version: 66.09
glider: 181
mission: 6
dive: 590
start: 10 3 111 1 52 58
data:
$ID,181
$MISSION,6
$DIVE,590
$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,-41331.352
$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,93
$R_STBD_OVSHOOT,52
$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
$GPS1,031011,014654,2113.284,11945.810,25,1.2,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.6
$GPS2,031011,015232,2113.323,11945.857,14,1.2,14,-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,35.0,63510,-17.4,-11.786
$D_GRID,3373
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,125,2600,2415,0,0,0,0,0,0
$GC,92,-0.53,-194.6,3.6,-3.3,11,130,8.73,0.52,-25.65,0.000,4,0.236,0.099,2118,2938,3666,0,0,0,0,0,0
$GC,221,-0.53,-194.6,51.0,-40.7,33,227,0.00,0.45,0.00,0.000,6,0.000,0.030,2118,2590,3666,0,0,0,0,0,0
$GC,363,-0.53,-194.6,89.9,-27.1,58,370,0.00,0.40,0.00,0.000,4,0.000,0.028,2118,2226,3666,0,0,0,0,0,0
$GC,490,-0.53,-194.6,123.9,-21.6,80,497,0.00,0.52,0.00,0.000,6,0.000,0.039,2115,2585,3666,0,0,0,0,0,0
$GC,632,-0.53,-194.6,152.5,-18.5,105,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2585,3666,0,0,0,0,0,0
$GC,773,-0.53,-194.6,177.9,-17.1,130,781,0.00,0.43,0.00,0.000,4,0.000,0.028,2115,2232,3667,0,0,0,0,0,0
$GC,946,-0.53,-194.6,205.1,-13.7,157,949,0.00,0.52,0.00,0.000,6,0.000,0.037,2113,2592,3667,0,0,0,0,0,0
$GC,1277,-0.53,-194.6,251.1,-15.4,188,1280,0.00,0.47,0.00,0.000,4,0.000,0.041,2110,2940,3668,0,0,0,0,0,0
$GC,1450,-0.53,-194.6,283.8,-19.8,203,1457,0.00,0.45,0.00,0.000,6,0.000,0.029,2110,2581,3667,0,0,0,0,0,0
$GC,1776,-0.53,-194.6,340.7,-16.6,234,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2581,3667,0,0,0,0,0,0
$GC,2096,-0.53,-194.6,383.3,-12.0,264,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2581,3664,0,0,0,0,0,0
$GC,2416,-0.53,-194.6,421.7,-14.1,294,2419,0.00,0.52,0.00,0.000,4,0.000,0.041,2107,2942,3661,0,0,0,0,0,0
$GC,2597,-0.53,-194.6,451.5,-16.1,310,2601,0.00,0.43,0.00,0.000,6,0.000,0.031,2107,2603,3659,0,0,0,0,0,0
$GC,2937,-0.53,-194.6,507.2,-15.9,340,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2602,3656,0,0,0,0,0,0
$GC,3247,-0.53,-194.6,555.6,-16.0,355,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2602,3652,0,0,0,0,0,0
$GC,3557,-0.53,-194.6,604.7,-15.9,370,3561,0.00,0.43,0.00,0.000,4,0.000,0.028,2107,2248,3649,0,0,0,0,0,0
$GC,3640,-0.53,-194.6,618.3,-15.6,373,3647,0.00,0.52,0.00,0.000,6,0.000,0.039,2105,2593,3649,0,0,0,0,0,0
$GC,3958,-0.53,-194.6,669.4,-16.6,389,3962,0.00,0.47,0.00,0.000,4,0.000,0.043,2102,2933,3646,0,0,0,0,0,0
$GC,3985,-0.53,-194.6,674.6,-17.3,390,3989,0.00,0.45,0.00,0.000,6,0.000,0.029,2102,2587,3645,0,0,0,0,0,0
$GC,4313,-0.53,-194.6,728.0,-16.0,406,4317,0.00,0.50,0.00,0.000,4,0.000,0.043,2099,2932,3643,0,0,0,0,0,0
$GC,4443,-0.53,-194.6,749.5,-16.0,411,4450,0.00,0.43,0.00,0.000,6,0.000,0.030,2099,2593,3642,0,0,0,0,0,0
$GC,4759,-0.53,-194.6,797.4,-14.9,427,4763,0.00,0.50,0.00,0.000,4,0.000,0.044,2097,2932,3640,0,0,0,0,0,0
$GC,4805,-0.53,-194.6,804.3,-14.7,429,4810,0.08,0.43,0.00,0.000,6,0.142,0.031,2121,2598,3639,0,0,0,0,0,0
$GC,5140,-0.53,-194.6,843.2,-11.3,445,5144,0.00,0.43,0.00,0.000,4,0.000,0.028,2122,2245,3636,0,0,0,0,0,0
$GC,5213,-0.53,-194.6,851.6,-11.2,448,5217,0.00,0.52,0.00,0.000,6,0.000,0.041,2121,2593,3636,0,0,0,0,0,0
$GC,5541,-0.53,-194.6,892.2,-13.4,464,5545,0.00,0.50,0.00,0.000,4,0.000,0.044,2118,2944,3634,0,0,0,0,0,0
$GC,5597,-0.53,-194.6,900.6,-14.5,466,5601,0.00,0.47,0.00,0.000,6,0.000,0.029,2118,2591,3633,0,0,0,0,0,0
$GC,5918,-0.53,-194.6,944.9,-13.8,482,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2590,3632,0,0,0,0,0,0
$GC,6229,-0.53,-194.6,986.2,-13.2,497,6232,0.00,0.55,0.00,0.000,4,0.000,0.044,2115,2946,3630,0,0,0,0,0,0
$STATE,6254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6254,begin apogee
$GC,6261,-0.13,0.0,990.2,13.1,498,6420,0.40,0.00,152.15,1.056,6,0.129,0.000,2243,2156,2869,0,0,0,0,0,0
$STATE,6421,end apogee,CONTROL_FINISHED_OK
$STATE,6421,begin climb
$GC,6423,0.53,194.6,998.9,0.0,505,6589,0.65,0.50,157.20,1.040,4,0.087,0.032,2471,1807,2074,0,0,0,0,0,0
$GC,6664,0.67,311.8,989.4,7.0,516,6768,0.10,0.52,94.32,1.024,6,0.057,0.030,2529,2183,1598,0,0,0,0,0,0
$GC,7090,0.74,364.6,947.4,9.6,537,7137,0.00,0.45,43.22,0.999,4,0.000,0.032,2529,2500,1382,0,0,0,0,0,0
$GC,7391,0.76,381.6,916.0,11.1,550,7412,0.00,0.47,15.85,0.925,6,0.000,0.029,2530,2137,1313,0,0,0,0,0,0
$GC,7737,0.81,421.8,881.5,10.1,567,7774,0.00,0.57,33.72,0.963,4,0.000,0.034,2531,2508,1149,0,0,0,0,0,0
$GC,8004,0.85,455.5,853.5,10.4,578,8037,0.08,0.45,29.02,0.937,6,0.065,0.030,2577,2156,1011,0,0,0,0,0,0
$GC,8347,0.85,455.5,812.9,11.9,594,8351,0.00,0.50,0.00,0.000,4,0.000,0.035,2577,2509,1010,0,0,0,0,0,0
$GC,8600,0.86,464.1,783.5,11.4,605,8611,0.00,0.45,8.10,0.788,6,0.000,0.028,2579,2153,977,0,0,0,0,0,0
$GC,8922,0.87,469.3,746.8,11.6,620,8932,0.00,0.47,6.15,0.711,4,0.000,0.029,2579,2509,955,0,0,0,0,0,0
$GC,9184,0.87,469.3,715.8,12.2,631,9191,0.00,0.45,0.00,0.000,6,0.000,0.028,2580,2160,954,0,0,0,0,0,0
$GC,9501,0.87,469.3,675.6,13.0,647,9505,0.00,0.47,0.00,0.000,4,0.000,0.034,2580,2504,954,0,0,0,0,0,0
$GC,9736,0.87,469.3,645.4,12.4,657,9740,0.00,0.45,0.00,0.000,6,0.000,0.029,2582,2155,953,0,0,0,0,0,0
$GC,10058,0.92,510.0,611.7,10.1,673,10094,0.00,0.55,32.95,0.813,4,0.000,0.034,2582,2509,789,0,0,0,0,0,0
$GC,10343,0.92,510.0,580.1,12.3,685,10347,0.00,0.43,0.00,0.000,6,0.000,0.029,2583,2166,794,0,0,0,0,0,0
$GC,10677,0.92,510.0,539.0,12.5,701,10686,0.00,0.52,3.95,0.551,4,0.000,0.034,2584,2514,788,0,0,0,0,0,0
$GC,10805,0.92,510.0,522.6,12.6,706,10813,0.00,0.45,0.00,0.000,6,0.000,0.029,2585,2160,790,0,0,0,0,0,0
$GC,11126,1.00,581.5,488.1,8.9,727,11187,0.10,0.55,56.83,0.740,4,0.103,0.035,2639,2508,498,0,0,0,0,0,0
$GC,11272,1.01,589.2,471.4,11.5,739,11284,0.00,0.43,8.25,0.604,6,0.000,0.030,2641,2169,466,0,0,0,0,0,0
$GC,11610,1.01,589.2,428.2,15.0,771,11614,0.00,0.47,0.00,0.000,4,0.000,0.034,2641,2509,467,0,0,0,0,0,0
$GC,11683,1.01,589.2,416.7,15.9,777,11690,0.00,0.43,0.00,0.000,6,0.000,0.030,2643,2166,467,0,0,0,0,0,0
$GC,12009,1.01,589.2,365.8,15.5,808,12012,0.00,0.47,0.00,0.000,4,0.000,0.034,2643,2504,466,0,0,0,0,0,0
$GC,12135,1.01,589.2,346.5,15.1,819,12139,0.00,0.43,0.00,0.000,6,0.000,0.030,2645,2163,466,0,0,0,0,0,0
$GC,12465,1.01,589.2,301.5,12.7,850,12469,0.00,0.47,0.00,0.000,4,0.000,0.033,2644,2505,467,0,0,0,0,0,0
$GC,12523,1.01,589.2,294.0,13.8,855,12527,0.00,0.43,0.00,0.000,6,0.000,0.030,2646,2164,467,0,0,0,0,0,0
$GC,12854,1.07,638.1,256.3,9.8,886,12868,0.00,0.45,7.22,0.572,4,0.000,0.034,2649,1828,439,0,0,0,0,0,0
$GC,12926,1.07,638.1,248.1,12.7,892,12930,0.00,0.45,0.00,0.000,6,0.000,0.034,2649,2156,439,0,0,0,0,0,0
$GC,13257,1.07,638.1,205.3,12.6,923,13261,0.00,0.40,0.00,0.000,4,0.000,0.032,2650,1833,439,0,0,0,0,0,0
$GC,13406,1.08,640.4,187.4,11.7,945,13413,0.00,0.45,0.00,0.000,6,0.000,0.032,2650,2171,439,0,0,0,0,0,0
$GC,13550,1.08,640.4,168.8,13.8,970,13557,0.00,0.43,0.00,0.000,4,0.000,0.037,2650,2499,439,0,0,0,0,0,0
$GC,13638,1.08,640.4,156.8,13.5,985,13644,0.00,0.43,0.00,0.000,6,0.000,0.031,2651,2157,439,0,0,0,0,0,0
$GC,13781,1.08,640.9,139.5,11.8,1010,13788,0.00,0.38,0.00,0.000,4,0.000,0.036,2654,1840,439,0,0,0,0,0,0
$GC,13857,1.13,681.1,131.3,10.1,1023,13864,0.00,0.43,0.00,0.000,6,0.000,0.033,2654,2163,438,0,0,0,0,0,0
$GC,14001,1.30,824.4,120.3,5.9,1048,14009,0.17,0.47,0.00,0.000,4,0.070,0.039,2739,2509,439,0,0,0,0,0,0
$GC,14061,1.32,833.7,114.0,11.4,1058,14069,0.00,0.43,0.00,0.000,6,0.000,0.031,2740,2168,439,0,0,0,0,0,0
$GC,14207,1.32,833.7,93.9,15.8,1083,14214,0.00,0.45,0.00,0.000,4,0.000,0.033,2741,2501,439,0,0,0,0,0,0
$GC,14232,1.32,833.7,89.4,15.9,1087,14239,0.00,0.43,0.00,0.000,6,0.000,0.032,2742,2160,439,0,0,0,0,0,0
$GC,14376,1.32,833.7,69.9,12.1,1112,14383,0.00,0.40,0.00,0.000,4,0.000,0.035,2744,1824,439,0,0,0,0,0,0
$GC,14635,1.32,833.7,39.5,11.9,1158,14643,0.00,0.45,0.00,0.000,6,0.000,0.032,2745,2164,439,0,0,0,0,0,0
$GC,14781,1.35,863.5,22.9,10.6,1183,14788,0.00,0.43,0.00,0.000,4,0.000,0.031,2746,1830,441,0,0,0,0,0,0
$GC,14851,1.43,924.8,16.1,9.3,1195,14859,0.00,0.45,0.75,0.078,6,0.000,0.032,2746,2169,441,0,0,0,0,0,0
$STATE,14989,end climb,SURFACE_DEPTH_REACHED
$STATE,14989,begin surface coast
$FINISH,0.5,1.021023
$STATE,15017,end surface coast,CONTROL_FINISHED_OK
$STATE,15017,begin surface
$SM_CCo,15093,0.00,0.000,0,0,442,595.34
$SM_GC,1.40,6.53,0.00,0.00,0.029,0.000,0.000,198,2582,442,-6.46,-0.23,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2108.69,11945.27,021011,212106
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.6,97.779
$10V_AH,9.8,75.563
$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,16.825,30.975,649.700,0.000,0.000,29.522,23.880,133.307,0.000,0.000,17.727,3127.595,8601.652,681.353,2665.845,349.241,0.000,2022.375,0.000,2426.204,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,98.685,1055.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,848.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,70279,1224
$CAP_FILE_SIZE,159960,0
$CFSIZE,260165632,197263360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085, 39.9,1
$GPS,031011,060537,2115.651,11946.898,26,1.3,26,-2.5