version: 66.09
glider: 181
mission: 6
dive: 662
start: 10 15 111 15 13 45
data:
$ID,181
$MISSION,6
$DIVE,662
$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,-41426.496
$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,75
$R_STBD_OVSHOOT,51
$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
$GPS1,151011,150731,2157.185,12031.134,41,1.1,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.0
$GPS2,151011,151320,2157.066,12031.228,15,1.1,15,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,295.1,58179,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.49,-170.3,0.0,0.0,0,86,0.00,0.00,-64.00,0.000,2,0.000,0.000,130,2567,2288,0,0,0,0,0,0
$GC,89,-0.49,-170.3,3.4,-3.7,11,133,8.32,1.12,-27.38,0.000,4,0.221,0.060,2129,3287,3560,0,0,0,0,0,0
$GC,194,-0.49,-170.3,36.8,-34.4,28,201,0.00,1.00,-0.10,0.000,6,0.000,0.024,2129,2584,3565,0,0,0,0,0,0
$GC,337,-0.49,-170.3,81.5,-25.1,53,345,0.00,1.08,0.00,0.000,4,0.000,0.038,2124,3283,3563,0,0,0,0,0,0
$GC,386,-0.49,-170.3,92.9,-21.6,61,394,0.00,1.00,0.00,0.000,6,0.000,0.024,2124,2587,3563,0,0,0,0,0,0
$GC,529,-0.49,-170.3,121.2,-18.1,86,536,0.00,1.08,0.00,0.000,4,0.000,0.037,2119,3288,3561,0,0,0,0,0,0
$GC,612,-0.49,-170.3,139.8,-23.6,100,618,0.00,1.00,0.00,0.000,6,0.000,0.024,2119,2589,3561,0,0,0,0,0,0
$GC,754,-0.49,-170.3,169.8,-19.4,125,761,0.00,1.05,0.00,0.000,4,0.000,0.037,2114,3279,3561,0,0,0,0,0,0
$GC,813,-0.49,-170.3,179.8,-15.5,135,820,0.00,0.98,0.00,0.000,6,0.000,0.024,2114,2593,3561,0,0,0,0,0,0
$GC,955,-0.49,-170.3,200.6,-14.7,160,959,0.00,1.05,0.00,0.000,4,0.000,0.036,2108,3283,3561,0,0,0,0,0,0
$GC,983,-0.49,-170.3,205.2,-15.5,162,990,0.10,0.98,0.00,0.000,6,0.138,0.024,2140,2589,3561,0,0,0,0,0,0
$GC,1308,-0.49,-170.3,245.3,-13.1,193,1312,0.00,0.95,0.00,0.000,4,0.000,0.024,2140,1879,3560,0,0,0,0,0,0
$GC,1388,-0.49,-170.3,256.3,-13.6,200,1392,0.00,1.05,0.00,0.000,6,0.000,0.034,2138,2573,3559,0,0,0,0,0,0
$GC,1719,-0.49,-170.3,303.7,-13.7,231,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2572,3558,0,0,0,0,0,0
$GC,2039,-0.49,-170.3,349.5,-14.6,261,2043,0.00,1.08,0.00,0.000,4,0.000,0.039,2133,3285,3555,0,0,0,0,0,0
$GC,2111,-0.49,-170.3,360.4,-13.6,267,2118,0.00,1.00,0.00,0.000,6,0.000,0.024,2133,2588,3555,0,0,0,0,0,0
$GC,2437,-0.49,-170.3,400.5,-12.1,298,2440,0.00,0.95,0.00,0.000,4,0.000,0.024,2133,1887,3552,0,0,0,0,0,0
$GC,2563,-0.49,-170.3,415.7,-12.2,309,2566,0.00,1.08,0.00,0.000,6,0.000,0.035,2128,2591,3551,0,0,0,0,0,0
$GC,2894,-0.49,-170.3,456.3,-12.4,340,2897,0.00,1.00,0.00,0.000,4,0.000,0.025,2128,1882,3547,0,0,0,0,0,0
$GC,2967,-0.49,-170.3,465.0,-11.3,346,2974,0.00,1.10,0.00,0.000,6,0.000,0.036,2123,2596,3547,0,0,0,0,0,0
$GC,3301,-0.49,-170.3,506.7,-13.7,376,3305,0.00,1.00,0.00,0.000,4,0.000,0.025,2123,1892,3544,0,0,0,0,0,0
$GC,3362,-0.49,-170.3,515.1,-13.8,378,3369,0.00,1.08,0.00,0.000,6,0.000,0.037,2118,2590,3544,0,0,0,0,0,0
$GC,3680,-0.49,-170.3,562.6,-15.3,394,3684,0.00,1.02,0.00,0.000,4,0.000,0.027,2118,1888,3541,0,0,0,0,0,0
$GC,3730,-0.49,-170.3,570.4,-14.7,396,3734,0.00,1.08,0.00,0.000,6,0.000,0.037,2112,2588,3540,0,0,0,0,0,0
$GC,4059,-0.49,-170.3,613.8,-13.3,412,4062,0.00,1.00,0.00,0.000,4,0.000,0.026,2113,1888,3538,0,0,0,0,0,0
$GC,4105,-0.49,-170.3,620.0,-12.7,414,4110,0.08,1.08,0.00,0.000,6,0.142,0.038,2135,2582,3537,0,0,0,0,0,0
$STATE,4332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4333,begin apogee
$GC,4339,-0.13,0.0,645.0,11.1,425,4473,0.35,0.00,126.07,0.823,6,0.122,0.000,2251,2152,2869,0,0,0,0,0,0
$STATE,4474,end apogee,CONTROL_FINISHED_OK
$STATE,4474,begin climb
$GC,4477,0.49,170.3,651.9,0.0,431,4618,0.57,1.05,130.75,0.806,4,0.085,0.032,2458,1474,2173,0,0,0,0,0,0
$GC,4762,0.62,278.5,642.0,5.9,444,4855,0.08,1.08,82.70,0.798,6,0.054,0.031,2514,2180,1732,0,0,0,0,0,0
$GC,5183,0.69,335.6,607.1,8.0,464,5232,0.00,1.10,43.90,0.783,4,0.000,0.037,2514,2870,1500,0,0,0,0,0,0
$GC,5269,0.75,385.4,600.0,8.3,468,5314,0.00,1.05,39.53,0.759,6,0.000,0.028,2517,2175,1297,0,0,0,0,0,0
$GC,5621,0.83,448.1,572.9,7.8,485,5675,0.15,1.05,48.83,0.765,4,0.080,0.031,2598,2865,1043,0,0,0,0,0,0
$GC,5700,0.83,451.4,565.1,10.2,488,5711,0.10,1.08,5.45,0.542,6,0.123,0.027,2569,2158,1028,0,0,0,0,0,0
$GC,6040,0.89,498.4,535.1,8.4,505,6085,0.00,1.05,37.50,0.744,4,0.000,0.032,2572,1476,836,0,0,0,0,0,0
$GC,6192,0.92,525.3,521.5,9.2,511,6221,0.00,1.05,21.58,0.705,6,0.000,0.028,2572,2170,726,0,0,0,0,0,0
$GC,6535,0.92,525.3,485.8,11.6,534,6539,0.00,1.02,0.00,0.000,4,0.000,0.034,2572,2858,724,0,0,0,0,0,0
$GC,6558,0.92,525.3,482.6,12.6,536,6562,0.00,1.05,0.00,0.000,6,0.000,0.028,2572,2156,724,0,0,0,0,0,0
$GC,6893,0.92,525.3,444.5,11.3,567,6896,0.00,1.00,0.00,0.000,4,0.000,0.035,2575,1480,723,0,0,0,0,0,0
$GC,6943,0.92,525.3,438.7,10.5,571,6950,0.00,1.02,0.00,0.000,6,0.000,0.026,2575,2174,724,0,0,0,0,0,0
$GC,7269,0.94,543.2,404.4,9.6,602,7292,0.00,1.08,14.75,0.659,4,0.000,0.037,2575,2856,654,0,0,0,0,0,0
$GC,7547,0.94,543.2,376.0,11.9,626,7554,0.00,1.02,0.00,0.000,6,0.000,0.028,2575,2167,652,0,0,0,0,0,0
$GC,7873,0.94,543.2,336.2,13.1,657,7876,0.00,1.05,0.00,0.000,4,0.000,0.036,2575,1463,652,0,0,0,0,0,0
$GC,8046,0.94,543.2,311.6,15.7,672,8050,0.00,1.05,0.00,0.000,6,0.000,0.031,2574,2157,652,0,0,0,0,0,0
$GC,8379,0.94,543.2,270.3,10.4,703,8382,0.00,1.08,0.00,0.000,4,0.000,0.037,2575,2871,654,0,0,0,0,0,0
$GC,8639,0.94,543.2,243.1,11.1,726,8643,0.00,1.08,0.00,0.000,6,0.000,0.031,2575,2159,655,0,0,0,0,0,0
$GC,8969,0.94,543.2,202.8,12.4,757,8973,0.00,1.00,0.00,0.000,4,0.000,0.033,2575,1478,656,0,0,0,0,0,0
$GC,9095,0.94,543.2,187.1,13.0,777,9101,0.00,1.05,0.00,0.000,6,0.000,0.031,2575,2173,656,0,0,0,0,0,0
$GC,9237,0.94,543.2,169.5,11.7,802,9244,0.00,1.02,0.00,0.000,4,0.000,0.036,2574,2858,656,0,0,0,0,0,0
$GC,9500,0.94,543.2,142.5,12.0,848,9507,0.00,1.02,0.00,0.000,6,0.000,0.028,2575,2169,657,0,0,0,0,0,0
$GC,9643,0.94,543.2,125.6,11.8,873,9650,0.00,1.05,0.00,0.000,4,0.000,0.036,2574,2855,657,0,0,0,0,0,0
$GC,9905,0.96,554.3,98.3,9.9,919,9925,0.08,1.02,11.12,0.496,6,0.070,0.028,2614,2160,607,0,0,0,0,0,0
$GC,10063,0.96,554.3,82.6,11.1,946,10069,0.00,1.08,0.00,0.000,4,0.000,0.035,2615,2868,611,0,0,0,0,0,0
$GC,10189,0.97,564.8,69.3,9.9,968,10204,0.00,1.02,10.27,0.464,6,0.000,0.027,2614,2168,566,0,0,0,0,0,0
$GC,10341,0.98,570.4,54.3,10.1,994,10354,0.00,1.02,6.47,0.408,4,0.000,0.030,2615,2865,542,0,0,0,0,0,0
$GC,10610,1.01,593.8,28.8,9.4,1041,10636,0.00,1.02,18.77,0.454,6,0.000,0.027,2615,2165,447,0,0,0,0,0,0
$GC,10772,1.01,593.8,10.5,11.8,1069,10779,0.00,1.08,0.00,0.000,4,0.000,0.032,2615,2865,450,0,0,0,0,0,0
$STATE,10835,end climb,SURFACE_DEPTH_REACHED
$STATE,10835,begin surface coast
$FINISH,0.3,1.010463
$STATE,10858,end surface coast,CONTROL_FINISHED_OK
$STATE,10858,begin surface
$SM_CCo,10936,0.00,0.000,0,0,450,593.38
$SM_GC,1.27,6.25,0.00,0.00,0.032,0.000,0.000,200,2570,450,-6.46,-0.57,593.38,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12031.94,151011,121209
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.78
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.0,109.945
$10V_AH,9.9,81.368
$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,16.075,56.125,597.700,0.000,0.000,30.513,21.114,154.426,0.250,0.000,18.421,2718.705,5435.348,648.692,2123.045,353.957,0.000,1733.852,0.000,1923.419,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,59.670,823.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,738.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321940
$DATA_FILE_SIZE,63606,1084
$CAP_FILE_SIZE,129956,0
$CFSIZE,260165632,191676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 98.0,1
$GPS,151011,181707,2156.624,12031.057,27,1.2,28,-2.7