version: 66.09
glider: 181
mission: 6
dive: 646
start: 10 13 111 15 8 16
data:
$ID,181
$MISSION,6
$DIVE,646
$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,-41405.625
$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,61
$R_STBD_OVSHOOT,42
$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
$GPS1,131011,150201,2200.161,12023.885,39,2.0,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.3
$GPS2,131011,150751,2159.993,12024.068,11,1.4,11,-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,46.8,23170,-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,-170.3,0.0,0.0,0,89,0.00,0.00,-69.18,0.000,2,0.000,0.000,130,2586,2400,0,0,0,0,0,0
$GC,92,-0.49,-170.3,3.5,-3.4,11,137,8.35,1.12,-26.02,0.000,4,0.221,0.067,2131,3286,3561,0,0,0,0,0,0
$GC,211,-0.49,-170.3,42.5,-41.3,31,218,0.00,1.02,0.00,0.000,6,0.000,0.024,2131,2580,3559,0,0,0,0,0,0
$GC,354,-0.49,-170.3,89.2,-30.0,56,360,0.00,0.95,0.00,0.000,4,0.000,0.025,2130,1891,3557,0,0,0,0,0,0
$GC,537,-0.49,-170.3,133.3,-19.3,88,543,0.00,1.08,0.00,0.000,6,0.000,0.036,2125,2591,3556,0,0,0,0,0,0
$GC,679,-0.49,-170.3,160.1,-16.2,113,688,0.00,1.00,0.00,0.000,4,0.000,0.024,2125,1873,3555,0,0,0,0,0,0
$GC,735,-0.49,-170.3,168.8,-15.7,122,742,0.00,1.10,0.00,0.000,6,0.000,0.035,2120,2595,3556,0,0,0,0,0,0
$GC,876,-0.49,-170.3,192.3,-16.7,147,883,0.00,1.00,0.00,0.000,4,0.000,0.024,2120,1879,3556,0,0,0,0,0,0
$GC,906,-0.49,-170.3,197.0,-15.3,152,914,0.00,1.08,-0.08,0.000,6,0.000,0.034,2115,2592,3572,0,0,0,0,0,0
$GC,1052,-0.49,-170.3,218.7,-15.5,167,1055,0.00,1.00,0.00,0.000,4,0.000,0.024,2115,1880,3572,0,0,0,0,0,0
$GC,1191,-0.49,-170.3,239.6,-14.2,179,1198,0.08,1.08,0.00,0.000,6,0.138,0.034,2136,2587,3572,0,0,0,0,0,0
$GC,1517,-0.49,-170.3,278.1,-11.4,210,1520,0.00,1.00,0.00,0.000,4,0.000,0.025,2136,1871,3571,0,0,0,0,0,0
$GC,1544,-0.49,-170.3,281.7,-11.5,212,1551,0.00,1.10,0.00,0.000,6,0.000,0.035,2133,2593,3571,0,0,0,0,0,0
$GC,1870,-0.49,-170.3,323.4,-13.0,243,1874,0.00,1.05,0.00,0.000,4,0.000,0.040,2128,3288,3569,0,0,0,0,0,0
$GC,1972,-0.49,-170.3,337.5,-13.9,252,1975,0.00,1.00,0.00,0.000,6,0.000,0.024,2128,2591,3567,0,0,0,0,0,0
$GC,2303,-0.49,-170.3,383.3,-13.1,283,2307,0.00,0.98,0.00,0.000,4,0.000,0.025,2128,1883,3565,0,0,0,0,0,0
$GC,2404,-0.49,-170.3,395.8,-12.4,292,2408,0.00,1.08,0.00,0.000,6,0.000,0.036,2125,2583,3564,0,0,0,0,0,0
$GC,2735,-0.49,-170.3,439.7,-12.6,323,2739,0.00,0.98,0.00,0.000,4,0.000,0.026,2125,1886,3560,0,0,0,0,0,0
$GC,2796,-0.49,-170.3,447.6,-12.2,328,2803,0.00,1.08,0.00,0.000,6,0.000,0.036,2121,2585,3559,0,0,0,0,0,0
$GC,3122,-0.49,-170.3,491.1,-13.7,359,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2584,3556,0,0,0,0,0,0
$GC,3444,-0.49,-170.3,535.5,-13.7,378,3447,0.00,1.08,0.00,0.000,4,0.000,0.042,2115,3285,3554,0,0,0,0,0,0
$GC,3477,-0.49,-170.3,540.3,-13.5,379,3481,0.00,1.00,0.00,0.000,6,0.000,0.026,2116,2599,3553,0,0,0,0,0,0
$GC,3800,-0.49,-170.3,583.2,-13.3,395,3803,0.00,1.00,0.00,0.000,4,0.000,0.027,2115,1885,3549,0,0,0,0,0,0
$GC,3936,-0.49,-170.3,601.0,-12.5,401,3939,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2591,3549,0,0,0,0,0,0
$GC,4270,-0.49,-170.3,643.9,-13.3,417,4274,0.12,1.02,0.00,0.000,4,0.168,0.028,2144,1888,3546,0,0,0,0,0,0
$GC,4348,-0.49,-170.3,652.6,-10.4,420,4351,0.00,1.10,0.00,0.000,6,0.000,0.038,2141,2591,3545,0,0,0,0,0,0
$GC,4670,-0.49,-170.3,685.2,-10.0,436,4674,0.00,1.02,0.00,0.000,4,0.000,0.028,2142,1884,3543,0,0,0,0,0,0
$GC,4698,-0.49,-170.3,688.3,-9.9,437,4702,0.00,1.10,0.00,0.000,6,0.000,0.039,2139,2587,3543,0,0,0,0,0,0
$GC,5025,-0.49,-170.3,723.1,-10.8,453,5029,0.00,1.00,0.00,0.000,4,0.000,0.028,2139,1895,3540,0,0,0,0,0,0
$GC,5070,-0.49,-170.3,727.8,-10.5,455,5074,0.00,1.10,0.00,0.000,6,0.000,0.040,2135,2597,3539,0,0,0,0,0,0
$GC,5404,-0.49,-170.3,766.2,-12.5,471,5408,0.00,1.02,0.00,0.000,4,0.000,0.028,2135,1887,3537,0,0,0,0,0,0
$GC,5465,-0.49,-170.3,773.9,-11.7,473,5473,0.00,1.10,0.00,0.000,6,0.000,0.039,2131,2590,3537,0,0,0,0,0,0
$STATE,5718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5718,begin apogee
$GC,5725,-0.13,0.0,803.7,10.7,486,5862,0.38,0.00,129.23,0.934,6,0.124,0.000,2251,2152,2869,0,0,0,0,0,0
$STATE,5863,end apogee,CONTROL_FINISHED_OK
$STATE,5863,begin climb
$GC,5865,0.49,170.3,811.2,0.0,492,6009,0.57,1.10,134.00,0.919,4,0.089,0.033,2455,1455,2173,0,0,0,0,0,0
$GC,6072,0.70,343.3,807.6,3.3,501,6217,0.17,1.12,134.70,0.911,6,0.046,0.031,2541,2178,1468,0,0,0,0,0,0
$GC,6539,0.70,343.3,762.4,10.7,524,6543,0.00,1.05,0.00,0.000,4,0.000,0.040,2541,2863,1468,0,0,0,0,0,0
$GC,6609,0.70,345.2,755.6,10.2,527,6613,0.00,1.05,0.00,0.000,6,0.000,0.026,2546,2155,1468,0,0,0,0,0,0
$GC,6942,0.71,349.7,720.6,10.1,543,6952,0.00,1.00,6.38,0.731,4,0.000,0.030,2551,1466,1444,0,0,0,0,0,0
$GC,7005,0.71,349.7,713.6,11.6,546,7010,0.00,1.08,0.00,0.000,6,0.000,0.032,2551,2165,1444,0,0,0,0,0,0
$GC,7339,0.71,349.7,675.8,11.4,562,7343,0.00,1.10,0.00,0.000,4,0.000,0.039,2551,2873,1443,0,0,0,0,0,0
$GC,7479,0.71,349.7,659.4,11.5,568,7483,0.00,1.05,0.00,0.000,6,0.000,0.028,2555,2169,1443,0,0,0,0,0,0
$GC,7806,0.71,349.7,623.0,11.6,584,7810,0.00,1.02,0.00,0.000,4,0.000,0.034,2560,1477,1442,0,0,0,0,0,0
$GC,7884,0.71,349.7,613.7,11.8,587,7888,0.10,1.05,0.00,0.000,6,0.121,0.032,2527,2170,1442,0,0,0,0,0,0
$GC,8206,0.74,375.0,583.8,9.3,603,8231,0.00,1.08,20.65,0.783,4,0.000,0.031,2529,1477,1341,0,0,0,0,0,0
$GC,8277,0.78,409.7,577.1,8.9,606,8309,0.00,1.05,28.27,0.770,6,0.000,0.030,2529,2168,1198,0,0,0,0,0,0
$GC,8622,0.83,446.8,546.2,8.8,622,8657,0.10,0.00,31.42,0.758,6,0.100,0.000,2585,2169,1046,0,0,0,0,0,0
$GC,8955,0.83,446.8,509.6,11.2,638,8959,0.00,1.05,0.00,0.000,4,0.000,0.037,2585,2861,1050,0,0,0,0,0,0
$GC,8989,0.83,446.8,505.5,11.3,639,8993,0.00,1.05,0.00,0.000,6,0.000,0.027,2590,2161,1050,0,0,0,0,0,0
$GC,9321,0.83,447.7,469.7,10.3,668,9325,0.00,1.08,0.00,0.000,4,0.000,0.034,2590,2865,1049,0,0,0,0,0,0
$GC,9348,0.83,452.7,466.4,10.1,670,9359,0.00,1.05,6.97,0.630,6,0.000,0.028,2595,2163,1023,0,0,0,0,0,0
$GC,9685,0.83,452.7,429.5,12.0,702,9688,0.00,1.02,0.00,0.000,4,0.000,0.034,2600,1470,1023,0,0,0,0,0,0
$GC,9699,0.83,452.7,427.9,11.9,703,9703,0.08,1.05,0.00,0.000,6,0.115,0.031,2572,2165,1022,0,0,0,0,0,0
$GC,10030,0.83,452.7,390.4,11.2,734,10034,0.00,1.08,0.00,0.000,4,0.000,0.037,2572,2861,1023,0,0,0,0,0,0
$GC,10056,0.83,452.7,387.3,11.2,736,10063,0.00,1.05,0.00,0.000,6,0.000,0.028,2574,2161,1023,0,0,0,0,0,0
$GC,10382,0.86,472.8,355.7,9.5,767,10403,0.00,1.08,17.38,0.649,4,0.000,0.034,2579,1468,940,0,0,0,0,0,0
$GC,10442,0.88,490.4,349.7,9.6,772,10462,0.00,1.05,15.02,0.597,6,0.000,0.027,2579,2167,869,0,0,0,0,0,0
$GC,10778,0.89,496.9,314.3,10.0,804,10790,0.00,1.05,6.43,0.554,4,0.000,0.028,2582,1462,843,0,0,0,0,0,0
$GC,10843,0.90,506.5,308.0,9.9,809,10855,0.00,1.08,9.07,0.531,6,0.000,0.029,2582,2169,803,0,0,0,0,0,0
$GC,11175,0.97,565.9,278.2,7.9,840,11225,0.00,1.02,45.78,0.602,4,0.000,0.031,2582,2864,563,0,0,0,0,0,0
$GC,11479,0.97,565.9,244.5,15.0,867,11483,0.00,1.05,0.00,0.000,6,0.000,0.028,2582,2164,564,0,0,0,0,0,0
$GC,11805,0.97,565.9,198.2,13.9,898,11813,0.00,1.08,0.00,0.000,4,0.000,0.034,2582,2867,566,0,0,0,0,0,0
$GC,11860,0.97,565.9,191.4,11.9,907,11867,0.00,1.05,0.00,0.000,6,0.000,0.027,2582,2160,567,0,0,0,0,0,0
$GC,12007,0.98,574.4,176.0,10.0,932,12022,0.10,1.08,9.65,0.550,4,0.116,0.034,2624,1466,526,0,0,0,0,0,0
$GC,12276,0.98,574.4,143.8,13.4,979,12283,0.00,1.05,0.00,0.000,6,0.000,0.029,2623,2165,527,0,0,0,0,0,0
$GC,12423,0.98,574.4,127.4,10.8,1004,12430,0.00,1.05,0.00,0.000,4,0.000,0.032,2623,1478,528,0,0,0,0,0,0
$GC,12493,1.01,599.4,120.4,9.3,1016,12519,0.00,1.02,17.62,0.520,6,0.000,0.027,2623,2168,440,0,0,0,0,0,0
$GC,12656,1.01,599.4,102.6,11.5,1044,12663,0.00,1.02,0.00,0.000,4,0.000,0.034,2620,2854,440,0,0,0,0,0,0
$GC,12873,1.01,599.4,79.2,10.8,1082,12881,0.00,1.02,1.00,0.075,6,0.000,0.027,2620,2162,441,0,0,0,0,0,0
$GC,13019,1.01,599.4,62.6,11.7,1107,13026,0.00,1.02,0.85,0.083,4,0.000,0.028,2619,2859,442,0,0,0,0,0,0
$GC,13134,1.01,599.4,49.2,10.5,1127,13142,0.00,1.02,2.55,0.212,6,0.000,0.026,2619,2159,440,0,0,0,0,0,0
$GC,13279,1.02,602.9,34.8,10.2,1152,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2159,440,0,0,0,0,0,0
$GC,13423,1.02,602.9,19.7,10.4,1177,13431,0.00,1.02,0.75,0.083,4,0.000,0.028,2618,2858,442,0,0,0,0,0,0
$STATE,13565,end climb,SURFACE_DEPTH_REACHED
$STATE,13565,begin surface coast
$FINISH,0.4,1.010093
$STATE,13588,end surface coast,CONTROL_FINISHED_OK
$STATE,13588,begin surface
$SM_CCo,13666,0.00,0.000,0,0,444,594.85
$SM_GC,1.41,6.22,0.00,0.00,0.031,0.000,0.000,203,2557,444,-6.45,-0.93,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12027.93,131011,111100
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.15
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.8,107.859
$10V_AH,9.8,80.304
$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,16.275,71.300,617.725,0.000,0.000,30.846,43.606,132.875,0.000,0.000,13.790,3050.720,7545.834,675.619,2378.921,356.125,0.000,1897.333,0.000,2150.562,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,67.320,934.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,828.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322736
$DATA_FILE_SIZE,70204,1206
$CAP_FILE_SIZE,152610,0
$CFSIZE,260165632,192704512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,152.6,1
$GPS,131011,185707,2159.874,12025.378,26,1.4,26,-2.7