version: 66.09
glider: 181
mission: 6
dive: 570
start: 9 29 111 12 44 28
data:
$ID,181
$MISSION,6
$DIVE,570
$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,-41304.461
$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,36
$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
$GPS1,290911,123807,2033.071,11947.802,28,1.2,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.8
$GPS2,290911,124331,2033.145,11947.763,11,1.2,11,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.070,0.304
$KALMAN_X,49748.6,764.6,1332.0,-70251.4,-8815.0
$KALMAN_Y,68983.6,-100.8,-392.1,77049.5,1015.8
$MHEAD_RNG_PITCHd_Wd,15.2,134730,-17.4,-11.786
$D_GRID,3158
$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,17,-0.53,-194.6,0.0,0.0,0,82,0.00,0.00,-61.92,0.000,2,0.000,0.000,130,2562,2198,0,0,0,0,0,0
$GC,85,-0.53,-194.6,3.1,-3.2,11,133,8.48,0.62,-33.25,0.000,4,0.228,0.089,2118,2955,3665,0,0,0,0,0,0
$GC,224,-0.53,-194.6,52.4,-40.8,35,231,0.00,0.45,0.00,0.000,6,0.000,0.030,2118,2612,3665,0,0,0,0,0,0
$GC,367,-0.53,-194.6,97.0,-25.3,60,374,0.00,0.45,0.00,0.000,4,0.000,0.028,2118,2228,3666,0,0,0,0,0,0
$GC,398,-0.53,-194.6,105.3,-27.2,65,405,0.00,0.55,0.00,0.000,6,0.000,0.035,2115,2615,3666,0,0,0,0,0,0
$GC,542,-0.53,-194.6,137.6,-18.3,90,548,0.00,0.43,0.00,0.000,4,0.000,0.042,2113,2929,3666,0,0,0,0,0,0
$GC,645,-0.53,-194.6,157.5,-15.3,108,651,0.00,0.45,0.00,0.000,6,0.000,0.029,2113,2568,3666,0,0,0,0,0,0
$GC,789,-0.53,-194.6,178.3,-15.2,133,795,0.00,0.52,0.00,0.000,4,0.000,0.040,2110,2932,3667,0,0,0,0,0,0
$GC,1052,-0.53,-194.6,227.6,-15.8,166,1055,0.00,0.43,0.00,0.000,6,0.000,0.030,2110,2582,3668,0,0,0,0,0,0
$GC,1382,-0.53,-194.6,277.4,-14.3,197,1386,0.00,0.50,0.00,0.000,4,0.000,0.040,2107,2933,3667,0,0,0,0,0,0
$GC,1485,-0.53,-194.6,293.5,-16.0,206,1489,0.00,0.43,0.00,0.000,6,0.000,0.030,2107,2587,3667,0,0,0,0,0,0
$GC,1816,-0.53,-194.6,347.3,-15.8,237,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2586,3665,0,0,0,0,0,0
$GC,2137,-0.53,-194.6,395.7,-16.2,267,2141,0.00,0.50,0.00,0.000,4,0.000,0.041,2105,2932,3662,0,0,0,0,0,0
$GC,2196,-0.53,-194.6,405.0,-15.6,272,2200,0.00,0.43,0.00,0.000,6,0.000,0.030,2105,2588,3661,0,0,0,0,0,0
$GC,2527,-0.53,-194.6,454.9,-13.9,303,2531,0.00,0.40,0.00,0.000,4,0.000,0.029,2105,2246,3657,0,0,0,0,0,0
$GC,2651,-0.53,-194.6,472.6,-13.5,314,2655,0.00,0.50,0.00,0.000,6,0.000,0.040,2101,2585,3657,0,0,0,0,0,0
$GC,2991,-0.53,-194.6,524.1,-16.3,339,2994,0.00,0.40,0.00,0.000,4,0.000,0.029,2102,2256,3653,0,0,0,0,0,0
$GC,3023,-0.53,-194.6,530.3,-16.4,340,3028,0.00,0.50,0.00,0.000,6,0.000,0.040,2099,2587,3653,0,0,0,0,0,0
$GC,3345,-0.53,-194.6,585.8,-17.5,356,3349,0.00,0.43,0.00,0.000,4,0.000,0.028,2099,2253,3649,0,0,0,0,0,0
$GC,3392,-0.53,-194.6,593.5,-16.5,358,3396,0.08,0.50,0.00,0.000,6,0.146,0.041,2122,2583,3649,0,0,0,0,0,0
$GC,3724,-0.53,-194.6,640.3,-13.3,374,3728,0.00,0.52,0.00,0.000,4,0.000,0.041,2121,2950,3647,0,0,0,0,0,0
$GC,3770,-0.53,-194.6,646.3,-13.5,376,3774,0.00,0.45,0.00,0.000,6,0.000,0.030,2121,2602,3646,0,0,0,0,0,0
$GC,4104,-0.53,-194.6,688.9,-12.9,392,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2602,3643,0,0,0,0,0,0
$GC,4412,-0.53,-194.6,730.4,-13.5,407,4416,0.00,0.45,0.00,0.000,4,0.000,0.028,2121,2238,3641,0,0,0,0,0,0
$GC,4504,-0.53,-194.6,742.4,-12.6,411,4507,0.00,0.52,0.00,0.000,6,0.000,0.041,2119,2584,3640,0,0,0,0,0,0
$GC,4836,-0.53,-194.6,788.8,-14.3,427,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2585,3638,0,0,0,0,0,0
$GC,5146,-0.53,-194.6,833.9,-14.3,442,5150,0.00,0.43,0.00,0.000,4,0.000,0.029,2119,2253,3636,0,0,0,0,0,0
$GC,5215,-0.53,-194.6,843.1,-13.5,445,5218,0.00,0.52,0.00,0.000,6,0.000,0.041,2116,2596,3635,0,0,0,0,0,0
$GC,5548,-0.53,-194.6,886.8,-12.7,461,5551,0.00,0.50,0.00,0.000,4,0.000,0.044,2114,2947,3633,0,0,0,0,0,0
$GC,5608,-0.53,-194.6,895.3,-13.7,463,5617,0.00,0.50,0.00,0.000,6,0.000,0.029,2114,2584,3632,0,0,0,0,0,0
$GC,5926,-0.53,-194.6,937.4,-13.7,479,5929,0.00,0.43,0.00,0.000,4,0.000,0.029,2114,2236,3631,0,0,0,0,0,0
$GC,5986,-0.53,-194.6,946.0,-12.8,481,5994,0.00,0.55,0.00,0.000,6,0.000,0.041,2112,2588,3630,0,0,0,0,0,0
$STATE,6301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6301,begin apogee
$GC,6308,-0.13,0.0,992.6,15.5,497,6467,0.43,0.00,152.10,1.064,6,0.129,0.000,2248,2152,2868,0,0,0,0,0,0
$STATE,6468,end apogee,CONTROL_FINISHED_OK
$STATE,6468,begin climb
$GC,6471,0.53,194.6,1005.7,0.0,504,6635,0.62,0.50,157.48,1.051,4,0.086,0.031,2467,1805,2074,0,0,0,0,0,0
$GC,6732,0.80,414.0,1003.6,2.8,517,6915,0.22,0.55,175.52,1.046,6,0.049,0.031,2565,2193,1180,0,0,0,0,0,0
$GC,7232,1.02,597.1,974.1,4.3,541,7387,0.17,0.45,149.50,1.032,4,0.077,0.033,2639,2502,439,0,0,0,0,0,0
$GC,7640,1.21,747.3,948.6,5.7,559,7648,0.10,0.47,2.60,0.375,6,0.064,0.028,2692,2134,440,0,0,0,0,0,0
$GC,7956,1.21,747.3,913.3,12.9,575,7960,0.00,0.52,1.60,0.087,4,0.000,0.029,2692,2509,442,0,0,0,0,0,0
$GC,8112,1.21,747.3,887.0,18.5,582,8116,0.00,0.47,0.70,0.096,6,0.000,0.028,2694,2144,442,0,0,0,0,0,0
$GC,8440,1.21,747.3,809.1,26.0,598,8444,0.00,0.52,0.98,0.093,4,0.000,0.029,2694,2502,442,0,0,0,0,0,0
$GC,8530,1.21,747.3,784.3,27.6,602,8534,0.00,0.43,0.25,0.098,6,0.000,0.030,2696,2161,442,0,0,0,0,0,0
$GC,8864,1.21,747.3,698.7,24.1,618,8869,0.00,0.55,2.58,0.343,4,0.000,0.037,2696,2510,440,0,0,0,0,0,0
$GC,9017,1.21,747.3,663.9,21.5,625,9021,0.00,0.43,1.20,0.086,6,0.000,0.029,2699,2164,441,0,0,0,0,0,0
$GC,9350,1.21,747.3,597.6,18.9,641,9354,0.00,0.47,0.00,0.000,4,0.000,0.037,2699,2500,440,0,0,0,0,0,0
$GC,9467,1.21,747.3,575.6,17.8,646,9471,0.00,0.43,0.00,0.000,6,0.000,0.030,2702,2168,440,0,0,0,0,0,0
$GC,9795,1.21,747.3,523.5,15.1,662,9799,0.00,0.47,0.00,0.000,4,0.000,0.037,2702,2504,441,0,0,0,0,0,0
$GC,9841,1.21,747.3,516.6,15.1,664,9845,0.00,0.43,0.38,0.094,6,0.000,0.030,2703,2166,440,0,0,0,0,0,0
$GC,10170,1.21,747.3,466.3,16.8,689,10174,0.00,0.43,0.03,0.331,4,0.000,0.034,2706,1823,441,0,0,0,0,0,0
$GC,10230,1.21,747.3,455.3,17.8,694,10237,0.00,0.47,0.10,0.123,6,0.000,0.032,2706,2170,441,0,0,0,0,0,0
$GC,10556,1.21,747.3,396.6,17.9,725,10562,0.00,0.50,2.50,0.257,4,0.000,0.039,2706,2503,440,0,0,0,0,0,0
$GC,10690,1.21,747.3,371.4,18.5,736,10697,0.00,0.45,0.00,0.000,6,0.000,0.030,2708,2155,440,0,0,0,0,0,0
$GC,11016,1.21,747.3,312.7,17.8,767,11018,0.00,0.00,0.45,0.105,6,0.000,0.000,2708,2156,441,0,0,0,0,0,0
$GC,11334,1.21,747.3,256.2,17.5,797,11340,0.00,0.45,2.85,0.319,4,0.000,0.033,2710,1823,440,0,0,0,0,0,0
$GC,11538,1.21,747.3,219.7,18.3,814,11546,0.00,0.47,0.08,0.128,6,0.000,0.032,2710,2165,440,0,0,0,0,0,0
$GC,11876,1.23,762.5,171.0,11.2,865,11883,0.00,0.45,0.00,0.000,4,0.000,0.038,2710,2503,440,0,0,0,0,0,0
$GC,12137,1.23,762.5,133.0,16.8,911,12144,0.00,0.43,0.20,0.099,6,0.000,0.030,2712,2160,441,0,0,0,0,0,0
$GC,12280,1.23,762.5,110.7,14.0,936,12287,0.00,0.47,0.00,0.000,4,0.000,0.036,2713,2505,441,0,0,0,0,0,0
$GC,12312,1.23,762.5,106.6,13.5,941,12319,0.00,0.43,0.35,0.087,6,0.000,0.030,2714,2161,441,0,0,0,0,0,0
$GC,12457,1.40,898.7,93.9,6.2,966,12465,0.10,0.40,0.73,0.090,4,0.103,0.026,2765,1836,441,0,0,0,0,0,0
$GC,12501,1.49,978.9,90.0,8.5,973,12509,0.00,0.45,1.40,0.078,6,0.000,0.032,2765,2169,441,0,0,0,0,0,0
$GC,12644,1.49,978.9,73.9,13.0,998,12651,0.00,0.00,0.40,0.100,6,0.000,0.000,2765,2169,442,0,0,0,0,0,0
$GC,12789,1.49,978.9,53.3,14.9,1023,12796,0.00,0.00,2.38,0.187,6,0.000,0.000,2764,2169,440,0,0,0,0,0,0
$GC,12934,1.52,998.9,35.5,11.0,1048,12940,0.00,0.00,0.05,0.256,6,0.000,0.000,2765,2170,441,0,0,0,0,0,0
$GC,13079,1.57,1044.2,20.6,9.9,1073,13087,0.12,0.00,0.38,0.099,6,0.083,0.000,2827,2170,442,0,0,0,0,0,0
$STATE,13212,end climb,SURFACE_DEPTH_REACHED
$STATE,13212,begin surface coast
$FINISH,0.5,1.009355
$STATE,13234,end surface coast,CONTROL_FINISHED_OK
$STATE,13235,begin surface
$SM_CCo,13312,0.00,0.000,0,0,443,594.85
$SM_GC,1.42,6.80,0.00,0.00,0.034,0.000,0.000,205,2580,443,-6.45,-0.28,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2020.26,11949.54,290911,080841
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.49
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,23.0,93.995
$10V_AH,9.8,73.932
$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,17.125,26.675,656.750,0.000,0.000,23.150,38.569,126.581,0.750,0.000,13.972,2653.197,7680.207,654.600,2331.014,308.400,33.362,1849.576,0.000,2108.894,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,88.740,1064.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,761.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63570,1100
$CAP_FILE_SIZE,143957,0
$CFSIZE,260165632,198828032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290911,162737,2035.515,11946.427,39,1.1,39,-2.3