version: 66.09
glider: 181
mission: 6
dive: 637
start: 10 12 111 0 59 44
data:
$ID,181
$MISSION,6
$DIVE,637
$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,-41394.105
$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,38
$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
$GPS1,121011,005337,2157.624,12015.271,39,1.2,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.8
$GPS2,121011,005919,2157.522,12015.410,11,1.2,17,-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,19.9,38261,-16.5,-10.312
$D_GRID,931
$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,15,begin dive
$GC,17,-0.49,-170.3,0.0,0.0,0,83,0.00,0.00,-62.83,0.000,2,0.000,0.000,175,2611,2218,0,0,0,0,0,0
$GC,86,-0.49,-170.3,3.0,-2.6,10,130,8.15,1.10,-31.42,0.000,4,0.220,0.065,2132,3298,3565,0,0,0,0,0,0
$GC,171,-0.49,-170.3,26.9,-37.4,24,178,0.00,1.05,0.00,0.000,6,0.000,0.024,2132,2573,3564,0,0,0,0,0,0
$GC,313,-0.49,-170.3,78.3,-35.5,49,321,0.00,0.93,0.00,0.000,4,0.000,0.023,2132,1876,3562,0,0,0,0,0,0
$GC,345,-0.49,-170.3,89.0,-34.6,54,352,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2590,3561,0,0,0,0,0,0
$GC,487,-0.49,-170.3,127.1,-24.3,79,494,0.00,0.98,0.00,0.000,4,0.000,0.022,2127,1884,3560,0,0,0,0,0,0
$GC,601,-0.49,-170.3,148.9,-17.0,99,607,0.00,1.08,0.00,0.000,6,0.000,0.034,2121,2593,3559,0,0,0,0,0,0
$GC,743,-0.49,-170.3,172.5,-17.1,124,749,0.00,1.05,0.00,0.000,4,0.000,0.037,2116,3297,3559,0,0,0,0,0,0
$GC,784,-0.49,-170.3,179.6,-17.0,131,791,0.00,1.00,0.00,0.000,6,0.000,0.023,2116,2591,3559,0,0,0,0,0,0
$GC,932,-0.49,-170.3,204.4,-16.6,155,936,0.00,0.95,0.00,0.000,4,0.000,0.024,2116,1888,3559,0,0,0,0,0,0
$GC,1058,-0.49,-170.3,224.5,-15.5,166,1062,0.08,1.05,0.00,0.000,6,0.142,0.034,2135,2583,3559,0,0,0,0,0,0
$GC,1390,-0.49,-170.3,268.1,-12.0,197,1393,0.00,0.98,0.00,0.000,4,0.000,0.024,2135,1879,3558,0,0,0,0,0,0
$GC,1480,-0.49,-170.3,278.6,-11.0,205,1484,0.00,1.08,0.00,0.000,6,0.000,0.034,2132,2586,3558,0,0,0,0,0,0
$GC,1813,-0.49,-170.3,318.3,-13.1,236,1817,0.00,1.05,0.00,0.000,4,0.000,0.039,2127,3286,3556,0,0,0,0,0,0
$GC,1852,-0.49,-170.3,324.2,-14.1,239,1858,0.00,1.00,0.00,0.000,6,0.000,0.024,2127,2588,3556,0,0,0,0,0,0
$GC,2179,-0.49,-170.3,371.5,-14.3,270,2183,0.00,0.95,0.00,0.000,4,0.000,0.025,2127,1887,3553,0,0,0,0,0,0
$GC,2274,-0.49,-170.3,384.7,-12.8,278,2281,0.00,1.08,0.00,0.000,6,0.000,0.037,2125,2583,3552,0,0,0,0,0,0
$GC,2601,-0.49,-170.3,422.8,-10.7,309,2605,0.00,1.08,0.00,0.000,4,0.000,0.041,2121,3287,3548,0,0,0,0,0,0
$GC,2651,-0.49,-170.3,428.9,-12.1,313,2658,0.00,1.00,0.00,0.000,6,0.000,0.025,2120,2593,3548,0,0,0,0,0,0
$GC,2976,-0.49,-170.3,464.8,-10.3,344,2979,0.00,0.98,0.00,0.000,4,0.000,0.027,2120,1885,3545,0,0,0,0,0,0
$GC,3023,-0.49,-170.3,470.2,-12.3,348,3027,0.00,1.10,0.00,0.000,6,0.000,0.038,2115,2595,3544,0,0,0,0,0,0
$GC,3352,-0.49,-170.3,511.7,-13.2,375,3356,0.00,1.00,0.00,0.000,4,0.000,0.026,2114,1891,3541,0,0,0,0,0,0
$GC,3399,-0.49,-170.3,518.0,-13.3,377,3404,0.08,1.08,0.00,0.000,6,0.144,0.039,2136,2582,3540,0,0,0,0,0,0
$GC,3732,-0.49,-170.3,557.0,-11.6,393,3736,0.00,0.98,0.00,0.000,4,0.000,0.028,2136,1895,3536,0,0,0,0,0,0
$GC,3781,-0.49,-170.3,562.9,-11.5,395,3785,0.00,1.08,0.00,0.000,6,0.000,0.037,2133,2593,3537,0,0,0,0,0,0
$GC,4110,-0.49,-170.3,601.2,-11.7,411,4113,0.00,1.00,0.00,0.000,4,0.000,0.027,2133,1888,3533,0,0,0,0,0,0
$GC,4126,-0.49,-170.3,603.6,-12.1,411,4133,0.00,1.08,0.00,0.000,6,0.000,0.038,2128,2583,3533,0,0,0,0,0,0
$GC,4442,-0.49,-170.3,643.6,-13.2,427,4446,0.00,0.98,0.00,0.000,4,0.000,0.028,2128,1905,3531,0,0,0,0,0,0
$GC,4489,-0.49,-170.3,649.2,-12.0,429,4493,0.00,1.05,0.00,0.000,6,0.000,0.038,2125,2583,3531,0,0,0,0,0,0
$GC,4822,-0.49,-170.3,688.7,-11.3,445,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2583,3528,0,0,0,0,0,0
$GC,5131,-0.49,-170.3,724.4,-11.9,460,5135,0.00,1.00,0.00,0.000,4,0.000,0.028,2125,1886,3525,0,0,0,0,0,0
$GC,5159,-0.49,-170.3,727.8,-11.7,461,5163,0.00,1.10,0.00,0.000,6,0.000,0.038,2121,2588,3525,0,0,0,0,0,0
$GC,5486,-0.49,-170.3,750.3,-3.3,477,5490,0.00,1.10,0.00,0.000,4,0.000,0.044,2121,3298,3523,0,0,0,0,0,0
$STATE,5732,end dive,NO_VERTICAL_VELOCITY
$STATE,5732,begin apogee
$GC,5739,-0.13,0.0,750.4,0.0,488,5872,0.35,0.00,125.78,0.901,6,0.059,0.000,2272,2181,2869,0,0,0,0,0,0
$STATE,5873,end apogee,CONTROL_FINISHED_OK
$STATE,5873,begin climb
$GC,5875,0.49,170.3,750.3,0.0,494,6022,0.47,1.15,133.25,0.881,4,0.049,0.033,2474,1452,2174,0,0,0,0,0,0
$GC,6062,0.69,336.3,746.8,3.5,502,6200,0.10,1.12,128.65,0.875,6,0.049,0.031,2537,2175,1497,0,0,0,0,0,0
$GC,6507,0.73,367.2,709.5,9.1,524,6535,0.00,0.00,25.85,0.836,6,0.000,0.000,2537,2175,1372,0,0,0,0,0,0
$GC,6839,0.80,428.3,682.1,7.8,540,6893,0.00,1.10,48.53,0.840,4,0.000,0.038,2537,2864,1123,0,0,0,0,0,0
$GC,6948,0.85,463.4,672.3,8.9,545,6983,0.00,1.10,29.90,0.809,6,0.000,0.029,2540,2149,980,0,0,0,0,0,0
$GC,7300,0.85,463.4,633.1,11.6,562,7304,0.00,1.02,0.00,0.000,4,0.000,0.038,2540,1470,979,0,0,0,0,0,0
$GC,7557,0.85,463.4,602.6,11.4,573,7561,0.00,1.08,0.00,0.000,6,0.000,0.031,2540,2172,979,0,0,0,0,0,0
$GC,7879,0.86,472.1,567.5,10.0,589,7894,0.10,1.10,8.80,0.708,4,0.116,0.036,2589,2869,943,0,0,0,0,0,0
$GC,7906,0.90,505.7,564.4,8.9,590,7937,0.00,1.08,27.10,0.758,6,0.000,0.028,2592,2158,807,0,0,0,0,0,0
$GC,8249,0.95,550.4,535.5,8.5,606,8292,0.00,1.12,35.67,0.751,4,0.000,0.034,2592,2863,626,0,0,0,0,0,0
$GC,8544,0.95,550.4,502.3,13.0,619,8548,0.00,1.05,0.00,0.000,6,0.000,0.030,2592,2170,625,0,0,0,0,0,0
$GC,8869,0.95,550.4,464.1,12.3,648,8873,0.00,1.05,0.00,0.000,4,0.000,0.037,2592,1474,625,0,0,0,0,0,0
$GC,8907,0.95,550.4,458.9,12.5,651,8914,0.00,1.05,0.00,0.000,6,0.000,0.030,2592,2168,626,0,0,0,0,0,0
$GC,9233,0.95,550.4,418.6,11.7,682,9237,0.00,1.05,0.00,0.000,4,0.000,0.038,2591,2861,626,0,0,0,0,0,0
$GC,9493,0.95,550.4,389.1,10.8,705,9496,0.00,1.05,0.00,0.000,6,0.000,0.031,2591,2168,626,0,0,0,0,0,0
$GC,9826,0.95,550.4,352.8,11.7,736,9829,0.00,1.08,0.00,0.000,4,0.000,0.034,2591,2870,626,0,0,0,0,0,0
$GC,10086,0.95,550.4,317.3,14.7,759,10090,0.00,1.08,0.00,0.000,6,0.000,0.030,2591,2158,627,0,0,0,0,0,0
$GC,10417,0.95,550.4,275.3,11.5,790,10421,0.00,1.02,0.00,0.000,4,0.000,0.037,2591,1471,627,0,0,0,0,0,0
$GC,10464,0.95,550.4,270.0,11.5,794,10468,0.00,1.05,0.00,0.000,6,0.000,0.030,2591,2165,627,0,0,0,0,0,0
$GC,10795,0.98,572.7,236.6,9.4,825,10819,0.00,1.08,19.30,0.584,4,0.000,0.037,2591,2858,534,0,0,0,0,0,0
$GC,11076,1.00,586.4,209.1,9.8,850,11092,0.00,1.05,12.70,0.543,6,0.000,0.029,2591,2163,478,0,0,0,0,0,0
$GC,11427,1.00,586.4,168.7,13.4,904,11434,0.00,1.08,0.00,0.000,4,0.000,0.034,2591,2868,479,0,0,0,0,0,0
$GC,11566,1.00,586.4,149.9,13.4,928,11573,0.00,1.05,0.00,0.000,6,0.000,0.029,2591,2166,481,0,0,0,0,0,0
$GC,11711,1.00,586.4,132.1,12.5,953,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2166,483,0,0,0,0,0,0
$GC,11855,1.00,586.4,114.7,10.8,978,11862,0.00,1.08,0.00,0.000,4,0.000,0.037,2590,2867,484,0,0,0,0,0,0
$GC,11891,1.00,590.7,111.0,10.1,984,11905,0.00,1.05,6.43,0.451,6,0.000,0.029,2591,2164,459,0,0,0,0,0,0
$GC,12043,1.02,601.2,97.5,9.9,1010,12057,0.10,1.05,5.97,0.430,4,0.112,0.034,2634,1473,439,0,0,0,0,0,0
$GC,12105,1.02,601.2,90.6,10.9,1020,12113,0.00,1.05,0.05,0.145,6,0.000,0.028,2634,2176,439,0,0,0,0,0,0
$GC,12252,1.02,601.2,74.7,10.7,1045,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2176,440,0,0,0,0,0,0
$GC,12394,1.02,601.2,59.3,10.7,1070,12401,0.00,1.02,0.10,0.174,4,0.000,0.036,2633,2853,441,0,0,0,0,0,0
$GC,12657,1.02,601.2,30.1,11.6,1116,12665,0.00,1.02,2.47,0.194,6,0.000,0.028,2634,2157,440,0,0,0,0,0,0
$GC,12800,1.02,601.2,13.9,11.4,1141,12808,0.00,1.08,0.17,0.128,4,0.000,0.033,2634,2860,441,0,0,0,0,0,0
$STATE,12903,end climb,SURFACE_DEPTH_REACHED
$STATE,12903,begin surface coast
$FINISH,0.5,0.999545
$STATE,12934,end surface coast,CONTROL_FINISHED_OK
$STATE,12934,begin surface
$SM_CCo,13010,0.00,0.000,0,0,442,595.34
$SM_GC,1.47,6.32,0.00,0.00,0.035,0.000,0.000,208,2559,442,-6.45,-0.88,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2155.06,12012.37,111011,202016
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.8,106.382
$10V_AH,9.8,79.567
$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,15.750,65.050,610.725,0.000,0.000,23.249,37.052,133.232,0.000,0.000,19.961,2966.873,6963.295,663.866,2404.514,342.824,0.000,1881.212,0.000,2180.884,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,65.025,901.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,799.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322740
$DATA_FILE_SIZE,66989,1164
$CAP_FILE_SIZE,146730,0
$CFSIZE,260165632,193425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288,166.5,1
$GPS,121011,043737,2157.614,12015.659,24,1.7,25,-2.7