version: 66.09
glider: 181
mission: 6
dive: 661
start: 10 15 111 12 3 41
data:
$ID,181
$MISSION,6
$DIVE,661
$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,-41425.238
$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,63
$R_STBD_OVSHOOT,46
$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
$GPS1,151011,115806,2157.265,12031.238,31,0.9,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.7
$GPS2,151011,120314,2157.187,12031.279,13,1.3,13,-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,337.4,19634,-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,-170.3,0.0,0.0,0,81,0.00,0.00,-63.20,0.000,2,0.000,0.000,187,2603,2242,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.3,-3.5,10,128,8.05,1.02,-28.30,0.000,4,0.219,0.060,2131,3298,3565,0,0,0,0,0,0
$GC,153,-0.49,-170.3,23.7,-36.0,21,161,0.00,1.05,0.00,0.000,6,0.000,0.025,2130,2577,3565,0,0,0,0,0,0
$GC,297,-0.49,-170.3,71.3,-27.9,46,304,0.00,1.10,0.00,0.000,4,0.000,0.037,2125,3292,3563,0,0,0,0,0,0
$GC,317,-0.49,-170.3,76.2,-26.2,49,324,0.00,1.02,0.00,0.000,6,0.000,0.023,2125,2579,3563,0,0,0,0,0,0
$GC,461,-0.49,-170.3,107.9,-21.7,74,468,0.00,1.10,0.00,0.000,4,0.000,0.039,2120,3288,3562,0,0,0,0,0,0
$GC,593,-0.49,-170.3,135.7,-18.7,97,600,0.00,1.00,0.00,0.000,6,0.000,0.023,2120,2587,3561,0,0,0,0,0,0
$GC,737,-0.49,-170.3,157.0,-13.7,122,743,0.00,1.08,0.00,0.000,4,0.000,0.037,2115,3288,3561,0,0,0,0,0,0
$GC,750,-0.49,-170.3,158.9,-12.8,124,757,0.00,1.00,0.00,0.000,6,0.000,0.024,2115,2587,3561,0,0,0,0,0,0
$GC,894,-0.49,-170.3,177.3,-13.6,149,901,0.00,0.95,0.00,0.000,4,0.000,0.024,2114,1880,3561,0,0,0,0,0,0
$GC,981,-0.49,-170.3,189.8,-14.1,164,988,0.00,1.08,0.00,0.000,6,0.000,0.034,2112,2587,3561,0,0,0,0,0,0
$GC,1124,-0.49,-170.3,211.4,-15.4,183,1128,0.12,1.08,0.00,0.000,4,0.171,0.037,2140,3295,3560,0,0,0,0,0,0
$GC,1181,-0.49,-170.3,219.0,-13.4,188,1184,0.00,1.00,0.00,0.000,6,0.000,0.024,2139,2591,3560,0,0,0,0,0,0
$GC,1512,-0.49,-170.3,264.0,-14.3,219,1515,0.00,1.08,0.00,0.000,4,0.000,0.038,2135,3289,3559,0,0,0,0,0,0
$GC,1562,-0.49,-170.3,271.6,-14.7,223,1569,0.00,1.00,0.00,0.000,6,0.000,0.024,2134,2591,3558,0,0,0,0,0,0
$GC,1888,-0.49,-170.3,317.0,-13.7,254,1892,0.00,0.98,0.00,0.000,4,0.000,0.025,2134,1881,3556,0,0,0,0,0,0
$GC,1981,-0.49,-170.3,328.4,-11.8,262,1984,0.00,1.08,0.00,0.000,6,0.000,0.034,2129,2588,3555,0,0,0,0,0,0
$GC,2312,-0.49,-170.3,373.6,-14.6,293,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3553,0,0,0,0,0,0
$GC,2633,-0.49,-170.3,418.7,-13.6,323,2637,0.00,0.98,0.00,0.000,4,0.000,0.024,2129,1886,3550,0,0,0,0,0,0
$GC,2669,-0.49,-170.3,423.6,-13.0,326,2672,0.00,1.08,0.00,0.000,6,0.000,0.035,2125,2588,3550,0,0,0,0,0,0
$GC,2999,-0.49,-170.3,468.6,-14.1,357,3003,0.00,1.08,0.00,0.000,4,0.000,0.041,2119,3294,3547,0,0,0,0,0,0
$GC,3116,-0.49,-170.3,486.3,-14.8,367,3123,0.00,1.02,0.00,0.000,6,0.000,0.024,2119,2584,3546,0,0,0,0,0,0
$GC,3435,-0.49,-170.3,533.3,-13.9,387,3438,0.00,0.95,0.00,0.000,4,0.000,0.025,2119,1895,3543,0,0,0,0,0,0
$GC,3553,-0.49,-170.3,549.6,-13.3,392,3557,0.00,1.08,0.00,0.000,6,0.000,0.036,2114,2593,3543,0,0,0,0,0,0
$GC,3881,-0.49,-170.3,591.3,-12.1,408,3885,0.00,1.00,0.00,0.000,4,0.000,0.024,2114,1882,3540,0,0,0,0,0,0
$GC,3943,-0.49,-170.3,599.2,-12.3,410,3950,0.00,1.10,0.00,0.000,6,0.000,0.037,2112,2593,3539,0,0,0,0,0,0
$GC,4260,-0.49,-170.3,632.8,-10.1,426,4265,0.12,1.10,0.00,0.000,4,0.168,0.041,2140,3298,3537,0,0,0,0,0,0
$GC,4284,-0.49,-170.3,635.2,-10.3,427,4288,0.00,1.02,0.00,0.000,6,0.000,0.025,2141,2593,3537,0,0,0,0,0,0
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4395,-0.13,0.0,645.1,9.6,432,4528,0.35,0.00,126.28,0.824,6,0.121,0.000,2255,2140,2869,0,0,0,0,0,0
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4533,0.49,170.3,651.5,0.0,438,4673,0.55,1.02,130.95,0.807,4,0.083,0.028,2456,1472,2173,0,0,0,0,0,0
$GC,4771,0.67,318.7,646.6,4.3,449,4891,0.12,1.08,113.10,0.805,6,0.044,0.030,2531,2180,1568,0,0,0,0,0,0
$GC,5209,0.79,414.6,620.0,6.4,470,5287,0.00,1.10,73.57,0.796,4,0.000,0.035,2531,2867,1178,0,0,0,0,0,0
$GC,5370,0.79,414.6,604.0,12.5,476,5377,0.00,1.05,0.00,0.000,6,0.000,0.026,2534,2166,1180,0,0,0,0,0,0
$GC,5687,0.79,414.6,567.4,11.3,492,5691,0.00,1.08,0.00,0.000,4,0.000,0.034,2534,2855,1183,0,0,0,0,0,0
$GC,5760,0.80,425.1,559.8,9.9,495,5778,0.00,1.02,10.85,0.715,6,0.000,0.028,2537,2169,1136,0,0,0,0,0,0
$GC,6088,0.83,450.7,528.9,9.3,511,6114,0.00,1.10,20.92,0.729,4,0.000,0.034,2537,2857,1031,0,0,0,0,0,0
$GC,6159,0.83,450.7,521.4,10.4,514,6163,0.00,1.05,0.00,0.000,6,0.000,0.028,2537,2162,1030,0,0,0,0,0,0
$GC,6483,0.83,450.7,485.5,11.5,535,6487,0.00,1.02,0.00,0.000,4,0.000,0.035,2537,1472,1031,0,0,0,0,0,0
$GC,6744,0.87,487.1,458.3,8.8,558,6780,0.10,1.05,29.33,0.702,6,0.058,0.028,2593,2170,882,0,0,0,0,0,0
$GC,7096,0.87,487.1,420.1,13.4,591,7099,0.00,1.02,0.00,0.000,4,0.000,0.036,2593,2857,881,0,0,0,0,0,0
$GC,7185,0.87,487.1,407.4,14.5,599,7189,0.00,1.05,0.00,0.000,6,0.000,0.028,2597,2162,881,0,0,0,0,0,0
$GC,7516,0.87,487.1,367.1,11.1,630,7520,0.00,1.02,0.00,0.000,4,0.000,0.037,2600,1476,880,0,0,0,0,0,0
$GC,7588,0.87,487.1,358.8,11.7,636,7597,0.00,1.02,0.00,0.000,6,0.000,0.028,2600,2160,880,0,0,0,0,0,0
$GC,7914,0.87,487.1,321.3,12.4,667,7918,0.00,1.05,0.00,0.000,4,0.000,0.035,2601,2867,880,0,0,0,0,0,0
$GC,8009,0.87,487.1,308.6,14.6,675,8016,0.00,1.05,0.00,0.000,6,0.000,0.026,2605,2159,883,0,0,0,0,0,0
$GC,8334,0.87,487.1,269.0,10.8,706,8338,0.00,1.02,0.00,0.000,4,0.000,0.033,2610,1464,883,0,0,0,0,0,0
$GC,8425,0.87,487.1,258.6,11.5,714,8430,0.08,1.05,0.00,0.000,6,0.119,0.028,2584,2168,883,0,0,0,0,0,0
$GC,8756,0.92,522.1,226.9,8.9,745,8790,0.00,1.10,27.70,0.572,4,0.000,0.034,2584,2870,739,0,0,0,0,0,0
$GC,9046,0.92,522.1,194.9,11.7,774,9053,0.00,1.05,0.00,0.000,6,0.000,0.027,2584,2159,739,0,0,0,0,0,0
$GC,9191,0.92,522.1,178.7,11.8,799,9198,0.00,1.00,0.00,0.000,4,0.000,0.034,2584,1481,740,0,0,0,0,0,0
$GC,9397,0.92,522.1,154.5,11.4,835,9404,0.00,1.02,0.00,0.000,6,0.000,0.029,2584,2162,740,0,0,0,0,0,0
$GC,9542,0.95,544.7,139.8,9.4,860,9567,0.00,1.02,18.48,0.524,4,0.000,0.032,2584,2865,649,0,0,0,0,0,0
$GC,9678,0.95,544.7,125.8,11.0,883,9686,0.00,1.05,0.00,0.000,6,0.000,0.027,2584,2162,649,0,0,0,0,0,0
$GC,9823,0.95,544.7,108.7,12.2,908,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2163,649,0,0,0,0,0,0
$GC,9967,0.95,544.7,89.9,11.6,933,9974,0.00,1.05,0.00,0.000,4,0.000,0.033,2584,2858,649,0,0,0,0,0,0
$GC,10038,1.00,590.4,83.4,8.4,945,10083,0.08,1.02,35.25,0.476,6,0.076,0.027,2622,2161,462,0,0,0,0,0,0
$GC,10221,1.02,603.4,67.7,9.8,976,10233,0.00,0.00,6.93,0.428,6,0.000,0.000,2622,2161,438,0,0,0,0,0,0
$GC,10372,1.04,620.1,52.7,9.6,1002,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2161,439,0,0,0,0,0,0
$GC,10514,1.04,620.1,38.1,10.8,1027,10521,0.00,1.05,0.00,0.000,4,0.000,0.031,2620,2864,440,0,0,0,0,0,0
$GC,10595,1.04,620.1,29.5,10.9,1041,10603,0.00,1.02,0.75,0.074,6,0.000,0.026,2620,2164,441,0,0,0,0,0,0
$GC,10741,1.04,620.1,13.5,11.0,1066,10748,0.00,1.05,0.50,0.090,4,0.000,0.027,2620,2858,443,0,0,0,0,0,0
$STATE,10842,end climb,SURFACE_DEPTH_REACHED
$STATE,10843,begin surface coast
$FINISH,0.5,1.010317
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10950,0.00,0.000,0,0,443,594.85
$SM_GC,1.46,6.20,0.00,0.00,0.030,0.000,0.000,204,2571,443,-6.44,-0.48,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12042.30,151011,080842
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.81
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.0,109.807
$10V_AH,9.8,81.298
$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,15.775,58.300,594.600,0.000,0.000,27.465,16.769,123.316,0.000,0.000,16.444,2717.647,5436.609,666.244,2119.107,315.254,0.000,1758.251,0.000,1928.289,0.000,0.540,0.000
$DEVICE_MAMPS,218.790,60.435,823.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,742.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321672
$DATA_FILE_SIZE,63534,1089
$CAP_FILE_SIZE,132963,0
$CFSIZE,260165632,191746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.460,160.1,1
$GPS,151011,150731,2157.185,12031.134,41,1.1,42,-2.7