version: 66.09
glider: 181
mission: 6
dive: 583
start: 10 1 111 19 57 40
data:
$ID,181
$MISSION,6
$DIVE,583
$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,-41321.969
$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,83
$R_STBD_OVSHOOT,63
$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
$GPS1,011011,195137,2058.201,11944.055,46,1.3,46,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-54.2
$GPS2,011011,195714,2058.287,11943.994,14,1.6,14,-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,50.6,90788,-17.4,-11.786
$D_GRID,3198
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,85,0.00,0.00,-67.20,0.000,2,0.000,0.000,128,2597,2376,0,0,0,0,0,0
$GC,88,-0.53,-194.6,3.2,-3.3,11,127,8.75,0.50,-25.90,0.000,4,0.234,0.094,2122,2259,3665,0,0,0,0,0,0
$GC,151,-0.53,-194.6,22.9,-32.8,21,158,0.00,0.47,0.00,0.000,6,0.000,0.044,2121,2564,3666,0,0,0,0,0,0
$GC,294,-0.53,-194.6,70.7,-26.6,46,301,0.00,0.55,0.00,0.000,4,0.000,0.039,2118,2955,3667,0,0,0,0,0,0
$GC,404,-0.53,-194.6,99.3,-24.7,65,410,0.00,0.47,0.00,0.000,6,0.000,0.028,2118,2580,3666,0,0,0,0,0,0
$GC,546,-0.53,-194.6,129.0,-19.7,90,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2579,3666,0,0,0,0,0,0
$GC,691,-0.53,-194.6,164.0,-27.1,115,697,0.00,0.52,0.00,0.000,4,0.000,0.037,2115,2950,3666,0,0,0,0,0,0
$GC,755,-0.53,-194.6,180.4,-23.3,126,763,0.00,0.45,0.00,0.000,6,0.000,0.028,2115,2587,3667,0,0,0,0,0,0
$GC,901,-0.53,-194.6,216.2,-24.4,146,905,0.00,0.52,0.00,0.000,4,0.000,0.038,2112,2954,3667,0,0,0,0,0,0
$GC,1160,-0.53,-194.6,275.6,-17.2,169,1164,0.00,0.45,0.00,0.000,6,0.000,0.028,2112,2589,3667,0,0,0,0,0,0
$GC,1492,-0.53,-194.6,314.8,-11.0,200,1496,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2234,3666,0,0,0,0,0,0
$GC,1656,-0.53,-194.6,332.3,-11.1,214,1664,0.00,0.52,0.00,0.000,6,0.000,0.037,2109,2595,3666,0,0,0,0,0,0
$GC,1981,-0.53,-194.6,364.0,-8.9,245,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2595,3664,0,0,0,0,0,0
$GC,2302,-0.53,-194.6,395.8,-11.0,275,2306,0.00,0.43,0.00,0.000,4,0.000,0.027,2109,2234,3661,0,0,0,0,0,0
$GC,2417,-0.53,-194.6,408.2,-10.4,285,2421,0.00,0.52,0.00,0.000,6,0.000,0.040,2106,2591,3660,0,0,0,0,0,0
$GC,2748,-0.53,-194.6,448.4,-12.8,316,2751,0.00,0.47,0.00,0.000,4,0.000,0.042,2104,2934,3657,0,0,0,0,0,0
$GC,2896,-0.53,-194.6,468.4,-14.1,329,2899,0.00,0.43,0.00,0.000,6,0.000,0.030,2104,2590,3656,0,0,0,0,0,0
$GC,3224,-0.53,-194.6,521.2,-17.2,354,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2590,3653,0,0,0,0,0,0
$GC,3533,-0.53,-194.6,581.5,-20.5,369,3537,0.00,0.43,0.00,0.000,4,0.000,0.030,2103,2251,3649,0,0,0,0,0,0
$GC,3601,-0.53,-194.6,596.0,-20.4,372,3605,0.00,0.50,0.00,0.000,6,0.000,0.040,2101,2588,3649,0,0,0,0,0,0
$GC,3934,-0.53,-194.6,668.5,-21.9,388,3937,0.00,0.50,0.00,0.000,4,0.000,0.044,2098,2942,3646,0,0,0,0,0,0
$GC,4041,-0.53,-194.6,692.1,-21.5,392,4047,0.00,0.45,0.00,0.000,6,0.000,0.030,2098,2591,3646,0,0,0,0,0,0
$GC,4356,-0.53,-194.6,747.4,-14.8,408,4358,0.10,0.00,0.00,0.000,6,0.168,0.000,2124,2591,3642,0,0,0,0,0,0
$GC,4668,-0.53,-194.6,767.5,-3.9,423,4671,0.00,0.52,0.00,0.000,4,0.000,0.042,2123,2946,3641,0,0,0,0,0,0
$GC,4714,-0.53,-194.6,768.9,-3.6,425,4718,0.00,0.45,0.00,0.000,6,0.000,0.030,2122,2597,3640,0,0,0,0,0,0
$GC,5047,-0.53,-194.6,779.8,-4.0,441,5050,0.00,0.43,0.00,0.000,4,0.000,0.028,2123,2249,3638,0,0,0,0,0,0
$GC,5103,-0.53,-194.6,782.6,-4.4,443,5107,0.00,0.50,0.00,0.000,6,0.000,0.041,2120,2582,3638,0,0,0,0,0,0
$GC,5426,-0.53,-194.6,810.0,-11.0,459,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2582,3635,0,0,0,0,0,0
$GC,5735,-0.53,-194.6,854.3,-15.8,474,5739,0.00,0.50,0.00,0.000,4,0.000,0.043,2118,2934,3633,0,0,0,0,0,0
$GC,5781,-0.53,-194.6,862.2,-16.7,476,5784,0.00,0.45,0.00,0.000,6,0.000,0.030,2118,2585,3633,0,0,0,0,0,0
$GC,6113,-0.53,-194.6,919.4,-16.7,492,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2585,3631,0,0,0,0,0,0
$GC,6425,-0.53,-194.6,953.2,-7.8,507,6428,0.00,0.43,0.00,0.000,4,0.000,0.028,2118,2229,3629,0,0,0,0,0,0
$GC,6475,-0.53,-194.6,956.4,-6.0,509,6478,0.00,0.55,0.00,0.000,6,0.000,0.041,2115,2590,3629,0,0,0,0,0,0
$GC,6802,-0.53,-194.6,969.8,-4.7,525,6806,0.00,0.50,0.00,0.000,4,0.000,0.044,2113,2941,3627,0,0,0,0,0,0
$GC,6859,-0.53,-194.6,973.5,-7.0,527,6862,0.00,0.45,0.00,0.000,6,0.000,0.031,2113,2598,3627,0,0,0,0,0,0
$STATE,7054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7054,begin apogee
$GC,7060,-0.13,0.0,991.1,9.8,537,7218,0.43,0.00,151.60,1.058,6,0.129,0.000,2247,2143,2871,0,0,0,0,0,0
$STATE,7219,end apogee,CONTROL_FINISHED_OK
$STATE,7219,begin climb
$GC,7221,0.53,194.6,999.9,0.0,544,7387,0.62,0.47,158.30,1.043,4,0.085,0.032,2467,1809,2074,0,0,0,0,0,0
$GC,7438,0.77,392.0,997.0,3.7,554,7606,0.20,0.52,158.52,1.034,6,0.045,0.030,2558,2187,1271,0,0,0,0,0,0
$GC,7917,0.77,392.0,935.6,15.2,577,7921,0.00,0.43,0.00,0.000,4,0.000,0.038,2558,2502,1272,0,0,0,0,0,0
$GC,8174,0.77,392.0,898.2,12.5,588,8178,0.00,0.50,0.00,0.000,6,0.000,0.028,2560,2128,1271,0,0,0,0,0,0
$GC,8496,0.85,453.2,865.1,9.3,604,8552,0.00,0.60,50.20,0.965,4,0.000,0.034,2560,2506,1020,0,0,0,0,0,0
$GC,8807,0.85,453.2,831.8,13.0,618,8811,0.00,0.45,0.00,0.000,6,0.000,0.029,2562,2155,1028,0,0,0,0,0,0
$GC,9140,0.85,453.2,785.3,13.8,634,9144,0.00,0.47,0.00,0.000,4,0.000,0.034,2562,2502,1027,0,0,0,0,0,0
$GC,9365,0.93,522.4,760.4,9.0,644,9431,0.08,0.43,57.00,0.907,6,0.063,0.031,2616,2161,738,0,0,0,0,0,0
$GC,9737,1.03,599.0,729.0,8.7,662,9803,0.00,0.55,61.58,0.883,4,0.000,0.037,2615,2505,439,0,0,0,0,0,0
$GC,10054,1.03,599.0,688.3,15.4,676,10059,0.00,0.45,2.45,0.302,6,0.000,0.028,2617,2159,440,0,0,0,0,0,0
$GC,10377,1.03,599.0,644.3,12.4,692,10380,0.00,0.47,0.00,0.000,4,0.000,0.035,2617,2499,439,0,0,0,0,0,0
$GC,10629,1.08,642.1,617.7,10.0,703,10633,0.00,0.40,0.00,0.000,6,0.000,0.031,2619,2172,439,0,0,0,0,0,0
$GC,10958,1.08,642.1,577.9,14.3,719,10961,0.00,0.45,0.00,0.000,4,0.000,0.036,2620,2499,439,0,0,0,0,0,0
$GC,11192,1.08,642.1,541.1,14.8,729,11196,0.00,0.43,0.00,0.000,6,0.000,0.030,2621,2163,438,0,0,0,0,0,0
$GC,11515,1.19,735.6,506.4,8.0,745,11520,0.17,0.50,0.00,0.000,4,0.081,0.034,2696,2502,438,0,0,0,0,0,0
$GC,11596,1.19,735.6,496.8,12.7,749,11600,0.00,0.43,0.00,0.000,6,0.000,0.029,2698,2158,438,0,0,0,0,0,0
$GC,11927,1.19,735.6,437.6,22.9,780,11931,0.00,0.47,0.00,0.000,4,0.000,0.037,2698,2499,439,0,0,0,0,0,0
$GC,12091,1.19,735.6,396.3,25.1,794,12098,0.00,0.40,0.00,0.000,6,0.000,0.031,2700,2170,439,0,0,0,0,0,0
$GC,12416,1.19,735.6,337.2,13.6,825,12419,0.00,0.45,0.00,0.000,4,0.000,0.038,2701,2494,439,0,0,0,0,0,0
$GC,12595,1.21,751.2,316.6,11.1,841,12599,0.00,0.40,0.00,0.000,6,0.000,0.032,2703,2164,439,0,0,0,0,0,0
$GC,12926,1.21,751.2,272.3,18.4,872,12929,0.00,0.40,0.00,0.000,4,0.000,0.033,2706,1826,439,0,0,0,0,0,0
$GC,13045,1.21,751.2,245.7,23.8,882,13053,0.00,0.45,0.00,0.000,6,0.000,0.033,2705,2155,440,0,0,0,0,0,0
$GC,13378,1.21,751.2,181.9,12.1,924,13384,0.00,0.47,0.00,0.000,4,0.000,0.038,2705,2503,440,0,0,0,0,0,0
$GC,13420,1.21,751.2,177.0,11.9,931,13427,0.00,0.43,0.50,0.088,6,0.000,0.030,2707,2161,440,0,0,0,0,0,0
$GC,13565,1.27,795.7,163.1,10.0,956,13573,0.00,0.40,0.12,0.160,4,0.000,0.035,2709,1835,441,0,0,0,0,0,0
$GC,13671,1.31,830.6,152.5,10.4,974,13679,0.00,0.45,0.30,0.091,6,0.000,0.032,2709,2166,441,0,0,0,0,0,0
$GC,13814,1.35,859.3,137.3,10.6,999,13822,0.00,0.47,0.03,0.327,4,0.000,0.038,2709,2503,441,0,0,0,0,0,0
$GC,13897,1.35,859.3,126.3,14.6,1013,13904,0.00,0.43,0.20,0.097,6,0.000,0.031,2711,2164,441,0,0,0,0,0,0
$GC,14039,1.35,859.3,100.6,19.5,1038,14047,0.00,0.43,0.22,0.122,4,0.000,0.026,2713,1828,441,0,0,0,0,0,0
$GC,14134,1.35,859.3,84.5,15.6,1054,14142,0.00,0.47,0.05,0.152,6,0.000,0.031,2713,2179,441,0,0,0,0,0,0
$GC,14280,1.39,891.3,66.8,10.5,1079,14287,0.00,0.00,1.00,0.086,6,0.000,0.000,2713,2180,442,0,0,0,0,0,0
$GC,14423,1.57,1039.9,57.2,5.7,1104,14431,0.25,0.50,2.55,0.213,4,0.060,0.030,2828,1832,439,0,0,0,0,0,0
$GC,14507,1.57,1039.9,47.0,12.8,1118,14515,0.00,0.45,0.03,0.198,6,0.000,0.034,2828,2158,440,0,0,0,0,0,0
$GC,14649,1.57,1039.9,25.2,14.4,1143,14656,0.00,0.47,0.00,0.000,4,0.000,0.037,2828,2514,440,0,0,0,0,0,0
$STATE,14786,end climb,SURFACE_DEPTH_REACHED
$STATE,14786,begin surface coast
$FINISH,0.4,1.020774
$STATE,14809,end surface coast,CONTROL_FINISHED_OK
$STATE,14809,begin surface
$SM_CCo,14886,0.00,0.000,0,0,442,595.34
$SM_GC,1.37,6.90,0.00,0.00,0.040,0.000,0.000,205,2599,442,-6.45,0.25,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2101.76,11945.27,011011,151540
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.77
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.2,96.452
$10V_AH,9.8,74.995
$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,17.500,29.125,644.650,0.000,0.000,23.872,17.877,148.205,0.000,0.000,16.745,3022.845,8577.338,676.751,2615.293,324.913,0.000,1989.823,0.000,2375.482,0.000,0.539,0.000
$DEVICE_MAMPS,234.090,130.050,1057.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,812.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67033,1171
$CAP_FILE_SIZE,157867,0
$CFSIZE,260165632,197812224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,  9.7,1
$GPS,021011,000701,2101.059,11944.958,36,1.6,36,-2.4