version: 66.09
glider: 181
mission: 6
dive: 658
start: 10 15 111 2 25 56
data:
$ID,181
$MISSION,6
$DIVE,658
$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,-8
$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,-41421.273
$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,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
$GPS1,151011,021737,2157.298,12031.092,36,0.9,37,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.0
$GPS2,151011,022531,2157.135,12031.228,11,1.1,11,-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,337.5,19754,-16.5,-10.313
$D_GRID,643
$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,-170.3,0.0,0.0,0,84,0.00,0.00,-63.85,0.000,2,0.000,0.000,198,2605,2267,0,0,0,0,0,0
$GC,88,-0.49,-170.3,3.5,-4.0,11,132,8.02,1.05,-28.30,0.000,4,0.220,0.061,2129,3311,3561,0,0,0,0,0,0
$GC,241,-0.49,-170.3,58.5,-34.8,37,249,0.00,1.05,-0.10,0.000,6,0.000,0.023,2129,2577,3566,0,0,0,0,0,0
$GC,388,-0.49,-170.3,93.9,-23.0,62,394,0.00,0.93,0.00,0.000,4,0.000,0.024,2129,1902,3565,0,0,0,0,0,0
$GC,435,-0.49,-170.3,102.9,-17.1,70,442,0.00,1.05,0.00,0.000,6,0.000,0.036,2124,2590,3565,0,0,0,0,0,0
$GC,578,-0.49,-170.3,128.1,-17.2,95,585,0.00,1.00,0.00,0.000,4,0.000,0.024,2124,1881,3564,0,0,0,0,0,0
$GC,615,-0.49,-170.3,134.0,-16.4,101,623,0.00,1.08,0.00,0.000,6,0.000,0.032,2119,2596,3564,0,0,0,0,0,0
$GC,759,-0.49,-170.3,155.9,-14.2,126,765,0.00,1.02,0.00,0.000,4,0.000,0.037,2114,3286,3564,0,0,0,0,0,0
$GC,973,-0.49,-170.3,189.9,-15.2,164,980,0.00,1.00,0.00,0.000,6,0.000,0.024,2114,2583,3563,0,0,0,0,0,0
$GC,1112,-0.49,-170.3,209.5,-14.3,183,1116,0.00,0.95,0.00,0.000,4,0.000,0.024,2114,1878,3563,0,0,0,0,0,0
$GC,1171,-0.49,-170.3,217.5,-13.9,188,1175,0.10,1.08,0.00,0.000,6,0.131,0.034,2141,2586,3563,0,0,0,0,0,0
$GC,1501,-0.49,-170.3,260.1,-13.0,219,1505,0.00,1.05,0.00,0.000,4,0.000,0.039,2138,3284,3561,0,0,0,0,0,0
$GC,1536,-0.49,-170.3,265.0,-14.2,222,1540,0.00,1.00,0.00,0.000,6,0.000,0.024,2138,2588,3560,0,0,0,0,0,0
$GC,1866,-0.49,-170.3,312.7,-15.6,253,1870,0.00,0.95,0.00,0.000,4,0.000,0.025,2138,1888,3559,0,0,0,0,0,0
$GC,1949,-0.49,-170.3,324.8,-13.8,260,1956,0.00,1.08,0.00,0.000,6,0.000,0.036,2133,2592,3557,0,0,0,0,0,0
$GC,2276,-0.49,-170.3,367.3,-12.4,291,2280,0.00,1.05,0.00,0.000,4,0.000,0.041,2128,3284,3554,0,0,0,0,0,0
$GC,2312,-0.49,-170.3,371.9,-12.7,294,2316,0.00,1.00,0.00,0.000,6,0.000,0.024,2128,2589,3554,0,0,0,0,0,0
$GC,2643,-0.49,-170.3,414.4,-11.5,325,2646,0.00,0.98,0.00,0.000,4,0.000,0.024,2128,1883,3551,0,0,0,0,0,0
$GC,2765,-0.49,-170.3,429.5,-13.0,336,2769,0.00,1.08,0.00,0.000,6,0.000,0.036,2125,2582,3550,0,0,0,0,0,0
$GC,3096,-0.49,-170.3,471.8,-14.2,367,3100,0.00,0.98,0.00,0.000,4,0.000,0.025,2125,1894,3547,0,0,0,0,0,0
$GC,3142,-0.49,-170.3,478.1,-13.6,371,3146,0.00,1.08,0.00,0.000,6,0.000,0.036,2120,2593,3547,0,0,0,0,0,0
$GC,3480,-0.49,-170.3,523.4,-13.6,395,3483,0.00,1.00,0.00,0.000,4,0.000,0.025,2120,1887,3544,0,0,0,0,0,0
$GC,3503,-0.49,-170.3,526.6,-13.9,396,3507,0.00,1.08,0.00,0.000,6,0.000,0.037,2115,2583,3544,0,0,0,0,0,0
$GC,3836,-0.49,-170.3,569.1,-13.4,412,3840,0.00,1.00,0.00,0.000,4,0.000,0.026,2115,1886,3541,0,0,0,0,0,0
$GC,3888,-0.49,-170.3,576.0,-13.3,414,3891,0.00,1.10,0.00,0.000,6,0.000,0.038,2112,2589,3541,0,0,0,0,0,0
$GC,4215,-0.49,-170.3,621.0,-13.8,430,4220,0.12,1.10,0.00,0.000,4,0.168,0.043,2141,3291,3537,0,0,0,0,0,0
$GC,4316,-0.49,-170.3,633.7,-12.2,434,4320,0.00,1.02,0.00,0.000,6,0.000,0.024,2141,2586,3537,0,0,0,0,0,0
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4389,begin apogee
$GC,4395,-0.13,0.0,643.4,13.3,438,4528,0.32,0.00,126.38,0.828,6,0.122,0.000,2248,2155,2869,0,0,0,0,0,0
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4532,0.49,170.3,654.7,0.0,444,4673,0.57,1.08,131.12,0.812,4,0.086,0.031,2455,1477,2173,0,0,0,0,0,0
$GC,4775,0.66,315.6,651.4,4.4,455,4894,0.12,1.08,111.05,0.805,6,0.046,0.029,2529,2184,1581,0,0,0,0,0,0
$GC,5211,0.67,324.4,611.8,10.0,476,5225,0.00,1.08,8.60,0.718,4,0.000,0.037,2529,2866,1546,0,0,0,0,0,0
$GC,5301,0.67,324.4,602.0,11.3,480,5305,0.00,1.05,0.00,0.000,6,0.000,0.026,2534,2162,1546,0,0,0,0,0,0
$GC,5635,0.73,365.6,571.3,8.6,496,5675,0.00,0.00,32.83,0.765,6,0.000,0.000,2534,2162,1377,0,0,0,0,0,0
$GC,5983,0.73,365.6,535.3,11.1,513,5987,0.00,1.05,0.00,0.000,4,0.000,0.033,2533,2854,1378,0,0,0,0,0,0
$GC,6052,0.73,365.6,527.9,11.4,516,6056,0.00,1.02,0.00,0.000,6,0.000,0.026,2538,2157,1378,0,0,0,0,0,0
$GC,6377,0.76,397.1,496.6,9.0,533,6408,0.00,1.08,25.08,0.721,4,0.000,0.033,2542,1467,1250,0,0,0,0,0,0
$GC,6435,0.81,433.8,491.2,8.8,538,6468,0.00,1.05,29.27,0.703,6,0.000,0.028,2543,2162,1100,0,0,0,0,0,0
$GC,6788,0.84,458.1,459.2,9.3,571,6813,0.00,1.05,21.23,0.689,4,0.000,0.030,2543,1484,1000,0,0,0,0,0,0
$GC,6832,0.88,491.0,455.2,9.0,575,6868,0.08,1.02,26.12,0.678,6,0.055,0.028,2596,2160,867,0,0,0,0,0,0
$GC,7183,0.91,514.1,421.2,9.4,608,7208,0.00,1.10,18.88,0.665,4,0.000,0.034,2596,2861,772,0,0,0,0,0,0
$GC,7271,0.91,514.1,412.0,10.8,615,7278,0.00,1.02,0.00,0.000,6,0.000,0.026,2600,2172,772,0,0,0,0,0,0
$GC,7597,0.91,514.1,371.8,12.0,646,7600,0.00,1.05,0.00,0.000,4,0.000,0.034,2600,2864,771,0,0,0,0,0,0
$GC,7635,0.91,514.1,365.9,15.3,649,7643,0.00,1.02,0.00,0.000,6,0.000,0.024,2604,2163,772,0,0,0,0,0,0
$GC,7961,0.91,514.1,326.8,11.1,680,7964,0.00,1.05,0.00,0.000,4,0.000,0.033,2605,2854,771,0,0,0,0,0,0
$GC,8046,0.91,514.1,316.4,13.3,687,8052,0.00,1.02,0.00,0.000,6,0.000,0.026,2609,2161,771,0,0,0,0,0,0
$GC,8371,0.91,514.1,277.1,12.0,718,8375,0.00,1.02,0.00,0.000,4,0.000,0.035,2614,1475,771,0,0,0,0,0,0
$GC,8440,0.91,514.1,269.4,11.2,724,8444,0.00,1.02,0.00,0.000,6,0.000,0.027,2614,2163,771,0,0,0,0,0,0
$GC,8771,0.91,514.1,235.4,10.4,755,8774,0.00,1.05,0.00,0.000,4,0.000,0.036,2614,2863,771,0,0,0,0,0,0
$GC,8787,0.91,514.1,233.6,10.4,756,8794,0.00,1.02,0.00,0.000,6,0.000,0.027,2617,2172,771,0,0,0,0,0,0
$GC,9114,0.94,542.5,201.7,9.2,787,9144,0.00,1.10,22.70,0.559,4,0.000,0.034,2622,1468,656,0,0,0,0,0,0
$GC,9152,0.96,555.0,197.8,9.8,791,9171,0.00,1.05,10.82,0.479,6,0.000,0.028,2622,2163,607,0,0,0,0,0,0
$GC,9308,0.96,555.0,179.6,12.1,818,9315,0.00,1.05,0.00,0.000,4,0.000,0.036,2622,2865,611,0,0,0,0,0,0
$GC,9399,0.96,555.0,169.3,11.2,834,9406,0.00,1.05,0.00,0.000,6,0.000,0.027,2626,2161,611,0,0,0,0,0,0
$GC,9543,0.96,555.0,153.9,10.4,859,9550,0.00,1.05,0.00,0.000,4,0.000,0.032,2625,2860,611,0,0,0,0,0,0
$GC,9647,1.03,612.0,144.5,8.0,877,9684,0.00,1.02,32.45,0.516,6,0.000,0.026,2630,2164,440,0,0,0,0,0,0
$GC,9823,1.04,622.3,129.0,9.9,907,9830,0.00,0.00,2.80,0.276,6,0.000,0.000,2630,2164,439,0,0,0,0,0,0
$GC,9966,1.04,622.3,113.3,11.6,932,9974,0.00,1.08,0.12,0.155,4,0.000,0.034,2629,2858,441,0,0,0,0,0,0
$GC,10123,1.04,622.3,95.4,11.0,959,10131,0.00,1.02,2.20,0.164,6,0.000,0.028,2629,2170,440,0,0,0,0,0,0
$GC,10268,1.06,635.8,81.3,9.8,984,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2170,440,0,0,0,0,0,0
$GC,10411,1.06,635.8,65.8,11.3,1009,10418,0.00,0.00,0.68,0.086,6,0.000,0.000,2630,2171,441,0,0,0,0,0,0
$GC,10556,1.06,635.8,49.6,11.6,1034,10564,0.00,1.10,2.50,0.207,4,0.000,0.031,2629,2868,440,0,0,0,0,0,0
$GC,10600,1.06,635.8,44.5,11.5,1041,10608,0.00,1.05,0.03,0.200,6,0.000,0.026,2630,2154,440,0,0,0,0,0,0
$GC,10744,1.08,657.6,29.4,9.4,1066,10752,0.00,1.02,0.47,0.091,4,0.000,0.028,2629,1463,441,0,0,0,0,0,0
$GC,10805,1.09,661.7,23.6,10.1,1076,10813,0.00,1.05,0.43,0.078,6,0.000,0.025,2629,2176,442,0,0,0,0,0,0
$GC,10949,1.09,661.7,8.0,11.1,1101,10957,0.00,1.05,2.60,0.208,4,0.000,0.034,2629,2855,439,0,0,0,0,0,0
$STATE,10996,end climb,SURFACE_DEPTH_REACHED
$STATE,10996,begin surface coast
$FINISH,0.4,1.020914
$STATE,11025,end surface coast,CONTROL_FINISHED_OK
$STATE,11025,begin surface
$SM_CCo,11103,0.00,0.000,0,0,441,595.59
$SM_GC,1.30,6.22,0.00,0.00,0.028,0.000,0.000,199,2583,441,-6.46,-0.20,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12033.12,151011,020237
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.78
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,24.0,109.399
$10V_AH,9.8,81.090
$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,15.575,62.325,608.350,0.000,0.000,52.360,85.029,133.007,0.750,0.000,13.858,2773.115,5612.999,680.859,2178.106,325.280,0.000,1765.061,0.000,1888.142,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,61.200,828.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,762.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321656
$DATA_FILE_SIZE,63546,1114
$CAP_FILE_SIZE,137737,0
$CFSIZE,260165632,191950848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285,165.3,1
$GPS,151011,053204,2156.993,12031.004,6,2.8,26,-2.7