version: 66.09
glider: 181
mission: 6
dive: 645
start: 10 13 111 11 9 41
data:
$ID,181
$MISSION,6
$DIVE,645
$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,-41404.367
$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,76
$R_STBD_OVSHOOT,53
$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
$GPS1,131011,110355,2200.125,12023.331,37,1.4,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.0
$GPS2,131011,110914,2200.026,12023.471,14,0.9,14,-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,25.6,23983,-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,-170.3,0.0,0.0,0,87,0.00,0.00,-67.25,0.000,2,0.000,0.000,177,2560,2346,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.5,-3.4,11,135,8.10,1.12,-27.10,0.000,4,0.219,0.060,2132,3279,3560,0,0,0,0,0,0
$GC,199,-0.49,-170.3,38.6,-42.2,29,207,0.00,1.00,0.00,0.000,6,0.000,0.025,2132,2591,3559,0,0,0,0,0,0
$GC,343,-0.49,-170.3,87.3,-27.4,54,350,0.00,0.95,0.00,0.000,4,0.000,0.021,2132,1891,3558,0,0,0,0,0,0
$GC,391,-0.49,-170.3,98.9,-23.3,62,398,0.00,1.05,0.00,0.000,6,0.000,0.035,2127,2583,3558,0,0,0,0,0,0
$GC,534,-0.49,-170.3,126.7,-15.2,87,540,0.00,0.98,0.00,0.000,4,0.000,0.023,2127,1872,3558,0,0,0,0,0,0
$GC,564,-0.49,-170.3,131.5,-15.9,92,571,0.00,1.10,0.00,0.000,6,0.000,0.035,2121,2594,3557,0,0,0,0,0,0
$GC,705,-0.49,-170.3,156.1,-16.5,117,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2594,3557,0,0,0,0,0,0
$GC,848,-0.49,-170.3,179.1,-17.0,142,855,0.00,0.98,0.00,0.000,4,0.000,0.024,2122,1881,3556,0,0,0,0,0,0
$GC,901,-0.49,-170.3,187.5,-15.0,151,907,0.00,1.08,0.00,0.000,6,0.000,0.034,2116,2593,3556,0,0,0,0,0,0
$GC,1041,-0.49,-170.3,212.2,-18.7,170,1044,0.00,1.05,0.00,0.000,4,0.000,0.037,2112,3292,3556,0,0,0,0,0,0
$GC,1123,-0.49,-170.3,226.5,-15.7,177,1132,0.08,1.00,0.00,0.000,6,0.142,0.023,2135,2587,3556,0,0,0,0,0,0
$GC,1449,-0.49,-170.3,265.2,-11.5,208,1452,0.00,0.95,0.00,0.000,4,0.000,0.024,2136,1877,3555,0,0,0,0,0,0
$GC,1596,-0.49,-170.3,282.8,-11.8,221,1599,0.00,1.08,0.00,0.000,6,0.000,0.034,2132,2585,3554,0,0,0,0,0,0
$GC,1927,-0.49,-170.3,325.6,-14.4,252,1930,0.00,1.08,0.00,0.000,4,0.000,0.040,2127,3293,3552,0,0,0,0,0,0
$GC,1987,-0.49,-170.3,335.0,-15.4,257,1995,0.00,1.00,0.00,0.000,6,0.000,0.024,2127,2589,3551,0,0,0,0,0,0
$GC,2312,-0.49,-170.3,383.0,-14.6,288,2316,0.00,0.95,0.00,0.000,4,0.000,0.024,2127,1892,3547,0,0,0,0,0,0
$GC,2409,-0.49,-170.3,396.1,-13.5,296,2415,0.00,1.08,0.00,0.000,6,0.000,0.036,2122,2591,3547,0,0,0,0,0,0
$GC,2734,-0.49,-170.3,439.0,-12.6,327,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2592,3543,0,0,0,0,0,0
$GC,3054,-0.49,-170.3,479.6,-12.7,357,3058,0.00,1.00,0.00,0.000,4,0.000,0.024,2122,1883,3540,0,0,0,0,0,0
$GC,3079,-0.49,-170.3,482.9,-13.1,359,3083,0.00,1.08,0.00,0.000,6,0.000,0.036,2117,2583,3541,0,0,0,0,0,0
$GC,3414,-0.49,-170.3,529.3,-14.1,381,3418,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3282,3536,0,0,0,0,0,0
$GC,3447,-0.49,-170.3,534.4,-14.5,382,3451,0.08,1.00,0.00,0.000,6,0.135,0.025,2136,2595,3536,0,0,0,0,0,0
$GC,3770,-0.49,-170.3,574.0,-12.0,398,3773,0.00,0.98,0.00,0.000,4,0.000,0.025,2136,1887,3533,0,0,0,0,0,0
$GC,3954,-0.49,-170.3,596.1,-11.1,406,3958,0.00,1.08,0.00,0.000,6,0.000,0.037,2133,2585,3533,0,0,0,0,0,0
$GC,4283,-0.49,-170.3,635.6,-11.8,422,4286,0.00,1.00,0.00,0.000,4,0.000,0.026,2133,1879,3530,0,0,0,0,0,0
$GC,4355,-0.49,-170.3,644.4,-11.2,425,4359,0.00,1.10,0.00,0.000,6,0.000,0.037,2128,2589,3528,0,0,0,0,0,0
$GC,4684,-0.49,-170.3,680.6,-10.5,441,4688,0.00,1.00,0.00,0.000,4,0.000,0.026,2128,1885,3526,0,0,0,0,0,0
$GC,4767,-0.49,-170.3,689.5,-10.4,444,4774,0.00,1.08,0.00,0.000,6,0.000,0.037,2125,2581,3526,0,0,0,0,0,0
$GC,5083,-0.49,-170.3,721.5,-10.5,460,5087,0.00,1.10,0.00,0.000,4,0.000,0.044,2120,3292,3523,0,0,0,0,0,0
$GC,5123,-0.49,-170.3,725.9,-10.9,461,5130,0.00,1.02,0.00,0.000,6,0.000,0.025,2120,2589,3522,0,0,0,0,0,0
$GC,5439,-0.49,-170.3,762.3,-11.7,477,5442,0.00,0.98,0.00,0.000,4,0.000,0.026,2120,1890,3520,0,0,0,0,0,0
$GC,5531,-0.49,-170.3,771.8,-9.9,481,5535,0.00,1.08,0.00,0.000,6,0.000,0.038,2115,2582,3520,0,0,0,0,0,0
$STATE,5820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5820,begin apogee
$GC,5827,-0.13,0.0,803.9,11.3,495,5961,0.43,0.00,126.03,0.933,6,0.127,0.000,2250,2152,2869,0,0,0,0,0,0
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5964,0.49,170.3,807.0,0.0,501,6111,0.57,1.08,134.07,0.911,4,0.085,0.031,2456,1470,2173,0,0,0,0,0,0
$GC,6197,0.62,282.9,794.7,5.7,511,6292,0.10,1.08,87.95,0.899,6,0.057,0.028,2518,2174,1715,0,0,0,0,0,0
$GC,6598,0.68,330.3,761.1,8.4,531,6642,0.00,1.10,37.78,0.879,4,0.000,0.037,2518,2858,1521,0,0,0,0,0,0
$GC,6733,0.73,366.1,749.7,8.9,537,6769,0.00,1.05,29.95,0.852,6,0.000,0.027,2522,2163,1376,0,0,0,0,0,0
$GC,7087,0.77,399.3,719.3,9.0,554,7118,0.00,1.12,27.33,0.849,4,0.000,0.035,2523,2860,1241,0,0,0,0,0,0
$GC,7130,0.82,443.0,715.4,8.5,556,7171,0.08,1.05,35.45,0.842,6,0.057,0.028,2580,2167,1063,0,0,0,0,0,0
$GC,7477,0.82,443.0,674.8,12.2,573,7481,0.00,1.05,0.00,0.000,4,0.000,0.035,2585,1467,1067,0,0,0,0,0,0
$GC,7545,0.82,443.0,666.5,12.7,576,7549,0.00,1.05,0.00,0.000,6,0.000,0.030,2585,2161,1067,0,0,0,0,0,0
$GC,7879,0.82,443.0,628.4,11.2,592,7883,0.00,1.05,0.00,0.000,4,0.000,0.038,2585,2852,1066,0,0,0,0,0,0
$GC,7993,0.82,443.0,614.6,11.9,597,7996,0.00,1.02,0.00,0.000,6,0.000,0.028,2589,2163,1066,0,0,0,0,0,0
$GC,8325,0.82,443.0,578.7,10.8,613,8329,0.00,1.02,0.00,0.000,4,0.000,0.034,2594,1476,1065,0,0,0,0,0,0
$GC,8372,0.82,443.0,573.6,11.3,615,8376,0.08,1.05,0.00,0.000,6,0.122,0.032,2568,2161,1065,0,0,0,0,0,0
$GC,8704,0.84,461.4,540.6,9.6,631,8727,0.00,1.08,16.48,0.747,4,0.000,0.034,2568,2865,987,0,0,0,0,0,0
$GC,8767,0.87,485.6,534.5,9.3,633,8796,0.00,1.05,20.38,0.728,6,0.000,0.028,2570,2169,888,0,0,0,0,0,0
$GC,9107,0.88,489.5,501.0,10.2,650,9116,0.00,1.08,4.80,0.563,4,0.000,0.037,2571,1469,873,0,0,0,0,0,0
$GC,9145,0.90,507.5,497.0,9.6,652,9164,0.00,1.05,15.27,0.686,6,0.000,0.030,2570,2165,800,0,0,0,0,0,0
$GC,9481,0.90,507.9,462.8,10.3,684,9485,0.00,1.08,0.00,0.000,4,0.000,0.034,2571,1470,802,0,0,0,0,0,0
$GC,9701,0.90,508.4,439.9,10.3,703,9708,0.00,1.05,0.00,0.000,6,0.000,0.030,2571,2163,802,0,0,0,0,0,0
$GC,10026,0.94,540.3,409.4,9.0,734,10060,0.00,1.05,27.23,0.685,4,0.000,0.031,2571,1461,664,0,0,0,0,0,0
$GC,10301,0.95,544.8,380.9,10.1,758,10309,0.00,1.08,4.95,0.522,6,0.000,0.031,2570,2165,648,0,0,0,0,0,0
$GC,10627,0.95,549.5,346.1,10.1,789,10640,0.10,1.02,6.10,0.567,4,0.119,0.033,2610,2864,627,0,0,0,0,0,0
$GC,10837,0.95,549.5,324.1,10.9,807,10844,0.00,1.05,0.00,0.000,6,0.000,0.029,2610,2164,627,0,0,0,0,0,0
$GC,11163,0.95,549.5,283.8,12.2,838,11166,0.00,1.08,0.00,0.000,4,0.000,0.033,2610,2867,627,0,0,0,0,0,0
$GC,11412,0.95,549.5,255.8,10.3,860,11415,0.00,1.05,0.00,0.000,6,0.000,0.028,2610,2164,627,0,0,0,0,0,0
$GC,11743,0.95,549.5,223.9,10.6,891,11746,0.00,1.08,0.00,0.000,4,0.000,0.033,2610,2868,628,0,0,0,0,0,0
$GC,12003,0.95,549.5,196.5,10.8,916,12010,0.00,1.05,0.00,0.000,6,0.000,0.027,2611,2161,628,0,0,0,0,0,0
$GC,12150,0.95,549.5,181.4,11.5,941,12157,0.00,1.08,0.00,0.000,4,0.000,0.032,2610,2870,629,0,0,0,0,0,0
$GC,12187,0.95,549.5,176.8,11.2,947,12194,0.00,1.05,0.00,0.000,6,0.000,0.028,2610,2165,629,0,0,0,0,0,0
$GC,12334,0.95,549.5,160.0,11.1,972,12341,0.00,1.05,0.00,0.000,4,0.000,0.034,2610,1469,630,0,0,0,0,0,0
$GC,12595,0.97,565.4,133.5,9.7,1018,12615,0.00,1.05,14.32,0.538,6,0.000,0.028,2610,2173,563,0,0,0,0,0,0
$GC,12751,1.00,585.5,118.6,9.5,1045,12776,0.00,1.12,16.88,0.500,4,0.000,0.033,2610,1462,481,0,0,0,0,0,0
$GC,12830,1.02,602.6,111.0,9.6,1058,12844,0.00,1.05,9.98,0.443,6,0.000,0.024,2610,2180,439,0,0,0,0,0,0
$GC,12980,1.02,602.6,92.8,12.0,1084,12987,0.00,1.00,0.00,0.000,4,0.000,0.036,2610,2841,440,0,0,0,0,0,0
$GC,13181,1.02,606.5,71.2,10.2,1119,13189,0.00,1.00,2.33,0.181,6,0.000,0.028,2610,2167,440,0,0,0,0,0,0
$GC,13326,1.04,619.8,56.1,9.8,1144,13333,0.00,1.02,0.00,0.000,4,0.000,0.030,2610,2855,440,0,0,0,0,0,0
$GC,13458,1.04,619.8,40.7,12.0,1167,13466,0.00,1.02,0.03,0.200,6,0.000,0.026,2610,2156,441,0,0,0,0,0,0
$GC,13603,1.04,619.8,23.0,12.3,1192,13611,0.00,1.05,2.53,0.203,4,0.000,0.031,2610,1468,439,0,0,0,0,0,0
$GC,13748,1.04,619.8,4.2,12.6,1217,13755,0.00,1.00,0.38,0.079,6,0.000,0.025,2610,2155,442,0,0,0,0,0,0
$STATE,13762,end climb,SURFACE_DEPTH_REACHED
$STATE,13762,begin surface coast
$FINISH,0.7,0.999111
$STATE,13784,end surface coast,CONTROL_FINISHED_OK
$STATE,13785,begin surface
$SM_CCo,13862,0.00,0.000,0,0,442,595.34
$SM_GC,1.33,6.20,0.00,0.00,0.031,0.000,0.000,205,2582,442,-6.46,-0.23,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12033.12,131011,070721
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.00
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,23.8,107.705
$10V_AH,9.8,80.227
$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,15.800,72.250,620.175,0.000,0.000,27.247,18.493,129.111,0.250,0.000,17.518,3108.114,7515.603,699.794,2495.042,355.873,0.000,1973.136,0.000,2283.886,0.000,0.540,0.000
$DEVICE_MAMPS,218.790,59.670,933.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,840.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,70373,1223
$CAP_FILE_SIZE,157523,0
$CFSIZE,260165632,192778240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,158.1,1
$GPS,131011,150201,2200.161,12023.885,39,2.0,39,-2.7