version: 66.09
glider: 181
mission: 6
dive: 578
start: 9 30 111 23 2 38
data:
$ID,181
$MISSION,6
$DIVE,578
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,-41315.195
$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,91
$R_STBD_OVSHOOT,65
$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
$GPS1,300911,225701,2049.953,11946.700,39,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.3
$GPS2,300911,230214,2049.938,11946.719,12,1.4,12,-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,15.0,104503,-17.4,-11.786
$D_GRID,3205
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-194.6,0.0,0.0,0,89,0.00,0.00,-69.20,0.000,2,0.000,0.000,135,2627,2426,0,0,0,0,0,0
$GC,92,-0.53,-194.6,3.7,-4.0,11,130,8.43,0.47,-24.65,0.000,4,0.226,0.106,2119,2935,3665,0,0,0,0,0,0
$GC,155,-0.53,-194.6,27.9,-44.8,21,163,0.00,0.45,0.00,0.000,6,0.000,0.028,2119,2580,3667,0,0,0,0,0,0
$GC,298,-0.53,-194.6,84.9,-37.0,46,305,0.00,0.40,0.00,0.000,4,0.000,0.028,2119,2239,3666,0,0,0,0,0,0
$GC,385,-0.53,-194.6,117.8,-28.2,61,392,0.00,0.47,0.00,0.000,6,0.000,0.039,2118,2569,3666,0,0,0,0,0,0
$GC,530,-0.53,-194.6,152.2,-22.7,86,536,0.00,0.50,0.00,0.000,4,0.000,0.039,2115,2933,3666,0,0,0,0,0,0
$GC,756,-0.53,-194.6,197.0,-12.1,126,763,0.00,0.43,0.00,0.000,6,0.000,0.030,2115,2584,3667,0,0,0,0,0,0
$GC,893,-0.53,-194.6,211.5,-9.9,141,897,0.00,0.50,0.00,0.000,4,0.000,0.038,2112,2939,3668,0,0,0,0,0,0
$GC,928,-0.53,-194.6,215.3,-10.9,144,932,0.00,0.43,0.00,0.000,6,0.000,0.030,2112,2593,3667,0,0,0,0,0,0
$GC,1259,-0.53,-194.6,269.6,-22.0,175,1262,0.00,0.40,0.00,0.000,4,0.000,0.029,2112,2248,3668,0,0,0,0,0,0
$GC,1349,-0.53,-194.6,288.7,-21.0,183,1353,0.00,0.50,0.00,0.000,6,0.000,0.039,2111,2590,3668,0,0,0,0,0,0
$GC,1680,-0.53,-194.6,347.7,-14.9,214,1684,0.00,0.50,0.00,0.000,4,0.000,0.043,2109,2935,3667,0,0,0,0,0,0
$GC,1775,-0.53,-194.6,361.3,-13.9,222,1782,0.00,0.45,0.00,0.000,6,0.000,0.029,2109,2585,3666,0,0,0,0,0,0
$GC,2101,-0.53,-194.6,400.7,-11.6,253,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2584,3664,0,0,0,0,0,0
$GC,2421,-0.53,-194.6,448.4,-16.6,283,2424,0.00,0.52,0.00,0.000,4,0.000,0.041,2107,2946,3660,0,0,0,0,0,0
$GC,2460,-0.53,-194.6,455.7,-17.8,286,2467,0.00,0.45,0.00,0.000,6,0.000,0.030,2107,2594,3660,0,0,0,0,0,0
$GC,2785,-0.53,-194.6,511.9,-17.4,314,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2593,3657,0,0,0,0,0,0
$GC,3094,-0.53,-194.6,561.7,-16.3,329,3098,0.00,0.43,0.00,0.000,4,0.000,0.029,2107,2246,3654,0,0,0,0,0,0
$GC,3233,-0.53,-194.6,584.6,-16.3,335,3237,0.00,0.52,0.00,0.000,6,0.000,0.039,2104,2588,3652,0,0,0,0,0,0
$GC,3560,-0.53,-194.6,644.1,-18.9,351,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2588,3648,0,0,0,0,0,0
$GC,3871,-0.53,-194.6,697.2,-15.5,366,3875,0.00,0.50,0.00,0.000,4,0.000,0.044,2101,2941,3647,0,0,0,0,0,0
$GC,3910,-0.53,-194.6,703.3,-14.9,367,3917,0.00,0.47,0.00,0.000,6,0.000,0.029,2101,2584,3646,0,0,0,0,0,0
$GC,4227,-0.53,-194.6,742.7,-11.7,383,4231,0.00,0.40,0.00,0.000,4,0.000,0.028,2101,2247,3642,0,0,0,0,0,0
$GC,4277,-0.53,-194.6,748.5,-11.1,385,4281,0.00,0.50,0.00,0.000,6,0.000,0.041,2099,2583,3642,0,0,0,0,0,0
$GC,4605,-0.53,-194.6,785.4,-11.4,401,4608,0.00,0.50,0.00,0.000,4,0.000,0.043,2096,2934,3640,0,0,0,0,0,0
$GC,4711,-0.53,-194.6,798.4,-11.9,405,4719,0.08,0.45,0.00,0.000,6,0.142,0.031,2121,2590,3640,0,0,0,0,0,0
$GC,5027,-0.53,-194.6,826.6,-8.3,421,5031,0.00,0.45,0.00,0.000,4,0.000,0.030,2122,2241,3637,0,0,0,0,0,0
$GC,5096,-0.53,-194.6,832.5,-8.4,424,5100,0.00,0.52,0.00,0.000,6,0.000,0.042,2121,2588,3637,0,0,0,0,0,0
$GC,5428,-0.53,-194.6,866.8,-11.9,440,5432,0.00,0.50,0.00,0.000,4,0.000,0.044,2118,2938,3634,0,0,0,0,0,0
$GC,5474,-0.53,-194.6,872.7,-13.0,442,5478,0.00,0.45,0.00,0.000,6,0.000,0.031,2118,2593,3633,0,0,0,0,0,0
$GC,5809,-0.53,-194.6,922.6,-15.8,458,5813,0.00,0.43,0.00,0.000,4,0.000,0.029,2118,2247,3632,0,0,0,0,0,0
$GC,5886,-0.53,-194.6,935.4,-15.6,461,5890,0.00,0.55,0.00,0.000,6,0.000,0.041,2116,2602,3631,0,0,0,0,0,0
$GC,6208,-0.53,-194.6,987.6,-16.9,477,6212,0.00,0.45,0.00,0.000,4,0.000,0.029,2116,2240,3630,0,0,0,0,0,0
$STATE,6222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6222,begin apogee
$GC,6228,-0.13,0.0,990.7,17.0,477,6386,0.43,0.00,152.35,1.060,6,0.126,0.000,2251,2238,2869,0,0,0,0,0,0
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6391,0.53,194.6,1005.7,0.0,485,6560,0.62,0.52,157.80,1.047,4,0.083,0.024,2472,1832,2074,0,0,0,0,0,0
$GC,6608,0.85,458.4,1006.8,1.0,495,6826,0.25,0.50,211.27,1.043,6,0.052,0.030,2579,2192,1000,0,0,0,0,0,0
$GC,7151,0.92,514.4,958.3,9.5,521,7202,0.00,0.52,48.00,1.007,4,0.000,0.030,2581,1824,771,0,0,0,0,0,0
$GC,7359,0.92,514.4,934.8,12.5,530,7367,0.00,0.47,4.03,0.615,6,0.000,0.033,2581,2162,771,0,0,0,0,0,0
$GC,7675,0.92,514.4,892.8,14.2,546,7679,0.00,0.47,0.00,0.000,4,0.000,0.038,2581,2506,777,0,0,0,0,0,0
$GC,7930,0.92,514.4,852.3,16.3,557,7934,0.00,0.47,0.00,0.000,6,0.000,0.028,2583,2144,776,0,0,0,0,0,0
$GC,8253,0.92,514.4,799.0,17.0,573,8256,0.00,0.52,0.00,0.000,4,0.000,0.034,2583,2514,775,0,0,0,0,0,0
$GC,8509,0.92,514.4,754.6,17.1,584,8513,0.00,0.45,0.00,0.000,6,0.000,0.028,2584,2163,774,0,0,0,0,0,0
$GC,8831,0.92,514.4,701.3,16.3,600,8834,0.00,0.40,0.00,0.000,4,0.000,0.033,2586,1834,774,0,0,0,0,0,0
$GC,9021,0.92,514.4,670.5,15.7,608,9024,0.00,0.45,0.00,0.000,6,0.000,0.032,2586,2163,774,0,0,0,0,0,0
$GC,9342,0.92,514.4,624.9,13.6,624,9346,0.00,0.47,0.00,0.000,4,0.000,0.037,2586,2511,773,0,0,0,0,0,0
$GC,9598,0.93,518.0,592.4,11.6,635,9611,0.00,0.43,5.75,0.668,6,0.000,0.030,2588,2163,756,0,0,0,0,0,0
$GC,9921,0.97,553.6,557.9,10.3,651,9955,0.00,0.55,29.23,0.779,4,0.000,0.035,2588,2512,612,0,0,0,0,0,0
$GC,10210,1.06,624.5,530.1,8.9,664,10249,0.10,0.43,34.83,0.759,6,0.055,0.030,2644,2175,440,0,0,0,0,0,0
$GC,10560,1.15,699.3,497.5,8.7,681,10565,0.00,0.52,2.53,0.307,4,0.000,0.037,2644,2511,439,0,0,0,0,0,0
$GC,10814,1.16,708.0,471.9,11.4,703,10817,0.00,0.45,0.00,0.000,6,0.000,0.029,2646,2155,439,0,0,0,0,0,0
$GC,11144,1.16,708.0,427.4,14.4,734,11148,0.00,0.50,0.00,0.000,4,0.000,0.034,2646,2505,439,0,0,0,0,0,0
$GC,11383,1.16,708.0,393.2,13.8,755,11390,0.00,0.45,0.00,0.000,6,0.000,0.028,2649,2156,439,0,0,0,0,0,0
$GC,11709,1.16,708.0,349.5,14.4,786,11712,0.00,0.50,0.00,0.000,4,0.000,0.034,2649,2509,439,0,0,0,0,0,0
$GC,11878,1.16,708.0,323.0,16.6,801,11882,0.00,0.43,0.00,0.000,6,0.000,0.030,2650,2163,439,0,0,0,0,0,0
$GC,12209,1.16,708.0,266.0,16.4,832,12212,0.00,0.47,0.00,0.000,4,0.000,0.034,2651,2506,439,0,0,0,0,0,0
$GC,12259,1.16,708.0,258.6,14.3,836,12267,0.00,0.43,0.00,0.000,6,0.000,0.030,2652,2161,439,0,0,0,0,0,0
$GC,12585,1.19,733.0,224.0,10.8,867,12588,0.00,0.47,0.00,0.000,4,0.000,0.033,2652,2505,439,0,0,0,0,0,0
$GC,12647,1.22,753.2,217.1,11.0,872,12656,0.08,0.43,0.03,0.200,6,0.063,0.030,2701,2161,439,0,0,0,0,0,0
$GC,12980,1.22,753.2,164.6,17.5,921,12987,0.00,0.40,0.00,0.000,4,0.000,0.033,2703,1821,439,0,0,0,0,0,0
$GC,13052,1.22,753.2,152.2,17.6,933,13059,0.00,0.47,0.00,0.000,6,0.000,0.032,2703,2169,439,0,0,0,0,0,0
$GC,13195,1.22,753.2,131.1,12.6,958,13202,0.00,0.45,0.00,0.000,4,0.000,0.039,2703,2505,439,0,0,0,0,0,0
$GC,13431,1.22,753.2,101.7,12.8,1000,13438,0.00,0.43,0.00,0.000,6,0.000,0.031,2704,2167,439,0,0,0,0,0,0
$GC,13577,1.35,864.7,88.4,7.2,1025,13583,0.00,0.40,0.00,0.000,4,0.000,0.034,2706,1830,439,0,0,0,0,0,0
$GC,13695,1.40,905.7,78.5,10.1,1046,13703,0.10,0.45,0.03,0.199,6,0.054,0.032,2762,2166,440,0,0,0,0,0,0
$GC,13840,1.40,905.7,53.2,17.0,1071,13847,0.00,0.45,0.00,0.000,4,0.000,0.039,2762,2501,440,0,0,0,0,0,0
$GC,13969,1.40,905.7,34.7,13.1,1094,13977,0.00,0.43,2.12,0.135,6,0.000,0.031,2764,2159,439,0,0,0,0,0,0
$GC,14114,1.47,960.0,20.4,9.6,1119,14122,0.00,0.40,0.12,0.155,4,0.000,0.035,2766,1833,441,0,0,0,0,0,0
$STATE,14287,end climb,SURFACE_DEPTH_REACHED
$STATE,14287,begin surface coast
$FINISH,0.5,1.020917
$STATE,14315,end surface coast,CONTROL_FINISHED_OK
$STATE,14315,begin surface
$SM_CCo,14394,0.00,0.000,0,0,442,595.34
$SM_GC,1.24,6.70,0.00,0.00,0.037,0.000,0.000,199,2607,442,-6.45,0.48,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2045.60,11832.58,300911,181830
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.55
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,22.1,95.501
$10V_AH,9.8,74.592
$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,16.775,29.925,648.075,0.000,0.000,30.371,15.500,130.747,0.250,0.000,14.829,2960.815,8201.519,675.417,2533.924,328.001,0.000,1965.034,0.000,2326.021,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,105.570,1059.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,802.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67162,1155
$CAP_FILE_SIZE,153205,0
$CFSIZE,260165632,198193152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 38.8,1
$GPS,011011,030337,2051.803,11946.797,26,1.4,26,-2.4