version: 66.09
glider: 181
mission: 6
dive: 642
start: 10 12 111 22 54 21
data:
$ID,181
$MISSION,6
$DIVE,642
$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,320
$T_MISSION,350
$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,175
$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,-41400.492
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,48
$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
$GPS1,121011,224731,2159.925,12020.606,38,1.3,38,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-65.7
$GPS2,121011,225356,2159.808,12020.730,15,1.1,15,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,33.4,28217,-16.5,-10.312
$D_GRID,826
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.49,-170.3,0.0,0.0,0,83,0.00,0.00,-63.08,0.000,2,0.000,0.000,183,2606,2220,0,0,0,0,0,0
$GC,86,-0.49,-170.3,3.0,-2.9,10,130,8.15,1.10,-30.27,0.000,4,0.220,0.064,2134,3289,3565,0,0,0,0,0,0
$GC,184,-0.49,-170.3,34.7,-43.6,26,191,0.00,1.05,0.00,0.000,6,0.000,0.025,2134,2568,3566,0,0,0,0,0,0
$GC,327,-0.49,-170.3,89.8,-39.4,51,333,0.00,0.93,0.00,0.000,4,0.000,0.023,2134,1874,3563,0,0,0,0,0,0
$GC,403,-0.49,-170.3,110.0,-20.7,64,410,0.00,1.08,0.00,0.000,6,0.000,0.035,2129,2577,3563,0,0,0,0,0,0
$GC,545,-0.49,-170.3,138.5,-19.4,89,552,0.00,1.08,0.00,0.000,4,0.000,0.038,2123,3289,3562,0,0,0,0,0,0
$GC,644,-0.49,-170.3,156.7,-16.8,106,651,0.00,1.02,0.00,0.000,6,0.000,0.023,2123,2570,3561,0,0,0,0,0,0
$GC,786,-0.49,-170.3,178.1,-13.9,131,793,0.00,0.93,0.00,0.000,4,0.000,0.024,2123,1876,3561,0,0,0,0,0,0
$GC,833,-0.49,-170.3,184.2,-12.8,139,839,0.00,1.08,0.00,0.000,6,0.000,0.034,2118,2584,3561,0,0,0,0,0,0
$GC,980,-0.49,-170.3,203.6,-13.6,163,983,0.00,0.98,0.00,0.000,4,0.000,0.023,2118,1877,3560,0,0,0,0,0,0
$GC,1015,-0.49,-170.3,208.6,-13.9,166,1019,0.08,1.08,0.00,0.000,6,0.135,0.034,2137,2585,3560,0,0,0,0,0,0
$GC,1345,-0.49,-170.3,254.7,-14.6,197,1349,0.00,0.98,0.00,0.000,4,0.000,0.024,2138,1879,3559,0,0,0,0,0,0
$GC,1372,-0.49,-170.3,258.8,-14.2,199,1379,0.00,1.08,0.00,0.000,6,0.000,0.034,2138,2587,3559,0,0,0,0,0,0
$GC,1703,-0.49,-170.3,303.6,-13.4,230,1706,0.00,1.08,0.00,0.000,4,0.000,0.039,2133,3299,3558,0,0,0,0,0,0
$GC,1739,-0.49,-170.3,308.8,-13.2,233,1743,0.00,1.00,0.00,0.000,6,0.000,0.024,2133,2596,3557,0,0,0,0,0,0
$GC,2070,-0.49,-170.3,349.8,-12.2,264,2074,0.00,1.08,0.00,0.000,4,0.000,0.040,2127,3289,3554,0,0,0,0,0,0
$GC,2120,-0.49,-170.3,355.9,-12.2,268,2126,0.00,1.00,0.00,0.000,6,0.000,0.024,2127,2593,3554,0,0,0,0,0,0
$GC,2445,-0.49,-170.3,394.9,-11.7,299,2449,0.00,1.00,0.00,0.000,4,0.000,0.027,2128,1880,3551,0,0,0,0,0,0
$GC,2536,-0.49,-170.3,405.8,-12.2,307,2540,0.00,1.10,0.00,0.000,6,0.000,0.037,2125,2591,3550,0,0,0,0,0,0
$GC,2868,-0.49,-170.3,448.0,-13.3,338,2871,0.00,1.08,0.00,0.000,4,0.000,0.041,2119,3296,3547,0,0,0,0,0,0
$GC,2948,-0.49,-170.3,459.4,-14.6,345,2952,0.00,1.02,0.00,0.000,6,0.000,0.024,2119,2588,3546,0,0,0,0,0,0
$GC,3287,-0.49,-170.3,510.4,-15.0,374,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2584,3543,0,0,0,0,0,0
$GC,3597,-0.49,-170.3,555.4,-13.9,389,3601,0.00,0.98,0.00,0.000,4,0.000,0.025,2119,1881,3540,0,0,0,0,0,0
$GC,3714,-0.49,-170.3,569.9,-11.1,394,3718,0.00,1.10,0.00,0.000,6,0.000,0.035,2114,2591,3539,0,0,0,0,0,0
$GC,4042,-0.49,-170.3,611.5,-12.4,410,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2592,3536,0,0,0,0,0,0
$GC,4352,-0.49,-170.3,651.1,-13.3,425,4356,0.00,1.08,0.00,0.000,4,0.000,0.042,2110,3289,3533,0,0,0,0,0,0
$GC,4428,-0.49,-170.3,662.9,-14.2,428,4433,0.08,1.02,0.00,0.000,6,0.139,0.025,2135,2583,3533,0,0,0,0,0,0
$GC,4751,-0.49,-170.3,699.5,-10.6,444,4754,0.00,0.95,0.00,0.000,4,0.000,0.026,2135,1888,3530,0,0,0,0,0,0
$GC,4806,-0.49,-170.3,705.4,-10.1,446,4809,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2593,3530,0,0,0,0,0,0
$GC,5128,-0.49,-170.3,738.0,-10.4,462,5131,0.00,1.00,0.00,0.000,4,0.000,0.026,2131,1886,3527,0,0,0,0,0,0
$GC,5156,-0.49,-170.3,741.1,-10.9,463,5160,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2590,3527,0,0,0,0,0,0
$GC,5483,-0.49,-170.3,779.5,-12.5,479,5487,0.00,1.10,0.00,0.000,4,0.000,0.044,2121,3285,3525,0,0,0,0,0,0
$GC,5538,-0.49,-170.3,786.6,-12.6,481,5543,0.00,1.02,0.00,0.000,6,0.000,0.026,2121,2585,3524,0,0,0,0,0,0
$STATE,5858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5858,begin apogee
$GC,5866,-0.13,0.0,827.5,13.2,497,6000,0.40,0.00,127.90,0.949,6,0.129,0.000,2248,2154,2868,0,0,0,0,0,0
$STATE,6001,end apogee,CONTROL_FINISHED_OK
$STATE,6001,begin climb
$GC,6004,0.49,170.3,834.9,0.0,503,6152,0.60,1.00,134.88,0.932,4,0.093,0.029,2457,1480,2174,0,0,0,0,0,0
$GC,6176,0.61,272.1,828.8,6.2,511,6266,0.08,1.08,80.75,0.916,6,0.057,0.030,2510,2173,1759,0,0,0,0,0,0
$GC,6571,0.65,304.4,792.3,9.0,530,6601,0.00,1.05,26.35,0.881,4,0.000,0.034,2510,2872,1627,0,0,0,0,0,0
$GC,6665,0.68,328.9,783.7,9.3,534,6690,0.00,1.05,20.70,0.850,6,0.000,0.027,2514,2178,1528,0,0,0,0,0,0
$GC,7014,0.75,383.1,755.1,8.1,551,7064,0.00,1.12,44.20,0.883,4,0.000,0.034,2514,1468,1307,0,0,0,0,0,0
$GC,7128,0.81,436.6,745.4,8.1,556,7177,0.10,1.08,43.38,0.868,6,0.066,0.030,2562,2164,1088,0,0,0,0,0,0
$GC,7494,0.81,436.6,709.5,10.5,574,7498,0.00,1.08,0.00,0.000,4,0.000,0.037,2562,2857,1092,0,0,0,0,0,0
$GC,7550,0.81,436.6,703.3,10.6,576,7554,0.00,1.05,0.00,0.000,6,0.000,0.028,2566,2160,1091,0,0,0,0,0,0
$GC,7872,0.81,436.6,668.0,11.5,592,7876,0.00,1.02,0.00,0.000,4,0.000,0.035,2570,1474,1091,0,0,0,0,0,0
$GC,7944,0.81,436.6,659.7,11.5,595,7948,0.00,1.05,0.00,0.000,6,0.000,0.028,2570,2168,1091,0,0,0,0,0,0
$GC,8271,0.81,436.6,620.8,11.6,611,8275,0.00,1.05,0.00,0.000,4,0.000,0.034,2570,1474,1090,0,0,0,0,0,0
$GC,8332,0.81,436.6,613.9,10.8,613,8341,0.00,1.05,0.00,0.000,6,0.000,0.028,2570,2170,1090,0,0,0,0,0,0
$GC,8650,0.83,447.4,582.0,9.9,629,8664,0.00,1.02,10.90,0.737,4,0.000,0.034,2570,2862,1043,0,0,0,0,0,0
$GC,8703,0.85,466.5,576.6,9.5,630,8723,0.00,1.05,16.12,0.739,6,0.000,0.028,2573,2164,966,0,0,0,0,0,0
$GC,9043,0.86,475.3,542.7,10.0,647,9053,0.00,0.00,8.55,0.676,6,0.000,0.000,2573,2164,930,0,0,0,0,0,0
$GC,9350,0.88,487.4,511.9,9.8,662,9364,0.00,1.10,10.77,0.686,4,0.000,0.032,2573,2861,883,0,0,0,0,0,0
$GC,9618,0.88,487.4,481.3,12.3,681,9622,0.00,1.05,0.00,0.000,6,0.000,0.028,2573,2158,882,0,0,0,0,0,0
$GC,9949,0.88,487.4,443.0,10.7,712,9953,0.00,1.02,0.00,0.000,4,0.000,0.036,2576,1472,882,0,0,0,0,0,0
$GC,9977,0.88,487.4,440.0,11.3,714,9984,0.00,1.05,0.00,0.000,6,0.000,0.028,2576,2168,882,0,0,0,0,0,0
$GC,10302,0.92,520.5,409.9,9.0,745,10337,0.00,1.08,26.92,0.682,4,0.000,0.036,2576,2859,746,0,0,0,0,0,0
$GC,10589,0.93,528.4,382.0,10.0,770,10601,0.00,1.02,8.12,0.588,6,0.000,0.028,2576,2171,714,0,0,0,0,0,0
$GC,10920,0.93,528.4,349.1,10.7,801,10924,0.00,1.05,0.00,0.000,4,0.000,0.036,2576,1471,713,0,0,0,0,0,0
$GC,11181,0.93,528.4,318.2,12.7,824,11185,0.00,1.05,0.00,0.000,6,0.000,0.030,2576,2164,714,0,0,0,0,0,0
$GC,11512,0.93,528.4,277.7,11.6,855,11516,0.00,1.05,0.00,0.000,4,0.000,0.035,2576,2868,714,0,0,0,0,0,0
$GC,11731,0.93,528.4,253.1,10.5,874,11738,0.00,1.05,0.00,0.000,6,0.000,0.028,2576,2162,715,0,0,0,0,0,0
$GC,12056,0.93,528.4,217.0,12.0,905,12060,0.00,1.02,0.00,0.000,4,0.000,0.035,2576,1471,715,0,0,0,0,0,0
$GC,12316,0.93,528.4,187.1,12.2,937,12323,0.00,1.05,0.00,0.000,6,0.000,0.028,2576,2170,717,0,0,0,0,0,0
$GC,12462,0.93,528.4,169.5,12.2,962,12469,0.00,1.05,0.00,0.000,4,0.000,0.031,2576,1471,717,0,0,0,0,0,0
$GC,12724,0.93,528.4,139.3,10.4,1008,12731,0.00,1.05,0.00,0.000,6,0.000,0.026,2576,2178,718,0,0,0,0,0,0
$GC,12869,0.98,569.1,126.7,8.7,1033,12906,0.12,0.00,32.55,0.513,6,0.100,0.000,2633,2178,548,0,0,0,0,0,0
$GC,13044,0.98,569.1,108.4,11.1,1063,13050,0.00,1.00,0.00,0.000,4,0.000,0.034,2633,2847,552,0,0,0,0,0,0
$GC,13206,1.02,601.5,92.0,9.0,1091,13232,0.00,1.02,22.02,0.487,6,0.000,0.030,2633,2164,439,0,0,0,0,0,0
$GC,13369,1.06,640.3,76.3,8.7,1119,13378,0.00,0.00,2.80,0.256,6,0.000,0.000,2633,2164,439,0,0,0,0,0,0
$GC,13517,1.06,640.3,61.1,11.8,1144,13524,0.00,1.05,0.00,0.000,4,0.000,0.031,2633,2856,440,0,0,0,0,0,0
$GC,13674,1.07,644.7,44.7,10.1,1171,13681,0.00,1.02,0.00,0.000,6,0.000,0.028,2633,2160,440,0,0,0,0,0,0
$GC,13820,1.07,644.7,28.8,11.7,1196,13827,0.00,0.00,0.38,0.096,6,0.000,0.000,2633,2160,441,0,0,0,0,0,0
$GC,13965,1.07,644.7,11.4,11.6,1221,13973,0.00,1.05,2.45,0.191,4,0.000,0.031,2633,1472,440,0,0,0,0,0,0
$STATE,14034,end climb,SURFACE_DEPTH_REACHED
$STATE,14034,begin surface coast
$FINISH,1.5,1.021112
$STATE,14046,end surface coast,CONTROL_FINISHED_OK
$STATE,14049,begin surface
$SM_CCo,14127,0.00,0.000,0,0,442,595.34
$SM_GC,1.29,6.20,0.00,0.00,0.028,0.000,0.000,209,2566,442,-6.44,-0.68,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12020.74,121011,181816
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.8,107.223
$10V_AH,9.8,79.986
$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,15.800,68.075,619.750,0.000,0.000,27.894,43.877,146.529,0.000,0.000,20.084,3119.997,7837.112,669.335,2490.417,382.701,0.000,1918.837,0.000,2242.304,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,64.260,948.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,850.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,70054,1235
$CAP_FILE_SIZE,153716,0
$CFSIZE,260165632,193015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,177.3,1
$GPS,131011,025107,2159.808,12021.354,37,1.1,37,-2.7