version: 66.09
glider: 181
mission: 6
dive: 665
start: 10 16 111 2 12 39
data:
$ID,181
$MISSION,6
$DIVE,665
$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,-41430.273
$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,74
$R_STBD_OVSHOOT,57
$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
$GPS1,161011,020555,2156.234,12031.305,37,1.5,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.1
$GPS2,161011,021214,2156.086,12031.375,14,1.1,14,-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,242.9,57743,-16.5,-10.312
$D_GRID,824
$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,19,-0.49,-170.3,0.0,0.0,0,87,0.00,0.00,-66.32,0.000,2,0.000,0.000,182,2561,2334,0,0,0,0,0,0
$GC,92,-0.49,-170.3,3.5,-3.6,11,136,8.12,1.12,-26.33,0.000,4,0.220,0.065,2134,3272,3560,0,0,0,0,0,0
$GC,202,-0.49,-170.3,37.8,-36.2,29,209,0.00,0.98,0.00,0.000,6,0.000,0.024,2133,2607,3555,0,0,0,0,0,0
$GC,346,-0.49,-170.3,79.3,-22.7,54,353,0.00,1.08,-0.15,0.000,4,0.000,0.066,2129,3275,3570,0,0,0,0,0,0
$GC,462,-0.49,-170.3,102.4,-20.2,74,468,0.00,1.00,0.00,0.000,6,0.000,0.024,2129,2580,3569,0,0,0,0,0,0
$GC,604,-0.49,-170.3,127.5,-16.0,99,611,0.00,1.08,0.00,0.000,4,0.000,0.037,2124,3281,3569,0,0,0,0,0,0
$GC,685,-0.49,-170.3,138.7,-14.6,113,694,0.00,1.00,0.00,0.000,6,0.000,0.024,2124,2584,3569,0,0,0,0,0,0
$GC,831,-0.49,-170.3,161.9,-16.7,138,837,0.00,0.95,0.00,0.000,4,0.000,0.024,2124,1881,3569,0,0,0,0,0,0
$GC,962,-0.49,-170.3,182.5,-16.1,161,970,0.00,1.05,0.00,0.000,6,0.000,0.034,2119,2574,3569,0,0,0,0,0,0
$GC,1103,-0.49,-170.3,204.6,-14.4,183,1107,0.00,1.08,0.00,0.000,4,0.000,0.037,2113,3290,3568,0,0,0,0,0,0
$GC,1149,-0.49,-170.3,210.9,-13.6,187,1153,0.00,1.00,0.00,0.000,6,0.000,0.024,2113,2590,3568,0,0,0,0,0,0
$GC,1481,-0.49,-170.3,258.5,-14.3,218,1484,0.00,1.08,0.00,0.000,4,0.000,0.038,2108,3291,3566,0,0,0,0,0,0
$GC,1564,-0.49,-170.3,270.6,-15.1,225,1572,0.10,1.00,0.00,0.000,6,0.133,0.024,2140,2587,3566,0,0,0,0,0,0
$GC,1890,-0.49,-170.3,309.6,-11.6,256,1893,0.00,1.08,0.00,0.000,4,0.000,0.039,2136,3286,3563,0,0,0,0,0,0
$GC,1959,-0.49,-170.3,317.9,-12.1,262,1963,0.00,1.00,0.00,0.000,6,0.000,0.025,2136,2594,3563,0,0,0,0,0,0
$GC,2290,-0.49,-170.3,360.2,-13.8,293,2293,0.00,1.00,0.00,0.000,4,0.000,0.025,2136,1883,3560,0,0,0,0,0,0
$GC,2347,-0.49,-170.3,368.1,-14.0,298,2351,0.00,1.08,0.00,0.000,6,0.000,0.036,2131,2585,3559,0,0,0,0,0,0
$GC,2678,-0.49,-170.3,413.4,-12.9,329,2682,0.00,1.00,0.00,0.000,4,0.000,0.025,2131,1879,3557,0,0,0,0,0,0
$GC,2741,-0.49,-170.3,421.3,-12.6,334,2747,0.00,1.10,0.00,0.000,6,0.000,0.036,2125,2593,3556,0,0,0,0,0,0
$GC,3066,-0.49,-170.3,464.5,-13.4,365,3070,0.00,1.08,0.00,0.000,4,0.000,0.041,2120,3293,3554,0,0,0,0,0,0
$GC,3116,-0.49,-170.3,471.6,-15.2,369,3123,0.00,1.02,0.00,0.000,6,0.000,0.025,2120,2590,3553,0,0,0,0,0,0
$GC,3452,-0.49,-170.3,510.2,-11.5,397,3456,0.00,1.10,0.00,0.000,4,0.000,0.042,2115,3293,3550,0,0,0,0,0,0
$GC,3485,-0.49,-170.3,514.2,-10.3,398,3489,0.00,1.02,0.00,0.000,6,0.000,0.025,2115,2588,3550,0,0,0,0,0,0
$GC,3807,-0.49,-170.3,545.4,-10.5,414,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2585,3547,0,0,0,0,0,0
$GC,4117,-0.49,-170.3,585.8,-13.5,429,4121,0.00,1.00,0.00,0.000,4,0.000,0.026,2115,1870,3544,0,0,0,0,0,0
$GC,4168,-0.49,-170.3,592.7,-12.8,431,4172,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2581,3544,0,0,0,0,0,0
$GC,4495,-0.49,-170.3,637.9,-14.2,447,4499,0.12,1.12,0.00,0.000,4,0.168,0.042,2141,3298,3542,0,0,0,0,0,0
$GC,4552,-0.49,-170.3,645.5,-12.7,449,4555,0.00,1.05,0.00,0.000,6,0.000,0.025,2140,2588,3541,0,0,0,0,0,0
$GC,4873,-0.49,-170.3,686.8,-12.3,465,4877,0.00,0.98,0.00,0.000,4,0.000,0.027,2140,1890,3539,0,0,0,0,0,0
$GC,4960,-0.49,-170.3,696.1,-10.3,468,4967,0.00,1.08,0.00,0.000,6,0.000,0.039,2138,2580,3538,0,0,0,0,0,0
$GC,5276,-0.49,-170.3,730.7,-10.6,484,5280,0.00,1.10,0.00,0.000,4,0.000,0.044,2133,3288,3535,0,0,0,0,0,0
$GC,5303,-0.49,-170.3,733.9,-10.1,485,5307,0.00,1.02,0.00,0.000,6,0.000,0.026,2134,2593,3535,0,0,0,0,0,0
$GC,5631,-0.49,-170.3,770.8,-12.1,501,5635,0.00,1.02,0.00,0.000,4,0.000,0.028,2133,1883,3533,0,0,0,0,0,0
$GC,5732,-0.49,-170.3,784.0,-12.5,505,5735,0.00,1.10,0.00,0.000,6,0.000,0.038,2128,2589,3533,0,0,0,0,0,0
$STATE,6051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6051,begin apogee
$GC,6058,-0.13,0.0,824.5,12.5,521,6192,0.38,0.00,128.40,0.952,6,0.124,0.000,2248,2146,2869,0,0,0,0,0,0
$STATE,6193,end apogee,CONTROL_FINISHED_OK
$STATE,6193,begin climb
$GC,6196,0.49,170.3,833.1,0.0,527,6343,0.57,1.05,134.70,0.936,4,0.080,0.028,2456,1445,2173,0,0,0,0,0,0
$GC,6460,0.67,318.8,828.7,4.3,539,6587,0.12,1.12,116.20,0.926,6,0.050,0.031,2527,2174,1569,0,0,0,0,0,0
$GC,6892,0.72,361.6,791.1,8.6,560,6936,0.00,1.12,34.40,0.893,4,0.000,0.037,2527,2870,1393,0,0,0,0,0,0
$GC,7031,0.72,361.6,777.3,10.5,566,7036,0.00,1.08,0.00,0.000,6,0.000,0.026,2532,2155,1393,0,0,0,0,0,0
$GC,7360,0.79,418.9,747.2,8.0,582,7411,0.00,1.05,45.80,0.883,4,0.000,0.034,2537,1479,1161,0,0,0,0,0,0
$GC,7465,0.89,501.7,740.1,6.9,586,7538,0.10,1.05,66.82,0.877,6,0.055,0.028,2595,2165,823,0,0,0,0,0,0
$GC,7845,0.89,501.7,698.5,10.8,605,7848,0.00,1.08,0.00,0.000,4,0.000,0.038,2595,2854,830,0,0,0,0,0,0
$GC,7945,0.89,501.7,683.6,15.3,609,7949,0.00,1.02,0.00,0.000,6,0.000,0.027,2599,2164,831,0,0,0,0,0,0
$GC,8267,0.89,501.7,640.7,12.0,625,8276,0.00,1.05,4.32,0.591,4,0.000,0.033,2605,1477,823,0,0,0,0,0,0
$GC,8313,0.89,501.7,635.1,12.1,627,8316,0.00,1.05,0.00,0.000,6,0.000,0.031,2605,2166,824,0,0,0,0,0,0
$GC,8646,0.89,501.7,593.0,11.8,643,8649,0.00,1.05,0.00,0.000,4,0.000,0.037,2605,2860,824,0,0,0,0,0,0
$GC,8715,0.89,501.7,584.4,12.8,646,8718,0.00,1.02,0.00,0.000,6,0.000,0.026,2609,2159,824,0,0,0,0,0,0
$GC,9049,0.89,501.7,544.6,12.1,662,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2158,824,0,0,0,0,0,0
$GC,9357,0.89,501.7,508.9,11.4,677,9361,0.00,1.08,0.00,0.000,4,0.000,0.037,2609,2857,824,0,0,0,0,0,0
$GC,9382,0.89,501.7,506.2,11.3,678,9385,0.00,1.02,0.00,0.000,6,0.000,0.028,2613,2169,824,0,0,0,0,0,0
$GC,9713,0.89,501.7,469.1,11.3,706,9716,0.00,1.02,0.00,0.000,4,0.000,0.033,2618,1476,824,0,0,0,0,0,0
$GC,9773,0.89,501.7,462.1,11.9,711,9780,0.08,1.05,0.00,0.000,6,0.124,0.031,2591,2168,824,0,0,0,0,0,0
$GC,10099,0.89,501.7,430.3,10.3,742,10103,0.00,1.05,0.00,0.000,4,0.000,0.034,2594,1477,823,0,0,0,0,0,0
$GC,10183,0.89,501.7,420.2,12.1,749,10191,0.00,1.02,0.00,0.000,6,0.000,0.028,2594,2162,824,0,0,0,0,0,0
$GC,10508,0.93,530.5,388.3,9.1,780,10536,0.00,1.05,23.70,0.673,4,0.000,0.034,2593,2867,705,0,0,0,0,0,0
$GC,10566,0.96,560.4,383.0,9.1,785,10595,0.00,1.05,24.58,0.644,6,0.000,0.028,2597,2173,584,0,0,0,0,0,0
$GC,10914,0.96,560.4,345.2,11.3,817,10918,0.00,1.05,0.00,0.000,4,0.000,0.034,2597,2858,586,0,0,0,0,0,0
$GC,10984,0.96,560.4,337.1,11.6,823,10987,0.00,1.05,0.00,0.000,6,0.000,0.029,2597,2162,586,0,0,0,0,0,0
$GC,11315,0.96,560.4,298.0,11.4,854,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2163,587,0,0,0,0,0,0
$GC,11636,0.96,560.4,262.4,11.1,884,11640,0.00,1.05,0.00,0.000,4,0.000,0.033,2597,2855,589,0,0,0,0,0,0
$GC,11854,0.96,560.4,235.9,12.2,903,11862,0.00,1.05,0.00,0.000,6,0.000,0.028,2597,2156,590,0,0,0,0,0,0
$GC,12182,0.96,560.4,194.2,13.1,937,12189,0.00,1.02,0.00,0.000,4,0.000,0.034,2597,1466,592,0,0,0,0,0,0
$GC,12399,0.96,560.4,167.4,12.3,975,12408,0.00,1.05,3.78,0.384,6,0.000,0.029,2597,2164,584,0,0,0,0,0,0
$GC,12544,0.97,567.6,151.2,10.0,1000,12557,0.00,0.00,7.45,0.506,6,0.000,0.000,2597,2164,554,0,0,0,0,0,0
$GC,12696,0.97,567.6,134.8,12.0,1026,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2165,554,0,0,0,0,0,0
$GC,12839,0.99,583.6,119.0,9.7,1051,12858,0.00,0.00,13.70,0.525,6,0.000,0.000,2597,2165,488,0,0,0,0,0,0
$GC,12996,1.01,594.8,103.6,9.9,1078,13010,0.00,1.10,10.12,0.480,4,0.000,0.036,2597,2865,443,0,0,0,0,0,0
$GC,13096,1.01,594.8,92.4,11.6,1095,13103,0.00,1.05,0.00,0.000,6,0.000,0.027,2597,2161,442,0,0,0,0,0,0
$GC,13244,1.02,603.5,76.7,10.0,1120,13251,0.00,0.00,2.55,0.223,6,0.000,0.000,2597,2161,440,0,0,0,0,0,0
$GC,13391,1.02,605.2,62.3,10.2,1145,13397,0.00,1.05,0.00,0.000,4,0.000,0.032,2597,2857,440,0,0,0,0,0,0
$GC,13651,1.02,605.2,31.4,11.6,1191,13658,0.00,1.02,2.53,0.203,6,0.000,0.027,2597,2159,440,0,0,0,0,0,0
$GC,13796,1.02,605.2,14.9,11.5,1216,13803,0.00,1.05,0.00,0.000,4,0.000,0.031,2597,2860,440,0,0,0,0,0,0
$GC,13866,1.02,605.2,6.3,12.5,1228,13874,0.00,1.02,2.20,0.150,6,0.000,0.026,2597,2158,440,0,0,0,0,0,0
$STATE,13890,end climb,SURFACE_DEPTH_REACHED
$STATE,13890,begin surface coast
$FINISH,0.4,1.020919
$STATE,13914,end surface coast,CONTROL_FINISHED_OK
$STATE,13914,begin surface
$SM_CCo,13991,0.00,0.000,0,0,440,595.83
$SM_GC,1.33,6.20,0.00,0.00,0.032,0.000,0.000,209,2607,440,-6.44,0.48,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12033.12,151011,222209
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.18
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.8,110.415
$10V_AH,9.8,81.604
$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,15.800,68.400,621.250,0.000,0.000,29.784,40.467,160.900,0.000,0.000,17.556,3126.737,7738.881,688.465,2419.431,387.757,0.000,1915.055,0.000,2183.794,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,65.790,951.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,850.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321844
$DATA_FILE_SIZE,70144,1236
$CAP_FILE_SIZE,153589,0
$CFSIZE,260165632,191422464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263, 55.8,1
$GPS,161011,060706,2155.526,12030.722,34,1.2,34,-2.7