version: 66.09
glider: 181
mission: 6
dive: 644
start: 10 13 111 7 11 21
data:
$ID,181
$MISSION,6
$DIVE,644
$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,-41403.012
$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,60
$R_STBD_OVSHOOT,31
$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
$GPS1,131011,070507,2159.985,12022.368,30,0.8,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.4
$GPS2,131011,071056,2159.905,12022.461,11,1.8,11,-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,31.1,25563,-16.5,-10.313
$D_GRID,803
$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,-0.49,-170.3,0.0,0.0,0,85,0.00,0.00,-65.72,0.000,2,0.000,0.000,185,2582,2306,0,0,0,0,0,0
$GC,89,-0.49,-170.3,3.4,-3.3,11,133,8.15,1.10,-28.40,0.000,4,0.220,0.061,2132,3312,3564,0,0,0,0,0,0
$GC,205,-0.49,-170.3,37.3,-37.1,30,211,0.00,1.08,0.00,0.000,6,0.000,0.024,2132,2574,3563,0,0,0,0,0,0
$GC,347,-0.49,-170.3,86.1,-30.0,55,354,0.00,0.93,0.00,0.000,4,0.000,0.023,2132,1878,3561,0,0,0,0,0,0
$GC,423,-0.49,-170.3,104.4,-22.4,68,429,0.00,1.10,0.00,0.000,6,0.000,0.036,2127,2596,3561,0,0,0,0,0,0
$GC,564,-0.49,-170.3,135.4,-21.9,93,571,0.00,1.05,0.00,0.000,4,0.000,0.038,2121,3296,3559,0,0,0,0,0,0
$GC,634,-0.49,-170.3,149.6,-18.3,105,641,0.00,1.02,0.00,0.000,6,0.000,0.023,2121,2584,3559,0,0,0,0,0,0
$GC,778,-0.49,-170.3,176.8,-16.9,130,785,0.00,0.95,0.00,0.000,4,0.000,0.024,2122,1869,3559,0,0,0,0,0,0
$GC,820,-0.49,-170.3,183.3,-14.7,137,828,0.00,1.10,0.00,0.000,6,0.000,0.034,2116,2596,3559,0,0,0,0,0,0
$GC,969,-0.49,-170.3,208.3,-18.1,159,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2596,3558,0,0,0,0,0,0
$GC,1299,-0.49,-170.3,267.3,-17.3,190,1302,0.00,1.00,0.00,0.000,4,0.000,0.024,2116,1868,3558,0,0,0,0,0,0
$GC,1424,-0.49,-170.3,286.1,-13.6,201,1428,0.08,1.10,0.00,0.000,6,0.138,0.035,2136,2587,3558,0,0,0,0,0,0
$GC,1754,-0.49,-170.3,321.0,-9.5,232,1758,0.00,1.08,0.00,0.000,4,0.000,0.041,2132,3298,3557,0,0,0,0,0,0
$GC,1861,-0.49,-170.3,332.3,-11.3,241,1869,0.00,1.02,0.00,0.000,6,0.000,0.024,2133,2584,3557,0,0,0,0,0,0
$GC,2187,-0.49,-170.3,375.1,-14.2,272,2190,0.00,0.95,0.00,0.000,4,0.000,0.025,2133,1887,3555,0,0,0,0,0,0
$GC,2257,-0.49,-170.3,384.8,-13.9,278,2260,0.00,1.08,0.00,0.000,6,0.000,0.036,2128,2591,3553,0,0,0,0,0,0
$GC,2588,-0.49,-170.3,430.1,-14.2,309,2591,0.00,1.00,0.00,0.000,4,0.000,0.025,2127,1881,3550,0,0,0,0,0,0
$GC,2648,-0.49,-170.3,437.7,-12.8,314,2652,0.00,1.08,0.00,0.000,6,0.000,0.037,2125,2580,3549,0,0,0,0,0,0
$GC,2979,-0.49,-170.3,486.4,-14.7,345,2983,0.00,0.98,0.00,0.000,4,0.000,0.027,2125,1896,3546,0,0,0,0,0,0
$GC,3013,-0.49,-170.3,491.1,-14.2,348,3017,0.00,1.08,0.00,0.000,6,0.000,0.037,2121,2592,3546,0,0,0,0,0,0
$GC,3347,-0.49,-170.3,535.5,-12.4,367,3351,0.00,1.00,0.00,0.000,4,0.000,0.027,2120,1890,3542,0,0,0,0,0,0
$GC,3386,-0.49,-170.3,540.5,-12.0,368,3393,0.00,1.08,0.00,0.000,6,0.000,0.038,2115,2583,3542,0,0,0,0,0,0
$GC,3703,-0.49,-170.3,575.6,-11.4,384,3707,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3295,3538,0,0,0,0,0,0
$GC,3742,-0.49,-170.3,580.3,-11.5,385,3750,0.00,1.00,0.00,0.000,6,0.000,0.026,2112,2598,3538,0,0,0,0,0,0
$GC,4058,-0.49,-170.3,618.1,-12.3,401,4062,0.12,1.02,0.00,0.000,4,0.156,0.028,2145,1884,3535,0,0,0,0,0,0
$GC,4219,-0.49,-170.3,633.7,-9.2,408,4223,0.00,1.10,0.00,0.000,6,0.000,0.038,2142,2592,3533,0,0,0,0,0,0
$GC,4547,-0.49,-170.3,664.6,-9.5,424,4551,0.00,1.00,0.00,0.000,4,0.000,0.028,2142,1890,3531,0,0,0,0,0,0
$GC,4616,-0.49,-170.3,672.0,-11.0,427,4619,0.00,1.10,0.00,0.000,6,0.000,0.039,2140,2593,3531,0,0,0,0,0,0
$GC,4949,-0.49,-170.3,712.9,-12.8,443,4952,0.00,1.00,0.00,0.000,4,0.000,0.027,2139,1890,3528,0,0,0,0,0,0
$GC,4995,-0.49,-170.3,718.6,-12.4,445,4998,0.00,1.10,0.00,0.000,6,0.000,0.040,2138,2593,3527,0,0,0,0,0,0
$GC,5328,-0.49,-170.3,759.5,-12.3,461,5332,0.00,1.00,0.00,0.000,4,0.000,0.028,2139,1893,3526,0,0,0,0,0,0
$GC,5383,-0.49,-170.3,766.5,-12.1,463,5388,0.00,1.10,0.00,0.000,6,0.000,0.040,2138,2590,3525,0,0,0,0,0,0
$STATE,5703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5703,begin apogee
$GC,5711,-0.13,0.0,803.9,11.1,479,5844,0.35,0.00,127.10,0.935,6,0.123,0.000,2252,2162,2869,0,0,0,0,0,0
$STATE,5845,end apogee,CONTROL_FINISHED_OK
$STATE,5845,begin climb
$GC,5847,0.49,170.3,811.8,0.0,485,5992,0.57,1.08,134.40,0.917,4,0.086,0.032,2457,1477,2173,0,0,0,0,0,0
$GC,6054,0.65,307.0,806.8,4.7,494,6170,0.12,1.08,106.88,0.908,6,0.050,0.031,2527,2171,1617,0,0,0,0,0,0
$GC,6475,0.74,373.5,774.7,7.6,515,6532,0.00,1.12,53.08,0.890,4,0.000,0.037,2527,2864,1346,0,0,0,0,0,0
$GC,6635,0.74,379.8,760.3,10.1,521,6649,0.00,1.05,6.75,0.695,6,0.000,0.028,2531,2166,1320,0,0,0,0,0,0
$GC,6956,0.75,383.2,728.4,10.2,537,6966,0.00,1.05,4.57,0.639,4,0.000,0.035,2537,1477,1306,0,0,0,0,0,0
$GC,7012,0.75,383.2,722.4,10.5,539,7016,0.00,1.05,0.00,0.000,6,0.000,0.029,2537,2167,1306,0,0,0,0,0,0
$GC,7333,0.76,390.9,689.8,10.0,555,7344,0.00,1.10,7.60,0.733,4,0.000,0.038,2537,2862,1275,0,0,0,0,0,0
$GC,7401,0.76,390.9,682.4,10.6,558,7405,0.00,1.05,0.00,0.000,6,0.000,0.027,2541,2161,1274,0,0,0,0,0,0
$GC,7729,0.79,420.3,651.1,9.1,574,7757,0.00,1.02,24.20,0.818,4,0.000,0.031,2545,1472,1154,0,0,0,0,0,0
$GC,7779,0.79,420.3,645.7,10.6,576,7783,0.00,1.05,0.00,0.000,6,0.000,0.029,2545,2161,1154,0,0,0,0,0,0
$GC,8102,0.79,420.3,611.4,10.6,592,8105,0.00,1.08,0.00,0.000,4,0.000,0.037,2545,2871,1162,0,0,0,0,0,0
$GC,8140,0.79,420.3,607.1,10.5,593,8149,0.00,1.05,0.00,0.000,6,0.000,0.028,2549,2169,1162,0,0,0,0,0,0
$GC,8458,0.83,454.3,577.1,8.9,609,8491,0.00,1.10,29.05,0.782,4,0.000,0.035,2553,1472,1017,0,0,0,0,0,0
$GC,8570,0.90,509.6,567.7,8.1,614,8619,0.08,1.08,43.65,0.771,6,0.057,0.030,2606,2171,791,0,0,0,0,0,0
$GC,8935,0.93,531.2,533.2,9.4,632,8958,0.00,1.12,18.45,0.728,4,0.000,0.033,2610,1463,703,0,0,0,0,0,0
$GC,9036,0.93,531.2,522.6,10.6,636,9041,0.00,1.08,0.00,0.000,6,0.000,0.029,2610,2164,702,0,0,0,0,0,0
$GC,9364,0.93,531.2,487.9,11.2,657,9368,0.00,1.08,0.00,0.000,4,0.000,0.037,2610,2862,702,0,0,0,0,0,0
$GC,9425,0.93,531.2,480.0,12.5,662,9432,0.00,1.05,0.00,0.000,6,0.000,0.025,2615,2149,703,0,0,0,0,0,0
$GC,9750,0.93,531.2,441.6,11.1,693,9754,0.00,1.00,0.00,0.000,4,0.000,0.034,2620,1473,702,0,0,0,0,0,0
$GC,9773,0.93,531.2,439.0,10.8,695,9777,0.00,1.05,0.00,0.000,6,0.000,0.030,2621,2163,702,0,0,0,0,0,0
$GC,10105,0.93,531.2,402.2,11.4,726,10109,0.00,1.08,0.00,0.000,4,0.000,0.037,2620,2862,702,0,0,0,0,0,0
$GC,10178,0.93,531.2,393.2,13.0,732,10184,0.00,1.02,0.00,0.000,6,0.000,0.026,2624,2174,703,0,0,0,0,0,0
$GC,10503,0.93,531.2,351.1,12.9,763,10506,0.00,1.05,0.00,0.000,4,0.000,0.034,2629,1465,703,0,0,0,0,0,0
$GC,10595,0.93,531.2,339.4,12.9,771,10599,0.08,1.08,0.00,0.000,6,0.128,0.031,2603,2173,702,0,0,0,0,0,0
$GC,10927,0.95,548.6,307.6,9.6,802,10950,0.00,1.08,15.32,0.619,4,0.000,0.037,2603,2862,631,0,0,0,0,0,0
$GC,10996,0.95,548.6,300.3,10.5,808,11001,0.00,1.05,0.00,0.000,6,0.000,0.028,2607,2161,631,0,0,0,0,0,0
$GC,11328,0.95,548.6,262.3,11.8,839,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2161,633,0,0,0,0,0,0
$GC,11647,0.95,548.6,227.1,11.4,869,11651,0.00,1.02,0.00,0.000,4,0.000,0.035,2610,1472,634,0,0,0,0,0,0
$GC,11721,0.95,548.6,218.1,11.9,875,11729,0.00,1.05,0.00,0.000,6,0.000,0.028,2610,2169,634,0,0,0,0,0,0
$GC,12054,0.97,562.1,180.6,9.8,922,12075,0.00,1.08,12.68,0.561,4,0.000,0.036,2610,2862,576,0,0,0,0,0,0
$GC,12268,0.97,562.1,159.3,10.9,959,12275,0.00,1.05,0.00,0.000,6,0.000,0.025,2610,2150,578,0,0,0,0,0,0
$GC,12415,0.97,562.1,144.4,10.6,984,12422,0.00,1.00,0.00,0.000,4,0.000,0.035,2611,1477,579,0,0,0,0,0,0
$GC,12676,0.97,562.1,115.5,10.9,1030,12684,0.00,1.02,0.00,0.000,6,0.000,0.028,2610,2162,582,0,0,0,0,0,0
$GC,12823,1.05,627.2,102.4,7.7,1055,12855,0.00,0.00,27.42,0.498,6,0.000,0.000,2611,2162,439,0,0,0,0,0,0
$GC,12991,1.07,648.3,87.9,9.5,1084,12999,0.10,1.02,0.88,0.083,4,0.118,0.032,2651,2860,442,0,0,0,0,0,0
$GC,13053,1.07,648.3,81.6,10.7,1094,13060,0.00,1.02,2.45,0.205,6,0.000,0.028,2652,2172,440,0,0,0,0,0,0
$GC,13196,1.07,648.3,65.9,10.4,1119,13203,0.00,1.02,0.80,0.084,4,0.000,0.028,2652,2869,441,0,0,0,0,0,0
$GC,13295,1.07,648.3,55.5,10.5,1136,13302,0.00,1.05,2.42,0.194,6,0.000,0.027,2652,2159,440,0,0,0,0,0,0
$GC,13440,1.07,648.3,39.6,11.8,1161,13448,0.00,1.08,0.08,0.206,4,0.000,0.032,2652,2860,441,0,0,0,0,0,0
$GC,13505,1.07,648.3,31.6,11.9,1172,13513,0.00,1.02,0.20,0.090,6,0.000,0.028,2652,2169,441,0,0,0,0,0,0
$GC,13650,1.07,648.3,15.9,10.9,1197,13658,0.00,1.10,2.42,0.189,4,0.000,0.031,2652,2866,440,0,0,0,0,0,0
$STATE,13772,end climb,SURFACE_DEPTH_REACHED
$STATE,13772,begin surface coast
$FINISH,0.5,1.021146
$STATE,13800,end surface coast,CONTROL_FINISHED_OK
$STATE,13800,begin surface
$SM_CCo,13877,0.00,0.000,0,0,441,595.59
$SM_GC,1.37,6.25,0.00,0.00,0.027,0.000,0.000,208,2562,441,-6.44,-0.79,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12022.75,131011,020207
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.15
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.8,107.550
$10V_AH,9.8,80.147
$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,15.900,73.500,620.400,0.000,0.000,29.959,43.782,131.194,0.250,0.000,13.974,3098.912,7668.540,690.389,2396.441,361.254,0.000,1920.474,0.000,2168.610,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,61.200,934.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,840.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70302,1223
$CAP_FILE_SIZE,155497,0
$CFSIZE,260165632,192860160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,185.8,1
$GPS,131011,110355,2200.125,12023.331,37,1.4,37,-2.7