version: 66.09
glider: 181
mission: 6
dive: 577
start: 9 30 111 18 43 59
data:
$ID,181
$MISSION,6
$DIVE,577
$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,-41313.84
$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,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
$GPS1,300911,183107,2046.634,11946.295,29,1.0,29,-2.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.3
$GPS2,300911,184302,2046.856,11946.253,13,1.5,13,-2.4
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,43.6,110248,-17.4,-11.786
$D_GRID,3163
$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,-61.80,0.000,2,0.000,0.000,144,2584,2220,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.3,-3.4,11,131,8.38,0.00,-32.15,0.000,6,0.226,0.000,2121,2584,3664,0,0,0,0,0,0
$GC,266,-0.53,-194.6,67.9,-32.8,43,273,0.00,0.50,0.00,0.000,4,0.000,0.040,2119,2938,3664,0,0,0,0,0,0
$GC,399,-0.53,-194.6,100.7,-20.3,66,406,0.00,0.43,0.00,0.000,6,0.000,0.031,2119,2595,3663,0,0,0,0,0,0
$GC,542,-0.53,-194.6,127.1,-17.5,91,548,0.00,0.43,0.00,0.000,4,0.000,0.028,2119,2222,3663,0,0,0,0,0,0
$GC,612,-0.53,-194.6,139.2,-17.2,103,619,0.00,0.55,0.00,0.000,6,0.000,0.037,2117,2598,3663,0,0,0,0,0,0
$GC,754,-0.53,-194.6,164.6,-16.9,128,761,0.00,0.47,0.00,0.000,4,0.000,0.040,2114,2946,3663,0,0,0,0,0,0
$GC,976,-0.53,-194.6,206.9,-17.5,163,983,0.00,0.45,0.00,0.000,6,0.000,0.029,2114,2578,3662,0,0,0,0,0,0
$GC,1301,-0.53,-194.6,261.0,-14.9,194,1305,0.00,0.38,0.00,0.000,4,0.000,0.030,2114,2247,3661,0,0,0,0,0,0
$GC,1359,-0.53,-194.6,269.2,-14.2,199,1362,0.00,0.50,0.00,0.000,6,0.000,0.038,2112,2592,3661,0,0,0,0,0,0
$GC,1691,-0.53,-194.6,312.9,-12.1,230,1694,0.00,0.47,0.00,0.000,4,0.000,0.041,2109,2939,3658,0,0,0,0,0,0
$GC,1809,-0.53,-194.6,328.6,-13.5,240,1815,0.00,0.43,0.00,0.000,6,0.000,0.030,2109,2596,3657,0,0,0,0,0,0
$GC,2134,-0.53,-194.6,378.3,-16.7,271,2137,0.00,0.50,0.00,0.000,4,0.000,0.041,2107,2944,3654,0,0,0,0,0,0
$GC,2207,-0.53,-194.6,391.5,-17.7,277,2214,0.00,0.45,0.00,0.000,6,0.000,0.030,2107,2588,3653,0,0,0,0,0,0
$GC,2532,-0.53,-194.6,445.6,-15.8,308,2536,0.00,0.50,0.00,0.000,4,0.000,0.041,2104,2936,3649,0,0,0,0,0,0
$GC,2568,-0.53,-194.6,451.1,-16.1,311,2571,0.00,0.43,0.00,0.000,6,0.000,0.031,2104,2593,3649,0,0,0,0,0,0
$GC,2908,-0.53,-194.6,508.5,-17.0,341,2911,0.00,0.43,0.00,0.000,4,0.000,0.028,2104,2239,3645,0,0,0,0,0,0
$GC,2957,-0.53,-194.6,517.1,-16.5,343,2961,0.00,0.55,0.00,0.000,6,0.000,0.039,2102,2598,3644,0,0,0,0,0,0
$GC,3286,-0.53,-194.6,570.5,-16.0,359,3289,0.00,0.47,0.00,0.000,4,0.000,0.041,2099,2939,3641,0,0,0,0,0,0
$GC,3335,-0.53,-194.6,578.8,-16.0,361,3339,0.00,0.45,0.00,0.000,6,0.000,0.029,2099,2590,3640,0,0,0,0,0,0
$GC,3664,-0.53,-194.6,627.0,-14.2,377,3667,0.00,0.52,0.00,0.000,4,0.000,0.044,2097,2935,3637,0,0,0,0,0,0
$GC,3725,-0.53,-194.6,635.9,-13.8,379,3733,0.12,0.45,0.00,0.000,6,0.159,0.030,2129,2593,3636,0,0,0,0,0,0
$GC,4041,-0.53,-194.6,672.3,-11.2,395,4045,0.00,0.43,0.00,0.000,4,0.000,0.028,2130,2246,3633,0,0,0,0,0,0
$GC,4111,-0.53,-194.6,679.8,-11.1,398,4115,0.00,0.50,0.00,0.000,6,0.000,0.041,2128,2583,3633,0,0,0,0,0,0
$GC,4444,-0.53,-194.6,717.0,-10.8,414,4448,0.00,0.50,0.00,0.000,4,0.000,0.043,2126,2939,3630,0,0,0,0,0,0
$GC,4518,-0.53,-194.6,725.2,-10.9,417,4522,0.00,0.45,0.00,0.000,6,0.000,0.031,2126,2591,3630,0,0,0,0,0,0
$GC,4845,-0.53,-194.6,762.6,-11.7,433,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2591,3627,0,0,0,0,0,0
$GC,5154,-0.53,-194.6,800.1,-12.2,448,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2591,3624,0,0,0,0,0,0
$GC,5465,-0.53,-194.6,837.1,-11.9,463,5468,0.00,0.43,0.00,0.000,4,0.000,0.028,2126,2237,3622,0,0,0,0,0,0
$GC,5613,-0.53,-194.6,854.3,-11.7,469,5617,0.00,0.52,0.00,0.000,6,0.000,0.041,2124,2583,3621,0,0,0,0,0,0
$GC,5936,-0.53,-194.6,887.8,-9.9,485,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2583,3619,0,0,0,0,0,0
$GC,6244,-0.53,-194.6,914.9,-8.3,500,6248,0.00,0.43,0.00,0.000,4,0.000,0.029,2124,2245,3617,0,0,0,0,0,0
$GC,6317,-0.53,-194.6,921.0,-7.5,503,6320,0.00,0.52,0.00,0.000,6,0.000,0.041,2122,2592,3616,0,0,0,0,0,0
$GC,6646,-0.53,-194.6,950.6,-10.1,519,6649,0.00,0.50,0.00,0.000,4,0.000,0.044,2119,2942,3615,0,0,0,0,0,0
$GC,6768,-0.53,-194.6,964.9,-12.4,524,6772,0.00,0.47,0.00,0.000,6,0.000,0.030,2119,2591,3614,0,0,0,0,0,0
$STATE,6984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6984,begin apogee
$GC,6991,-0.13,0.0,990.1,11.5,535,7147,0.43,0.00,149.10,1.059,6,0.128,0.000,2255,2145,2869,0,0,0,0,0,0
$STATE,7147,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7151,0.53,194.6,995.4,0.0,542,7314,0.60,0.47,157.38,1.041,4,0.083,0.032,2469,1812,2074,0,0,0,0,0,0
$GC,7337,0.56,221.6,983.1,10.7,551,7363,0.00,0.52,23.00,0.968,6,0.000,0.030,2469,2188,1965,0,0,0,0,0,0
$GC,7676,0.62,266.1,947.0,10.0,567,7719,0.00,0.52,36.25,0.994,4,0.000,0.024,2470,1810,1784,0,0,0,0,0,0
$GC,7731,0.72,351.8,941.6,8.3,569,7807,0.15,0.47,69.50,0.995,6,0.047,0.031,2543,2154,1434,0,0,0,0,0,0
$GC,8115,0.73,360.7,898.7,11.4,588,8129,0.00,0.52,9.18,0.856,4,0.000,0.038,2543,2505,1397,0,0,0,0,0,0
$GC,8384,0.73,360.7,861.5,15.3,600,8388,0.00,0.45,0.00,0.000,6,0.000,0.029,2545,2151,1397,0,0,0,0,0,0
$GC,8718,0.73,360.7,815.3,13.0,616,8722,0.00,0.50,0.00,0.000,4,0.000,0.036,2545,2503,1397,0,0,0,0,0,0
$GC,8975,0.77,394.5,787.2,10.4,627,9009,0.00,0.43,28.00,0.910,6,0.000,0.030,2547,2164,1259,0,0,0,0,0,0
$GC,9320,0.77,394.5,747.7,13.2,644,9323,0.00,0.47,0.00,0.000,4,0.000,0.035,2547,2504,1258,0,0,0,0,0,0
$GC,9579,0.78,396.7,713.0,11.7,655,9585,0.00,0.43,3.08,0.474,6,0.000,0.030,2549,2165,1251,0,0,0,0,0,0
$GC,9895,0.94,529.1,688.8,6.4,670,10010,0.15,0.55,106.05,0.872,4,0.083,0.037,2618,2512,712,0,0,0,0,0,0
$GC,10234,0.94,529.1,640.1,18.1,685,10247,0.00,0.45,4.15,0.545,6,0.000,0.028,2620,2163,712,0,0,0,0,0,0
$GC,10556,0.94,529.1,585.6,15.4,701,10560,0.00,0.47,0.00,0.000,4,0.000,0.038,2620,2500,713,0,0,0,0,0,0
$GC,10814,1.01,584.6,555.2,9.5,712,10867,0.00,0.40,44.78,0.780,6,0.000,0.031,2622,2174,484,0,0,0,0,0,0
$GC,11176,1.13,683.7,528.7,7.7,730,11191,0.12,0.47,10.20,0.690,4,0.096,0.029,2676,2503,441,0,0,0,0,0,0
$GC,11337,1.13,683.7,507.2,14.3,737,11341,0.00,0.45,0.00,0.000,6,0.000,0.028,2678,2157,439,0,0,0,0,0,0
$GC,11662,1.13,683.7,459.5,14.8,765,11666,0.00,0.50,0.00,0.000,4,0.000,0.035,2679,2513,439,0,0,0,0,0,0
$GC,11836,1.13,683.7,432.5,16.0,780,11843,0.00,0.45,0.00,0.000,6,0.000,0.030,2680,2157,439,0,0,0,0,0,0
$GC,12163,1.13,683.7,374.6,18.5,811,12167,0.00,0.47,0.00,0.000,4,0.000,0.034,2681,2503,439,0,0,0,0,0,0
$GC,12220,1.13,683.7,363.8,19.0,816,12223,0.00,0.43,0.00,0.000,6,0.000,0.030,2683,2159,439,0,0,0,0,0,0
$GC,12551,1.13,683.7,314.8,13.2,847,12555,0.00,0.47,0.00,0.000,4,0.000,0.036,2682,2502,439,0,0,0,0,0,0
$GC,12710,1.13,683.7,291.4,15.7,861,12714,0.00,0.43,0.00,0.000,6,0.000,0.031,2684,2157,440,0,0,0,0,0,0
$GC,13041,1.13,683.7,242.1,13.7,892,13045,0.00,0.00,2.30,0.207,6,0.000,0.000,2684,2157,440,0,0,0,0,0,0
$GC,13360,1.19,732.2,204.1,9.8,922,13369,0.00,0.00,2.20,0.175,6,0.000,0.000,2684,2157,440,0,0,0,0,0,0
$GC,13705,1.19,732.2,151.3,16.8,980,13712,0.00,0.47,0.00,0.000,4,0.000,0.034,2685,2506,440,0,0,0,0,0,0
$GC,13741,1.19,732.2,145.9,15.4,986,13748,0.00,0.43,0.05,0.149,6,0.000,0.030,2686,2161,440,0,0,0,0,0,0
$GC,13885,1.19,732.2,126.3,12.9,1011,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2160,440,0,0,0,0,0,0
$GC,14027,1.19,732.2,108.8,12.0,1036,14033,0.00,0.47,0.00,0.000,4,0.000,0.032,2686,2509,441,0,0,0,0,0,0
$GC,14098,1.23,763.0,101.3,10.5,1048,14105,0.00,0.43,0.62,0.083,6,0.000,0.031,2688,2166,440,0,0,0,0,0,0
$GC,14241,1.42,915.3,91.1,5.6,1073,14249,0.17,0.43,0.50,0.096,4,0.070,0.026,2771,1828,441,0,0,0,0,0,0
$GC,14481,1.42,915.3,66.9,11.9,1115,14489,0.00,0.45,0.30,0.089,6,0.000,0.033,2771,2166,441,0,0,0,0,0,0
$GC,14625,1.42,915.3,48.4,13.8,1140,14632,0.00,0.43,0.70,0.089,4,0.000,0.023,2772,1835,441,0,0,0,0,0,0
$GC,14842,1.42,917.2,19.1,11.7,1178,14850,0.00,0.43,2.53,0.202,6,0.000,0.031,2772,2163,439,0,0,0,0,0,0
$GC,14986,1.50,982.5,4.9,9.1,1203,14992,0.00,0.00,0.08,0.206,6,0.000,0.000,2772,2170,441,0,0,0,0,0,0
$STATE,15002,end climb,SURFACE_DEPTH_REACHED
$STATE,15002,begin surface coast
$FINISH,0.6,1.020613
$STATE,15026,end surface coast,CONTROL_FINISHED_OK
$STATE,15026,begin surface
$SM_CCo,15104,0.00,0.000,0,0,441,595.59
$SM_GC,1.20,6.68,0.00,0.00,0.035,0.000,0.000,206,2618,441,-6.45,0.79,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2043.29,11834.60,300911,181826
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.2,95.309
$10V_AH,9.8,74.513
$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,16.800,29.125,649.925,0.000,0.000,112.645,150.825,125.762,0.250,0.000,15.665,2935.251,9031.329,674.493,2820.817,348.678,33.371,2000.060,0.000,2392.404,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,44.370,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,838.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70313,1210
$CAP_FILE_SIZE,161299,0
$CFSIZE,260165632,198258688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300911,225701,2049.953,11946.700,39,1.3,39,-2.4