version: 66.09
glider: 181
mission: 6
dive: 648
start: 10 13 111 23 12 23
data:
$ID,181
$MISSION,6
$DIVE,648
$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,-7
$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,-41408.238
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,131011,230631,2159.624,12026.443,40,1.3,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.0
$GPS2,131011,231156,2159.508,12026.556,10,1.7,10,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,3.7,20438,-16.5,-10.312
$D_GRID,820
$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,-170.3,0.0,0.0,0,76,0.00,0.00,-57.45,0.000,2,0.000,0.000,197,2569,2129,0,0,0,0,0,0
$GC,79,-0.49,-170.3,3.0,-3.1,9,129,8.05,1.15,-33.97,0.000,4,0.221,0.067,2129,3295,3563,0,0,0,0,0,0
$GC,211,-0.49,-170.3,43.5,-41.9,31,218,0.00,1.05,0.00,0.000,6,0.000,0.024,2130,2570,3561,0,0,0,0,0,0
$GC,354,-0.49,-170.3,87.0,-28.9,56,361,0.00,0.93,0.00,0.000,4,0.000,0.023,2130,1883,3560,0,0,0,0,0,0
$GC,380,-0.49,-170.3,93.1,-24.2,60,387,0.00,1.10,0.00,0.000,6,0.000,0.035,2125,2600,3560,0,0,0,0,0,0
$GC,522,-0.49,-170.3,125.3,-20.4,85,528,0.00,1.00,0.00,0.000,4,0.000,0.023,2124,1879,3559,0,0,0,0,0,0
$GC,558,-0.49,-170.3,131.5,-17.3,91,565,0.00,1.08,0.00,0.000,6,0.000,0.034,2119,2591,3559,0,0,0,0,0,0
$GC,701,-0.49,-170.3,154.0,-15.5,116,707,0.00,0.98,0.00,0.000,4,0.000,0.024,2119,1880,3559,0,0,0,0,0,0
$GC,787,-0.49,-170.3,166.6,-14.5,131,795,0.00,1.08,0.00,0.000,6,0.000,0.034,2114,2591,3558,0,0,0,0,0,0
$GC,933,-0.49,-170.3,188.4,-14.8,156,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2591,3558,0,0,0,0,0,0
$GC,1077,-0.49,-170.3,209.8,-14.7,176,1081,0.00,1.05,0.00,0.000,4,0.000,0.039,2108,3290,3559,0,0,0,0,0,0
$GC,1157,-0.49,-170.3,221.2,-15.0,183,1161,0.10,1.00,0.00,0.000,6,0.139,0.023,2140,2580,3558,0,0,0,0,0,0
$GC,1487,-0.49,-170.3,264.5,-12.6,214,1490,0.00,0.93,0.00,0.000,4,0.000,0.024,2140,1884,3557,0,0,0,0,0,0
$GC,1536,-0.49,-170.3,270.5,-11.7,218,1544,0.00,1.08,0.00,0.000,6,0.000,0.034,2138,2589,3556,0,0,0,0,0,0
$GC,1862,-0.49,-170.3,308.1,-11.9,249,1866,0.00,0.98,0.00,0.000,4,0.000,0.024,2138,1885,3554,0,0,0,0,0,0
$GC,1908,-0.49,-170.3,313.4,-11.7,253,1912,0.00,1.08,0.00,0.000,6,0.000,0.036,2137,2587,3554,0,0,0,0,0,0
$GC,2239,-0.49,-170.3,352.5,-12.4,284,2243,0.00,0.98,0.00,0.000,4,0.000,0.025,2137,1887,3551,0,0,0,0,0,0
$GC,2289,-0.49,-170.3,359.3,-13.1,288,2296,0.00,1.08,0.00,0.000,6,0.000,0.036,2132,2589,3551,0,0,0,0,0,0
$GC,2615,-0.49,-170.3,406.4,-14.4,319,2618,0.00,0.98,0.00,0.000,4,0.000,0.025,2132,1896,3547,0,0,0,0,0,0
$GC,2661,-0.49,-170.3,413.0,-13.7,323,2664,0.00,1.05,0.00,0.000,6,0.000,0.037,2127,2583,3548,0,0,0,0,0,0
$GC,2993,-0.49,-170.3,456.7,-12.0,354,2996,0.00,1.08,0.00,0.000,4,0.000,0.042,2121,3286,3544,0,0,0,0,0,0
$GC,3053,-0.49,-170.3,464.4,-11.4,359,3061,0.00,1.00,0.00,0.000,6,0.000,0.024,2122,2589,3544,0,0,0,0,0,0
$GC,3389,-0.49,-170.3,503.1,-11.4,390,3393,0.00,0.98,0.00,0.000,4,0.000,0.026,2122,1885,3541,0,0,0,0,0,0
$GC,3507,-0.49,-170.3,516.8,-11.7,395,3511,0.00,1.10,0.00,0.000,6,0.000,0.037,2116,2591,3540,0,0,0,0,0,0
$GC,3834,-0.49,-170.3,556.3,-13.0,411,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2591,3537,0,0,0,0,0,0
$GC,4145,-0.49,-170.3,598.4,-13.4,426,4148,0.00,1.00,0.00,0.000,4,0.000,0.027,2116,1886,3534,0,0,0,0,0,0
$GC,4191,-0.49,-170.3,604.4,-12.8,428,4195,0.00,1.10,0.00,0.000,6,0.000,0.038,2112,2591,3534,0,0,0,0,0,0
$GC,4525,-0.49,-170.3,648.1,-13.5,444,4527,0.12,0.00,0.00,0.000,6,0.168,0.000,2144,2591,3532,0,0,0,0,0,0
$GC,4835,-0.49,-170.3,681.5,-10.3,459,4838,0.00,1.00,0.00,0.000,4,0.000,0.028,2144,1889,3529,0,0,0,0,0,0
$GC,4929,-0.49,-170.3,690.9,-9.6,463,4933,0.00,1.10,0.00,0.000,6,0.000,0.041,2141,2593,3529,0,0,0,0,0,0
$GC,5258,-0.49,-170.3,723.4,-9.3,479,5261,0.00,1.00,0.00,0.000,4,0.000,0.027,2141,1892,3526,0,0,0,0,0,0
$GC,5321,-0.49,-170.3,729.3,-9.2,481,5328,0.00,1.10,0.00,0.000,6,0.000,0.038,2138,2594,3526,0,0,0,0,0,0
$GC,5637,-0.49,-170.3,759.8,-9.8,497,5641,0.00,1.00,0.00,0.000,4,0.000,0.027,2139,1889,3523,0,0,0,0,0,0
$GC,5721,-0.49,-170.3,768.3,-10.0,500,5728,0.00,1.10,0.00,0.000,6,0.000,0.039,2136,2593,3523,0,0,0,0,0,0
$GC,6038,-0.49,-170.3,797.9,-8.7,516,6042,0.00,1.00,0.00,0.000,4,0.000,0.026,2136,1896,3521,0,0,0,0,0,0
$GC,6089,-0.49,-170.3,802.2,-8.3,518,6093,0.00,1.08,0.00,0.000,6,0.000,0.037,2132,2586,3521,0,0,0,0,0,0
$STATE,6311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6311,begin apogee
$GC,6318,-0.13,0.0,821.0,8.8,529,6452,0.35,0.00,126.35,0.949,6,0.126,0.000,2244,2161,2869,0,0,0,0,0,0
$STATE,6453,end apogee,CONTROL_FINISHED_OK
$STATE,6453,begin climb
$GC,6455,0.49,170.3,825.7,0.0,535,6603,0.60,1.10,134.60,0.932,4,0.093,0.031,2455,1471,2173,0,0,0,0,0,0
$GC,6688,0.58,248.0,814.7,7.1,545,6759,0.00,1.10,61.65,0.911,6,0.000,0.032,2454,2181,1857,0,0,0,0,0,0
$GC,7069,0.69,340.0,788.9,6.6,564,7146,0.20,1.05,71.80,0.908,4,0.067,0.036,2546,2866,1483,0,0,0,0,0,0
$GC,7200,0.69,340.0,775.8,11.0,570,7204,0.00,1.08,0.00,0.000,6,0.000,0.026,2550,2155,1483,0,0,0,0,0,0
$GC,7534,0.73,373.3,744.5,9.0,586,7564,0.00,0.00,28.12,0.870,6,0.000,0.000,2550,2155,1347,0,0,0,0,0,0
$GC,7862,0.75,381.7,712.6,10.0,602,7876,0.00,1.08,8.15,0.742,4,0.000,0.033,2555,1461,1313,0,0,0,0,0,0
$GC,7943,0.75,381.7,703.8,11.0,605,7949,0.00,1.08,0.00,0.000,6,0.000,0.031,2555,2166,1312,0,0,0,0,0,0
$GC,8260,0.76,390.6,671.8,9.9,621,8274,0.00,1.12,8.60,0.743,4,0.000,0.037,2555,2872,1275,0,0,0,0,0,0
$GC,8349,0.76,390.6,661.7,11.2,625,8352,0.00,1.05,0.00,0.000,6,0.000,0.027,2560,2165,1275,0,0,0,0,0,0
$GC,8683,0.77,401.8,627.9,9.9,641,8697,0.00,1.05,10.20,0.748,4,0.000,0.029,2565,1470,1229,0,0,0,0,0,0
$GC,8772,0.77,401.8,618.3,11.2,645,8775,0.00,1.08,0.00,0.000,6,0.000,0.031,2565,2171,1229,0,0,0,0,0,0
$GC,9106,0.77,401.8,578.6,12.6,661,9109,0.00,1.05,0.00,0.000,4,0.000,0.038,2565,2860,1228,0,0,0,0,0,0
$GC,9223,0.77,401.8,562.9,12.9,666,9227,0.00,1.02,0.00,0.000,6,0.000,0.026,2569,2170,1228,0,0,0,0,0,0
$GC,9552,0.77,401.8,524.9,11.1,682,9556,0.00,1.02,0.00,0.000,4,0.000,0.034,2574,1478,1228,0,0,0,0,0,0
$GC,9598,0.77,401.8,519.9,11.0,684,9602,0.00,1.05,0.00,0.000,6,0.000,0.032,2574,2163,1227,0,0,0,0,0,0
$GC,9925,0.79,415.8,486.9,9.7,705,9941,0.00,1.05,12.00,0.698,4,0.000,0.034,2574,2868,1174,0,0,0,0,0,0
$GC,10058,0.79,415.8,472.9,10.4,716,10065,0.00,1.05,0.00,0.000,6,0.000,0.025,2579,2163,1178,0,0,0,0,0,0
$GC,10385,0.81,430.5,441.7,9.7,747,10403,0.00,1.08,14.32,0.681,4,0.000,0.033,2584,1470,1113,0,0,0,0,0,0
$GC,10487,0.81,430.5,430.9,10.7,755,10495,0.00,1.05,0.00,0.000,6,0.000,0.028,2584,2166,1114,0,0,0,0,0,0
$GC,10812,0.81,430.5,395.6,11.7,786,10816,0.00,1.05,0.00,0.000,4,0.000,0.032,2589,1468,1115,0,0,0,0,0,0
$GC,10847,0.81,430.5,391.8,11.1,789,10851,0.00,1.05,0.00,0.000,6,0.000,0.029,2589,2165,1116,0,0,0,0,0,0
$GC,11180,0.81,430.5,353.9,11.1,820,11183,0.00,1.05,0.00,0.000,4,0.000,0.037,2589,2864,1115,0,0,0,0,0,0
$GC,11248,0.81,430.5,345.9,11.8,826,11252,0.10,1.05,0.00,0.000,6,0.127,0.025,2560,2155,1116,0,0,0,0,0,0
$GC,11579,0.82,445.6,312.1,9.7,857,11602,0.00,1.08,13.85,0.621,4,0.000,0.034,2562,1466,1052,0,0,0,0,0,0
$GC,11641,0.85,468.1,305.8,9.4,862,11663,0.00,1.05,18.95,0.589,6,0.000,0.029,2562,2160,960,0,0,0,0,0,0
$GC,11985,0.85,468.1,272.1,10.5,894,11989,0.00,1.05,0.00,0.000,4,0.000,0.036,2562,2860,961,0,0,0,0,0,0
$GC,12244,0.85,468.1,244.5,10.6,917,12248,0.00,1.02,0.00,0.000,6,0.000,0.027,2562,2166,962,0,0,0,0,0,0
$GC,12577,0.93,530.8,215.6,7.8,948,12634,0.10,1.05,47.97,0.570,4,0.109,0.035,2602,1482,704,0,0,0,0,0,0
$GC,12670,0.96,554.7,207.4,9.3,956,12694,0.00,1.05,20.17,0.518,6,0.000,0.028,2602,2171,606,0,0,0,0,0,0
$GC,13032,0.96,554.7,163.2,12.0,1013,13039,0.00,1.02,0.00,0.000,4,0.000,0.036,2601,2855,610,0,0,0,0,0,0
$GC,13152,0.96,554.7,149.7,10.7,1034,13159,0.00,1.02,0.00,0.000,6,0.000,0.028,2601,2169,610,0,0,0,0,0,0
$GC,13299,0.97,561.9,135.3,10.0,1059,13313,0.00,1.08,8.02,0.501,4,0.000,0.034,2601,1472,577,0,0,0,0,0,0
$GC,13568,1.00,589.8,105.4,9.2,1106,13595,0.00,1.05,22.58,0.500,6,0.000,0.029,2601,2168,463,0,0,0,0,0,0
$GC,13733,1.04,623.5,89.2,8.9,1134,13747,0.10,1.02,6.72,0.447,4,0.114,0.030,2645,1472,440,0,0,0,0,0,0
$GC,13818,1.05,632.6,80.6,9.9,1148,13825,0.00,1.05,0.03,0.200,6,0.000,0.027,2645,2179,440,0,0,0,0,0,0
$GC,13962,1.09,661.8,65.6,9.1,1173,13970,0.00,1.05,2.28,0.176,4,0.000,0.035,2645,2853,440,0,0,0,0,0,0
$GC,14186,1.09,661.8,41.8,11.4,1212,14194,0.00,1.02,0.30,0.083,6,0.000,0.028,2645,2162,441,0,0,0,0,0,0
$GC,14332,1.10,673.3,26.3,9.8,1237,14340,0.00,1.10,2.42,0.191,4,0.000,0.031,2645,2860,440,0,0,0,0,0,0
$GC,14409,1.10,673.3,17.6,11.6,1250,14417,0.00,1.02,0.10,0.109,6,0.000,0.027,2645,2162,440,0,0,0,0,0,0
$STATE,14539,end climb,SURFACE_DEPTH_REACHED
$STATE,14539,begin surface coast
$FINISH,0.5,1.021090
$STATE,14573,end surface coast,CONTROL_FINISHED_OK
$STATE,14573,begin surface
$SM_CCo,14649,0.00,0.000,0,0,442,595.34
$SM_GC,1.32,6.32,0.00,0.00,0.032,0.000,0.000,202,2585,442,-6.46,-0.14,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2155.06,12029.11,131011,181820
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.19
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.8,108.166
$10V_AH,9.8,80.467
$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,16.050,74.475,619.200,0.000,0.000,27.437,18.301,139.953,0.000,0.000,12.727,3237.089,8159.642,695.544,2493.351,380.540,0.000,1977.164,0.000,2291.173,0.000,0.539,0.000
$DEVICE_MAMPS,221.085,66.555,949.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,880.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,73649,1278
$CAP_FILE_SIZE,162398,0
$CFSIZE,260165632,192544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,181.5,1
$GPS,141011,031754,2159.662,12026.979,24,1.4,42,-2.7