version: 66.09
glider: 181
mission: 6
dive: 666
start: 10 16 111 6 13 52
data:
$ID,181
$MISSION,6
$DIVE,666
$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,-41431.531
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,161011,060706,2155.526,12030.722,34,1.2,34,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.0
$GPS2,161011,061326,2155.372,12030.763,11,1.3,11,-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,239.4,56295,-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,-170.3,0.0,0.0,0,86,0.00,0.00,-66.18,0.000,2,0.000,0.000,139,2607,2352,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.6,-4.0,11,129,8.32,1.08,-25.45,0.000,4,0.220,0.053,2136,1877,3566,0,0,0,0,0,0
$GC,253,-0.49,-170.3,50.4,-26.8,39,260,0.00,1.10,0.00,0.000,6,0.000,0.036,2132,2593,3566,0,0,0,0,0,0
$GC,395,-0.49,-170.3,91.1,-27.5,64,402,0.00,1.05,0.00,0.000,4,0.000,0.038,2126,3292,3563,0,0,0,0,0,0
$GC,515,-0.49,-170.3,119.0,-20.6,85,523,0.00,1.02,0.00,0.000,6,0.000,0.024,2127,2576,3562,0,0,0,0,0,0
$GC,660,-0.49,-170.3,143.3,-12.5,110,666,0.00,1.10,0.00,0.000,4,0.000,0.037,2121,3292,3561,0,0,0,0,0,0
$GC,833,-0.49,-170.3,168.8,-14.1,140,840,0.00,1.00,0.00,0.000,6,0.000,0.024,2121,2586,3561,0,0,0,0,0,0
$GC,976,-0.49,-170.3,190.8,-15.5,165,984,0.00,0.95,0.00,0.000,4,0.000,0.024,2121,1885,3561,0,0,0,0,0,0
$GC,1069,-0.49,-170.3,203.7,-13.5,179,1072,0.00,1.08,0.00,0.000,6,0.000,0.033,2116,2598,3562,0,0,0,0,0,0
$GC,1400,-0.49,-170.3,253.2,-15.7,210,1404,0.00,1.05,0.00,0.000,4,0.000,0.039,2112,3292,3560,0,0,0,0,0,0
$GC,1451,-0.49,-170.3,261.3,-15.9,214,1457,0.00,1.00,0.00,0.000,6,0.000,0.024,2112,2596,3560,0,0,0,0,0,0
$GC,1776,-0.49,-170.3,314.6,-15.6,245,1780,0.12,1.00,0.00,0.000,4,0.155,0.025,2145,1880,3559,0,0,0,0,0,0
$GC,1856,-0.49,-170.3,324.5,-11.7,252,1859,0.00,1.08,0.00,0.000,6,0.000,0.034,2141,2587,3558,0,0,0,0,0,0
$GC,2186,-0.49,-170.3,362.8,-10.9,283,2190,0.00,1.08,0.00,0.000,4,0.000,0.041,2137,3294,3555,0,0,0,0,0,0
$GC,2254,-0.49,-170.3,370.9,-12.2,289,2258,0.00,1.02,0.00,0.000,6,0.000,0.024,2137,2585,3555,0,0,0,0,0,0
$GC,2585,-0.49,-170.3,408.7,-12.2,320,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2583,3552,0,0,0,0,0,0
$GC,2907,-0.49,-170.3,447.3,-12.0,350,2911,0.00,0.95,0.00,0.000,4,0.000,0.025,2137,1891,3549,0,0,0,0,0,0
$GC,2957,-0.49,-170.3,453.9,-11.8,354,2964,0.00,1.08,0.00,0.000,6,0.000,0.037,2132,2586,3548,0,0,0,0,0,0
$GC,3283,-0.49,-170.3,491.1,-10.8,385,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2586,3545,0,0,0,0,0,0
$GC,3594,-0.49,-170.3,524.5,-11.0,404,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2586,3542,0,0,0,0,0,0
$GC,3904,-0.49,-170.3,559.2,-11.7,419,3907,0.00,1.10,0.00,0.000,4,0.000,0.044,2127,3298,3539,0,0,0,0,0,0
$GC,3938,-0.49,-170.3,563.3,-12.0,420,3942,0.00,1.02,0.00,0.000,6,0.000,0.027,2127,2601,3538,0,0,0,0,0,0
$GC,4259,-0.49,-170.3,605.3,-13.8,436,4263,0.00,1.00,0.00,0.000,4,0.000,0.027,2127,1887,3535,0,0,0,0,0,0
$GC,4328,-0.49,-170.3,613.9,-12.4,439,4331,0.00,1.10,0.00,0.000,6,0.000,0.040,2125,2588,3534,0,0,0,0,0,0
$GC,4662,-0.49,-170.3,654.9,-12.4,455,4665,0.00,1.10,0.00,0.000,4,0.000,0.044,2120,3296,3532,0,0,0,0,0,0
$GC,4685,-0.49,-170.3,657.9,-12.1,456,4689,0.00,1.05,0.00,0.000,6,0.000,0.027,2120,2587,3532,0,0,0,0,0,0
$GC,5018,-0.49,-170.3,704.6,-14.7,472,5022,0.00,0.98,0.00,0.000,4,0.000,0.028,2120,1886,3529,0,0,0,0,0,0
$GC,5065,-0.49,-170.3,711.6,-14.6,474,5069,0.00,1.10,0.00,0.000,6,0.000,0.040,2115,2588,3529,0,0,0,0,0,0
$GC,5398,-0.49,-170.3,757.2,-13.1,490,5402,0.00,1.10,0.00,0.000,4,0.000,0.045,2112,3295,3527,0,0,0,0,0,0
$GC,5454,-0.49,-170.3,764.7,-13.7,492,5458,0.00,1.05,0.00,0.000,6,0.000,0.027,2112,2586,3526,0,0,0,0,0,0
$STATE,5670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5670,begin apogee
$GC,5677,-0.13,0.0,793.4,13.1,503,5811,0.43,0.00,126.85,0.928,6,0.125,0.000,2247,2145,2869,0,0,0,0,0,0
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5812,begin climb
$GC,5814,0.49,170.3,801.5,0.0,509,5955,0.60,1.02,133.88,0.910,4,0.086,0.033,2461,1467,2173,0,0,0,0,0,0
$GC,5986,0.66,313.1,799.0,4.5,517,6106,0.12,1.10,112.18,0.899,6,0.048,0.031,2530,2178,1591,0,0,0,0,0,0
$GC,6430,0.67,323.1,759.7,9.9,538,6444,0.00,1.08,9.25,0.783,4,0.000,0.039,2530,2859,1551,0,0,0,0,0,0
$GC,6535,0.67,323.1,748.2,11.2,542,6542,0.00,1.05,0.00,0.000,6,0.000,0.027,2534,2158,1550,0,0,0,0,0,0
$GC,6853,0.79,418.1,723.6,6.4,558,6933,0.00,0.00,74.62,0.873,6,0.000,0.000,2534,2158,1164,0,0,0,0,0,0
$GC,7241,0.89,500.2,697.5,7.0,577,7314,0.15,1.17,66.28,0.855,4,0.076,0.035,2611,2870,830,0,0,0,0,0,0
$GC,7333,0.89,500.2,687.3,11.7,581,7337,0.00,1.08,0.00,0.000,6,0.000,0.027,2615,2164,830,0,0,0,0,0,0
$GC,7661,0.89,500.2,641.4,15.2,597,7664,0.00,1.02,0.00,0.000,4,0.000,0.034,2621,1479,828,0,0,0,0,0,0
$GC,7709,0.89,500.2,633.3,17.0,599,7714,0.10,1.05,0.00,0.000,6,0.119,0.031,2586,2166,828,0,0,0,0,0,0
$GC,8038,0.89,500.2,589.7,13.6,615,8041,0.00,1.05,0.00,0.000,4,0.000,0.037,2586,2861,831,0,0,0,0,0,0
$GC,8093,0.89,500.2,581.9,13.4,617,8097,0.00,1.02,0.00,0.000,6,0.000,0.027,2589,2169,831,0,0,0,0,0,0
$GC,8415,0.89,500.2,542.5,11.6,633,8419,0.00,1.02,0.00,0.000,4,0.000,0.034,2594,1480,835,0,0,0,0,0,0
$GC,8493,0.89,500.2,533.6,10.9,636,8497,0.00,1.05,0.00,0.000,6,0.000,0.029,2594,2174,836,0,0,0,0,0,0
$GC,8815,0.91,512.8,501.2,9.8,652,8837,0.00,1.12,12.98,0.706,4,0.000,0.033,2594,1465,777,0,0,0,0,0,0
$GC,8889,0.91,514.3,493.8,10.3,657,8898,0.00,1.08,0.00,0.000,6,0.000,0.030,2594,2168,778,0,0,0,0,0,0
$GC,9215,0.91,514.3,455.5,12.0,688,9219,0.00,1.05,0.00,0.000,4,0.000,0.037,2594,2863,779,0,0,0,0,0,0
$GC,9243,0.91,514.3,452.0,12.3,690,9250,0.00,1.05,0.00,0.000,6,0.000,0.028,2596,2167,779,0,0,0,0,0,0
$GC,9568,0.92,524.5,416.8,9.9,721,9585,0.00,1.10,11.02,0.647,4,0.000,0.035,2599,1464,729,0,0,0,0,0,0
$GC,9676,0.94,536.6,406.1,9.8,730,9694,0.00,1.08,11.05,0.610,6,0.000,0.029,2599,2176,680,0,0,0,0,0,0
$GC,10013,0.95,545.1,370.9,10.0,762,10026,0.00,1.12,8.15,0.584,4,0.000,0.033,2603,1464,646,0,0,0,0,0,0
$GC,10085,0.95,546.3,363.7,10.3,768,10089,0.00,1.05,0.00,0.000,6,0.000,0.030,2603,2159,645,0,0,0,0,0,0
$GC,10417,0.95,546.3,326.5,11.5,799,10420,0.00,1.05,0.00,0.000,4,0.000,0.037,2603,2857,645,0,0,0,0,0,0
$GC,10509,0.95,546.3,315.4,12.4,807,10513,0.00,1.02,0.00,0.000,6,0.000,0.028,2607,2166,645,0,0,0,0,0,0
$GC,10840,0.95,546.3,276.0,11.5,838,10844,0.00,1.02,0.00,0.000,4,0.000,0.036,2611,1479,646,0,0,0,0,0,0
$GC,10890,0.95,546.3,270.0,12.4,842,10898,0.00,1.02,0.00,0.000,6,0.000,0.030,2611,2161,646,0,0,0,0,0,0
$GC,11215,0.95,546.3,234.8,11.4,873,11219,0.00,1.02,0.00,0.000,4,0.000,0.033,2614,1478,647,0,0,0,0,0,0
$GC,11290,0.95,546.3,226.0,12.6,879,11296,0.00,1.05,0.00,0.000,6,0.000,0.030,2614,2172,647,0,0,0,0,0,0
$GC,11621,0.98,573.6,189.4,9.2,919,11647,0.00,0.00,23.52,0.552,6,0.000,0.000,2613,2171,529,0,0,0,0,0,0
$GC,11785,1.01,598.1,174.4,9.3,947,11810,0.00,1.02,18.80,0.513,4,0.000,0.033,2614,2867,440,0,0,0,0,0,0
$GC,12066,1.01,598.1,139.3,13.9,996,12074,0.00,1.05,2.90,0.288,6,0.000,0.029,2614,2170,439,0,0,0,0,0,0
$GC,12210,1.01,598.1,122.2,10.6,1021,12217,0.00,1.05,0.00,0.000,4,0.000,0.033,2614,2863,439,0,0,0,0,0,0
$GC,12472,1.01,598.1,91.7,12.6,1067,12480,0.00,1.05,0.03,0.197,6,0.000,0.028,2614,2162,440,0,0,0,0,0,0
$GC,12617,1.01,598.1,75.0,10.5,1092,12625,0.00,1.12,1.95,0.077,4,0.000,0.032,2614,2871,441,0,0,0,0,0,0
$GC,12881,1.01,598.1,47.9,11.5,1138,12889,0.00,1.05,2.47,0.199,6,0.000,0.028,2614,2163,440,0,0,0,0,0,0
$GC,13025,1.01,598.1,30.9,12.1,1163,13032,0.00,1.05,0.00,0.000,4,0.000,0.031,2614,2864,441,0,0,0,0,0,0
$GC,13254,1.01,598.1,3.4,12.8,1203,13262,0.00,1.02,2.00,0.069,6,0.000,0.024,2613,2149,440,0,0,0,0,0,0
$STATE,13266,end climb,SURFACE_DEPTH_REACHED
$STATE,13267,begin surface coast
$FINISH,0.4,1.011771
$STATE,13290,end surface coast,CONTROL_FINISHED_OK
$STATE,13290,begin surface
$SM_CCo,13367,0.00,0.000,0,0,440,596.08
$SM_GC,1.24,6.28,0.00,0.00,0.034,0.000,0.000,209,2633,440,-6.45,1.22,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12035.12,161011,020203
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.16
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,21.6,110.574
$10V_AH,9.8,81.680
$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,16.125,64.475,617.925,0.000,0.000,31.066,42.769,164.133,0.500,0.000,14.219,3036.198,7368.479,670.866,2302.539,360.586,0.000,1828.578,0.000,2065.028,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,52.785,927.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,830.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70246,1209
$CAP_FILE_SIZE,144034,0
$CFSIZE,260165632,191356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,  4.2,1
$GPS,161011,095746,2154.554,12030.031,7,4.3,26,-2.7