version: 66.09
glider: 181
mission: 6
dive: 581
start: 10 1 111 11 31 39
data:
$ID,181
$MISSION,6
$DIVE,581
$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,-41319.258
$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,45
$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
$GPS1,011011,112537,2054.510,11944.817,30,0.9,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.2
$GPS2,011011,113113,2054.478,11944.603,9,1.0,14,-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,46.5,97243,-17.4,-11.786
$D_GRID,3184
$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,-194.6,0.0,0.0,0,88,0.00,0.00,-69.07,0.000,2,0.000,0.000,126,2584,2375,0,0,0,0,0,0
$GC,91,-0.53,-194.6,3.1,-3.0,11,135,8.60,0.00,-28.55,0.000,6,0.230,0.000,2121,2579,3666,0,0,0,0,0,0
$GC,272,-0.53,-194.6,58.5,-32.1,42,279,0.00,0.52,0.00,0.000,4,0.000,0.041,2120,2942,3666,0,0,0,0,0,0
$GC,386,-0.53,-194.6,101.3,-31.4,62,393,0.00,0.45,0.00,0.000,6,0.000,0.030,2120,2583,3665,0,0,0,0,0,0
$GC,529,-0.53,-194.6,135.6,-24.8,87,536,0.00,0.38,0.00,0.000,4,0.000,0.030,2120,2247,3665,0,0,0,0,0,0
$GC,553,-0.53,-194.6,140.7,-21.4,91,560,0.00,0.50,0.00,0.000,6,0.000,0.039,2117,2593,3665,0,0,0,0,0,0
$GC,695,-0.53,-194.6,170.9,-26.3,116,702,0.00,0.47,0.00,0.000,4,0.000,0.041,2114,2938,3666,0,0,0,0,0,0
$GC,815,-0.53,-194.6,198.8,-15.8,137,823,0.00,0.43,0.00,0.000,6,0.000,0.030,2114,2587,3667,0,0,0,0,0,0
$GC,957,-0.53,-194.6,218.7,-14.4,151,960,0.00,0.50,0.00,0.000,4,0.000,0.038,2112,2942,3667,0,0,0,0,0,0
$GC,1007,-0.53,-194.6,226.9,-16.7,155,1014,0.00,0.43,0.00,0.000,6,0.000,0.030,2112,2593,3667,0,0,0,0,0,0
$GC,1333,-0.53,-194.6,280.7,-17.3,186,1337,0.00,0.50,0.00,0.000,4,0.000,0.040,2109,2943,3667,0,0,0,0,0,0
$GC,1481,-0.53,-194.6,312.4,-22.1,199,1485,0.00,0.43,0.00,0.000,6,0.000,0.031,2109,2597,3667,0,0,0,0,0,0
$GC,1812,-0.53,-194.6,358.3,-11.9,230,1816,0.00,0.40,0.00,0.000,4,0.000,0.029,2109,2252,3666,0,0,0,0,0,0
$GC,1896,-0.53,-194.6,369.1,-12.6,237,1904,0.00,0.50,0.00,0.000,6,0.000,0.040,2107,2594,3666,0,0,0,0,0,0
$GC,2221,-0.53,-194.6,414.3,-15.6,268,2225,0.00,0.47,0.00,0.000,4,0.000,0.041,2104,2939,3662,0,0,0,0,0,0
$GC,2327,-0.53,-194.6,432.0,-16.6,277,2335,0.00,0.43,0.00,0.000,6,0.000,0.030,2104,2596,3661,0,0,0,0,0,0
$GC,2653,-0.53,-194.6,482.5,-14.3,308,2656,0.00,0.43,0.00,0.000,4,0.000,0.028,2104,2235,3658,0,0,0,0,0,0
$GC,2756,-0.53,-194.6,496.1,-12.1,317,2760,0.00,0.52,0.00,0.000,6,0.000,0.041,2101,2588,3657,0,0,0,0,0,0
$GC,3078,-0.53,-194.6,537.7,-13.7,334,3082,0.00,0.43,0.00,0.000,4,0.000,0.028,2101,2252,3654,0,0,0,0,0,0
$GC,3178,-0.53,-194.6,552.1,-13.9,338,3183,0.00,0.52,0.00,0.000,6,0.000,0.040,2098,2591,3653,0,0,0,0,0,0
$GC,3502,-0.53,-194.6,601.8,-16.4,354,3507,0.12,0.52,0.00,0.000,4,0.164,0.044,2130,2946,3649,0,0,0,0,0,0
$GC,3557,-0.53,-194.6,610.8,-14.5,356,3561,0.00,0.45,0.00,0.000,6,0.000,0.030,2130,2599,3649,0,0,0,0,0,0
$GC,3880,-0.53,-194.6,662.1,-17.0,372,3884,0.00,0.45,0.00,0.000,4,0.000,0.028,2130,2226,3647,0,0,0,0,0,0
$GC,3926,-0.53,-194.6,670.4,-17.8,374,3930,0.00,0.55,0.00,0.000,6,0.000,0.040,2128,2591,3646,0,0,0,0,0,0
$GC,4258,-0.53,-194.6,725.5,-15.2,390,4262,0.00,0.45,0.00,0.000,4,0.000,0.028,2128,2240,3642,0,0,0,0,0,0
$GC,4343,-0.53,-194.6,737.8,-14.0,393,4350,0.00,0.52,0.00,0.000,6,0.000,0.041,2125,2586,3642,0,0,0,0,0,0
$GC,4659,-0.53,-194.6,775.4,-10.8,409,4663,0.00,0.50,0.00,0.000,4,0.000,0.044,2123,2941,3640,0,0,0,0,0,0
$GC,4715,-0.53,-194.6,781.1,-9.8,411,4718,0.00,0.47,0.00,0.000,6,0.000,0.030,2123,2585,3639,0,0,0,0,0,0
$GC,5037,-0.53,-194.6,809.4,-8.0,427,5040,0.00,0.43,0.00,0.000,4,0.000,0.028,2123,2228,3638,0,0,0,0,0,0
$GC,5115,-0.53,-194.6,815.1,-7.1,430,5118,0.00,0.55,0.00,0.000,6,0.000,0.041,2120,2592,3637,0,0,0,0,0,0
$GC,5438,-0.53,-194.6,840.5,-8.4,446,5442,0.00,0.50,0.00,0.000,4,0.000,0.045,2118,2939,3634,0,0,0,0,0,0
$GC,5494,-0.53,-194.6,845.8,-9.1,448,5497,0.00,0.47,0.00,0.000,6,0.000,0.030,2117,2583,3633,0,0,0,0,0,0
$GC,5817,-0.53,-194.6,875.3,-9.7,464,5820,0.00,0.43,0.00,0.000,4,0.000,0.028,2117,2230,3632,0,0,0,0,0,0
$GC,5894,-0.53,-194.6,883.5,-10.3,467,5898,0.00,0.55,0.00,0.000,6,0.000,0.042,2115,2593,3632,0,0,0,0,0,0
$GC,6216,-0.53,-194.6,922.9,-13.3,483,6219,0.00,0.50,0.00,0.000,4,0.000,0.044,2112,2942,3630,0,0,0,0,0,0
$GC,6286,-0.53,-194.6,932.5,-13.5,486,6289,0.00,0.47,0.00,0.000,6,0.000,0.031,2112,2586,3630,0,0,0,0,0,0
$GC,6619,-0.53,-194.6,981.2,-14.7,502,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2585,3628,0,0,0,0,0,0
$STATE,6678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6678,begin apogee
$GC,6684,-0.13,0.0,990.0,14.6,505,6841,0.43,0.00,151.90,1.060,6,0.129,0.000,2247,2141,2869,0,0,0,0,0,0
$STATE,6842,end apogee,CONTROL_FINISHED_OK
$STATE,6842,begin climb
$GC,6844,0.53,194.6,1000.3,0.0,512,7012,0.62,0.43,158.02,1.044,4,0.084,0.025,2467,1825,2074,0,0,0,0,0,0
$GC,7083,0.70,330.8,992.5,6.2,523,7200,0.12,0.50,109.20,1.034,6,0.051,0.031,2533,2186,1521,0,0,0,0,0,0
$GC,7522,0.75,376.8,949.3,9.9,544,7566,0.00,0.47,38.65,0.998,4,0.000,0.040,2533,2502,1332,0,0,0,0,0,0
$GC,7818,0.82,430.0,921.0,9.6,557,7866,0.00,0.45,44.05,0.989,6,0.000,0.030,2535,2150,1115,0,0,0,0,0,0
$GC,8183,0.94,530.4,891.9,7.7,575,8270,0.20,0.57,81.82,0.985,4,0.071,0.037,2626,2509,706,0,0,0,0,0,0
$GC,8475,0.94,530.4,856.0,12.4,588,8479,0.00,0.45,0.00,0.000,6,0.000,0.029,2628,2155,713,0,0,0,0,0,0
$GC,8808,0.94,530.4,813.6,13.0,604,8812,0.00,0.50,0.00,0.000,4,0.000,0.037,2628,2506,712,0,0,0,0,0,0
$GC,9037,0.94,530.4,783.3,13.3,614,9041,0.00,0.43,0.00,0.000,6,0.000,0.030,2630,2164,712,0,0,0,0,0,0
$GC,9364,0.94,530.4,739.2,14.1,630,9368,0.00,0.47,0.00,0.000,4,0.000,0.034,2630,2503,711,0,0,0,0,0,0
$GC,9511,0.94,530.4,716.8,15.1,636,9515,0.00,0.43,0.00,0.000,6,0.000,0.029,2632,2164,711,0,0,0,0,0,0
$GC,9833,0.94,530.4,665.9,16.0,652,9837,0.00,0.47,0.00,0.000,4,0.000,0.037,2632,2501,711,0,0,0,0,0,0
$GC,10016,0.94,530.4,635.8,16.6,660,10021,0.12,0.45,0.00,0.000,6,0.161,0.030,2600,2156,711,0,0,0,0,0,0
$GC,10343,0.94,530.4,589.7,14.6,676,10347,0.00,0.47,0.00,0.000,4,0.000,0.034,2601,2500,710,0,0,0,0,0,0
$GC,10572,0.94,530.4,555.6,14.7,686,10576,0.00,0.43,0.00,0.000,6,0.000,0.030,2601,2162,710,0,0,0,0,0,0
$GC,10899,0.94,530.4,509.6,13.5,702,10903,0.00,0.47,0.00,0.000,4,0.000,0.034,2601,2503,710,0,0,0,0,0,0
$GC,10995,0.94,530.4,496.8,13.1,706,11003,0.00,0.43,0.00,0.000,6,0.000,0.030,2603,2167,710,0,0,0,0,0,0
$GC,11324,0.96,546.6,458.8,11.1,737,11348,0.00,0.50,15.43,0.701,4,0.000,0.034,2602,2506,639,0,0,0,0,0,0
$GC,11473,0.97,555.6,441.4,11.4,750,11486,0.00,0.43,9.15,0.620,6,0.000,0.030,2605,2163,603,0,0,0,0,0,0
$GC,11803,1.02,593.7,407.2,10.2,781,11838,0.00,0.52,31.75,0.681,4,0.000,0.034,2605,2506,447,0,0,0,0,0,0
$GC,11920,1.02,593.7,394.5,12.0,791,11923,0.00,0.43,0.00,0.000,6,0.000,0.031,2606,2165,447,0,0,0,0,0,0
$GC,12251,1.03,602.2,353.6,11.4,822,12262,0.00,0.52,3.33,0.422,4,0.000,0.033,2606,2513,440,0,0,0,0,0,0
$GC,12287,1.06,630.0,349.9,10.7,825,12291,0.08,0.45,0.00,0.000,6,0.060,0.031,2663,2176,440,0,0,0,0,0,0
$GC,12617,1.06,630.0,308.2,12.8,856,12621,0.00,0.47,0.05,0.257,4,0.000,0.033,2662,2509,440,0,0,0,0,0,0
$GC,12710,1.06,630.0,295.2,13.5,864,12719,0.00,0.47,0.12,0.158,6,0.000,0.028,2664,2145,441,0,0,0,0,0,0
$GC,13036,1.06,630.0,254.6,15.7,895,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2145,441,0,0,0,0,0,0
$GC,13360,1.09,650.9,210.8,10.9,925,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2145,440,0,0,0,0,0,0
$GC,13697,1.09,650.9,162.3,14.1,978,13704,0.00,0.38,0.00,0.000,4,0.000,0.035,2666,1830,440,0,0,0,0,0,0
$GC,13825,1.11,668.0,147.0,11.1,1000,13833,0.00,0.45,0.25,0.094,6,0.000,0.031,2666,2170,440,0,0,0,0,0,0
$GC,13970,1.13,686.3,132.1,11.0,1025,13978,0.00,0.45,0.05,0.255,4,0.000,0.038,2666,2497,441,0,0,0,0,0,0
$GC,14047,1.13,686.3,121.7,14.5,1038,14055,0.00,0.40,0.25,0.093,6,0.000,0.031,2667,2168,441,0,0,0,0,0,0
$GC,14192,1.13,686.3,100.8,14.0,1063,14199,0.00,0.43,0.10,0.178,4,0.000,0.035,2671,1831,441,0,0,0,0,0,0
$GC,14279,1.13,686.3,89.3,12.4,1078,14286,0.00,0.45,0.05,0.151,6,0.000,0.031,2670,2170,441,0,0,0,0,0,0
$GC,14422,1.33,845.2,79.0,5.3,1103,14431,0.15,0.43,1.25,0.083,4,0.075,0.029,2752,2511,442,0,0,0,0,0,0
$GC,14455,1.50,986.9,76.6,6.0,1108,14464,0.00,0.43,0.75,0.081,6,0.000,0.030,2754,2168,442,0,0,0,0,0,0
$GC,14598,1.50,986.9,57.9,13.9,1133,14605,0.00,0.43,0.45,0.097,4,0.000,0.025,2756,1824,442,0,0,0,0,0,0
$GC,14792,1.50,986.9,29.4,14.3,1167,14800,0.00,0.45,2.45,0.195,6,0.000,0.031,2756,2164,440,0,0,0,0,0,0
$GC,14938,1.55,1021.7,13.7,10.4,1192,14946,0.12,0.45,0.00,0.000,4,0.084,0.037,2819,2500,440,0,0,0,0,0,0
$STATE,15006,end climb,SURFACE_DEPTH_REACHED
$STATE,15006,begin surface coast
$FINISH,0.4,1.000124
$STATE,15025,end surface coast,CONTROL_FINISHED_OK
$STATE,15025,begin surface
$SM_CCo,15101,0.00,0.000,0,0,440,595.59
$SM_GC,0.99,6.82,0.00,0.00,0.036,0.000,0.000,199,2646,440,-6.46,1.58,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2038.68,11944.69,011011,070711
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.77
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.5,96.068
$10V_AH,9.8,74.834
$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,17.400,32.725,649.075,0.000,0.000,30.651,40.973,125.439,0.250,0.000,17.218,3098.844,8658.432,699.128,2623.585,350.283,0.000,2035.695,0.000,2389.978,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,90.270,1059.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,838.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322256
$DATA_FILE_SIZE,70183,1207
$CAP_FILE_SIZE,163580,0
$CFSIZE,260165632,197955584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,274.4,1
$GPS,011011,154437,2055.953,11944.625,38,1.4,38,-2.4