version: 66.09
glider: 181
mission: 6
dive: 571
start: 9 29 111 16 33 52
data:
$ID,181
$MISSION,6
$DIVE,571
$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,-41305.812
$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,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
$GPS1,290911,162737,2035.515,11946.427,39,1.1,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.4
$GPS2,290911,163255,2035.608,11946.357,11,1.2,16,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.155,0.271
$KALMAN_X,49250.5,-2.7,-980.9,-69169.9,-1930.2
$KALMAN_Y,67915.6,-225.4,221.8,82188.3,-934.5
$MHEAD_RNG_PITCHd_Wd,32.1,130639,-17.4,-11.786
$D_GRID,3146
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-62.10,0.000,2,0.000,0.000,158,2592,2211,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.3,-3.6,11,133,8.32,0.55,-31.92,0.000,4,0.224,0.087,2118,2952,3664,0,0,0,0,0,0
$GC,223,-0.53,-194.6,55.6,-42.5,35,230,0.00,0.45,0.00,0.000,6,0.000,0.032,2118,2616,3664,0,0,0,0,0,0
$GC,366,-0.53,-194.6,99.4,-27.4,60,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2616,3664,0,0,0,0,0,0
$GC,509,-0.53,-194.6,132.4,-17.4,85,516,0.00,0.47,0.00,0.000,4,0.000,0.041,2116,2950,3664,0,0,0,0,0,0
$GC,769,-0.53,-194.6,183.5,-18.9,131,775,0.00,0.50,0.00,0.000,6,0.000,0.027,2115,2561,3665,0,0,0,0,0,0
$GC,915,-0.53,-194.6,208.5,-16.0,152,918,0.00,0.57,0.00,0.000,4,0.000,0.038,2113,2958,3666,0,0,0,0,0,0
$GC,1080,-0.53,-194.6,237.8,-16.8,166,1087,0.00,0.45,0.00,0.000,6,0.000,0.029,2113,2595,3666,0,0,0,0,0,0
$GC,1405,-0.53,-194.6,285.6,-14.5,197,1409,0.00,0.40,0.00,0.000,4,0.000,0.028,2113,2241,3666,0,0,0,0,0,0
$GC,1484,-0.53,-194.6,296.5,-13.4,204,1488,0.00,0.52,0.00,0.000,6,0.000,0.039,2111,2599,3666,0,0,0,0,0,0
$GC,1815,-0.53,-194.6,344.7,-15.5,235,1818,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2945,3663,0,0,0,0,0,0
$GC,1981,-0.53,-194.6,371.1,-16.3,249,1987,0.00,0.45,0.00,0.000,6,0.000,0.030,2109,2591,3662,0,0,0,0,0,0
$GC,2306,-0.53,-194.6,424.2,-15.9,280,2310,0.00,0.52,0.00,0.000,4,0.000,0.041,2106,2952,3659,0,0,0,0,0,0
$GC,2411,-0.53,-194.6,441.2,-15.8,289,2418,0.00,0.45,0.00,0.000,6,0.000,0.029,2106,2593,3658,0,0,0,0,0,0
$GC,2737,-0.53,-194.6,491.6,-15.0,320,2740,0.00,0.43,0.00,0.000,4,0.000,0.028,2105,2234,3655,0,0,0,0,0,0
$GC,2855,-0.53,-194.6,509.2,-14.5,328,2858,0.00,0.52,0.00,0.000,6,0.000,0.041,2103,2588,3654,0,0,0,0,0,0
$GC,3182,-0.53,-194.6,556.9,-14.4,344,3185,0.00,0.50,0.00,0.000,4,0.000,0.041,2100,2945,3650,0,0,0,0,0,0
$GC,3220,-0.53,-194.6,562.9,-14.8,345,3227,0.00,0.47,0.00,0.000,6,0.000,0.029,2100,2588,3650,0,0,0,0,0,0
$GC,3537,-0.53,-194.6,608.4,-14.9,361,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2588,3647,0,0,0,0,0,0
$GC,3845,-0.53,-194.6,652.4,-13.9,376,3849,0.00,0.52,0.00,0.000,4,0.000,0.043,2097,2942,3644,0,0,0,0,0,0
$GC,3901,-0.53,-194.6,660.4,-14.1,378,3905,0.08,0.45,0.00,0.000,6,0.138,0.030,2122,2595,3644,0,0,0,0,0,0
$GC,4224,-0.53,-194.6,695.2,-10.6,394,4228,0.00,0.43,0.00,0.000,4,0.000,0.030,2122,2245,3641,0,0,0,0,0,0
$GC,4270,-0.53,-194.6,700.1,-10.4,396,4274,0.00,0.50,0.00,0.000,6,0.000,0.041,2122,2581,3640,0,0,0,0,0,0
$GC,4603,-0.53,-194.6,733.6,-10.0,412,4607,0.00,0.50,0.00,0.000,4,0.000,0.042,2119,2936,3638,0,0,0,0,0,0
$GC,4721,-0.53,-194.6,746.2,-10.3,417,4724,0.00,0.45,0.00,0.000,6,0.000,0.030,2119,2587,3637,0,0,0,0,0,0
$GC,5048,-0.53,-194.6,781.2,-11.0,433,5052,0.00,0.43,0.00,0.000,4,0.000,0.029,2119,2229,3634,0,0,0,0,0,0
$GC,5118,-0.53,-194.6,788.9,-10.8,436,5122,0.00,0.55,0.00,0.000,6,0.000,0.041,2116,2593,3634,0,0,0,0,0,0
$GC,5451,-0.53,-194.6,830.6,-13.0,452,5454,0.00,0.50,0.00,0.000,4,0.000,0.043,2114,2946,3632,0,0,0,0,0,0
$GC,5490,-0.53,-194.6,836.0,-13.3,453,5497,0.00,0.47,0.00,0.000,6,0.000,0.031,2114,2587,3631,0,0,0,0,0,0
$GC,5806,-0.53,-194.6,876.9,-12.9,469,5809,0.00,0.52,0.00,0.000,4,0.000,0.044,2112,2938,3630,0,0,0,0,0,0
$GC,5855,-0.53,-194.6,883.5,-13.1,471,5859,0.00,0.47,0.00,0.000,6,0.000,0.029,2112,2587,3630,0,0,0,0,0,0
$GC,6184,-0.53,-194.6,925.3,-12.7,487,6187,0.00,0.52,0.00,0.000,4,0.000,0.044,2110,2938,3627,0,0,0,0,0,0
$GC,6233,-0.53,-194.6,932.0,-13.0,489,6237,0.00,0.47,0.00,0.000,6,0.000,0.029,2110,2587,3627,0,0,0,0,0,0
$GC,6561,-0.53,-194.6,973.3,-12.6,505,6564,0.00,0.52,0.00,0.000,4,0.000,0.043,2107,2940,3625,0,0,0,0,0,0
$GC,6612,-0.53,-194.6,979.6,-12.1,507,6615,0.00,0.47,0.00,0.000,6,0.000,0.030,2107,2583,3626,0,0,0,0,0,0
$STATE,6709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6710,begin apogee
$GC,6716,-0.13,0.0,992.0,12.5,512,6872,0.45,0.00,151.55,1.061,6,0.129,0.000,2250,2158,2868,0,0,0,0,0,0
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6875,0.53,194.6,998.4,0.0,519,7039,0.62,0.50,157.25,1.041,4,0.084,0.032,2470,1830,2075,0,0,0,0,0,0
$GC,7131,0.64,282.9,984.3,8.2,531,7209,0.08,0.52,71.45,1.021,6,0.061,0.030,2517,2187,1715,0,0,0,0,0,0
$GC,7539,0.70,337.3,943.6,9.6,551,7586,0.00,0.47,44.00,1.005,4,0.000,0.039,2517,2502,1494,0,0,0,0,0,0
$GC,7818,0.76,381.2,915.8,10.0,563,7859,0.00,0.45,37.17,0.983,6,0.000,0.029,2519,2152,1314,0,0,0,0,0,0
$GC,8176,0.81,422.9,880.8,10.1,581,8219,0.12,0.55,34.47,0.962,4,0.093,0.034,2577,2503,1144,0,0,0,0,0,0
$GC,8297,0.81,422.9,865.0,13.6,586,8301,0.00,0.45,0.00,0.000,6,0.000,0.028,2579,2161,1144,0,0,0,0,0,0
$GC,8619,0.81,422.9,822.9,13.4,602,8622,0.00,0.47,0.00,0.000,4,0.000,0.034,2579,2502,1148,0,0,0,0,0,0
$GC,8688,0.81,422.9,813.4,13.8,605,8692,0.00,0.43,0.00,0.000,6,0.000,0.031,2581,2161,1148,0,0,0,0,0,0
$GC,9021,0.81,422.9,766.5,14.3,621,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2161,1147,0,0,0,0,0,0
$GC,9330,0.81,422.9,722.2,14.5,636,9334,0.00,0.47,0.00,0.000,4,0.000,0.034,2581,2502,1146,0,0,0,0,0,0
$GC,9392,0.81,422.9,712.8,15.5,638,9399,0.00,0.43,0.00,0.000,6,0.000,0.030,2583,2161,1146,0,0,0,0,0,0
$GC,9708,0.81,422.9,666.1,14.8,654,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2162,1146,0,0,0,0,0,0
$GC,10018,0.81,422.9,624.1,13.0,669,10021,0.00,0.47,0.00,0.000,4,0.000,0.033,2583,2502,1146,0,0,0,0,0,0
$GC,10101,0.81,422.9,612.9,13.1,672,10108,0.00,0.45,0.00,0.000,6,0.000,0.029,2585,2156,1146,0,0,0,0,0,0
$GC,10417,0.81,422.9,575.2,11.9,688,10421,0.00,0.47,0.00,0.000,4,0.000,0.033,2584,2502,1146,0,0,0,0,0,0
$GC,10509,0.81,422.9,563.8,13.5,692,10513,0.00,0.43,0.00,0.000,6,0.000,0.031,2586,2159,1146,0,0,0,0,0,0
$GC,10842,0.81,422.9,519.4,14.1,708,10845,0.00,0.47,0.00,0.000,4,0.000,0.034,2586,2503,1145,0,0,0,0,0,0
$GC,10892,0.81,422.9,511.8,14.9,710,10897,0.08,0.43,0.00,0.000,6,0.130,0.030,2562,2167,1146,0,0,0,0,0,0
$GC,11216,0.83,435.6,472.2,11.3,736,11230,0.00,0.00,12.07,0.702,6,0.000,0.000,2563,2167,1093,0,0,0,0,0,0
$GC,11545,0.95,538.9,442.6,7.6,767,11635,0.12,0.52,82.30,0.715,4,0.087,0.034,2623,2505,670,0,0,0,0,0,0
$GC,11659,1.05,617.5,432.3,8.6,777,11714,0.00,0.45,46.28,0.687,6,0.000,0.030,2623,2175,440,0,0,0,0,0,0
$GC,12031,1.08,645.6,396.0,10.6,812,12035,0.00,0.45,0.00,0.000,4,0.000,0.031,2623,2503,438,0,0,0,0,0,0
$GC,12071,1.11,667.5,391.7,10.9,815,12078,0.00,0.45,0.00,0.000,6,0.000,0.030,2623,2166,438,0,0,0,0,0,0
$GC,12396,1.11,667.5,350.7,14.2,846,12400,0.10,0.50,0.00,0.000,4,0.102,0.034,2676,2509,438,0,0,0,0,0,0
$GC,12514,1.11,667.5,328.8,19.2,856,12521,0.00,0.47,0.00,0.000,6,0.000,0.028,2678,2137,438,0,0,0,0,0,0
$GC,12839,1.11,667.5,274.1,13.9,887,12843,0.00,0.50,0.00,0.000,4,0.000,0.033,2678,2499,437,0,0,0,0,0,0
$GC,12907,1.11,667.5,265.0,13.3,893,12911,0.00,0.43,0.00,0.000,6,0.000,0.031,2680,2156,437,0,0,0,0,0,0
$GC,13238,1.11,667.5,227.1,11.8,924,13242,0.00,0.47,0.00,0.000,4,0.000,0.034,2680,2503,437,0,0,0,0,0,0
$GC,13285,1.11,667.5,221.0,13.5,928,13289,0.00,0.43,0.00,0.000,6,0.000,0.031,2681,2159,437,0,0,0,0,0,0
$GC,13622,1.11,667.5,163.2,12.5,977,13628,0.00,0.40,0.00,0.000,4,0.000,0.035,2684,1829,437,0,0,0,0,0,0
$GC,13693,1.16,706.0,155.4,10.2,989,13699,0.00,0.45,0.00,0.000,6,0.000,0.033,2684,2163,437,0,0,0,0,0,0
$GC,13837,1.21,752.0,142.2,9.9,1014,13844,0.00,0.45,0.00,0.000,4,0.000,0.039,2684,2503,437,0,0,0,0,0,0
$GC,13958,1.29,816.0,129.8,9.2,1035,13965,0.00,0.43,0.00,0.000,6,0.000,0.031,2685,2163,437,0,0,0,0,0,0
$GC,14103,1.46,948.9,120.8,6.4,1060,14110,0.22,0.00,0.00,0.000,6,0.065,0.000,2780,2163,437,0,0,0,0,0,0
$GC,14248,1.46,948.9,88.6,25.2,1085,14254,0.00,0.40,0.00,0.000,4,0.000,0.033,2782,1819,437,0,0,0,0,0,0
$GC,14345,1.46,948.9,68.9,16.8,1102,14353,0.00,0.47,0.03,0.200,6,0.000,0.032,2782,2164,437,0,0,0,0,0,0
$GC,14490,1.54,1014.7,52.2,9.1,1127,14497,0.00,0.45,0.00,0.000,4,0.000,0.037,2782,2508,437,0,0,0,0,0,0
$GC,14565,1.57,1042.8,44.6,10.6,1140,14573,0.00,0.43,0.03,0.197,6,0.000,0.031,2783,2169,437,0,0,0,0,0,0
$GC,14709,1.57,1042.8,25.9,14.5,1165,14716,0.00,0.40,0.00,0.000,4,0.000,0.035,2786,1833,438,0,0,0,0,0,0
$GC,14846,1.57,1042.8,7.6,13.1,1189,14853,0.00,0.45,0.00,0.000,6,0.000,0.031,2787,2173,439,0,0,0,0,0,0
$STATE,14885,end climb,SURFACE_DEPTH_REACHED
$STATE,14885,begin surface coast
$FINISH,0.5,1.005457
$STATE,14914,end surface coast,CONTROL_FINISHED_OK
$STATE,14914,begin surface
$SM_CCo,14992,0.00,0.000,0,0,440,595.83
$SM_GC,1.26,6.72,0.00,0.00,0.035,0.000,0.000,204,2584,440,-6.46,-0.17,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2022.56,12004.95,290911,121203
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.58
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.5,94.176
$10V_AH,9.8,74.011
$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,16.925,33.175,636.600,0.000,0.000,24.463,23.468,126.645,0.250,0.000,19.014,2878.876,8937.857,676.447,2474.468,337.516,33.359,1955.415,0.000,2254.869,0.000,0.540,0.000
$DEVICE_MAMPS,224.145,87.210,1061.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,833.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,70377,1201
$CAP_FILE_SIZE,157931,0
$CFSIZE,260165632,198729728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290911,204501,2038.697,11946.494,38,1.4,38,-2.3