version: 66.09
glider: 181
mission: 6
dive: 653
start: 10 14 111 13 26 28
data:
$ID,181
$MISSION,6
$DIVE,653
$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,-41414.711
$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,62
$R_STBD_OVSHOOT,59
$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
$GPS1,141011,132036,2158.463,12029.284,37,1.1,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.3
$GPS2,141011,132602,2158.344,12029.349,12,1.1,12,-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,349.0,19119,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.49,-170.3,0.0,0.0,0,79,0.00,0.00,-59.42,0.000,2,0.000,0.000,144,2574,2130,0,0,0,0,0,0
$GC,83,-0.49,-170.3,3.1,-3.6,10,133,8.27,1.12,-33.05,0.000,4,0.220,0.067,2134,3277,3562,0,0,0,0,0,0
$GC,215,-0.49,-170.3,41.7,-32.1,32,223,0.00,1.00,0.00,0.000,6,0.000,0.024,2134,2591,3558,0,0,0,0,0,0
$GC,359,-0.49,-170.3,83.0,-23.9,57,366,0.00,0.98,0.00,0.000,4,0.000,0.024,2133,1872,3555,0,0,0,0,0,0
$GC,386,-0.49,-170.3,87.9,-20.2,61,393,0.00,1.08,0.00,0.000,6,0.000,0.035,2129,2574,3555,0,0,0,0,0,0
$GC,527,-0.49,-170.3,115.4,-19.1,86,534,0.00,0.00,-0.12,0.000,6,0.000,0.000,2129,2575,3570,0,0,0,0,0,0
$GC,669,-0.49,-170.3,145.7,-19.7,111,676,0.00,0.98,0.00,0.000,4,0.000,0.024,2129,1871,3570,0,0,0,0,0,0
$GC,711,-0.49,-170.3,154.0,-19.8,118,717,0.00,1.10,0.00,0.000,6,0.000,0.035,2125,2593,3570,0,0,0,0,0,0
$GC,854,-0.49,-170.3,178.5,-14.9,143,860,0.00,1.00,0.00,0.000,4,0.000,0.024,2124,1865,3570,0,0,0,0,0,0
$GC,918,-0.49,-170.3,187.3,-13.6,154,924,0.00,1.10,0.00,0.000,6,0.000,0.035,2119,2593,3570,0,0,0,0,0,0
$GC,1058,-0.49,-170.3,205.1,-11.8,175,1062,0.00,1.00,0.00,0.000,4,0.000,0.024,2119,1876,3569,0,0,0,0,0,0
$GC,1085,-0.49,-170.3,208.0,-11.2,177,1092,0.00,1.08,0.00,0.000,6,0.000,0.034,2114,2589,3569,0,0,0,0,0,0
$GC,1410,-0.49,-170.3,245.5,-10.9,208,1414,0.00,1.08,0.00,0.000,4,0.000,0.040,2108,3289,3569,0,0,0,0,0,0
$GC,1527,-0.49,-170.3,266.1,-21.4,218,1535,0.08,1.02,0.00,0.000,6,0.138,0.023,2133,2569,3568,0,0,0,0,0,0
$GC,1854,-0.49,-170.3,301.0,-8.4,249,1857,0.00,0.93,0.00,0.000,4,0.000,0.024,2133,1883,3566,0,0,0,0,0,0
$GC,1959,-0.49,-170.3,313.1,-14.1,258,1966,0.00,1.08,0.00,0.000,6,0.000,0.034,2130,2588,3565,0,0,0,0,0,0
$GC,2285,-0.49,-170.3,363.2,-17.7,289,2289,0.00,1.00,0.00,0.000,4,0.000,0.026,2129,1893,3562,0,0,0,0,0,0
$GC,2343,-0.49,-170.3,371.6,-13.7,294,2346,0.00,1.08,0.00,0.000,6,0.000,0.037,2125,2590,3562,0,0,0,0,0,0
$GC,2674,-0.49,-170.3,417.4,-10.8,325,2678,0.00,1.08,0.00,0.000,4,0.000,0.041,2121,3296,3559,0,0,0,0,0,0
$GC,2721,-0.49,-170.3,421.7,-9.5,329,2725,0.00,1.02,0.00,0.000,6,0.000,0.024,2120,2590,3558,0,0,0,0,0,0
$GC,3051,-0.49,-170.3,462.6,-13.7,360,3055,0.00,0.98,0.00,0.000,4,0.000,0.025,2120,1879,3555,0,0,0,0,0,0
$GC,3130,-0.49,-170.3,474.1,-14.8,367,3134,0.00,1.10,0.00,0.000,6,0.000,0.037,2115,2594,3555,0,0,0,0,0,0
$STATE,3162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3162,begin apogee
$GC,3169,-0.13,0.0,479.3,15.4,370,3305,0.43,0.00,127.12,0.712,6,0.123,0.000,2252,2140,2868,0,0,0,0,0,0
$STATE,3306,end apogee,CONTROL_FINISHED_OK
$STATE,3306,begin climb
$GC,3309,0.49,170.3,487.6,0.0,382,3450,0.52,1.00,127.50,0.693,4,0.039,0.028,2483,1456,2174,0,0,0,0,0,0
$GC,3646,0.73,369.6,481.6,2.2,411,3800,0.12,1.10,147.57,0.695,6,0.047,0.029,2555,2180,1361,0,0,0,0,0,0
$GC,4117,0.73,369.6,442.7,11.8,455,4121,0.00,1.02,0.00,0.000,4,0.000,0.036,2555,2865,1360,0,0,0,0,0,0
$GC,4245,0.73,369.6,427.2,13.6,466,4252,0.00,1.05,0.00,0.000,6,0.000,0.026,2560,2158,1359,0,0,0,0,0,0
$GC,4571,0.73,370.3,390.9,10.3,497,4574,0.00,1.08,0.00,0.000,4,0.000,0.034,2560,2865,1358,0,0,0,0,0,0
$GC,4598,0.73,370.3,387.8,10.7,499,4605,0.00,1.02,0.00,0.000,6,0.000,0.025,2565,2166,1357,0,0,0,0,0,0
$GC,4925,0.73,370.3,349.9,11.4,530,4929,0.00,1.02,0.00,0.000,4,0.000,0.033,2570,1481,1356,0,0,0,0,0,0
$GC,4971,0.76,393.0,345.5,9.4,534,4995,0.00,1.02,18.42,0.633,6,0.000,0.031,2571,2164,1265,0,0,0,0,0,0
$GC,5313,0.76,393.0,314.0,11.7,566,5317,0.00,1.05,0.00,0.000,4,0.000,0.035,2570,2866,1267,0,0,0,0,0,0
$GC,5348,0.76,393.0,309.8,11.8,569,5352,0.08,1.02,0.00,0.000,6,0.122,0.027,2548,2169,1267,0,0,0,0,0,0
$GC,5678,0.81,433.4,277.2,8.7,600,5712,0.00,0.00,31.60,0.595,6,0.000,0.000,2548,2169,1102,0,0,0,0,0,0
$GC,6029,0.87,485.9,249.0,8.2,633,6076,0.00,1.10,41.17,0.575,4,0.000,0.034,2549,1464,888,0,0,0,0,0,0
$GC,6328,0.88,488.1,216.1,10.2,659,6336,0.08,1.05,0.00,0.000,6,0.069,0.025,2602,2180,886,0,0,0,0,0,0
$GC,6660,0.89,497.0,185.1,9.9,704,6673,0.00,1.05,10.12,0.545,4,0.000,0.034,2602,2853,841,0,0,0,0,0,0
$GC,6719,0.89,497.0,178.9,10.5,714,6726,0.00,1.02,0.00,0.000,6,0.000,0.025,2607,2155,840,0,0,0,0,0,0
$GC,6864,0.89,497.0,163.5,11.1,739,6871,0.00,1.00,0.00,0.000,4,0.000,0.033,2609,1476,840,0,0,0,0,0,0
$GC,6968,0.89,497.0,151.3,11.6,757,6975,0.00,1.00,0.00,0.000,6,0.000,0.028,2610,2156,840,0,0,0,0,0,0
$GC,7116,0.89,499.9,135.8,10.2,782,7124,0.00,1.10,3.80,0.371,4,0.000,0.033,2610,2867,830,0,0,0,0,0,0
$GC,7216,1.00,586.8,128.1,6.8,799,7290,0.00,1.02,64.75,0.497,6,0.000,0.027,2609,2174,475,0,0,0,0,0,0
$GC,7428,1.05,625.4,113.7,8.7,835,7442,0.00,1.08,9.55,0.478,4,0.000,0.033,2610,2854,440,0,0,0,0,0,0
$GC,7647,1.05,625.4,90.1,11.8,873,7654,0.00,1.02,0.00,0.000,6,0.000,0.027,2610,2163,440,0,0,0,0,0,0
$GC,7790,1.05,625.4,73.7,11.4,898,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2163,440,0,0,0,0,0,0
$GC,7933,1.05,625.4,58.2,10.7,923,7940,0.00,1.05,0.00,0.000,4,0.000,0.031,2610,2865,441,0,0,0,0,0,0
$GC,8129,1.05,627.9,36.3,10.2,957,8137,0.00,1.02,2.40,0.184,6,0.000,0.026,2610,2165,440,0,0,0,0,0,0
$GC,8276,1.05,632.1,22.1,10.1,982,8283,0.00,0.00,0.05,0.255,6,0.000,0.000,2609,2165,440,0,0,0,0,0,0
$GC,8419,1.05,632.1,7.2,10.8,1007,8427,0.00,1.00,0.70,0.083,4,0.000,0.026,2609,2858,442,0,0,0,0,0,0
$STATE,8454,end climb,SURFACE_DEPTH_REACHED
$STATE,8454,begin surface coast
$FINISH,0.5,1.009519
$STATE,8483,end surface coast,CONTROL_FINISHED_OK
$STATE,8483,begin surface
$SM_CCo,8561,0.00,0.000,0,0,442,595.34
$SM_GC,1.37,6.18,0.00,0.00,0.031,0.000,0.000,203,2564,442,-6.45,-0.74,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12027.93,141011,101044
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.19
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.1,108.767
$10V_AH,9.9,80.774
$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,15.750,45.700,584.775,0.000,0.000,25.647,41.888,121.430,0.500,0.000,16.462,2436.707,3649.702,645.294,1870.849,283.677,0.000,1594.981,0.000,1671.657,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,67.320,712.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,688.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322748
$DATA_FILE_SIZE,56943,1018
$CAP_FILE_SIZE,113328,0
$CFSIZE,260165632,192299008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.437,165.1,1
$GPS,141011,155016,2158.362,12029.423,10,2.2,29,-2.7