version: 66.09
glider: 181
mission: 6
dive: 667
start: 10 16 111 10 4 22
data:
$ID,181
$MISSION,6
$DIVE,667
$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,-41432.789
$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,74
$R_STBD_OVSHOOT,49
$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
$GPS1,161011,095746,2154.554,12030.031,7,4.3,26,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.5
$GPS2,161011,100354,2154.421,12029.994,25,1.1,43,-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,216.7,54465,-16.5,-10.312
$D_GRID,865
$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,-170.3,0.0,0.0,0,81,0.00,0.00,-63.25,0.000,2,0.000,0.000,178,2640,2233,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.1,-3.3,10,128,8.12,1.12,-30.10,0.000,4,0.220,0.050,2136,1869,3566,0,0,0,0,0,0
$GC,226,-0.49,-170.3,38.3,-26.8,34,233,0.00,1.10,0.00,0.000,6,0.000,0.037,2132,2579,3566,0,0,0,0,0,0
$GC,368,-0.49,-170.3,78.9,-25.4,59,374,0.00,1.08,0.00,0.000,4,0.000,0.039,2127,3288,3564,0,0,0,0,0,0
$GC,592,-0.49,-170.3,120.8,-14.5,99,599,0.00,1.00,0.00,0.000,6,0.000,0.023,2126,2586,3562,0,0,0,0,0,0
$GC,734,-0.49,-170.3,147.5,-18.6,124,741,0.00,0.95,0.00,0.000,4,0.000,0.024,2127,1877,3561,0,0,0,0,0,0
$GC,897,-0.49,-170.3,174.2,-15.6,152,903,0.00,1.08,0.00,0.000,6,0.000,0.034,2122,2590,3561,0,0,0,0,0,0
$GC,1039,-0.49,-170.3,196.6,-14.8,177,1047,0.00,1.08,0.00,0.000,4,0.000,0.038,2116,3291,3561,0,0,0,0,0,0
$GC,1060,-0.49,-170.3,199.5,-14.5,180,1067,0.00,1.00,0.00,0.000,6,0.000,0.023,2116,2587,3561,0,0,0,0,0,0
$GC,1194,-0.49,-170.3,218.9,-14.2,193,1198,0.00,1.08,0.00,0.000,4,0.000,0.037,2112,3285,3561,0,0,0,0,0,0
$GC,1297,-0.49,-170.3,234.8,-16.2,202,1301,0.08,1.00,0.00,0.000,6,0.141,0.024,2136,2588,3561,0,0,0,0,0,0
$GC,1627,-0.49,-170.3,283.1,-13.8,233,1630,0.00,0.95,0.00,0.000,4,0.000,0.024,2136,1882,3559,0,0,0,0,0,0
$GC,1699,-0.49,-170.3,293.0,-12.6,239,1706,0.00,1.05,0.00,0.000,6,0.000,0.034,2132,2583,3559,0,0,0,0,0,0
$GC,2025,-0.49,-170.3,332.3,-11.1,270,2029,0.00,1.08,0.00,0.000,4,0.000,0.039,2127,3290,3557,0,0,0,0,0,0
$GC,2122,-0.49,-170.3,342.7,-10.5,278,2128,0.00,1.02,0.00,0.000,6,0.000,0.024,2127,2578,3556,0,0,0,0,0,0
$GC,2447,-0.49,-170.3,381.6,-13.3,309,2451,0.00,0.95,0.00,0.000,4,0.000,0.025,2127,1883,3554,0,0,0,0,0,0
$GC,2572,-0.49,-170.3,398.3,-13.2,320,2575,0.00,1.08,0.00,0.000,6,0.000,0.037,2122,2583,3553,0,0,0,0,0,0
$GC,2902,-0.49,-170.3,442.5,-12.8,351,2906,0.00,0.98,0.00,0.000,4,0.000,0.025,2122,1886,3549,0,0,0,0,0,0
$GC,2948,-0.49,-170.3,448.7,-13.5,355,2952,0.00,1.08,0.00,0.000,6,0.000,0.037,2117,2584,3549,0,0,0,0,0,0
$GC,3280,-0.49,-170.3,492.2,-12.4,386,3283,0.00,1.08,0.00,0.000,4,0.000,0.042,2112,3284,3546,0,0,0,0,0,0
$GC,3363,-0.49,-170.3,502.6,-11.8,392,3370,0.00,1.00,0.00,0.000,6,0.000,0.026,2112,2596,3546,0,0,0,0,0,0
$GC,3681,-0.49,-170.3,542.9,-13.3,408,3685,0.12,1.10,0.00,0.000,4,0.155,0.042,2141,3284,3542,0,0,0,0,0,0
$GC,3713,-0.49,-170.3,547.3,-12.5,409,3717,0.00,1.00,0.00,0.000,6,0.000,0.026,2141,2594,3542,0,0,0,0,0,0
$GC,4036,-0.49,-170.3,582.2,-11.1,425,4040,0.00,1.00,0.00,0.000,4,0.000,0.027,2142,1883,3539,0,0,0,0,0,0
$GC,4129,-0.49,-170.3,592.4,-10.6,429,4132,0.00,1.10,0.00,0.000,6,0.000,0.037,2139,2592,3539,0,0,0,0,0,0
$GC,4461,-0.49,-170.3,634.0,-13.4,445,4465,0.00,1.02,0.00,0.000,4,0.000,0.026,2139,1873,3535,0,0,0,0,0,0
$GC,4535,-0.49,-170.3,644.6,-14.4,448,4538,0.00,1.12,0.00,0.000,6,0.000,0.038,2138,2594,3535,0,0,0,0,0,0
$GC,4862,-0.49,-170.3,689.8,-13.3,464,4866,0.00,1.02,0.00,0.000,4,0.000,0.026,2138,1874,3533,0,0,0,0,0,0
$GC,4913,-0.49,-170.3,695.9,-11.8,466,4916,0.00,1.12,0.00,0.000,6,0.000,0.039,2138,2595,3532,0,0,0,0,0,0
$GC,5242,-0.49,-170.3,728.1,-9.1,482,5246,0.00,1.08,0.00,0.000,4,0.000,0.044,2133,3289,3531,0,0,0,0,0,0
$GC,5258,-0.49,-170.3,730.0,-9.1,482,5265,0.00,1.02,0.00,0.000,6,0.000,0.026,2133,2587,3530,0,0,0,0,0,0
$GC,5576,-0.49,-170.3,761.5,-11.0,498,5580,0.00,0.98,0.00,0.000,4,0.000,0.027,2133,1890,3527,0,0,0,0,0,0
$GC,5631,-0.49,-170.3,768.4,-11.5,500,5635,0.00,1.08,0.00,0.000,6,0.000,0.038,2128,2584,3527,0,0,0,0,0,0
$GC,5953,-0.49,-170.3,806.7,-11.6,516,5957,0.00,1.00,0.00,0.000,4,0.000,0.027,2129,1886,3525,0,0,0,0,0,0
$GC,5991,-0.49,-170.3,811.5,-12.0,517,5999,0.00,1.10,0.00,0.000,6,0.000,0.040,2125,2588,3525,0,0,0,0,0,0
$GC,6308,-0.49,-170.3,850.2,-13.0,533,6311,0.00,1.10,0.00,0.000,4,0.000,0.046,2120,3292,3523,0,0,0,0,0,0
$GC,6346,-0.49,-170.3,855.7,-13.8,534,6353,0.00,1.02,0.00,0.000,6,0.000,0.027,2119,2592,3523,0,0,0,0,0,0
$STATE,6433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6433,begin apogee
$GC,6441,-0.13,0.0,866.3,12.3,539,6577,0.40,0.00,127.70,0.976,6,0.125,0.000,2248,2152,2868,0,0,0,0,0,0
$STATE,6577,end apogee,CONTROL_FINISHED_OK
$STATE,6578,begin climb
$GC,6580,0.49,170.3,875.9,0.0,545,6727,0.57,1.10,135.30,0.960,4,0.086,0.032,2454,1467,2173,0,0,0,0,0,0
$GC,6812,0.67,321.5,872.5,4.1,555,6941,0.15,1.10,119.03,0.950,6,0.047,0.032,2531,2178,1559,0,0,0,0,0,0
$GC,7257,0.67,321.5,828.6,11.2,577,7261,0.00,1.05,0.00,0.000,4,0.000,0.040,2531,2860,1557,0,0,0,0,0,0
$GC,7358,0.67,321.5,815.7,12.2,581,7362,0.00,1.05,0.00,0.000,6,0.000,0.027,2536,2159,1557,0,0,0,0,0,0
$GC,7680,0.82,440.2,791.5,5.5,597,7782,0.00,1.08,93.00,0.923,4,0.000,0.035,2541,1482,1074,0,0,0,0,0,0
$GC,7815,1.03,609.7,786.3,3.4,603,7949,0.22,1.05,125.88,0.906,6,0.043,0.031,2645,2158,440,0,0,0,0,0,0
$GC,8266,1.03,609.7,718.7,15.9,625,8275,0.00,1.08,3.28,0.500,4,0.000,0.032,2650,1476,440,0,0,0,0,0,0
$GC,8406,1.03,609.7,695.6,16.3,631,8410,0.00,1.08,0.10,0.115,6,0.000,0.034,2650,2166,440,0,0,0,0,0,0
$GC,8734,1.03,609.7,648.2,13.0,647,8737,0.00,1.08,0.00,0.000,4,0.000,0.040,2650,2868,439,0,0,0,0,0,0
$GC,8744,1.03,609.7,646.5,13.1,647,8749,0.05,1.05,0.00,0.000,6,0.145,0.027,2635,2159,439,0,0,0,0,0,0
$GC,9066,1.03,609.7,608.9,12.6,663,9070,0.00,1.10,0.00,0.000,4,0.000,0.037,2636,2870,439,0,0,0,0,0,0
$GC,9157,1.03,609.7,595.5,15.8,667,9160,0.00,1.05,0.00,0.000,6,0.000,0.027,2638,2161,438,0,0,0,0,0,0
$GC,9489,1.03,609.7,546.3,14.1,683,9493,0.00,1.10,0.00,0.000,4,0.000,0.037,2638,2872,441,0,0,0,0,0,0
$GC,9523,1.03,609.7,541.3,14.3,684,9528,0.00,1.05,0.03,0.200,6,0.000,0.027,2642,2169,441,0,0,0,0,0,0
$GC,9845,1.03,609.7,498.4,12.6,700,9848,0.00,1.02,0.00,0.000,4,0.000,0.034,2648,1476,441,0,0,0,0,0,0
$GC,9914,1.03,609.7,489.8,12.8,706,9918,0.00,1.05,0.35,0.094,6,0.000,0.030,2648,2167,440,0,0,0,0,0,0
$GC,10247,1.03,609.7,448.1,14.3,737,10251,0.00,1.05,0.60,0.099,4,0.000,0.034,2648,2872,442,0,0,0,0,0,0
$GC,10360,1.03,609.7,429.8,16.6,747,10367,0.00,1.05,2.45,0.267,6,0.000,0.027,2652,2166,440,0,0,0,0,0,0
$GC,10686,1.03,609.7,379.5,13.8,777,10691,0.00,1.02,1.38,0.088,4,0.000,0.028,2657,1459,441,0,0,0,0,0,0
$GC,10738,1.03,609.7,372.1,14.8,781,10742,0.00,1.10,0.03,0.196,6,0.000,0.034,2657,2171,441,0,0,0,0,0,0
$GC,11068,1.03,609.7,325.1,14.2,812,11074,0.00,1.12,2.47,0.258,4,0.000,0.037,2657,2874,440,0,0,0,0,0,0
$GC,11145,1.03,609.7,313.0,17.3,818,11150,0.08,1.08,0.45,0.089,6,0.135,0.028,2635,2160,440,0,0,0,0,0,0
$GC,11475,1.03,609.7,272.3,11.3,849,11482,0.00,1.15,2.60,0.278,4,0.000,0.034,2635,2870,440,0,0,0,0,0,0
$GC,11566,1.03,609.7,260.3,13.8,856,11574,0.00,1.05,0.10,0.114,6,0.000,0.028,2639,2167,440,0,0,0,0,0,0
$GC,11892,1.03,609.7,216.0,12.4,887,11898,0.00,1.12,2.35,0.216,4,0.000,0.033,2639,2867,440,0,0,0,0,0,0
$GC,11950,1.03,609.7,209.1,11.7,891,11956,0.00,1.05,0.00,0.000,6,0.000,0.028,2642,2165,440,0,0,0,0,0,0
$GC,12288,1.04,623.8,172.3,9.7,945,12296,0.00,1.08,0.55,0.097,4,0.000,0.031,2643,2884,441,0,0,0,0,0,0
$GC,12376,1.05,629.3,163.5,10.1,960,12384,0.00,1.08,2.40,0.214,6,0.000,0.027,2647,2167,440,0,0,0,0,0,0
$GC,12521,1.05,629.3,146.4,13.0,985,12528,0.00,1.08,0.00,0.000,4,0.000,0.034,2647,2874,440,0,0,0,0,0,0
$GC,12783,1.05,629.3,116.7,11.0,1031,12791,0.00,1.08,0.08,0.125,6,0.000,0.030,2647,2160,440,0,0,0,0,0,0
$GC,12928,1.05,629.3,100.9,11.3,1056,12935,0.00,1.10,0.10,0.175,4,0.000,0.033,2647,2875,441,0,0,0,0,0,0
$GC,13191,1.05,629.3,71.3,11.5,1102,13199,0.00,1.05,2.53,0.213,6,0.000,0.027,2647,2159,440,0,0,0,0,0,0
$GC,13336,1.06,637.7,56.3,10.0,1127,13344,0.00,1.10,0.03,0.323,4,0.000,0.033,2647,2868,441,0,0,0,0,0,0
$GC,13598,1.06,637.7,30.0,10.3,1173,13606,0.00,1.05,2.58,0.206,6,0.000,0.028,2647,2161,439,0,0,0,0,0,0
$GC,13744,1.06,637.7,13.1,10.7,1198,13751,0.00,1.00,0.62,0.086,4,0.000,0.029,2647,1461,441,0,0,0,0,0,0
$GC,13787,1.06,637.7,8.3,11.1,1205,13795,0.00,1.05,2.20,0.148,6,0.000,0.027,2647,2173,439,0,0,0,0,0,0
$STATE,13839,end climb,SURFACE_DEPTH_REACHED
$STATE,13839,begin surface coast
$FINISH,0.5,1.002064
$STATE,13877,end surface coast,CONTROL_FINISHED_OK
$STATE,13877,begin surface
$SM_CCo,13954,0.00,0.000,0,0,440,595.83
$SM_GC,1.32,6.43,0.00,0.00,0.037,0.000,0.000,201,2611,440,-6.46,0.59,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12028.76,161011,060617
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.29
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,23.6,110.746
$10V_AH,9.8,81.760
$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,16.225,77.325,628.150,0.000,0.000,29.880,20.913,143.261,0.250,0.000,50.268,3125.039,7692.562,672.706,2459.844,367.113,0.000,1929.510,0.000,2210.868,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,49.725,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,839.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321668
$DATA_FILE_SIZE,70099,1220
$CAP_FILE_SIZE,158737,0
$CFSIZE,260165632,191275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,328.2,1
$GPS,161011,135804,2153.760,12028.813,8,2.7,27,-2.7