version: 66.09
glider: 181
mission: 6
dive: 567
start: 9 28 111 23 38 47
data:
$ID,181
$MISSION,6
$DIVE,567
$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,-41300.402
$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,82
$R_STBD_OVSHOOT,56
$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
$GPS1,280911,233237,2027.508,11948.968,30,0.9,30,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-63.9
$GPS2,280911,233750,2027.530,11948.887,11,1.8,11,-2.3
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.305,0.066
$KALMAN_X,60842.8,-1815.7,2038.6,-77515.3,-4993.7
$KALMAN_Y,68226.8,85.1,-57.1,66867.5,-149.8
$MHEAD_RNG_PITCHd_Wd,80.0,144742,-17.4,-11.786
$D_GRID,3181
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-67.55,0.000,2,0.000,0.000,125,2596,2362,0,0,0,0,0,0
$GC,91,-0.53,-194.6,3.4,-3.3,12,133,8.57,0.55,-27.30,0.000,4,0.230,0.097,2119,2938,3666,0,0,0,0,0,0
$GC,247,-0.53,-194.6,68.8,-45.0,39,254,0.00,0.45,0.00,0.000,6,0.000,0.029,2119,2579,3666,0,0,0,0,0,0
$GC,390,-0.53,-194.6,108.1,-16.6,64,396,0.00,0.40,0.00,0.000,4,0.000,0.028,2119,2224,3666,0,0,0,0,0,0
$GC,471,-0.53,-194.6,122.2,-18.3,78,478,0.00,0.52,0.00,0.000,6,0.000,0.036,2116,2591,3666,0,0,0,0,0,0
$GC,614,-0.53,-194.6,144.7,-17.3,103,621,0.00,0.47,0.00,0.000,4,0.000,0.041,2114,2938,3666,0,0,0,0,0,0
$GC,656,-0.53,-194.6,152.7,-19.2,110,662,0.00,0.43,0.00,0.000,6,0.000,0.029,2114,2590,3666,0,0,0,0,0,0
$GC,799,-0.53,-194.6,181.4,-17.4,135,806,0.00,0.50,0.00,0.000,4,0.000,0.040,2111,2940,3667,0,0,0,0,0,0
$GC,902,-0.53,-194.6,197.5,-16.5,153,909,0.00,0.43,0.00,0.000,6,0.000,0.030,2111,2593,3667,0,0,0,0,0,0
$GC,1039,-0.53,-194.6,216.1,-12.0,167,1043,0.00,0.40,0.00,0.000,4,0.000,0.028,2111,2238,3667,0,0,0,0,0,0
$GC,1178,-0.53,-194.6,235.4,-15.9,179,1185,0.00,0.52,0.00,0.000,6,0.000,0.038,2109,2587,3667,0,0,0,0,0,0
$GC,1504,-0.53,-194.6,290.6,-16.2,210,1507,0.00,0.47,0.00,0.000,4,0.000,0.041,2106,2933,3666,0,0,0,0,0,0
$GC,1628,-0.53,-194.6,312.1,-17.7,221,1632,0.00,0.43,0.00,0.000,6,0.000,0.031,2106,2588,3665,0,0,0,0,0,0
$GC,1958,-0.53,-194.6,363.3,-14.6,252,1962,0.00,0.40,0.00,0.000,4,0.000,0.029,2106,2239,3662,0,0,0,0,0,0
$GC,2019,-0.53,-194.6,372.6,-14.7,257,2026,0.00,0.50,0.00,0.000,6,0.000,0.040,2103,2581,3661,0,0,0,0,0,0
$GC,2346,-0.53,-194.6,423.0,-15.5,288,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2581,3658,0,0,0,0,0,0
$GC,2664,-0.53,-194.6,481.3,-19.3,318,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2581,3655,0,0,0,0,0,0
$GC,2976,-0.53,-194.6,534.7,-15.8,338,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2581,3652,0,0,0,0,0,0
$GC,3284,-0.53,-194.6,582.7,-15.4,353,3287,0.00,0.50,0.00,0.000,4,0.000,0.042,2100,2936,3647,0,0,0,0,0,0
$GC,3384,-0.53,-194.6,598.8,-15.7,357,3388,0.00,0.45,0.00,0.000,6,0.000,0.030,2101,2595,3647,0,0,0,0,0,0
$GC,3707,-0.53,-194.6,648.5,-14.9,373,3711,0.00,0.43,0.00,0.000,4,0.000,0.029,2101,2246,3643,0,0,0,0,0,0
$GC,3843,-0.53,-194.6,667.4,-13.5,379,3847,0.08,0.50,0.00,0.000,6,0.145,0.041,2123,2578,3642,0,0,0,0,0,0
$GC,4176,-0.53,-194.6,708.2,-12.7,395,4180,0.00,0.52,0.00,0.000,4,0.000,0.043,2121,2946,3640,0,0,0,0,0,0
$GC,4214,-0.53,-194.6,713.4,-13.4,396,4221,0.00,0.47,0.00,0.000,6,0.000,0.029,2122,2591,3639,0,0,0,0,0,0
$GC,4530,-0.53,-194.6,757.4,-14.4,412,4534,0.00,0.43,0.00,0.000,4,0.000,0.030,2122,2236,3637,0,0,0,0,0,0
$GC,4668,-0.53,-194.6,776.2,-13.7,418,4672,0.00,0.55,0.00,0.000,6,0.000,0.041,2119,2600,3636,0,0,0,0,0,0
$GC,5001,-0.53,-194.6,821.1,-13.1,434,5005,0.00,0.45,0.00,0.000,4,0.000,0.028,2119,2252,3633,0,0,0,0,0,0
$GC,5093,-0.53,-194.6,831.5,-11.2,438,5097,0.00,0.50,0.00,0.000,6,0.000,0.042,2117,2582,3633,0,0,0,0,0,0
$GC,5426,-0.53,-194.6,872.5,-12.5,454,5429,0.00,0.43,0.00,0.000,4,0.000,0.029,2117,2253,3631,0,0,0,0,0,0
$GC,5521,-0.53,-194.6,884.4,-12.4,458,5525,0.00,0.50,0.00,0.000,6,0.000,0.042,2115,2580,3630,0,0,0,0,0,0
$GC,5848,-0.53,-194.6,929.4,-14.5,474,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2580,3628,0,0,0,0,0,0
$GC,6158,-0.53,-194.6,974.6,-14.5,489,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2580,3626,0,0,0,0,0,0
$STATE,6279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6279,begin apogee
$GC,6286,-0.13,0.0,992.1,14.2,495,6443,0.43,0.00,151.62,1.061,6,0.129,0.000,2249,2148,2869,0,0,0,0,0,0
$STATE,6444,end apogee,CONTROL_FINISHED_OK
$STATE,6444,begin climb
$GC,6447,0.53,194.6,1001.6,0.0,502,6613,0.62,0.47,157.62,1.047,4,0.086,0.031,2469,1814,2075,0,0,0,0,0,0
$GC,6653,0.66,305.1,993.8,7.3,512,6751,0.10,0.52,89.25,1.030,6,0.057,0.030,2526,2187,1625,0,0,0,0,0,0
$GC,7057,0.67,307.7,947.5,11.7,532,7066,0.00,0.47,4.20,0.690,4,0.000,0.038,2526,2506,1614,0,0,0,0,0,0
$GC,7319,0.67,311.2,916.6,11.6,543,7327,0.00,0.45,5.05,0.728,6,0.000,0.030,2528,2149,1600,0,0,0,0,0,0
$GC,7636,0.74,367.0,884.5,9.5,559,7687,0.00,0.52,45.70,0.975,4,0.000,0.035,2528,2498,1372,0,0,0,0,0,0
$GC,7914,0.86,462.3,860.9,7.9,571,7999,0.10,0.43,76.88,0.968,6,0.063,0.030,2580,2161,983,0,0,0,0,0,0
$GC,8322,0.96,547.8,825.3,8.3,591,8398,0.00,0.55,69.97,0.949,4,0.000,0.036,2580,2504,634,0,0,0,0,0,0
$GC,8655,1.06,625.4,798.0,8.6,606,8701,0.12,0.43,40.72,0.919,6,0.053,0.031,2644,2166,439,0,0,0,0,0,0
$GC,9029,1.06,625.4,748.7,13.6,624,9032,0.00,0.47,0.00,0.000,4,0.000,0.039,2644,2497,440,0,0,0,0,0,0
$GC,9061,1.06,625.4,743.8,14.0,625,9065,0.00,0.43,0.00,0.000,6,0.000,0.029,2646,2164,440,0,0,0,0,0,0
$GC,9384,1.06,625.4,700.6,12.8,641,9388,0.00,0.40,0.00,0.000,4,0.000,0.031,2648,1827,439,0,0,0,0,0,0
$GC,9445,1.06,625.4,693.1,12.0,643,9453,0.00,0.47,0.00,0.000,6,0.000,0.033,2648,2160,439,0,0,0,0,0,0
$GC,9763,1.14,691.8,662.7,9.1,659,9767,0.00,0.47,0.00,0.000,4,0.000,0.039,2648,2506,439,0,0,0,0,0,0
$GC,10020,1.17,714.4,636.8,10.9,670,10024,0.00,0.43,0.00,0.000,6,0.000,0.030,2650,2164,439,0,0,0,0,0,0
$GC,10343,1.17,714.4,594.1,15.1,686,10347,0.00,0.47,0.00,0.000,4,0.000,0.035,2650,2506,439,0,0,0,0,0,0
$GC,10545,1.17,714.4,560.0,16.8,695,10550,0.00,0.43,0.00,0.000,6,0.000,0.030,2652,2163,439,0,0,0,0,0,0
$GC,10879,1.17,714.4,509.8,14.1,711,10883,0.00,0.47,0.00,0.000,4,0.000,0.034,2652,2506,439,0,0,0,0,0,0
$GC,11071,1.17,714.4,481.8,14.6,725,11075,0.00,0.43,0.00,0.000,6,0.000,0.030,2654,2163,439,0,0,0,0,0,0
$GC,11401,1.17,714.4,435.1,15.0,756,11406,0.00,0.52,1.73,0.090,4,0.000,0.035,2654,2506,441,0,0,0,0,0,0
$GC,11580,1.17,714.4,406.9,15.4,771,11588,0.00,0.45,2.62,0.308,6,0.000,0.029,2656,2155,439,0,0,0,0,0,0
$GC,11906,1.18,723.0,363.0,11.4,802,11910,0.00,0.50,0.32,0.113,4,0.000,0.028,2656,2506,441,0,0,0,0,0,0
$GC,11978,1.18,723.0,354.4,12.0,808,11986,0.00,0.43,0.17,0.103,6,0.000,0.030,2657,2161,441,0,0,0,0,0,0
$GC,12304,1.18,723.0,313.6,12.9,839,12308,0.00,0.50,1.12,0.091,4,0.000,0.027,2658,2510,441,0,0,0,0,0,0
$GC,12342,1.18,723.0,308.5,12.8,842,12350,0.00,0.43,0.20,0.100,6,0.000,0.030,2659,2163,441,0,0,0,0,0,0
$GC,12667,1.18,723.0,262.4,13.5,873,12672,0.00,0.00,2.35,0.218,6,0.000,0.000,2659,2163,440,0,0,0,0,0,0
$GC,12986,1.18,723.0,222.3,12.0,903,12990,0.00,0.47,0.00,0.000,4,0.000,0.032,2659,2508,440,0,0,0,0,0,0
$GC,13135,1.18,723.0,203.7,12.6,916,13140,0.00,0.43,0.08,0.127,6,0.000,0.031,2661,2168,440,0,0,0,0,0,0
$GC,13479,1.18,723.0,159.9,12.4,974,13486,0.00,0.40,0.00,0.000,4,0.000,0.035,2663,1836,440,0,0,0,0,0,0
$GC,13605,1.18,723.0,144.6,12.2,996,13613,0.00,0.45,0.30,0.092,6,0.000,0.031,2663,2171,440,0,0,0,0,0,0
$GC,13748,1.25,781.6,130.7,9.4,1021,13755,0.12,0.47,0.00,0.000,4,0.088,0.038,2726,2511,440,0,0,0,0,0,0
$GC,13796,1.25,781.6,123.8,15.9,1029,13804,0.00,0.43,0.35,0.089,6,0.000,0.030,2728,2161,440,0,0,0,0,0,0
$GC,13940,1.27,793.6,101.3,11.3,1054,13948,0.00,0.40,0.20,0.126,4,0.000,0.026,2730,1833,441,0,0,0,0,0,0
$GC,14108,1.27,800.8,85.5,11.5,1083,14115,0.00,0.45,0.75,0.081,6,0.000,0.032,2730,2166,441,0,0,0,0,0,0
$GC,14253,1.27,800.8,66.8,12.9,1108,14260,0.00,0.00,0.80,0.088,6,0.000,0.000,2730,2167,441,0,0,0,0,0,0
$GC,14398,1.36,866.5,51.6,9.1,1133,14407,0.00,0.47,0.82,0.086,4,0.000,0.030,2730,2512,442,0,0,0,0,0,0
$GC,14465,1.48,963.9,46.0,7.8,1144,14473,0.08,0.43,1.08,0.077,6,0.055,0.031,2794,2179,442,0,0,0,0,0,0
$GC,14609,1.48,963.9,28.9,13.4,1169,14617,0.00,0.50,2.58,0.210,4,0.000,0.032,2796,1820,439,0,0,0,0,0,0
$GC,14770,1.48,963.9,8.1,12.2,1197,14776,0.00,0.47,0.00,0.000,6,0.000,0.031,2796,2178,440,0,0,0,0,0,0
$STATE,14809,end climb,SURFACE_DEPTH_REACHED
$STATE,14809,begin surface coast
$FINISH,0.4,1.020035
$STATE,14838,end surface coast,CONTROL_FINISHED_OK
$STATE,14838,begin surface
$SM_CCo,14916,0.00,0.000,0,0,442,595.59
$SM_GC,1.33,6.72,0.00,0.00,0.035,0.000,0.000,210,2562,442,-6.44,-0.79,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2017.96,11955.53,280911,191905
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.61
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,22.7,93.434
$10V_AH,9.8,73.692
$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,16.950,29.875,656.500,0.000,0.000,22.348,17.570,132.999,0.750,0.000,14.481,2933.949,8663.297,676.572,2609.899,335.402,33.358,2007.750,0.000,2396.258,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,97.155,1061.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,839.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,70215,1209
$CAP_FILE_SIZE,160436,0
$CFSIZE,260165632,199032832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290911,034837,2028.652,11949.304,35,1.1,35,-2.3