version: 66.09
glider: 181
mission: 6
dive: 673
start: 10 17 111 8 18 1
data:
$ID,181
$MISSION,6
$DIVE,673
$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,-41440.633
$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,73
$R_STBD_OVSHOOT,57
$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
$GPS1,171011,081137,2147.811,12028.180,35,0.9,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-64.9
$GPS2,171011,081738,2147.592,12028.246,13,1.1,13,-2.6
$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,267.0,48825,-16.5,-10.312
$D_GRID,715
$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,-170.3,0.0,0.0,0,86,0.00,0.00,-67.35,0.000,2,0.000,0.000,171,2563,2358,0,0,0,0,0,0
$GC,90,-0.49,-170.3,3.4,-3.2,12,132,8.07,1.15,-27.33,0.000,4,0.216,0.062,2131,3282,3565,0,0,0,0,0,0
$GC,263,-0.49,-170.3,59.6,-37.8,42,270,0.00,1.00,0.00,0.000,6,0.000,0.024,2131,2577,3562,0,0,0,0,0,0
$GC,406,-0.49,-170.3,104.1,-27.4,67,413,0.00,1.08,0.00,0.000,4,0.000,0.037,2126,3279,3560,0,0,0,0,0,0
$GC,601,-0.49,-170.3,146.5,-19.2,101,607,0.00,0.98,0.00,0.000,6,0.000,0.023,2125,2590,3558,0,0,0,0,0,0
$GC,743,-0.49,-170.3,168.5,-14.3,126,750,0.00,1.05,0.00,0.000,4,0.000,0.037,2120,3280,3558,0,0,0,0,0,0
$GC,831,-0.49,-170.3,180.6,-13.1,141,838,0.00,0.98,0.00,0.000,6,0.000,0.023,2121,2593,3558,0,0,0,0,0,0
$GC,979,-0.49,-170.3,202.4,-15.6,166,982,0.00,0.95,0.00,0.000,4,0.000,0.024,2120,1884,3558,0,0,0,0,0,0
$GC,1074,-0.49,-170.3,217.5,-15.6,174,1081,0.00,1.02,0.00,0.000,6,0.000,0.033,2115,2570,3558,0,0,0,0,0,0
$GC,1399,-0.49,-170.3,269.5,-16.3,205,1403,0.00,1.08,0.00,0.000,4,0.000,0.037,2110,3290,3557,0,0,0,0,0,0
$GC,1503,-0.49,-170.3,285.1,-14.5,214,1507,0.08,1.00,0.00,0.000,6,0.136,0.022,2135,2586,3557,0,0,0,0,0,0
$GC,1833,-0.49,-170.3,329.2,-12.9,245,1837,0.00,1.08,0.00,0.000,4,0.000,0.038,2131,3287,3555,0,0,0,0,0,0
$GC,1880,-0.49,-170.3,335.5,-13.3,249,1884,0.00,1.00,0.00,0.000,6,0.000,0.024,2132,2591,3554,0,0,0,0,0,0
$GC,2211,-0.49,-170.3,374.7,-10.6,280,2215,0.00,0.98,0.00,0.000,4,0.000,0.024,2131,1876,3552,0,0,0,0,0,0
$GC,2360,-0.49,-170.3,389.7,-9.7,293,2364,0.00,1.08,0.00,0.000,6,0.000,0.034,2126,2586,3550,0,0,0,0,0,0
$GC,2691,-0.49,-170.3,427.8,-12.2,324,2695,0.00,1.00,0.00,0.000,4,0.000,0.024,2126,1876,3547,0,0,0,0,0,0
$GC,2776,-0.49,-170.3,438.2,-12.5,331,2783,0.00,1.08,0.00,0.000,6,0.000,0.034,2121,2583,3546,0,0,0,0,0,0
$GC,3101,-0.49,-170.3,481.9,-14.3,362,3105,0.00,0.98,0.00,0.000,4,0.000,0.025,2121,1893,3543,0,0,0,0,0,0
$GC,3186,-0.49,-170.3,494.2,-14.3,369,3193,0.00,1.05,0.00,0.000,6,0.000,0.035,2117,2583,3542,0,0,0,0,0,0
$GC,3503,-0.49,-170.3,540.2,-14.4,387,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2583,3538,0,0,0,0,0,0
$GC,3814,-0.49,-170.3,577.5,-11.1,402,3817,0.00,1.00,0.00,0.000,4,0.000,0.028,2116,1884,3535,0,0,0,0,0,0
$GC,3853,-0.49,-170.3,582.3,-11.9,403,3861,0.00,1.10,0.00,0.000,6,0.000,0.038,2112,2588,3535,0,0,0,0,0,0
$GC,4169,-0.49,-170.3,623.4,-14.0,419,4173,0.12,1.02,0.00,0.000,4,0.168,0.028,2145,1890,3532,0,0,0,0,0,0
$GC,4241,-0.49,-170.3,632.8,-12.3,422,4245,0.00,1.08,0.00,0.000,6,0.000,0.037,2141,2585,3531,0,0,0,0,0,0
$GC,4569,-0.49,-170.3,671.5,-11.3,438,4572,0.00,1.00,0.00,0.000,4,0.000,0.028,2141,1895,3528,0,0,0,0,0,0
$GC,4675,-0.49,-170.3,684.0,-11.5,442,4682,0.00,1.08,0.00,0.000,6,0.000,0.038,2137,2584,3527,0,0,0,0,0,0
$STATE,4968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4968,begin apogee
$GC,4976,-0.13,0.0,717.3,10.8,457,5109,0.35,0.00,124.97,0.874,6,0.125,0.000,2251,2162,2870,0,0,0,0,0,0
$STATE,5110,end apogee,CONTROL_FINISHED_OK
$STATE,5110,begin climb
$GC,5113,0.49,170.3,724.0,0.0,463,5256,0.57,1.05,132.12,0.856,4,0.085,0.030,2458,1461,2173,0,0,0,0,0,0
$GC,5330,0.59,255.1,715.9,6.9,473,5402,0.00,1.10,65.93,0.837,6,0.000,0.031,2458,2178,1827,0,0,0,0,0,0
$GC,5719,0.61,271.1,680.0,9.7,492,5740,0.12,0.00,13.65,0.778,6,0.086,0.000,2526,2178,1762,0,0,0,0,0,0
$GC,6050,0.61,271.1,643.9,10.7,508,6054,0.12,1.10,0.00,0.000,4,0.138,0.034,2494,1469,1760,0,0,0,0,0,0
$GC,6083,0.62,276.9,640.5,10.1,509,6095,0.00,1.05,5.60,0.648,6,0.000,0.030,2494,2162,1740,0,0,0,0,0,0
$GC,6405,0.62,276.9,606.9,10.8,525,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2162,1738,0,0,0,0,0,0
$GC,6713,0.65,301.9,576.6,9.3,540,6739,0.00,1.08,20.42,0.760,4,0.000,0.034,2498,1474,1637,0,0,0,0,0,0
$GC,6744,0.68,329.6,573.8,9.2,541,6771,0.00,1.05,22.40,0.740,6,0.000,0.032,2498,2155,1525,0,0,0,0,0,0
$GC,7084,0.72,363.0,542.3,9.0,557,7117,0.10,1.10,27.88,0.746,4,0.098,0.035,2555,1471,1389,0,0,0,0,0,0
$GC,7150,0.75,389.4,535.4,9.2,559,7176,0.00,1.08,21.70,0.714,6,0.000,0.031,2555,2168,1281,0,0,0,0,0,0
$GC,7490,0.79,419.4,503.1,9.1,575,7520,0.00,1.12,24.38,0.720,4,0.000,0.038,2555,2875,1159,0,0,0,0,0,0
$GC,7615,0.84,459.1,492.4,8.7,584,7651,0.00,1.08,31.60,0.711,6,0.000,0.029,2558,2166,998,0,0,0,0,0,0
$GC,7978,0.92,522.6,464.3,7.7,618,8034,0.10,1.15,49.12,0.711,4,0.098,0.036,2619,2874,738,0,0,0,0,0,0
$GC,8082,0.92,522.6,453.5,11.9,627,8086,0.08,1.08,0.00,0.000,6,0.138,0.030,2598,2172,738,0,0,0,0,0,0
$GC,8415,0.92,522.6,417.7,10.7,658,8419,0.00,1.05,0.00,0.000,4,0.000,0.037,2602,1476,737,0,0,0,0,0,0
$GC,8473,0.93,534.6,411.7,9.8,663,8488,0.00,1.05,11.12,0.633,6,0.000,0.030,2602,2168,688,0,0,0,0,0,0
$GC,8815,0.94,539.4,380.0,10.1,695,8827,0.00,1.10,5.25,0.535,4,0.000,0.031,2606,1458,669,0,0,0,0,0,0
$GC,8922,0.94,539.4,367.8,11.6,704,8929,0.00,1.08,0.00,0.000,6,0.000,0.029,2606,2167,669,0,0,0,0,0,0
$GC,9248,0.94,541.8,332.2,10.2,735,9260,0.00,1.10,3.83,0.461,4,0.000,0.037,2606,2867,659,0,0,0,0,0,0
$GC,9273,0.94,541.8,329.5,10.5,737,9277,0.00,1.08,0.00,0.000,6,0.000,0.029,2609,2156,659,0,0,0,0,0,0
$GC,9604,0.94,541.8,294.6,10.8,768,9608,0.00,1.02,0.00,0.000,4,0.000,0.037,2610,1475,659,0,0,0,0,0,0
$GC,9650,0.94,541.8,289.7,10.8,772,9653,0.00,1.05,0.00,0.000,6,0.000,0.030,2610,2166,659,0,0,0,0,0,0
$GC,9981,0.96,559.4,257.5,9.6,803,10004,0.00,1.08,15.40,0.595,4,0.000,0.037,2609,2864,588,0,0,0,0,0,0
$GC,10078,0.96,559.4,247.7,10.6,811,10084,0.00,1.08,0.00,0.000,6,0.000,0.029,2613,2155,588,0,0,0,0,0,0
$GC,10404,0.96,559.4,209.4,12.8,842,10408,0.00,1.02,0.00,0.000,4,0.000,0.037,2614,1470,589,0,0,0,0,0,0
$GC,10439,0.96,559.4,204.8,12.7,845,10443,0.00,1.05,0.00,0.000,6,0.000,0.029,2614,2166,589,0,0,0,0,0,0
$GC,10781,1.00,587.9,169.6,9.2,902,10811,0.00,1.02,23.12,0.539,4,0.000,0.032,2613,2870,471,0,0,0,0,0,0
$GC,11066,1.00,587.9,139.2,10.9,952,11073,0.00,1.08,0.00,0.000,6,0.000,0.028,2614,2156,476,0,0,0,0,0,0
$GC,11211,1.04,618.6,125.5,9.1,977,11225,0.00,1.12,9.23,0.503,4,0.000,0.034,2614,2866,439,0,0,0,0,0,0
$GC,11480,1.04,618.6,99.4,10.7,1024,11487,0.00,1.05,0.20,0.092,6,0.000,0.029,2614,2163,440,0,0,0,0,0,0
$GC,11624,1.04,618.6,83.1,12.1,1049,11631,0.00,1.05,0.00,0.000,4,0.000,0.034,2614,2859,441,0,0,0,0,0,0
$GC,11885,1.04,618.6,53.4,11.0,1095,11892,0.00,1.05,2.58,0.213,6,0.000,0.028,2614,2153,440,0,0,0,0,0,0
$GC,12030,1.04,618.6,37.2,11.0,1120,12037,0.00,1.08,0.08,0.206,4,0.000,0.032,2613,2859,440,0,0,0,0,0,0
$GC,12213,1.04,618.6,16.7,11.3,1152,12221,0.00,1.02,2.42,0.183,6,0.000,0.028,2614,2165,439,0,0,0,0,0,0
$STATE,12355,end climb,SURFACE_DEPTH_REACHED
$STATE,12355,begin surface coast
$FINISH,0.5,1.005686
$STATE,12389,end surface coast,CONTROL_FINISHED_OK
$STATE,12389,begin surface
$SM_CCo,12467,0.00,0.000,0,0,441,595.59
$SM_GC,1.49,6.20,0.00,0.00,0.029,0.000,0.000,197,2581,441,-6.46,-0.25,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12046.29,171011,040434
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.64
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.0,111.634
$10V_AH,9.8,82.211
$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,15.925,60.275,613.000,0.000,0.000,30.749,44.665,140.890,0.000,0.000,15.797,2771.963,6790.598,648.221,2268.043,341.169,0.000,1793.735,0.000,2031.649,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,61.965,873.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,809.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321668
$DATA_FILE_SIZE,67001,1183
$CAP_FILE_SIZE,140274,0
$CFSIZE,260165632,190857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,114656,2147.149,12027.440,30,1.3,30,-2.6