version: 66.09
glider: 181
mission: 6
dive: 654
start: 10 14 111 15 59 42
data:
$ID,181
$MISSION,6
$DIVE,654
$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,-41415.969
$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,79
$R_STBD_OVSHOOT,58
$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
$GPS1,141011,155016,2158.362,12029.423,10,2.2,29,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.3
$GPS2,141011,155916,2158.135,12029.504,11,3.4,30,-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,347.7,19316,-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,-170.3,0.0,0.0,0,79,0.00,0.00,-60.20,0.000,2,0.000,0.000,157,2563,2153,0,0,0,0,0,0
$GC,82,-0.49,-170.3,3.1,-3.1,10,127,8.18,1.15,-32.40,0.000,4,0.218,0.066,2131,3276,3565,0,0,0,0,0,0
$GC,241,-0.49,-170.3,49.9,-32.0,37,249,0.00,0.98,-0.15,0.000,6,0.000,0.024,2131,2591,3570,0,0,0,0,0,0
$GC,386,-0.49,-170.3,97.8,-30.4,62,392,0.00,0.95,0.00,0.000,4,0.000,0.023,2131,1874,3568,0,0,0,0,0,0
$GC,422,-0.49,-170.3,107.9,-25.4,68,429,0.00,1.05,0.00,0.000,6,0.000,0.033,2125,2573,3567,0,0,0,0,0,0
$GC,565,-0.49,-170.3,138.9,-18.1,93,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2573,3566,0,0,0,0,0,0
$GC,707,-0.49,-170.3,160.8,-13.6,118,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2573,3566,0,0,0,0,0,0
$GC,850,-0.49,-170.3,179.7,-13.1,143,856,0.00,1.08,0.00,0.000,4,0.000,0.036,2120,3294,3566,0,0,0,0,0,0
$GC,881,-0.49,-170.3,183.7,-13.2,148,888,0.00,1.00,0.00,0.000,6,0.000,0.022,2120,2586,3566,0,0,0,0,0,0
$GC,1022,-0.49,-170.3,203.3,-14.5,171,1025,0.00,0.95,0.00,0.000,4,0.000,0.023,2120,1876,3567,0,0,0,0,0,0
$GC,1049,-0.49,-170.3,208.2,-16.8,173,1056,0.00,1.08,0.00,0.000,6,0.000,0.033,2115,2595,3566,0,0,0,0,0,0
$GC,1375,-0.49,-170.3,257.7,-15.3,204,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2595,3565,0,0,0,0,0,0
$GC,1695,-0.49,-170.3,306.6,-14.4,234,1698,0.00,1.05,0.00,0.000,4,0.000,0.038,2109,3293,3563,0,0,0,0,0,0
$GC,1831,-0.49,-170.3,326.1,-13.3,246,1836,0.08,1.00,0.00,0.000,6,0.135,0.024,2135,2591,3562,0,0,0,0,0,0
$GC,2165,-0.49,-170.3,368.1,-7.3,277,2168,0.00,0.95,0.00,0.000,4,0.000,0.023,2135,1879,3559,0,0,0,0,0,0
$STATE,2421,end dive,NO_VERTICAL_VELOCITY
$STATE,2422,begin apogee
$GC,2428,-0.13,0.0,368.0,0.0,300,2564,0.30,0.00,125.32,0.630,6,0.047,0.000,2283,2190,2868,0,0,0,0,0,0
$STATE,2565,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2567,0.49,170.3,367.9,0.0,312,2706,0.45,1.05,125.32,0.613,4,0.040,0.033,2484,2856,2174,0,0,0,0,0,0
$GC,2887,0.69,332.8,359.2,3.7,340,3015,0.00,1.00,118.20,0.615,6,0.000,0.024,2488,2168,1512,0,0,0,0,0,0
$GC,3332,0.84,458.6,329.7,5.2,381,3429,0.22,0.00,93.72,0.603,6,0.056,0.000,2606,2168,999,0,0,0,0,0,0
$GC,3745,0.84,458.6,279.6,12.9,420,3749,0.12,1.02,0.00,0.000,4,0.135,0.032,2572,1478,1004,0,0,0,0,0,0
$GC,3779,0.84,458.6,276.3,10.8,423,3783,0.00,1.00,0.00,0.000,6,0.000,0.027,2571,2154,1004,0,0,0,0,0,0
$GC,4111,0.89,502.2,248.1,8.5,454,4149,0.00,1.10,34.10,0.572,4,0.000,0.031,2572,2865,821,0,0,0,0,0,0
$GC,4400,0.90,511.4,221.2,9.9,479,4413,0.00,1.02,8.57,0.540,6,0.000,0.025,2571,2168,784,0,0,0,0,0,0
$GC,4739,0.90,511.4,186.2,11.5,521,4746,0.00,1.02,0.00,0.000,4,0.000,0.032,2572,1465,786,0,0,0,0,0,0
$GC,4877,0.90,511.4,168.3,13.3,545,4884,0.00,1.05,0.00,0.000,6,0.000,0.027,2572,2176,787,0,0,0,0,0,0
$GC,5022,0.90,511.4,150.2,11.6,570,5029,0.00,1.00,0.00,0.000,4,0.000,0.035,2571,2851,787,0,0,0,0,0,0
$GC,5285,0.96,558.7,122.4,8.4,616,5331,0.10,1.00,36.62,0.500,6,0.073,0.027,2618,2167,590,0,0,0,0,0,0
$GC,5468,1.03,617.2,107.1,7.9,647,5500,0.00,1.10,28.33,0.474,4,0.000,0.033,2617,2862,439,0,0,0,0,0,0
$GC,5739,1.03,617.2,77.5,12.2,694,5747,0.00,1.02,2.67,0.232,6,0.000,0.027,2617,2167,439,0,0,0,0,0,0
$GC,5887,1.04,623.5,62.4,10.1,719,5894,0.00,1.02,0.00,0.000,4,0.000,0.031,2617,2854,440,0,0,0,0,0,0
$GC,5946,1.04,623.5,55.7,11.0,729,5954,0.00,1.02,0.55,0.076,6,0.000,0.028,2617,2158,441,0,0,0,0,0,0
$GC,6092,1.04,623.5,39.4,11.1,754,6100,0.00,1.02,1.35,0.076,4,0.000,0.026,2617,2868,442,0,0,0,0,0,0
$GC,6356,1.04,623.5,10.7,11.0,800,6364,0.00,1.02,2.70,0.214,6,0.000,0.027,2617,2162,439,0,0,0,0,0,0
$STATE,6425,end climb,SURFACE_DEPTH_REACHED
$STATE,6425,begin surface coast
$FINISH,0.4,0.997477
$STATE,6456,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6532,0.00,0.000,0,0,440,595.83
$SM_GC,1.37,6.18,0.00,0.00,0.031,0.000,0.000,201,2591,440,-6.45,0.03,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2148.09,12038.30,141011,131333
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.2,108.875
$10V_AH,9.9,80.826
$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,15.625,28.775,577.475,0.000,0.000,84.334,42.903,128.346,0.250,0.000,34.239,1943.575,2648.822,603.769,1637.042,235.986,0.000,1373.801,0.000,1348.919,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,65.790,629.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,549.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,46915,817
$CAP_FILE_SIZE,89487,0
$CFSIZE,260165632,192266240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.799,152.6,1
$GPS,141011,174954,2157.778,12029.934,25,1.0,42,-2.7