version: 66.09
glider: 181
mission: 6
dive: 574
start: 9 30 111 5 40 53
data:
$ID,181
$MISSION,6
$DIVE,574
$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,-41309.879
$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,95
$R_STBD_OVSHOOT,54
$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
$GPS1,300911,053407,2042.242,11948.017,31,1.0,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.0
$GPS2,300911,053955,2042.267,11947.933,10,1.1,15,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.160,0.268
$KALMAN_X,40164.9,429.8,-1051.4,-57652.3,-1873.3
$KALMAN_Y,69927.8,459.5,-0.6,92034.0,-8.1
$MHEAD_RNG_PITCHd_Wd,33.3,118020,-17.4,-11.786
$D_GRID,3168
$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,-62.35,0.000,2,0.000,0.000,127,2605,2233,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.3,-3.7,11,132,8.57,0.50,-30.98,0.000,4,0.232,0.103,2118,2940,3664,0,0,0,0,0,0
$GC,198,-0.53,-194.6,46.6,-44.1,30,204,0.00,0.45,0.00,0.000,6,0.000,0.028,2118,2584,3664,0,0,0,0,0,0
$GC,341,-0.53,-194.6,92.0,-30.7,55,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2584,3663,0,0,0,0,0,0
$GC,484,-0.53,-194.6,124.2,-21.3,80,490,0.00,0.50,0.00,0.000,4,0.000,0.039,2116,2936,3663,0,0,0,0,0,0
$GC,743,-0.53,-194.6,182.1,-20.3,126,750,0.00,0.43,0.00,0.000,6,0.000,0.029,2116,2586,3663,0,0,0,0,0,0
$GC,889,-0.53,-194.6,211.5,-20.3,147,893,0.00,0.50,0.00,0.000,4,0.000,0.037,2113,2941,3663,0,0,0,0,0,0
$GC,1121,-0.53,-194.6,245.2,-13.4,167,1128,0.00,0.45,0.00,0.000,6,0.000,0.029,2113,2580,3664,0,0,0,0,0,0
$GC,1447,-0.53,-194.6,298.4,-18.2,198,1450,0.00,0.50,0.00,0.000,4,0.000,0.040,2111,2929,3663,0,0,0,0,0,0
$GC,1504,-0.53,-194.6,308.9,-17.6,203,1507,0.00,0.43,0.00,0.000,6,0.000,0.029,2111,2580,3663,0,0,0,0,0,0
$GC,1834,-0.53,-194.6,358.1,-14.9,234,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2580,3660,0,0,0,0,0,0
$GC,2155,-0.53,-194.6,406.5,-14.2,264,2159,0.00,0.50,0.00,0.000,4,0.000,0.040,2108,2926,3656,0,0,0,0,0,0
$GC,2295,-0.53,-194.6,427.6,-14.7,276,2302,0.00,0.43,0.00,0.000,6,0.000,0.030,2108,2595,3655,0,0,0,0,0,0
$GC,2620,-0.53,-194.6,474.8,-14.9,307,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2595,3653,0,0,0,0,0,0
$GC,2935,-0.53,-194.6,525.2,-16.6,330,2939,0.00,0.50,0.00,0.000,4,0.000,0.041,2105,2935,3649,0,0,0,0,0,0
$GC,2973,-0.53,-194.6,531.9,-16.7,331,2980,0.00,0.45,0.00,0.000,6,0.000,0.029,2106,2590,3649,0,0,0,0,0,0
$GC,3290,-0.53,-194.6,583.7,-16.3,347,3293,0.00,0.43,0.00,0.000,4,0.000,0.028,2106,2229,3645,0,0,0,0,0,0
$GC,3381,-0.53,-194.6,597.6,-14.4,351,3384,0.00,0.52,0.00,0.000,6,0.000,0.041,2103,2579,3645,0,0,0,0,0,0
$GC,3714,-0.53,-194.6,643.9,-13.2,367,3718,0.00,0.52,0.00,0.000,4,0.000,0.041,2100,2948,3641,0,0,0,0,0,0
$GC,3787,-0.53,-194.6,654.1,-13.4,370,3791,0.00,0.45,0.00,0.000,6,0.000,0.030,2100,2600,3641,0,0,0,0,0,0
$GC,4114,-0.53,-194.6,700.5,-14.9,386,4117,0.00,0.45,0.00,0.000,4,0.000,0.028,2100,2239,3638,0,0,0,0,0,0
$GC,4183,-0.53,-194.6,710.6,-14.7,389,4188,0.08,0.52,0.00,0.000,6,0.144,0.041,2122,2585,3637,0,0,0,0,0,0
$GC,4516,-0.53,-194.6,756.5,-13.6,405,4520,0.00,0.50,0.00,0.000,4,0.000,0.042,2122,2939,3634,0,0,0,0,0,0
$GC,4653,-0.53,-194.6,774.9,-13.1,411,4656,0.00,0.45,0.00,0.000,6,0.000,0.030,2122,2593,3633,0,0,0,0,0,0
$GC,4985,-0.53,-194.6,817.0,-12.0,427,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2593,3631,0,0,0,0,0,0
$GC,5295,-0.53,-194.6,850.3,-10.3,442,5299,0.00,0.43,0.00,0.000,4,0.000,0.028,2122,2236,3629,0,0,0,0,0,0
$GC,5346,-0.53,-194.6,855.5,-9.9,444,5350,0.00,0.55,0.00,0.000,6,0.000,0.041,2119,2597,3629,0,0,0,0,0,0
$GC,5673,-0.53,-194.6,892.6,-11.9,460,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2598,3626,0,0,0,0,0,0
$GC,5983,-0.53,-194.6,931.5,-12.8,475,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2598,3624,0,0,0,0,0,0
$GC,6291,-0.53,-194.6,972.2,-13.3,490,6295,0.00,0.45,0.00,0.000,4,0.000,0.028,2119,2232,3622,0,0,0,0,0,0
$GC,6341,-0.53,-194.6,978.9,-12.8,492,6345,0.00,0.57,0.00,0.000,6,0.000,0.040,2117,2605,3622,0,0,0,0,0,0
$STATE,6438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6439,begin apogee
$GC,6446,-0.13,0.0,992.0,13.5,497,6601,0.43,0.00,150.65,1.058,6,0.128,0.000,2252,2149,2869,0,0,0,0,0,0
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6604,0.53,194.6,1002.1,0.0,504,6768,0.62,0.50,157.23,1.045,4,0.083,0.031,2473,1798,2075,0,0,0,0,0,0
$GC,6836,0.72,347.0,996.0,5.6,515,6966,0.12,0.55,122.03,1.034,6,0.056,0.029,2538,2185,1454,0,0,0,0,0,0
$GC,7274,0.74,366.0,951.9,11.0,536,7296,0.00,0.47,17.27,0.955,4,0.000,0.040,2538,2503,1376,0,0,0,0,0,0
$GC,7549,0.74,366.0,919.1,12.6,548,7553,0.00,0.50,0.00,0.000,6,0.000,0.028,2540,2132,1375,0,0,0,0,0,0
$GC,7878,0.74,366.0,879.5,12.3,564,7881,0.00,0.52,0.00,0.000,4,0.000,0.034,2540,2503,1375,0,0,0,0,0,0
$GC,8135,0.74,366.0,847.3,12.1,575,8139,0.00,0.45,0.00,0.000,6,0.000,0.029,2542,2156,1374,0,0,0,0,0,0
$GC,8458,0.74,369.6,809.9,11.6,591,8467,0.00,0.52,4.70,0.692,4,0.000,0.034,2543,2506,1362,0,0,0,0,0,0
$GC,8721,0.75,377.3,778.3,11.5,602,8733,0.00,0.43,8.18,0.780,6,0.000,0.030,2544,2163,1329,0,0,0,0,0,0
$GC,9056,0.82,433.5,744.2,9.5,619,9107,0.00,0.55,45.03,0.896,4,0.000,0.034,2544,2514,1101,0,0,0,0,0,0
$GC,9242,0.88,479.5,726.7,9.9,627,9286,0.08,0.43,38.17,0.870,6,0.063,0.029,2592,2174,913,0,0,0,0,0,0
$GC,9609,0.89,485.3,685.2,11.6,645,9622,0.00,0.52,8.48,0.744,4,0.000,0.037,2592,2514,890,0,0,0,0,0,0
$GC,9877,0.89,485.3,653.1,13.0,657,9880,0.00,0.45,0.00,0.000,6,0.000,0.029,2593,2159,892,0,0,0,0,0,0
$GC,10210,0.89,485.3,607.7,14.3,673,10214,0.00,0.47,0.00,0.000,4,0.000,0.034,2593,2503,893,0,0,0,0,0,0
$GC,10414,0.89,485.3,576.2,15.9,682,10418,0.00,0.43,0.00,0.000,6,0.000,0.030,2595,2162,893,0,0,0,0,0,0
$GC,10747,0.89,485.3,526.6,14.9,698,10751,0.00,0.47,0.00,0.000,4,0.000,0.034,2595,2506,894,0,0,0,0,0,0
$GC,10796,0.89,485.3,518.6,15.3,700,10800,0.00,0.45,0.00,0.000,6,0.000,0.028,2597,2158,893,0,0,0,0,0,0
$GC,11121,0.89,485.3,470.3,14.6,724,11125,0.00,0.47,0.00,0.000,4,0.000,0.034,2596,2505,894,0,0,0,0,0,0
$GC,11193,0.89,485.3,459.5,14.2,730,11200,0.00,0.45,0.00,0.000,6,0.000,0.029,2598,2158,893,0,0,0,0,0,0
$GC,11519,0.95,539.9,423.7,9.6,761,11569,0.00,0.00,44.35,0.704,6,0.000,0.000,2598,2158,666,0,0,0,0,0,0
$GC,11887,0.95,539.9,383.0,13.3,796,11891,0.00,0.40,0.00,0.000,4,0.000,0.035,2600,1830,668,0,0,0,0,0,0
$GC,11938,0.95,539.9,375.8,14.0,800,11945,0.00,0.45,0.00,0.000,6,0.000,0.031,2600,2163,668,0,0,0,0,0,0
$GC,12263,1.00,577.4,336.0,10.3,831,12298,0.00,0.50,30.10,0.644,4,0.000,0.037,2600,2504,515,0,0,0,0,0,0
$GC,12426,1.08,641.8,320.3,9.2,845,12445,0.10,0.43,15.73,0.590,6,0.057,0.030,2656,2163,440,0,0,0,0,0,0
$GC,12762,1.08,641.8,278.3,13.8,877,12766,0.00,0.47,0.77,0.093,4,0.000,0.028,2656,2494,441,0,0,0,0,0,0
$GC,12841,1.08,641.8,267.3,13.7,884,12845,0.00,0.40,0.52,0.087,6,0.000,0.031,2656,2167,442,0,0,0,0,0,0
$GC,13171,1.08,641.8,225.4,13.2,915,13175,0.00,0.00,2.30,0.208,6,0.000,0.000,2657,2167,440,0,0,0,0,0,0
$GC,13492,1.08,644.3,194.6,11.7,949,13499,0.00,0.47,0.00,0.000,4,0.000,0.034,2657,2510,439,0,0,0,0,0,0
$GC,13541,1.08,644.3,188.1,14.6,957,13548,0.00,0.43,0.00,0.000,6,0.000,0.031,2659,2164,439,0,0,0,0,0,0
$GC,13685,1.08,644.3,166.9,16.0,982,13692,0.00,0.40,0.00,0.000,4,0.000,0.035,2661,1832,439,0,0,0,0,0,0
$GC,13830,1.08,644.3,142.0,17.1,1007,13837,0.00,0.45,0.00,0.000,6,0.000,0.032,2661,2168,439,0,0,0,0,0,0
$GC,13974,1.08,644.3,121.3,12.3,1032,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2168,440,0,0,0,0,0,0
$GC,14117,1.18,722.3,108.2,8.6,1057,14124,0.00,0.45,0.00,0.000,4,0.000,0.037,2661,2505,440,0,0,0,0,0,0
$GC,14176,1.28,806.7,103.2,8.3,1067,14184,0.10,0.43,0.52,0.083,6,0.050,0.031,2726,2177,440,0,0,0,0,0,0
$GC,14321,1.28,806.7,85.4,13.3,1092,14327,0.00,0.43,0.00,0.000,4,0.000,0.034,2728,1827,441,0,0,0,0,0,0
$GC,14491,1.34,856.6,66.5,9.7,1122,14499,0.00,0.45,0.30,0.088,6,0.000,0.032,2728,2164,441,0,0,0,0,0,0
$GC,14636,1.40,904.8,53.1,9.8,1147,14643,0.00,0.47,0.30,0.109,4,0.000,0.031,2728,2508,441,0,0,0,0,0,0
$GC,14707,1.41,912.9,45.2,11.5,1159,14714,0.00,0.45,0.28,0.090,6,0.000,0.030,2730,2155,441,0,0,0,0,0,0
$GC,14851,1.42,915.7,28.2,11.7,1184,14859,0.00,0.45,2.42,0.194,4,0.000,0.034,2732,1824,440,0,0,0,0,0,0
$GC,14993,1.46,955.4,13.5,10.2,1208,15001,0.08,0.45,0.03,0.201,6,0.053,0.031,2795,2169,441,0,0,0,0,0,0
$STATE,15079,end climb,SURFACE_DEPTH_REACHED
$STATE,15079,begin surface coast
$FINISH,0.5,1.020486
$STATE,15103,end surface coast,CONTROL_FINISHED_OK
$STATE,15103,begin surface
$SM_CCo,15180,0.00,0.000,0,0,441,595.59
$SM_GC,1.38,6.68,0.00,0.00,0.031,0.000,0.000,206,2579,441,-6.45,-0.31,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2034.08,12005.27,300911,010111
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.32
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.5,94.734
$10V_AH,9.8,74.263
$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,16.850,29.325,649.350,0.000,0.000,29.791,41.530,134.406,0.000,0.000,18.520,2963.383,8897.888,671.189,2642.266,344.702,33.359,2000.121,0.000,2397.929,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,102.510,1057.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,851.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70174,1227
$CAP_FILE_SIZE,159681,0
$CFSIZE,260165632,198496256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,095507,2044.240,11947.472,35,1.0,35,-2.4