version: 66.09
glider: 181
mission: 6
dive: 569
start: 9 29 111 8 20 4
data:
$ID,181
$MISSION,6
$DIVE,569
$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,-41303.105
$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,93
$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
$GPS1,290911,081337,2031.251,11947.620,28,1.0,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.1
$GPS2,290911,081907,2031.328,11947.550,12,1.0,17,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.203,0.237
$KALMAN_X,53797.0,1144.7,-27.9,-73670.3,-2596.8
$KALMAN_Y,69672.3,-264.7,-281.7,73037.7,1127.1
$MHEAD_RNG_PITCHd_Wd,42.9,138112,-17.4,-11.786
$D_GRID,3164
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-61.85,0.000,2,0.000,0.000,127,2572,2191,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.0,-3.0,11,132,8.70,0.60,-33.53,0.000,4,0.235,0.089,2121,2955,3664,0,0,0,0,0,0
$GC,319,-0.53,-194.6,89.3,-30.7,52,326,0.00,0.45,0.00,0.000,6,0.000,0.029,2121,2593,3665,0,0,0,0,0,0
$GC,462,-0.53,-194.6,121.5,-16.1,77,469,0.00,0.43,0.00,0.000,4,0.000,0.028,2121,2223,3665,0,0,0,0,0,0
$GC,694,-0.53,-194.6,154.9,-14.9,118,701,0.00,0.55,0.00,0.000,6,0.000,0.037,2118,2601,3665,0,0,0,0,0,0
$GC,838,-0.53,-194.6,179.8,-18.4,143,845,0.00,0.45,0.00,0.000,4,0.000,0.040,2116,2939,3664,0,0,0,0,0,0
$GC,925,-0.53,-194.6,196.6,-19.0,158,931,0.00,0.43,0.00,0.000,6,0.000,0.030,2116,2588,3664,0,0,0,0,0,0
$GC,1061,-0.53,-194.6,220.6,-16.8,172,1065,0.00,0.50,0.00,0.000,4,0.000,0.039,2113,2940,3665,0,0,0,0,0,0
$GC,1267,-0.53,-194.6,256.4,-15.5,190,1275,0.00,0.45,0.00,0.000,6,0.000,0.028,2113,2584,3664,0,0,0,0,0,0
$GC,1593,-0.53,-194.6,295.8,-13.0,221,1597,0.00,0.40,0.00,0.000,4,0.000,0.028,2113,2233,3664,0,0,0,0,0,0
$GC,1632,-0.53,-194.6,301.7,-14.8,224,1639,0.00,0.52,0.00,0.000,6,0.000,0.039,2111,2592,3664,0,0,0,0,0,0
$GC,1957,-0.53,-194.6,353.9,-14.1,255,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2591,3661,0,0,0,0,0,0
$GC,2278,-0.53,-194.6,394.0,-14.5,285,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2591,3658,0,0,0,0,0,0
$GC,2606,-0.53,-194.6,440.4,-11.9,316,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2591,3654,0,0,0,0,0,0
$GC,2933,-0.53,-194.6,491.1,-16.0,347,2937,0.00,0.50,0.00,0.000,4,0.000,0.043,2109,2943,3652,0,0,0,0,0,0
$GC,3005,-0.53,-194.6,502.3,-14.9,353,3009,0.00,0.45,0.00,0.000,6,0.000,0.031,2109,2603,3650,0,0,0,0,0,0
$GC,3333,-0.53,-194.6,552.6,-16.6,369,3337,0.00,0.45,0.00,0.000,4,0.000,0.028,2109,2232,3647,0,0,0,0,0,0
$GC,3493,-0.53,-194.6,580.4,-17.3,376,3497,0.00,0.52,0.00,0.000,6,0.000,0.041,2106,2583,3646,0,0,0,0,0,0
$GC,3827,-0.53,-194.6,632.9,-14.0,392,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2584,3642,0,0,0,0,0,0
$GC,4136,-0.53,-194.6,675.2,-13.8,407,4140,0.00,0.43,0.00,0.000,4,0.000,0.030,2106,2244,3639,0,0,0,0,0,0
$GC,4186,-0.53,-194.6,682.3,-13.2,409,4190,0.00,0.55,0.00,0.000,6,0.000,0.041,2102,2601,3639,0,0,0,0,0,0
$GC,4514,-0.53,-194.6,724.4,-12.6,425,4518,0.00,0.45,0.00,0.000,4,0.000,0.028,2103,2247,3636,0,0,0,0,0,0
$GC,4560,-0.53,-194.6,730.1,-11.5,427,4564,0.00,0.50,0.00,0.000,6,0.000,0.041,2101,2584,3635,0,0,0,0,0,0
$GC,4894,-0.53,-194.6,769.8,-11.6,443,4898,0.00,0.50,0.00,0.000,4,0.000,0.044,2098,2935,3633,0,0,0,0,0,0
$GC,4955,-0.53,-194.6,777.8,-12.9,445,4963,0.10,0.47,0.00,0.000,6,0.165,0.030,2124,2586,3632,0,0,0,0,0,0
$GC,5272,-0.53,-194.6,812.5,-11.3,461,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2586,3631,0,0,0,0,0,0
$GC,5582,-0.53,-194.6,847.5,-11.0,476,5586,0.00,0.43,0.00,0.000,4,0.000,0.030,2124,2247,3628,0,0,0,0,0,0
$GC,5654,-0.53,-194.6,855.5,-10.4,479,5658,0.00,0.52,0.00,0.000,6,0.000,0.042,2123,2591,3628,0,0,0,0,0,0
$GC,5982,-0.53,-194.6,893.6,-12.0,495,5985,0.00,0.45,0.00,0.000,4,0.000,0.028,2123,2249,3625,0,0,0,0,0,0
$GC,6073,-0.53,-194.6,904.7,-11.9,499,6076,0.00,0.52,0.00,0.000,6,0.000,0.042,2121,2595,3624,0,0,0,0,0,0
$GC,6405,-0.53,-194.6,947.5,-13.0,515,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2595,3623,0,0,0,0,0,0
$GC,6716,-0.53,-194.6,987.6,-13.0,530,6719,0.00,0.45,0.00,0.000,4,0.000,0.029,2120,2247,3621,0,0,0,0,0,0
$STATE,6729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6729,begin apogee
$GC,6735,-0.13,0.0,990.2,13.3,530,6891,0.40,0.00,150.55,1.063,6,0.125,0.000,2249,2244,2869,0,0,0,0,0,0
$STATE,6891,end apogee,CONTROL_FINISHED_OK
$STATE,6891,begin climb
$GC,6894,0.53,194.6,999.8,0.0,538,7059,0.62,0.60,157.95,1.045,4,0.083,0.030,2469,1834,2075,0,0,0,0,0,0
$GC,7106,0.73,355.8,994.7,5.2,548,7243,0.15,0.50,129.62,1.036,6,0.053,0.031,2541,2191,1418,0,0,0,0,0,0
$GC,7566,0.81,422.0,953.2,9.1,570,7623,0.00,0.47,53.83,1.008,4,0.000,0.039,2541,2502,1147,0,0,0,0,0,0
$GC,7876,0.89,490.1,925.1,9.0,583,7940,0.10,0.45,58.97,0.998,6,0.059,0.029,2597,2153,871,0,0,0,0,0,0
$GC,8263,0.90,494.5,881.1,11.6,602,8272,0.00,0.52,5.70,0.752,4,0.000,0.030,2597,2508,852,0,0,0,0,0,0
$GC,8525,0.90,494.5,849.1,11.8,613,8532,0.00,0.45,0.00,0.000,6,0.000,0.030,2599,2160,855,0,0,0,0,0,0
$GC,8842,0.90,499.0,812.8,11.6,629,8851,0.00,0.50,5.78,0.733,4,0.000,0.028,2599,2505,836,0,0,0,0,0,0
$GC,8999,0.90,499.0,792.9,13.0,636,9003,0.00,0.43,0.00,0.000,6,0.000,0.031,2601,2167,835,0,0,0,0,0,0
$GC,9333,0.90,499.0,751.9,12.6,652,9337,0.00,0.47,0.00,0.000,4,0.000,0.036,2601,2506,835,0,0,0,0,0,0
$GC,9455,0.90,499.0,735.8,12.9,657,9459,0.00,0.45,0.00,0.000,6,0.000,0.030,2603,2159,835,0,0,0,0,0,0
$GC,9778,0.90,499.0,696.2,12.5,673,9781,0.00,0.47,0.00,0.000,4,0.000,0.035,2603,2502,835,0,0,0,0,0,0
$GC,9872,0.90,499.0,683.5,13.2,677,9876,0.00,0.45,0.00,0.000,6,0.000,0.030,2605,2156,834,0,0,0,0,0,0
$GC,10201,0.90,499.0,642.4,12.5,693,10204,0.00,0.47,0.00,0.000,4,0.000,0.034,2605,2501,834,0,0,0,0,0,0
$GC,10381,0.90,499.0,619.1,13.8,701,10385,0.00,0.43,0.00,0.000,6,0.000,0.031,2607,2161,834,0,0,0,0,0,0
$GC,10715,0.90,499.0,575.6,13.1,717,10719,0.00,0.47,0.00,0.000,4,0.000,0.035,2607,2502,834,0,0,0,0,0,0
$GC,10843,0.90,499.0,559.2,12.2,722,10850,0.00,0.45,0.00,0.000,6,0.000,0.030,2609,2158,834,0,0,0,0,0,0
$GC,11159,0.90,499.0,519.9,12.9,738,11163,0.00,0.47,0.00,0.000,4,0.000,0.034,2609,2501,834,0,0,0,0,0,0
$GC,11266,0.90,499.0,504.6,14.6,742,11274,0.00,0.43,0.00,0.000,6,0.000,0.031,2610,2163,834,0,0,0,0,0,0
$GC,11589,0.90,499.0,461.1,12.5,771,11593,0.00,0.47,0.00,0.000,4,0.000,0.034,2610,2503,834,0,0,0,0,0,0
$GC,11704,0.90,499.0,446.6,12.9,781,11707,0.00,0.43,0.00,0.000,6,0.000,0.031,2612,2164,834,0,0,0,0,0,0
$GC,12035,0.90,499.0,406.3,11.9,812,12039,0.00,0.47,0.00,0.000,4,0.000,0.034,2612,2506,834,0,0,0,0,0,0
$GC,12092,0.90,499.0,399.3,12.2,817,12096,0.00,0.43,0.00,0.000,6,0.000,0.030,2614,2161,834,0,0,0,0,0,0
$GC,12423,0.90,499.0,358.6,12.8,848,12427,0.00,0.47,0.00,0.000,4,0.000,0.034,2614,2503,835,0,0,0,0,0,0
$GC,12470,0.90,499.0,352.6,13.7,852,12473,0.00,0.43,0.00,0.000,6,0.000,0.031,2615,2162,835,0,0,0,0,0,0
$GC,12801,0.90,499.0,308.5,13.3,883,12804,0.00,0.47,0.00,0.000,4,0.000,0.034,2615,2505,835,0,0,0,0,0,0
$GC,12881,0.90,499.0,297.4,14.4,890,12885,0.00,0.43,0.00,0.000,6,0.000,0.030,2617,2164,835,0,0,0,0,0,0
$GC,13212,0.95,533.4,255.8,10.4,921,13244,0.00,0.52,27.73,0.604,4,0.000,0.035,2617,2505,694,0,0,0,0,0,0
$GC,13284,1.01,582.5,248.6,9.8,927,13327,0.00,0.43,38.95,0.575,6,0.000,0.030,2619,2171,493,0,0,0,0,0,0
$GC,13648,1.01,582.5,200.8,14.8,961,13652,0.00,0.43,0.00,0.000,4,0.000,0.035,2621,1834,497,0,0,0,0,0,0
$GC,13694,1.01,582.5,194.8,12.4,968,13701,0.00,0.45,0.00,0.000,6,0.000,0.031,2621,2170,498,0,0,0,0,0,0
$GC,13839,1.21,746.6,185.0,5.1,993,13859,0.20,0.50,12.80,0.545,4,0.068,0.032,2719,1825,438,0,0,0,0,0,0
$GC,13911,1.21,746.6,177.2,14.0,1005,13919,0.08,0.45,0.00,0.000,6,0.137,0.033,2694,2157,437,0,0,0,0,0,0
$GC,14054,1.21,746.6,152.8,19.4,1030,14061,0.00,0.47,0.00,0.000,4,0.000,0.038,2694,2506,437,0,0,0,0,0,0
$GC,14199,1.21,746.6,123.2,19.9,1055,14206,0.00,0.43,0.00,0.000,6,0.000,0.031,2694,2167,436,0,0,0,0,0,0
$GC,14344,1.28,802.7,105.2,9.5,1080,14351,0.00,0.40,0.00,0.000,4,0.000,0.036,2696,1838,436,0,0,0,0,0,0
$GC,14554,1.28,802.7,85.6,12.9,1117,14561,0.00,0.45,0.00,0.000,6,0.000,0.032,2696,2170,436,0,0,0,0,0,0
$GC,14699,1.28,802.7,65.8,13.5,1142,14706,0.00,0.45,0.00,0.000,4,0.000,0.038,2696,2509,436,0,0,0,0,0,0
$GC,14763,1.28,802.7,57.6,12.0,1153,14770,0.00,0.43,0.00,0.000,6,0.000,0.031,2698,2171,436,0,0,0,0,0,0
$GC,14909,1.36,872.3,42.7,8.9,1178,14916,0.12,0.43,0.00,0.000,4,0.083,0.036,2773,1840,436,0,0,0,0,0,0
$GC,15076,1.44,934.3,28.6,9.3,1207,15083,0.00,0.43,0.00,0.000,6,0.000,0.031,2773,2170,437,0,0,0,0,0,0
$GC,15222,1.45,944.6,13.1,11.4,1232,15228,0.00,0.43,0.00,0.000,4,0.000,0.036,2773,2500,438,0,0,0,0,0,0
$GC,15275,1.46,948.0,6.6,11.6,1241,15281,0.00,0.43,0.00,0.000,6,0.000,0.031,2775,2153,438,0,0,0,0,0,0
$STATE,15308,end climb,SURFACE_DEPTH_REACHED
$STATE,15309,begin surface coast
$FINISH,0.4,1.018342
$STATE,15338,end surface coast,CONTROL_FINISHED_OK
$STATE,15338,begin surface
$SM_CCo,15416,0.00,0.000,0,0,439,596.08
$SM_GC,1.41,6.68,0.00,0.00,0.036,0.000,0.000,208,2557,439,-6.45,-0.93,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2020.26,11953.54,290911,030336
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.5,93.798
$10V_AH,9.8,73.858
$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,17.150,31.800,641.875,0.000,0.000,30.489,22.178,133.172,0.000,0.000,20.479,3003.441,9087.425,677.559,2629.743,338.596,33.366,2015.277,0.000,2396.480,0.000,0.540,0.000
$DEVICE_MAMPS,234.855,88.740,1062.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,870.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,73602,1252
$CAP_FILE_SIZE,161141,0
$CFSIZE,260165632,198877184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290911,123807,2033.071,11947.802,28,1.2,28,-2.3