version: 66.09
glider: 181
mission: 6
dive: 732
start: 10 30 111 3 41 57
data:
$ID,181
$MISSION,6
$DIVE,732
$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,225
$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,1
$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,-41764.863
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,46
$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
$GPS1,301011,033437,2144.185,12016.893,25,1.4,25,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.0
$GPS2,301011,034132,2144.310,12016.909,12,1.4,12,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,188.2,305739,-14.3,-10.312
$D_GRID,528
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.80,0.000,2,0.000,0.000,129,2491,2353,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-3.3,12,137,8.62,0.70,-32.00,0.000,4,0.226,0.062,2170,1939,3762,0,0,0,0,0,0
$GC,225,-0.48,-219.0,32.4,-22.2,35,232,0.15,0.85,0.00,0.000,6,0.141,0.036,2213,2499,3763,0,0,0,0,0,0
$GC,572,-0.40,-219.0,97.1,-17.0,96,580,0.12,0.80,0.00,0.000,4,0.157,0.038,2246,3024,3761,0,0,0,0,0,0
$GC,666,-0.36,-219.0,110.1,-12.6,112,673,0.00,0.77,0.00,0.000,6,0.000,0.025,2246,2470,3761,0,0,0,0,0,0
$GC,1013,-0.50,-219.0,142.8,-6.6,173,1020,0.00,0.62,0.00,0.000,4,0.000,0.025,2246,1975,3761,0,0,0,0,0,0
$GC,1276,-0.66,-219.0,170.2,-11.5,219,1283,0.20,0.77,0.00,0.000,6,0.044,0.034,2154,2500,3761,0,0,0,0,0,0
$GC,1619,-0.66,-219.0,206.5,-9.9,274,1623,0.00,0.80,0.00,0.000,4,0.000,0.038,2152,3025,3761,0,0,0,0,0,0
$GC,1734,-0.60,-219.0,219.0,-12.0,284,1738,0.00,0.73,0.00,0.000,6,0.000,0.025,2152,2493,3761,0,0,0,0,0,0
$GC,2066,-0.54,-219.0,263.6,-12.3,315,2070,0.17,0.82,0.00,0.000,4,0.134,0.039,2202,3018,3761,0,0,0,0,0,0
$GC,2147,-0.58,-219.0,271.2,-8.9,322,2151,0.00,0.70,0.00,0.000,6,0.000,0.025,2202,2505,3761,0,0,0,0,0,0
$GC,2478,-0.69,-219.0,300.1,-8.6,353,2483,0.15,0.70,0.00,0.000,4,0.070,0.027,2116,1978,3759,0,0,0,0,0,0
$GC,2564,-0.63,-219.0,309.8,-12.3,360,2571,0.15,0.77,0.00,0.000,6,0.119,0.036,2162,2489,3759,0,0,0,0,0,0
$GC,2891,-0.68,-219.0,345.4,-11.4,391,2895,0.00,0.80,0.00,0.000,4,0.000,0.039,2163,3026,3757,0,0,0,0,0,0
$GC,3010,-0.72,-219.0,359.0,-11.1,401,3017,0.00,0.73,0.00,0.000,6,0.000,0.026,2163,2509,3756,0,0,0,0,0,0
$GC,3337,-0.79,-219.0,392.4,-9.8,432,3341,0.12,0.73,0.00,0.000,4,0.079,0.028,2089,1973,3754,0,0,0,0,0,0
$GC,3372,-0.76,-219.0,396.5,-11.3,435,3376,0.12,0.80,0.00,0.000,6,0.119,0.035,2127,2503,3753,0,0,0,0,0,0
$GC,3704,-0.70,-219.0,440.7,-14.0,466,3707,0.00,0.77,0.00,0.000,4,0.000,0.040,2125,3021,3751,0,0,0,0,0,0
$GC,3817,-0.64,-219.0,457.6,-14.4,476,3822,0.12,0.73,0.00,0.000,6,0.125,0.027,2166,2504,3750,0,0,0,0,0,0
$GC,4148,-0.71,-219.0,494.4,-10.7,507,4152,0.00,0.80,0.00,0.000,4,0.000,0.041,2165,3024,3747,0,0,0,0,0,0
$GC,4240,-0.77,-219.0,504.1,-10.6,514,4244,0.08,0.75,0.00,0.000,6,0.053,0.027,2108,2498,3746,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4454,-0.19,0.0,530.2,12.7,524,4623,0.60,0.00,161.00,0.747,6,0.096,0.000,2312,2093,2868,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4628,0.61,219.0,546.7,0.0,532,4798,0.68,0.88,163.30,0.738,4,0.040,0.034,2592,2640,1976,0,0,0,0,0,0
$GC,4938,0.52,241.4,533.0,9.6,546,4963,0.15,0.77,18.45,0.698,6,0.139,0.028,2549,2113,1884,0,0,0,0,0,0
$GC,5286,0.59,335.5,507.8,7.3,563,5362,0.00,0.82,70.85,0.721,4,0.000,0.032,2551,1575,1500,0,0,0,0,0,0
$GC,5452,0.64,389.4,494.1,8.6,573,5503,0.00,0.80,42.28,0.696,6,0.000,0.028,2551,2115,1280,0,0,0,0,0,0
$GC,5821,0.70,389.4,454.2,12.2,608,5825,0.15,0.75,0.00,0.000,4,0.076,0.034,2631,2622,1280,0,0,0,0,0,0
$GC,5835,0.74,389.4,452.7,12.6,609,5839,0.00,0.77,0.00,0.000,6,0.000,0.028,2634,2089,1280,0,0,0,0,0,0
$GC,6168,0.67,389.4,404.4,12.0,640,6172,0.15,0.75,0.00,0.000,4,0.155,0.031,2595,1572,1279,0,0,0,0,0,0
$GC,6229,0.65,400.0,397.7,10.0,645,6247,0.00,0.77,9.40,0.639,6,0.000,0.028,2595,2101,1238,0,0,0,0,0,0
$GC,6566,0.76,510.1,371.3,6.8,677,6653,0.00,0.82,82.70,0.648,4,0.000,0.031,2595,1575,788,0,0,0,0,0,0
$GC,6696,0.95,602.9,361.4,7.4,688,6769,0.20,0.77,66.00,0.625,6,0.039,0.028,2700,2098,439,0,0,0,0,0,0
$GC,7088,0.90,602.9,305.4,14.2,725,7093,0.12,0.75,1.10,0.085,4,0.154,0.026,2669,1569,442,0,0,0,0,0,0
$GC,7214,0.87,602.9,289.7,12.6,736,7220,0.00,0.77,2.40,0.232,6,0.000,0.028,2669,2097,440,0,0,0,0,0,0
$GC,7540,0.93,602.9,252.2,12.0,766,7544,0.00,0.77,0.00,0.000,4,0.000,0.031,2672,1567,440,0,0,0,0,0,0
$GC,7635,0.97,602.9,238.9,14.1,774,7642,0.00,0.77,0.00,0.000,6,0.000,0.027,2672,2102,440,0,0,0,0,0,0
$GC,7962,1.04,634.6,200.6,9.3,805,7966,0.10,0.77,0.00,0.000,4,0.095,0.032,2732,1584,440,0,0,0,0,0,0
$GC,8106,0.98,634.6,183.7,12.6,829,8114,0.12,0.75,0.28,0.088,6,0.122,0.030,2692,2097,440,0,0,0,0,0,0
$GC,8456,0.99,637.9,138.8,10.2,890,8463,0.00,0.75,0.88,0.085,4,0.000,0.026,2693,1567,442,0,0,0,0,0,0
$GC,8544,1.05,671.2,130.4,9.3,905,8552,0.00,0.77,2.60,0.237,6,0.000,0.026,2693,2103,440,0,0,0,0,0,0
$GC,8895,1.13,671.2,93.9,11.5,966,8903,0.12,0.75,0.60,0.088,4,0.085,0.028,2770,2618,442,0,0,0,0,0,0
$GC,8912,1.20,671.2,91.8,11.7,968,8919,0.00,0.75,2.35,0.187,6,0.000,0.028,2773,2095,440,0,0,0,0,0,0
$GC,9262,1.15,671.2,46.2,11.8,1029,9270,0.00,0.73,0.00,0.000,4,0.000,0.031,2776,1577,441,0,0,0,0,0,0
$GC,9334,1.11,671.2,36.8,12.9,1041,9342,0.12,0.75,0.22,0.086,6,0.113,0.027,2734,2108,442,0,0,0,0,0,0
$STATE,9645,end climb,SURFACE_DEPTH_REACHED
$STATE,9645,begin surface coast
$FINISH,0.6,0.998402
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9752,0.00,0.000,0,0,445,594.36
$SM_GC,1.39,6.57,0.00,0.00,0.031,0.000,0.000,203,2471,445,-6.69,-0.82,594.36,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12022.40,291011,222237
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,24.3,122.118
$10V_AH,9.8,88.005
$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,19.125,33.250,624.400,0.000,0.000,29.428,50.898,171.181,0.500,0.000,15.331,2566.590,4498.753,619.299,2140.266,325.688,0.000,1665.951,0.000,1871.929,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,61.965,747.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,745.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,63633,1101
$CAP_FILE_SIZE,126716,0
$CFSIZE,260165632,185397248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301011,062537,2144.152,12016.350,30,0.9,30,-2.6