version: 66.09
glider: 181
mission: 6
dive: 610
start: 10 6 111 18 0 38
data:
$ID,181
$MISSION,6
$DIVE,610
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,-41358.047
$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,62
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,061011,175425,2141.920,11952.647,39,1.8,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.4
$GPS2,061011,180013,2141.982,11952.531,11,1.8,11,-2.6
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$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,57.8,14011,-17.4,-11.786
$D_GRID,2899
$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,-0.53,-194.6,0.0,0.0,0,85,0.00,0.00,-64.97,0.000,2,0.000,0.000,127,2624,2300,0,0,0,0,0,0
$GC,88,-0.53,-194.6,3.5,-3.6,11,133,8.40,1.10,-29.73,0.000,4,0.226,0.050,2120,1865,3665,0,0,0,0,0,0
$GC,168,-0.53,-194.6,26.2,-33.0,24,175,0.00,1.10,0.00,0.000,6,0.000,0.037,2117,2577,3665,0,0,0,0,0,0
$GC,310,-0.53,-194.6,73.6,-33.7,49,317,0.00,1.08,0.00,0.000,4,0.000,0.036,2111,3295,3662,0,0,0,0,0,0
$GC,458,-0.53,-194.6,117.6,-21.8,75,465,0.00,0.95,0.00,0.000,6,0.000,0.023,2111,2625,3661,0,0,0,0,0,0
$GC,603,-0.53,-194.6,147.8,-22.1,100,609,0.00,1.00,0.00,0.000,4,0.000,0.023,2111,1878,3660,0,0,0,0,0,0
$GC,663,-0.53,-194.6,158.4,-16.7,110,669,0.00,1.12,0.00,0.000,6,0.000,0.034,2106,2621,3660,0,0,0,0,0,0
$GC,807,-0.53,-194.6,184.0,-18.5,135,813,0.00,1.00,0.00,0.000,4,0.000,0.037,2101,3290,3660,0,0,0,0,0,0
$GC,958,-0.53,-194.6,212.9,-18.9,156,965,0.00,0.93,0.00,0.000,6,0.000,0.022,2101,2628,3660,0,0,0,0,0,0
$GC,1283,-0.53,-194.6,270.6,-16.4,187,1287,0.00,1.00,0.00,0.000,4,0.000,0.024,2100,1887,3660,0,0,0,0,0,0
$GC,1411,-0.53,-194.6,290.1,-14.8,198,1415,0.08,1.10,0.00,0.000,6,0.136,0.035,2121,2612,3660,0,0,0,0,0,0
$GC,1744,-0.53,-194.6,336.1,-13.4,229,1748,0.00,1.00,0.00,0.000,4,0.000,0.024,2121,1893,3657,0,0,0,0,0,0
$GC,1779,-0.53,-194.6,341.1,-13.2,232,1783,0.00,1.10,0.00,0.000,6,0.000,0.035,2118,2615,3657,0,0,0,0,0,0
$GC,2110,-0.53,-194.6,385.7,-13.6,263,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2615,3654,0,0,0,0,0,0
$GC,2432,-0.53,-194.6,427.2,-12.2,293,2435,0.00,1.02,0.00,0.000,4,0.000,0.041,2113,3288,3650,0,0,0,0,0,0
$GC,2448,-0.53,-194.6,429.9,-12.1,294,2455,0.00,0.95,0.00,0.000,6,0.000,0.024,2113,2621,3650,0,0,0,0,0,0
$GC,2773,-0.53,-194.6,473.7,-14.2,325,2777,0.00,1.02,0.00,0.000,4,0.000,0.025,2113,1886,3646,0,0,0,0,0,0
$GC,2857,-0.53,-194.6,485.5,-13.3,332,2864,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2597,3646,0,0,0,0,0,0
$GC,3186,-0.53,-194.6,533.7,-14.8,353,3190,0.00,1.08,0.00,0.000,4,0.000,0.041,2107,3300,3641,0,0,0,0,0,0
$GC,3301,-0.53,-194.6,551.2,-15.5,358,3304,0.00,0.98,0.00,0.000,6,0.000,0.025,2107,2622,3641,0,0,0,0,0,0
$GC,3634,-0.53,-194.6,603.0,-14.9,374,3637,0.00,1.02,0.00,0.000,4,0.000,0.026,2107,1886,3638,0,0,0,0,0,0
$GC,3713,-0.53,-194.6,614.5,-13.1,377,3716,0.00,1.12,0.00,0.000,6,0.000,0.037,2101,2615,3637,0,0,0,0,0,0
$GC,4034,-0.53,-194.6,661.3,-14.1,393,4038,0.00,1.02,0.00,0.000,4,0.000,0.026,2101,1891,3633,0,0,0,0,0,0
$GC,4083,-0.53,-194.6,668.0,-13.0,395,4088,0.08,1.12,0.00,0.000,6,0.138,0.039,2122,2612,3633,0,0,0,0,0,0
$GC,4412,-0.53,-194.6,708.1,-12.8,411,4416,0.00,1.02,0.00,0.000,4,0.000,0.027,2121,1897,3630,0,0,0,0,0,0
$GC,4458,-0.53,-194.6,714.4,-13.2,413,4461,0.00,1.10,0.00,0.000,6,0.000,0.039,2118,2605,3630,0,0,0,0,0,0
$GC,4791,-0.53,-194.6,760.0,-13.9,429,4794,0.00,1.02,0.00,0.000,4,0.000,0.027,2118,1889,3627,0,0,0,0,0,0
$GC,4830,-0.53,-194.6,765.8,-14.5,430,4837,0.00,1.12,0.00,0.000,6,0.000,0.039,2113,2608,3626,0,0,0,0,0,0
$GC,5147,-0.53,-194.6,811.5,-14.4,446,5150,0.00,1.02,0.00,0.000,4,0.000,0.027,2113,1896,3624,0,0,0,0,0,0
$GC,5180,-0.53,-194.6,816.5,-14.6,447,5184,0.00,1.10,0.00,0.000,6,0.000,0.041,2112,2596,3623,0,0,0,0,0,0
$GC,5504,-0.53,-194.6,861.6,-14.1,463,5508,0.00,1.02,0.00,0.000,4,0.000,0.027,2112,1883,3621,0,0,0,0,0,0
$GC,5537,-0.53,-194.6,866.8,-14.0,464,5541,0.00,1.12,0.00,0.000,6,0.000,0.039,2111,2601,3621,0,0,0,0,0,0
$GC,5860,-0.53,-194.6,907.9,-12.3,480,5864,0.00,1.08,0.00,0.000,4,0.000,0.045,2106,3294,3619,0,0,0,0,0,0
$GC,5929,-0.53,-194.6,916.1,-11.3,483,5932,0.00,1.00,0.00,0.000,6,0.000,0.026,2106,2607,3618,0,0,0,0,0,0
$GC,6262,-0.53,-194.6,956.4,-12.3,499,6265,0.00,1.00,0.00,0.000,4,0.000,0.027,2106,1890,3616,0,0,0,0,0,0
$GC,6318,-0.53,-194.6,963.4,-12.2,501,6322,0.00,1.12,0.00,0.000,6,0.000,0.041,2101,2606,3616,0,0,0,0,0,0
$STATE,6555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6555,begin apogee
$GC,6561,-0.13,0.0,992.4,12.0,513,6716,0.47,0.00,148.23,1.060,4,0.130,0.000,2250,2160,2870,0,0,0,0,0,0
$STATE,6716,end apogee,CONTROL_FINISHED_OK
$STATE,6717,begin climb
$GC,6719,0.53,194.6,998.0,0.0,520,6886,0.62,1.10,156.88,1.040,4,0.083,0.032,2469,1455,2075,0,0,0,0,0,0
$GC,6926,0.64,284.8,986.8,8.1,529,7006,0.08,1.12,72.93,1.016,6,0.060,0.031,2517,2175,1706,0,0,0,0,0,0
$GC,7332,0.69,326.5,943.7,10.1,549,7369,0.00,1.12,33.83,0.985,4,0.000,0.040,2516,2866,1538,0,0,0,0,0,0
$GC,7487,0.73,359.7,927.5,10.4,555,7525,0.00,1.05,28.52,0.962,6,0.000,0.027,2522,2163,1401,0,0,0,0,0,0
$GC,7833,0.83,438.0,896.8,8.6,572,7902,0.12,1.12,63.53,0.981,4,0.091,0.034,2580,2856,1084,0,0,0,0,0,0
$GC,7924,0.84,445.8,886.2,11.5,576,7937,0.00,1.05,9.43,0.816,6,0.000,0.026,2584,2169,1051,0,0,0,0,0,0
$GC,8247,0.84,445.8,847.7,12.6,592,8250,0.00,1.05,0.00,0.000,4,0.000,0.036,2590,1473,1052,0,0,0,0,0,0
$GC,8307,0.87,471.7,840.8,10.7,594,8336,0.00,1.17,22.80,0.917,6,0.000,0.030,2590,2237,946,0,0,0,0,0,0
$GC,8647,0.91,502.1,804.3,10.5,611,8678,0.00,1.15,26.73,0.908,4,0.000,0.031,2592,1478,821,0,0,0,0,0,0
$GC,8754,0.92,511.0,792.6,11.4,616,8768,0.00,1.25,9.15,0.780,6,0.000,0.029,2592,2288,786,0,0,0,0,0,0
$GC,9088,0.94,530.3,756.4,11.0,632,9110,0.00,0.93,16.88,0.855,4,0.000,0.036,2592,2873,706,0,0,0,0,0,0
$GC,9207,0.98,558.7,743.5,10.6,637,9235,0.00,0.80,24.15,0.861,6,0.000,0.029,2592,2341,591,0,0,0,0,0,0
$GC,9554,1.00,577.8,705.4,11.0,654,9577,0.00,0.85,16.48,0.828,4,0.000,0.034,2592,2870,512,0,0,0,0,0,0
$GC,9768,1.00,577.8,679.9,12.3,663,9772,0.00,0.88,0.00,0.000,6,0.000,0.028,2592,2289,510,0,0,0,0,0,0
$GC,10090,1.00,577.8,637.9,13.1,679,10094,0.00,0.88,0.00,0.000,4,0.000,0.037,2592,2861,511,0,0,0,0,0,0
$GC,10347,1.00,577.8,603.0,13.2,690,10351,0.00,0.82,0.00,0.000,6,0.000,0.028,2592,2301,511,0,0,0,0,0,0
$GC,10669,1.00,577.8,563.2,12.3,706,10673,0.00,0.85,0.00,0.000,4,0.000,0.037,2592,2861,511,0,0,0,0,0,0
$GC,10822,1.00,577.8,543.9,12.8,712,10829,0.00,0.80,0.00,0.000,6,0.000,0.028,2592,2318,511,0,0,0,0,0,0
$GC,11138,1.00,577.8,505.0,12.4,728,11142,0.00,1.25,0.00,0.000,4,0.000,0.031,2592,1478,512,0,0,0,0,0,0
$GC,11277,1.00,580.1,488.3,11.7,738,11290,0.00,1.30,3.75,0.516,6,0.000,0.025,2592,2342,503,0,0,0,0,0,0
$GC,11607,1.00,580.1,449.0,12.0,769,11611,0.00,0.77,0.00,0.000,4,0.000,0.038,2592,2864,504,0,0,0,0,0,0
$GC,11868,1.00,580.1,415.6,12.9,792,11871,0.00,0.75,0.00,0.000,6,0.000,0.027,2592,2344,506,0,0,0,0,0,0
$GC,12199,1.00,580.1,372.8,12.9,823,12203,0.00,1.30,0.00,0.000,4,0.000,0.033,2592,1476,506,0,0,0,0,0,0
$GC,12424,1.00,580.1,343.1,13.1,843,12428,0.00,1.33,0.00,0.000,6,0.000,0.028,2593,2352,507,0,0,0,0,0,0
$GC,12755,1.02,592.1,301.2,11.3,874,12771,0.10,0.75,12.00,0.623,4,0.117,0.033,2638,2869,454,0,0,0,0,0,0
$GC,13026,1.02,592.1,269.5,11.9,898,13030,0.00,0.75,0.00,0.000,6,0.000,0.028,2638,2362,454,0,0,0,0,0,0
$GC,13358,1.02,593.4,230.6,11.7,929,13362,0.00,1.33,0.00,0.000,4,0.000,0.032,2638,1478,455,0,0,0,0,0,0
$GC,13472,1.03,604.8,217.8,11.3,939,13485,0.00,1.40,5.00,0.478,6,0.000,0.028,2638,2390,439,0,0,0,0,0,0
$GC,13813,1.05,615.4,179.9,11.4,985,13820,0.00,0.70,0.00,0.000,4,0.000,0.037,2639,2869,439,0,0,0,0,0,0
$GC,13952,1.05,615.4,162.0,13.1,1009,13959,0.00,0.65,0.00,0.000,6,0.000,0.028,2638,2415,440,0,0,0,0,0,0
$GC,14099,1.09,651.4,145.3,10.3,1034,14106,0.00,1.40,0.00,0.000,4,0.000,0.031,2638,1477,440,0,0,0,0,0,0
$GC,14363,1.10,659.4,114.5,11.5,1080,14371,0.00,1.45,0.12,0.105,6,0.000,0.029,2638,2421,441,0,0,0,0,0,0
$GC,14507,1.11,666.3,98.7,11.5,1105,14515,0.00,1.40,0.85,0.086,4,0.000,0.027,2638,1473,441,0,0,0,0,0,0
$GC,14615,1.18,720.6,88.3,9.6,1123,14624,0.08,1.45,2.28,0.172,6,0.086,0.028,2677,2421,440,0,0,0,0,0,0
$GC,14761,1.26,788.8,74.8,9.0,1148,14767,0.00,0.65,0.00,0.000,4,0.000,0.038,2677,2868,440,0,0,0,0,0,0
$GC,14950,1.29,809.4,55.2,10.9,1181,14959,0.08,0.62,2.33,0.174,6,0.080,0.028,2716,2431,439,0,0,0,0,0,0
$GC,15097,1.34,850.5,40.1,10.1,1206,15104,0.00,0.65,0.05,0.256,4,0.000,0.034,2715,2866,441,0,0,0,0,0,0
$GC,15360,1.40,904.1,14.7,9.6,1252,15368,0.08,0.60,2.47,0.186,6,0.074,0.027,2758,2435,439,0,0,0,0,0,0
$STATE,15485,end climb,SURFACE_DEPTH_REACHED
$STATE,15485,begin surface coast
$FINISH,0.6,1.020770
$STATE,15519,end surface coast,CONTROL_FINISHED_OK
$STATE,15520,begin surface
$SM_CCo,15598,0.00,0.000,0,0,441,595.59
$SM_GC,1.42,6.65,0.00,0.00,0.035,0.000,0.000,199,2629,441,-6.47,1.10,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,11949.01,061011,131343
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.85
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,101.550
$10V_AH,9.8,77.216
$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,16.825,75.025,658.350,0.000,0.000,25.456,47.638,133.613,0.000,0.000,14.004,3313.307,8846.971,704.639,2694.042,376.379,0.000,2065.501,0.000,2458.885,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,49.725,1059.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,884.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,73594,1280
$CAP_FILE_SIZE,168794,0
$CFSIZE,260165632,195678208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,111.7,1
$GPS,061011,222155,2143.039,11952.469,40,0.9,40,-2.6