version: 66.09
glider: 181
mission: 6
dive: 650
start: 10 14 111 5 57 3
data:
$ID,181
$MISSION,6
$DIVE,650
$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,-41410.848
$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,67
$R_STBD_OVSHOOT,35
$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
$GPS1,141011,055136,2159.119,12027.600,11,1.3,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.4
$GPS2,141011,055637,2158.972,12027.702,12,1.6,12,-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,357.7,19822,-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,14,begin dive
$GC,17,-0.49,-170.3,0.0,0.0,0,90,0.00,0.00,-70.38,0.000,2,0.000,0.000,128,2592,2426,0,0,0,0,0,0
$GC,93,-0.49,-170.3,3.4,-3.1,11,131,8.38,1.12,-24.65,0.000,4,0.221,0.063,2133,3305,3565,0,0,0,0,0,0
$GC,196,-0.49,-170.3,35.9,-36.7,28,203,0.00,1.05,0.00,0.000,6,0.000,0.024,2134,2578,3565,0,0,0,0,0,0
$GC,339,-0.49,-170.3,82.1,-29.4,53,346,0.00,1.10,0.00,0.000,4,0.000,0.036,2128,3301,3562,0,0,0,0,0,0
$GC,353,-0.49,-170.3,86.0,-28.8,55,360,0.00,1.02,0.00,0.000,6,0.000,0.024,2128,2591,3562,0,0,0,0,0,0
$GC,497,-0.49,-170.3,120.2,-21.7,80,503,0.00,0.98,0.00,0.000,4,0.000,0.024,2128,1877,3560,0,0,0,0,0,0
$GC,560,-0.49,-170.3,131.0,-15.2,91,567,0.00,1.10,0.00,0.000,6,0.000,0.034,2123,2606,3560,0,0,0,0,0,0
$GC,703,-0.49,-170.3,155.1,-16.7,116,710,0.00,1.02,0.00,0.000,4,0.000,0.037,2117,3294,3560,0,0,0,0,0,0
$GC,761,-0.49,-170.3,164.6,-17.1,126,769,0.00,1.00,0.00,0.000,6,0.000,0.023,2117,2597,3559,0,0,0,0,0,0
$GC,907,-0.49,-170.3,188.9,-17.0,151,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2593,3559,0,0,0,0,0,0
$GC,1050,-0.49,-170.3,213.0,-17.7,170,1054,0.00,0.98,0.00,0.000,4,0.000,0.024,2117,1868,3559,0,0,0,0,0,0
$GC,1196,-0.49,-170.3,238.9,-17.4,183,1201,0.08,1.10,0.00,0.000,6,0.135,0.034,2136,2593,3559,0,0,0,0,0,0
$GC,1527,-0.49,-170.3,281.4,-10.9,214,1531,0.00,1.05,0.00,0.000,4,0.000,0.037,2133,3292,3559,0,0,0,0,0,0
$GC,1551,-0.49,-170.3,284.0,-11.0,216,1554,0.00,1.02,0.00,0.000,6,0.000,0.023,2133,2572,3558,0,0,0,0,0,0
$GC,1882,-0.49,-170.3,322.5,-12.6,247,1886,0.00,0.93,0.00,0.000,4,0.000,0.024,2134,1879,3556,0,0,0,0,0,0
$GC,1950,-0.49,-170.3,331.8,-13.5,253,1954,0.00,1.08,0.00,0.000,6,0.000,0.034,2128,2588,3556,0,0,0,0,0,0
$GC,2281,-0.49,-170.3,376.8,-13.9,284,2285,0.00,0.98,0.00,0.000,4,0.000,0.024,2128,1885,3554,0,0,0,0,0,0
$GC,2308,-0.49,-170.3,380.8,-13.6,286,2316,0.00,1.08,0.00,0.000,6,0.000,0.034,2125,2587,3553,0,0,0,0,0,0
$GC,2634,-0.49,-170.3,423.9,-13.2,317,2638,0.00,1.08,0.00,0.000,4,0.000,0.041,2120,3294,3549,0,0,0,0,0,0
$GC,2725,-0.49,-170.3,435.7,-13.0,325,2729,0.00,1.00,0.00,0.000,6,0.000,0.024,2120,2593,3548,0,0,0,0,0,0
$GC,3056,-0.49,-170.3,481.4,-13.9,356,3060,0.00,0.98,0.00,0.000,4,0.000,0.025,2119,1877,3546,0,0,0,0,0,0
$GC,3146,-0.49,-170.3,493.7,-13.2,364,3150,0.00,1.10,0.00,0.000,6,0.000,0.035,2115,2595,3545,0,0,0,0,0,0
$STATE,3240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3240,begin apogee
$GC,3247,-0.13,0.0,507.7,15.0,371,3380,0.43,0.00,125.62,0.733,6,0.126,0.000,2250,2151,2868,0,0,0,0,0,0
$STATE,3381,end apogee,CONTROL_FINISHED_OK
$STATE,3381,begin climb
$GC,3383,0.49,170.3,518.1,0.0,377,3521,0.57,1.05,128.20,0.717,4,0.086,0.031,2457,1465,2174,0,0,0,0,0,0
$GC,3671,0.69,334.2,514.0,3.6,390,3804,0.15,1.08,122.03,0.715,6,0.041,0.029,2541,2179,1505,0,0,0,0,0,0
$GC,4117,0.70,345.1,474.6,9.9,423,4132,0.00,1.10,10.07,0.664,4,0.000,0.031,2545,1463,1461,0,0,0,0,0,0
$GC,4152,0.71,353.7,471.0,10.0,426,4166,0.00,1.05,8.10,0.568,6,0.000,0.028,2546,2164,1426,0,0,0,0,0,0
$GC,4483,0.71,353.7,434.6,10.8,457,4487,0.00,1.05,0.00,0.000,4,0.000,0.036,2545,2864,1423,0,0,0,0,0,0
$GC,4533,0.71,353.7,429.0,11.0,461,4540,0.00,1.02,0.00,0.000,6,0.000,0.024,2550,2159,1423,0,0,0,0,0,0
$GC,4859,0.78,412.1,401.9,7.9,492,4907,0.00,1.05,43.90,0.666,4,0.000,0.032,2554,1481,1189,0,0,0,0,0,0
$GC,4946,0.81,437.3,393.6,9.3,499,4975,0.00,1.02,21.12,0.618,6,0.000,0.028,2555,2160,1085,0,0,0,0,0,0
$GC,5294,0.87,482.7,363.9,8.5,532,5339,0.00,1.10,36.08,0.640,4,0.000,0.035,2554,2859,901,0,0,0,0,0,0
$GC,5592,0.87,482.7,333.4,10.8,558,5599,0.00,1.02,0.00,0.000,6,0.000,0.027,2555,2166,899,0,0,0,0,0,0
$GC,5917,0.87,482.7,299.0,10.6,589,5921,0.00,1.02,0.00,0.000,4,0.000,0.034,2554,1470,898,0,0,0,0,0,0
$GC,6079,0.87,482.7,280.3,12.4,603,6083,0.00,1.02,0.00,0.000,6,0.000,0.028,2554,2159,898,0,0,0,0,0,0
$GC,6409,0.87,482.7,240.9,10.6,634,6413,0.00,1.05,0.00,0.000,4,0.000,0.034,2555,2863,899,0,0,0,0,0,0
$GC,6658,0.87,482.7,215.1,10.3,656,6662,0.00,1.02,0.00,0.000,6,0.000,0.024,2555,2157,898,0,0,0,0,0,0
$GC,6996,0.87,482.7,178.7,10.4,704,7003,0.00,1.00,0.00,0.000,4,0.000,0.031,2554,1473,899,0,0,0,0,0,0
$GC,7163,0.87,482.7,161.2,10.6,733,7171,0.00,1.02,0.00,0.000,6,0.000,0.027,2555,2165,900,0,0,0,0,0,0
$GC,7308,0.87,482.7,145.8,11.3,758,7315,0.00,1.02,0.00,0.000,4,0.000,0.035,2555,2854,900,0,0,0,0,0,0
$GC,7413,0.87,482.7,134.0,10.6,776,7420,0.00,1.00,0.00,0.000,6,0.000,0.025,2554,2167,900,0,0,0,0,0,0
$GC,7558,0.87,482.7,118.4,12.0,801,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2167,901,0,0,0,0,0,0
$GC,7700,0.87,482.7,102.0,11.1,826,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2167,901,0,0,0,0,0,0
$GC,7844,0.96,555.1,90.0,7.4,851,7907,0.15,1.05,54.33,0.474,4,0.094,0.029,2612,2870,604,0,0,0,0,0,0
$GC,7993,0.97,563.6,76.3,10.0,876,8006,0.00,1.05,8.55,0.443,6,0.000,0.027,2612,2164,571,0,0,0,0,0,0
$GC,8144,0.99,579.7,61.3,9.7,902,8165,0.00,1.08,13.62,0.463,4,0.000,0.029,2612,2862,506,0,0,0,0,0,0
$GC,8228,0.99,579.7,52.0,11.8,916,8235,0.00,1.02,0.00,0.000,6,0.000,0.026,2612,2163,506,0,0,0,0,0,0
$GC,8373,0.99,579.7,35.9,10.7,941,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2163,507,0,0,0,0,0,0
$GC,8516,0.99,579.7,21.2,10.4,966,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2163,509,0,0,0,0,0,0
$GC,8660,0.99,582.8,6.5,10.2,991,8667,0.00,0.00,5.10,0.339,6,0.000,0.000,2612,2163,492,0,0,0,0,0,0
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$FINISH,0.6,1.016263
$STATE,8723,end surface coast,CONTROL_FINISHED_OK
$STATE,8723,begin surface
$SM_CCo,8800,0.00,0.000,0,0,493,582.83
$SM_GC,1.34,6.18,0.00,0.00,0.030,0.000,0.000,200,2604,493,-6.46,0.40,582.83,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12033.12,141011,030307
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.62
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.1,108.407
$10V_AH,9.9,80.592
$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,15.925,44.900,576.725,0.000,0.000,30.588,17.332,119.148,0.250,0.000,15.031,2456.795,3827.556,631.798,1903.393,280.313,0.000,1610.709,0.000,1719.891,0.000,0.540,0.000
$DEVICE_MAMPS,221.085,62.730,732.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,678.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,56982,1002
$CAP_FILE_SIZE,114240,0
$CFSIZE,260165632,192479232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.561,138.2,1
$GPS,141011,082506,2158.673,12028.246,40,0.9,46,-2.7