version: 66.09
glider: 181
mission: 6
dive: 651
start: 10 14 111 8 31 4
data:
$ID,181
$MISSION,6
$DIVE,651
$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,2
$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,-41412.105
$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,64
$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
$GPS1,141011,082506,2158.673,12028.246,40,0.9,46,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.3
$GPS2,141011,083038,2158.580,12028.297,14,0.9,14,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,354.1,19762,-16.5,-10.313
$D_GRID,479
$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,-170.3,0.0,0.0,0,80,0.00,0.00,-61.33,0.000,2,0.000,0.000,184,2606,2222,0,0,0,0,0,0
$GC,83,-0.49,-170.3,3.3,-3.1,10,128,8.02,1.10,-30.10,0.000,4,0.218,0.064,2129,3292,3563,0,0,0,0,0,0
$GC,247,-0.49,-170.3,56.5,-31.9,38,254,0.00,1.02,0.00,0.000,6,0.000,0.023,2129,2576,3557,0,0,0,0,0,0
$GC,388,-0.49,-170.3,93.7,-22.3,63,396,0.00,1.15,-0.12,0.000,4,0.000,0.065,2124,3288,3570,0,0,0,0,0,0
$GC,428,-0.49,-170.3,101.7,-21.7,69,434,0.00,1.00,0.00,0.000,6,0.000,0.023,2124,2597,3569,0,0,0,0,0,0
$GC,571,-0.49,-170.3,131.5,-20.1,94,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2595,3569,0,0,0,0,0,0
$GC,712,-0.49,-170.3,156.9,-16.9,119,719,0.00,0.98,0.00,0.000,4,0.000,0.023,2125,1876,3569,0,0,0,0,0,0
$GC,760,-0.49,-170.3,165.4,-17.9,127,766,0.00,1.08,0.00,0.000,6,0.000,0.034,2119,2588,3569,0,0,0,0,0,0
$GC,902,-0.49,-170.3,189.1,-16.7,152,909,0.00,1.00,0.00,0.000,4,0.000,0.023,2119,1872,3568,0,0,0,0,0,0
$GC,997,-0.49,-170.3,205.3,-18.5,166,1001,0.00,1.08,0.00,0.000,6,0.000,0.034,2114,2585,3568,0,0,0,0,0,0
$GC,1328,-0.49,-170.3,264.9,-16.6,197,1332,0.00,1.05,0.00,0.000,4,0.000,0.037,2108,3292,3567,0,0,0,0,0,0
$GC,1368,-0.49,-170.3,271.3,-16.0,200,1376,0.00,1.00,0.00,0.000,6,0.000,0.023,2108,2584,3567,0,0,0,0,0,0
$GC,1693,-0.49,-170.3,318.7,-13.9,231,1698,0.12,0.98,0.00,0.000,4,0.156,0.025,2141,1876,3565,0,0,0,0,0,0
$GC,1766,-0.49,-170.3,326.4,-10.1,237,1773,0.00,1.08,0.00,0.000,6,0.000,0.034,2139,2583,3565,0,0,0,0,0,0
$GC,2091,-0.49,-170.3,366.5,-14.4,268,2095,0.00,0.98,0.00,0.000,4,0.000,0.024,2139,1884,3561,0,0,0,0,0,0
$GC,2131,-0.49,-170.3,372.4,-14.9,271,2137,0.00,1.08,0.00,0.000,6,0.000,0.035,2134,2590,3560,0,0,0,0,0,0
$GC,2456,-0.49,-170.3,418.0,-13.1,302,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2591,3558,0,0,0,0,0,0
$GC,2777,-0.49,-170.3,458.5,-12.2,332,2781,0.00,0.98,0.00,0.000,4,0.000,0.025,2134,1892,3555,0,0,0,0,0,0
$GC,2925,-0.49,-170.3,474.9,-10.5,345,2929,0.00,1.08,0.00,0.000,6,0.000,0.037,2129,2591,3554,0,0,0,0,0,0
$STATE,2967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2967,begin apogee
$GC,2975,-0.13,0.0,479.9,11.0,349,3112,0.38,0.00,126.35,0.710,6,0.125,0.000,2250,2154,2870,0,0,0,0,0,0
$STATE,3112,end apogee,CONTROL_FINISHED_OK
$STATE,3113,begin climb
$GC,3115,0.49,170.3,486.4,0.0,361,3255,0.57,1.08,127.75,0.692,4,0.086,0.031,2456,1465,2173,0,0,0,0,0,0
$GC,3407,0.60,260.6,473.2,6.6,386,3479,0.08,1.08,67.50,0.685,6,0.052,0.030,2514,2177,1805,0,0,0,0,0,0
$GC,3798,0.72,357.3,444.2,6.4,422,3877,0.00,1.12,71.97,0.677,4,0.000,0.031,2515,1469,1411,0,0,0,0,0,0
$GC,4123,0.88,487.5,424.0,5.0,450,4228,0.15,1.05,97.45,0.666,6,0.040,0.030,2607,2164,881,0,0,0,0,0,0
$GC,4546,0.88,487.5,379.6,12.1,489,4549,0.00,1.05,0.00,0.000,4,0.000,0.034,2607,2870,886,0,0,0,0,0,0
$GC,4615,0.88,487.5,370.1,14.0,495,4619,0.00,1.05,0.00,0.000,6,0.000,0.026,2611,2159,889,0,0,0,0,0,0
$GC,4946,0.88,487.5,327.6,12.4,526,4958,0.00,1.12,3.80,0.439,4,0.000,0.033,2612,2871,881,0,0,0,0,0,0
$GC,5043,0.88,487.5,315.1,12.8,534,5051,0.10,1.05,0.00,0.000,6,0.124,0.026,2581,2161,880,0,0,0,0,0,0
$GC,5369,0.89,497.3,282.3,9.9,565,5380,0.00,0.00,9.02,0.603,6,0.000,0.000,2581,2161,841,0,0,0,0,0,0
$GC,5698,0.90,503.6,250.1,10.1,596,5710,0.00,1.05,6.28,0.536,4,0.000,0.029,2581,2874,816,0,0,0,0,0,0
$GC,5873,0.90,503.6,231.1,10.8,611,5881,0.00,1.05,0.00,0.000,6,0.000,0.028,2581,2166,815,0,0,0,0,0,0
$GC,6199,0.91,517.8,199.2,9.7,642,6219,0.00,1.08,12.30,0.563,4,0.000,0.031,2581,2861,757,0,0,0,0,0,0
$GC,6475,0.93,530.8,172.6,9.8,690,6495,0.00,1.02,11.15,0.525,6,0.000,0.028,2581,2165,704,0,0,0,0,0,0
$GC,6632,0.93,530.8,153.6,12.5,717,6639,0.00,1.08,0.00,0.000,4,0.000,0.035,2581,2857,704,0,0,0,0,0,0
$GC,6760,0.93,530.8,139.6,11.3,739,6767,0.00,1.02,0.00,0.000,6,0.000,0.029,2581,2169,704,0,0,0,0,0,0
$GC,6906,0.96,556.6,124.9,9.3,764,6932,0.00,1.08,20.62,0.506,4,0.000,0.034,2581,1470,598,0,0,0,0,0,0
$GC,7186,0.96,556.6,95.1,11.2,813,7193,0.00,1.02,0.00,0.000,6,0.000,0.027,2581,2165,601,0,0,0,0,0,0
$GC,7332,1.00,592.8,81.7,8.8,838,7370,0.12,1.08,28.50,0.477,4,0.105,0.033,2630,1461,451,0,0,0,0,0,0
$GC,7626,1.00,592.8,49.6,11.5,889,7632,0.00,1.05,0.00,0.000,6,0.000,0.028,2630,2166,452,0,0,0,0,0,0
$GC,7770,1.02,602.6,34.2,9.9,914,7778,0.00,1.08,4.53,0.343,4,0.000,0.032,2630,2866,439,0,0,0,0,0,0
$GC,7849,1.02,602.6,24.9,11.4,927,7856,0.00,1.05,0.00,0.000,6,0.000,0.028,2630,2155,439,0,0,0,0,0,0
$GC,7995,1.02,604.5,10.0,10.2,952,8002,0.00,1.00,0.45,0.092,4,0.000,0.028,2630,1474,441,0,0,0,0,0,0
$GC,8056,1.02,604.5,3.6,11.0,962,8063,0.00,1.02,0.57,0.074,6,0.000,0.024,2630,2185,441,0,0,0,0,0,0
$STATE,8068,end climb,SURFACE_DEPTH_REACHED
$STATE,8068,begin surface coast
$FINISH,0.4,1.020864
$STATE,8097,end surface coast,CONTROL_FINISHED_OK
$STATE,8097,begin surface
$SM_CCo,8174,0.00,0.000,0,0,441,595.59
$SM_GC,1.28,6.18,0.00,0.00,0.027,0.000,0.000,201,2586,441,-6.45,-0.11,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12026.75,141011,050537
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.64
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,24.2,108.526
$10V_AH,9.9,80.651
$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,15.725,41.025,588.250,0.000,0.000,29.870,38.452,119.808,0.750,0.000,18.032,2318.333,3472.854,641.533,1800.978,268.441,0.000,1541.999,0.000,1592.704,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,65.025,709.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,654.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,56928,969
$CAP_FILE_SIZE,106416,0
$CFSIZE,260165632,192421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,131.1,1
$GPS,141011,104802,2158.610,12028.767,7,1.8,7,-2.7