version: 66.09
glider: 181
mission: 6
dive: 579
start: 10 1 111 3 9 48
data:
$ID,181
$MISSION,6
$DIVE,579
$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,-41316.551
$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,92
$R_STBD_OVSHOOT,54
$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
$GPS1,011011,030337,2051.803,11946.797,26,1.4,26,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.2
$GPS2,011011,030922,2051.675,11946.742,9,2.6,28,-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,8.0,101357,-17.4,-11.786
$D_GRID,3234
$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,-194.6,0.0,0.0,0,86,0.00,0.00,-66.93,0.000,2,0.000,0.000,128,2604,2353,0,0,0,0,0,0
$GC,89,-0.53,-194.6,3.3,-3.4,11,132,8.60,0.50,-27.25,0.000,4,0.230,0.095,2124,2931,3664,0,0,0,0,0,0
$GC,179,-0.53,-194.6,31.7,-31.4,26,186,0.00,0.43,0.00,0.000,6,0.000,0.029,2123,2592,3665,0,0,0,0,0,0
$GC,322,-0.53,-194.6,79.8,-31.4,51,329,0.00,0.43,0.00,0.000,4,0.000,0.029,2124,2225,3665,0,0,0,0,0,0
$GC,409,-0.53,-194.6,102.6,-25.3,66,417,0.00,0.52,0.00,0.000,6,0.000,0.042,2121,2575,3665,0,0,0,0,0,0
$GC,553,-0.53,-194.6,127.6,-18.7,91,560,0.00,0.52,0.00,0.000,4,0.000,0.039,2118,2950,3664,0,0,0,0,0,0
$GC,716,-0.53,-194.6,166.3,-24.5,119,722,0.00,0.45,0.00,0.000,6,0.000,0.028,2118,2586,3665,0,0,0,0,0,0
$GC,858,-0.53,-194.6,189.9,-12.9,144,865,0.00,0.38,0.00,0.000,4,0.000,0.028,2118,2249,3666,0,0,0,0,0,0
$GC,933,-0.53,-194.6,196.7,-8.3,157,940,0.00,0.50,0.00,0.000,6,0.000,0.039,2115,2596,3666,0,0,0,0,0,0
$GC,1077,-0.53,-194.6,209.3,-11.0,174,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2596,3667,0,0,0,0,0,0
$GC,1396,-0.53,-194.6,259.3,-17.9,204,1400,0.00,0.47,0.00,0.000,4,0.000,0.040,2112,2943,3667,0,0,0,0,0,0
$GC,1537,-0.53,-194.6,283.0,-15.2,216,1543,0.00,0.43,0.00,0.000,6,0.000,0.031,2113,2598,3666,0,0,0,0,0,0
$GC,1862,-0.53,-194.6,331.4,-16.5,247,1866,0.00,0.43,0.00,0.000,4,0.000,0.028,2113,2239,3665,0,0,0,0,0,0
$GC,1910,-0.53,-194.6,339.2,-16.2,251,1913,0.00,0.52,0.00,0.000,6,0.000,0.041,2111,2591,3664,0,0,0,0,0,0
$GC,2240,-0.53,-194.6,396.4,-16.2,282,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2591,3661,0,0,0,0,0,0
$GC,2563,-0.53,-194.6,448.8,-16.6,312,2567,0.00,0.50,0.00,0.000,4,0.000,0.043,2108,2944,3658,0,0,0,0,0,0
$GC,2648,-0.53,-194.6,463.9,-17.0,319,2655,0.00,0.45,0.00,0.000,6,0.000,0.031,2108,2596,3656,0,0,0,0,0,0
$GC,2974,-0.53,-194.6,511.8,-13.6,346,2977,0.00,0.43,0.00,0.000,4,0.000,0.029,2108,2246,3654,0,0,0,0,0,0
$GC,3079,-0.53,-194.6,525.5,-12.4,350,3087,0.00,0.52,0.00,0.000,6,0.000,0.040,2106,2593,3653,0,0,0,0,0,0
$GC,3397,-0.53,-194.6,564.2,-12.0,366,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2593,3650,0,0,0,0,0,0
$GC,3705,-0.53,-194.6,602.7,-12.3,381,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2593,3647,0,0,0,0,0,0
$GC,4015,-0.53,-194.6,638.5,-11.0,396,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2593,3644,0,0,0,0,0,0
$GC,4325,-0.53,-194.6,670.4,-10.6,411,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2593,3641,0,0,0,0,0,0
$GC,4633,-0.53,-194.6,707.6,-12.7,426,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2592,3639,0,0,0,0,0,0
$GC,4942,-0.53,-194.6,754.4,-16.4,441,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2593,3637,0,0,0,0,0,0
$GC,5252,-0.53,-194.6,811.4,-19.4,456,5256,0.00,0.50,0.00,0.000,4,0.000,0.043,2103,2941,3635,0,0,0,0,0,0
$GC,5302,-0.53,-194.6,822.0,-20.5,458,5306,0.00,0.47,0.00,0.000,6,0.000,0.030,2103,2591,3634,0,0,0,0,0,0
$GC,5629,-0.53,-194.6,886.0,-19.3,474,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2591,3632,0,0,0,0,0,0
$GC,5940,-0.53,-194.6,945.9,-18.9,489,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2591,3631,0,0,0,0,0,0
$STATE,6205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6205,begin apogee
$GC,6211,-0.13,0.0,993.1,17.0,502,6369,0.47,0.00,152.38,1.060,6,0.128,0.000,2254,2153,2869,0,0,0,0,0,0
$STATE,6369,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6372,0.53,194.6,1005.1,0.0,509,6538,0.60,0.47,157.50,1.047,4,0.082,0.031,2467,1817,2074,0,0,0,0,0,0
$GC,6600,0.68,316.1,997.6,6.8,519,6706,0.12,0.50,98.10,1.029,6,0.050,0.030,2533,2171,1580,0,0,0,0,0,0
$GC,7022,0.68,316.1,947.4,13.3,540,7025,0.00,0.45,0.00,0.000,4,0.000,0.039,2533,2503,1578,0,0,0,0,0,0
$GC,7280,0.68,316.1,909.0,15.7,551,7284,0.00,0.45,0.00,0.000,6,0.000,0.029,2535,2150,1577,0,0,0,0,0,0
$GC,7602,0.68,316.1,865.5,12.5,567,7605,0.00,0.50,0.00,0.000,4,0.000,0.036,2536,2503,1576,0,0,0,0,0,0
$GC,7858,0.78,396.3,839.3,8.5,578,7926,0.00,0.43,63.85,0.955,6,0.000,0.030,2538,2163,1252,0,0,0,0,0,0
$GC,8244,0.98,563.2,815.1,5.0,597,8385,0.22,0.52,135.18,0.939,4,0.068,0.031,2634,2503,572,0,0,0,0,0,0
$GC,8639,1.05,620.2,778.4,9.5,615,8672,0.00,0.43,28.88,0.884,6,0.000,0.028,2637,2170,440,0,0,0,0,0,0
$GC,8988,1.07,636.5,742.5,11.1,632,8992,0.00,0.43,0.00,0.000,4,0.000,0.031,2639,1820,439,0,0,0,0,0,0
$GC,9117,1.07,636.5,727.0,12.4,637,9124,0.00,0.47,0.00,0.000,6,0.000,0.034,2639,2158,440,0,0,0,0,0,0
$GC,9433,1.07,636.5,686.8,13.0,653,9437,0.00,0.43,0.00,0.000,4,0.000,0.030,2640,1821,439,0,0,0,0,0,0
$GC,9587,1.07,636.5,665.1,14.8,659,9593,0.00,0.47,0.00,0.000,6,0.000,0.033,2640,2158,439,0,0,0,0,0,0
$GC,9902,1.07,636.5,613.9,17.0,675,9906,0.00,0.43,0.00,0.000,4,0.000,0.031,2642,1821,438,0,0,0,0,0,0
$GC,10087,1.07,636.5,580.6,17.9,683,10091,0.00,0.50,0.00,0.000,6,0.000,0.032,2641,2165,439,0,0,0,0,0,0
$GC,10414,1.07,636.5,530.3,13.9,699,10418,0.00,0.43,0.00,0.000,4,0.000,0.031,2643,1820,438,0,0,0,0,0,0
$GC,10562,1.09,648.3,513.0,11.3,705,10566,0.00,0.50,0.00,0.000,6,0.000,0.032,2644,2178,438,0,0,0,0,0,0
$GC,10891,1.15,696.7,479.4,9.8,730,10895,0.00,0.45,0.00,0.000,4,0.000,0.041,2643,2509,438,0,0,0,0,0,0
$GC,11151,1.15,700.0,453.2,11.7,753,11155,0.00,0.45,0.03,0.200,6,0.000,0.029,2646,2153,438,0,0,0,0,0,0
$GC,11481,1.15,700.0,401.3,18.0,784,11484,0.00,0.50,0.00,0.000,4,0.000,0.034,2646,2506,439,0,0,0,0,0,0
$GC,11687,1.15,700.0,364.5,17.1,802,11694,0.00,0.45,0.00,0.000,6,0.000,0.029,2647,2159,439,0,0,0,0,0,0
$GC,12013,1.17,717.6,321.8,11.1,833,12017,0.00,0.50,0.00,0.000,4,0.000,0.036,2648,2509,439,0,0,0,0,0,0
$GC,12139,1.17,717.6,305.8,14.0,844,12143,0.00,0.43,0.17,0.103,6,0.000,0.030,2650,2165,440,0,0,0,0,0,0
$GC,12469,1.23,764.5,264.3,9.9,875,12472,0.12,0.00,0.17,0.135,6,0.090,0.000,2708,2165,441,0,0,0,0,0,0
$GC,12789,1.23,764.5,211.1,17.1,905,12795,0.00,0.55,2.55,0.248,4,0.000,0.035,2708,2513,440,0,0,0,0,0,0
$GC,12875,1.23,764.5,196.7,16.5,913,12882,0.00,0.43,0.10,0.114,6,0.000,0.030,2710,2171,440,0,0,0,0,0,0
$GC,13019,1.23,764.5,175.4,14.9,938,13027,0.00,0.43,0.15,0.145,4,0.000,0.035,2713,1833,441,0,0,0,0,0,0
$GC,13134,1.23,764.5,153.0,20.2,958,13142,0.00,0.45,0.62,0.085,6,0.000,0.033,2713,2165,441,0,0,0,0,0,0
$GC,13277,1.23,764.5,130.2,12.8,983,13285,0.00,0.47,0.15,0.144,4,0.000,0.038,2713,2505,441,0,0,0,0,0,0
$GC,13387,1.35,858.3,120.2,8.0,1002,13394,0.00,0.43,0.50,0.086,6,0.000,0.031,2714,2163,441,0,0,0,0,0,0
$GC,13528,1.40,899.0,109.7,10.1,1027,13535,0.10,0.43,0.00,0.000,4,0.103,0.035,2764,1829,441,0,0,0,0,0,0
$GC,13668,1.40,899.0,87.1,16.8,1051,13675,0.00,0.47,0.28,0.091,6,0.000,0.034,2764,2171,441,0,0,0,0,0,0
$GC,13811,1.40,899.0,65.2,14.0,1076,13819,0.00,0.52,2.33,0.181,4,0.000,0.037,2764,2516,440,0,0,0,0,0,0
$GC,13916,1.40,899.0,51.6,12.4,1094,13923,0.00,0.45,0.12,0.104,6,0.000,0.031,2765,2162,440,0,0,0,0,0,0
$GC,14061,1.42,922.7,36.3,10.8,1119,14068,0.00,0.40,0.22,0.119,4,0.000,0.026,2768,1836,441,0,0,0,0,0,0
$GC,14320,1.42,922.7,8.6,13.6,1165,14328,0.00,0.45,2.67,0.213,6,0.000,0.032,2768,2179,439,0,0,0,0,0,0
$STATE,14361,end climb,SURFACE_DEPTH_REACHED
$STATE,14361,begin surface coast
$FINISH,0.5,1.021363
$STATE,14384,end surface coast,CONTROL_FINISHED_OK
$STATE,14384,begin surface
$SM_CCo,14462,0.00,0.000,0,0,440,595.83
$SM_GC,1.26,6.70,0.00,0.00,0.037,0.000,0.000,205,2628,440,-6.45,1.07,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2045.60,11943.83,300911,222203
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.28
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,22.8,95.691
$10V_AH,9.8,74.671
$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,16.950,25.225,645.950,0.000,0.000,27.511,28.821,133.986,0.250,0.000,32.332,2979.607,8337.394,664.971,2493.526,325.936,0.000,1910.545,0.000,2253.732,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,94.860,1059.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,815.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66892,1176
$CAP_FILE_SIZE,148794,0
$CFSIZE,260165632,198127616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,273.7,1
$GPS,011011,071207,2052.868,11945.744,38,1.3,38,-2.4