version: 66.09
glider: 181
mission: 6
dive: 672
start: 10 17 111 4 54 21
data:
$ID,181
$MISSION,6
$DIVE,672
$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,0
$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,-41439.371
$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,70
$R_STBD_OVSHOOT,53
$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
$GPS1,171011,044824,2148.876,12028.801,40,1.0,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.3
$GPS2,171011,045356,2148.767,12028.815,13,1.0,13,-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,264.7,50055,-16.5,-10.313
$D_GRID,683
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.49,-170.3,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,2,0.000,0.000,158,2564,2175,0,0,0,0,0,0
$GC,84,-0.49,-170.3,3.1,-2.9,11,132,8.18,1.00,-33.58,0.000,4,0.217,0.053,2139,1870,3566,0,0,0,0,0,0
$GC,240,-0.49,-170.3,40.4,-27.1,38,247,0.00,1.08,0.00,0.000,6,0.000,0.036,2134,2574,3566,0,0,0,0,0,0
$GC,383,-0.49,-170.3,83.9,-29.9,63,390,0.00,1.08,0.00,0.000,4,0.000,0.038,2129,3289,3563,0,0,0,0,0,0
$GC,505,-0.49,-170.3,115.8,-25.0,84,511,0.00,1.00,0.00,0.000,6,0.000,0.023,2129,2577,3562,0,0,0,0,0,0
$GC,648,-0.49,-170.3,145.0,-19.3,109,654,0.00,1.10,0.00,0.000,4,0.000,0.036,2124,3298,3561,0,0,0,0,0,0
$GC,678,-0.49,-170.3,151.0,-20.1,114,687,0.00,1.00,0.00,0.000,6,0.000,0.023,2124,2600,3561,0,0,0,0,0,0
$GC,823,-0.49,-170.3,180.0,-18.5,139,829,0.00,1.05,0.00,0.000,4,0.000,0.037,2119,3289,3561,0,0,0,0,0,0
$GC,904,-0.49,-170.3,194.1,-17.7,153,911,0.00,1.00,0.00,0.000,6,0.000,0.024,2119,2586,3561,0,0,0,0,0,0
$GC,1044,-0.49,-170.3,215.3,-14.2,169,1048,0.00,0.95,0.00,0.000,4,0.000,0.024,2119,1882,3561,0,0,0,0,0,0
$GC,1179,-0.49,-170.3,236.0,-15.5,181,1183,0.00,1.08,0.00,0.000,6,0.000,0.034,2113,2598,3560,0,0,0,0,0,0
$GC,1510,-0.49,-170.3,281.3,-14.0,212,1514,0.00,1.02,0.00,0.000,4,0.000,0.038,2108,3288,3559,0,0,0,0,0,0
$GC,1556,-0.49,-170.3,288.0,-15.1,216,1561,0.10,1.00,0.00,0.000,6,0.132,0.024,2141,2590,3559,0,0,0,0,0,0
$GC,1887,-0.49,-170.3,345.0,-18.4,247,1891,0.00,0.95,0.00,0.000,4,0.000,0.024,2140,1890,3558,0,0,0,0,0,0
$GC,2037,-0.49,-170.3,365.3,-13.0,260,2041,0.00,1.05,0.00,0.000,6,0.000,0.035,2137,2585,3557,0,0,0,0,0,0
$GC,2370,-0.49,-170.3,403.7,-9.2,291,2374,0.00,1.05,0.00,0.000,4,0.000,0.040,2132,3285,3554,0,0,0,0,0,0
$GC,2416,-0.49,-170.3,408.2,-9.6,295,2420,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2591,3553,0,0,0,0,0,0
$GC,2747,-0.49,-170.3,446.6,-12.8,326,2751,0.00,0.98,0.00,0.000,4,0.000,0.025,2132,1885,3550,0,0,0,0,0,0
$GC,2876,-0.49,-170.3,462.6,-12.0,337,2883,0.00,1.08,0.00,0.000,6,0.000,0.035,2127,2593,3549,0,0,0,0,0,0
$GC,3201,-0.49,-170.3,503.4,-13.0,367,3204,0.00,1.00,0.00,0.000,4,0.000,0.024,2127,1884,3546,0,0,0,0,0,0
$GC,3295,-0.49,-170.3,516.3,-13.4,371,3299,0.00,1.08,0.00,0.000,6,0.000,0.036,2122,2586,3545,0,0,0,0,0,0
$GC,3624,-0.49,-170.3,558.7,-12.7,387,3628,0.00,1.00,0.00,0.000,4,0.000,0.026,2122,1884,3542,0,0,0,0,0,0
$GC,3730,-0.49,-170.3,571.6,-11.3,391,3737,0.00,1.08,0.00,0.000,6,0.000,0.036,2117,2584,3540,0,0,0,0,0,0
$GC,4047,-0.49,-170.3,609.1,-11.9,407,4051,0.00,1.00,0.00,0.000,4,0.000,0.026,2117,1884,3537,0,0,0,0,0,0
$GC,4093,-0.49,-170.3,615.1,-12.8,409,4097,0.00,1.08,0.00,0.000,6,0.000,0.037,2113,2583,3536,0,0,0,0,0,0
$GC,4426,-0.49,-170.3,659.0,-13.8,425,4430,0.12,1.02,0.00,0.000,4,0.164,0.027,2144,1885,3533,0,0,0,0,0,0
$GC,4545,-0.49,-170.3,671.5,-10.6,430,4548,0.00,1.10,0.00,0.000,6,0.000,0.037,2141,2593,3533,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4670,-0.13,0.0,684.8,11.2,436,4803,0.35,0.00,126.07,0.851,6,0.122,0.000,2255,2144,2869,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4806,0.49,170.3,692.6,0.0,442,4947,0.55,1.08,131.52,0.835,4,0.083,0.031,2455,1461,2173,0,0,0,0,0,0
$GC,5116,0.62,278.4,682.6,5.9,456,5209,0.10,1.10,82.97,0.825,6,0.051,0.030,2519,2184,1732,0,0,0,0,0,0
$GC,5525,0.63,284.0,643.7,10.1,476,5535,0.00,1.02,5.55,0.665,4,0.000,0.033,2519,2852,1710,0,0,0,0,0,0
$GC,5624,0.63,284.0,632.4,11.4,480,5628,0.00,1.02,0.00,0.000,6,0.000,0.027,2524,2158,1709,0,0,0,0,0,0
$GC,5948,0.67,323.3,600.8,8.7,496,5983,0.00,1.05,31.08,0.782,4,0.000,0.031,2524,2859,1550,0,0,0,0,0,0
$GC,6090,0.73,366.2,588.5,8.6,502,6130,0.00,1.05,34.15,0.765,6,0.000,0.027,2527,2160,1376,0,0,0,0,0,0
$GC,6453,0.74,380.7,556.0,9.7,520,6472,0.00,0.00,12.85,0.714,6,0.000,0.000,2528,2160,1316,0,0,0,0,0,0
$GC,6782,0.74,380.7,521.0,10.9,536,6785,0.00,1.08,0.00,0.000,4,0.000,0.035,2527,2860,1314,0,0,0,0,0,0
$GC,6833,0.74,380.7,515.4,10.9,538,6836,0.00,1.05,0.00,0.000,6,0.000,0.028,2530,2164,1314,0,0,0,0,0,0
$GC,7157,0.75,382.8,481.6,10.2,562,7160,0.00,1.05,0.00,0.000,4,0.000,0.034,2533,1461,1314,0,0,0,0,0,0
$GC,7216,0.76,394.5,475.9,9.8,567,7231,0.00,1.05,11.98,0.681,6,0.000,0.030,2534,2159,1260,0,0,0,0,0,0
$GC,7552,0.82,445.1,445.7,8.2,598,7594,0.00,0.00,40.00,0.702,6,0.000,0.000,2534,2158,1054,0,0,0,0,0,0
$GC,7910,0.88,488.2,414.1,8.6,632,7948,0.15,0.00,34.80,0.677,6,0.080,0.000,2608,2159,877,0,0,0,0,0,0
$GC,8264,0.88,488.2,371.7,12.7,665,8268,0.00,1.05,0.00,0.000,4,0.000,0.037,2608,2857,877,0,0,0,0,0,0
$GC,8288,0.88,488.2,368.6,12.5,667,8291,0.00,1.05,0.00,0.000,6,0.000,0.028,2612,2161,877,0,0,0,0,0,0
$GC,8619,0.88,488.2,327.6,12.7,698,8623,0.00,1.02,0.00,0.000,4,0.000,0.034,2617,1468,876,0,0,0,0,0,0
$GC,8658,0.88,488.2,322.1,13.4,701,8665,0.10,1.05,0.00,0.000,6,0.110,0.028,2581,2169,877,0,0,0,0,0,0
$GC,8983,0.88,488.2,283.6,11.6,732,8987,0.00,1.05,0.00,0.000,4,0.000,0.032,2582,1471,877,0,0,0,0,0,0
$GC,8997,0.88,488.2,282.2,11.9,733,9001,0.00,1.02,0.00,0.000,6,0.000,0.028,2583,2154,876,0,0,0,0,0,0
$GC,9328,0.91,515.3,248.7,9.2,764,9354,0.00,1.08,21.42,0.581,4,0.000,0.031,2583,1464,767,0,0,0,0,0,0
$GC,9430,0.96,555.3,239.8,8.7,773,9466,0.00,1.08,31.42,0.555,6,0.000,0.028,2583,2173,604,0,0,0,0,0,0
$GC,9794,0.96,555.3,199.6,13.0,807,9800,0.00,1.02,0.00,0.000,4,0.000,0.037,2583,2858,605,0,0,0,0,0,0
$GC,10054,0.96,555.3,162.9,13.8,853,10061,0.00,1.05,0.00,0.000,6,0.000,0.028,2583,2157,606,0,0,0,0,0,0
$GC,10200,1.07,649.2,150.6,6.5,878,10238,0.17,1.12,31.88,0.521,4,0.080,0.033,2662,2865,439,0,0,0,0,0,0
$GC,10268,1.18,731.3,145.9,7.0,889,10275,0.00,1.05,0.30,0.086,6,0.000,0.029,2662,2169,442,0,0,0,0,0,0
$GC,10412,1.18,731.3,128.9,13.0,914,10419,0.00,1.10,3.20,0.314,4,0.000,0.034,2662,1463,440,0,0,0,0,0,0
$GC,10574,1.18,737.1,110.6,10.1,942,10581,0.00,1.05,0.25,0.090,6,0.000,0.028,2662,2163,441,0,0,0,0,0,0
$GC,10718,1.19,746.0,96.5,9.9,967,10725,0.00,1.05,0.30,0.106,4,0.000,0.031,2662,2860,442,0,0,0,0,0,0
$GC,10772,1.19,746.0,90.4,11.9,976,10780,0.00,1.05,2.33,0.184,6,0.000,0.026,2662,2151,440,0,0,0,0,0,0
$GC,10917,1.20,748.9,75.2,10.2,1001,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2152,440,0,0,0,0,0,0
$GC,11060,1.23,774.7,62.5,9.3,1026,11068,0.00,1.12,2.28,0.171,4,0.000,0.031,2661,2865,439,0,0,0,0,0,0
$GC,11260,1.23,774.7,41.5,10.8,1061,11268,0.00,1.02,0.08,0.122,6,0.000,0.028,2662,2168,441,0,0,0,0,0,0
$GC,11405,1.24,782.7,27.3,10.0,1086,11413,0.10,1.08,2.53,0.200,4,0.110,0.033,2703,1472,440,0,0,0,0,0,0
$GC,11449,1.25,795.9,23.0,9.8,1093,11456,0.00,1.02,0.00,0.000,6,0.000,0.027,2703,2166,440,0,0,0,0,0,0
$GC,11595,1.27,809.5,8.8,9.8,1118,11602,0.00,1.02,0.05,0.255,4,0.000,0.033,2702,2862,441,0,0,0,0,0,0
$STATE,11652,end climb,SURFACE_DEPTH_REACHED
$STATE,11652,begin surface coast
$FINISH,0.5,1.020534
$STATE,11684,end surface coast,CONTROL_FINISHED_OK
$STATE,11684,begin surface
$SM_CCo,11762,0.00,0.000,0,0,442,595.34
$SM_GC,1.48,6.38,0.00,0.00,0.027,0.000,0.000,203,2570,442,-6.44,-0.57,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2145.77,12045.48,171011,010108
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.17
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.0,111.490
$10V_AH,9.8,82.138
$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,16.300,60.550,607.000,0.000,0.000,30.522,17.152,133.697,0.000,0.000,16.198,2678.092,6216.575,647.080,2199.033,345.156,0.000,1773.522,0.000,1990.877,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,52.785,851.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,774.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321652
$DATA_FILE_SIZE,66915,1133
$CAP_FILE_SIZE,139996,0
$CFSIZE,260165632,190926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,081137,2147.811,12028.180,35,0.9,35,-2.6