version: 66.09
glider: 181
mission: 6
dive: 568
start: 9 29 111 3 55 10
data:
$ID,181
$MISSION,6
$DIVE,568
$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,1
$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,-41301.758
$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
$GPS1,290911,034837,2028.652,11949.304,35,1.1,35,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.7
$GPS2,290911,035413,2028.749,11949.209,11,1.2,22,-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,58763.1,-198.5,-2049.8,-72398.0,2010.9
$KALMAN_Y,69289.7,-345.5,471.4,67960.6,8.1
$MHEAD_RNG_PITCHd_Wd,347.6,142432,-17.4,-11.786
$D_GRID,3178
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-62.53,0.000,2,0.000,0.000,127,2568,2204,0,0,0,0,0,0
$GC,86,-0.53,-194.6,3.2,-3.4,11,134,8.62,0.62,-32.62,0.000,4,0.230,0.090,2117,2959,3666,0,0,0,0,0,0
$GC,388,-0.53,-194.6,104.6,-23.1,64,395,0.00,0.50,0.00,0.000,6,0.000,0.028,2117,2573,3666,0,0,0,0,0,0
$GC,532,-0.53,-194.6,134.2,-20.1,89,539,0.00,0.38,0.00,0.000,4,0.000,0.030,2117,2246,3666,0,0,0,0,0,0
$GC,681,-0.53,-194.6,162.7,-19.3,115,688,0.00,0.52,0.00,0.000,6,0.000,0.039,2115,2606,3667,0,0,0,0,0,0
$GC,825,-0.53,-194.6,187.9,-16.4,140,832,0.00,0.45,0.00,0.000,4,0.000,0.040,2112,2940,3667,0,0,0,0,0,0
$GC,940,-0.53,-194.6,208.5,-16.4,156,943,0.00,0.43,0.00,0.000,6,0.000,0.030,2112,2593,3667,0,0,0,0,0,0
$GC,1271,-0.53,-194.6,260.9,-14.0,187,1274,0.00,0.50,0.00,0.000,4,0.000,0.041,2109,2940,3667,0,0,0,0,0,0
$GC,1484,-0.53,-194.6,295.6,-16.1,206,1487,0.00,0.45,0.00,0.000,6,0.000,0.031,2109,2585,3667,0,0,0,0,0,0
$GC,1815,-0.53,-194.6,346.3,-14.5,237,1818,0.00,0.50,0.00,0.000,4,0.000,0.041,2107,2934,3666,0,0,0,0,0,0
$GC,1883,-0.53,-194.6,356.8,-15.3,243,1887,0.00,0.43,0.00,0.000,6,0.000,0.031,2107,2596,3665,0,0,0,0,0,0
$GC,2214,-0.53,-194.6,401.9,-13.7,274,2217,0.00,0.43,0.00,0.000,4,0.000,0.030,2107,2245,3663,0,0,0,0,0,0
$GC,2276,-0.53,-194.6,410.1,-13.2,279,2283,0.00,0.50,0.00,0.000,6,0.000,0.041,2104,2581,3662,0,0,0,0,0,0
$GC,2601,-0.53,-194.6,453.6,-12.9,310,2605,0.00,0.50,0.00,0.000,4,0.000,0.041,2101,2939,3658,0,0,0,0,0,0
$GC,2729,-0.53,-194.6,471.9,-14.3,321,2736,0.00,0.47,0.00,0.000,6,0.000,0.030,2101,2586,3657,0,0,0,0,0,0
$GC,3053,-0.53,-194.6,517.3,-13.9,346,3057,0.00,0.52,0.00,0.000,4,0.000,0.043,2098,2946,3654,0,0,0,0,0,0
$GC,3136,-0.53,-194.6,529.6,-13.7,349,3144,0.10,0.47,0.00,0.000,6,0.165,0.030,2124,2590,3653,0,0,0,0,0,0
$GC,3454,-0.53,-194.6,566.8,-12.1,365,3457,0.00,0.45,0.00,0.000,4,0.000,0.031,2124,2234,3650,0,0,0,0,0,0
$GC,3522,-0.53,-194.6,575.3,-12.3,368,3526,0.00,0.52,0.00,0.000,6,0.000,0.041,2123,2585,3649,0,0,0,0,0,0
$GC,3855,-0.53,-194.6,620.3,-14.5,384,3858,0.00,0.50,0.00,0.000,4,0.000,0.044,2120,2937,3647,0,0,0,0,0,0
$GC,3978,-0.53,-194.6,639.2,-15.5,389,3982,0.00,0.45,0.00,0.000,6,0.000,0.031,2120,2591,3646,0,0,0,0,0,0
$GC,4301,-0.53,-194.6,686.1,-13.9,405,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2590,3643,0,0,0,0,0,0
$GC,4609,-0.53,-194.6,726.4,-12.7,420,4613,0.00,0.55,0.00,0.000,4,0.000,0.044,2118,2944,3641,0,0,0,0,0,0
$GC,4688,-0.53,-194.6,736.4,-12.5,423,4691,0.00,0.47,0.00,0.000,6,0.000,0.030,2118,2590,3640,0,0,0,0,0,0
$GC,5009,-0.53,-194.6,777.0,-12.0,439,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2589,3639,0,0,0,0,0,0
$GC,5320,-0.53,-194.6,811.9,-10.9,454,5324,0.00,0.52,0.00,0.000,4,0.000,0.044,2115,2943,3636,0,0,0,0,0,0
$GC,5352,-0.53,-194.6,816.0,-11.5,455,5356,0.00,0.47,0.00,0.000,6,0.000,0.031,2115,2589,3635,0,0,0,0,0,0
$GC,5674,-0.53,-194.6,851.6,-11.6,471,5678,0.00,0.43,0.00,0.000,4,0.000,0.031,2116,2241,3633,0,0,0,0,0,0
$GC,5743,-0.53,-194.6,859.3,-11.1,474,5747,0.00,0.52,0.00,0.000,6,0.000,0.042,2113,2587,3633,0,0,0,0,0,0
$GC,6076,-0.53,-194.6,898.2,-11.5,490,6080,0.00,0.50,0.00,0.000,4,0.000,0.044,2111,2935,3631,0,0,0,0,0,0
$GC,6185,-0.53,-194.6,911.1,-12.1,494,6192,0.00,0.45,0.00,0.000,6,0.000,0.031,2111,2592,3630,0,0,0,0,0,0
$GC,6501,-0.53,-194.6,949.0,-12.0,510,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2593,3629,0,0,0,0,0,0
$GC,6810,-0.53,-194.6,986.7,-12.2,525,6813,0.00,0.52,0.00,0.000,4,0.000,0.045,2109,2941,3627,0,0,0,0,0,0
$STATE,6835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6835,begin apogee
$GC,6843,-0.13,0.0,990.3,12.9,526,7000,0.45,0.00,152.10,1.059,6,0.129,0.000,2252,2162,2868,0,0,0,0,0,0
$STATE,7001,end apogee,CONTROL_FINISHED_OK
$STATE,7001,begin climb
$GC,7004,0.53,194.6,997.3,0.0,533,7168,0.62,0.52,157.25,1.043,4,0.085,0.031,2473,1797,2075,0,0,0,0,0,0
$GC,7237,0.64,281.4,985.6,8.2,544,7312,0.00,0.55,70.25,1.021,6,0.000,0.029,2472,2190,1721,0,0,0,0,0,0
$GC,7634,0.70,333.6,948.2,9.7,564,7682,0.15,0.47,42.60,1.001,4,0.080,0.036,2541,2510,1509,0,0,0,0,0,0
$GC,7821,0.70,333.6,924.4,12.9,572,7829,0.00,0.50,0.00,0.000,6,0.000,0.028,2543,2137,1509,0,0,0,0,0,0
$GC,8138,0.70,333.6,884.9,12.4,588,8141,0.00,0.52,0.00,0.000,4,0.000,0.033,2543,2509,1513,0,0,0,0,0,0
$GC,8221,0.70,333.6,874.0,13.2,591,8228,0.00,0.45,0.00,0.000,6,0.000,0.030,2544,2156,1513,0,0,0,0,0,0
$GC,8537,0.70,333.6,833.9,12.9,607,8541,0.00,0.47,0.00,0.000,4,0.000,0.034,2544,2502,1513,0,0,0,0,0,0
$GC,8638,0.70,333.6,820.2,13.7,611,8642,0.00,0.43,0.00,0.000,6,0.000,0.031,2546,2161,1513,0,0,0,0,0,0
$GC,8960,0.70,333.6,779.3,12.7,627,8963,0.00,0.47,0.00,0.000,4,0.000,0.035,2546,2502,1512,0,0,0,0,0,0
$GC,9031,0.70,333.6,769.8,13.0,630,9035,0.00,0.45,0.00,0.000,6,0.000,0.029,2547,2155,1512,0,0,0,0,0,0
$GC,9360,0.70,333.6,729.1,12.2,646,9363,0.00,0.47,0.00,0.000,4,0.000,0.035,2548,2499,1510,0,0,0,0,0,0
$GC,9432,0.70,333.6,720.2,12.3,649,9436,0.00,0.43,0.00,0.000,6,0.000,0.030,2549,2163,1511,0,0,0,0,0,0
$GC,9760,0.70,333.6,681.5,11.9,665,9764,0.00,0.47,0.00,0.000,4,0.000,0.034,2550,2506,1510,0,0,0,0,0,0
$GC,9821,0.70,333.6,673.8,12.3,667,9828,0.00,0.45,0.00,0.000,6,0.000,0.029,2551,2157,1510,0,0,0,0,0,0
$GC,10138,0.72,352.5,637.9,11.0,683,10159,0.00,0.52,17.27,0.809,4,0.000,0.034,2551,2503,1430,0,0,0,0,0,0
$GC,10229,0.77,386.6,628.4,10.4,687,10260,0.00,0.43,27.80,0.807,6,0.000,0.030,2553,2164,1292,0,0,0,0,0,0
$GC,10576,0.82,432.2,594.0,9.9,704,10619,0.00,0.47,36.70,0.799,4,0.000,0.028,2553,2512,1107,0,0,0,0,0,0
$GC,10734,0.82,432.2,576.3,12.5,711,10737,0.00,0.43,0.00,0.000,6,0.000,0.031,2555,2177,1107,0,0,0,0,0,0
$GC,11067,0.82,432.2,527.8,15.6,727,11071,0.00,0.45,0.00,0.000,4,0.000,0.032,2555,2505,1107,0,0,0,0,0,0
$GC,11136,0.82,432.2,517.3,15.4,730,11139,0.00,0.43,0.00,0.000,6,0.000,0.031,2556,2164,1107,0,0,0,0,0,0
$GC,11465,0.93,517.1,480.3,8.3,754,11541,0.12,0.52,66.95,0.741,4,0.090,0.034,2615,2502,760,0,0,0,0,0,0
$GC,11605,0.99,569.8,466.6,9.6,766,11656,0.00,0.43,43.22,0.711,6,0.000,0.028,2617,2167,545,0,0,0,0,0,0
$GC,11974,0.99,569.8,429.5,13.3,801,11977,0.00,0.47,0.00,0.000,4,0.000,0.036,2617,2503,549,0,0,0,0,0,0
$GC,12091,0.99,569.8,412.1,14.8,811,12098,0.00,0.45,0.00,0.000,6,0.000,0.029,2618,2159,550,0,0,0,0,0,0
$GC,12416,1.01,584.4,368.3,11.2,842,12433,0.00,0.52,13.75,0.643,4,0.000,0.034,2618,2504,485,0,0,0,0,0,0
$GC,12472,1.07,630.9,362.5,9.9,846,12491,0.00,0.43,10.43,0.579,6,0.000,0.031,2620,2164,440,0,0,0,0,0,0
$GC,12809,1.20,739.4,337.4,7.4,878,12813,0.17,0.43,0.00,0.000,4,0.079,0.036,2701,1831,438,0,0,0,0,0,0
$GC,12881,1.20,739.4,327.4,15.2,884,12888,0.00,0.45,0.00,0.000,6,0.000,0.033,2701,2160,438,0,0,0,0,0,0
$GC,13206,1.20,739.4,265.4,21.1,915,13210,0.00,0.47,0.00,0.000,4,0.000,0.040,2701,2505,438,0,0,0,0,0,0
$GC,13376,1.20,739.4,230.8,18.5,930,13380,0.00,0.43,0.00,0.000,6,0.000,0.031,2703,2159,438,0,0,0,0,0,0
$GC,13710,1.20,739.4,179.4,13.9,972,13716,0.00,0.47,0.00,0.000,4,0.000,0.034,2703,2503,438,0,0,0,0,0,0
$GC,13796,1.20,739.4,167.4,14.2,987,13803,0.00,0.43,0.00,0.000,6,0.000,0.031,2704,2166,438,0,0,0,0,0,0
$GC,13940,1.20,739.4,146.9,15.2,1012,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2165,438,0,0,0,0,0,0
$GC,14083,1.20,739.7,127.1,11.8,1037,14090,0.00,0.40,0.00,0.000,4,0.000,0.035,2707,1832,438,0,0,0,0,0,0
$GC,14294,1.25,779.4,106.4,10.2,1074,14301,0.00,0.45,0.00,0.000,6,0.000,0.032,2707,2166,438,0,0,0,0,0,0
$GC,14438,1.25,779.4,89.3,12.6,1099,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2166,438,0,0,0,0,0,0
$GC,14582,1.25,779.9,72.6,11.8,1124,14588,0.00,0.43,0.00,0.000,4,0.000,0.031,2708,1833,438,0,0,0,0,0,0
$GC,14601,1.25,783.3,70.1,11.6,1127,14608,0.00,0.45,0.00,0.000,6,0.000,0.031,2708,2178,438,0,0,0,0,0,0
$GC,14745,1.32,840.0,54.5,9.5,1152,14752,0.00,0.45,0.00,0.000,4,0.000,0.031,2708,1834,438,0,0,0,0,0,0
$GC,15007,1.45,946.4,35.1,7.4,1198,15015,0.12,0.43,0.12,0.105,6,0.057,0.031,2774,2163,441,0,0,0,0,0,0
$GC,15152,1.52,996.9,22.0,9.7,1223,15159,0.00,0.50,2.55,0.207,4,0.000,0.034,2774,2512,439,0,0,0,0,0,0
$GC,15217,1.53,1012.1,15.0,11.2,1234,15225,0.00,0.43,0.17,0.094,6,0.000,0.031,2776,2170,440,0,0,0,0,0,0
$STATE,15331,end climb,SURFACE_DEPTH_REACHED
$STATE,15334,begin surface coast
$FINISH,0.5,1.008809
$STATE,15362,end surface coast,CONTROL_FINISHED_OK
$STATE,15362,begin surface
$SM_CCo,15438,0.00,0.000,0,0,441,595.59
$SM_GC,1.46,6.70,0.00,0.00,0.037,0.000,0.000,205,2567,441,-6.46,-0.65,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2020.26,11953.54,280911,232333
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.12
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,23.5,93.613
$10V_AH,9.8,73.775
$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,17.075,34.225,641.175,0.000,0.000,27.505,21.108,141.170,0.750,0.000,25.636,3015.166,9116.371,695.419,2593.247,346.316,33.366,2012.161,0.000,2360.184,0.000,0.540,0.000
$DEVICE_MAMPS,230.265,89.505,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,873.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,73517,1259
$CAP_FILE_SIZE,162741,0
$CFSIZE,260165632,198955008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290911,081337,2031.251,11947.620,28,1.0,28,-2.3