version: 66.09
glider: 181
mission: 6
dive: 649
start: 10 14 111 3 24 39
data:
$ID,181
$MISSION,6
$DIVE,649
$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,-41409.496
$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,61
$R_STBD_OVSHOOT,43
$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
$GPS1,141011,031754,2159.662,12026.979,24,1.4,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-62.7
$GPS2,141011,032414,2159.439,12027.182,14,1.4,32,-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,25.8,19772,-16.5,-10.312
$D_GRID,506
$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,-170.3,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,143,2588,2352,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.5,-3.7,11,135,8.30,1.10,-26.42,0.000,4,0.220,0.067,2132,3288,3566,0,0,0,0,0,0
$GC,194,-0.49,-170.3,36.1,-37.4,28,200,0.00,1.02,0.00,0.000,6,0.000,0.024,2133,2580,3566,0,0,0,0,0,0
$GC,334,-0.49,-170.3,85.9,-27.2,53,342,0.00,0.95,0.00,0.000,4,0.000,0.024,2132,1883,3564,0,0,0,0,0,0
$GC,443,-0.49,-170.3,109.4,-18.1,72,450,0.00,1.08,0.00,0.000,6,0.000,0.034,2127,2592,3563,0,0,0,0,0,0
$GC,586,-0.49,-170.3,134.7,-18.4,97,594,0.00,1.00,0.00,0.000,4,0.000,0.023,2127,1874,3562,0,0,0,0,0,0
$GC,651,-0.49,-170.3,147.0,-19.9,108,657,0.00,1.08,0.00,0.000,6,0.000,0.035,2122,2583,3562,0,0,0,0,0,0
$GC,794,-0.49,-170.3,172.6,-16.7,133,802,0.00,0.98,0.00,0.000,4,0.000,0.024,2121,1878,3562,0,0,0,0,0,0
$GC,887,-0.49,-170.3,186.2,-14.6,149,894,0.00,1.08,0.00,0.000,6,0.000,0.034,2116,2588,3562,0,0,0,0,0,0
$GC,1029,-0.49,-170.3,206.8,-14.1,170,1033,0.00,1.05,0.00,0.000,4,0.000,0.038,2111,3290,3562,0,0,0,0,0,0
$GC,1121,-0.49,-170.3,221.0,-15.6,178,1125,0.08,1.00,0.00,0.000,6,0.141,0.023,2135,2584,3562,0,0,0,0,0,0
$GC,1451,-0.49,-170.3,266.9,-13.3,209,1455,0.00,0.95,0.00,0.000,4,0.000,0.024,2136,1876,3560,0,0,0,0,0,0
$GC,1546,-0.49,-170.3,278.6,-11.7,217,1553,0.00,1.08,0.00,0.000,6,0.000,0.034,2132,2587,3559,0,0,0,0,0,0
$GC,1871,-0.49,-170.3,315.4,-12.0,248,1875,0.00,0.98,0.00,0.000,4,0.000,0.024,2132,1880,3557,0,0,0,0,0,0
$GC,1905,-0.49,-170.3,319.6,-12.3,251,1909,0.00,1.08,0.00,0.000,6,0.000,0.035,2127,2588,3557,0,0,0,0,0,0
$GC,2237,-0.49,-170.3,360.0,-12.0,282,2240,0.00,1.00,0.00,0.000,4,0.000,0.025,2127,1874,3554,0,0,0,0,0,0
$GC,2283,-0.49,-170.3,365.7,-12.4,286,2287,0.00,1.10,0.00,0.000,6,0.000,0.037,2125,2593,3553,0,0,0,0,0,0
$GC,2615,-0.49,-170.3,405.1,-11.5,317,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2593,3550,0,0,0,0,0,0
$GC,2934,-0.49,-170.3,443.8,-12.6,347,2938,0.00,1.00,0.00,0.000,4,0.000,0.025,2125,1885,3547,0,0,0,0,0,0
$GC,2992,-0.49,-170.3,451.3,-12.1,352,2995,0.00,1.08,0.00,0.000,6,0.000,0.037,2120,2585,3547,0,0,0,0,0,0
$GC,3322,-0.49,-170.3,491.5,-12.1,383,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2585,3544,0,0,0,0,0,0
$STATE,3436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3436,begin apogee
$GC,3442,-0.13,0.0,506.2,12.6,392,3575,0.40,0.00,125.38,0.731,6,0.124,0.000,2248,2154,2869,0,0,0,0,0,0
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3579,0.49,170.3,513.6,0.0,398,3718,0.57,1.05,128.43,0.713,4,0.088,0.031,2453,1470,2173,0,0,0,0,0,0
$GC,3802,0.63,291.2,507.1,5.4,408,3901,0.10,1.08,90.75,0.707,6,0.046,0.030,2522,2175,1680,0,0,0,0,0,0
$GC,4219,0.70,347.5,475.3,8.0,442,4267,0.00,1.08,43.05,0.698,4,0.000,0.037,2522,2861,1452,0,0,0,0,0,0
$GC,4346,0.74,380.9,464.2,8.9,453,4377,0.00,1.05,26.48,0.663,6,0.000,0.026,2525,2159,1316,0,0,0,0,0,0
$GC,4695,0.77,404.7,430.4,9.3,486,4721,0.00,1.08,19.98,0.664,4,0.000,0.034,2529,1467,1219,0,0,0,0,0,0
$GC,4798,0.83,448.6,421.4,8.5,495,4836,0.08,1.05,34.10,0.652,6,0.060,0.028,2576,2164,1040,0,0,0,0,0,0
$GC,5157,0.90,505.0,392.8,8.0,528,5206,0.00,1.05,44.45,0.656,4,0.000,0.031,2576,2876,809,0,0,0,0,0,0
$GC,5284,0.95,547.4,382.2,8.6,539,5325,0.00,1.08,32.95,0.633,6,0.000,0.026,2579,2160,637,0,0,0,0,0,0
$GC,5643,0.95,547.4,345.5,13.3,573,5646,0.00,1.05,0.00,0.000,4,0.000,0.033,2579,2858,636,0,0,0,0,0,0
$GC,5903,0.95,547.4,309.4,14.5,596,5907,0.00,1.02,0.00,0.000,6,0.000,0.027,2579,2161,636,0,0,0,0,0,0
$GC,6236,0.95,547.4,270.2,11.5,627,6239,0.00,1.05,0.00,0.000,4,0.000,0.033,2580,2855,636,0,0,0,0,0,0
$GC,6298,0.95,547.4,263.5,10.6,632,6305,0.00,1.02,0.00,0.000,6,0.000,0.026,2579,2152,637,0,0,0,0,0,0
$GC,6623,0.95,547.4,225.9,12.3,663,6627,0.00,0.98,0.00,0.000,4,0.000,0.035,2580,1492,637,0,0,0,0,0,0
$GC,6831,0.95,547.4,199.7,12.6,681,6838,0.00,1.00,0.00,0.000,6,0.000,0.028,2578,2163,637,0,0,0,0,0,0
$GC,7178,1.01,595.4,161.8,8.4,742,7222,0.15,1.10,37.47,0.527,4,0.093,0.034,2639,2863,441,0,0,0,0,0,0
$GC,7477,1.01,595.4,132.4,13.5,794,7486,0.00,1.02,3.55,0.346,6,0.000,0.026,2639,2172,441,0,0,0,0,0,0
$GC,7622,1.01,595.4,113.8,11.2,819,7629,0.00,1.02,0.00,0.000,4,0.000,0.031,2639,2857,441,0,0,0,0,0,0
$GC,7884,1.01,597.3,88.2,10.2,865,7891,0.00,1.02,0.00,0.000,6,0.000,0.028,2639,2166,442,0,0,0,0,0,0
$GC,8031,1.01,597.3,73.5,10.5,890,8038,0.00,1.05,0.00,0.000,4,0.000,0.032,2639,2864,443,0,0,0,0,0,0
$GC,8292,1.01,597.3,44.3,10.8,936,8300,0.00,1.02,2.80,0.238,6,0.000,0.025,2639,2160,439,0,0,0,0,0,0
$GC,8439,1.01,597.3,27.9,10.5,961,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2160,440,0,0,0,0,0,0
$GC,8581,1.01,597.3,11.9,11.6,986,8588,0.00,1.05,0.00,0.000,4,0.000,0.031,2639,2865,441,0,0,0,0,0,0
$GC,8619,1.01,597.3,7.3,12.4,992,8626,0.00,1.02,0.00,0.000,6,0.000,0.025,2639,2159,442,0,0,0,0,0,0
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$FINISH,0.7,1.021166
$STATE,8677,end surface coast,CONTROL_FINISHED_OK
$STATE,8677,begin surface
$SM_CCo,8753,0.00,0.000,0,0,442,595.10
$SM_GC,1.32,6.25,0.00,0.00,0.030,0.000,0.000,208,2594,442,-6.45,0.11,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2152.74,12025.93,131011,232338
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.1,108.290
$10V_AH,9.8,80.530
$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,15.925,42.775,589.375,0.000,0.000,28.290,48.474,135.850,0.500,0.000,35.534,2447.439,3836.775,615.339,1946.911,274.968,0.000,1572.305,0.000,1698.821,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,66.555,730.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,679.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,57051,1002
$CAP_FILE_SIZE,110313,0
$CFSIZE,260165632,192540672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.590,150.8,1
$GPS,141011,055136,2159.119,12027.600,11,1.3,27,-2.7