version: 66.09
glider: 181
mission: 6
dive: 572
start: 9 29 111 20 51 17
data:
$ID,181
$MISSION,6
$DIVE,572
$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,-41307.168
$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,44
$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
$GPS1,290911,204501,2038.697,11946.494,38,1.4,38,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.6
$GPS2,290911,205020,2038.724,11946.469,12,1.4,12,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.250,0.187
$KALMAN_X,45751.3,-363.5,498.2,-66554.5,-3533.6
$KALMAN_Y,68981.2,17.7,166.3,86679.5,280.3
$MHEAD_RNG_PITCHd_Wd,55.4,124931,-17.4,-11.786
$D_GRID,3145
$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,-62.12,0.000,2,0.000,0.000,128,2591,2211,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.5,-3.9,11,132,8.57,0.52,-31.85,0.000,4,0.229,0.090,2121,2941,3664,0,0,0,0,0,0
$GC,192,-0.53,-194.6,40.4,-44.1,29,199,0.00,0.45,0.00,0.000,6,0.000,0.032,2121,2608,3665,0,0,0,0,0,0
$GC,335,-0.53,-194.6,83.2,-23.9,54,342,0.00,0.47,0.00,0.000,4,0.000,0.041,2119,2936,3664,0,0,0,0,0,0
$GC,389,-0.53,-194.6,94.9,-21.1,63,395,0.00,0.47,0.00,0.000,6,0.000,0.028,2119,2564,3664,0,0,0,0,0,0
$GC,531,-0.53,-194.6,123.1,-22.4,88,538,0.00,0.55,0.00,0.000,4,0.000,0.039,2116,2943,3664,0,0,0,0,0,0
$GC,791,-0.53,-194.6,180.9,-23.1,134,798,0.00,0.45,0.00,0.000,6,0.000,0.030,2116,2588,3666,0,0,0,0,0,0
$GC,932,-0.53,-194.6,205.3,-15.5,156,936,0.00,0.50,0.00,0.000,4,0.000,0.040,2114,2941,3667,0,0,0,0,0,0
$GC,1057,-0.53,-194.6,224.9,-14.5,167,1061,0.00,0.45,0.00,0.000,6,0.000,0.030,2113,2581,3666,0,0,0,0,0,0
$GC,1388,-0.53,-194.6,272.7,-15.7,198,1392,0.00,0.52,0.00,0.000,4,0.000,0.039,2112,2943,3667,0,0,0,0,0,0
$GC,1439,-0.53,-194.6,281.7,-17.9,202,1445,0.00,0.45,0.00,0.000,6,0.000,0.030,2112,2588,3667,0,0,0,0,0,0
$GC,1764,-0.53,-194.6,333.7,-14.5,233,1767,0.00,0.52,0.00,0.000,4,0.000,0.041,2109,2950,3666,0,0,0,0,0,0
$GC,1971,-0.53,-194.6,365.1,-16.2,251,1978,0.00,0.47,0.00,0.000,6,0.000,0.028,2109,2585,3664,0,0,0,0,0,0
$GC,2297,-0.53,-194.6,411.3,-13.8,282,2300,0.00,0.40,0.00,0.000,4,0.000,0.028,2109,2241,3661,0,0,0,0,0,0
$GC,2359,-0.53,-194.6,419.5,-12.8,287,2365,0.00,0.52,0.00,0.000,6,0.000,0.039,2106,2593,3661,0,0,0,0,0,0
$GC,2684,-0.53,-194.6,465.8,-15.8,318,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2593,3657,0,0,0,0,0,0
$GC,3011,-0.53,-194.6,516.5,-15.4,344,3015,0.00,0.43,0.00,0.000,4,0.000,0.028,2106,2254,3654,0,0,0,0,0,0
$GC,3060,-0.53,-194.6,524.5,-14.9,346,3064,0.00,0.52,0.00,0.000,6,0.000,0.039,2103,2595,3653,0,0,0,0,0,0
$GC,3388,-0.53,-194.6,575.4,-15.7,362,3392,0.00,0.47,0.00,0.000,4,0.000,0.043,2101,2935,3650,0,0,0,0,0,0
$GC,3438,-0.53,-194.6,583.7,-16.1,364,3442,0.00,0.43,0.00,0.000,6,0.000,0.031,2101,2598,3649,0,0,0,0,0,0
$GC,3765,-0.53,-194.6,631.5,-13.8,380,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2598,3647,0,0,0,0,0,0
$GC,4075,-0.53,-194.6,670.9,-12.7,395,4078,0.00,0.43,0.00,0.000,4,0.000,0.029,2101,2252,3643,0,0,0,0,0,0
$GC,4170,-0.53,-194.6,683.1,-12.8,399,4174,0.00,0.50,0.00,0.000,6,0.000,0.041,2098,2583,3642,0,0,0,0,0,0
$GC,4497,-0.53,-194.6,733.2,-16.4,415,4502,0.12,0.52,0.00,0.000,4,0.165,0.044,2130,2938,3641,0,0,0,0,0,0
$GC,4544,-0.53,-194.6,739.9,-13.8,417,4548,0.00,0.45,0.00,0.000,6,0.000,0.031,2130,2591,3640,0,0,0,0,0,0
$GC,4877,-0.53,-194.6,785.8,-13.7,433,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2591,3638,0,0,0,0,0,0
$GC,5186,-0.53,-194.6,824.5,-12.0,448,5190,0.00,0.43,0.00,0.000,4,0.000,0.029,2131,2238,3636,0,0,0,0,0,0
$GC,5301,-0.53,-194.6,838.0,-11.7,453,5304,0.00,0.52,0.00,0.000,6,0.000,0.041,2128,2585,3635,0,0,0,0,0,0
$GC,5633,-0.53,-194.6,877.4,-11.8,469,5637,0.00,0.50,0.00,0.000,4,0.000,0.044,2126,2935,3633,0,0,0,0,0,0
$GC,5684,-0.53,-194.6,883.5,-12.0,471,5688,0.00,0.45,0.00,0.000,6,0.000,0.031,2126,2593,3632,0,0,0,0,0,0
$GC,6011,-0.53,-194.6,923.4,-12.1,487,6015,0.00,0.43,0.00,0.000,4,0.000,0.028,2125,2237,3630,0,0,0,0,0,0
$GC,6125,-0.53,-194.6,936.6,-11.1,492,6128,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2582,3630,0,0,0,0,0,0
$GC,6459,-0.53,-194.6,974.0,-10.9,508,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2581,3628,0,0,0,0,0,0
$STATE,6620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6620,begin apogee
$GC,6626,-0.13,0.0,990.2,9.4,516,6784,0.40,0.00,151.55,1.063,6,0.125,0.000,2253,2156,2870,0,0,0,0,0,0
$STATE,6785,end apogee,CONTROL_FINISHED_OK
$STATE,6785,begin climb
$GC,6788,0.53,194.6,993.6,0.0,523,6952,0.60,0.47,157.68,1.042,4,0.083,0.025,2466,1783,2074,0,0,0,0,0,0
$GC,6996,0.59,241.4,979.7,9.9,533,7039,0.00,0.57,38.65,1.000,6,0.000,0.030,2466,2187,1885,0,0,0,0,0,0
$GC,7361,0.64,284.3,943.1,10.0,551,7402,0.12,0.47,35.35,0.998,4,0.087,0.037,2527,2508,1710,0,0,0,0,0,0
$GC,7480,0.64,284.3,927.8,13.1,556,7484,0.00,0.50,0.00,0.000,6,0.000,0.028,2529,2142,1709,0,0,0,0,0,0
$GC,7803,0.64,284.3,887.4,12.2,572,7807,0.00,0.50,0.00,0.000,4,0.000,0.033,2528,2502,1711,0,0,0,0,0,0
$GC,7882,0.64,284.3,877.6,12.2,575,7886,0.00,0.43,0.00,0.000,6,0.000,0.030,2530,2163,1711,0,0,0,0,0,0
$GC,8204,0.70,331.9,843.8,9.8,591,8245,0.00,0.00,39.83,0.957,6,0.000,0.000,2530,2163,1515,0,0,0,0,0,0
$GC,8554,0.78,397.4,811.2,9.1,608,8611,0.00,0.55,53.05,0.939,4,0.000,0.034,2530,2512,1248,0,0,0,0,0,0
$GC,8780,0.89,485.0,791.5,8.2,617,8855,0.12,0.45,69.97,0.925,6,0.057,0.029,2595,2162,891,0,0,0,0,0,0
$GC,9163,0.89,485.0,747.9,12.1,636,9172,0.00,0.52,4.35,0.610,4,0.000,0.036,2595,2505,890,0,0,0,0,0,0
$GC,9410,0.89,485.0,713.2,14.3,647,9414,0.00,0.43,0.00,0.000,6,0.000,0.030,2597,2167,892,0,0,0,0,0,0
$GC,9744,0.89,485.0,667.9,12.8,663,9747,0.00,0.47,0.00,0.000,4,0.000,0.035,2596,2506,891,0,0,0,0,0,0
$GC,9907,0.89,486.9,648.6,11.7,670,9911,0.00,0.43,0.00,0.000,6,0.000,0.030,2598,2166,891,0,0,0,0,0,0
$GC,10236,0.91,505.3,613.9,11.0,686,10259,0.00,0.52,17.80,0.796,4,0.000,0.036,2598,2506,807,0,0,0,0,0,0
$GC,10427,0.91,505.3,588.8,14.1,694,10431,0.00,0.45,0.00,0.000,6,0.000,0.029,2600,2160,809,0,0,0,0,0,0
$GC,10750,0.91,505.3,546.6,12.1,710,10753,0.00,0.47,0.00,0.000,4,0.000,0.034,2600,2502,809,0,0,0,0,0,0
$GC,11003,0.95,539.5,518.7,10.4,721,11035,0.00,0.43,28.15,0.754,6,0.000,0.031,2602,2164,669,0,0,0,0,0,0
$GC,11349,0.98,561.2,482.8,10.9,744,11373,0.00,0.52,18.30,0.711,4,0.000,0.035,2602,2505,580,0,0,0,0,0,0
$GC,11535,0.98,561.8,461.6,11.8,760,11542,0.00,0.43,0.00,0.000,6,0.000,0.031,2604,2165,582,0,0,0,0,0,0
$GC,11861,1.00,576.5,424.3,11.2,791,11878,0.00,0.52,13.82,0.666,4,0.000,0.035,2604,2508,518,0,0,0,0,0,0
$GC,11947,1.00,579.1,414.5,11.7,798,11959,0.00,0.43,3.92,0.428,6,0.000,0.031,2605,2169,508,0,0,0,0,0,0
$GC,12278,1.00,579.1,375.9,11.9,829,12282,0.00,0.43,0.00,0.000,4,0.000,0.035,2607,1834,508,0,0,0,0,0,0
$GC,12539,1.03,603.0,346.9,10.8,852,12562,0.00,0.45,14.62,0.630,6,0.000,0.030,2607,2176,439,0,0,0,0,0,0
$GC,12879,1.03,603.0,307.8,12.6,884,12883,0.00,0.43,0.00,0.000,4,0.000,0.038,2607,2497,439,0,0,0,0,0,0
$GC,13009,1.03,603.0,289.9,13.4,895,13015,0.00,0.43,0.00,0.000,6,0.000,0.032,2606,2169,439,0,0,0,0,0,0
$GC,13334,1.03,603.0,248.2,12.8,926,13337,0.00,0.43,0.00,0.000,4,0.000,0.036,2607,1837,440,0,0,0,0,0,0
$GC,13585,1.03,603.0,217.4,12.7,948,13592,0.00,0.45,0.00,0.000,6,0.000,0.032,2607,2162,441,0,0,0,0,0,0
$GC,13923,1.03,603.0,168.9,15.1,997,13930,0.00,0.47,0.50,0.100,4,0.000,0.031,2606,2505,441,0,0,0,0,0,0
$GC,14184,1.03,603.0,134.6,11.9,1043,14192,0.00,0.45,0.68,0.083,6,0.000,0.032,2607,2162,443,0,0,0,0,0,0
$GC,14328,1.15,702.1,122.2,7.7,1068,14336,0.17,0.52,2.65,0.256,4,0.094,0.033,2675,2512,439,0,0,0,0,0,0
$GC,14545,1.15,702.1,98.1,13.1,1106,14553,0.00,0.45,0.05,0.148,6,0.000,0.031,2676,2162,440,0,0,0,0,0,0
$GC,14689,1.25,780.3,83.5,8.6,1131,14695,0.00,0.43,0.00,0.000,4,0.000,0.035,2676,1820,440,0,0,0,0,0,0
$GC,14949,1.25,780.3,53.2,12.5,1177,14957,0.00,0.45,2.22,0.161,6,0.000,0.029,2676,2169,440,0,0,0,0,0,0
$GC,15094,1.36,867.8,39.5,8.2,1202,15101,0.17,0.47,0.00,0.000,4,0.088,0.031,2745,1818,440,0,0,0,0,0,0
$GC,15356,1.46,951.6,19.4,8.4,1248,15364,0.00,0.45,2.53,0.200,6,0.000,0.031,2745,2161,440,0,0,0,0,0,0
$GC,15500,1.54,1019.2,6.5,9.0,1273,15508,0.15,0.45,0.08,0.200,4,0.070,0.022,2828,1817,441,0,0,0,0,0,0
$GC,15522,1.59,1056.8,4.3,10.3,1276,15529,0.00,0.45,1.25,0.073,6,0.000,0.028,2827,2181,441,0,0,0,0,0,0
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15534,begin surface coast
$FINISH,0.4,1.008141
$STATE,15563,end surface coast,CONTROL_FINISHED_OK
$STATE,15564,begin surface
$SM_CCo,15640,0.00,0.000,0,0,441,595.59
$SM_GC,1.41,6.75,0.00,0.00,0.031,0.000,0.000,207,2620,441,-6.44,0.85,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2029.47,11942.41,290911,161632
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.40
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,94.360
$10V_AH,9.8,74.096
$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,17.200,31.250,657.000,0.000,0.000,24.115,22.188,137.112,0.000,0.000,14.940,3101.801,9111.312,691.260,2711.939,336.584,33.362,2044.205,0.000,2488.615,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,90.270,1062.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,890.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322252
$DATA_FILE_SIZE,73567,1283
$CAP_FILE_SIZE,164073,0
$CFSIZE,260165632,198643712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,011307,2040.764,11948.020,30,1.1,30,-2.4