version: 66.09
glider: 181
mission: 6
dive: 652
start: 10 14 111 10 58 40
data:
$ID,181
$MISSION,6
$DIVE,652
$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,-41413.359
$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,55
$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
$GPS1,141011,104802,2158.610,12028.767,7,1.8,7,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.3
$GPS2,141011,105814,2158.422,12028.875,13,1.8,13,-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,8.4,19433,-16.5,-10.313
$D_GRID,479
$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,-170.3,0.0,0.0,0,82,0.00,0.00,-62.75,0.000,2,0.000,0.000,194,2586,2217,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.2,-3.0,10,129,7.95,1.12,-30.70,0.000,4,0.216,0.066,2135,3285,3565,0,0,0,0,0,0
$GC,205,-0.49,-170.3,36.8,-33.8,30,211,0.00,1.02,0.00,0.000,6,0.000,0.023,2134,2591,3559,0,0,0,0,0,0
$GC,348,-0.49,-170.3,78.4,-23.3,55,355,0.00,1.05,0.00,0.000,4,0.000,0.036,2129,3277,3557,0,0,0,0,0,0
$GC,368,-0.49,-170.3,82.7,-21.6,58,375,0.00,1.02,0.00,0.000,6,0.000,0.024,2129,2552,3556,0,0,0,0,0,0
$GC,509,-0.49,-170.3,111.0,-18.3,83,516,0.00,0.88,0.00,0.000,4,0.000,0.024,2129,1900,3556,0,0,0,0,0,0
$GC,552,-0.49,-170.3,118.2,-17.3,90,559,0.00,1.02,0.00,0.000,6,0.000,0.034,2124,2578,3556,0,0,0,0,0,0
$GC,694,-0.49,-170.3,140.7,-14.8,115,701,0.00,0.95,0.00,0.000,4,0.000,0.023,2125,1884,3556,0,0,0,0,0,0
$GC,746,-0.49,-170.3,148.2,-14.4,124,753,0.00,1.08,0.00,0.000,6,0.000,0.033,2119,2601,3555,0,0,0,0,0,0
$GC,891,-0.49,-170.3,169.3,-15.1,149,898,0.00,0.00,-0.10,0.000,6,0.000,0.000,2119,2601,3570,0,0,0,0,0,0
$GC,1034,-0.49,-170.3,188.6,-13.6,174,1041,0.00,0.98,0.00,0.000,4,0.000,0.023,2119,1887,3570,0,0,0,0,0,0
$GC,1165,-0.49,-170.3,204.8,-12.6,194,1171,0.00,1.05,0.00,0.000,6,0.000,0.034,2114,2585,3569,0,0,0,0,0,0
$GC,1490,-0.49,-170.3,250.6,-15.2,225,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2585,3567,0,0,0,0,0,0
$GC,1811,-0.49,-170.3,307.9,-18.2,255,1815,0.00,1.08,0.00,0.000,4,0.000,0.040,2109,3296,3565,0,0,0,0,0,0
$GC,1906,-0.49,-170.3,325.2,-17.4,263,1914,0.10,1.00,0.00,0.000,6,0.132,0.024,2141,2598,3564,0,0,0,0,0,0
$GC,2233,-0.49,-170.3,361.2,-7.6,294,2236,0.00,0.98,0.00,0.000,4,0.000,0.025,2140,1884,3561,0,0,0,0,0,0
$GC,2301,-0.49,-170.3,366.9,-8.3,300,2304,0.00,1.08,0.00,0.000,6,0.000,0.037,2138,2584,3560,0,0,0,0,0,0
$GC,2634,-0.49,-170.3,395.2,-9.1,331,2637,0.00,1.08,0.00,0.000,4,0.000,0.041,2133,3289,3558,0,0,0,0,0,0
$GC,2680,-0.49,-170.3,399.9,-10.5,335,2683,0.00,1.00,0.00,0.000,6,0.000,0.024,2133,2593,3557,0,0,0,0,0,0
$GC,3011,-0.49,-170.3,438.8,-11.9,366,3015,0.00,1.00,0.00,0.000,4,0.000,0.027,2133,1881,3554,0,0,0,0,0,0
$GC,3102,-0.49,-170.3,449.0,-11.5,374,3106,0.00,1.10,0.00,0.000,6,0.000,0.036,2128,2595,3553,0,0,0,0,0,0
$STATE,3346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3346,begin apogee
$GC,3354,-0.13,0.0,479.7,12.4,397,3491,0.38,0.00,126.28,0.715,6,0.124,0.000,2249,2152,2868,0,0,0,0,0,0
$STATE,3492,end apogee,CONTROL_FINISHED_OK
$STATE,3492,begin climb
$GC,3495,0.49,170.3,489.3,0.0,409,3633,0.57,1.08,127.43,0.699,4,0.087,0.031,2455,1462,2174,0,0,0,0,0,0
$GC,3784,0.66,312.5,483.8,4.5,434,3897,0.12,1.08,105.70,0.697,6,0.042,0.029,2530,2180,1594,0,0,0,0,0,0
$GC,4218,0.68,332.0,445.1,9.5,474,4241,0.00,1.00,17.00,0.667,4,0.000,0.032,2531,2862,1514,0,0,0,0,0,0
$GC,4314,0.71,352.4,435.3,9.5,482,4335,0.00,1.02,16.58,0.630,6,0.000,0.025,2535,2167,1432,0,0,0,0,0,0
$GC,4661,0.78,413.3,405.6,7.8,515,4711,0.00,1.05,45.62,0.662,4,0.000,0.031,2539,1478,1184,0,0,0,0,0,0
$GC,4803,0.88,488.3,394.8,7.2,527,4866,0.10,1.05,58.00,0.644,6,0.047,0.029,2611,2169,878,0,0,0,0,0,0
$GC,5183,0.88,488.3,354.0,13.2,563,5187,0.00,1.02,0.00,0.000,4,0.000,0.035,2612,2857,876,0,0,0,0,0,0
$GC,5266,0.88,488.3,341.1,16.1,570,5273,0.10,1.02,0.00,0.000,6,0.125,0.027,2581,2166,877,0,0,0,0,0,0
$GC,5591,0.88,488.3,297.6,12.6,601,5595,0.00,1.02,0.00,0.000,4,0.000,0.034,2581,1471,879,0,0,0,0,0,0
$GC,5605,0.88,488.3,296.2,12.2,602,5609,0.00,1.05,0.00,0.000,6,0.000,0.028,2581,2177,879,0,0,0,0,0,0
$GC,5936,0.90,508.3,258.7,9.5,633,5960,0.00,1.10,16.77,0.588,4,0.000,0.034,2581,1472,795,0,0,0,0,0,0
$GC,6045,0.93,530.1,247.8,9.4,642,6067,0.00,1.05,17.85,0.539,6,0.000,0.031,2581,2163,706,0,0,0,0,0,0
$GC,6387,0.93,530.1,214.9,10.8,674,6391,0.00,1.02,0.00,0.000,4,0.000,0.033,2582,1480,705,0,0,0,0,0,0
$GC,6648,0.93,530.1,186.1,10.4,708,6655,0.00,1.02,0.00,0.000,6,0.000,0.027,2581,2177,705,0,0,0,0,0,0
$GC,6794,0.93,530.1,170.5,11.6,733,6802,0.00,1.00,0.00,0.000,4,0.000,0.036,2581,2848,705,0,0,0,0,0,0
$GC,7058,0.93,530.1,136.8,10.8,779,7065,0.00,1.02,0.00,0.000,6,0.000,0.030,2581,2163,706,0,0,0,0,0,0
$GC,7203,1.05,629.6,126.9,6.3,804,7259,0.17,1.10,49.42,0.501,4,0.097,0.032,2644,2854,439,0,0,0,0,0,0
$GC,7515,1.05,629.6,91.9,11.4,858,7523,0.00,1.02,2.62,0.234,6,0.000,0.027,2644,2159,439,0,0,0,0,0,0
$GC,7663,1.05,629.6,76.5,11.2,883,7670,0.00,1.05,0.00,0.000,4,0.000,0.032,2644,2855,441,0,0,0,0,0,0
$GC,7924,1.05,629.6,46.9,10.5,929,7932,0.00,1.02,2.40,0.188,6,0.000,0.028,2644,2163,440,0,0,0,0,0,0
$GC,8071,1.05,629.6,31.2,11.5,954,8078,0.00,1.02,0.00,0.000,4,0.000,0.031,2644,2849,440,0,0,0,0,0,0
$STATE,8324,end climb,SURFACE_DEPTH_REACHED
$STATE,8324,begin surface coast
$FINISH,0.5,1.003656
$STATE,8359,end surface coast,CONTROL_FINISHED_OK
$STATE,8359,begin surface
$SM_CCo,8437,0.00,0.000,0,0,443,595.10
$SM_GC,1.26,6.25,0.00,0.00,0.029,0.000,0.000,195,2578,443,-6.46,-0.34,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12029.93,141011,101029
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.2,108.651
$10V_AH,10.0,80.713
$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,15.750,41.300,585.675,0.000,0.000,89.822,142.947,121.326,0.500,0.000,15.708,2409.673,3738.786,616.022,2008.844,274.570,0.000,1541.628,0.000,1641.114,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,65.790,714.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,680.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322736
$DATA_FILE_SIZE,56889,1005
$CAP_FILE_SIZE,108974,0
$CFSIZE,260165632,192360448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.381,136.1,1
$GPS,141011,132036,2158.463,12029.284,37,1.1,42,-2.7