version: 66.09
glider: 181
mission: 6
dive: 675
start: 10 17 111 15 42 7
data:
$ID,181
$MISSION,6
$DIVE,675
$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,-41443.148
$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,57
$R_STBD_OVSHOOT,32
$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
$GPS1,171011,153406,2146.642,12025.897,30,0.9,30,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.1
$GPS2,171011,154144,2146.405,12025.859,9,1.7,9,-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,269.3,44558,-16.5,-10.313
$D_GRID,831
$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,18,-0.49,-170.3,0.0,0.0,0,88,0.00,0.00,-67.00,0.000,2,0.000,0.000,155,2589,2349,0,0,0,0,0,0
$GC,91,-0.49,-170.3,3.5,-3.1,12,133,8.15,1.08,-26.88,0.000,4,0.216,0.061,2130,3311,3563,0,0,0,0,0,0
$GC,275,-0.49,-170.3,58.5,-28.3,44,282,0.00,1.08,0.00,0.000,6,0.000,0.024,2130,2573,3561,0,0,0,0,0,0
$GC,419,-0.49,-170.3,96.5,-25.5,69,426,0.00,1.12,0.00,0.000,4,0.000,0.040,2125,3293,3558,0,0,0,0,0,0
$GC,506,-0.49,-170.3,114.8,-17.7,84,513,0.00,1.02,0.00,0.000,6,0.000,0.024,2124,2576,3558,0,0,0,0,0,0
$GC,649,-0.49,-170.3,137.9,-13.2,109,656,0.00,1.12,0.00,0.000,4,0.000,0.037,2119,3311,3557,0,0,0,0,0,0
$GC,708,-0.49,-170.3,147.3,-17.2,119,715,0.00,1.02,0.00,0.000,6,0.000,0.024,2119,2599,3557,0,0,0,0,0,0
$GC,851,-0.49,-170.3,170.8,-14.6,144,858,0.00,1.08,0.00,0.000,4,0.000,0.037,2114,3298,3557,0,0,0,0,0,0
$GC,911,-0.49,-170.3,179.4,-14.7,154,917,0.00,1.02,0.00,0.000,6,0.000,0.024,2114,2583,3557,0,0,0,0,0,0
$GC,1055,-0.49,-170.3,199.4,-14.2,179,1062,0.00,1.10,0.00,0.000,4,0.000,0.038,2108,3300,3557,0,0,0,0,0,0
$GC,1113,-0.49,-170.3,208.2,-15.0,185,1118,0.10,1.02,0.00,0.000,6,0.139,0.024,2141,2585,3557,0,0,0,0,0,0
$GC,1444,-0.49,-170.3,252.8,-16.0,216,1447,0.00,0.95,0.00,0.000,4,0.000,0.025,2140,1884,3556,0,0,0,0,0,0
$GC,1594,-0.49,-170.3,278.7,-18.1,229,1598,0.00,1.10,0.00,0.000,6,0.000,0.035,2136,2605,3555,0,0,0,0,0,0
$GC,1925,-0.49,-170.3,325.3,-10.9,260,1928,0.00,1.02,0.00,0.000,4,0.000,0.041,2131,3288,3553,0,0,0,0,0,0
$GC,1997,-0.49,-170.3,333.1,-10.0,266,2003,0.00,1.00,0.00,0.000,6,0.000,0.024,2131,2591,3553,0,0,0,0,0,0
$GC,2322,-0.49,-170.3,364.9,-10.3,297,2326,0.00,0.98,0.00,0.000,4,0.000,0.026,2132,1887,3550,0,0,0,0,0,0
$GC,2483,-0.49,-170.3,385.7,-13.6,311,2487,0.00,1.08,0.00,0.000,6,0.000,0.036,2126,2589,3548,0,0,0,0,0,0
$GC,2814,-0.49,-170.3,438.9,-17.4,342,2818,0.00,1.08,0.00,0.000,4,0.000,0.043,2121,3292,3546,0,0,0,0,0,0
$GC,2929,-0.49,-170.3,458.2,-15.8,352,2933,0.00,1.02,0.00,0.000,6,0.000,0.026,2121,2586,3545,0,0,0,0,0,0
$GC,3269,-0.49,-170.3,504.5,-10.8,382,3273,0.00,0.98,0.00,0.000,4,0.000,0.028,2121,1891,3542,0,0,0,0,0,0
$GC,3365,-0.49,-170.3,512.4,-7.7,386,3369,0.00,1.08,0.00,0.000,6,0.000,0.039,2116,2581,3541,0,0,0,0,0,0
$GC,3692,-0.49,-170.3,543.0,-9.0,402,3696,0.00,1.10,0.00,0.000,4,0.000,0.044,2112,3292,3537,0,0,0,0,0,0
$GC,3788,-0.49,-170.3,552.3,-9.2,406,3792,0.00,1.02,0.00,0.000,6,0.000,0.027,2112,2594,3536,0,0,0,0,0,0
$GC,4115,-0.49,-170.3,585.4,-10.9,422,4119,0.12,1.02,0.00,0.000,4,0.156,0.029,2145,1886,3533,0,0,0,0,0,0
$GC,4192,-0.49,-170.3,593.6,-10.5,425,4196,0.00,1.10,0.00,0.000,6,0.000,0.038,2141,2595,3533,0,0,0,0,0,0
$GC,4514,-0.49,-170.3,625.6,-10.5,441,4518,0.00,1.02,0.00,0.000,4,0.000,0.028,2142,1882,3530,0,0,0,0,0,0
$GC,4538,-0.49,-170.3,628.3,-12.1,442,4542,0.00,1.10,0.00,0.000,6,0.000,0.041,2138,2585,3530,0,0,0,0,0,0
$GC,4870,-0.49,-170.3,664.4,-11.8,458,4874,0.00,1.02,0.00,0.000,4,0.000,0.031,2138,1892,3527,0,0,0,0,0,0
$GC,5127,-0.49,-170.3,664.4,-0.1,469,5131,0.00,1.10,0.00,0.000,6,0.000,0.039,2137,2596,3525,0,0,0,0,0,0
$STATE,5158,end dive,NO_VERTICAL_VELOCITY
$STATE,5158,begin apogee
$GC,5165,-0.13,0.0,664.4,0.0,471,5297,0.30,0.00,124.57,0.838,6,0.063,0.000,2270,2155,2869,0,0,0,0,0,0
$STATE,5297,end apogee,CONTROL_FINISHED_OK
$STATE,5298,begin climb
$GC,5300,0.49,170.3,664.3,0.0,477,5439,0.50,1.10,131.18,0.820,4,0.059,0.036,2469,2873,2173,0,0,0,0,0,0
$GC,5540,0.61,275.6,654.1,6.0,488,5627,0.00,1.08,80.85,0.806,6,0.000,0.027,2474,2150,1745,0,0,0,0,0,0
$GC,5952,0.73,365.6,624.3,6.6,508,6025,0.17,0.00,69.18,0.794,6,0.068,0.000,2556,2150,1377,0,0,0,0,0,0
$GC,6342,0.77,404.2,587.8,8.7,527,6382,0.00,1.17,31.95,0.765,4,0.000,0.036,2556,2877,1220,0,0,0,0,0,0
$GC,6429,0.81,438.3,580.3,8.9,531,6461,0.00,1.05,27.65,0.740,6,0.000,0.028,2561,2177,1082,0,0,0,0,0,0
$GC,6777,0.84,462.0,550.9,9.3,548,6802,0.00,1.08,20.48,0.735,4,0.000,0.035,2565,1479,984,0,0,0,0,0,0
$GC,6825,0.86,474.6,545.9,9.8,550,6843,0.00,1.08,11.43,0.664,6,0.000,0.030,2565,2178,933,0,0,0,0,0,0
$GC,7152,0.86,474.6,510.8,11.2,566,7156,0.00,1.08,0.00,0.000,4,0.000,0.034,2568,1476,931,0,0,0,0,0,0
$GC,7230,0.86,474.6,501.6,12.2,569,7234,0.00,1.05,0.00,0.000,6,0.000,0.031,2568,2163,932,0,0,0,0,0,0
$GC,7560,0.86,474.6,460.4,12.3,599,7564,0.00,1.08,0.00,0.000,4,0.000,0.038,2568,2861,931,0,0,0,0,0,0
$GC,7643,0.86,474.6,450.0,12.1,606,7650,0.00,1.05,0.00,0.000,6,0.000,0.029,2570,2164,931,0,0,0,0,0,0
$GC,7969,0.89,501.3,416.0,9.2,637,7995,0.00,1.08,21.50,0.676,4,0.000,0.033,2575,1463,824,0,0,0,0,0,0
$GC,8059,0.94,538.5,408.1,8.8,645,8093,0.00,1.08,29.45,0.659,6,0.000,0.030,2575,2168,673,0,0,0,0,0,0
$GC,8411,0.94,538.5,376.2,10.6,678,8414,0.00,1.05,0.00,0.000,4,0.000,0.037,2575,2862,671,0,0,0,0,0,0
$GC,8423,0.94,538.5,374.9,10.7,679,8427,0.00,1.05,0.00,0.000,6,0.000,0.029,2575,2165,671,0,0,0,0,0,0
$GC,8754,0.95,548.5,339.8,9.9,710,8767,0.00,1.12,9.27,0.606,4,0.000,0.036,2574,2864,632,0,0,0,0,0,0
$GC,9020,0.95,548.5,308.5,13.2,733,9026,0.00,1.05,0.00,0.000,6,0.000,0.029,2575,2164,632,0,0,0,0,0,0
$GC,9345,0.95,548.5,267.2,11.4,764,9349,0.00,1.08,0.00,0.000,4,0.000,0.036,2575,2865,633,0,0,0,0,0,0
$GC,9605,0.95,548.5,235.8,13.0,787,9609,0.00,1.05,0.00,0.000,6,0.000,0.030,2574,2165,634,0,0,0,0,0,0
$GC,9935,0.95,548.5,193.8,13.6,821,9941,0.00,1.08,0.00,0.000,4,0.000,0.034,2575,2857,635,0,0,0,0,0,0
$GC,10195,0.95,548.5,161.9,10.8,867,10202,0.00,1.02,0.00,0.000,6,0.000,0.029,2574,2168,635,0,0,0,0,0,0
$GC,10341,0.95,548.5,146.5,11.2,892,10348,0.00,1.05,0.00,0.000,4,0.000,0.034,2574,2863,637,0,0,0,0,0,0
$GC,10603,0.95,548.5,116.4,11.6,938,10609,0.00,1.05,0.00,0.000,6,0.000,0.029,2575,2163,638,0,0,0,0,0,0
$GC,10748,0.99,578.0,102.4,9.1,963,10779,0.12,1.12,24.52,0.503,4,0.099,0.033,2626,2870,512,0,0,0,0,0,0
$GC,11034,0.99,578.0,72.6,12.1,1013,11040,0.00,1.05,0.00,0.000,6,0.000,0.028,2626,2160,518,0,0,0,0,0,0
$GC,11180,1.01,600.7,57.4,9.4,1038,11204,0.00,1.10,16.35,0.463,4,0.000,0.032,2626,2866,439,0,0,0,0,0,0
$GC,11273,1.02,606.4,48.1,10.1,1054,11281,0.00,1.05,0.22,0.087,6,0.000,0.027,2626,2157,440,0,0,0,0,0,0
$GC,11418,1.02,606.4,31.5,11.8,1079,11425,0.00,1.12,2.50,0.198,4,0.000,0.031,2625,2874,439,0,0,0,0,0,0
$GC,11477,1.02,606.4,24.5,11.8,1089,11485,0.00,1.05,0.03,0.197,6,0.000,0.027,2626,2160,440,0,0,0,0,0,0
$GC,11622,1.02,606.4,9.7,10.6,1114,11630,0.00,1.05,0.98,0.077,4,0.000,0.028,2626,2879,441,0,0,0,0,0,0
$STATE,11685,end climb,SURFACE_DEPTH_REACHED
$STATE,11685,begin surface coast
$FINISH,0.5,1.021356
$STATE,11716,end surface coast,CONTROL_FINISHED_OK
$STATE,11716,begin surface
$SM_CCo,11793,0.00,0.000,0,0,442,595.34
$SM_GC,1.51,6.22,0.00,0.00,0.029,0.000,0.000,200,2575,442,-6.46,-0.42,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2143.45,12025.58,171011,151518
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.23
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.0,111.925
$10V_AH,9.8,82.363
$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,15.700,61.600,602.100,0.000,0.000,55.861,65.111,134.823,0.250,0.000,12.360,2685.183,6239.467,636.247,2338.726,342.369,0.000,1790.772,0.000,2062.502,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,61.200,838.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,771.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321656
$DATA_FILE_SIZE,63490,1130
$CAP_FILE_SIZE,139472,0
$CFSIZE,260165632,190713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,190000,2145.990,12025.563,40,1.1,41,-2.6