version: 66.09
glider: 181
mission: 6
dive: 676
start: 10 17 111 19 6 13
data:
$ID,181
$MISSION,6
$DIVE,676
$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,-41444.402
$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,66
$R_STBD_OVSHOOT,47
$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
$GPS1,171011,190000,2145.990,12025.563,40,1.1,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-63.9
$GPS2,171011,190550,2145.765,12025.584,9,1.5,9,-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,270.8,44031,-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,17,-0.49,-170.3,0.0,0.0,0,86,0.00,0.00,-67.22,0.000,2,0.000,0.000,146,2569,2341,0,0,0,0,0,0
$GC,91,-0.49,-170.3,3.3,-3.3,12,133,8.15,1.15,-27.20,0.000,4,0.216,0.061,2129,3292,3565,0,0,0,0,0,0
$GC,214,-0.49,-170.3,40.7,-34.4,33,221,0.00,1.02,0.00,0.000,6,0.000,0.024,2129,2593,3564,0,0,0,0,0,0
$GC,560,-0.49,-170.3,130.0,-18.5,94,567,0.00,1.05,0.00,0.000,4,0.000,0.036,2124,3284,3559,0,0,0,0,0,0
$GC,727,-0.49,-170.3,158.3,-17.1,123,733,0.00,1.02,0.00,0.000,6,0.000,0.023,2124,2580,3559,0,0,0,0,0,0
$GC,1067,-0.49,-170.3,219.1,-16.4,174,1071,0.00,0.95,0.00,0.000,4,0.000,0.024,2124,1874,3558,0,0,0,0,0,0
$GC,1239,-0.49,-170.3,237.0,-8.9,189,1243,0.00,1.08,0.00,0.000,6,0.000,0.033,2118,2590,3558,0,0,0,0,0,0
$GC,1570,-0.49,-170.3,282.5,-16.7,220,1574,0.00,1.02,0.00,0.000,4,0.000,0.025,2118,1876,3558,0,0,0,0,0,0
$GC,1655,-0.49,-170.3,295.5,-14.6,227,1662,0.00,1.08,0.00,0.000,6,0.000,0.034,2113,2586,3558,0,0,0,0,0,0
$GC,1980,-0.49,-170.3,340.9,-15.0,258,1984,0.00,1.00,0.00,0.000,4,0.000,0.025,2113,1876,3555,0,0,0,0,0,0
$GC,2095,-0.49,-170.3,359.8,-17.9,268,2099,0.08,1.08,0.00,0.000,6,0.132,0.036,2135,2581,3554,0,0,0,0,0,0
$GC,2425,-0.49,-170.3,410.1,-14.2,299,2429,0.00,1.00,0.00,0.000,4,0.000,0.026,2135,1881,3551,0,0,0,0,0,0
$GC,2453,-0.49,-170.3,414.3,-14.4,301,2460,0.00,1.08,0.00,0.000,6,0.000,0.035,2132,2585,3551,0,0,0,0,0,0
$GC,2779,-0.49,-170.3,460.1,-12.6,332,2782,0.00,1.00,0.00,0.000,4,0.000,0.027,2132,1885,3547,0,0,0,0,0,0
$GC,2929,-0.49,-170.3,476.7,-10.7,345,2932,0.00,1.08,0.00,0.000,6,0.000,0.037,2127,2583,3546,0,0,0,0,0,0
$GC,3268,-0.49,-170.3,516.0,-12.5,371,3272,0.00,1.00,0.00,0.000,4,0.000,0.028,2126,1887,3542,0,0,0,0,0,0
$GC,3320,-0.49,-170.3,523.6,-14.2,373,3323,0.00,1.10,0.00,0.000,6,0.000,0.039,2122,2593,3542,0,0,0,0,0,0
$GC,3648,-0.49,-170.3,570.5,-13.2,389,3652,0.00,1.02,0.00,0.000,4,0.000,0.028,2122,1886,3538,0,0,0,0,0,0
$GC,3694,-0.49,-170.3,577.0,-13.9,391,3697,0.00,1.10,0.00,0.000,6,0.000,0.039,2117,2592,3538,0,0,0,0,0,0
$GC,4028,-0.49,-170.3,625.7,-14.6,407,4031,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3288,3534,0,0,0,0,0,0
$GC,4061,-0.49,-170.3,631.2,-15.4,408,4065,0.00,1.02,0.00,0.000,6,0.000,0.026,2113,2591,3534,0,0,0,0,0,0
$GC,4383,-0.49,-170.3,672.0,-10.9,424,4387,0.10,1.02,0.00,0.000,4,0.118,0.028,2149,1868,3531,0,0,0,0,0,0
$GC,4445,-0.49,-170.3,672.3,-7.7,426,4451,0.00,1.12,0.00,0.000,6,0.000,0.043,2149,2583,3531,0,0,0,0,0,0
$GC,4761,-0.49,-170.3,672.8,-1.0,442,4765,0.00,1.00,0.00,0.000,4,0.000,0.028,2149,1877,3527,0,0,0,0,0,0
$STATE,4883,end dive,NO_VERTICAL_VELOCITY
$STATE,4883,begin apogee
$GC,4890,-0.13,0.0,673.0,0.0,447,5022,0.30,0.00,124.60,0.845,6,0.082,0.000,2263,2188,2870,0,0,0,0,0,0
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5025,0.49,170.3,672.6,0.0,453,5166,0.52,1.05,131.12,0.825,4,0.063,0.036,2466,2873,2175,0,0,0,0,0,0
$GC,5307,0.62,276.3,660.6,6.0,466,5395,0.00,1.05,81.55,0.813,6,0.000,0.028,2470,2173,1741,0,0,0,0,0,0
$GC,5714,0.80,427.2,639.4,4.2,486,5842,0.25,1.12,115.32,0.809,4,0.056,0.034,2596,1468,1126,0,0,0,0,0,0
$GC,5876,0.85,463.0,624.7,8.8,493,5910,0.00,1.08,29.62,0.764,6,0.000,0.031,2595,2161,981,0,0,0,0,0,0
$GC,6221,0.85,463.0,583.8,11.8,510,6224,0.00,1.08,0.00,0.000,4,0.000,0.039,2595,2865,985,0,0,0,0,0,0
$GC,6259,0.85,463.0,578.9,11.3,511,6266,0.00,1.05,0.00,0.000,6,0.000,0.028,2600,2166,985,0,0,0,0,0,0
$GC,6575,0.85,463.0,542.2,12.4,527,6579,0.00,1.02,0.00,0.000,4,0.000,0.035,2606,1476,984,0,0,0,0,0,0
$GC,6671,0.85,463.0,529.2,13.1,531,6675,0.10,1.05,0.00,0.000,6,0.119,0.033,2571,2162,984,0,0,0,0,0,0
$GC,6990,0.85,463.0,487.0,15.0,550,6994,0.00,1.05,0.00,0.000,4,0.000,0.036,2573,1473,983,0,0,0,0,0,0
$GC,7071,0.85,463.0,474.6,15.9,557,7075,0.00,1.05,0.00,0.000,6,0.000,0.031,2573,2163,983,0,0,0,0,0,0
$GC,7402,0.85,463.0,427.4,12.8,588,7406,0.00,1.05,0.00,0.000,4,0.000,0.035,2577,1471,983,0,0,0,0,0,0
$GC,7494,0.85,463.0,416.0,12.5,596,7498,0.00,1.05,0.00,0.000,6,0.000,0.032,2577,2163,984,0,0,0,0,0,0
$GC,7825,0.88,493.2,382.6,9.1,627,7859,0.00,1.10,25.23,0.665,4,0.000,0.037,2577,2865,858,0,0,0,0,0,0
$GC,7888,0.93,534.6,376.9,8.6,632,7928,0.00,1.08,32.45,0.642,6,0.000,0.030,2580,2161,688,0,0,0,0,0,0
$GC,8245,0.93,534.6,339.2,12.2,666,8249,0.00,1.08,0.00,0.000,4,0.000,0.033,2580,2867,689,0,0,0,0,0,0
$GC,8505,0.93,534.6,302.5,12.0,689,8509,0.00,1.08,0.00,0.000,6,0.000,0.029,2580,2158,689,0,0,0,0,0,0
$GC,8836,0.93,534.6,265.5,12.1,720,8840,0.00,1.02,0.00,0.000,4,0.000,0.037,2580,1473,689,0,0,0,0,0,0
$GC,8908,0.93,534.6,256.9,11.6,726,8915,0.00,1.05,0.00,0.000,6,0.000,0.029,2580,2169,689,0,0,0,0,0,0
$GC,9234,0.93,534.6,219.7,10.7,757,9237,0.00,1.02,0.00,0.000,4,0.000,0.036,2580,2854,690,0,0,0,0,0,0
$GC,9481,0.93,534.6,192.4,11.8,784,9488,0.00,1.05,0.00,0.000,6,0.000,0.030,2580,2158,691,0,0,0,0,0,0
$GC,9827,0.93,534.6,149.4,12.1,845,9833,0.00,1.02,0.00,0.000,4,0.000,0.035,2580,1469,692,0,0,0,0,0,0
$GC,10089,1.04,619.0,122.5,6.9,891,10145,0.12,1.05,47.55,0.498,6,0.070,0.029,2638,2168,440,0,0,0,0,0,0
$GC,10484,1.04,619.0,82.5,11.8,960,10492,0.00,1.10,3.10,0.284,4,0.000,0.034,2635,2873,440,0,0,0,0,0,0
$GC,10674,1.04,619.0,61.9,11.7,993,10682,0.00,1.05,2.15,0.147,6,0.000,0.028,2636,2162,440,0,0,0,0,0,0
$GC,11023,1.04,619.0,18.6,12.3,1054,11031,0.00,1.12,2.50,0.197,4,0.000,0.033,2636,2873,440,0,0,0,0,0,0
$GC,11112,1.04,619.0,8.2,11.5,1069,11119,0.00,1.05,0.03,0.201,6,0.000,0.028,2636,2164,440,0,0,0,0,0,0
$STATE,11159,end climb,SURFACE_DEPTH_REACHED
$STATE,11159,begin surface coast
$FINISH,0.5,1.007719
$STATE,11191,end surface coast,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$SM_CCo,11267,0.00,0.000,0,0,441,595.59
$SM_GC,1.36,6.30,0.00,0.00,0.033,0.000,0.000,210,2598,441,-6.45,0.20,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2143.45,12018.40,171011,151527
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.45
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.0,112.065
$10V_AH,9.8,82.432
$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,15.925,52.750,595.225,0.000,0.000,30.298,24.439,153.373,0.250,0.000,12.637,2549.665,5948.776,603.440,2173.635,332.008,0.000,1696.813,0.000,1964.562,0.000,0.541,0.000
$DEVICE_MAMPS,216.495,61.200,844.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,739.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321960
$DATA_FILE_SIZE,63728,1082
$CAP_FILE_SIZE,126372,0
$CFSIZE,260165632,190656512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171011,221507,2144.551,12026.470,28,1.6,29,-2.6