version: 66.09
glider: 181
mission: 6
dive: 679
start: 10 18 111 6 20 57
data:
$ID,181
$MISSION,6
$DIVE,679
$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,-41448.27
$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,44
$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
$GPS1,181011,061355,2141.955,12025.563,37,2.0,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.6
$GPS2,181011,062034,2141.757,12025.521,11,2.2,30,-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,280.4,44310,-16.5,-10.313
$D_GRID,731
$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,-61.90,0.000,2,0.000,0.000,127,2632,2203,0,0,0,0,0,0
$GC,84,-0.49,-170.3,3.1,-3.2,11,132,8.73,1.00,-31.48,0.000,4,0.221,0.065,2205,3294,3562,0,0,0,0,0,0
$GC,224,-0.49,-170.3,35.3,-25.1,35,230,0.00,1.05,0.00,0.000,6,0.000,0.024,2206,2571,3562,0,0,0,0,0,0
$GC,570,-0.49,-170.3,109.7,-12.9,96,576,0.00,1.10,0.00,0.000,4,0.000,0.038,2200,3284,3559,0,0,0,0,0,0
$GC,628,-0.49,-170.3,119.1,-14.0,106,635,0.00,1.00,0.00,0.000,6,0.000,0.025,2200,2587,3559,0,0,0,0,0,0
$GC,974,-0.49,-170.3,165.3,-11.2,167,981,0.00,0.95,0.00,0.000,4,0.000,0.025,2200,1888,3559,0,0,0,0,0,0
$GC,1106,-0.49,-170.3,178.2,-11.6,190,1113,0.00,1.05,0.00,0.000,6,0.000,0.034,2196,2586,3559,0,0,0,0,0,0
$GC,1448,-0.49,-170.3,219.6,-10.2,236,1452,0.00,1.08,0.00,0.000,4,0.000,0.040,2191,3299,3559,0,0,0,0,0,0
$GC,1488,-0.49,-170.3,223.6,-9.9,239,1495,0.00,1.02,0.00,0.000,6,0.000,0.027,2191,2586,3559,0,0,0,0,0,0
$GC,1813,-0.49,-170.3,254.1,-10.5,270,1817,0.00,0.95,0.00,0.000,4,0.000,0.026,2191,1892,3560,0,0,0,0,0,0
$GC,1872,-0.49,-170.3,260.0,-10.3,275,1876,0.00,1.08,0.00,0.000,6,0.000,0.034,2187,2604,3559,0,0,0,0,0,0
$GC,2203,-0.49,-170.3,290.7,-8.9,306,2208,0.12,1.02,0.00,0.000,4,0.143,0.026,2223,1896,3558,0,0,0,0,0,0
$GC,2273,-0.49,-170.3,295.9,-7.3,312,2277,0.00,1.05,0.00,0.000,6,0.000,0.032,2220,2597,3557,0,0,0,0,0,0
$GC,2605,-0.49,-170.3,322.2,-7.5,343,2608,0.00,1.05,0.00,0.000,4,0.000,0.039,2219,3290,3555,0,0,0,0,0,0
$GC,2628,-0.49,-170.3,324.2,-7.7,345,2632,0.00,1.00,0.00,0.000,6,0.000,0.024,2219,2595,3555,0,0,0,0,0,0
$GC,2960,-0.49,-170.3,346.7,-5.8,376,2963,0.00,1.08,0.00,0.000,4,0.000,0.041,2219,3286,3552,0,0,0,0,0,0
$GC,2984,-0.49,-170.3,347.9,-5.6,378,2987,0.00,1.00,0.00,0.000,6,0.000,0.027,2219,2594,3551,0,0,0,0,0,0
$GC,3315,-0.49,-170.3,365.7,-6.3,409,3319,0.00,1.10,0.00,0.000,4,0.000,0.043,2219,3281,3550,0,0,0,0,0,0
$GC,3416,-0.49,-170.3,373.3,-7.7,418,3420,0.00,1.00,0.00,0.000,6,0.000,0.027,2219,2593,3548,0,0,0,0,0,0
$GC,3747,-0.49,-170.3,399.2,-7.9,449,3751,0.00,1.08,0.00,0.000,4,0.000,0.043,2220,3281,3545,0,0,0,0,0,0
$GC,3885,-0.49,-170.3,409.3,-7.4,461,3889,0.00,1.00,0.00,0.000,6,0.000,0.027,2219,2590,3545,0,0,0,0,0,0
$GC,4216,-0.49,-170.3,428.1,-4.7,492,4219,0.00,1.00,0.00,0.000,4,0.000,0.029,2219,1899,3542,0,0,0,0,0,0
$GC,4477,-0.49,-170.3,439.9,-4.6,515,4480,0.00,1.05,0.00,0.000,6,0.000,0.034,2219,2586,3540,0,0,0,0,0,0
$GC,4809,-0.49,-170.3,464.9,-9.5,546,4813,0.00,1.00,0.00,0.000,4,0.000,0.028,2219,1895,3537,0,0,0,0,0,0
$GC,5069,-0.49,-170.3,492.6,-10.3,569,5073,0.00,1.08,0.00,0.000,6,0.000,0.036,2220,2595,3536,0,0,0,0,0,0
$GC,5404,-0.49,-170.3,517.9,-5.9,589,5407,0.00,1.02,0.00,0.000,4,0.000,0.028,2219,1886,3533,0,0,0,0,0,0
$GC,5663,-0.49,-170.3,532.4,-6.0,600,5667,0.00,1.08,0.00,0.000,6,0.000,0.035,2219,2584,3531,0,0,0,0,0,0
$GC,5985,-0.49,-170.3,557.4,-8.7,616,5989,0.00,1.00,0.00,0.000,4,0.000,0.028,2219,1887,3529,0,0,0,0,0,0
$GC,6243,-0.49,-170.3,577.9,-7.6,627,6246,0.00,1.08,0.00,0.000,6,0.000,0.037,2219,2583,3527,0,0,0,0,0,0
$GC,6566,-0.49,-170.3,598.6,-6.2,643,6570,0.00,1.00,0.00,0.000,4,0.000,0.029,2219,1898,3525,0,0,0,0,0,0
$GC,6640,-0.49,-170.3,603.5,-6.3,646,6644,0.00,1.08,0.00,0.000,6,0.000,0.037,2219,2595,3525,0,0,0,0,0,0
$GC,6968,-0.49,-170.3,628.9,-7.5,662,6971,0.00,1.08,0.00,0.000,4,0.000,0.045,2219,3287,3523,0,0,0,0,0,0
$GC,7225,-0.49,-170.3,648.0,-7.3,673,7229,0.00,1.02,0.00,0.000,6,0.000,0.028,2219,2608,3522,0,0,0,0,0,0
$GC,7547,-0.49,-170.3,668.0,-5.9,689,7551,0.00,1.05,0.00,0.000,4,0.000,0.031,2219,1878,3520,0,0,0,0,0,0
$GC,7805,-0.49,-170.3,685.7,-7.2,700,7809,0.00,1.10,0.00,0.000,6,0.000,0.037,2219,2588,3519,0,0,0,0,0,0
$GC,8127,-0.49,-170.3,710.0,-7.8,716,8130,0.00,1.05,0.00,0.000,4,0.000,0.029,2219,1873,3518,0,0,0,0,0,0
$GC,8139,-0.49,-170.3,711.1,-7.6,716,8142,0.00,1.12,0.00,0.000,6,0.000,0.037,2219,2595,3518,0,0,0,0,0,0
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8464,-0.13,0.0,732.1,6.5,732,8597,0.30,0.00,124.45,0.894,6,0.060,0.000,2352,2152,2870,0,0,0,0,0,0
$STATE,8597,end apogee,CONTROL_FINISHED_OK
$STATE,8597,begin climb
$GC,8600,0.49,170.3,740.8,0.0,738,8737,0.47,0.00,132.70,0.881,6,0.046,0.000,2551,2152,2173,0,0,0,0,0,0
$GC,9056,0.49,170.3,709.2,10.7,760,9059,0.00,1.05,0.00,0.000,4,0.000,0.034,2556,1447,2171,0,0,0,0,0,0
$GC,9128,0.49,170.3,700.8,10.8,763,9132,0.00,1.10,0.00,0.000,6,0.000,0.034,2555,2165,2171,0,0,0,0,0,0
$GC,9457,0.49,172.3,664.7,10.2,779,9461,0.00,1.10,0.00,0.000,4,0.000,0.041,2556,2870,2170,0,0,0,0,0,0
$GC,9526,0.50,184.4,658.1,9.8,782,9541,0.00,1.10,11.85,0.776,6,0.000,0.030,2560,2144,2116,0,0,0,0,0,0
$GC,9855,0.58,251.2,631.0,7.6,797,9911,0.00,1.00,52.05,0.818,4,0.000,0.033,2565,1469,1843,0,0,0,0,0,0
$GC,10012,0.66,308.8,618.3,8.0,803,10066,0.00,1.08,45.12,0.795,6,0.000,0.035,2565,2160,1609,0,0,0,0,0,0
$GC,10375,0.71,355.7,588.9,8.4,821,10419,0.12,1.15,37.05,0.783,4,0.091,0.041,2628,2869,1418,0,0,0,0,0,0
$GC,10475,0.71,355.7,577.1,12.0,825,10479,0.00,1.08,0.00,0.000,6,0.000,0.030,2633,2167,1418,0,0,0,0,0,0
$GC,10798,0.71,355.7,539.8,12.8,841,10802,0.00,1.05,0.00,0.000,4,0.000,0.037,2638,1467,1420,0,0,0,0,0,0
$GC,10978,0.71,355.7,512.6,15.3,849,10982,0.10,1.08,0.00,0.000,6,0.142,0.037,2606,2158,1420,0,0,0,0,0,0
$GC,11307,0.71,355.7,470.7,12.2,875,11310,0.00,1.08,0.00,0.000,4,0.000,0.041,2606,2857,1420,0,0,0,0,0,0
$GC,11379,0.71,355.7,461.1,13.1,881,11386,0.00,1.05,0.00,0.000,6,0.000,0.031,2610,2164,1420,0,0,0,0,0,0
$GC,11704,0.71,355.7,419.4,11.9,912,11708,0.00,1.05,0.00,0.000,4,0.000,0.037,2615,1463,1419,0,0,0,0,0,0
$GC,11833,0.71,355.7,404.3,11.3,923,11840,0.00,1.08,0.00,0.000,6,0.000,0.035,2615,2159,1419,0,0,0,0,0,0
$GC,12159,0.71,355.7,366.4,11.9,954,12162,0.00,1.08,0.00,0.000,4,0.000,0.041,2615,2860,1419,0,0,0,0,0,0
$GC,12284,0.71,355.7,351.5,11.5,965,12289,0.00,1.05,0.00,0.000,6,0.000,0.031,2619,2165,1419,0,0,0,0,0,0
$GC,12615,0.71,355.7,315.2,10.7,996,12619,0.00,1.08,0.00,0.000,4,0.000,0.037,2624,1464,1419,0,0,0,0,0,0
$GC,12700,0.71,355.7,305.6,11.4,1003,12707,0.00,1.10,0.00,0.000,6,0.000,0.035,2624,2175,1419,0,0,0,0,0,0
$GC,13025,0.71,355.7,264.6,14.1,1034,13029,0.00,1.05,0.00,0.000,4,0.000,0.041,2625,2863,1419,0,0,0,0,0,0
$GC,13121,0.71,355.7,250.3,14.6,1042,13128,0.00,1.05,0.00,0.000,6,0.000,0.031,2629,2171,1419,0,0,0,0,0,0
$GC,13446,0.71,355.7,212.6,10.5,1073,13450,0.00,1.05,0.00,0.000,4,0.000,0.037,2634,1469,1419,0,0,0,0,0,0
$GC,13563,0.72,359.3,201.0,10.2,1083,13575,0.00,1.08,5.07,0.477,6,0.000,0.034,2634,2168,1403,0,0,0,0,0,0
$GC,13915,0.73,366.3,161.6,10.0,1144,13928,0.00,1.08,7.20,0.513,4,0.000,0.034,2634,2876,1375,0,0,0,0,0,0
$GC,13952,0.78,407.0,158.2,8.7,1150,13989,0.00,1.08,31.45,0.509,6,0.000,0.031,2639,2168,1208,0,0,0,0,0,0
$GC,14328,0.82,439.5,133.9,9.0,1216,14359,0.00,1.10,26.23,0.504,4,0.000,0.037,2644,1467,1076,0,0,0,0,0,0
$GC,14425,0.87,482.0,125.9,8.6,1232,14467,0.00,1.08,32.80,0.474,6,0.000,0.031,2644,2170,903,0,0,0,0,0,0
$GC,14806,0.95,549.2,98.2,7.6,1299,14866,0.10,1.08,51.33,0.468,4,0.096,0.033,2705,2870,628,0,0,0,0,0,0
$GC,14893,1.02,603.7,91.5,8.1,1313,14935,0.00,1.08,35.25,0.435,6,0.000,0.029,2710,2160,439,0,0,0,0,0,0
$GC,15274,1.02,603.7,53.5,10.5,1380,15282,0.00,1.08,2.38,0.185,4,0.000,0.034,2715,1467,440,0,0,0,0,0,0
$GC,15351,1.02,603.7,44.9,11.1,1393,15358,0.00,1.05,0.05,0.145,6,0.000,0.028,2715,2173,440,0,0,0,0,0,0
$GC,15699,1.03,609.8,12.7,10.1,1454,15706,0.00,0.00,2.45,0.186,6,0.000,0.000,2715,2173,440,0,0,0,0,0,0
$STATE,15801,end climb,SURFACE_DEPTH_REACHED
$STATE,15801,begin surface coast
$FINISH,0.7,1.021214
$STATE,15833,end surface coast,CONTROL_FINISHED_OK
$STATE,15833,begin surface
$SM_CCo,15910,0.00,0.000,0,0,440,595.83
$SM_GC,1.57,6.40,0.00,0.00,0.026,0.000,0.000,192,2583,440,-6.69,-0.20,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12028.40,181011,020244
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.53
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,112.481
$10V_AH,9.8,82.684
$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,16.350,70.875,597.425,0.000,0.000,31.381,47.855,143.903,0.000,0.000,34.360,3523.590,8718.073,626.615,3006.122,424.084,0.000,2088.019,0.000,2735.782,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,65.025,894.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1011.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321688
$DATA_FILE_SIZE,83748,1477
$CAP_FILE_SIZE,174349,0
$CFSIZE,260165632,190365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181011,104724,2141.261,12024.319,37,1.4,37,-2.6