version: 66.09
glider: 181
mission: 6
dive: 585
start: 10 2 111 4 30 57
data:
$ID,181
$MISSION,6
$DIVE,585
$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,-41324.672
$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,41
$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
$GPS1,021011,042501,2103.446,11945.839,39,1.3,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.4
$GPS2,021011,043032,2103.485,11945.874,10,1.2,10,-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,14.3,80634,-17.4,-11.786
$D_GRID,3249
$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,16,-0.53,-194.6,0.0,0.0,0,85,0.00,0.00,-66.68,0.000,2,0.000,0.000,125,2600,2340,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.5,-3.8,11,133,8.50,0.52,-27.33,0.000,4,0.227,0.090,2122,2950,3664,0,0,0,0,0,0
$GC,287,-0.53,-194.6,71.1,-36.6,45,294,0.00,0.47,0.00,0.000,6,0.000,0.031,2122,2585,3664,0,0,0,0,0,0
$GC,430,-0.53,-194.6,108.8,-31.1,70,437,0.00,0.43,0.00,0.000,4,0.000,0.028,2122,2226,3663,0,0,0,0,0,0
$GC,555,-0.53,-194.6,129.3,-14.3,92,562,0.00,0.55,0.00,0.000,6,0.000,0.037,2120,2603,3663,0,0,0,0,0,0
$GC,697,-0.53,-194.6,149.7,-14.2,117,705,0.00,0.47,0.00,0.000,4,0.000,0.040,2117,2950,3664,0,0,0,0,0,0
$GC,830,-0.53,-194.6,174.8,-18.8,140,837,0.00,0.47,0.00,0.000,6,0.000,0.028,2117,2569,3664,0,0,0,0,0,0
$GC,978,-0.53,-194.6,205.5,-20.8,164,982,0.00,0.35,0.00,0.000,4,0.000,0.030,2117,2240,3665,0,0,0,0,0,0
$GC,1113,-0.53,-194.6,233.9,-19.7,176,1117,0.00,0.50,0.00,0.000,6,0.000,0.038,2115,2590,3665,0,0,0,0,0,0
$GC,1444,-0.53,-194.6,284.3,-11.1,207,1448,0.00,0.50,0.00,0.000,4,0.000,0.042,2112,2936,3665,0,0,0,0,0,0
$GC,1570,-0.53,-194.6,297.5,-9.8,218,1573,0.00,0.43,0.00,0.000,6,0.000,0.029,2112,2589,3664,0,0,0,0,0,0
$GC,1901,-0.53,-194.6,336.8,-14.0,249,1904,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2238,3662,0,0,0,0,0,0
$GC,2014,-0.53,-194.6,353.2,-14.6,259,2018,0.00,0.50,0.00,0.000,6,0.000,0.041,2109,2579,3661,0,0,0,0,0,0
$GC,2346,-0.53,-194.6,399.4,-13.4,290,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2579,3658,0,0,0,0,0,0
$GC,2664,-0.53,-194.6,444.7,-15.7,320,2668,0.00,0.50,0.00,0.000,4,0.000,0.040,2107,2937,3655,0,0,0,0,0,0
$GC,2691,-0.53,-194.6,449.5,-15.7,322,2698,0.00,0.45,0.00,0.000,6,0.000,0.028,2107,2589,3655,0,0,0,0,0,0
$GC,3016,-0.53,-194.6,503.6,-17.4,352,3020,0.00,0.40,0.00,0.000,4,0.000,0.028,2107,2251,3652,0,0,0,0,0,0
$GC,3054,-0.53,-194.6,510.4,-16.5,353,3062,0.00,0.52,0.00,0.000,6,0.000,0.038,2104,2595,3651,0,0,0,0,0,0
$GC,3372,-0.53,-194.6,561.7,-16.3,369,3375,0.00,0.47,0.00,0.000,4,0.000,0.041,2101,2938,3648,0,0,0,0,0,0
$GC,3427,-0.53,-194.6,571.3,-16.6,371,3431,0.00,0.45,0.00,0.000,6,0.000,0.028,2101,2593,3647,0,0,0,0,0,0
$GC,3749,-0.53,-194.6,624.3,-16.5,387,3752,0.00,0.43,0.00,0.000,4,0.000,0.028,2101,2241,3645,0,0,0,0,0,0
$GC,3805,-0.53,-194.6,633.2,-15.3,389,3808,0.00,0.52,0.00,0.000,6,0.000,0.040,2099,2591,3644,0,0,0,0,0,0
$GC,4126,-0.53,-194.6,682.7,-15.1,405,4128,0.12,0.00,0.00,0.000,6,0.167,0.000,2132,2591,3642,0,0,0,0,0,0
$GC,4436,-0.53,-194.6,716.6,-10.0,420,4439,0.00,0.43,0.00,0.000,4,0.000,0.028,2132,2247,3639,0,0,0,0,0,0
$GC,4498,-0.53,-194.6,722.6,-9.7,422,4505,0.00,0.50,0.00,0.000,6,0.000,0.041,2131,2583,3638,0,0,0,0,0,0
$GC,4815,-0.53,-194.6,752.5,-9.2,438,4818,0.00,0.50,0.00,0.000,4,0.000,0.043,2128,2935,3636,0,0,0,0,0,0
$GC,4899,-0.53,-194.6,760.7,-9.9,441,4907,0.00,0.45,0.00,0.000,6,0.000,0.031,2128,2590,3635,0,0,0,0,0,0
$GC,5216,-0.53,-194.6,789.1,-8.7,457,5219,0.00,0.45,0.00,0.000,4,0.000,0.030,2128,2240,3633,0,0,0,0,0,0
$GC,5322,-0.53,-194.6,798.7,-9.0,461,5329,0.00,0.52,0.00,0.000,6,0.000,0.041,2126,2588,3633,0,0,0,0,0,0
$GC,5639,-0.53,-194.6,827.6,-9.6,477,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2588,3631,0,0,0,0,0,0
$GC,5947,-0.53,-194.6,859.5,-10.6,492,5951,0.00,0.50,0.00,0.000,4,0.000,0.044,2123,2938,3629,0,0,0,0,0,0
$GC,6021,-0.53,-194.6,868.0,-11.1,495,6024,0.00,0.45,0.00,0.000,6,0.000,0.031,2124,2592,3628,0,0,0,0,0,0
$GC,6348,-0.53,-194.6,911.8,-14.6,511,6351,0.00,0.43,0.00,0.000,4,0.000,0.028,2123,2246,3626,0,0,0,0,0,0
$GC,6442,-0.53,-194.6,926.2,-14.9,515,6446,0.00,0.55,0.00,0.000,6,0.000,0.041,2121,2598,3626,0,0,0,0,0,0
$GC,6771,-0.53,-194.6,980.2,-17.7,531,6774,0.00,0.50,0.00,0.000,4,0.000,0.043,2119,2947,3624,0,0,0,0,0,0
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6831,-0.13,0.0,991.0,18.3,533,6993,0.43,0.00,151.55,1.060,6,0.129,0.000,2253,2159,2868,0,0,0,0,0,0
$STATE,6993,end apogee,CONTROL_FINISHED_OK
$STATE,6993,begin climb
$GC,6996,0.53,194.6,1009.3,0.0,541,7160,0.60,0.45,158.12,1.051,4,0.085,0.024,2467,1801,2075,0,0,0,0,0,0
$GC,7223,0.88,477.2,1014.1,0.3,551,7461,0.30,0.55,227.32,1.048,6,0.047,0.029,2591,2191,922,0,0,0,0,0,0
$GC,7784,0.88,477.2,956.5,11.9,578,7788,0.00,0.43,0.00,0.000,4,0.000,0.038,2591,2505,929,0,0,0,0,0,0
$GC,7979,0.88,477.2,929.9,15.1,586,7987,0.00,0.50,0.00,0.000,6,0.000,0.027,2593,2127,929,0,0,0,0,0,0
$GC,8296,0.88,477.2,882.2,16.0,602,8299,0.00,0.52,0.00,0.000,4,0.000,0.034,2593,2500,928,0,0,0,0,0,0
$GC,8421,0.88,477.2,862.5,16.3,607,8425,0.00,0.43,0.00,0.000,6,0.000,0.031,2595,2160,927,0,0,0,0,0,0
$GC,8742,0.88,477.2,808.6,17.0,623,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2161,927,0,0,0,0,0,0
$GC,9053,0.88,477.2,761.6,13.6,638,9056,0.00,0.47,0.00,0.000,4,0.000,0.034,2595,2503,926,0,0,0,0,0,0
$GC,9102,0.88,477.2,755.0,12.4,640,9106,0.00,0.45,0.00,0.000,6,0.000,0.029,2597,2154,926,0,0,0,0,0,0
$GC,9430,0.95,537.7,721.0,9.3,656,9484,0.00,0.55,50.20,0.888,4,0.000,0.033,2597,2509,677,0,0,0,0,0,0
$GC,9575,1.07,633.7,709.0,7.9,662,9629,0.10,0.43,49.58,0.864,6,0.059,0.029,2649,2172,440,0,0,0,0,0,0
$GC,9957,1.18,721.2,675.5,8.2,681,9962,0.00,0.52,2.65,0.363,4,0.000,0.036,2648,2508,440,0,0,0,0,0,0
$GC,10204,1.29,812.4,654.8,8.1,692,10209,0.15,0.43,0.00,0.000,6,0.056,0.030,2727,2164,440,0,0,0,0,0,0
$GC,10531,1.29,812.4,602.9,16.9,708,10535,0.00,0.47,0.00,0.000,4,0.000,0.038,2727,2499,440,0,0,0,0,0,0
$GC,10667,1.29,812.4,578.4,17.9,714,10671,0.00,0.40,0.00,0.000,6,0.000,0.029,2729,2171,439,0,0,0,0,0,0
$GC,11000,1.29,812.4,512.0,20.6,730,11004,0.00,0.47,0.00,0.000,4,0.000,0.040,2730,2502,439,0,0,0,0,0,0
$GC,11169,1.29,812.4,474.2,23.7,742,11174,0.00,0.43,0.00,0.000,6,0.000,0.030,2732,2158,439,0,0,0,0,0,0
$GC,11501,1.29,812.4,390.5,25.6,773,11504,0.00,0.47,0.00,0.000,4,0.000,0.036,2732,2499,439,0,0,0,0,0,0
$GC,11558,1.29,812.4,375.6,26.3,778,11562,0.00,0.40,0.00,0.000,6,0.000,0.031,2734,2170,439,0,0,0,0,0,0
$GC,11889,1.29,812.4,304.9,19.9,809,11893,0.00,0.40,0.00,0.000,4,0.000,0.032,2736,1832,439,0,0,0,0,0,0
$GC,11936,1.29,812.4,295.0,21.8,813,11940,0.00,0.45,0.03,0.200,6,0.000,0.034,2736,2159,439,0,0,0,0,0,0
$GC,12266,1.29,812.4,217.2,22.8,844,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2159,439,0,0,0,0,0,0
$GC,12596,1.29,812.4,168.8,22.1,893,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2160,440,0,0,0,0,0,0
$GC,12737,1.29,812.4,138.8,18.7,918,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2159,440,0,0,0,0,0,0
$GC,12879,1.32,835.3,119.5,10.8,943,12887,0.00,0.47,0.32,0.109,4,0.000,0.031,2736,2504,441,0,0,0,0,0,0
$GC,13034,1.37,880.9,105.1,9.9,970,13041,0.00,0.43,0.43,0.086,6,0.000,0.031,2738,2162,441,0,0,0,0,0,0
$GC,13178,1.37,880.9,89.1,11.9,995,13185,0.00,0.40,0.43,0.099,4,0.000,0.024,2740,1832,441,0,0,0,0,0,0
$GC,13439,1.53,1007.8,61.2,6.6,1041,13448,0.12,0.45,2.75,0.237,6,0.054,0.031,2810,2179,440,0,0,0,0,0,0
$GC,13584,1.53,1007.8,45.1,13.3,1066,13591,0.00,0.40,0.00,0.000,4,0.000,0.039,2810,2492,440,0,0,0,0,0,0
$GC,13653,1.53,1007.8,36.3,13.6,1078,13661,0.00,0.40,0.15,0.098,6,0.000,0.031,2811,2159,441,0,0,0,0,0,0
$GC,13796,1.53,1007.8,17.7,14.4,1103,13802,0.00,0.00,2.45,0.189,6,0.000,0.000,2812,2158,439,0,0,0,0,0,0
$STATE,13889,end climb,SURFACE_DEPTH_REACHED
$STATE,13890,begin surface coast
$FINISH,0.6,1.020800
$STATE,13910,end surface coast,CONTROL_FINISHED_OK
$STATE,13910,begin surface
$SM_CCo,13987,0.00,0.000,0,0,441,595.59
$SM_GC,1.23,6.82,0.00,0.00,0.040,0.000,0.000,208,2563,441,-6.44,-0.76,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2057.14,11948.13,021011,000004
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.22
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.5,96.837
$10V_AH,9.8,75.151
$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,17.150,28.175,645.975,0.000,0.000,29.890,40.907,124.196,0.000,0.000,13.521,2858.430,8099.116,663.037,2386.660,304.608,0.000,1879.241,0.000,2156.851,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,89.505,1060.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,778.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,63653,1123
$CAP_FILE_SIZE,146262,0
$CFSIZE,260165632,197672960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,278.2,1
$GPS,021011,082508,2105.339,11945.593,24,1.8,25,-2.4