version: 66.09
glider: 181
mission: 6
dive: 671
start: 10 17 111 1 23 10
data:
$ID,181
$MISSION,6
$DIVE,671
$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,-41438.02
$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,35
$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
$GPS1,171011,011701,2150.133,12029.772,38,1.3,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.4
$GPS2,171011,012244,2149.978,12029.805,10,1.9,10,-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,218.5,52091,-16.5,-10.313
$D_GRID,683
$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,16,-0.49,-170.3,0.0,0.0,0,80,0.00,0.00,-61.72,0.000,2,0.000,0.000,156,2583,2229,0,0,0,0,0,0
$GC,83,-0.49,-170.3,3.1,-3.3,10,127,8.15,1.05,-30.40,0.000,4,0.217,0.052,2134,1859,3566,0,0,0,0,0,0
$GC,208,-0.49,-170.3,34.9,-28.1,31,215,0.00,1.12,0.00,0.000,6,0.000,0.037,2130,2593,3566,0,0,0,0,0,0
$GC,353,-0.49,-170.3,77.5,-26.5,56,360,0.00,1.05,0.00,0.000,4,0.000,0.039,2125,3290,3563,0,0,0,0,0,0
$GC,479,-0.49,-170.3,103.6,-18.2,78,485,0.00,1.02,0.00,0.000,6,0.000,0.023,2125,2585,3562,0,0,0,0,0,0
$GC,622,-0.49,-170.3,129.2,-19.6,103,628,0.00,0.95,0.00,0.000,4,0.000,0.024,2124,1870,3561,0,0,0,0,0,0
$GC,657,-0.49,-170.3,135.8,-17.8,109,665,0.00,1.10,0.00,0.000,6,0.000,0.034,2119,2595,3562,0,0,0,0,0,0
$GC,802,-0.49,-170.3,160.1,-17.9,134,809,0.00,1.05,0.00,0.000,4,0.000,0.038,2114,3298,3561,0,0,0,0,0,0
$GC,889,-0.49,-170.3,176.5,-17.5,149,897,0.00,1.02,0.00,0.000,6,0.000,0.023,2114,2583,3562,0,0,0,0,0,0
$GC,1032,-0.49,-170.3,198.5,-13.8,174,1038,0.00,0.95,0.00,0.000,4,0.000,0.024,2114,1879,3562,0,0,0,0,0,0
$GC,1205,-0.49,-170.3,223.5,-15.0,190,1209,0.00,1.08,0.00,0.000,6,0.000,0.034,2111,2591,3561,0,0,0,0,0,0
$GC,1536,-0.49,-170.3,276.5,-15.9,221,1540,0.12,1.08,0.00,0.000,4,0.164,0.038,2140,3292,3559,0,0,0,0,0,0
$GC,1581,-0.49,-170.3,283.0,-13.9,225,1584,0.00,1.02,0.00,0.000,6,0.000,0.024,2140,2582,3559,0,0,0,0,0,0
$GC,1912,-0.49,-170.3,321.1,-11.2,256,1915,0.00,1.10,0.00,0.000,4,0.000,0.040,2136,3292,3558,0,0,0,0,0,0
$GC,2029,-0.49,-170.3,334.3,-10.6,266,2036,0.00,1.00,0.00,0.000,6,0.000,0.024,2135,2588,3557,0,0,0,0,0,0
$GC,2354,-0.49,-170.3,368.3,-11.0,297,2358,0.00,0.98,0.00,0.000,4,0.000,0.024,2136,1869,3555,0,0,0,0,0,0
$GC,2377,-0.49,-170.3,370.9,-11.2,299,2381,0.00,1.10,0.00,0.000,6,0.000,0.035,2130,2590,3554,0,0,0,0,0,0
$GC,2709,-0.49,-170.3,415.1,-13.6,330,2712,0.00,1.02,0.00,0.000,4,0.000,0.027,2130,1880,3551,0,0,0,0,0,0
$GC,2747,-0.49,-170.3,420.6,-13.4,333,2755,0.00,1.08,0.00,0.000,6,0.000,0.035,2125,2589,3550,0,0,0,0,0,0
$GC,3073,-0.49,-170.3,461.8,-11.9,364,3076,0.00,1.00,0.00,0.000,4,0.000,0.026,2125,1882,3548,0,0,0,0,0,0
$GC,3107,-0.49,-170.3,465.8,-11.5,367,3111,0.00,1.10,0.00,0.000,6,0.000,0.037,2120,2596,3547,0,0,0,0,0,0
$GC,3437,-0.49,-170.3,506.2,-12.8,396,3441,0.00,1.00,0.00,0.000,4,0.000,0.026,2120,1889,3544,0,0,0,0,0,0
$GC,3488,-0.49,-170.3,512.6,-12.5,398,3492,0.00,1.08,0.00,0.000,6,0.000,0.038,2116,2585,3543,0,0,0,0,0,0
$GC,3816,-0.49,-170.3,556.0,-13.0,414,3820,0.00,1.00,0.00,0.000,4,0.000,0.027,2115,1883,3540,0,0,0,0,0,0
$GC,3843,-0.49,-170.3,559.7,-12.5,415,3848,0.00,1.10,0.00,0.000,6,0.000,0.038,2112,2588,3540,0,0,0,0,0,0
$GC,4172,-0.49,-170.3,600.0,-12.1,431,4177,0.12,1.10,0.00,0.000,4,0.168,0.044,2141,3288,3537,0,0,0,0,0,0
$GC,4233,-0.49,-170.3,607.0,-10.6,433,4241,0.00,1.02,0.00,0.000,6,0.000,0.026,2140,2589,3537,0,0,0,0,0,0
$GC,4550,-0.49,-170.3,640.9,-11.1,449,4554,0.00,0.98,0.00,0.000,4,0.000,0.028,2140,1894,3533,0,0,0,0,0,0
$GC,4622,-0.49,-170.3,649.5,-11.0,452,4626,0.00,1.08,0.00,0.000,6,0.000,0.038,2138,2585,3533,0,0,0,0,0,0
$STATE,4906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4907,begin apogee
$GC,4914,-0.13,0.0,683.6,11.6,466,5046,0.35,0.00,126.05,0.857,6,0.122,0.000,2252,2158,2868,0,0,0,0,0,0
$STATE,5047,end apogee,CONTROL_FINISHED_OK
$STATE,5047,begin climb
$GC,5049,0.49,170.3,690.0,0.0,472,5190,0.57,1.05,131.70,0.836,4,0.085,0.030,2459,1466,2174,0,0,0,0,0,0
$GC,5266,0.59,258.7,682.0,6.7,482,5339,0.00,1.10,68.38,0.821,6,0.000,0.031,2459,2181,1814,0,0,0,0,0,0
$GC,5656,0.74,381.0,657.5,5.3,501,5763,0.22,1.10,94.32,0.822,4,0.060,0.037,2560,2862,1314,0,0,0,0,0,0
$GC,5804,0.78,406.2,644.2,9.3,507,5832,0.00,1.05,20.75,0.763,6,0.000,0.027,2565,2156,1213,0,0,0,0,0,0
$GC,6142,0.78,407.4,610.8,10.3,524,6146,0.00,1.00,0.00,0.000,4,0.000,0.033,2570,1478,1212,0,0,0,0,0,0
$GC,6171,0.78,407.4,607.5,10.5,525,6174,0.00,1.05,0.00,0.000,6,0.000,0.031,2570,2169,1212,0,0,0,0,0,0
$GC,6498,0.78,407.4,572.2,10.8,541,6501,0.00,1.05,0.00,0.000,4,0.000,0.037,2570,2865,1210,0,0,0,0,0,0
$GC,6531,0.78,407.4,568.4,10.6,542,6535,0.00,1.02,0.00,0.000,6,0.000,0.026,2574,2177,1210,0,0,0,0,0,0
$GC,6854,0.78,407.4,532.9,11.5,558,6858,0.00,1.05,0.00,0.000,4,0.000,0.034,2580,1467,1208,0,0,0,0,0,0
$GC,6865,0.78,407.4,531.4,11.5,558,6868,0.00,1.05,0.00,0.000,6,0.000,0.031,2580,2162,1208,0,0,0,0,0,0
$GC,7187,0.78,407.4,496.5,10.6,575,7190,0.00,1.05,0.00,0.000,4,0.000,0.032,2584,1462,1208,0,0,0,0,0,0
$GC,7261,0.78,407.4,487.9,11.8,581,7270,0.10,1.08,0.00,0.000,6,0.117,0.030,2550,2174,1208,0,0,0,0,0,0
$GC,7589,0.81,437.7,457.6,9.1,612,7617,0.00,1.10,24.70,0.708,4,0.000,0.037,2549,2870,1083,0,0,0,0,0,0
$GC,7700,0.82,441.3,446.8,10.2,621,7713,0.00,1.05,5.82,0.535,6,0.000,0.028,2552,2167,1069,0,0,0,0,0,0
$GC,8030,0.83,451.7,414.4,9.9,652,8046,0.00,1.05,10.23,0.630,4,0.000,0.035,2556,1478,1027,0,0,0,0,0,0
$GC,8103,0.85,464.4,407.5,9.8,658,8121,0.00,1.05,11.25,0.607,6,0.000,0.029,2556,2169,975,0,0,0,0,0,0
$GC,8441,0.91,511.6,376.6,8.4,690,8487,0.10,1.10,36.83,0.657,4,0.097,0.031,2608,1467,781,0,0,0,0,0,0
$GC,8559,0.91,514.4,364.7,10.2,700,8567,0.00,1.05,3.85,0.403,6,0.000,0.028,2608,2162,772,0,0,0,0,0,0
$GC,8885,0.91,514.4,332.0,10.6,731,8888,0.00,1.05,0.00,0.000,4,0.000,0.037,2608,2861,772,0,0,0,0,0,0
$GC,8956,0.91,514.4,323.8,11.9,737,8964,0.00,1.05,0.00,0.000,6,0.000,0.028,2612,2158,772,0,0,0,0,0,0
$GC,9282,0.98,573.3,294.5,7.9,768,9332,0.00,1.10,45.58,0.614,4,0.000,0.035,2617,1461,532,0,0,0,0,0,0
$GC,9584,1.02,603.4,268.0,9.1,794,9608,0.00,1.08,19.67,0.578,6,0.000,0.030,2617,2166,439,0,0,0,0,0,0
$GC,9927,1.04,618.0,234.4,9.7,826,9931,0.00,1.05,0.43,0.100,4,0.000,0.032,2617,2859,442,0,0,0,0,0,0
$GC,9940,1.05,626.6,233.1,10.0,827,9946,0.00,1.05,2.40,0.226,6,0.000,0.028,2617,2160,439,0,0,0,0,0,0
$GC,10268,1.05,626.6,195.8,11.6,860,10275,0.00,1.02,0.00,0.000,4,0.000,0.034,2617,1467,441,0,0,0,0,0,0
$GC,10350,1.05,626.6,186.5,11.0,874,10358,0.00,1.05,0.25,0.091,6,0.000,0.028,2617,2169,441,0,0,0,0,0,0
$GC,10495,1.05,632.2,172.1,10.1,899,10503,0.00,1.00,1.02,0.086,4,0.000,0.033,2617,2858,441,0,0,0,0,0,0
$GC,10758,1.05,632.2,146.0,10.7,945,10766,0.00,1.02,0.28,0.089,6,0.000,0.028,2618,2169,443,0,0,0,0,0,0
$GC,10903,1.08,651.2,130.5,9.5,970,10911,0.00,1.10,2.58,0.238,4,0.000,0.032,2617,2864,439,0,0,0,0,0,0
$GC,11053,1.08,654.8,115.9,10.2,996,11061,0.00,1.02,0.10,0.110,6,0.000,0.028,2617,2171,440,0,0,0,0,0,0
$GC,11199,1.09,664.2,100.7,9.9,1021,11206,0.10,0.00,0.93,0.083,6,0.124,0.000,2653,2171,441,0,0,0,0,0,0
$GC,11344,1.13,695.4,87.4,9.0,1046,11352,0.00,1.02,0.62,0.088,4,0.000,0.030,2653,2865,442,0,0,0,0,0,0
$GC,11468,1.14,702.4,75.4,10.0,1067,11476,0.00,1.02,2.47,0.202,6,0.000,0.028,2653,2170,440,0,0,0,0,0,0
$GC,11613,1.14,702.4,60.8,10.7,1092,11620,0.00,1.05,0.03,0.326,4,0.000,0.033,2654,2859,441,0,0,0,0,0,0
$GC,11701,1.14,702.4,51.3,11.1,1107,11708,0.00,1.02,0.08,0.122,6,0.000,0.028,2654,2165,442,0,0,0,0,0,0
$GC,11847,1.14,702.4,35.1,10.9,1132,11855,0.00,1.10,2.42,0.187,4,0.000,0.032,2653,2862,440,0,0,0,0,0,0
$GC,11936,1.14,702.4,24.7,12.0,1147,11943,0.00,1.02,0.03,0.198,6,0.000,0.028,2654,2165,441,0,0,0,0,0,0
$GC,12081,1.14,702.4,8.1,10.9,1172,12088,0.00,1.02,0.88,0.080,4,0.000,0.028,2654,2864,442,0,0,0,0,0,0
$STATE,12127,end climb,SURFACE_DEPTH_REACHED
$STATE,12127,begin surface coast
$FINISH,0.5,1.019783
$STATE,12156,end surface coast,CONTROL_FINISHED_OK
$STATE,12156,begin surface
$SM_CCo,12233,0.00,0.000,0,0,443,595.10
$SM_GC,1.39,6.43,0.00,0.00,0.037,0.000,0.000,198,2571,443,-6.45,-0.51,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2143.45,12033.94,161011,212117
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.0,111.352
$10V_AH,9.8,82.066
$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,16.275,69.150,613.625,0.000,0.000,27.819,39.820,133.800,0.500,0.000,13.055,2978.041,6286.667,684.259,2259.752,361.196,0.000,1843.963,0.000,2043.431,0.000,0.540,0.000
$DEVICE_MAMPS,217.260,52.020,856.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,811.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321660
$DATA_FILE_SIZE,66917,1185
$CAP_FILE_SIZE,147777,0
$CFSIZE,260165632,190988288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240, 30.3,1
$GPS,171011,044824,2148.876,12028.801,40,1.0,41,-2.7