version: 66.09
glider: 181
mission: 6
dive: 669
start: 10 16 111 18 14 5
data:
$ID,181
$MISSION,6
$DIVE,669
$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,-41435.402
$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,59
$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
$GPS1,161011,180806,2152.827,12027.884,31,1.1,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.0
$GPS2,161011,181338,2152.679,12027.938,14,1.2,14,-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,216.4,50119,-16.5,-10.312
$D_GRID,758
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.49,-170.3,0.0,0.0,0,87,0.00,0.00,-67.43,0.000,2,0.000,0.000,164,2618,2355,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.6,-3.9,11,135,8.23,1.10,-25.80,0.000,4,0.221,0.050,2136,1881,3567,0,0,0,0,0,0
$GC,206,-0.49,-170.3,33.0,-25.6,30,212,0.00,1.08,0.00,0.000,6,0.000,0.035,2132,2581,3567,0,0,0,0,0,0
$GC,349,-0.49,-170.3,75.2,-28.5,55,355,0.00,1.08,0.00,0.000,4,0.000,0.038,2127,3293,3566,0,0,0,0,0,0
$GC,511,-0.49,-170.3,116.8,-23.3,83,517,0.00,1.02,0.00,0.000,6,0.000,0.023,2127,2590,3564,0,0,0,0,0,0
$GC,654,-0.49,-170.3,150.1,-19.1,108,660,0.00,1.10,0.00,0.000,4,0.000,0.037,2122,3307,3563,0,0,0,0,0,0
$GC,736,-0.49,-170.3,164.7,-17.2,122,743,0.00,1.05,0.00,0.000,6,0.000,0.022,2121,2584,3564,0,0,0,0,0,0
$GC,878,-0.49,-170.3,184.2,-14.0,147,885,0.00,0.98,0.00,0.000,4,0.000,0.024,2122,1870,3563,0,0,0,0,0,0
$GC,1044,-0.49,-170.3,209.6,-16.2,171,1052,0.00,1.10,0.00,0.000,6,0.000,0.034,2116,2598,3563,0,0,0,0,0,0
$GC,1370,-0.49,-170.3,262.9,-14.5,202,1373,0.00,1.02,0.00,0.000,4,0.000,0.038,2112,3282,3563,0,0,0,0,0,0
$GC,1406,-0.49,-170.3,267.8,-14.0,205,1409,0.00,1.00,0.00,0.000,6,0.000,0.024,2111,2584,3563,0,0,0,0,0,0
$GC,1737,-0.49,-170.3,308.8,-11.7,236,1741,0.12,0.98,0.00,0.000,4,0.158,0.025,2145,1878,3562,0,0,0,0,0,0
$GC,1760,-0.49,-170.3,311.3,-11.6,238,1764,0.00,1.08,0.00,0.000,6,0.000,0.034,2140,2586,3562,0,0,0,0,0,0
$GC,2090,-0.49,-170.3,348.2,-13.6,269,2094,0.00,0.98,0.00,0.000,4,0.000,0.025,2141,1893,3559,0,0,0,0,0,0
$GC,2153,-0.49,-170.3,357.1,-14.7,274,2159,0.00,1.05,0.00,0.000,6,0.000,0.035,2137,2583,3559,0,0,0,0,0,0
$GC,2478,-0.49,-170.3,405.1,-13.0,305,2481,0.00,1.08,0.00,0.000,4,0.000,0.040,2131,3289,3556,0,0,0,0,0,0
$GC,2550,-0.49,-170.3,414.6,-12.7,311,2557,0.00,1.00,0.00,0.000,6,0.000,0.025,2131,2591,3555,0,0,0,0,0,0
$GC,2876,-0.49,-170.3,455.9,-12.4,342,2880,0.00,1.00,0.00,0.000,4,0.000,0.028,2131,1892,3553,0,0,0,0,0,0
$GC,3057,-0.49,-170.3,477.2,-11.8,358,3061,0.00,1.08,0.00,0.000,6,0.000,0.037,2126,2588,3551,0,0,0,0,0,0
$GC,3397,-0.49,-170.3,526.7,-15.2,382,3401,0.00,1.00,0.00,0.000,4,0.000,0.028,2126,1895,3547,0,0,0,0,0,0
$GC,3498,-0.49,-170.3,542.2,-14.3,386,3502,0.00,1.08,0.00,0.000,6,0.000,0.038,2121,2588,3547,0,0,0,0,0,0
$GC,3821,-0.49,-170.3,582.3,-11.6,402,3825,0.00,1.00,0.00,0.000,4,0.000,0.028,2121,1899,3543,0,0,0,0,0,0
$GC,3854,-0.49,-170.3,586.3,-11.2,403,3857,0.00,1.08,0.00,0.000,6,0.000,0.040,2116,2591,3543,0,0,0,0,0,0
$GC,4177,-0.49,-170.3,622.6,-11.5,419,4180,0.00,1.00,0.00,0.000,4,0.000,0.028,2116,1903,3540,0,0,0,0,0,0
$GC,4226,-0.49,-170.3,629.1,-11.9,421,4230,0.00,1.08,0.00,0.000,6,0.000,0.039,2112,2596,3539,0,0,0,0,0,0
$GC,4554,-0.49,-170.3,667.6,-11.6,437,4558,0.12,1.02,0.00,0.000,4,0.170,0.029,2144,1900,3537,0,0,0,0,0,0
$GC,4622,-0.49,-170.3,674.0,-9.0,440,4627,0.00,1.08,0.00,0.000,6,0.000,0.039,2142,2590,3536,0,0,0,0,0,0
$GC,4956,-0.49,-170.3,704.4,-9.4,456,4960,0.00,1.02,0.00,0.000,4,0.000,0.031,2141,1903,3533,0,0,0,0,0,0
$GC,5007,-0.49,-170.3,710.0,-10.7,458,5010,0.00,1.08,0.00,0.000,6,0.000,0.039,2137,2587,3533,0,0,0,0,0,0
$GC,5336,-0.49,-170.3,741.7,-9.2,474,5340,0.00,1.00,0.00,0.000,4,0.000,0.029,2138,1898,3531,0,0,0,0,0,0
$GC,5382,-0.49,-170.3,745.9,-9.3,476,5386,0.00,1.10,0.00,0.000,6,0.000,0.041,2137,2596,3531,0,0,0,0,0,0
$STATE,5527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5527,begin apogee
$GC,5535,-0.13,0.0,759.1,8.9,483,5668,0.35,0.00,127.32,0.901,6,0.123,0.000,2249,2161,2868,0,0,0,0,0,0
$STATE,5669,end apogee,CONTROL_FINISHED_OK
$STATE,5669,begin climb
$GC,5671,0.49,170.3,764.4,0.0,489,5814,0.57,1.10,133.48,0.883,4,0.083,0.034,2457,1470,2173,0,0,0,0,0,0
$GC,6006,0.72,358.7,756.6,2.6,504,6160,0.17,1.10,145.68,0.878,6,0.044,0.032,2544,2183,1405,0,0,0,0,0,0
$GC,6485,0.77,398.3,725.5,8.7,527,6521,0.00,1.02,31.77,0.849,4,0.000,0.038,2544,2857,1245,0,0,0,0,0,0
$GC,6605,0.77,398.3,712.2,12.2,531,6612,0.00,1.08,0.00,0.000,6,0.000,0.029,2549,2152,1244,0,0,0,0,0,0
$GC,6922,0.77,398.3,675.7,11.8,547,6926,0.00,1.02,0.00,0.000,4,0.000,0.035,2554,1465,1244,0,0,0,0,0,0
$GC,6949,0.77,398.3,671.7,12.5,548,6953,0.00,1.08,0.00,0.000,6,0.000,0.032,2554,2166,1244,0,0,0,0,0,0
$GC,7277,0.82,441.2,634.9,8.6,564,7321,0.00,1.10,34.50,0.812,4,0.000,0.038,2554,2859,1070,0,0,0,0,0,0
$GC,7351,0.82,441.2,626.8,10.8,567,7355,0.00,1.08,0.00,0.000,6,0.000,0.028,2558,2158,1073,0,0,0,0,0,0
$GC,7678,0.82,441.2,589.8,12.2,583,7682,0.00,1.02,0.00,0.000,4,0.000,0.037,2563,1477,1077,0,0,0,0,0,0
$GC,7762,0.82,441.2,580.0,13.0,586,7769,0.00,1.05,0.00,0.000,6,0.000,0.030,2563,2168,1077,0,0,0,0,0,0
$GC,8079,0.82,441.2,542.1,10.7,602,8082,0.00,1.08,0.00,0.000,4,0.000,0.035,2567,1463,1077,0,0,0,0,0,0
$GC,8112,0.84,456.3,538.5,9.7,603,8132,0.00,1.08,14.95,0.726,6,0.000,0.030,2567,2167,1007,0,0,0,0,0,0
$GC,8457,0.85,464.8,505.4,10.0,620,8471,0.00,1.12,8.32,0.646,4,0.000,0.034,2571,1459,974,0,0,0,0,0,0
$GC,8506,0.91,514.9,500.6,8.3,622,8556,0.00,1.08,39.58,0.734,6,0.000,0.031,2571,2160,768,0,0,0,0,0,0
$GC,8873,1.01,597.5,468.0,6.9,656,8941,0.15,1.10,63.05,0.718,4,0.080,0.033,2653,1468,439,0,0,0,0,0,0
$GC,8977,1.04,621.6,458.3,9.3,665,8984,0.00,1.08,2.83,0.307,6,0.000,0.030,2653,2165,439,0,0,0,0,0,0
$GC,9302,1.04,621.6,428.0,10.4,696,9309,0.00,1.10,2.60,0.307,4,0.000,0.037,2653,2861,440,0,0,0,0,0,0
$GC,9326,1.04,621.6,425.1,11.2,697,9334,0.00,1.05,0.03,0.198,6,0.000,0.029,2658,2164,440,0,0,0,0,0,0
$GC,9654,1.04,621.6,382.0,13.3,728,9657,0.00,1.02,0.00,0.000,4,0.000,0.037,2663,1479,440,0,0,0,0,0,0
$GC,9734,1.04,621.6,370.8,15.2,735,9739,0.00,1.05,0.12,0.110,6,0.000,0.032,2663,2163,440,0,0,0,0,0,0
$GC,10064,1.04,621.6,324.5,12.6,766,10068,0.00,1.08,0.00,0.000,4,0.000,0.039,2663,2870,440,0,0,0,0,0,0
$GC,10145,1.04,621.6,313.1,14.4,773,10150,0.10,1.05,0.10,0.116,6,0.131,0.028,2634,2169,440,0,0,0,0,0,0
$GC,10477,1.06,635.6,275.6,9.7,804,10481,0.00,1.08,0.00,0.000,4,0.000,0.034,2634,2871,440,0,0,0,0,0,0
$GC,10506,1.06,639.6,272.4,10.1,806,10512,0.00,1.08,0.00,0.000,6,0.000,0.028,2636,2161,439,0,0,0,0,0,0
$GC,10831,1.06,639.6,233.6,13.0,837,10835,0.00,1.02,0.00,0.000,4,0.000,0.038,2637,1477,440,0,0,0,0,0,0
$GC,10858,1.06,639.6,230.2,13.0,839,10866,0.00,1.05,0.00,0.000,6,0.000,0.028,2637,2174,441,0,0,0,0,0,0
$GC,11188,1.08,653.3,190.7,9.8,878,11195,0.00,1.08,2.70,0.278,4,0.000,0.035,2637,2859,439,0,0,0,0,0,0
$GC,11451,1.08,653.3,160.9,14.7,924,11459,0.00,1.05,0.55,0.083,6,0.000,0.029,2637,2162,440,0,0,0,0,0,0
$GC,11595,1.08,653.3,142.6,10.9,949,11603,0.00,1.05,1.55,0.082,4,0.000,0.031,2637,2861,441,0,0,0,0,0,0
$GC,11858,1.08,653.3,118.7,10.9,995,11866,0.00,1.05,2.38,0.200,6,0.000,0.029,2638,2163,440,0,0,0,0,0,0
$GC,12003,1.08,653.3,97.7,15.4,1020,12010,0.00,1.05,0.00,0.000,4,0.000,0.033,2637,2857,440,0,0,0,0,0,0
$GC,12018,1.08,653.3,95.7,14.8,1022,12025,0.00,1.05,0.10,0.111,6,0.000,0.028,2637,2156,440,0,0,0,0,0,0
$GC,12163,1.09,661.4,78.6,10.0,1047,12171,0.00,1.08,2.17,0.156,4,0.000,0.033,2637,1468,439,0,0,0,0,0,0
$GC,12427,1.09,661.4,52.6,11.1,1093,12435,0.00,1.05,2.17,0.148,6,0.000,0.027,2637,2177,440,0,0,0,0,0,0
$GC,12570,1.09,661.4,36.8,11.0,1118,12578,0.00,1.08,0.15,0.139,4,0.000,0.031,2637,1473,440,0,0,0,0,0,0
$GC,12834,1.09,661.4,8.9,10.5,1164,12842,0.00,1.02,2.53,0.193,6,0.000,0.028,2637,2162,440,0,0,0,0,0,0
$STATE,12897,end climb,SURFACE_DEPTH_REACHED
$STATE,12897,begin surface coast
$FINISH,0.3,1.012591
$STATE,12935,end surface coast,CONTROL_FINISHED_OK
$STATE,12935,begin surface
$SM_CCo,13011,0.00,0.000,0,0,440,595.83
$SM_GC,1.28,6.35,0.00,0.00,0.035,0.000,0.000,210,2635,440,-6.44,1.24,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12031.94,161011,141424
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.84
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.5,111.071
$10V_AH,9.8,81.918
$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,16.175,70.800,618.625,0.000,0.000,28.107,17.415,139.211,0.250,0.000,17.026,2997.997,7000.698,666.638,2303.490,366.041,0.000,1862.088,0.000,2099.942,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,49.725,901.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,811.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321656
$DATA_FILE_SIZE,66851,1181
$CAP_FILE_SIZE,149103,0
$CFSIZE,260165632,191131648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,121.3,1
$GPS,161011,215206,2150.999,12029.325,30,0.9,30,-2.7