version: 66.09
glider: 181
mission: 6
dive: 668
start: 10 16 111 14 6 44
data:
$ID,181
$MISSION,6
$DIVE,668
$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,-41434.047
$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,57
$R_STBD_OVSHOOT,51
$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
$GPS1,161011,135804,2153.760,12028.813,8,2.7,27,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-63.5
$GPS2,161011,140619,2153.670,12028.814,10,1.2,15,-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,214.3,52101,-16.5,-10.312
$D_GRID,862
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.49,-170.3,0.0,0.0,0,83,0.00,0.00,-62.05,0.000,2,0.000,0.000,127,2608,2195,0,0,0,0,0,0
$GC,86,-0.49,-170.3,3.2,-2.9,10,131,8.43,1.10,-31.55,0.000,4,0.220,0.050,2136,1861,3565,0,0,0,0,0,0
$GC,233,-0.49,-170.3,41.4,-26.8,35,240,0.00,1.10,0.00,0.000,6,0.000,0.036,2132,2572,3565,0,0,0,0,0,0
$GC,376,-0.49,-170.3,84.3,-26.2,60,384,0.00,1.10,0.00,0.000,4,0.000,0.038,2127,3300,3563,0,0,0,0,0,0
$GC,604,-0.49,-170.3,134.7,-18.8,100,612,0.00,1.05,0.00,0.000,6,0.000,0.024,2127,2583,3561,0,0,0,0,0,0
$GC,749,-0.49,-170.3,157.9,-16.3,125,756,0.00,0.98,0.00,0.000,4,0.000,0.024,2126,1872,3561,0,0,0,0,0,0
$GC,847,-0.49,-170.3,172.5,-14.0,142,854,0.00,1.10,0.00,0.000,6,0.000,0.036,2121,2594,3561,0,0,0,0,0,0
$GC,990,-0.49,-170.3,192.8,-14.5,167,997,0.00,1.05,0.00,0.000,4,0.000,0.034,2116,3308,3561,0,0,0,0,0,0
$GC,1083,-0.49,-170.3,206.2,-15.3,180,1086,0.00,1.05,0.00,0.000,6,0.000,0.024,2116,2580,3561,0,0,0,0,0,0
$GC,1415,-0.49,-170.3,254.8,-14.9,211,1418,0.00,0.95,0.00,0.000,4,0.000,0.025,2116,1877,3560,0,0,0,0,0,0
$GC,1484,-0.49,-170.3,266.6,-17.1,217,1488,0.08,1.08,0.00,0.000,6,0.135,0.036,2136,2583,3560,0,0,0,0,0,0
$GC,1815,-0.49,-170.3,311.2,-12.5,248,1819,0.00,1.08,0.00,0.000,4,0.000,0.041,2132,3292,3559,0,0,0,0,0,0
$GC,1906,-0.49,-170.3,323.5,-13.0,256,1909,0.00,1.02,0.00,0.000,6,0.000,0.024,2132,2593,3558,0,0,0,0,0,0
$GC,2238,-0.49,-170.3,366.3,-10.9,287,2241,0.00,1.00,0.00,0.000,4,0.000,0.026,2133,1883,3555,0,0,0,0,0,0
$GC,2375,-0.49,-170.3,380.3,-9.6,299,2378,0.00,1.08,0.00,0.000,6,0.000,0.037,2127,2585,3554,0,0,0,0,0,0
$GC,2705,-0.49,-170.3,415.5,-11.7,330,2709,0.00,1.00,0.00,0.000,4,0.000,0.027,2127,1878,3551,0,0,0,0,0,0
$GC,2796,-0.49,-170.3,426.7,-12.0,338,2800,0.00,1.10,0.00,0.000,6,0.000,0.037,2122,2593,3549,0,0,0,0,0,0
$GC,3129,-0.49,-170.3,468.5,-11.9,369,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2593,3547,0,0,0,0,0,0
$GC,3446,-0.49,-170.3,503.0,-11.1,398,3450,0.00,1.08,0.00,0.000,4,0.000,0.044,2117,3291,3544,0,0,0,0,0,0
$GC,3470,-0.49,-170.3,506.0,-11.4,399,3474,0.00,1.02,0.00,0.000,6,0.000,0.026,2117,2590,3544,0,0,0,0,0,0
$GC,3804,-0.49,-170.3,548.1,-13.0,415,3807,0.00,0.98,0.00,0.000,4,0.000,0.027,2117,1889,3541,0,0,0,0,0,0
$GC,3898,-0.49,-170.3,560.9,-13.0,419,3902,0.00,1.08,0.00,0.000,6,0.000,0.038,2112,2583,3540,0,0,0,0,0,0
$GC,4226,-0.49,-170.3,604.3,-13.0,435,4231,0.12,1.12,0.00,0.000,4,0.168,0.044,2140,3295,3537,0,0,0,0,0,0
$GC,4276,-0.49,-170.3,610.6,-11.6,437,4280,0.00,1.05,0.00,0.000,6,0.000,0.026,2140,2583,3536,0,0,0,0,0,0
$GC,4604,-0.49,-170.3,648.1,-10.8,453,4607,0.00,0.98,0.00,0.000,4,0.000,0.028,2140,1891,3534,0,0,0,0,0,0
$GC,4673,-0.49,-170.3,655.4,-10.6,456,4677,0.00,1.10,0.00,0.000,6,0.000,0.040,2136,2595,3533,0,0,0,0,0,0
$GC,5006,-0.49,-170.3,694.5,-13.1,472,5010,0.00,1.02,0.00,0.000,4,0.000,0.027,2136,1881,3531,0,0,0,0,0,0
$GC,5055,-0.49,-170.3,701.1,-12.8,474,5059,0.00,1.10,0.00,0.000,6,0.000,0.039,2132,2590,3531,0,0,0,0,0,0
$GC,5384,-0.49,-170.3,745.0,-14.0,490,5387,0.00,1.08,0.00,0.000,4,0.000,0.044,2126,3287,3528,0,0,0,0,0,0
$GC,5411,-0.49,-170.3,749.5,-14.8,491,5415,0.00,1.02,0.00,0.000,6,0.000,0.028,2126,2597,3528,0,0,0,0,0,0
$GC,5739,-0.49,-170.3,799.8,-16.9,507,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2594,3526,0,0,0,0,0,0
$GC,6049,-0.49,-170.3,838.1,-10.4,522,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2593,3524,0,0,0,0,0,0
$GC,6358,-0.49,-170.3,854.5,-3.9,537,6362,0.00,1.00,0.00,0.000,4,0.000,0.029,2126,1893,3522,0,0,0,0,0,0
$GC,6436,-0.49,-170.3,861.8,-11.2,540,6440,0.00,1.10,0.00,0.000,6,0.000,0.042,2121,2590,3521,0,0,0,0,0,0
$STATE,6447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6447,begin apogee
$GC,6453,-0.13,0.0,863.1,11.7,541,6588,0.40,0.00,127.62,0.978,6,0.127,0.000,2248,2155,2868,0,0,0,0,0,0
$STATE,6589,end apogee,CONTROL_FINISHED_OK
$STATE,6589,begin climb
$GC,6591,0.49,170.3,878.9,0.0,547,6737,0.60,1.12,135.40,0.965,4,0.086,0.036,2461,1463,2174,0,0,0,0,0,0
$GC,6800,0.86,472.6,885.6,-2.0,556,7049,0.30,1.10,238.25,0.961,6,0.043,0.032,2590,2171,942,0,0,0,0,0,0
$GC,7354,0.86,472.6,819.6,12.4,583,7363,0.00,1.12,3.92,0.614,4,0.000,0.040,2590,2873,942,0,0,0,0,0,0
$GC,7491,0.86,472.6,803.7,10.6,589,7495,0.00,1.08,0.00,0.000,6,0.000,0.029,2595,2164,941,0,0,0,0,0,0
$GC,7824,0.86,472.6,767.7,10.8,605,7827,0.00,1.10,0.00,0.000,4,0.000,0.041,2595,2868,940,0,0,0,0,0,0
$GC,7862,0.86,472.6,762.9,11.9,606,7869,0.00,1.08,0.00,0.000,6,0.000,0.028,2600,2155,940,0,0,0,0,0,0
$GC,8180,0.91,516.0,731.3,8.5,622,8223,0.00,1.15,34.83,0.880,4,0.000,0.041,2601,2862,764,0,0,0,0,0,0
$GC,8341,0.94,542.2,716.9,9.2,629,8367,0.00,1.05,22.98,0.835,6,0.000,0.028,2605,2160,658,0,0,0,0,0,0
$GC,8693,0.94,542.2,679.7,11.8,646,8697,0.00,1.10,0.00,0.000,4,0.000,0.039,2606,2866,662,0,0,0,0,0,0
$GC,8761,0.94,542.2,669.4,15.3,649,8765,0.00,1.05,0.00,0.000,6,0.000,0.028,2610,2168,662,0,0,0,0,0,0
$GC,9095,0.94,542.2,618.6,15.3,665,9098,0.00,1.05,0.00,0.000,4,0.000,0.036,2615,1468,663,0,0,0,0,0,0
$GC,9150,0.94,542.2,609.7,15.9,667,9154,0.00,1.05,0.00,0.000,6,0.000,0.031,2615,2163,663,0,0,0,0,0,0
$GC,9472,0.94,542.2,567.1,11.9,683,9476,0.00,1.05,0.00,0.000,4,0.000,0.039,2615,2853,663,0,0,0,0,0,0
$GC,9529,0.94,542.2,559.6,13.3,685,9533,0.00,1.02,0.00,0.000,6,0.000,0.028,2619,2171,663,0,0,0,0,0,0
$GC,9850,0.94,542.2,518.3,13.0,701,9853,0.00,1.05,0.00,0.000,4,0.000,0.035,2624,1467,662,0,0,0,0,0,0
$GC,9866,0.94,542.2,515.9,13.3,701,9874,0.00,1.08,0.00,0.000,6,0.000,0.032,2625,2167,662,0,0,0,0,0,0
$GC,10191,0.94,542.2,471.6,13.3,726,10195,0.00,1.05,0.00,0.000,4,0.000,0.034,2629,1472,662,0,0,0,0,0,0
$GC,10264,0.94,542.2,460.1,14.9,732,10270,0.00,1.08,0.00,0.000,6,0.000,0.033,2629,2170,662,0,0,0,0,0,0
$GC,10591,0.94,542.2,414.2,12.7,763,10594,0.00,1.05,0.00,0.000,4,0.000,0.040,2629,2862,662,0,0,0,0,0,0
$GC,10626,0.94,542.2,409.7,12.5,766,10631,0.08,1.05,0.00,0.000,6,0.138,0.028,2608,2163,662,0,0,0,0,0,0
$GC,10956,0.94,542.2,370.6,11.7,797,10960,0.00,1.08,0.00,0.000,4,0.000,0.036,2608,2863,663,0,0,0,0,0,0
$GC,11035,0.94,542.2,361.1,12.1,804,11039,0.00,1.05,0.00,0.000,6,0.000,0.028,2611,2164,662,0,0,0,0,0,0
$GC,11366,0.94,542.2,326.4,10.5,835,11370,0.00,1.02,0.00,0.000,4,0.000,0.037,2616,1477,662,0,0,0,0,0,0
$GC,11402,0.94,542.2,322.6,11.0,838,11405,0.00,1.05,0.00,0.000,6,0.000,0.031,2616,2173,663,0,0,0,0,0,0
$GC,11733,0.94,542.2,283.7,11.9,869,11736,0.00,1.08,0.00,0.000,4,0.000,0.034,2620,1465,663,0,0,0,0,0,0
$GC,11815,0.94,542.2,273.6,12.2,876,11822,0.00,1.08,0.00,0.000,6,0.000,0.030,2620,2171,663,0,0,0,0,0,0
$GC,12141,0.94,542.2,236.0,10.5,907,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2171,664,0,0,0,0,0,0
$GC,12461,0.94,542.2,202.8,10.9,937,12465,0.00,1.08,0.00,0.000,4,0.000,0.035,2624,1466,665,0,0,0,0,0,0
$GC,12562,0.94,542.2,192.1,11.3,952,12569,0.00,1.05,0.00,0.000,6,0.000,0.031,2623,2161,666,0,0,0,0,0,0
$GC,12705,0.94,542.2,177.0,10.6,977,12713,0.00,1.05,0.00,0.000,4,0.000,0.035,2627,1470,665,0,0,0,0,0,0
$GC,12753,0.94,542.2,171.5,11.0,985,12761,0.00,1.05,0.00,0.000,6,0.000,0.030,2627,2165,666,0,0,0,0,0,0
$GC,12900,0.98,575.3,159.1,9.0,1010,12934,0.00,1.10,28.02,0.536,4,0.000,0.036,2627,2863,522,0,0,0,0,0,0
$GC,13189,0.98,575.3,126.4,12.0,1060,13196,0.00,1.05,0.00,0.000,6,0.000,0.029,2627,2164,523,0,0,0,0,0,0
$GC,13334,0.98,575.3,108.9,12.2,1085,13341,0.00,1.08,0.00,0.000,4,0.000,0.034,2627,2869,524,0,0,0,0,0,0
$GC,13597,1.04,622.0,80.7,8.4,1131,13623,0.00,1.05,17.42,0.500,6,0.000,0.027,2627,2158,438,0,0,0,0,0,0
$GC,13760,1.04,622.0,65.0,11.0,1159,13768,0.00,1.12,2.55,0.220,4,0.000,0.034,2627,2866,440,0,0,0,0,0,0
$GC,13951,1.04,622.0,43.5,11.5,1192,13959,0.00,1.05,2.17,0.151,6,0.000,0.027,2627,2157,440,0,0,0,0,0,0
$GC,14095,1.04,622.0,26.8,12.0,1217,14103,0.00,1.05,0.73,0.083,4,0.000,0.028,2627,2871,441,0,0,0,0,0,0
$GC,14227,1.05,630.2,12.9,10.0,1239,14235,0.00,1.05,2.40,0.181,6,0.000,0.027,2627,2160,440,0,0,0,0,0,0
$STATE,14308,end climb,SURFACE_DEPTH_REACHED
$STATE,14308,begin surface coast
$FINISH,0.6,1.009492
$STATE,14333,end surface coast,CONTROL_FINISHED_OK
$STATE,14333,begin surface
$SM_CCo,14410,0.00,0.000,0,0,440,595.83
$SM_GC,1.30,6.28,0.00,0.00,0.031,0.000,0.000,201,2620,440,-6.45,0.85,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12031.94,161011,141409
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.88
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,23.8,110.918
$10V_AH,9.8,81.842
$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,16.275,73.400,616.300,0.000,0.000,56.614,82.595,147.004,0.250,0.000,18.159,3186.193,8126.736,660.495,2544.585,379.118,0.000,1917.567,0.000,2235.891,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,50.490,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,865.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321676
$DATA_FILE_SIZE,73639,1257
$CAP_FILE_SIZE,155820,0
$CFSIZE,260165632,191197184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,  4.2,1
$GPS,161011,180806,2152.827,12027.884,31,1.1,31,-2.7