version: 66.09
glider: 181
mission: 6
dive: 678
start: 10 18 111 2 27 0
data:
$ID,181
$MISSION,6
$DIVE,678
$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,-41447.012
$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,2375
$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,36
$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
$GPS1,181011,022036,2143.101,12026.721,34,1.0,39,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.4
$GPS2,181011,022637,2142.904,12026.712,12,1.2,17,-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,277.4,46112,-16.5,-10.312
$D_GRID,679
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.49,-170.3,0.0,0.0,0,81,0.00,0.00,-61.92,0.000,2,0.000,0.000,128,2598,2218,0,0,0,0,0,0
$GC,84,-0.49,-170.3,3.3,-3.5,11,132,8.68,1.08,-31.23,0.000,4,0.220,0.061,2203,3318,3565,0,0,0,0,0,0
$GC,235,-0.49,-170.3,40.6,-26.0,37,242,0.00,1.08,0.00,0.000,6,0.000,0.024,2203,2588,3564,0,0,0,0,0,0
$GC,581,-0.49,-170.3,121.7,-15.6,98,588,0.00,1.10,0.00,0.000,4,0.000,0.038,2198,3301,3560,0,0,0,0,0,0
$GC,774,-0.49,-170.3,144.0,-12.9,132,780,0.00,1.05,0.00,0.000,6,0.000,0.023,2198,2565,3559,0,0,0,0,0,0
$GC,1120,-0.49,-170.3,180.6,-8.8,193,1127,0.00,0.93,0.00,0.000,4,0.000,0.024,2198,1879,3559,0,0,0,0,0,0
$GC,1196,-0.49,-170.3,190.2,-13.4,206,1203,0.00,1.08,0.00,0.000,6,0.000,0.032,2194,2595,3559,0,0,0,0,0,0
$GC,1532,-0.49,-170.3,226.3,-7.0,243,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2595,3558,0,0,0,0,0,0
$GC,1856,-0.49,-170.3,249.0,-7.5,273,1859,0.00,0.98,0.00,0.000,4,0.000,0.024,2194,1893,3556,0,0,0,0,0,0
$GC,1879,-0.49,-170.3,251.2,-7.5,275,1883,0.00,1.05,0.00,0.000,6,0.000,0.034,2192,2586,3556,0,0,0,0,0,0
$GC,2211,-0.49,-170.3,281.0,-9.0,306,2214,0.00,0.98,0.00,0.000,4,0.000,0.024,2192,1896,3554,0,0,0,0,0,0
$GC,2294,-0.49,-170.3,289.9,-10.7,313,2301,0.00,1.05,0.00,0.000,6,0.000,0.034,2192,2587,3554,0,0,0,0,0,0
$GC,2620,-0.49,-170.3,328.0,-11.4,344,2623,0.00,1.08,0.00,0.000,4,0.000,0.040,2192,3294,3551,0,0,0,0,0,0
$GC,2722,-0.49,-170.3,339.2,-10.5,353,2726,0.00,1.00,0.00,0.000,6,0.000,0.024,2192,2595,3550,0,0,0,0,0,0
$GC,3053,-0.49,-170.3,373.0,-10.1,384,3057,0.00,1.08,0.00,0.000,4,0.000,0.039,2192,3286,3547,0,0,0,0,0,0
$GC,3077,-0.49,-170.3,375.5,-10.0,386,3081,0.00,1.00,0.00,0.000,6,0.000,0.025,2192,2595,3548,0,0,0,0,0,0
$GC,3408,-0.49,-170.3,407.6,-7.9,417,3412,0.00,0.98,0.00,0.000,4,0.000,0.027,2192,1893,3545,0,0,0,0,0,0
$GC,3477,-0.49,-170.3,412.4,-6.5,423,3481,0.00,1.08,0.00,0.000,6,0.000,0.034,2192,2595,3544,0,0,0,0,0,0
$GC,3808,-0.49,-170.3,431.0,-7.0,454,3812,0.00,1.05,0.00,0.000,4,0.000,0.041,2192,3287,3541,0,0,0,0,0,0
$GC,3871,-0.49,-170.3,435.7,-7.4,459,3878,0.00,1.02,0.00,0.000,6,0.000,0.025,2192,2593,3541,0,0,0,0,0,0
$GC,4198,-0.49,-170.3,461.9,-7.9,490,4202,0.00,1.00,0.00,0.000,4,0.000,0.027,2192,1886,3538,0,0,0,0,0,0
$GC,4290,-0.49,-170.3,468.6,-6.9,498,4294,0.00,1.08,0.00,0.000,6,0.000,0.036,2192,2585,3537,0,0,0,0,0,0
$GC,4621,-0.49,-170.3,487.1,-4.7,529,4625,0.00,1.00,0.00,0.000,4,0.000,0.027,2192,1892,3534,0,0,0,0,0,0
$GC,4637,-0.49,-170.3,488.0,-4.8,530,4643,0.00,1.08,0.00,0.000,6,0.000,0.035,2192,2591,3534,0,0,0,0,0,0
$GC,4962,-0.49,-170.3,506.6,-7.2,557,4965,0.00,1.08,0.00,0.000,4,0.000,0.043,2192,3289,3532,0,0,0,0,0,0
$GC,5058,-0.49,-170.3,514.6,-8.2,561,5061,0.00,1.02,0.00,0.000,6,0.000,0.025,2192,2598,3530,0,0,0,0,0,0
$GC,5385,-0.49,-170.3,546.7,-9.7,577,5389,0.00,1.00,0.00,0.000,4,0.000,0.028,2192,1890,3528,0,0,0,0,0,0
$GC,5478,-0.49,-170.3,556.1,-10.1,581,5482,0.00,1.08,0.00,0.000,6,0.000,0.037,2192,2587,3527,0,0,0,0,0,0
$GC,5811,-0.49,-170.3,588.7,-9.5,597,5815,0.00,1.02,0.00,0.000,4,0.000,0.028,2192,1883,3525,0,0,0,0,0,0
$GC,5942,-0.49,-170.3,600.2,-8.6,602,5948,0.00,1.10,0.00,0.000,6,0.000,0.037,2192,2589,3524,0,0,0,0,0,0
$GC,6258,-0.49,-170.3,626.3,-8.1,618,6262,0.00,1.08,0.00,0.000,4,0.000,0.044,2192,3286,3523,0,0,0,0,0,0
$GC,6350,-0.49,-170.3,633.7,-8.0,622,6354,0.00,1.05,0.00,0.000,6,0.000,0.026,2191,2580,3522,0,0,0,0,0,0
$GC,6684,-0.49,-170.3,660.7,-7.9,638,6688,0.00,1.12,0.00,0.000,4,0.000,0.043,2192,3289,3520,0,0,0,0,0,0
$GC,6723,-0.49,-170.3,663.8,-7.8,639,6730,0.00,1.05,0.00,0.000,6,0.000,0.026,2192,2594,3520,0,0,0,0,0,0
$STATE,6934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6934,begin apogee
$GC,6941,-0.13,0.0,679.5,7.1,650,7072,0.38,0.00,124.22,0.855,6,0.083,0.000,2332,2148,2868,0,0,0,0,0,0
$STATE,7073,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7076,0.49,170.3,687.0,0.0,656,7214,0.52,1.02,131.82,0.840,4,0.047,0.031,2553,1455,2173,0,0,0,0,0,0
$GC,7266,0.49,170.3,679.0,11.6,665,7270,0.00,1.12,0.00,0.000,6,0.000,0.032,2553,2181,2172,0,0,0,0,0,0
$GC,7600,0.49,170.3,640.3,11.5,681,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2181,2171,0,0,0,0,0,0
$GC,7909,0.54,217.1,608.4,8.4,696,7952,0.00,1.02,36.22,0.792,4,0.000,0.036,2553,2861,1982,0,0,0,0,0,0
$GC,7977,0.60,260.6,602.7,8.5,699,8021,0.00,1.08,34.50,0.767,6,0.000,0.028,2558,2158,1805,0,0,0,0,0,0
$GC,8329,0.72,365.1,577.4,6.0,716,8415,0.15,1.10,79.85,0.778,4,0.082,0.032,2634,1462,1380,0,0,0,0,0,0
$GC,8510,0.75,387.0,561.0,9.4,724,8533,0.00,1.08,18.38,0.716,6,0.000,0.032,2635,2155,1291,0,0,0,0,0,0
$GC,8843,0.75,387.0,524.8,12.3,740,8847,0.00,1.08,0.00,0.000,4,0.000,0.039,2635,2858,1292,0,0,0,0,0,0
$GC,8871,0.75,387.0,520.4,13.5,741,8875,0.00,1.05,0.00,0.000,6,0.000,0.028,2639,2161,1292,0,0,0,0,0,0
$GC,9195,0.75,387.0,469.4,15.4,765,9199,0.00,1.02,0.00,0.000,4,0.000,0.031,2644,1458,1291,0,0,0,0,0,0
$GC,9246,0.75,387.0,461.9,15.9,769,9252,0.00,1.10,0.00,0.000,6,0.000,0.034,2645,2169,1291,0,0,0,0,0,0
$GC,9571,0.75,387.0,414.0,12.9,800,9575,0.00,1.05,0.00,0.000,4,0.000,0.039,2644,2862,1290,0,0,0,0,0,0
$GC,9640,0.75,387.0,404.5,14.3,806,9644,0.10,1.05,0.00,0.000,6,0.149,0.029,2617,2165,1290,0,0,0,0,0,0
$GC,9970,0.75,387.0,361.8,12.8,837,9974,0.00,1.08,0.00,0.000,4,0.000,0.037,2617,2861,1289,0,0,0,0,0,0
$GC,10088,0.75,387.0,345.3,13.5,847,10095,0.00,1.05,0.00,0.000,6,0.000,0.028,2621,2167,1289,0,0,0,0,0,0
$GC,10414,0.75,387.0,306.3,11.2,878,10417,0.00,1.08,0.00,0.000,4,0.000,0.035,2621,2870,1289,0,0,0,0,0,0
$GC,10500,0.75,387.0,294.8,13.6,885,10506,0.00,1.08,0.00,0.000,6,0.000,0.030,2625,2161,1289,0,0,0,0,0,0
$GC,10825,0.75,387.0,251.1,10.6,916,10829,0.00,1.08,0.00,0.000,4,0.000,0.034,2626,2866,1289,0,0,0,0,0,0
$GC,10922,0.79,421.9,242.5,8.9,924,10954,0.00,1.05,27.38,0.583,6,0.000,0.028,2629,2167,1147,0,0,0,0,0,0
$GC,11280,0.79,421.9,206.6,14.3,958,11283,0.00,1.08,0.00,0.000,4,0.000,0.034,2630,2867,1155,0,0,0,0,0,0
$GC,11394,0.79,421.9,190.3,13.1,974,11401,0.00,1.05,0.00,0.000,6,0.000,0.028,2634,2166,1156,0,0,0,0,0,0
$GC,11740,0.79,421.9,160.9,12.2,1035,11747,0.00,1.02,0.00,0.000,4,0.000,0.034,2640,1470,1155,0,0,0,0,0,0
$GC,11855,0.79,421.9,144.1,14.5,1055,11862,0.00,1.05,0.00,0.000,6,0.000,0.030,2640,2164,1156,0,0,0,0,0,0
$GC,12200,0.80,425.9,112.8,10.1,1116,12213,0.00,1.05,6.60,0.459,4,0.000,0.034,2640,2873,1132,0,0,0,0,0,0
$GC,12336,0.86,479.0,100.6,8.1,1139,12383,0.00,1.08,40.15,0.483,6,0.000,0.028,2644,2155,915,0,0,0,0,0,0
$GC,12721,1.00,591.8,73.8,5.7,1207,12817,0.15,1.15,83.25,0.446,4,0.071,0.034,2735,2871,455,0,0,0,0,0,0
$GC,12887,1.07,647.5,60.6,8.0,1235,12900,0.00,1.05,5.45,0.375,6,0.000,0.029,2740,2171,439,0,0,0,0,0,0
$GC,13241,1.07,647.5,25.9,11.4,1297,13248,0.00,1.02,1.42,0.075,4,0.000,0.028,2739,2871,443,0,0,0,0,0,0
$GC,13306,1.07,647.5,18.7,11.0,1308,13314,0.00,1.05,2.62,0.208,6,0.000,0.028,2744,2162,440,0,0,0,0,0,0
$STATE,13439,end climb,SURFACE_DEPTH_REACHED
$STATE,13439,begin surface coast
$FINISH,0.9,1.021180
$STATE,13461,end surface coast,CONTROL_FINISHED_OK
$STATE,13461,begin surface
$SM_CCo,13538,0.00,0.000,0,0,440,595.83
$SM_GC,1.52,6.45,0.00,0.00,0.024,0.000,0.000,200,2634,440,-6.68,1.24,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12030.76,171011,222207
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.65
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,24.0,112.347
$10V_AH,9.8,82.591
$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,16.425,64.425,591.875,0.000,0.000,28.077,38.632,138.972,0.000,0.000,20.082,3115.260,7273.071,632.428,2509.115,357.704,0.000,1880.400,0.000,2271.893,0.000,0.540,0.000
$DEVICE_MAMPS,219.555,61.200,854.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,911.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76915,1335
$CAP_FILE_SIZE,150551,0
$CFSIZE,260165632,190480384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,061355,2141.955,12025.563,37,2.0,37,-2.6