version: 66.09
glider: 181
mission: 6
dive: 576
start: 9 30 111 14 27 35
data:
$ID,181
$MISSION,6
$DIVE,576
$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,-41312.488
$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,81
$R_STBD_OVSHOOT,42
$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
$GPS1,300911,142101,2044.783,11947.642,37,1.6,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.5
$GPS2,300911,142638,2044.797,11947.584,11,1.2,11,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.074,0.303
$KALMAN_X,31375.1,-601.9,319.1,-49815.4,-5444.1
$KALMAN_Y,70046.9,-602.9,-49.1,97709.7,736.8
$MHEAD_RNG_PITCHd_Wd,16.2,113524,-17.4,-11.786
$D_GRID,3166
$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,-61.78,0.000,2,0.000,0.000,128,2581,2205,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.2,-3.3,11,131,8.73,0.52,-32.00,0.000,4,0.236,0.089,2122,2949,3664,0,0,0,0,0,0
$GC,213,-0.53,-194.6,52.0,-44.3,33,220,0.00,0.47,0.00,0.000,6,0.000,0.028,2121,2574,3664,0,0,0,0,0,0
$GC,356,-0.53,-194.6,101.3,-27.7,58,363,0.00,0.55,0.00,0.000,4,0.000,0.038,2118,2952,3664,0,0,0,0,0,0
$GC,539,-0.53,-194.6,145.1,-20.2,90,546,0.00,0.45,0.00,0.000,6,0.000,0.028,2119,2586,3664,0,0,0,0,0,0
$GC,683,-0.53,-194.6,170.4,-16.0,115,690,0.00,0.52,0.00,0.000,4,0.000,0.038,2116,2953,3665,0,0,0,0,0,0
$GC,793,-0.53,-194.6,189.9,-17.2,134,799,0.00,0.45,0.00,0.000,6,0.000,0.028,2116,2586,3664,0,0,0,0,0,0
$GC,937,-0.53,-194.6,213.6,-18.1,153,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2586,3665,0,0,0,0,0,0
$GC,1258,-0.53,-194.6,262.4,-14.4,183,1262,0.00,0.40,0.00,0.000,4,0.000,0.028,2116,2230,3665,0,0,0,0,0,0
$GC,1374,-0.53,-194.6,278.3,-13.1,193,1382,0.00,0.55,0.00,0.000,6,0.000,0.037,2113,2598,3665,0,0,0,0,0,0
$GC,1700,-0.53,-194.6,323.6,-15.2,224,1704,0.00,0.47,0.00,0.000,4,0.000,0.041,2110,2942,3663,0,0,0,0,0,0
$GC,1805,-0.53,-194.6,340.8,-16.4,233,1812,0.00,0.45,0.00,0.000,6,0.000,0.029,2111,2593,3662,0,0,0,0,0,0
$GC,2131,-0.53,-194.6,392.9,-15.9,264,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2593,3659,0,0,0,0,0,0
$GC,2451,-0.53,-194.6,440.3,-14.8,294,2454,0.00,0.40,0.00,0.000,4,0.000,0.029,2110,2254,3656,0,0,0,0,0,0
$GC,2501,-0.53,-194.6,448.3,-15.5,298,2508,0.00,0.50,0.00,0.000,6,0.000,0.040,2108,2592,3655,0,0,0,0,0,0
$GC,2827,-0.53,-194.6,498.0,-15.5,329,2830,0.00,0.43,0.00,0.000,4,0.000,0.028,2108,2254,3652,0,0,0,0,0,0
$GC,2882,-0.53,-194.6,506.5,-14.7,332,2886,0.00,0.52,0.00,0.000,6,0.000,0.039,2105,2598,3652,0,0,0,0,0,0
$GC,3205,-0.53,-194.6,558.9,-16.8,348,3208,0.00,0.47,0.00,0.000,4,0.000,0.041,2103,2939,3648,0,0,0,0,0,0
$GC,3318,-0.53,-194.6,579.0,-17.8,353,3322,0.00,0.43,0.00,0.000,6,0.000,0.031,2103,2599,3647,0,0,0,0,0,0
$GC,3651,-0.53,-194.6,636.6,-17.2,369,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2598,3644,0,0,0,0,0,0
$GC,3959,-0.53,-194.6,691.8,-18.3,384,3963,0.00,0.50,0.00,0.000,4,0.000,0.042,2100,2940,3641,0,0,0,0,0,0
$GC,4088,-0.53,-194.6,717.3,-20.0,389,4095,0.00,0.45,0.00,0.000,6,0.000,0.030,2100,2593,3640,0,0,0,0,0,0
$GC,4407,-0.53,-194.6,785.1,-21.7,405,4411,0.00,0.50,0.00,0.000,4,0.000,0.042,2098,2933,3637,0,0,0,0,0,0
$GC,4453,-0.53,-194.6,795.8,-21.5,407,4457,0.00,0.45,0.00,0.000,6,0.000,0.030,2098,2583,3637,0,0,0,0,0,0
$GC,4787,-0.53,-194.6,859.7,-17.0,423,4791,0.12,0.55,0.00,0.000,4,0.161,0.043,2130,2941,3634,0,0,0,0,0,0
$GC,4825,-0.53,-194.6,865.4,-14.0,424,4831,0.00,0.45,0.00,0.000,6,0.000,0.030,2130,2590,3634,0,0,0,0,0,0
$GC,5141,-0.53,-194.6,896.8,-8.7,440,5145,0.00,0.45,0.00,0.000,4,0.000,0.030,2130,2230,3632,0,0,0,0,0,0
$GC,5236,-0.53,-194.6,904.8,-8.5,444,5241,0.00,0.52,0.00,0.000,6,0.000,0.041,2128,2580,3632,0,0,0,0,0,0
$GC,5564,-0.53,-194.6,932.8,-9.2,460,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2581,3630,0,0,0,0,0,0
$GC,5874,-0.53,-194.6,962.1,-9.5,475,5878,0.00,0.43,0.00,0.000,4,0.000,0.028,2128,2245,3627,0,0,0,0,0,0
$GC,5958,-0.53,-194.6,970.3,-9.5,478,5964,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2592,3626,0,0,0,0,0,0
$STATE,6168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6168,begin apogee
$GC,6175,-0.13,0.0,990.2,9.3,489,6331,0.40,0.00,151.52,1.053,6,0.122,0.000,2254,2161,2869,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6334,0.53,194.6,992.9,0.0,496,6498,0.60,0.47,157.40,1.034,4,0.083,0.024,2468,1810,2075,0,0,0,0,0,0
$GC,6578,0.60,254.5,976.4,9.3,507,6631,0.00,0.52,48.80,1.004,6,0.000,0.030,2468,2187,1831,0,0,0,0,0,0
$GC,6953,0.74,367.4,946.5,7.2,526,7049,0.20,0.45,90.62,1.008,4,0.067,0.032,2556,2500,1371,0,0,0,0,0,0
$GC,7232,0.80,412.9,918.0,9.9,538,7273,0.00,0.45,37.53,0.970,6,0.000,0.028,2558,2143,1185,0,0,0,0,0,0
$GC,7590,0.89,487.7,885.8,8.7,556,7656,0.00,0.52,61.83,0.972,4,0.000,0.031,2558,2492,881,0,0,0,0,0,0
$GC,7912,0.98,565.1,858.9,8.6,570,7982,0.15,0.43,65.25,0.958,6,0.051,0.030,2635,2156,565,0,0,0,0,0,0
$GC,8292,0.98,565.1,809.3,13.5,588,8295,0.00,0.40,0.00,0.000,4,0.000,0.030,2637,1813,565,0,0,0,0,0,0
$GC,8456,0.98,565.1,785.6,14.9,595,8460,0.00,0.47,0.00,0.000,6,0.000,0.034,2637,2156,565,0,0,0,0,0,0
$GC,8783,0.98,565.1,736.8,15.1,611,8786,0.00,0.40,0.00,0.000,4,0.000,0.030,2639,1823,564,0,0,0,0,0,0
$GC,8953,0.98,565.1,709.6,16.9,618,8957,0.00,0.47,0.00,0.000,6,0.000,0.033,2639,2162,564,0,0,0,0,0,0
$GC,9274,0.98,565.1,657.1,16.0,634,9278,0.00,0.47,0.00,0.000,4,0.000,0.039,2639,2507,563,0,0,0,0,0,0
$GC,9532,0.98,565.1,616.2,14.9,645,9536,0.00,0.45,0.00,0.000,6,0.000,0.028,2641,2159,563,0,0,0,0,0,0
$GC,9854,0.98,565.1,571.4,13.4,661,9857,0.00,0.40,0.00,0.000,4,0.000,0.031,2643,1817,563,0,0,0,0,0,0
$GC,9945,0.98,565.1,559.4,13.6,665,9949,0.00,0.47,0.00,0.000,6,0.000,0.034,2643,2160,563,0,0,0,0,0,0
$GC,10278,0.98,565.1,517.7,13.0,681,10282,0.00,0.40,0.00,0.000,4,0.000,0.030,2645,1830,563,0,0,0,0,0,0
$GC,10451,0.98,565.1,494.8,13.6,689,10459,0.00,0.50,0.00,0.000,6,0.000,0.032,2645,2177,563,0,0,0,0,0,0
$GC,10777,0.98,565.1,450.1,14.3,720,10780,0.00,0.45,0.00,0.000,4,0.000,0.039,2645,2509,563,0,0,0,0,0,0
$GC,11014,0.98,565.1,414.2,15.8,741,11018,0.00,0.43,0.00,0.000,6,0.000,0.030,2647,2164,563,0,0,0,0,0,0
$GC,11345,0.98,565.1,364.3,14.7,772,11348,0.00,0.47,0.00,0.000,4,0.000,0.034,2647,2509,564,0,0,0,0,0,0
$GC,11462,0.98,565.1,345.7,15.3,782,11469,0.08,0.43,0.00,0.000,6,0.145,0.030,2622,2166,564,0,0,0,0,0,0
$GC,11789,0.98,565.1,301.6,12.7,813,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2166,564,0,0,0,0,0,0
$GC,12107,0.98,565.1,262.9,12.7,843,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2165,564,0,0,0,0,0,0
$GC,12427,1.03,603.4,227.9,10.2,873,12460,0.00,0.45,24.85,0.584,4,0.000,0.036,2622,1838,439,0,0,0,0,0,0
$GC,12716,1.06,629.7,195.8,10.7,902,12723,0.00,0.45,2.50,0.244,6,0.000,0.031,2622,2173,440,0,0,0,0,0,0
$GC,12860,1.12,677.4,181.2,9.8,927,12868,0.12,0.45,0.03,0.323,4,0.092,0.031,2688,1832,440,0,0,0,0,0,0
$GC,13020,1.12,677.4,160.6,14.5,955,13028,0.00,0.45,0.45,0.087,6,0.000,0.030,2688,2179,441,0,0,0,0,0,0
$GC,13165,1.12,677.4,138.4,14.7,980,13172,0.00,0.43,0.68,0.093,4,0.000,0.031,2688,2493,441,0,0,0,0,0,0
$GC,13258,1.12,677.4,126.2,12.5,996,13265,0.00,0.40,0.38,0.088,6,0.000,0.031,2689,2160,441,0,0,0,0,0,0
$GC,13400,1.12,677.4,108.6,12.8,1021,13408,0.00,0.40,0.30,0.111,4,0.000,0.026,2690,1834,441,0,0,0,0,0,0
$GC,13540,1.12,677.4,91.2,11.8,1045,13547,0.00,0.43,2.20,0.164,6,0.000,0.031,2691,2162,440,0,0,0,0,0,0
$GC,13684,1.19,732.8,77.0,9.5,1070,13691,0.00,0.40,0.00,0.000,4,0.000,0.031,2691,1841,440,0,0,0,0,0,0
$GC,13946,1.26,792.8,50.7,9.3,1116,13953,0.00,0.43,0.28,0.087,6,0.000,0.032,2691,2174,441,0,0,0,0,0,0
$GC,14089,1.36,869.0,38.2,8.7,1141,14097,0.12,0.45,0.65,0.087,4,0.090,0.023,2742,1829,441,0,0,0,0,0,0
$GC,14185,1.44,932.2,29.8,9.2,1157,14193,0.00,0.43,2.38,0.182,6,0.000,0.031,2742,2156,440,0,0,0,0,0,0
$GC,14329,1.52,997.3,16.1,9.1,1182,14337,0.12,0.43,0.45,0.093,4,0.080,0.024,2814,1833,441,0,0,0,0,0,0
$STATE,14439,end climb,SURFACE_DEPTH_REACHED
$STATE,14439,begin surface coast
$FINISH,0.6,1.019705
$STATE,14467,end surface coast,CONTROL_FINISHED_OK
$STATE,14467,begin surface
$SM_CCo,14544,0.00,0.000,0,0,443,595.10
$SM_GC,1.31,6.75,0.00,0.00,0.033,0.000,0.000,207,2587,443,-6.45,-0.08,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2031.77,11953.83,300911,101046
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.5,95.118
$10V_AH,9.8,74.428
$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,17.400,28.775,648.075,0.000,0.000,30.099,39.356,131.219,0.250,0.000,14.595,2908.598,8362.437,669.756,2593.205,338.209,33.362,1969.791,0.000,2357.639,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,88.740,1053.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,834.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,70322,1206
$CAP_FILE_SIZE,155294,0
$CFSIZE,260165632,198344704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,183107,2046.634,11946.295,29,1.0,29,-2.4