version: 66.09
glider: 181
mission: 6
dive: 584
start: 10 2 111 0 13 44
data:
$ID,181
$MISSION,6
$DIVE,584
$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,-7
$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,-41323.32
$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,90
$R_STBD_OVSHOOT,58
$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
$GPS1,021011,000701,2101.059,11944.958,36,1.6,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.6
$GPS2,021011,001301,2101.175,11944.894,13,1.1,13,-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,24.4,85223,-17.4,-11.786
$D_GRID,3226
$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,17,-0.53,-194.6,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,2,0.000,0.000,127,2595,2167,0,0,0,0,0,0
$GC,82,-0.53,-194.6,3.1,-3.5,10,127,8.57,0.00,-32.08,0.000,6,0.229,0.000,2124,2596,3666,0,0,0,0,0,0
$GC,263,-0.53,-194.6,56.4,-27.2,41,270,0.00,0.47,0.00,0.000,4,0.000,0.037,2122,2941,3666,0,0,0,0,0,0
$GC,525,-0.53,-194.6,134.4,-26.1,87,533,0.00,0.45,0.00,0.000,6,0.000,0.030,2122,2584,3666,0,0,0,0,0,0
$GC,669,-0.53,-194.6,167.1,-20.8,112,676,0.00,0.40,0.00,0.000,4,0.000,0.028,2122,2227,3667,0,0,0,0,0,0
$GC,705,-0.53,-194.6,175.5,-22.5,118,712,0.00,0.50,0.00,0.000,6,0.000,0.038,2120,2575,3667,0,0,0,0,0,0
$GC,853,-0.53,-194.6,204.1,-17.5,142,857,0.00,0.52,0.00,0.000,4,0.000,0.039,2116,2951,3668,0,0,0,0,0,0
$GC,1017,-0.53,-194.6,227.7,-12.7,156,1023,0.00,0.45,0.00,0.000,6,0.000,0.028,2117,2589,3668,0,0,0,0,0,0
$GC,1342,-0.53,-194.6,269.2,-15.6,187,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2588,3668,0,0,0,0,0,0
$GC,1662,-0.53,-194.6,320.7,-15.3,217,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2588,3667,0,0,0,0,0,0
$GC,1981,-0.53,-194.6,362.0,-14.1,247,1985,0.00,0.40,0.00,0.000,4,0.000,0.028,2116,2245,3665,0,0,0,0,0,0
$GC,2055,-0.53,-194.6,373.3,-14.8,253,2062,0.00,0.52,0.00,0.000,6,0.000,0.039,2114,2599,3664,0,0,0,0,0,0
$GC,2381,-0.53,-194.6,428.8,-16.1,284,2385,0.00,0.43,0.00,0.000,4,0.000,0.028,2114,2251,3661,0,0,0,0,0,0
$GC,2486,-0.53,-194.6,444.7,-14.3,293,2493,0.00,0.52,0.00,0.000,6,0.000,0.038,2112,2595,3660,0,0,0,0,0,0
$GC,2812,-0.53,-194.6,487.0,-13.4,324,2816,0.00,0.43,0.00,0.000,4,0.000,0.027,2112,2251,3657,0,0,0,0,0,0
$GC,2851,-0.53,-194.6,493.0,-14.7,327,2859,0.00,0.52,0.00,0.000,6,0.000,0.039,2109,2595,3656,0,0,0,0,0,0
$GC,3169,-0.53,-194.6,539.9,-14.2,345,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2595,3654,0,0,0,0,0,0
$GC,3478,-0.53,-194.6,579.7,-12.9,360,3482,0.00,0.50,0.00,0.000,4,0.000,0.042,2106,2948,3650,0,0,0,0,0,0
$GC,3524,-0.53,-194.6,586.0,-13.8,362,3527,0.00,0.45,0.00,0.000,6,0.000,0.030,2107,2601,3649,0,0,0,0,0,0
$GC,3857,-0.53,-194.6,637.2,-15.9,378,3861,0.00,0.45,0.00,0.000,4,0.000,0.028,2107,2230,3647,0,0,0,0,0,0
$GC,3948,-0.53,-194.6,651.6,-15.4,382,3951,0.00,0.52,0.00,0.000,6,0.000,0.041,2104,2582,3646,0,0,0,0,0,0
$GC,4281,-0.53,-194.6,702.1,-14.8,398,4285,0.00,0.50,0.00,0.000,4,0.000,0.041,2101,2937,3642,0,0,0,0,0,0
$GC,4328,-0.53,-194.6,709.0,-14.9,400,4331,0.00,0.45,0.00,0.000,6,0.000,0.031,2101,2588,3642,0,0,0,0,0,0
$GC,4661,-0.53,-194.6,757.4,-14.0,416,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2588,3640,0,0,0,0,0,0
$GC,4971,-0.53,-194.6,802.4,-14.7,431,4974,0.00,0.43,0.00,0.000,4,0.000,0.030,2101,2246,3638,0,0,0,0,0,0
$GC,5054,-0.53,-194.6,815.1,-14.4,434,5061,0.00,0.55,0.00,0.000,6,0.000,0.040,2099,2600,3638,0,0,0,0,0,0
$GC,5370,-0.53,-194.6,862.5,-15.2,450,5375,0.12,0.50,0.00,0.000,4,0.168,0.045,2130,2937,3635,0,0,0,0,0,0
$GC,5443,-0.53,-194.6,871.7,-12.1,453,5447,0.00,0.45,0.00,0.000,6,0.000,0.030,2130,2591,3634,0,0,0,0,0,0
$GC,5771,-0.53,-194.6,903.8,-8.4,469,5774,0.00,0.55,0.00,0.000,4,0.000,0.044,2128,2943,3632,0,0,0,0,0,0
$GC,5817,-0.53,-194.6,907.5,-7.9,471,5821,0.00,0.47,0.00,0.000,6,0.000,0.031,2128,2586,3632,0,0,0,0,0,0
$GC,6151,-0.53,-194.6,931.8,-7.5,487,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2585,3630,0,0,0,0,0,0
$GC,6459,-0.53,-194.6,961.0,-10.4,502,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2585,3629,0,0,0,0,0,0
$STATE,6725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6725,begin apogee
$GC,6732,-0.13,0.0,990.8,11.1,515,6891,0.38,0.00,152.10,1.059,6,0.126,0.000,2248,2146,2869,0,0,0,0,0,0
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6892,begin climb
$GC,6895,0.53,194.6,997.8,0.0,522,7058,0.62,0.00,158.00,1.040,6,0.086,0.000,2466,2146,2075,0,0,0,0,0,0
$GC,7367,0.63,277.5,964.9,8.4,545,7437,0.10,0.00,66.90,1.016,6,0.104,0.000,2512,2146,1737,0,0,0,0,0,0
$GC,7740,0.71,343.7,929.3,9.1,563,7797,0.00,0.47,53.65,0.995,4,0.000,0.034,2513,1814,1467,0,0,0,0,0,0
$GC,7827,0.81,426.8,921.6,8.4,566,7901,0.10,0.52,67.68,0.984,6,0.061,0.030,2566,2185,1127,0,0,0,0,0,0
$GC,8220,0.88,476.7,882.7,9.8,585,8266,0.00,0.47,42.53,0.965,4,0.000,0.036,2566,2491,924,0,0,0,0,0,0
$GC,8367,0.93,523.4,868.3,9.9,591,8410,0.00,0.47,39.50,0.946,6,0.000,0.030,2567,2153,735,0,0,0,0,0,0
$GC,8721,1.00,580.0,835.7,9.5,608,8773,0.15,0.47,46.40,0.945,4,0.085,0.035,2635,1823,504,0,0,0,0,0,0
$GC,8830,1.00,580.0,822.5,13.5,613,8834,0.00,0.47,0.00,0.000,6,0.000,0.031,2636,2171,508,0,0,0,0,0,0
$GC,9163,1.00,580.0,774.2,14.7,629,9167,0.00,0.45,0.00,0.000,4,0.000,0.040,2636,2500,507,0,0,0,0,0,0
$GC,9421,1.00,580.0,734.7,15.3,640,9425,0.00,0.45,0.00,0.000,6,0.000,0.029,2638,2152,507,0,0,0,0,0,0
$GC,9743,1.00,580.0,686.3,15.2,656,9746,0.00,0.40,0.00,0.000,4,0.000,0.032,2640,1818,506,0,0,0,0,0,0
$GC,9879,1.00,580.0,665.7,15.4,662,9883,0.00,0.47,0.00,0.000,6,0.000,0.033,2640,2157,506,0,0,0,0,0,0
$GC,10213,1.00,580.0,620.3,12.9,678,10217,0.00,0.43,0.00,0.000,4,0.000,0.030,2641,1817,506,0,0,0,0,0,0
$GC,10381,1.00,580.0,597.7,13.4,685,10384,0.00,0.50,0.00,0.000,6,0.000,0.034,2642,2171,506,0,0,0,0,0,0
$GC,10702,1.00,580.0,555.4,13.2,701,10706,0.00,0.45,0.00,0.000,4,0.000,0.038,2642,2504,506,0,0,0,0,0,0
$GC,10960,1.00,580.0,518.3,14.8,712,10964,0.00,0.45,0.00,0.000,6,0.000,0.028,2644,2148,506,0,0,0,0,0,0
$GC,11288,1.00,580.0,467.2,16.7,737,11292,0.00,0.50,0.00,0.000,4,0.000,0.036,2644,2503,506,0,0,0,0,0,0
$GC,11536,1.00,580.0,423.2,17.6,759,11540,0.00,0.43,0.00,0.000,6,0.000,0.031,2646,2162,506,0,0,0,0,0,0
$GC,11868,1.00,580.0,371.9,14.2,790,11872,0.00,0.50,0.00,0.000,4,0.000,0.034,2646,2514,507,0,0,0,0,0,0
$GC,11960,1.00,580.0,358.3,15.4,798,11963,0.00,0.45,0.00,0.000,6,0.000,0.028,2648,2156,507,0,0,0,0,0,0
$GC,12291,1.00,580.0,306.2,16.6,829,12295,0.00,0.50,0.00,0.000,4,0.000,0.034,2648,2513,507,0,0,0,0,0,0
$GC,12326,1.00,580.0,300.0,17.4,832,12330,0.00,0.43,0.00,0.000,6,0.000,0.030,2650,2163,507,0,0,0,0,0,0
$GC,12657,1.06,623.2,257.5,10.0,863,12680,0.00,0.55,14.82,0.597,4,0.000,0.033,2650,2521,440,0,0,0,0,0,0
$GC,12762,1.12,673.7,247.4,9.7,872,12766,0.00,0.45,0.10,0.117,6,0.000,0.031,2651,2171,440,0,0,0,0,0,0
$GC,13093,1.18,720.6,217.8,9.9,903,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2171,440,0,0,0,0,0,0
$GC,13418,1.18,720.6,174.7,15.8,948,13425,0.00,0.43,0.00,0.000,4,0.000,0.034,2653,1826,440,0,0,0,0,0,0
$GC,13538,1.18,720.6,157.1,14.5,969,13546,0.00,0.47,0.15,0.105,6,0.000,0.032,2654,2169,440,0,0,0,0,0,0
$GC,13682,1.18,725.5,139.6,11.6,994,13688,0.00,0.45,0.00,0.000,4,0.000,0.037,2653,2507,441,0,0,0,0,0,0
$GC,13746,1.23,765.3,132.9,10.2,1005,13755,0.08,0.45,0.38,0.090,6,0.057,0.030,2706,2158,441,0,0,0,0,0,0
$GC,13892,1.30,818.3,119.0,9.6,1030,13899,0.00,0.40,0.00,0.000,4,0.000,0.034,2708,1826,440,0,0,0,0,0,0
$GC,14013,1.33,849.3,106.1,10.5,1051,14020,0.00,0.47,0.05,0.148,6,0.000,0.032,2708,2172,441,0,0,0,0,0,0
$GC,14157,1.36,874.2,91.7,10.8,1076,14164,0.00,0.47,0.38,0.103,4,0.000,0.031,2707,2513,441,0,0,0,0,0,0
$GC,14255,1.40,901.3,81.0,10.7,1093,14264,0.08,0.45,0.20,0.094,6,0.063,0.031,2754,2163,441,0,0,0,0,0,0
$GC,14402,1.40,901.3,62.6,13.3,1118,14409,0.00,0.47,2.20,0.161,4,0.000,0.032,2757,1815,440,0,0,0,0,0,0
$GC,14601,1.46,950.9,40.3,9.8,1153,14610,0.00,0.47,0.00,0.000,6,0.000,0.031,2757,2169,440,0,0,0,0,0,0
$GC,14749,1.54,1016.2,27.4,9.1,1178,14757,0.12,0.50,2.30,0.173,4,0.086,0.034,2819,2514,440,0,0,0,0,0,0
$GC,14804,1.54,1016.2,20.0,14.3,1187,14811,0.00,0.45,0.17,0.094,6,0.000,0.031,2821,2165,440,0,0,0,0,0,0
$STATE,14904,end climb,SURFACE_DEPTH_REACHED
$STATE,14905,begin surface coast
$FINISH,0.4,1.020729
$STATE,14923,end surface coast,CONTROL_FINISHED_OK
$STATE,14923,begin surface
$SM_CCo,14999,0.00,0.000,0,0,442,595.59
$SM_GC,1.28,6.85,0.00,0.00,0.038,0.000,0.000,208,2587,442,-6.44,-0.08,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,11946.12,011011,191934
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.42
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.2,96.643
$10V_AH,9.8,75.075
$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,17.175,28.450,647.500,0.000,0.000,27.287,49.631,141.328,0.000,0.000,16.066,3073.508,8756.848,667.369,2526.902,345.432,0.000,1932.381,0.000,2271.951,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,45.135,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,838.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,70337,1208
$CAP_FILE_SIZE,154354,0
$CFSIZE,260165632,197734400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 33.2,1
$GPS,021011,042501,2103.446,11945.839,39,1.3,39,-2.4