version: 66.09
glider: 181
mission: 6
dive: 682
start: 10 18 111 21 11 30
data:
$ID,181
$MISSION,6
$DIVE,682
$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,-7
$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,-41452.043
$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,42
$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,51
$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
$GPS1,181011,205906,2140.698,12021.804,29,0.9,29,-2.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.7
$GPS2,181011,211050,2140.296,12021.774,15,1.1,15,-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,285.7,38455,-16.5,-10.312
$D_GRID,684
$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,-0.60,-170.3,0.0,0.0,0,81,0.00,0.00,-61.60,0.000,2,0.000,0.000,127,2587,2241,0,0,0,0,0,0
$GC,84,-0.60,-170.3,3.4,-3.7,11,132,8.65,1.12,-30.17,0.000,4,0.223,0.065,2170,3299,3565,0,0,0,0,0,0
$GC,234,-0.60,-170.3,44.6,-28.2,37,241,0.00,1.05,0.00,0.000,6,0.000,0.025,2169,2568,3563,0,0,0,0,0,0
$GC,580,-0.60,-170.3,125.9,-16.2,98,587,0.00,1.12,0.00,0.000,4,0.000,0.039,2164,3295,3560,0,0,0,0,0,0
$GC,668,-0.60,-170.3,140.0,-16.7,113,675,0.00,1.00,0.00,0.000,6,0.000,0.024,2164,2593,3559,0,0,0,0,0,0
$GC,1014,-0.60,-170.3,190.7,-13.1,174,1022,0.00,1.12,0.00,0.000,4,0.000,0.040,2159,3306,3559,0,0,0,0,0,0
$GC,1080,-0.60,-170.3,199.1,-12.2,185,1086,0.00,1.02,0.00,0.000,6,0.000,0.024,2159,2589,3559,0,0,0,0,0,0
$GC,1413,-0.60,-170.3,239.3,-11.4,217,1417,0.00,0.95,0.00,0.000,4,0.000,0.026,2159,1892,3560,0,0,0,0,0,0
$GC,1493,-0.60,-170.3,248.1,-10.8,224,1496,0.00,1.08,0.00,0.000,6,0.000,0.035,2154,2599,3560,0,0,0,0,0,0
$GC,1825,-0.60,-170.3,288.1,-12.2,255,1828,0.00,1.00,0.00,0.000,4,0.000,0.026,2153,1886,3559,0,0,0,0,0,0
$GC,1920,-0.60,-170.3,300.0,-11.9,263,1926,0.00,1.08,0.00,0.000,6,0.000,0.037,2149,2588,3559,0,0,0,0,0,0
$GC,2247,-0.60,-170.3,332.2,-8.3,294,2251,0.12,1.00,0.00,0.000,4,0.155,0.028,2183,1899,3557,0,0,0,0,0,0
$GC,2330,-0.60,-170.3,337.9,-6.4,301,2337,0.00,1.05,0.00,0.000,6,0.000,0.034,2180,2591,3556,0,0,0,0,0,0
$GC,2656,-0.60,-170.3,365.2,-9.5,332,2659,0.00,1.00,0.00,0.000,4,0.000,0.028,2180,1893,3553,0,0,0,0,0,0
$GC,2717,-0.60,-170.3,371.0,-9.1,337,2724,0.00,1.08,0.00,0.000,6,0.000,0.038,2179,2589,3553,0,0,0,0,0,0
$GC,3044,-0.60,-170.3,400.3,-9.1,368,3047,0.00,1.08,0.00,0.000,4,0.000,0.043,2179,3289,3550,0,0,0,0,0,0
$GC,3083,-0.60,-170.3,404.3,-9.6,371,3089,0.00,1.02,0.00,0.000,6,0.000,0.027,2179,2586,3549,0,0,0,0,0,0
$GC,3408,-0.60,-170.3,431.4,-7.7,402,3412,0.00,0.98,0.00,0.000,4,0.000,0.028,2179,1899,3546,0,0,0,0,0,0
$GC,3469,-0.60,-170.3,435.9,-7.4,407,3476,0.00,1.08,0.00,0.000,6,0.000,0.038,2179,2591,3545,0,0,0,0,0,0
$GC,3795,-0.60,-170.3,456.8,-6.5,438,3799,0.00,1.10,0.00,0.000,4,0.000,0.044,2179,3287,3542,0,0,0,0,0,0
$GC,3835,-0.60,-170.3,459.8,-7.1,441,3842,0.00,1.02,0.00,0.000,6,0.000,0.027,2179,2590,3542,0,0,0,0,0,0
$GC,4161,-0.60,-170.3,483.5,-7.0,472,4164,0.00,1.02,0.00,0.000,4,0.000,0.031,2179,1889,3539,0,0,0,0,0,0
$GC,4242,-0.60,-170.3,489.0,-6.7,479,4246,0.00,1.10,0.00,0.000,6,0.000,0.040,2178,2593,3538,0,0,0,0,0,0
$GC,4571,-0.60,-170.3,507.6,-4.6,503,4574,0.00,1.08,0.00,0.000,4,0.000,0.045,2179,3289,3535,0,0,0,0,0,0
$GC,4618,-0.60,-170.3,510.0,-4.8,505,4622,0.00,1.02,0.00,0.000,6,0.000,0.028,2179,2611,3534,0,0,0,0,0,0
$GC,4952,-0.60,-170.3,531.9,-6.9,521,4956,0.00,1.05,0.00,0.000,4,0.000,0.031,2178,1880,3532,0,0,0,0,0,0
$GC,5002,-0.60,-170.3,536.1,-7.8,523,5006,0.00,1.10,0.00,0.000,6,0.000,0.040,2179,2584,3532,0,0,0,0,0,0
$GC,5331,-0.60,-170.3,563.1,-8.0,539,5335,0.00,1.05,0.00,0.000,4,0.000,0.031,2179,1874,3529,0,0,0,0,0,0
$GC,5445,-0.60,-170.3,572.8,-8.4,544,5449,0.00,1.12,0.00,0.000,6,0.000,0.041,2179,2588,3529,0,0,0,0,0,0
$GC,5779,-0.60,-170.3,598.6,-8.2,560,5783,0.00,1.05,0.00,0.000,4,0.000,0.031,2179,1879,3526,0,0,0,0,0,0
$GC,5813,-0.60,-170.3,601.8,-8.4,561,5816,0.00,1.12,0.00,0.000,6,0.000,0.040,2178,2593,3525,0,0,0,0,0,0
$GC,6135,-0.60,-170.3,628.7,-8.4,577,6138,0.00,1.05,0.00,0.000,4,0.000,0.031,2178,1882,3523,0,0,0,0,0,0
$GC,6253,-0.60,-170.3,638.2,-7.8,582,6257,0.00,1.12,0.00,0.000,6,0.000,0.040,2178,2598,3523,0,0,0,0,0,0
$GC,6581,-0.60,-170.3,666.1,-8.4,598,6584,0.00,1.08,0.00,0.000,4,0.000,0.047,2178,3285,3521,0,0,0,0,0,0
$GC,6660,-0.60,-170.3,673.5,-9.2,601,6664,0.00,1.08,0.00,0.000,6,0.000,0.029,2179,2577,3520,0,0,0,0,0,0
$STATE,6814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6814,begin apogee
$GC,6821,-0.19,0.0,685.2,7.3,609,6953,0.38,0.00,124.60,0.859,6,0.091,0.000,2312,2152,2868,0,0,0,0,0,0
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6957,0.60,170.3,692.2,0.0,615,7102,0.68,1.10,131.82,0.845,4,0.045,0.034,2593,1466,2173,0,0,0,0,0,0
$GC,7354,0.60,170.3,658.1,13.0,633,7358,0.00,1.10,0.00,0.000,6,0.000,0.034,2594,2172,2170,0,0,0,0,0,0
$GC,7682,0.60,170.3,617.7,12.6,649,7686,0.00,1.08,0.00,0.000,4,0.000,0.035,2598,1464,2170,0,0,0,0,0,0
$GC,7818,0.60,170.3,601.9,11.6,655,7822,0.00,1.08,0.00,0.000,6,0.000,0.035,2598,2159,2169,0,0,0,0,0,0
$GC,8152,0.60,170.3,564.8,11.7,671,8156,0.00,1.05,0.00,0.000,4,0.000,0.035,2603,1467,2168,0,0,0,0,0,0
$GC,8333,0.60,170.3,545.2,10.6,679,8337,0.10,1.08,0.00,0.000,6,0.151,0.036,2573,2161,2168,0,0,0,0,0,0
$GC,8667,0.69,237.0,516.8,7.6,695,8723,0.00,1.12,50.25,0.748,4,0.000,0.041,2573,2860,1903,0,0,0,0,0,0
$GC,8765,0.72,269.0,508.0,9.0,699,8798,0.00,1.08,25.77,0.708,6,0.000,0.031,2575,2166,1771,0,0,0,0,0,0
$GC,9114,0.74,281.7,474.5,9.8,728,9130,0.12,1.05,11.48,0.661,4,0.090,0.034,2640,1458,1719,0,0,0,0,0,0
$GC,9267,0.74,281.7,454.5,13.6,741,9271,0.00,1.10,0.00,0.000,6,0.000,0.036,2640,2161,1718,0,0,0,0,0,0
$GC,9598,0.74,281.7,410.4,12.5,772,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2162,1718,0,0,0,0,0,0
$GC,9919,0.74,281.7,372.4,11.5,802,9922,0.00,1.05,0.00,0.000,4,0.000,0.035,2644,1470,1717,0,0,0,0,0,0
$GC,10038,0.74,281.7,357.7,12.4,812,10045,0.08,1.08,0.00,0.000,6,0.157,0.036,2620,2162,1717,0,0,0,0,0,0
$GC,10365,0.74,281.7,318.5,11.9,843,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2162,1717,0,0,0,0,0,0
$GC,10683,0.74,281.7,281.9,10.9,873,10687,0.00,1.05,0.00,0.000,4,0.000,0.034,2623,1469,1717,0,0,0,0,0,0
$GC,10839,0.74,282.1,265.6,10.3,886,10846,0.00,1.08,0.00,0.000,6,0.000,0.035,2624,2163,1717,0,0,0,0,0,0
$GC,11166,0.77,307.1,232.9,9.3,917,11192,0.00,1.12,20.12,0.572,4,0.000,0.034,2628,1458,1616,0,0,0,0,0,0
$GC,11334,0.77,307.1,213.3,12.9,932,11338,0.00,1.10,0.00,0.000,6,0.000,0.034,2628,2167,1615,0,0,0,0,0,0
$GC,11674,0.83,352.0,172.7,8.5,983,11716,0.00,1.05,34.47,0.529,4,0.000,0.037,2628,2866,1434,0,0,0,0,0,0
$GC,11758,0.92,424.1,166.5,7.4,997,11817,0.00,1.08,54.38,0.507,6,0.000,0.031,2632,2161,1140,0,0,0,0,0,0
$GC,12157,0.92,431.0,126.9,10.0,1067,12170,0.12,0.00,8.27,0.500,6,0.090,0.000,2692,2161,1111,0,0,0,0,0,0
$GC,12511,1.02,510.9,95.2,7.0,1129,12578,0.00,1.08,59.10,0.472,4,0.000,0.032,2692,2873,785,0,0,0,0,0,0
$GC,12630,1.15,613.5,88.8,6.1,1149,12701,0.10,1.08,63.90,0.443,6,0.047,0.031,2754,2172,439,0,0,0,0,0,0
$GC,13041,1.15,613.5,37.0,13.1,1221,13048,0.00,1.05,0.73,0.084,4,0.000,0.031,2754,2878,442,0,0,0,0,0,0
$GC,13123,1.15,613.5,26.1,13.6,1235,13131,0.00,1.08,0.17,0.092,6,0.000,0.030,2758,2164,442,0,0,0,0,0,0
$STATE,13311,end climb,SURFACE_DEPTH_REACHED
$STATE,13311,begin surface coast
$FINISH,0.6,1.021320
$STATE,13340,end surface coast,CONTROL_FINISHED_OK
$STATE,13340,begin surface
$SM_CCo,13417,0.00,0.000,0,0,445,594.61
$SM_GC,1.42,6.62,0.00,0.00,0.032,0.000,0.000,199,2628,445,-6.69,1.07,594.61,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12019.23,181011,161618
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.11
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,24.0,112.897
$10V_AH,9.8,82.957
$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,16.975,60.950,585.075,0.000,0.000,128.958,63.249,155.913,0.250,0.000,18.626,2986.042,7482.798,619.409,2653.682,380.786,0.000,1861.314,0.000,2272.461,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,65.025,859.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,872.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323016
$DATA_FILE_SIZE,73591,1273
$CAP_FILE_SIZE,150799,0
$CFSIZE,260165632,190140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191011,005625,2139.104,12022.380,39,1.6,40,-2.6