,0,0
$GC,8741,0.77,390.2,817.1,10.9,603,8763,0.00,0.45,19.23,0.893,6,0.000,0.030,2530,2161,1278,0,0,0,0,0,0
$GC,9083,0.82,428.5,781.7,10.2,620,9118,0.00,0.47,31.88,0.910,4,0.000,0.028,2530,2506,1122,0,0,0,0,0,0
$GC,9171,0.86,466.6,772.4,10.2,624,9207,0.10,0.45,32.00,0.890,6,0.061,0.030,2586,2164,966,0,0,0,0,0,0
$GC,9518,0.87,468.9,730.4,11.7,640,9527,0.00,0.52,4.28,0.604,4,0.000,0.037,2586,2501,957,0,0,0,0,0,0
$GC,9782,0.88,479.8,700.1,11.3,651,9797,0.00,0.45,10.38,0.783,6,0.000,0.031,2588,2156,912,0,0,0,0,0,0
$GC,10122,0.90,495.5,662.9,11.1,668,10144,0.00,0.52,14.68,0.796,4,0.000,0.036,2588,2502,849,0,0,0,0,0,0
$GC,10358,0.90,495.5,634.8,12.3,678,10362,0.00,0.45,0.00,0.000,6,0.000,0.030,2589,2155,853,0,0,0,0,0,0
$GC,10680,0.90,495.5,592.6,13.4,694,10684,0.00,0.47,0.00,0.000,4,0.000,0.035,2590,2501,857,0,0,0,0,0,0
$GC,10803,0.90,495.5,575.3,14.3,699,10806,0.00,0.43,0.00,0.000,6,0.000,0.032,2592,2164,857,0,0,0,0,0,0
$GC,11124,0.90,495.5,529.3,14.4,715,11128,0.00,0.47,0.00,0.000,4,0.000,0.034,2592,2505,856,0,0,0,0,0,0
$GC,11202,0.90,495.5,517.6,15.0,718,11206,0.00,0.43,0.00,0.000,6,0.000,0.031,2592,2169,856,0,0,0,0,0,0
$GC,11531,0.90,495.5,475.0,11.8,743,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2169,856,0,0,0,0,0,0
$GC,11850,0.95,534.3,442.7,10.2,773,11888,0.00,0.45,32.88,0.715,4,0.000,0.037,2594,1834,690,0,0,0,0,0,0
$GC,11922,0.98,561.3,434.4,10.7,779,11952,0.00,0.45,22.48,0.676,6,0.000,0.031,2594,2163,579,0,0,0,0,0,0
$GC,12270,0.98,561.3,388.9,13.7,812,12273,0.00,0.47,0.00,0.000,4,0.000,0.037,2594,2512,584,0,0,0,0,0,0
$GC,12297,0.98,561.3,384.9,13.8,814,12304,0.00,0.47,0.00,0.000,6,0.000,0.031,2594,2171,584,0,0,0,0,0,0
$GC,12623,1.06,625.3,348.3,9.2,845,12658,0.12,0.50,28.55,0.653,4,0.096,0.034,2648,1817,440,0,0,0,0,0,0
$GC,12754,1.15,699.7,336.9,8.8,856,12762,0.00,0.50,0.00,0.000,6,0.000,0.030,2648,2179,439,0,0,0,0,0,0
$GC,13079,1.16,707.0,306.5,11.5,887,13083,0.00,0.43,0.00,0.000,4,0.000,0.038,2647,2500,439,0,0,0,0,0,0
$GC,13124,1.16,707.0,300.5,14.0,891,13128,0.00,0.45,0.00,0.000,6,0.000,0.031,2648,2163,439,0,0,0,0,0,0
$GC,13455,1.16,707.0,246.5,15.8,922,13459,0.00,0.47,0.00,0.000,4,0.000,0.033,2649,2506,439,0,0,0,0,0,0
$GC,13512,1.16,707.0,238.5,13.8,927,13516,0.00,0.45,0.00,0.000,6,0.000,0.031,2649,2164,439,0,0,0,0,0,0
$GC,13843,1.25,782.3,209.0,8.7,958,13848,0.15,0.50,0.00,0.000,4,0.080,0.033,2722,2506,439,0,0,0,0,0,0
$GC,13892,1.25,782.3,201.7,17.1,962,13899,0.00,0.45,0.00,0.000,6,0.000,0.030,2724,2154,439,0,0,0,0,0,0
$GC,14233,1.25,782.3,133.9,16.1,1022,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2154,438,0,0,0,0,0,0
$GC,14376,1.34,855.0,118.2,8.8,1047,14382,0.00,0.40,0.00,0.000,4,0.000,0.033,2726,1818,438,0,0,0,0,0,0
$GC,14480,1.48,968.5,110.1,7.2,1065,14488,0.10,0.47,0.00,0.000,6,0.063,0.032,2785,2165,437,0,0,0,0,0,0
$GC,14623,1.48,968.5,89.9,15.7,1090,14629,0.00,0.45,0.00,0.000,4,0.000,0.037,2785,2505,437,0,0,0,0,0,0
$GC,14760,1.48,968.5,65.6,18.5,1114,14767,0.00,0.43,0.00,0.000,6,0.000,0.031,2787,2164,437,0,0,0,0,0,0
$GC,14904,1.48,968.5,43.2,14.2,1139,14910,0.00,0.40,0.00,0.000,4,0.000,0.035,2789,1832,438,0,0,0,0,0,0
$GC,14989,1.48,968.5,31.6,12.4,1154,14996,0.00,0.45,0.00,0.000,6,0.000,0.031,2789,2169,438,0,0,0,0,0,0
$GC,15133,1.48,968.5,12.1,14.8,1179,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2169,439,0,0,0,0,0,0
$STATE,15193,end climb,SURFACE_DEPTH_REACHED
$STATE,15193,begin surface coast
$FINISH,0.3,1.020453
$STATE,15216,end surface coast,CONTROL_FINISHED_OK
$STATE,15217,begin surface
$SM_CCo,15293,0.00,0.000,0,0,439,596.08
$SM_GC,1.06,6.62,0.00,0.00,0.030,0.000,0.000,213,2597,439,-6.44,0.20,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2008.77,11949.25,270911,212133
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.97
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.5,92.493
$10V_AH,9.8,73.275
$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,17.175,29.850,648.125,0.000,0.000,37.562,21.468,126.484,0.250,0.000,18.151,3033.886,9064.630,683.920,2492.786,337.952,33.368,1960.420,0.000,2275.116,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,88.740,1061.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,830.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,70212,1194
$CAP_FILE_SIZE,155764,0
$CFSIZE,260165632,199426048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,285.1,1
$GPS,280911,060101,2017.898,11949.837,40,0.9,40,-2.3