version: 66.09
glider: 181
mission: 6
dive: 564
start: 9 28 111 10 25 43
data:
$ID,181
$MISSION,6
$DIVE,564
$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,-41296.34
$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,86
$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
$GPS1,280911,101907,2020.140,11950.248,28,1.3,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.7
$GPS2,280911,102444,2020.161,11950.245,13,1.3,13,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.259,0.174
$KALMAN_X,68744.6,1314.3,1832.2,-85963.0,-4099.8
$KALMAN_Y,66941.2,235.6,-52.0,54358.5,-625.7
$MHEAD_RNG_PITCHd_Wd,19.1,158015,-17.4,-11.786
$D_GRID,3260
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-67.95,0.000,2,0.000,0.000,127,2581,2343,0,0,0,0,0,0
$GC,90,-0.53,-194.6,3.3,-3.5,11,135,8.68,0.55,-27.80,0.000,4,0.233,0.094,2118,2945,3665,0,0,0,0,0,0
$GC,388,-0.53,-194.6,109.5,-26.1,63,394,0.00,0.45,0.00,0.000,6,0.000,0.028,2118,2593,3665,0,0,0,0,0,0
$GC,531,-0.53,-194.6,138.2,-18.1,88,539,0.00,0.50,0.00,0.000,4,0.000,0.040,2115,2941,3666,0,0,0,0,0,0
$GC,790,-0.53,-194.6,182.5,-15.8,134,797,0.00,0.45,0.00,0.000,6,0.000,0.030,2115,2580,3667,0,0,0,0,0,0
$GC,938,-0.53,-194.6,203.6,-14.0,158,942,0.00,0.52,0.00,0.000,4,0.000,0.038,2112,2946,3667,0,0,0,0,0,0
$GC,1052,-0.53,-194.6,219.4,-14.1,168,1055,0.00,0.45,0.00,0.000,6,0.000,0.030,2112,2588,3667,0,0,0,0,0,0
$GC,1382,-0.53,-194.6,270.5,-15.9,199,1386,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2244,3667,0,0,0,0,0,0
$GC,1472,-0.53,-194.6,285.2,-16.4,207,1476,0.00,0.52,0.00,0.000,6,0.000,0.040,2111,2597,3667,0,0,0,0,0,0
$GC,1803,-0.53,-194.6,337.1,-12.9,238,1807,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2941,3664,0,0,0,0,0,0
$GC,1842,-0.53,-194.6,342.6,-13.9,241,1848,0.00,0.45,0.00,0.000,6,0.000,0.029,2109,2586,3663,0,0,0,0,0,0
$GC,2167,-0.53,-194.6,393.5,-16.1,272,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2585,3660,0,0,0,0,0,0
$GC,2487,-0.53,-194.6,441.4,-14.2,302,2491,0.00,0.40,0.00,0.000,4,0.000,0.028,2109,2243,3656,0,0,0,0,0,0
$GC,2522,-0.53,-194.6,446.6,-14.5,305,2526,0.00,0.52,0.00,0.000,6,0.000,0.040,2106,2595,3656,0,0,0,0,0,0
$GC,2853,-0.53,-194.6,494.6,-14.7,336,2857,0.00,0.43,0.00,0.000,4,0.000,0.028,2107,2255,3653,0,0,0,0,0,0
$GC,2932,-0.53,-194.6,506.4,-14.5,341,2936,0.00,0.50,0.00,0.000,6,0.000,0.041,2104,2587,3652,0,0,0,0,0,0
$GC,3255,-0.53,-194.6,557.5,-16.0,357,3259,0.00,0.50,0.00,0.000,4,0.000,0.042,2101,2943,3649,0,0,0,0,0,0
$GC,3288,-0.53,-194.6,563.2,-16.4,358,3292,0.00,0.47,0.00,0.000,6,0.000,0.030,2101,2589,3648,0,0,0,0,0,0
$GC,3611,-0.53,-194.6,613.7,-15.4,374,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2589,3646,0,0,0,0,0,0
$GC,3920,-0.53,-194.6,662.7,-16.3,389,3923,0.00,0.52,0.00,0.000,4,0.000,0.042,2098,2944,3643,0,0,0,0,0,0
$GC,3997,-0.53,-194.6,675.7,-16.0,392,4002,0.10,0.47,0.00,0.000,6,0.168,0.030,2124,2593,3642,0,0,0,0,0,0
$GC,4319,-0.53,-194.6,719.6,-13.5,408,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2593,3640,0,0,0,0,0,0
$GC,4628,-0.53,-194.6,759.3,-12.5,423,4631,0.00,0.52,0.00,0.000,4,0.000,0.044,2122,2944,3638,0,0,0,0,0,0
$GC,4683,-0.53,-194.6,766.7,-12.5,425,4687,0.00,0.50,0.00,0.000,6,0.000,0.029,2122,2580,3637,0,0,0,0,0,0
$GC,5006,-0.53,-194.6,806.3,-12.3,441,5010,0.00,0.40,0.00,0.000,4,0.000,0.029,2122,2242,3635,0,0,0,0,0,0
$GC,5067,-0.53,-194.6,813.9,-11.9,443,5075,0.00,0.55,0.00,0.000,6,0.000,0.040,2120,2597,3634,0,0,0,0,0,0
$GC,5383,-0.53,-194.6,853.7,-13.1,459,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2598,3633,0,0,0,0,0,0
$GC,5694,-0.53,-194.6,896.2,-14.1,474,5697,0.00,0.45,0.00,0.000,4,0.000,0.028,2119,2247,3630,0,0,0,0,0,0
$GC,5755,-0.53,-194.6,904.9,-13.4,476,5763,0.00,0.55,0.00,0.000,6,0.000,0.040,2117,2598,3630,0,0,0,0,0,0
$GC,6072,-0.53,-194.6,948.3,-13.5,492,6076,0.00,0.45,0.00,0.000,4,0.000,0.028,2117,2250,3628,0,0,0,0,0,0
$GC,6143,-0.53,-194.6,958.0,-13.1,495,6147,0.00,0.55,0.00,0.000,6,0.000,0.041,2115,2601,3628,0,0,0,0,0,0
$STATE,6406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6406,begin apogee
$GC,6412,-0.13,0.0,992.2,12.7,508,6570,0.43,0.00,151.77,1.062,6,0.130,0.000,2250,2156,2869,0,0,0,0,0,0
$STATE,6571,end apogee,CONTROL_FINISHED_OK
$STATE,6571,begin climb
$GC,6573,0.53,194.6,999.3,0.0,515,6739,0.62,0.50,157.65,1.047,4,0.086,0.032,2469,1809,2075,0,0,0,0,0,0
$GC,6789,0.63,276.4,988.4,8.5,525,6861,0.00,0.52,66.43,1.024,6,0.000,0.030,2469,2182,1741,0,0,0,0,0,0
$GC,7178,0.70,333.1,952.8,9.5,544,7230,0.17,0.50,46.10,1.006,4,0.075,0.037,2548,2512,1510,0,0,0,0,0,0
$GC,7400,0.70,333.1,923.7,14.1,554,7404,0.00,0.50,0.00,0.000,6,0.000,0.028,2551,2132,1511,0,0,0,0,0,0
$GC,7733,0.70,334.0,882.7,11.7,570,7736,0.00,0.52,0.00,0.000,4,0.000,0.034,2551,2502,1515,0,0,0,0,0,0
$GC,7795,0.70,335.3,875.4,11.7,572,7803,0.00,0.43,4.65,0.706,6,0.000,0.031,2552,2162,1502,0,0,0,0,0,0
$GC,8111,0.73,357.7,840.6,10.9,588,8134,0.00,0.52,19.50,0.917,4,0.000,0.036,2552,2501,1410,0,0,0,0,0,0
$GC,8220,0.73,360.9,827.9,11.7,592,8229,0.00,0.43,4.32,0.602,6,0.000,0.030,2554,2171,1397,0,0,0,0,0,0
$GC,8536,0.76,379.3,793.2,11.0,608,8560,0.00,0.45,16.12,0.880,4,0.000,0.031,2554,2505,1322,0,0,0,0,0,0
$GC,8670,0.76,379.3,777.6,12.1,613,8677,0.00,0.45,0.00,0.000,6,0.000,0.030,2556,2160,1321,0,0,0,0,0,0
$GC,8986,0.77,387.3,740.5,11.5,629,8997,0.00,0.52,7.78,0.761,4,0.000,0.035,2556,2502,1290,0,0,0,0,0,0
$GC,9127,0.78,396.0,724.3,11.4,635,9139,0.00,0.43,8.60,0.754,6,0.000,0.030,2557,2166,1253,0,0,0,0,0,0
$GC,9448,0.83,435.5,690.7,10.2,651,9483,0.00,0.45,31.80,0.861,4,0.000,0.031,2557,2500,1094,0,0,0,0,0,0
$GC,9715,0.86,464.3,663.2,10.6,663,9745,0.00,0.43,24.88,0.828,6,0.000,0.031,2559,2169,975,0,0,0,0,0,0
$GC,10068,0.92,510.2,628.0,9.9,680,10113,0.10,0.52,38.83,0.825,4,0.107,0.037,2607,2500,789,0,0,0,0,0,0
$GC,10349,0.92,510.2,592.8,12.2,692,10353,0.00,0.45,0.00,0.000,6,0.000,0.030,2609,2160,791,0,0,0,0,0,0
$GC,10672,0.92,513.2,555.0,11.7,708,10681,0.00,0.52,4.82,0.598,4,0.000,0.037,2609,2504,776,0,0,0,0,0,0
$GC,10934,0.95,535.3,525.2,10.9,719,10956,0.00,0.43,18.60,0.736,6,0.000,0.030,2611,2167,685,0,0,0,0,0,0
$GC,11268,0.99,573.3,490.0,10.2,739,11304,0.00,0.47,30.42,0.733,4,0.000,0.034,2612,1822,532,0,0,0,0,0,0
$GC,11477,1.04,612.1,468.7,10.2,757,11499,0.00,0.47,19.17,0.696,6,0.000,0.032,2612,2164,440,0,0,0,0,0,0
$GC,11819,1.14,689.0,438.0,8.6,789,11826,0.15,0.52,2.62,0.319,4,0.090,0.037,2678,2516,440,0,0,0,0,0,0
$GC,12023,1.14,689.0,410.8,12.9,806,12030,0.00,0.45,0.10,0.117,6,0.000,0.030,2680,2161,440,0,0,0,0,0,0
$GC,12350,1.14,689.0,370.9,12.4,837,12354,0.00,0.40,0.00,0.000,4,0.000,0.034,2683,1830,440,0,0,0,0,0,0
$GC,12412,1.14,689.0,362.0,14.0,842,12418,0.00,0.47,0.00,0.000,6,0.000,0.032,2682,2175,440,0,0,0,0,0,0
$GC,12737,1.14,689.0,318.1,12.3,873,12741,0.00,0.45,0.00,0.000,4,0.000,0.039,2683,2510,440,0,0,0,0,0,0
$GC,12863,1.14,689.0,302.1,12.7,884,12867,0.00,0.43,0.03,0.198,6,0.000,0.029,2685,2164,440,0,0,0,0,0,0
$GC,13193,1.16,710.0,268.1,10.9,915,13197,0.00,0.47,0.00,0.000,4,0.000,0.034,2685,2506,440,0,0,0,0,0,0
$GC,13277,1.16,710.0,257.8,13.0,922,13284,0.00,0.43,0.05,0.150,6,0.000,0.030,2687,2162,440,0,0,0,0,0,0
$GC,13603,1.19,731.3,221.1,10.9,953,13606,0.00,0.40,0.00,0.000,4,0.000,0.034,2689,1832,440,0,0,0,0,0,0
$GC,13642,1.23,768.5,216.9,10.3,956,13651,0.00,0.45,0.20,0.100,6,0.000,0.031,2689,2168,440,0,0,0,0,0,0
$GC,13979,1.29,811.7,169.9,10.0,1005,13986,0.00,0.47,0.05,0.255,4,0.000,0.038,2689,2503,441,0,0,0,0,0,0
$GC,14237,1.29,811.7,139.1,15.6,1051,14244,0.00,0.43,0.57,0.084,6,0.000,0.031,2690,2166,441,0,0,0,0,0,0
$GC,14379,1.29,811.7,117.6,14.4,1076,14387,0.00,0.47,0.22,0.120,4,0.000,0.025,2690,2505,441,0,0,0,0,0,0
$GC,14439,1.29,811.7,109.5,13.3,1086,14446,0.00,0.43,0.45,0.085,6,0.000,0.031,2691,2172,441,0,0,0,0,0,0
$GC,14584,1.31,830.8,91.8,11.0,1111,14591,0.00,0.45,0.35,0.105,4,0.000,0.026,2693,1824,441,0,0,0,0,0,0
$GC,14693,1.39,896.6,81.3,9.1,1130,14701,0.12,0.45,2.38,0.190,6,0.046,0.030,2772,2168,440,0,0,0,0,0,0
$GC,14836,1.39,896.6,65.3,12.1,1155,14843,0.00,0.43,0.00,0.000,4,0.000,0.037,2772,2498,440,0,0,0,0,0,0
$GC,14992,1.39,896.6,46.0,13.2,1182,14999,0.00,0.43,0.47,0.082,6,0.000,0.031,2774,2160,441,0,0,0,0,0,0
$GC,15133,1.39,896.6,25.9,12.4,1207,15141,0.00,0.43,0.35,0.102,4,0.000,0.026,2776,1820,442,0,0,0,0,0,0
$GC,15239,1.43,923.4,14.0,10.7,1225,15246,0.00,0.45,2.47,0.191,6,0.000,0.032,2776,2162,439,0,0,0,0,0,0
$STATE,15335,end climb,SURFACE_DEPTH_REACHED
$STATE,15335,begin surface coast
$FINISH,0.5,1.021064
$STATE,15358,end surface coast,CONTROL_FINISHED_OK
$STATE,15358,begin surface
$SM_CCo,15436,0.00,0.000,0,0,440,595.83
$SM_GC,1.53,6.70,0.00,0.00,0.037,0.000,0.000,214,2580,440,-6.45,-0.25,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2008.77,11949.25,280911,060602
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.22
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.2,92.869
$10V_AH,9.8,73.442
$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,17.075,32.225,661.775,0.000,0.000,33.280,30.476,130.561,0.500,0.000,16.467,3187.104,8912.010,687.223,2636.484,343.866,33.356,2022.639,0.000,2404.878,0.000,0.540,0.000
$DEVICE_MAMPS,233.325,94.095,1061.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,866.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,70307,1246
$CAP_FILE_SIZE,164411,0
$CFSIZE,260165632,199262208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,287.7,1
$GPS,280911,144407,2022.376,11948.948,29,1.1,29,-2.3