version: 66.09
glider: 181
mission: 6
dive: 588
start: 10 2 111 17 12 34
data:
$ID,181
$MISSION,6
$DIVE,588
$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,-41328.738
$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,47
$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
$GPS1,021011,170636,2108.404,11944.944,35,0.9,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-58.4
$GPS2,021011,171208,2108.411,11944.838,11,1.3,11,-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,39.1,72608,-17.4,-11.786
$D_GRID,3292
$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,-66.80,0.000,2,0.000,0.000,127,2598,2342,0,0,0,0,0,0
$GC,90,-0.53,-194.6,3.2,-3.3,11,133,8.60,0.47,-27.48,0.000,4,0.233,0.082,2120,2222,3663,0,0,0,0,0,0
$GC,146,-0.53,-194.6,20.9,-34.3,20,153,0.00,0.55,0.00,0.000,6,0.000,0.041,2118,2589,3665,0,0,0,0,0,0
$GC,289,-0.53,-194.6,67.3,-30.5,45,295,0.00,0.50,0.00,0.000,4,0.000,0.044,2116,2940,3664,0,0,0,0,0,0
$GC,380,-0.53,-194.6,93.6,-23.8,61,387,0.00,0.45,0.00,0.000,6,0.000,0.029,2115,2583,3664,0,0,0,0,0,0
$GC,523,-0.53,-194.6,125.5,-21.2,86,531,0.00,0.38,0.00,0.000,4,0.000,0.029,2116,2244,3664,0,0,0,0,0,0
$GC,560,-0.53,-194.6,133.1,-19.7,92,567,0.00,0.50,0.00,0.000,6,0.000,0.037,2113,2593,3663,0,0,0,0,0,0
$GC,703,-0.53,-194.6,159.1,-17.6,117,709,0.00,0.47,0.00,0.000,4,0.000,0.040,2111,2938,3665,0,0,0,0,0,0
$GC,912,-0.53,-194.6,192.1,-15.7,154,920,0.00,0.43,0.00,0.000,6,0.000,0.029,2111,2591,3665,0,0,0,0,0,0
$GC,1057,-0.53,-194.6,217.6,-18.1,171,1061,0.00,0.40,0.00,0.000,4,0.000,0.028,2110,2235,3666,0,0,0,0,0,0
$GC,1169,-0.53,-194.6,237.3,-17.2,181,1173,0.00,0.52,0.00,0.000,6,0.000,0.039,2108,2593,3666,0,0,0,0,0,0
$GC,1500,-0.53,-194.6,291.1,-16.6,212,1504,0.00,0.47,0.00,0.000,4,0.000,0.041,2105,2941,3665,0,0,0,0,0,0
$GC,1741,-0.53,-194.6,328.2,-13.0,233,1748,0.00,0.43,0.00,0.000,6,0.000,0.031,2105,2596,3663,0,0,0,0,0,0
$GC,2066,-0.53,-194.6,372.6,-15.0,264,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2596,3661,0,0,0,0,0,0
$GC,2388,-0.53,-194.6,423.4,-16.4,294,2391,0.00,0.43,0.00,0.000,4,0.000,0.028,2105,2243,3658,0,0,0,0,0,0
$GC,2426,-0.53,-194.6,430.3,-16.1,297,2433,0.00,0.52,0.00,0.000,6,0.000,0.038,2103,2590,3657,0,0,0,0,0,0
$GC,2751,-0.53,-194.6,486.4,-17.2,328,2755,0.00,0.52,0.00,0.000,4,0.000,0.044,2100,2947,3655,0,0,0,0,0,0
$GC,2821,-0.53,-194.6,498.4,-17.6,334,2825,0.00,0.45,0.00,0.000,6,0.000,0.031,2100,2598,3654,0,0,0,0,0,0
$GC,3142,-0.53,-194.6,549.5,-15.2,350,3146,0.00,0.43,0.00,0.000,4,0.000,0.029,2100,2246,3651,0,0,0,0,0,0
$GC,3248,-0.53,-194.6,564.9,-13.5,354,3257,0.08,0.50,0.00,0.000,6,0.145,0.041,2122,2578,3650,0,0,0,0,0,0
$GC,3564,-0.53,-194.6,605.0,-12.5,370,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2578,3648,0,0,0,0,0,0
$GC,3874,-0.53,-194.6,641.4,-11.5,385,3877,0.00,0.52,0.00,0.000,4,0.000,0.042,2121,2946,3645,0,0,0,0,0,0
$GC,4014,-0.53,-194.6,658.4,-11.9,391,4018,0.00,0.47,0.00,0.000,6,0.000,0.029,2121,2586,3643,0,0,0,0,0,0
$GC,4341,-0.53,-194.6,697.2,-11.9,407,4345,0.00,0.52,0.00,0.000,4,0.000,0.043,2118,2941,3641,0,0,0,0,0,0
$GC,4381,-0.53,-194.6,702.4,-12.9,408,4387,0.00,0.47,0.00,0.000,6,0.000,0.030,2118,2583,3641,0,0,0,0,0,0
$GC,4696,-0.53,-194.6,742.2,-13.0,424,4700,0.00,0.52,0.00,0.000,4,0.000,0.043,2115,2937,3638,0,0,0,0,0,0
$GC,4742,-0.53,-194.6,748.5,-14.1,426,4746,0.00,0.45,0.00,0.000,6,0.000,0.031,2116,2588,3637,0,0,0,0,0,0
$GC,5076,-0.53,-194.6,794.3,-13.8,442,5080,0.00,0.52,0.00,0.000,4,0.000,0.043,2113,2942,3635,0,0,0,0,0,0
$GC,5122,-0.53,-194.6,800.7,-13.6,444,5125,0.00,0.45,0.00,0.000,6,0.000,0.031,2113,2596,3635,0,0,0,0,0,0
$GC,5454,-0.53,-194.6,847.0,-13.8,460,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2596,3633,0,0,0,0,0,0
$GC,5765,-0.53,-194.6,892.1,-14.5,475,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2596,3632,0,0,0,0,0,0
$GC,6073,-0.53,-194.6,936.4,-13.9,490,6077,0.00,0.43,0.00,0.000,4,0.000,0.030,2113,2249,3630,0,0,0,0,0,0
$GC,6146,-0.53,-194.6,946.9,-13.9,493,6150,0.00,0.52,0.00,0.000,6,0.000,0.043,2112,2591,3629,0,0,0,0,0,0
$STATE,6450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6450,begin apogee
$GC,6456,-0.13,0.0,991.6,14.7,508,6613,0.45,0.00,151.82,1.056,6,0.129,0.000,2254,2151,2869,0,0,0,0,0,0
$STATE,6614,end apogee,CONTROL_FINISHED_OK
$STATE,6614,begin climb
$GC,6616,0.53,194.6,1002.7,0.0,515,6783,0.60,0.50,157.57,1.043,4,0.082,0.031,2468,1802,2075,0,0,0,0,0,0
$GC,6864,0.74,363.3,997.4,4.9,526,7007,0.15,0.55,135.48,1.034,6,0.049,0.030,2544,2192,1387,0,0,0,0,0,0
$GC,7313,0.84,446.1,959.9,8.4,548,7386,0.00,0.57,67.10,1.014,4,0.000,0.029,2546,1798,1049,0,0,0,0,0,0
$GC,7545,0.94,527.7,940.0,8.5,558,7622,0.12,0.52,67.68,0.997,6,0.059,0.031,2615,2168,717,0,0,0,0,0,0
$GC,7929,0.94,527.7,892.9,12.3,577,7933,0.00,0.47,0.00,0.000,4,0.000,0.029,2616,1799,723,0,0,0,0,0,0
$GC,8095,0.94,527.7,871.9,12.8,584,8099,0.00,0.52,0.00,0.000,6,0.000,0.033,2616,2167,724,0,0,0,0,0,0
$GC,8422,0.94,527.7,829.9,12.5,600,8426,0.00,0.47,0.00,0.000,4,0.000,0.039,2616,2510,723,0,0,0,0,0,0
$GC,8678,0.94,527.7,796.0,13.5,611,8683,0.00,0.50,0.00,0.000,6,0.000,0.028,2618,2131,723,0,0,0,0,0,0
$GC,9002,0.94,527.7,753.8,13.2,627,9005,0.00,0.35,0.00,0.000,4,0.000,0.034,2620,1831,723,0,0,0,0,0,0
$GC,9214,0.94,527.7,723.4,15.0,636,9218,0.00,0.50,0.00,0.000,6,0.000,0.031,2620,2181,722,0,0,0,0,0,0
$GC,9537,0.94,527.7,678.0,14.1,652,9540,0.00,0.43,0.00,0.000,4,0.000,0.040,2620,2499,722,0,0,0,0,0,0
$GC,9794,0.94,527.7,641.9,12.7,663,9798,0.00,0.45,0.00,0.000,6,0.000,0.030,2622,2156,722,0,0,0,0,0,0
$GC,10118,0.95,534.1,603.1,11.5,679,10129,0.00,0.55,8.15,0.729,4,0.000,0.034,2622,2511,691,0,0,0,0,0,0
$GC,10207,0.97,549.8,592.7,11.1,683,10225,0.00,0.45,14.18,0.742,6,0.000,0.029,2624,2156,627,0,0,0,0,0,0
$GC,10536,1.01,589.1,559.3,10.2,699,10573,0.00,0.55,33.65,0.775,4,0.000,0.034,2624,2509,467,0,0,0,0,0,0
$GC,10652,1.04,611.4,546.9,10.9,703,10664,0.00,0.45,7.22,0.621,6,0.000,0.029,2625,2157,440,0,0,0,0,0,0
$GC,10974,1.04,611.4,510.3,12.1,719,10978,0.00,0.50,0.00,0.000,4,0.000,0.032,2625,2513,438,0,0,0,0,0,0
$GC,11069,1.04,611.4,497.5,13.0,723,11076,0.00,0.45,0.00,0.000,6,0.000,0.028,2627,2160,438,0,0,0,0,0,0
$GC,11394,1.04,611.4,455.3,12.9,754,11398,0.00,0.47,0.00,0.000,4,0.000,0.033,2627,2506,438,0,0,0,0,0,0
$GC,11474,1.04,611.4,444.9,13.3,761,11478,0.00,0.43,0.00,0.000,6,0.000,0.031,2629,2164,438,0,0,0,0,0,0
$GC,11805,1.04,611.4,402.5,12.0,792,11808,0.00,0.40,0.00,0.000,4,0.000,0.035,2631,1833,438,0,0,0,0,0,0
$GC,11852,1.04,611.4,396.8,12.4,796,11856,0.00,0.45,0.00,0.000,6,0.000,0.032,2631,2167,438,0,0,0,0,0,0
$GC,12183,1.04,611.4,355.9,13.0,827,12187,0.00,0.45,0.00,0.000,4,0.000,0.038,2631,2505,438,0,0,0,0,0,0
$GC,12332,1.04,611.4,334.4,15.5,840,12336,0.00,0.43,0.00,0.000,6,0.000,0.031,2633,2163,438,0,0,0,0,0,0
$GC,12664,1.09,652.0,292.1,10.1,871,12667,0.00,0.40,0.00,0.000,4,0.000,0.035,2635,1832,438,0,0,0,0,0,0
$GC,12743,1.12,672.2,283.7,11.0,878,12747,0.00,0.45,0.00,0.000,6,0.000,0.032,2635,2169,438,0,0,0,0,0,0
$GC,13073,1.12,672.2,244.5,12.9,909,13076,0.00,0.45,0.00,0.000,4,0.000,0.037,2635,2506,439,0,0,0,0,0,0
$GC,13156,1.12,675.7,234.2,11.6,916,13163,0.00,0.43,0.00,0.000,6,0.000,0.031,2636,2170,439,0,0,0,0,0,0
$GC,13484,1.12,675.7,195.3,12.3,950,13492,0.00,0.45,0.00,0.000,4,0.000,0.032,2637,2505,439,0,0,0,0,0,0
$GC,13600,1.16,705.3,182.8,10.6,970,13607,0.05,0.43,0.00,0.000,6,0.069,0.032,2689,2180,440,0,0,0,0,0,0
$GC,13741,1.16,705.3,161.8,17.7,995,13748,0.00,0.45,0.00,0.000,4,0.000,0.035,2691,1827,440,0,0,0,0,0,0
$GC,13832,1.16,705.3,146.3,15.4,1011,13839,0.00,0.45,0.10,0.116,6,0.000,0.031,2691,2176,440,0,0,0,0,0,0
$GC,13975,1.32,836.8,133.1,6.4,1036,13982,0.00,0.47,0.00,0.000,4,0.000,0.032,2692,1814,440,0,0,0,0,0,0
$GC,14061,1.38,882.7,126.1,9.9,1051,14069,0.10,0.45,0.30,0.090,6,0.048,0.031,2752,2153,441,0,0,0,0,0,0
$GC,14204,1.38,882.7,103.3,18.0,1076,14211,0.00,0.50,0.55,0.094,4,0.000,0.030,2752,2511,441,0,0,0,0,0,0
$GC,14399,1.38,882.7,69.4,15.7,1110,14406,0.00,0.45,0.32,0.086,6,0.000,0.031,2754,2156,441,0,0,0,0,0,0
$GC,14542,1.50,982.0,55.2,7.7,1135,14549,0.00,0.43,0.12,0.155,4,0.000,0.035,2757,1819,441,0,0,0,0,0,0
$GC,14612,1.50,982.0,47.7,12.2,1147,14620,0.00,0.47,0.32,0.086,6,0.000,0.031,2757,2170,441,0,0,0,0,0,0
$GC,14755,1.50,982.0,27.7,15.1,1172,14762,0.00,0.00,1.38,0.080,6,0.000,0.000,2757,2170,442,0,0,0,0,0,0
$GC,14899,1.52,1004.2,10.0,10.9,1197,14907,0.00,0.50,2.58,0.205,4,0.000,0.032,2757,2521,440,0,0,0,0,0,0
$STATE,14962,end climb,SURFACE_DEPTH_REACHED
$STATE,14962,begin surface coast
$FINISH,0.5,1.008654
$STATE,14993,end surface coast,CONTROL_FINISHED_OK
$STATE,14993,begin surface
$SM_CCo,15069,0.00,0.000,0,0,440,595.83
$SM_GC,1.30,6.57,0.00,0.00,0.031,0.000,0.000,204,2526,440,-6.46,-1.81,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2043.29,11937.54,021011,121238
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.08
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.4,97.406
$10V_AH,9.8,75.397
$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,16.725,32.125,648.525,0.000,0.000,30.320,19.828,146.086,0.250,0.000,13.971,3101.778,8667.999,690.938,2596.546,338.530,0.000,2010.911,0.000,2363.396,0.000,0.540,0.000
$DEVICE_MAMPS,232.560,81.855,1056.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,840.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,70130,1213
$CAP_FILE_SIZE,160274,0
$CFSIZE,260165632,197419008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,303.9,1
$GPS,021011,212501,2110.213,11944.755,38,1.3,38,-2.5