version: 66.09
glider: 181
mission: 6
dive: 674
start: 10 17 111 11 53 30
data:
$ID,181
$MISSION,6
$DIVE,674
$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,-41441.891
$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,58
$R_STBD_OVSHOOT,30
$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
$GPS1,171011,114656,2147.149,12027.440,30,1.3,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.1
$GPS2,171011,115307,2146.967,12027.417,39,1.1,39,-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,268.2,47302,-16.5,-10.312
$D_GRID,836
$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,-170.3,0.0,0.0,0,82,0.00,0.00,-62.25,0.000,2,0.000,0.000,182,2581,2195,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.0,-3.0,11,133,8.05,1.10,-32.47,0.000,4,0.217,0.060,2130,3315,3564,0,0,0,0,0,0
$GC,253,-0.49,-170.3,52.3,-33.0,40,260,0.00,1.08,0.00,0.000,6,0.000,0.024,2130,2574,3563,0,0,0,0,0,0
$GC,396,-0.49,-170.3,94.0,-29.0,65,403,0.00,1.12,0.00,0.000,4,0.000,0.039,2125,3296,3561,0,0,0,0,0,0
$GC,512,-0.49,-170.3,122.6,-23.3,85,519,0.00,1.02,0.00,0.000,6,0.000,0.023,2125,2577,3560,0,0,0,0,0,0
$GC,655,-0.49,-170.3,151.0,-15.0,110,662,0.00,1.12,0.00,0.000,4,0.000,0.036,2119,3314,3559,0,0,0,0,0,0
$GC,705,-0.49,-170.3,158.7,-16.5,118,712,0.00,1.02,0.00,0.000,6,0.000,0.023,2119,2596,3559,0,0,0,0,0,0
$GC,848,-0.49,-170.3,179.3,-12.8,143,855,0.00,1.08,0.00,0.000,4,0.000,0.037,2114,3298,3559,0,0,0,0,0,0
$GC,867,-0.49,-170.3,182.0,-13.9,146,874,0.00,1.02,0.00,0.000,6,0.000,0.024,2114,2584,3559,0,0,0,0,0,0
$GC,1016,-0.49,-170.3,203.0,-14.1,170,1019,0.00,0.95,0.00,0.000,4,0.000,0.024,2114,1882,3559,0,0,0,0,0,0
$GC,1053,-0.49,-170.3,208.2,-14.3,173,1058,0.08,1.08,0.00,0.000,6,0.140,0.034,2135,2595,3559,0,0,0,0,0,0
$GC,1386,-0.49,-170.3,256.3,-15.0,204,1390,0.00,1.05,0.00,0.000,4,0.000,0.038,2131,3296,3558,0,0,0,0,0,0
$GC,1481,-0.49,-170.3,271.4,-15.3,212,1488,0.00,1.00,0.00,0.000,6,0.000,0.023,2131,2591,3558,0,0,0,0,0,0
$GC,1806,-0.49,-170.3,319.7,-12.9,243,1810,0.00,0.95,0.00,0.000,4,0.000,0.024,2131,1887,3556,0,0,0,0,0,0
$GC,1856,-0.49,-170.3,327.1,-14.6,247,1863,0.00,1.05,0.00,0.000,6,0.000,0.034,2126,2582,3555,0,0,0,0,0,0
$GC,2182,-0.49,-170.3,371.7,-12.8,278,2186,0.00,1.08,0.00,0.000,4,0.000,0.039,2121,3295,3553,0,0,0,0,0,0
$GC,2395,-0.49,-170.3,397.7,-13.0,297,2399,0.00,1.02,0.00,0.000,6,0.000,0.024,2121,2587,3551,0,0,0,0,0,0
$GC,2726,-0.49,-170.3,442.9,-13.3,328,2730,0.00,0.98,0.00,0.000,4,0.000,0.027,2121,1883,3548,0,0,0,0,0,0
$GC,2784,-0.49,-170.3,450.4,-13.1,333,2787,0.00,1.08,0.00,0.000,6,0.000,0.037,2116,2585,3548,0,0,0,0,0,0
$GC,3114,-0.49,-170.3,496.0,-13.4,364,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2586,3545,0,0,0,0,0,0
$GC,3435,-0.49,-170.3,540.1,-13.3,381,3439,0.00,1.00,0.00,0.000,4,0.000,0.028,2116,1886,3541,0,0,0,0,0,0
$GC,3462,-0.49,-170.3,543.5,-12.2,382,3467,0.08,1.10,0.00,0.000,6,0.142,0.039,2135,2590,3541,0,0,0,0,0,0
$GC,3790,-0.49,-170.3,577.4,-11.1,398,3794,0.00,1.00,0.00,0.000,4,0.000,0.028,2136,1894,3537,0,0,0,0,0,0
$GC,3874,-0.49,-170.3,587.3,-10.9,401,3881,0.00,1.10,0.00,0.000,6,0.000,0.038,2132,2600,3536,0,0,0,0,0,0
$GC,4192,-0.49,-170.3,623.1,-11.2,417,4196,0.00,1.02,0.00,0.000,4,0.000,0.028,2132,1888,3533,0,0,0,0,0,0
$GC,4282,-0.49,-170.3,632.5,-10.6,421,4286,0.00,1.10,0.00,0.000,6,0.000,0.040,2127,2594,3533,0,0,0,0,0,0
$GC,4615,-0.49,-170.3,670.1,-11.5,437,4619,0.00,1.02,0.00,0.000,4,0.000,0.028,2127,1887,3530,0,0,0,0,0,0
$GC,4745,-0.49,-170.3,684.7,-11.1,442,4752,0.00,1.10,0.00,0.000,6,0.000,0.041,2125,2587,3528,0,0,0,0,0,0
$GC,5061,-0.49,-170.3,722.5,-11.9,458,5064,0.00,1.00,0.00,0.000,4,0.000,0.031,2125,1908,3526,0,0,0,0,0,0
$GC,5102,-0.49,-170.3,727.1,-11.2,459,5109,0.00,1.08,0.00,0.000,6,0.000,0.043,2120,2589,3526,0,0,0,0,0,0
$GC,5419,-0.49,-170.3,754.2,-4.8,475,5422,0.00,1.12,0.00,0.000,4,0.000,0.044,2120,3301,3524,0,0,0,0,0,0
$STATE,5674,end dive,NO_VERTICAL_VELOCITY
$STATE,5674,begin apogee
$GC,5681,-0.13,0.0,754.3,0.0,486,5813,0.35,0.00,125.20,0.900,6,0.050,0.000,2277,2180,2869,0,0,0,0,0,0
$STATE,5813,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5817,0.49,170.3,754.1,0.0,492,5956,0.45,0.00,132.70,0.881,6,0.046,0.000,2465,2180,2174,0,0,0,0,0,0
$GC,6259,0.59,252.5,730.9,7.0,514,6328,0.00,1.12,63.62,0.863,4,0.000,0.036,2465,2877,1839,0,0,0,0,0,0
$GC,6485,0.69,333.7,714.4,7.0,524,6554,0.12,1.10,63.30,0.852,6,0.045,0.028,2541,2152,1508,0,0,0,0,0,0
$GC,6873,0.73,371.5,677.4,8.8,543,6909,0.00,1.02,31.65,0.823,4,0.000,0.033,2546,1460,1353,0,0,0,0,0,0
$GC,6998,0.74,376.3,665.5,10.1,548,7008,0.00,1.10,5.60,0.610,6,0.000,0.031,2547,2182,1335,0,0,0,0,0,0
$GC,7338,0.74,376.3,625.6,12.4,565,7342,0.00,1.02,0.00,0.000,4,0.000,0.040,2546,2857,1334,0,0,0,0,0,0
$GC,7366,0.74,376.3,622.2,11.5,566,7370,0.00,1.05,0.00,0.000,6,0.000,0.028,2551,2158,1334,0,0,0,0,0,0
$GC,7693,0.74,376.3,582.8,13.5,582,7696,0.00,1.08,0.00,0.000,4,0.000,0.037,2552,2855,1333,0,0,0,0,0,0
$GC,7731,0.74,376.3,577.3,13.4,583,7738,0.00,1.02,0.00,0.000,6,0.000,0.028,2556,2169,1333,0,0,0,0,0,0
$GC,8049,0.74,376.3,536.2,12.3,599,8052,0.00,1.05,0.00,0.000,4,0.000,0.037,2561,1472,1332,0,0,0,0,0,0
$GC,8166,0.76,392.5,523.6,9.6,604,8184,0.00,1.05,13.93,0.720,6,0.000,0.031,2561,2158,1268,0,0,0,0,0,0
$GC,8495,0.85,465.2,500.2,7.3,620,8562,0.00,1.15,56.10,0.739,4,0.000,0.037,2561,2874,972,0,0,0,0,0,0
$GC,8659,0.85,465.2,485.4,10.7,633,8666,0.00,1.08,0.00,0.000,6,0.000,0.028,2565,2169,975,0,0,0,0,0,0
$GC,8984,0.85,465.2,446.9,12.1,664,8988,0.00,1.08,0.00,0.000,4,0.000,0.036,2566,2867,976,0,0,0,0,0,0
$GC,9011,0.85,465.2,443.8,12.1,666,9018,0.00,1.05,0.00,0.000,6,0.000,0.030,2569,2174,976,0,0,0,0,0,0
$GC,9337,0.90,511.4,412.8,8.4,697,9381,0.00,1.05,37.12,0.684,4,0.000,0.034,2568,1466,783,0,0,0,0,0,0
$GC,9452,0.98,574.8,404.1,7.7,707,9508,0.10,1.08,49.55,0.666,6,0.067,0.029,2618,2169,524,0,0,0,0,0,0
$GC,9825,0.98,574.8,356.2,12.8,742,9828,0.00,1.08,0.00,0.000,4,0.000,0.036,2617,1472,528,0,0,0,0,0,0
$GC,9955,1.00,589.4,341.7,9.7,753,9973,0.00,1.05,13.20,0.612,6,0.000,0.029,2618,2163,466,0,0,0,0,0,0
$GC,10291,1.09,659.7,311.3,7.4,785,10304,0.00,1.10,6.97,0.555,4,0.000,0.037,2618,2861,440,0,0,0,0,0,0
$GC,10557,1.09,659.7,281.2,14.1,808,10564,0.00,1.08,0.00,0.000,6,0.000,0.031,2618,2155,440,0,0,0,0,0,0
$GC,10882,1.09,659.7,236.8,13.3,839,10886,0.00,1.05,0.12,0.156,4,0.000,0.037,2618,1469,441,0,0,0,0,0,0
$GC,11099,1.09,659.7,210.7,12.1,858,11107,0.00,1.05,0.62,0.083,6,0.000,0.030,2618,2162,442,0,0,0,0,0,0
$GC,11439,1.09,659.7,165.3,13.7,911,11447,0.00,1.10,2.53,0.238,4,0.000,0.037,2618,2859,439,0,0,0,0,0,0
$GC,11702,1.14,698.7,135.5,8.7,957,11710,0.10,1.05,0.00,0.000,6,0.058,0.028,2685,2157,440,0,0,0,0,0,0
$GC,11847,1.21,760.7,123.6,7.8,982,11855,0.00,1.10,0.10,0.175,4,0.000,0.034,2685,2867,441,0,0,0,0,0,0
$GC,11868,1.27,812.2,121.8,8.2,985,11875,0.00,1.05,0.25,0.088,6,0.000,0.028,2687,2165,441,0,0,0,0,0,0
$GC,12012,1.27,812.2,107.6,10.7,1010,12019,0.00,1.02,0.75,0.087,4,0.000,0.033,2687,1465,441,0,0,0,0,0,0
$GC,12264,1.32,848.7,84.1,8.8,1054,12273,0.08,1.05,2.47,0.205,6,0.060,0.028,2731,2168,440,0,0,0,0,0,0
$GC,12409,1.34,862.9,70.7,9.7,1079,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2168,440,0,0,0,0,0,0
$GC,12552,1.34,862.9,56.1,10.4,1104,12560,0.00,1.05,1.45,0.077,4,0.000,0.028,2735,1457,441,0,0,0,0,0,0
$GC,12567,1.34,863.8,54.6,10.3,1106,12574,0.00,1.05,2.22,0.158,6,0.000,0.028,2735,2162,440,0,0,0,0,0,0
$GC,12714,1.36,882.1,40.5,9.6,1131,12720,0.00,1.05,0.00,0.000,4,0.000,0.031,2739,1460,440,0,0,0,0,0,0
$GC,12756,1.38,894.9,36.1,9.8,1138,12763,0.00,1.05,1.98,0.070,6,0.000,0.028,2739,2165,441,0,0,0,0,0,0
$GC,12899,1.38,894.9,22.1,10.4,1163,12907,0.00,1.02,1.33,0.076,4,0.000,0.030,2740,2876,442,0,0,0,0,0,0
$GC,13000,1.38,894.9,11.3,10.7,1180,13007,0.00,1.05,2.55,0.199,6,0.000,0.028,2743,2167,439,0,0,0,0,0,0
$STATE,13062,end climb,SURFACE_DEPTH_REACHED
$STATE,13062,begin surface coast
$FINISH,0.6,1.021113
$STATE,13088,end surface coast,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$SM_CCo,13166,0.00,0.000,0,0,439,596.08
$SM_GC,1.49,6.57,0.00,0.00,0.031,0.000,0.000,194,2584,439,-6.45,-0.17,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12027.58,171011,080846
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,111.783
$10V_AH,9.8,82.290
$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,15.975,68.975,615.325,0.000,0.000,22.364,40.978,136.956,0.000,0.000,41.823,2858.349,7162.821,673.494,2456.600,376.300,0.000,1908.943,0.000,2208.923,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,59.670,900.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,818.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70172,1195
$CAP_FILE_SIZE,152673,0
$CFSIZE,260165632,190763008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,153406,2146.642,12025.897,30,0.9,30,-2.6