version: 66.09
glider: 181
mission: 6
dive: 580
start: 10 1 111 7 17 52
data:
$ID,181
$MISSION,6
$DIVE,580
$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,-41317.906
$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,70
$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
$GPS1,011011,071207,2052.868,11945.744,38,1.3,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-60.1
$GPS2,011011,071726,2052.761,11945.642,14,1.3,14,-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,33.1,99849,-17.4,-11.786
$D_GRID,3223
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-68.12,0.000,2,0.000,0.000,134,2625,2337,0,0,0,0,0,0
$GC,90,-0.53,-194.6,3.3,-3.3,11,135,8.52,0.00,-29.52,0.000,6,0.226,0.000,2121,2625,3665,0,0,0,0,0,0
$GC,272,-0.53,-194.6,65.1,-41.8,42,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2625,3665,0,0,0,0,0,0
$GC,412,-0.53,-194.6,108.0,-21.1,67,419,0.00,0.40,0.00,0.000,4,0.000,0.042,2120,2915,3665,0,0,0,0,0,0
$GC,437,-0.53,-194.6,113.6,-21.9,71,443,0.00,0.40,0.00,0.000,6,0.000,0.030,2120,2593,3665,0,0,0,0,0,0
$GC,580,-0.53,-194.6,142.0,-17.8,96,587,0.00,0.47,0.00,0.000,4,0.000,0.043,2117,2917,3665,0,0,0,0,0,0
$GC,717,-0.53,-194.6,168.6,-17.4,120,724,0.00,0.40,0.00,0.000,6,0.000,0.030,2117,2588,3665,0,0,0,0,0,0
$GC,861,-0.53,-194.6,190.3,-15.2,145,868,0.00,0.40,0.00,0.000,4,0.000,0.028,2117,2230,3666,0,0,0,0,0,0
$GC,957,-0.53,-194.6,207.0,-17.7,158,965,0.00,0.50,0.00,0.000,6,0.000,0.037,2115,2573,3666,0,0,0,0,0,0
$GC,1283,-0.53,-194.6,261.0,-14.1,189,1287,0.00,0.50,0.00,0.000,4,0.000,0.039,2112,2935,3667,0,0,0,0,0,0
$GC,1385,-0.53,-194.6,273.6,-11.8,198,1389,0.00,0.43,0.00,0.000,6,0.000,0.029,2112,2585,3667,0,0,0,0,0,0
$GC,1716,-0.53,-194.6,326.9,-18.5,229,1720,0.00,0.50,0.00,0.000,4,0.000,0.039,2110,2937,3666,0,0,0,0,0,0
$GC,1762,-0.53,-194.6,334.3,-16.4,233,1765,0.00,0.43,0.00,0.000,6,0.000,0.030,2109,2589,3666,0,0,0,0,0,0
$GC,2092,-0.53,-194.6,381.4,-13.9,264,2096,0.00,0.40,0.00,0.000,4,0.000,0.028,2110,2235,3663,0,0,0,0,0,0
$GC,2216,-0.53,-194.6,398.6,-13.5,275,2220,0.00,0.50,0.00,0.000,6,0.000,0.040,2107,2578,3663,0,0,0,0,0,0
$GC,2547,-0.53,-194.6,448.5,-14.7,306,2550,0.00,0.50,0.00,0.000,4,0.000,0.041,2104,2938,3659,0,0,0,0,0,0
$GC,2596,-0.53,-194.6,456.4,-15.4,310,2603,0.00,0.45,0.00,0.000,6,0.000,0.028,2104,2588,3658,0,0,0,0,0,0
$GC,2923,-0.53,-194.6,508.6,-17.1,339,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2588,3655,0,0,0,0,0,0
$GC,3230,-0.53,-194.6,561.5,-17.0,354,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2588,3652,0,0,0,0,0,0
$GC,3539,-0.53,-194.6,608.7,-14.4,369,3543,0.00,0.40,0.00,0.000,4,0.000,0.030,2104,2241,3648,0,0,0,0,0,0
$GC,3601,-0.53,-194.6,617.1,-13.3,371,3608,0.00,0.52,0.00,0.000,6,0.000,0.040,2101,2594,3648,0,0,0,0,0,0
$GC,3917,-0.53,-194.6,661.3,-13.8,387,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2594,3646,0,0,0,0,0,0
$GC,4227,-0.53,-194.6,707.1,-15.5,402,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2594,3642,0,0,0,0,0,0
$GC,4536,-0.53,-194.6,755.1,-15.8,417,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2594,3640,0,0,0,0,0,0
$GC,4845,-0.53,-194.6,802.9,-15.4,432,4848,0.00,0.43,0.00,0.000,4,0.000,0.028,2101,2259,3639,0,0,0,0,0,0
$GC,4923,-0.53,-194.6,814.7,-14.3,435,4926,0.00,0.50,0.00,0.000,6,0.000,0.042,2099,2585,3638,0,0,0,0,0,0
$GC,5244,-0.53,-194.6,858.6,-13.1,451,5248,0.00,0.50,0.00,0.000,4,0.000,0.044,2096,2938,3635,0,0,0,0,0,0
$GC,5372,-0.53,-194.6,874.6,-11.9,456,5380,0.08,0.43,0.00,0.000,6,0.142,0.030,2122,2607,3634,0,0,0,0,0,0
$GC,5689,-0.53,-194.6,903.2,-8.7,472,5693,0.00,0.45,0.00,0.000,4,0.000,0.028,2122,2243,3632,0,0,0,0,0,0
$GC,5762,-0.53,-194.6,909.6,-8.4,475,5765,0.00,0.52,0.00,0.000,6,0.000,0.041,2120,2589,3632,0,0,0,0,0,0
$GC,6090,-0.53,-194.6,939.9,-10.3,491,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2589,3630,0,0,0,0,0,0
$GC,6399,-0.53,-194.6,979.3,-14.0,506,6402,0.00,0.45,0.00,0.000,4,0.000,0.028,2121,2239,3628,0,0,0,0,0,0
$GC,6439,-0.53,-194.6,985.3,-15.0,507,6445,0.00,0.55,0.00,0.000,6,0.000,0.041,2118,2594,3628,0,0,0,0,0,0
$STATE,6485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6485,begin apogee
$GC,6492,-0.13,0.0,992.4,15.0,510,6649,0.43,0.00,152.18,1.059,6,0.128,0.000,2253,2150,2869,0,0,0,0,0,0
$STATE,6649,end apogee,CONTROL_FINISHED_OK
$STATE,6650,begin climb
$GC,6653,0.53,194.6,1006.8,0.0,517,6817,0.60,0.50,158.02,1.046,4,0.084,0.031,2467,1801,2075,0,0,0,0,0,0
$GC,6886,0.82,433.5,1007.5,2.0,528,7084,0.25,0.55,191.55,1.041,6,0.046,0.029,2577,2190,1101,0,0,0,0,0,0
$GC,7401,0.84,447.4,955.4,11.2,553,7423,0.00,0.55,14.10,0.939,4,0.000,0.028,2579,1795,1044,0,0,0,0,0,0
$GC,7585,0.84,447.4,931.5,13.4,561,7589,0.00,0.52,0.00,0.000,6,0.000,0.031,2579,2163,1044,0,0,0,0,0,0
$GC,7913,0.84,447.4,886.1,14.3,577,7916,0.00,0.47,0.00,0.000,4,0.000,0.037,2579,2508,1043,0,0,0,0,0,0
$GC,8170,0.84,447.4,846.8,15.1,588,8174,0.00,0.47,0.00,0.000,6,0.000,0.028,2581,2137,1042,0,0,0,0,0,0
$GC,8491,0.84,447.4,801.4,13.8,604,8495,0.00,0.52,0.00,0.000,4,0.000,0.034,2581,2506,1042,0,0,0,0,0,0
$GC,8750,0.84,447.4,765.4,13.8,615,8753,0.00,0.43,0.00,0.000,6,0.000,0.030,2583,2164,1041,0,0,0,0,0,0
$GC,9073,0.84,447.4,719.7,14.6,631,9076,0.00,0.47,0.00,0.000,4,0.000,0.035,2583,2505,1041,0,0,0,0,0,0
$GC,9308,0.84,447.4,683.1,15.1,641,9312,0.00,0.45,0.00,0.000,6,0.000,0.029,2585,2157,1040,0,0,0,0,0,0
$GC,9630,0.84,447.4,639.3,12.6,657,9633,0.00,0.47,0.00,0.000,4,0.000,0.034,2585,2502,1040,0,0,0,0,0,0
$GC,9814,0.87,472.4,618.1,10.8,665,9839,0.00,0.45,20.77,0.802,6,0.000,0.029,2587,2144,941,0,0,0,0,0,0
$GC,10164,0.91,500.7,582.5,10.6,682,10194,0.00,0.55,24.62,0.783,4,0.000,0.034,2587,2505,827,0,0,0,0,0,0
$GC,10342,0.93,517.6,562.7,11.1,690,10364,0.00,0.43,16.08,0.736,6,0.000,0.030,2589,2163,758,0,0,0,0,0,0
$GC,10676,0.95,539.2,527.1,10.9,706,10699,0.00,0.52,19.75,0.734,4,0.000,0.035,2589,2503,669,0,0,0,0,0,0
$GC,10834,0.98,559.9,509.5,10.9,713,10857,0.00,0.43,18.27,0.711,6,0.000,0.030,2591,2167,585,0,0,0,0,0,0
$GC,11174,1.00,579.6,472.5,11.0,740,11198,0.00,0.43,16.95,0.697,4,0.000,0.037,2590,1842,505,0,0,0,0,0,0
$GC,11223,1.04,613.9,466.9,10.4,744,11241,0.10,0.45,14.32,0.660,6,0.057,0.031,2654,2170,440,0,0,0,0,0,0
$GC,11559,1.04,613.9,422.2,13.1,775,11563,0.00,0.45,0.00,0.000,4,0.000,0.037,2654,2508,438,0,0,0,0,0,0
$GC,11619,1.04,613.9,413.7,14.0,780,11628,0.00,0.45,0.00,0.000,6,0.000,0.030,2656,2163,439,0,0,0,0,0,0
$GC,11945,1.06,623.8,374.6,11.4,811,11949,0.00,0.40,0.00,0.000,4,0.000,0.036,2658,1837,438,0,0,0,0,0,0
$GC,12058,1.06,623.8,360.0,14.4,821,12062,0.00,0.45,0.00,0.000,6,0.000,0.032,2658,2170,438,0,0,0,0,0,0
$GC,12389,1.06,623.8,314.0,14.0,852,12393,0.00,0.45,0.00,0.000,4,0.000,0.040,2657,2503,438,0,0,0,0,0,0
$GC,12552,1.06,623.8,289.0,15.4,866,12559,0.00,0.43,0.00,0.000,6,0.000,0.030,2659,2163,437,0,0,0,0,0,0
$GC,12878,1.07,638.3,251.7,11.2,897,12882,0.00,0.40,0.00,0.000,4,0.000,0.034,2662,1826,438,0,0,0,0,0,0
$GC,12940,1.07,638.3,242.5,16.2,902,12947,0.00,0.45,0.00,0.000,6,0.000,0.032,2661,2161,437,0,0,0,0,0,0
$GC,13269,1.07,638.3,190.2,14.2,939,13275,0.00,0.45,0.00,0.000,4,0.000,0.037,2662,2500,438,0,0,0,0,0,0
$GC,13462,1.09,653.5,165.5,11.2,973,13469,0.00,0.43,0.00,0.000,6,0.000,0.031,2663,2163,438,0,0,0,0,0,0
$GC,13606,1.20,741.4,151.8,8.2,998,13612,0.00,0.40,0.00,0.000,4,0.000,0.034,2665,1823,438,0,0,0,0,0,0
$GC,13659,1.34,857.2,147.9,7.1,1007,13667,0.15,0.45,0.00,0.000,6,0.048,0.032,2745,2162,438,0,0,0,0,0,0
$GC,13801,1.35,861.3,131.4,11.6,1032,13809,0.00,0.45,0.00,0.000,4,0.000,0.037,2745,2505,437,0,0,0,0,0,0
$GC,13890,1.35,861.3,120.2,13.4,1047,13896,0.00,0.43,0.00,0.000,6,0.000,0.030,2746,2161,438,0,0,0,0,0,0
$GC,14032,1.35,861.3,93.8,20.3,1072,14041,0.00,0.40,0.00,0.000,4,0.000,0.034,2749,1825,438,0,0,0,0,0,0
$GC,14294,1.35,861.3,55.6,14.0,1118,14301,0.00,0.45,0.00,0.000,6,0.000,0.032,2749,2161,439,0,0,0,0,0,0
$GC,14438,1.47,958.6,41.3,7.8,1143,14445,0.00,0.40,0.00,0.000,4,0.000,0.030,2750,1833,440,0,0,0,0,0,0
$GC,14479,1.62,1078.4,38.1,6.9,1150,14487,0.15,0.45,0.03,0.200,6,0.045,0.031,2832,2170,440,0,0,0,0,0,0
$GC,14623,1.62,1078.4,17.0,15.5,1175,14631,0.00,0.45,0.32,0.103,4,0.000,0.030,2832,2500,441,0,0,0,0,0,0
$STATE,14702,end climb,SURFACE_DEPTH_REACHED
$STATE,14702,begin surface coast
$FINISH,0.7,1.021241
$STATE,14720,end surface coast,CONTROL_FINISHED_OK
$STATE,14720,begin surface
$SM_CCo,14796,0.00,0.000,0,0,441,595.59
$SM_GC,1.24,6.78,0.00,0.00,0.031,0.000,0.000,208,2573,441,-6.46,-0.48,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2052.52,11939.83,011011,030341
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.5,95.878
$10V_AH,9.8,74.752
$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,17.050,28.600,646.975,0.000,0.000,25.580,28.037,127.930,0.500,0.000,16.680,3034.942,8516.262,690.308,2533.158,335.176,0.000,1983.362,0.000,2312.662,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,106.335,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,826.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,70293,1192
$CAP_FILE_SIZE,155200,0
$CFSIZE,260165632,198041600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,286.9,1
$GPS,011011,112537,2054.510,11944.817,30,0.9,30,-2.4