version: 66.09
glider: 181
mission: 6
dive: 589
start: 10 2 111 21 33 2
data:
$ID,181
$MISSION,6
$DIVE,589
$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,-41329.996
$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,86
$R_STBD_OVSHOOT,61
$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
$GPS1,021011,212501,2110.213,11944.755,38,1.3,38,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.5
$GPS2,021011,213238,2110.340,11944.679,14,1.3,14,-2.5
$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,45.2,69390,-17.4,-11.786
$D_GRID,3306
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,87,0.00,0.00,-68.25,0.000,2,0.000,0.000,128,2529,2351,0,0,0,0,0,0
$GC,90,-0.53,-194.6,3.3,-3.5,11,134,8.68,0.00,-28.60,0.000,6,0.233,0.000,2124,2530,3666,0,0,0,0,0,0
$GC,271,-0.53,-194.6,66.8,-35.5,42,278,0.00,0.57,0.00,0.000,4,0.000,0.041,2121,2923,3666,0,0,0,0,0,0
$GC,482,-0.53,-194.6,122.5,-19.4,79,489,0.00,0.43,0.00,0.000,6,0.000,0.029,2122,2577,3665,0,0,0,0,0,0
$GC,625,-0.53,-194.6,154.0,-25.3,104,632,0.00,0.50,0.00,0.000,4,0.000,0.037,2119,2930,3665,0,0,0,0,0,0
$GC,768,-0.53,-194.6,185.3,-20.1,129,776,0.00,0.40,0.00,0.000,6,0.000,0.030,2119,2592,3666,0,0,0,0,0,0
$GC,913,-0.53,-194.6,212.2,-17.5,149,917,0.00,0.40,0.00,0.000,4,0.000,0.029,2119,2237,3666,0,0,0,0,0,0
$GC,940,-0.53,-194.6,217.7,-19.4,151,947,0.00,0.50,0.00,0.000,6,0.000,0.037,2116,2578,3666,0,0,0,0,0,0
$GC,1266,-0.53,-194.6,268.5,-14.2,182,1270,0.00,0.50,0.00,0.000,4,0.000,0.039,2114,2944,3666,0,0,0,0,0,0
$GC,1413,-0.53,-194.6,289.6,-14.9,195,1417,0.00,0.43,0.00,0.000,6,0.000,0.031,2113,2597,3666,0,0,0,0,0,0
$GC,1744,-0.53,-194.6,336.9,-13.8,226,1748,0.00,0.40,0.00,0.000,4,0.000,0.029,2114,2249,3665,0,0,0,0,0,0
$GC,1849,-0.53,-194.6,350.6,-12.4,235,1856,0.00,0.52,0.00,0.000,6,0.000,0.038,2111,2597,3664,0,0,0,0,0,0
$GC,2175,-0.53,-194.6,395.8,-14.7,266,2179,0.00,0.47,0.00,0.000,4,0.000,0.042,2109,2942,3661,0,0,0,0,0,0
$GC,2221,-0.53,-194.6,402.6,-14.5,270,2225,0.00,0.43,0.00,0.000,6,0.000,0.030,2109,2596,3660,0,0,0,0,0,0
$GC,2552,-0.53,-194.6,453.2,-15.4,301,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2595,3657,0,0,0,0,0,0
$GC,2872,-0.53,-194.6,500.5,-14.5,331,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2595,3654,0,0,0,0,0,0
$GC,3182,-0.53,-194.6,548.7,-16.1,346,3185,0.00,0.50,0.00,0.000,4,0.000,0.041,2107,2937,3651,0,0,0,0,0,0
$GC,3231,-0.53,-194.6,557.7,-17.1,348,3235,0.00,0.45,0.00,0.000,6,0.000,0.028,2107,2591,3651,0,0,0,0,0,0
$GC,3559,-0.53,-194.6,612.4,-16.8,364,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2592,3648,0,0,0,0,0,0
$GC,3869,-0.53,-194.6,662.7,-15.7,379,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2591,3645,0,0,0,0,0,0
$GC,4178,-0.53,-194.6,708.8,-14.8,394,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2591,3642,0,0,0,0,0,0
$GC,4487,-0.53,-194.6,753.0,-13.7,409,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2591,3640,0,0,0,0,0,0
$GC,4797,-0.53,-194.6,794.1,-13.0,424,4801,0.00,0.43,0.00,0.000,4,0.000,0.029,2106,2245,3637,0,0,0,0,0,0
$GC,4830,-0.53,-194.6,798.4,-12.0,425,4834,0.00,0.52,0.00,0.000,6,0.000,0.039,2104,2587,3637,0,0,0,0,0,0
$GC,5152,-0.53,-194.6,837.4,-12.1,441,5155,0.00,0.50,0.00,0.000,4,0.000,0.042,2101,2939,3634,0,0,0,0,0,0
$GC,5202,-0.53,-194.6,843.7,-12.2,443,5206,0.00,0.45,0.00,0.000,6,0.000,0.030,2101,2592,3634,0,0,0,0,0,0
$GC,5529,-0.53,-194.6,883.2,-12.0,459,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2591,3632,0,0,0,0,0,0
$GC,5840,-0.53,-194.6,924.4,-14.0,474,5844,0.00,0.52,0.00,0.000,4,0.000,0.042,2099,2947,3630,0,0,0,0,0,0
$GC,5890,-0.53,-194.6,932.1,-14.1,476,5894,0.10,0.47,0.00,0.000,6,0.169,0.029,2124,2594,3630,0,0,0,0,0,0
$GC,6217,-0.53,-194.6,974.6,-13.3,492,6220,0.00,0.43,0.00,0.000,4,0.000,0.029,2124,2244,3627,0,0,0,0,0,0
$GC,6317,-0.53,-194.6,987.9,-13.2,496,6321,0.00,0.52,0.00,0.000,6,0.000,0.042,2123,2588,3627,0,0,0,0,0,0
$STATE,6348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6348,begin apogee
$GC,6354,-0.13,0.0,992.2,13.3,498,6511,0.40,0.00,151.82,1.056,6,0.126,0.000,2252,2155,2869,0,0,0,0,0,0
$STATE,6512,end apogee,CONTROL_FINISHED_OK
$STATE,6512,begin climb
$GC,6515,0.53,194.6,1003.4,0.0,505,6680,0.62,0.50,157.48,1.043,4,0.084,0.031,2472,1808,2075,0,0,0,0,0,0
$GC,6738,0.75,370.9,998.3,4.6,515,6887,0.15,0.52,141.38,1.034,6,0.050,0.031,2546,2185,1356,0,0,0,0,0,0
$GC,7212,0.81,422.2,953.4,9.7,538,7258,0.00,0.50,42.58,1.000,4,0.000,0.024,2547,1827,1146,0,0,0,0,0,0
$GC,7466,0.83,440.1,926.4,11.1,549,7486,0.00,0.50,17.00,0.931,6,0.000,0.032,2548,2161,1074,0,0,0,0,0,0
$GC,7804,0.88,481.6,892.2,10.1,566,7847,0.10,0.52,34.40,0.965,4,0.105,0.037,2596,2506,905,0,0,0,0,0,0
$GC,8098,0.88,481.6,853.2,13.7,579,8102,0.00,0.47,0.00,0.000,6,0.000,0.028,2598,2141,908,0,0,0,0,0,0
$GC,8427,0.88,481.6,811.4,12.7,595,8430,0.00,0.50,0.00,0.000,4,0.000,0.034,2598,2502,908,0,0,0,0,0,0
$GC,8684,0.89,484.1,780.1,11.7,606,8696,0.00,0.40,4.43,0.656,6,0.000,0.031,2599,2169,895,0,0,0,0,0,0
$GC,9006,0.89,490.7,743.5,11.5,622,9017,0.00,0.52,8.07,0.763,4,0.000,0.036,2600,2512,868,0,0,0,0,0,0
$GC,9243,0.89,490.7,713.5,13.5,632,9250,0.00,0.43,0.00,0.000,6,0.000,0.030,2601,2171,871,0,0,0,0,0,0
$GC,9559,0.89,490.7,670.1,14.2,648,9562,0.00,0.47,0.00,0.000,4,0.000,0.035,2601,2511,875,0,0,0,0,0,0
$GC,9706,0.89,490.7,647.9,15.0,654,9710,0.00,0.45,0.00,0.000,6,0.000,0.030,2603,2156,875,0,0,0,0,0,0
$GC,10028,0.89,490.7,602.9,13.5,670,10032,0.00,0.47,0.00,0.000,4,0.000,0.034,2603,2502,875,0,0,0,0,0,0
$GC,10111,0.89,490.7,591.3,14.0,673,10118,0.00,0.45,0.00,0.000,6,0.000,0.029,2606,2151,875,0,0,0,0,0,0
$GC,10429,0.89,490.7,550.0,13.0,689,10432,0.00,0.50,0.00,0.000,4,0.000,0.034,2606,2509,875,0,0,0,0,0,0
$GC,10512,0.89,490.7,538.4,13.6,692,10520,0.00,0.45,0.00,0.000,6,0.000,0.030,2607,2161,875,0,0,0,0,0,0
$GC,10830,0.89,490.7,496.4,12.7,709,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2161,875,0,0,0,0,0,0
$GC,11149,0.89,490.7,458.7,12.0,739,11153,0.00,0.47,0.00,0.000,4,0.000,0.033,2607,2507,875,0,0,0,0,0,0
$GC,11233,0.89,490.7,448.0,12.9,746,11240,0.00,0.43,0.00,0.000,6,0.000,0.031,2608,2164,875,0,0,0,0,0,0
$GC,11559,0.89,490.7,406.3,12.7,777,11562,0.00,0.47,0.00,0.000,4,0.000,0.033,2609,2511,875,0,0,0,0,0,0
$GC,11662,0.89,490.7,393.2,12.9,786,11666,0.00,0.43,0.00,0.000,6,0.000,0.030,2610,2169,876,0,0,0,0,0,0
$GC,11993,0.93,524.2,355.6,10.4,817,12024,0.00,0.00,28.58,0.660,6,0.000,0.000,2610,2168,732,0,0,0,0,0,0
$GC,12341,0.93,524.2,316.3,12.5,850,12345,0.00,0.43,0.00,0.000,4,0.000,0.035,2613,1828,732,0,0,0,0,0,0
$GC,12380,0.93,524.2,311.3,12.6,853,12387,0.00,0.47,0.00,0.000,6,0.000,0.031,2612,2168,732,0,0,0,0,0,0
$GC,12705,0.93,524.2,269.1,12.6,884,12709,0.00,0.45,0.00,0.000,4,0.000,0.038,2612,2505,732,0,0,0,0,0,0
$GC,12755,0.93,524.2,262.4,13.0,888,12763,0.00,0.45,0.00,0.000,6,0.000,0.030,2614,2160,732,0,0,0,0,0,0
$GC,13081,1.11,664.3,232.5,6.1,919,13141,0.12,0.45,55.75,0.578,4,0.092,0.034,2677,1831,439,0,0,0,0,0,0
$GC,13214,1.11,665.2,218.4,11.7,930,13222,0.00,0.45,2.70,0.263,6,0.000,0.031,2677,2165,440,0,0,0,0,0,0
$GC,13550,1.11,665.2,173.3,13.2,978,13557,0.00,0.45,0.00,0.000,4,0.000,0.041,2677,2500,439,0,0,0,0,0,0
$GC,13684,1.12,674.2,157.3,11.4,1001,13691,0.00,0.43,0.00,0.000,6,0.000,0.031,2679,2159,439,0,0,0,0,0,0
$GC,13828,1.16,708.5,142.7,10.4,1026,13835,0.00,0.40,0.00,0.000,4,0.000,0.035,2681,1828,439,0,0,0,0,0,0
$GC,13922,1.21,751.6,132.9,10.0,1042,13929,0.00,0.45,0.00,0.000,6,0.000,0.033,2681,2165,439,0,0,0,0,0,0
$GC,14066,1.21,751.6,116.6,13.5,1067,14072,0.00,0.45,0.00,0.000,4,0.000,0.037,2681,2506,439,0,0,0,0,0,0
$GC,14198,1.22,754.9,100.3,11.7,1090,14204,0.00,0.43,0.00,0.000,6,0.000,0.031,2682,2164,439,0,0,0,0,0,0
$GC,14342,1.28,802.2,85.3,9.9,1115,14349,0.00,0.40,0.00,0.000,4,0.000,0.034,2684,1829,440,0,0,0,0,0,0
$GC,14403,1.34,851.5,79.3,9.8,1125,14410,0.08,0.45,0.00,0.000,6,0.055,0.031,2743,2168,440,0,0,0,0,0,0
$GC,14546,1.35,864.8,61.8,11.2,1150,14553,0.00,0.00,0.03,0.326,6,0.000,0.000,2742,2168,441,0,0,0,0,0,0
$GC,14692,1.42,920.9,46.4,9.5,1175,14699,0.00,0.43,0.57,0.091,4,0.000,0.024,2744,1838,441,0,0,0,0,0,0
$GC,14777,1.42,920.9,35.7,13.1,1190,14785,0.00,0.43,2.28,0.168,6,0.000,0.033,2744,2163,440,0,0,0,0,0,0
$GC,14920,1.43,924.7,17.2,11.6,1215,14927,0.00,0.00,0.05,0.257,6,0.000,0.000,2744,2164,440,0,0,0,0,0,0
$STATE,15049,end climb,SURFACE_DEPTH_REACHED
$STATE,15049,begin surface coast
$FINISH,0.4,1.021062
$STATE,15073,end surface coast,CONTROL_FINISHED_OK
$STATE,15073,begin surface
$SM_CCo,15151,0.00,0.000,0,0,442,595.59
$SM_GC,1.28,6.62,0.00,0.00,0.037,0.000,0.000,212,2602,442,-6.45,0.34,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2115.63,11950.72,021011,171739
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.22
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,23.5,97.593
$10V_AH,9.8,75.480
$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,16.875,28.000,647.100,0.000,0.000,61.816,51.732,139.697,0.750,0.000,17.609,3128.247,8827.544,690.643,2604.067,348.438,0.000,1981.930,0.000,2320.281,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,42.075,1056.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,860.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322748
$DATA_FILE_SIZE,70352,1242
$CAP_FILE_SIZE,156383,0
$CFSIZE,260165632,197345280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,  4.2,1
$GPS,031011,014654,2113.284,11945.810,25,1.2,42,-2.5