version: 66.09
glider: 181
mission: 6
dive: 664
start: 10 15 111 22 19 22
data:
$ID,181
$MISSION,6
$DIVE,664
$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,-8
$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,-41429.012
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,151011,221301,2156.388,12031.249,39,1.7,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.5
$GPS2,151011,221856,2156.255,12031.315,10,1.7,10,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W2
$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,244.5,57760,-16.5,-10.313
$D_GRID,791
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.49,-170.3,0.0,0.0,0,88,0.00,0.00,-67.72,0.000,2,0.000,0.000,183,2603,2393,0,0,0,0,0,0
$GC,92,-0.49,-170.3,3.5,-3.5,11,130,8.10,1.08,-25.00,0.000,4,0.220,0.052,2137,1881,3565,0,0,0,0,0,0
$GC,256,-0.49,-170.3,50.7,-24.6,39,263,0.00,1.10,0.00,0.000,6,0.000,0.036,2133,2595,3564,0,0,0,0,0,0
$GC,398,-0.49,-170.3,86.7,-23.2,64,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2595,3562,0,0,0,0,0,0
$GC,541,-0.49,-170.3,113.3,-17.5,89,548,0.00,1.05,0.00,0.000,4,0.000,0.037,2128,3295,3561,0,0,0,0,0,0
$GC,639,-0.49,-170.3,129.3,-14.9,106,646,0.00,1.02,0.00,0.000,6,0.000,0.024,2128,2578,3561,0,0,0,0,0,0
$GC,782,-0.49,-170.3,151.0,-17.5,131,788,0.00,1.10,0.00,0.000,4,0.000,0.037,2122,3294,3561,0,0,0,0,0,0
$GC,818,-0.49,-170.3,157.5,-17.6,137,825,0.00,1.00,0.00,0.000,6,0.000,0.024,2122,2598,3560,0,0,0,0,0,0
$GC,962,-0.49,-170.3,180.9,-15.2,162,969,0.00,1.08,0.00,0.000,4,0.000,0.037,2117,3300,3560,0,0,0,0,0,0
$GC,1103,-0.49,-170.3,206.1,-17.8,184,1110,0.00,1.02,0.00,0.000,6,0.000,0.024,2117,2587,3560,0,0,0,0,0,0
$GC,1429,-0.49,-170.3,256.3,-12.0,215,1432,0.00,1.10,0.00,0.000,4,0.000,0.038,2112,3298,3558,0,0,0,0,0,0
$GC,1475,-0.49,-170.3,262.2,-13.2,219,1478,0.00,1.02,0.00,0.000,6,0.000,0.024,2112,2589,3558,0,0,0,0,0,0
$GC,1806,-0.49,-170.3,305.4,-12.2,250,1810,0.12,1.10,0.00,0.000,4,0.158,0.039,2140,3286,3557,0,0,0,0,0,0
$GC,1846,-0.49,-170.3,309.9,-11.1,253,1854,0.00,1.00,0.00,0.000,6,0.000,0.024,2141,2587,3557,0,0,0,0,0,0
$GC,2171,-0.49,-170.3,346.0,-11.9,284,2175,0.00,0.95,0.00,0.000,4,0.000,0.025,2140,1888,3554,0,0,0,0,0,0
$GC,2241,-0.49,-170.3,354.4,-12.7,290,2245,0.00,1.08,0.00,0.000,6,0.000,0.037,2138,2587,3554,0,0,0,0,0,0
$GC,2572,-0.49,-170.3,402.4,-14.2,321,2576,0.00,1.00,0.00,0.000,4,0.000,0.026,2138,1881,3550,0,0,0,0,0,0
$GC,2607,-0.49,-170.3,406.7,-12.8,324,2610,0.00,1.10,0.00,0.000,6,0.000,0.037,2138,2594,3550,0,0,0,0,0,0
$GC,2938,-0.49,-170.3,446.7,-11.6,355,2941,0.00,1.08,0.00,0.000,4,0.000,0.042,2133,3298,3547,0,0,0,0,0,0
$GC,3054,-0.49,-170.3,461.4,-12.7,365,3058,0.00,1.02,0.00,0.000,6,0.000,0.026,2133,2595,3546,0,0,0,0,0,0
$GC,3394,-0.49,-170.3,509.4,-13.9,394,3398,0.00,0.98,0.00,0.000,4,0.000,0.028,2133,1901,3543,0,0,0,0,0,0
$GC,3561,-0.49,-170.3,526.7,-10.4,401,3564,0.00,1.08,0.00,0.000,6,0.000,0.037,2128,2596,3542,0,0,0,0,0,0
$GC,3888,-0.49,-170.3,564.2,-10.4,417,3891,0.00,1.08,0.00,0.000,4,0.000,0.042,2122,3298,3539,0,0,0,0,0,0
$GC,3961,-0.49,-170.3,572.1,-11.4,420,3965,0.00,1.05,0.00,0.000,6,0.000,0.026,2122,2589,3537,0,0,0,0,0,0
$GC,4288,-0.49,-170.3,608.1,-12.6,436,4291,0.00,1.00,0.00,0.000,4,0.000,0.028,2123,1881,3535,0,0,0,0,0,0
$GC,4388,-0.49,-170.3,621.7,-13.9,440,4391,0.00,1.10,0.00,0.000,6,0.000,0.038,2117,2593,3534,0,0,0,0,0,0
$GC,4711,-0.49,-170.3,670.7,-15.6,456,4714,0.00,1.08,0.00,0.000,4,0.000,0.043,2112,3291,3532,0,0,0,0,0,0
$GC,4760,-0.49,-170.3,679.1,-16.3,458,4764,0.00,1.02,0.00,0.000,6,0.000,0.027,2112,2590,3531,0,0,0,0,0,0
$GC,5088,-0.49,-170.3,722.5,-13.0,474,5093,0.12,1.00,0.00,0.000,4,0.156,0.028,2145,1886,3529,0,0,0,0,0,0
$GC,5145,-0.49,-170.3,728.4,-9.4,476,5149,0.00,1.10,0.00,0.000,6,0.000,0.039,2142,2589,3529,0,0,0,0,0,0
$GC,5467,-0.49,-170.3,763.2,-12.2,492,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2590,3527,0,0,0,0,0,0
$STATE,5671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5671,begin apogee
$GC,5679,-0.13,0.0,793.0,15.1,502,5811,0.32,0.00,126.57,0.932,6,0.122,0.000,2248,2149,2868,0,0,0,0,0,0
$STATE,5812,end apogee,CONTROL_FINISHED_OK
$STATE,5812,begin climb
$GC,5815,0.49,170.3,804.5,0.0,508,5961,0.57,1.02,133.68,0.916,4,0.083,0.030,2456,1462,2173,0,0,0,0,0,0
$GC,5995,0.70,346.0,801.9,3.1,516,6140,0.15,1.12,137.05,0.905,6,0.046,0.031,2535,2187,1456,0,0,0,0,0,0
$GC,6445,0.70,346.0,754.9,10.6,538,6449,0.00,1.02,0.00,0.000,4,0.000,0.038,2535,2859,1456,0,0,0,0,0,0
$GC,6547,0.70,346.0,741.1,13.9,542,6550,0.00,1.05,0.00,0.000,6,0.000,0.026,2540,2156,1457,0,0,0,0,0,0
$GC,6869,0.72,361.1,703.8,9.7,558,6891,0.00,1.08,13.05,0.806,4,0.000,0.033,2545,1465,1397,0,0,0,0,0,0
$GC,6942,0.75,382.8,697.1,9.4,561,6965,0.00,1.08,18.40,0.805,6,0.000,0.031,2545,2163,1307,0,0,0,0,0,0
$GC,7289,0.75,382.8,656.4,12.5,578,7293,0.00,1.08,0.00,0.000,4,0.000,0.037,2545,2870,1307,0,0,0,0,0,0
$GC,7366,0.75,382.8,645.0,14.3,581,7370,0.00,1.05,0.00,0.000,6,0.000,0.025,2549,2163,1307,0,0,0,0,0,0
$GC,7689,0.75,382.8,606.5,11.1,597,7693,0.00,1.02,0.00,0.000,4,0.000,0.033,2555,1470,1306,0,0,0,0,0,0
$GC,7773,0.75,382.8,597.1,11.1,600,7780,0.00,1.05,0.00,0.000,6,0.000,0.031,2555,2164,1306,0,0,0,0,0,0
$GC,8090,0.76,392.5,565.8,9.9,616,8105,0.00,1.08,9.32,0.715,4,0.000,0.037,2555,2855,1269,0,0,0,0,0,0
$GC,8173,0.76,392.5,556.7,10.5,619,8180,0.00,1.02,0.00,0.000,6,0.000,0.027,2559,2166,1268,0,0,0,0,0,0
$GC,8490,0.78,406.7,526.6,9.7,635,8507,0.00,1.08,12.65,0.714,4,0.000,0.033,2564,1472,1210,0,0,0,0,0,0
$GC,8609,0.78,406.7,513.0,11.8,639,8613,0.00,1.05,0.00,0.000,6,0.000,0.031,2564,2165,1208,0,0,0,0,0,0
$GC,8940,0.81,430.7,479.6,9.3,664,8965,0.00,1.10,19.27,0.710,4,0.000,0.037,2564,2859,1112,0,0,0,0,0,0
$GC,8981,0.82,441.5,474.8,9.9,667,9000,0.00,1.05,10.48,0.636,6,0.000,0.026,2569,2160,1069,0,0,0,0,0,0
$GC,9319,0.82,441.5,439.8,11.3,699,9322,0.00,1.08,0.00,0.000,4,0.000,0.034,2569,2863,1073,0,0,0,0,0,0
$GC,9398,0.82,441.5,431.2,10.7,706,9402,0.00,1.02,0.00,0.000,6,0.000,0.027,2573,2176,1073,0,0,0,0,0,0
$GC,9729,0.86,477.4,399.4,8.8,737,9765,0.00,1.10,29.85,0.674,4,0.000,0.034,2573,2861,921,0,0,0,0,0,0
$GC,9868,0.87,484.6,386.4,10.0,749,9881,0.00,1.05,7.03,0.545,6,0.000,0.028,2577,2167,892,0,0,0,0,0,0
$GC,10198,0.87,484.6,350.4,11.7,780,10202,0.00,1.05,0.00,0.000,4,0.000,0.036,2581,1470,892,0,0,0,0,0,0
$GC,10258,0.87,484.6,343.4,11.3,785,10266,0.00,1.05,0.00,0.000,6,0.000,0.029,2581,2172,892,0,0,0,0,0,0
$GC,10584,0.89,496.7,307.9,9.8,816,10599,0.00,1.10,10.75,0.597,4,0.000,0.030,2584,1459,845,0,0,0,0,0,0
$GC,10652,0.91,516.2,301.7,9.5,822,10676,0.00,1.05,16.48,0.575,6,0.000,0.028,2584,2164,763,0,0,0,0,0,0
$GC,10994,0.97,562.2,273.1,8.4,854,11039,0.00,1.10,36.05,0.593,4,0.000,0.033,2584,1461,576,0,0,0,0,0,0
$GC,11258,0.97,562.2,243.9,12.3,877,11266,0.00,1.05,0.00,0.000,6,0.000,0.027,2584,2163,581,0,0,0,0,0,0
$GC,11585,0.97,562.2,203.5,13.1,908,11589,0.00,1.05,0.00,0.000,4,0.000,0.036,2584,2863,582,0,0,0,0,0,0
$GC,11844,0.97,562.2,171.5,11.8,951,11851,0.00,1.05,0.00,0.000,6,0.000,0.027,2584,2156,582,0,0,0,0,0,0
$GC,11992,0.97,562.2,153.9,13.0,976,11998,0.00,1.08,0.00,0.000,4,0.000,0.034,2584,2863,585,0,0,0,0,0,0
$GC,12254,0.97,562.2,120.8,12.1,1022,12262,0.00,1.05,3.60,0.353,6,0.000,0.029,2584,2164,577,0,0,0,0,0,0
$GC,12399,0.98,570.4,107.5,10.0,1047,12413,0.00,1.08,8.05,0.487,4,0.000,0.033,2583,1468,542,0,0,0,0,0,0
$GC,12668,1.00,588.6,79.7,9.6,1094,12689,0.08,1.05,16.02,0.490,6,0.071,0.028,2630,2173,468,0,0,0,0,0,0
$GC,12826,1.02,601.4,64.3,9.8,1121,12840,0.00,1.05,6.97,0.433,4,0.000,0.030,2629,1466,440,0,0,0,0,0,0
$GC,13096,1.02,603.4,35.6,10.2,1168,13104,0.00,1.05,0.47,0.079,6,0.000,0.028,2630,2173,441,0,0,0,0,0,0
$GC,13240,1.02,606.8,21.0,10.2,1193,13247,0.00,0.00,0.47,0.092,6,0.000,0.000,2630,2173,443,0,0,0,0,0,0
$GC,13385,1.02,606.8,5.8,10.6,1218,13393,0.00,1.08,2.62,0.210,4,0.000,0.034,2630,2865,439,0,0,0,0,0,0
$STATE,13409,end climb,SURFACE_DEPTH_REACHED
$STATE,13409,begin surface coast
$FINISH,0.3,1.020813
$STATE,13438,end surface coast,CONTROL_FINISHED_OK
$STATE,13438,begin surface
$SM_CCo,13515,0.00,0.000,0,0,440,595.83
$SM_GC,1.29,6.30,0.00,0.00,0.034,0.000,0.000,205,2570,440,-6.45,-0.57,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12033.12,151011,181810
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.45
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.9,110.252
$10V_AH,9.8,81.524
$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,15.775,67.525,618.850,0.000,0.000,28.283,22.068,164.306,0.000,0.000,12.831,3096.440,7307.538,670.343,2413.940,375.346,0.000,1900.949,0.000,2196.954,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,52.020,931.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,842.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321940
$DATA_FILE_SIZE,70196,1227
$CAP_FILE_SIZE,151568,0
$CFSIZE,260165632,191496192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 50.8,1
$GPS,161011,020555,2156.234,12031.305,37,1.5,37,-2.7