version: 66.09
glider: 181
mission: 6
dive: 563
start: 9 28 111 6 8 0
data:
$ID,181
$MISSION,6
$DIVE,563
$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,-41294.984
$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,89
$R_STBD_OVSHOOT,53
$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
$GPS1,280911,060101,2017.898,11949.837,40,0.9,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.8
$GPS2,280911,060701,2018.039,11949.721,8,0.9,13,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.179,0.256
$KALMAN_X,69451.8,-467.3,-996.5,-82952.9,3468.0
$KALMAN_Y,67978.4,-348.3,-123.1,50055.2,-129.2
$MHEAD_RNG_PITCHd_Wd,45.5,162020,-17.4,-11.786
$D_GRID,3273
$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,-194.6,0.0,0.0,0,85,0.00,0.00,-66.80,0.000,2,0.000,0.000,127,2605,2307,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.2,-3.3,11,133,8.62,0.52,-29.73,0.000,4,0.233,0.099,2118,2936,3665,0,0,0,0,0,0
$GC,386,-0.53,-194.6,94.7,-25.8,63,393,0.00,0.45,0.00,0.000,6,0.000,0.030,2118,2583,3665,0,0,0,0,0,0
$GC,528,-0.53,-194.6,133.9,-26.4,88,534,0.00,0.40,0.00,0.000,4,0.000,0.028,2118,2237,3665,0,0,0,0,0,0
$GC,570,-0.53,-194.6,144.0,-23.9,95,577,0.00,0.50,0.00,0.000,6,0.000,0.040,2115,2580,3666,0,0,0,0,0,0
$GC,710,-0.53,-194.6,177.1,-22.4,120,717,0.00,0.50,0.00,0.000,4,0.000,0.040,2113,2942,3666,0,0,0,0,0,0
$GC,859,-0.53,-194.6,202.8,-14.9,145,863,0.00,0.45,0.00,0.000,6,0.000,0.030,2113,2586,3666,0,0,0,0,0,0
$GC,1190,-0.53,-194.6,245.3,-15.5,176,1193,0.00,0.50,0.00,0.000,4,0.000,0.039,2110,2937,3666,0,0,0,0,0,0
$GC,1226,-0.53,-194.6,251.5,-18.3,179,1230,0.00,0.43,0.00,0.000,6,0.000,0.030,2110,2595,3667,0,0,0,0,0,0
$GC,1556,-0.53,-194.6,316.2,-18.2,210,1560,0.00,0.43,0.00,0.000,4,0.000,0.028,2110,2229,3667,0,0,0,0,0,0
$GC,1663,-0.53,-194.6,333.1,-14.6,219,1669,0.00,0.52,0.00,0.000,6,0.000,0.039,2108,2586,3666,0,0,0,0,0,0
$GC,1988,-0.53,-194.6,375.7,-13.6,250,1991,0.00,0.50,0.00,0.000,4,0.000,0.042,2105,2945,3663,0,0,0,0,0,0
$GC,2124,-0.53,-194.6,396.8,-16.4,262,2128,0.00,0.45,0.00,0.000,6,0.000,0.031,2105,2596,3662,0,0,0,0,0,0
$GC,2455,-0.53,-194.6,452.0,-15.2,293,2459,0.00,0.43,0.00,0.000,4,0.000,0.029,2105,2244,3658,0,0,0,0,0,0
$GC,2506,-0.53,-194.6,459.2,-13.5,297,2512,0.00,0.52,0.00,0.000,6,0.000,0.040,2103,2596,3657,0,0,0,0,0,0
$GC,2841,-0.53,-194.6,504.6,-15.1,328,2844,0.00,0.47,0.00,0.000,4,0.000,0.042,2100,2938,3654,0,0,0,0,0,0
$GC,2891,-0.53,-194.6,512.9,-16.6,330,2895,0.00,0.45,0.00,0.000,6,0.000,0.030,2100,2587,3654,0,0,0,0,0,0
$GC,3219,-0.53,-194.6,569.4,-17.4,346,3222,0.00,0.43,0.00,0.000,4,0.000,0.029,2100,2234,3651,0,0,0,0,0,0
$GC,3394,-0.53,-194.6,597.4,-15.4,353,3401,0.08,0.52,0.00,0.000,6,0.146,0.041,2122,2579,3649,0,0,0,0,0,0
$GC,3709,-0.53,-194.6,639.2,-13.5,369,3713,0.00,0.52,0.00,0.000,4,0.000,0.044,2121,2946,3647,0,0,0,0,0,0
$GC,3742,-0.53,-194.6,644.1,-14.2,370,3746,0.00,0.47,0.00,0.000,6,0.000,0.030,2121,2594,3646,0,0,0,0,0,0
$GC,4065,-0.53,-194.6,689.8,-14.0,386,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2593,3642,0,0,0,0,0,0
$GC,4373,-0.53,-194.6,730.9,-13.1,401,4377,0.00,0.43,0.00,0.000,4,0.000,0.030,2121,2253,3640,0,0,0,0,0,0
$GC,4420,-0.53,-194.6,736.8,-12.8,403,4423,0.00,0.52,0.00,0.000,6,0.000,0.041,2119,2598,3640,0,0,0,0,0,0
$GC,4754,-0.53,-194.6,780.0,-12.8,419,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2597,3637,0,0,0,0,0,0
$GC,5061,-0.53,-194.6,818.5,-12.1,434,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2598,3635,0,0,0,0,0,0
$GC,5371,-0.53,-194.6,853.8,-11.1,449,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2597,3633,0,0,0,0,0,0
$GC,5680,-0.53,-194.6,889.9,-11.9,464,5684,0.00,0.50,0.00,0.000,4,0.000,0.044,2116,2946,3631,0,0,0,0,0,0
$GC,5726,-0.53,-194.6,895.5,-12.5,466,5730,0.00,0.47,0.00,0.000,6,0.000,0.031,2116,2593,3631,0,0,0,0,0,0
$GC,6060,-0.53,-194.6,937.8,-12.8,482,6063,0.00,0.43,0.00,0.000,4,0.000,0.030,2116,2240,3629,0,0,0,0,0,0
$GC,6173,-0.53,-194.6,952.1,-12.2,487,6178,0.00,0.52,0.00,0.000,6,0.000,0.042,2113,2586,3628,0,0,0,0,0,0
$STATE,6504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6505,begin apogee
$GC,6512,-0.13,0.0,991.1,11.2,503,6668,0.43,0.00,151.57,1.065,6,0.129,0.000,2249,2151,2869,0,0,0,0,0,0
$STATE,6669,end apogee,CONTROL_FINISHED_OK
$STATE,6669,begin climb
$GC,6672,0.53,194.6,996.2,0.0,510,6837,0.62,0.50,157.40,1.045,4,0.086,0.031,2468,1807,2074,0,0,0,0,0,0
$GC,6916,0.61,259.8,981.2,9.1,521,6974,0.00,0.55,53.05,1.018,6,0.000,0.031,2468,2193,1809,0,0,0,0,0,0
$GC,7302,0.69,322.5,945.5,9.2,540,7359,0.15,0.45,50.65,1.008,4,0.080,0.038,2535,2505,1554,0,0,0,0,0,0
$GC,7504,0.69,322.5,921.3,12.1,549,7508,0.00,0.50,0.00,0.000,6,0.000,0.028,2538,2137,1554,0,0,0,0,0,0
$GC,7832,0.71,339.5,884.1,11.1,565,7854,0.00,0.55,15.62,0.924,4,0.000,0.029,2538,2505,1483,0,0,0,0,0,0
$GC,7972,0.73,360.4,869.1,10.9,571,7995,0.00,0.45,18.42,0.917,6,0.000,0.029,2540,2156,1399,0,0,0,0,0,0
$GC,8305,0.81,421.3,836.7,9.3,587,8358,0.00,0.55,48.85,0.953,4,0.000,0.034,2540,2505,1151,0,0,0,0,0,0
$GC,8533,0.89,486.0,815.6,9.1,597,8591,0.10,0.43,53.30,0.937,6,0.059,0.030,2597,2165,886,0,0,0,0,0,0
$GC,8919,0.92,511.3,772.7,10.8,616,8946,0.00,0.52,23.65,0.887,4,0.000,0.038,2598,2500,784,0,0,0,0,0,0
$GC,9198,0.98,561.9,743.5,9.7,628,9249,0.00,0.43,41.75,0.890,6,0.000,0.031,2599,2169,577,0,0,0,0,0,0
$GC,9557,1.02,595.8,708.0,10.4,646,9589,0.00,0.52,28.08,0.859,4,0.000,0.036,2599,2502,439,0,0,0,0,0,0
$GC,9844,1.03,602.5,676.1,11.5,659,9848,0.00,0.43,0.52,0.091,6,0.000,0.031,2601,2166,440,0,0,0,0,0,0
$GC,10178,1.05,618.2,639.3,11.1,675,10183,0.10,0.50,0.03,0.327,4,0.106,0.038,2645,2506,440,0,0,0,0,0,0
$GC,10427,1.05,618.2,604.8,14.0,686,10431,0.00,0.43,0.45,0.095,6,0.000,0.030,2647,2165,441,0,0,0,0,0,0
$GC,10759,1.05,618.2,559.7,13.7,702,10763,0.00,0.47,0.00,0.000,4,0.000,0.037,2647,2502,440,0,0,0,0,0,0
$GC,10954,1.05,618.2,530.7,15.1,710,10962,0.00,0.45,0.00,0.000,6,0.000,0.028,2649,2159,440,0,0,0,0,0,0
$GC,11274,1.05,618.2,481.1,16.0,731,11277,0.00,0.50,0.00,0.000,4,0.000,0.037,2649,2505,440,0,0,0,0,0,0
$GC,11487,1.05,618.2,445.3,15.8,750,11492,0.00,0.43,0.05,0.151,6,0.000,0.031,2651,2164,440,0,0,0,0,0,0
$GC,11817,1.05,618.2,395.9,13.9,781,11821,0.00,0.47,0.00,0.000,4,0.000,0.034,2650,2504,440,0,0,0,0,0,0
$GC,11866,1.05,618.2,388.7,13.8,785,11873,0.00,0.45,0.00,0.000,6,0.000,0.029,2652,2159,440,0,0,0,0,0,0
$GC,12192,1.05,618.2,342.8,15.6,816,12195,0.00,0.47,0.00,0.000,4,0.000,0.033,2652,2503,440,0,0,0,0,0,0
$GC,12241,1.05,618.2,334.0,17.5,820,12248,0.00,0.45,0.00,0.000,6,0.000,0.030,2654,2156,441,0,0,0,0,0,0
$GC,12569,1.05,618.2,285.0,13.5,851,12571,0.00,0.00,0.20,0.132,6,0.000,0.000,2654,2156,441,0,0,0,0,0,0
$GC,12885,1.05,618.2,236.6,16.7,881,12890,0.00,0.40,0.95,0.093,4,0.000,0.026,2656,1833,441,0,0,0,0,0,0
$GC,12920,1.05,618.2,230.8,16.9,884,12925,0.00,0.45,2.15,0.161,6,0.000,0.032,2656,2165,440,0,0,0,0,0,0
$GC,13252,1.09,649.2,187.7,10.5,924,13258,0.00,0.45,0.00,0.000,4,0.000,0.037,2656,2503,440,0,0,0,0,0,0
$GC,13479,1.09,649.2,160.4,13.7,964,13487,0.00,0.43,0.12,0.110,6,0.000,0.030,2658,2160,440,0,0,0,0,0,0
$GC,13623,1.09,649.2,142.0,12.5,989,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2160,440,0,0,0,0,0,0
$GC,13766,1.17,716.0,126.2,9.1,1014,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2160,440,0,0,0,0,0,0
$GC,13908,1.24,771.4,113.8,9.5,1039,13914,0.12,0.00,0.00,0.000,6,0.084,0.000,2724,2160,440,0,0,0,0,0,0
$GC,14050,1.24,771.4,94.1,14.0,1064,14057,0.00,0.40,0.00,0.000,4,0.000,0.035,2726,1831,440,0,0,0,0,0,0
$GC,14115,1.24,771.4,84.5,15.0,1075,14122,0.00,0.45,0.03,0.196,6,0.000,0.032,2726,2165,440,0,0,0,0,0,0
$GC,14257,1.26,789.8,66.3,11.0,1100,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2165,440,0,0,0,0,0,0
$GC,14398,1.26,789.8,50.2,12.1,1125,14404,0.00,0.45,0.00,0.000,4,0.000,0.037,2726,2505,440,0,0,0,0,0,0
$GC,14435,1.26,789.8,45.8,12.4,1131,14443,0.00,0.43,0.22,0.093,6,0.000,0.031,2728,2169,441,0,0,0,0,0,0
$GC,14577,1.35,862.6,31.2,8.8,1156,14584,0.00,0.43,0.57,0.093,4,0.000,0.027,2730,1833,441,0,0,0,0,0,0
$GC,14727,1.40,899.1,16.6,10.3,1182,14735,0.00,0.45,0.35,0.084,6,0.000,0.032,2730,2172,442,0,0,0,0,0,0
$GC,14871,1.45,940.0,3.0,10.1,1207,14879,0.10,0.50,2.22,0.155,4,0.096,0.036,2790,2506,439,0,0,0,0,0,0
$STATE,14885,end climb,SURFACE_DEPTH_REACHED
$STATE,14885,begin surface coast
$FINISH,0.3,1.008640
$STATE,14920,end surface coast,CONTROL_FINISHED_OK
$STATE,14920,begin surface
$SM_CCo,14998,0.00,0.000,0,0,439,596.08
$SM_GC,1.12,6.68,0.00,0.00,0.031,0.000,0.000,206,2578,439,-6.46,-0.34,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2008.77,11952.39,280911,010139
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.2,92.684
$10V_AH,9.8,73.358
$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,17.000,28.350,650.225,0.000,0.000,23.954,36.765,156.514,0.000,0.000,16.672,3101.814,8607.356,678.888,2625.383,338.491,33.358,1991.700,0.000,2368.243,0.000,0.539,0.000
$DEVICE_MAMPS,233.325,104.805,1064.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,844.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322232
$DATA_FILE_SIZE,70285,1215
$CAP_FILE_SIZE,158562,0
$CFSIZE,260165632,199348224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,309.8,1
$GPS,280911,101907,2020.140,11950.248,28,1.3,28,-2.3