version: 66.09
glider: 181
mission: 6
dive: 660
start: 10 15 111 8 52 45
data:
$ID,181
$MISSION,6
$DIVE,660
$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,-41423.883
$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,78
$R_STBD_OVSHOOT,63
$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
$GPS1,151011,084637,2157.000,12031.078,33,1.2,34,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.0
$GPS2,151011,085220,2156.885,12031.172,12,1.3,12,-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,337.3,20223,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.49,-170.3,0.0,0.0,0,77,0.00,0.00,-58.35,0.000,2,0.000,0.000,198,2560,2104,0,0,0,0,0,0
$GC,80,-0.49,-170.3,3.0,-3.3,10,131,8.05,1.12,-33.97,0.000,4,0.220,0.064,2132,3269,3562,0,0,0,0,0,0
$GC,179,-0.49,-170.3,31.5,-37.9,26,185,0.00,0.98,0.00,0.000,6,0.000,0.024,2133,2598,3555,0,0,0,0,0,0
$GC,322,-0.49,-170.3,77.0,-30.6,51,329,0.00,1.10,-0.15,0.000,4,0.000,0.066,2129,3278,3569,0,0,0,0,0,0
$GC,382,-0.49,-170.3,92.7,-26.0,61,389,0.00,1.00,0.00,0.000,6,0.000,0.024,2128,2578,3568,0,0,0,0,0,0
$GC,524,-0.49,-170.3,123.5,-21.3,86,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2575,3567,0,0,0,0,0,0
$GC,667,-0.49,-170.3,147.6,-17.9,111,673,0.00,1.08,0.00,0.000,4,0.000,0.037,2122,3279,3567,0,0,0,0,0,0
$GC,735,-0.49,-170.3,158.9,-16.0,123,742,0.00,0.98,0.00,0.000,6,0.000,0.024,2122,2591,3567,0,0,0,0,0,0
$GC,876,-0.49,-170.3,178.3,-14.2,148,884,0.00,0.95,0.00,0.000,4,0.000,0.023,2122,1880,3567,0,0,0,0,0,0
$GC,1034,-0.49,-170.3,200.5,-15.0,175,1041,0.00,1.02,0.00,0.000,6,0.000,0.033,2117,2564,3566,0,0,0,0,0,0
$GC,1359,-0.49,-170.3,253.0,-15.8,206,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2564,3566,0,0,0,0,0,0
$GC,1681,-0.49,-170.3,298.4,-13.5,236,1684,0.00,1.10,0.00,0.000,4,0.000,0.037,2112,3291,3563,0,0,0,0,0,0
$GC,1874,-0.49,-170.3,325.1,-14.0,253,1878,0.00,1.00,0.00,0.000,6,0.000,0.024,2112,2589,3562,0,0,0,0,0,0
$GC,2205,-0.49,-170.3,372.5,-14.5,284,2209,0.12,0.98,0.00,0.000,4,0.154,0.025,2145,1882,3559,0,0,0,0,0,0
$GC,2295,-0.49,-170.3,383.6,-12.2,292,2299,0.00,1.08,0.00,0.000,6,0.000,0.035,2141,2585,3559,0,0,0,0,0,0
$GC,2626,-0.49,-170.3,426.4,-13.1,323,2629,0.00,1.08,0.00,0.000,4,0.000,0.040,2137,3291,3555,0,0,0,0,0,0
$GC,2653,-0.49,-170.3,430.6,-14.5,325,2660,0.00,1.00,0.00,0.000,6,0.000,0.024,2137,2591,3555,0,0,0,0,0,0
$GC,2978,-0.49,-170.3,471.7,-12.5,356,2982,0.00,0.98,0.00,0.000,4,0.000,0.025,2137,1885,3552,0,0,0,0,0,0
$GC,3095,-0.49,-170.3,485.3,-11.1,366,3102,0.00,1.08,0.00,0.000,6,0.000,0.034,2132,2591,3551,0,0,0,0,0,0
$GC,3416,-0.49,-170.3,522.4,-11.4,388,3420,0.00,1.08,0.00,0.000,4,0.000,0.041,2127,3295,3548,0,0,0,0,0,0
$GC,3495,-0.49,-170.3,531.6,-11.7,391,3499,0.00,1.02,0.00,0.000,6,0.000,0.024,2127,2591,3547,0,0,0,0,0,0
$GC,3820,-0.49,-170.3,571.9,-13.1,407,3823,0.00,0.98,0.00,0.000,4,0.000,0.025,2128,1883,3544,0,0,0,0,0,0
$GC,3860,-0.49,-170.3,577.5,-12.8,408,3868,0.00,1.10,0.00,0.000,6,0.000,0.036,2123,2594,3544,0,0,0,0,0,0
$GC,4176,-0.49,-170.3,617.9,-11.8,424,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2595,3542,0,0,0,0,0,0
$STATE,4400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4400,begin apogee
$GC,4408,-0.13,0.0,643.5,11.2,435,4541,0.40,0.00,126.60,0.824,6,0.125,0.000,2251,2141,2870,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4546,0.49,170.3,649.9,0.0,441,4685,0.57,1.05,131.07,0.805,4,0.085,0.028,2457,1461,2173,0,0,0,0,0,0
$GC,4760,0.58,251.2,641.6,7.0,451,4828,0.00,1.10,62.50,0.789,6,0.000,0.028,2457,2181,1843,0,0,0,0,0,0
$GC,5156,0.67,323.3,609.5,7.4,470,5220,0.17,0.00,55.08,0.785,6,0.070,0.000,2543,2181,1550,0,0,0,0,0,0
$GC,5528,0.73,368.0,577.2,8.5,488,5572,0.00,1.15,35.53,0.763,4,0.000,0.031,2548,1460,1367,0,0,0,0,0,0
$GC,5583,0.78,410.3,572.2,8.6,490,5621,0.00,1.08,33.35,0.741,6,0.000,0.029,2548,2157,1196,0,0,0,0,0,0
$GC,5943,0.80,423.2,538.5,9.8,508,5959,0.00,1.12,12.55,0.700,4,0.000,0.036,2548,2872,1143,0,0,0,0,0,0
$GC,6021,0.80,423.2,530.1,10.7,510,6028,0.00,1.08,0.00,0.000,6,0.000,0.027,2552,2159,1141,0,0,0,0,0,0
$GC,6338,0.81,431.9,498.3,10.0,526,6351,0.00,1.08,8.57,0.649,4,0.000,0.033,2557,1465,1108,0,0,0,0,0,0
$GC,6442,0.81,431.9,487.4,10.5,535,6446,0.00,1.08,0.00,0.000,6,0.000,0.028,2557,2179,1107,0,0,0,0,0,0
$GC,6773,0.81,431.9,452.7,11.4,566,6777,0.00,1.02,0.00,0.000,4,0.000,0.036,2557,2864,1107,0,0,0,0,0,0
$GC,6829,0.81,431.9,446.2,11.4,571,6833,0.00,1.05,0.00,0.000,6,0.000,0.028,2561,2164,1106,0,0,0,0,0,0
$GC,7160,0.81,431.9,407.8,11.2,602,7164,0.00,1.02,0.00,0.000,4,0.000,0.033,2565,1472,1106,0,0,0,0,0,0
$GC,7241,0.81,431.9,399.3,11.1,609,7244,0.00,1.05,0.00,0.000,6,0.000,0.028,2566,2171,1106,0,0,0,0,0,0
$GC,7572,0.82,442.7,367.5,9.9,640,7586,0.00,1.08,9.65,0.619,4,0.000,0.036,2565,2857,1064,0,0,0,0,0,0
$GC,7625,0.82,442.7,361.6,10.9,644,7633,0.00,1.05,0.00,0.000,6,0.000,0.027,2569,2159,1063,0,0,0,0,0,0
$GC,7951,0.86,471.9,330.8,9.1,675,7978,0.00,1.05,23.70,0.621,4,0.000,0.030,2568,2862,944,0,0,0,0,0,0
$GC,8047,0.86,476.3,321.1,10.1,683,8057,0.00,1.05,5.20,0.457,6,0.000,0.027,2571,2161,925,0,0,0,0,0,0
$GC,8384,0.91,516.8,289.7,8.7,715,8419,0.00,1.12,31.05,0.600,4,0.000,0.032,2571,2868,762,0,0,0,0,0,0
$GC,8472,0.93,528.2,281.1,9.8,722,8490,0.00,1.05,10.15,0.522,6,0.000,0.029,2571,2176,716,0,0,0,0,0,0
$GC,8808,0.93,528.2,244.0,10.9,754,8812,0.00,1.02,0.00,0.000,4,0.000,0.031,2571,2856,717,0,0,0,0,0,0
$GC,9069,0.93,528.2,213.3,13.8,777,9073,0.00,1.02,0.00,0.000,6,0.000,0.028,2571,2167,717,0,0,0,0,0,0
$GC,9409,1.00,589.5,172.3,7.8,829,9466,0.15,1.08,47.55,0.532,4,0.081,0.033,2653,1467,465,0,0,0,0,0,0
$GC,9567,1.00,589.5,153.6,11.4,856,9575,0.08,1.05,0.00,0.000,6,0.112,0.026,2625,2171,470,0,0,0,0,0,0
$GC,9713,1.00,589.5,139.1,10.5,881,9719,0.00,1.00,0.00,0.000,4,0.000,0.034,2625,2850,472,0,0,0,0,0,0
$GC,9975,1.00,589.5,107.2,11.4,927,9982,0.00,1.02,0.00,0.000,6,0.000,0.025,2625,2154,472,0,0,0,0,0,0
$GC,10121,1.03,610.8,93.7,9.4,952,10134,0.00,1.12,7.95,0.470,4,0.000,0.031,2625,2865,439,0,0,0,0,0,0
$GC,10390,1.03,610.8,65.0,11.6,999,10398,0.00,1.02,0.47,0.081,6,0.000,0.026,2625,2167,441,0,0,0,0,0,0
$GC,10535,1.03,610.8,47.9,11.8,1024,10542,0.00,1.00,0.62,0.087,4,0.000,0.028,2625,2856,442,0,0,0,0,0,0
$GC,10798,1.03,610.8,17.4,11.0,1070,10806,0.00,1.00,2.78,0.230,6,0.000,0.026,2625,2168,439,0,0,0,0,0,0
$STATE,10937,end climb,SURFACE_DEPTH_REACHED
$STATE,10937,begin surface coast
$FINISH,0.4,1.008720
$STATE,10965,end surface coast,CONTROL_FINISHED_OK
$STATE,10965,begin surface
$SM_CCo,11042,0.00,0.000,0,0,441,595.59
$SM_GC,1.17,6.22,0.00,0.00,0.030,0.000,0.000,200,2604,441,-6.45,0.40,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12035.12,151011,050506
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.59
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.0,109.672
$10V_AH,9.8,81.229
$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,15.775,51.550,604.375,0.000,0.000,28.297,39.287,130.522,0.250,0.000,15.301,2723.346,5588.396,647.539,2103.122,316.251,0.000,1704.539,0.000,1885.299,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,65.790,823.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,749.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321676
$DATA_FILE_SIZE,63537,1099
$CAP_FILE_SIZE,126603,0
$CFSIZE,260165632,191823872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.296, 90.7,1
$GPS,151011,115806,2157.265,12031.238,31,0.9,42,-2.7