version: 66.09
glider: 181
mission: 6
dive: 734
start: 10 30 111 9 49 23
data:
$ID,181
$MISSION,6
$DIVE,734
$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,-41767.383
$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,57
$R_STBD_OVSHOOT,38
$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
$GPS1,301011,094301,2144.551,12016.499,6,1.9,12,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-57.0
$GPS2,301011,094858,2144.632,12016.477,14,3.3,33,-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,188.0,306260,-14.3,-10.312
$D_GRID,599
$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,-67.80,0.000,2,0.000,0.000,144,2485,2335,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.8,12,138,8.40,0.77,-33.72,0.000,4,0.221,0.066,2171,1945,3763,0,0,0,0,0,0
$GC,214,-0.48,-219.0,26.9,-19.2,33,221,0.15,0.85,0.00,0.000,6,0.129,0.035,2216,2505,3764,0,0,0,0,0,0
$GC,562,-0.42,-219.0,82.0,-14.9,94,568,0.00,0.77,0.00,0.000,4,0.000,0.037,2214,3034,3762,0,0,0,0,0,0
$GC,796,-0.36,-219.0,117.3,-11.8,135,803,0.12,0.77,0.00,0.000,6,0.115,0.024,2258,2468,3762,0,0,0,0,0,0
$GC,1143,-0.52,-219.0,151.6,-11.0,196,1150,0.15,0.65,0.00,0.000,4,0.076,0.028,2194,1969,3763,0,0,0,0,0,0
$GC,1290,-0.56,-219.0,165.6,-8.6,221,1296,0.00,0.80,0.00,0.000,6,0.000,0.033,2193,2508,3763,0,0,0,0,0,0
$GC,1638,-0.65,-219.0,191.9,-7.5,282,1645,0.00,0.70,0.00,0.000,4,0.000,0.024,2194,1973,3763,0,0,0,0,0,0
$GC,1773,-0.71,-219.0,202.6,-8.2,302,1781,0.10,0.77,0.00,0.000,6,0.040,0.032,2118,2502,3763,0,0,0,0,0,0
$GC,2099,-0.69,-219.0,237.1,-10.4,333,2104,0.12,0.73,0.00,0.000,4,0.144,0.025,2155,1970,3763,0,0,0,0,0,0
$GC,2186,-0.69,-219.0,245.5,-9.5,340,2193,0.00,0.77,0.00,0.000,6,0.000,0.033,2153,2497,3764,0,0,0,0,0,0
$GC,2512,-0.73,-219.0,279.6,-11.5,371,2516,0.00,0.68,0.00,0.000,4,0.000,0.025,2152,1978,3763,0,0,0,0,0,0
$GC,2559,-0.75,-219.0,284.8,-11.5,375,2563,0.00,0.77,0.00,0.000,6,0.000,0.034,2152,2499,3762,0,0,0,0,0,0
$GC,2890,-0.80,-219.0,316.9,-7.7,406,2895,0.10,0.80,0.00,0.000,4,0.092,0.039,2083,3027,3761,0,0,0,0,0,0
$GC,3129,-0.67,-219.0,348.8,-16.4,427,3133,0.22,0.73,0.00,0.000,6,0.133,0.026,2154,2502,3759,0,0,0,0,0,0
$GC,3460,-0.64,-219.0,388.9,-13.1,458,3463,0.00,0.70,0.00,0.000,4,0.000,0.025,2153,1972,3758,0,0,0,0,0,0
$GC,3518,-0.62,-219.0,396.0,-12.6,463,3521,0.00,0.77,0.00,0.000,6,0.000,0.034,2152,2492,3757,0,0,0,0,0,0
$GC,3850,-0.66,-219.0,427.5,-8.2,494,3853,0.00,0.70,0.00,0.000,4,0.000,0.026,2152,1975,3755,0,0,0,0,0,0
$GC,3945,-0.68,-219.0,434.5,-6.9,502,3952,0.00,0.77,0.00,0.000,6,0.000,0.035,2152,2491,3754,0,0,0,0,0,0
$GC,4273,-0.73,-219.0,457.9,-7.8,533,4276,0.00,0.70,0.00,0.000,4,0.000,0.026,2152,1973,3750,0,0,0,0,0,0
$GC,4308,-0.77,-219.0,460.9,-8.0,536,4312,0.00,0.80,0.00,0.000,6,0.000,0.036,2152,2500,3750,0,0,0,0,0,0
$GC,4640,-0.83,-219.0,489.5,-8.7,567,4645,0.12,0.73,0.00,0.000,4,0.080,0.029,2081,1988,3747,0,0,0,0,0,0
$GC,4664,-0.83,-219.0,491.7,-9.0,569,4668,0.08,0.77,0.00,0.000,6,0.136,0.038,2102,2499,3747,0,0,0,0,0,0
$GC,4990,-0.74,-219.0,529.8,-11.3,588,4995,0.12,0.82,0.00,0.000,4,0.155,0.044,2136,3024,3744,0,0,0,0,0,0
$GC,5085,-0.70,-219.0,538.5,-8.4,592,5089,0.00,0.73,0.00,0.000,6,0.000,0.028,2136,2514,3743,0,0,0,0,0,0
$GC,5414,-0.66,-219.0,573.7,-12.6,608,5418,0.00,0.77,0.00,0.000,4,0.000,0.041,2132,3017,3740,0,0,0,0,0,0
$GC,5470,-0.62,-219.0,581.6,-13.9,610,5474,0.12,0.75,0.00,0.000,6,0.119,0.027,2174,2495,3740,0,0,0,0,0,0
$STATE,5644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5644,begin apogee
$GC,5652,-0.19,0.0,601.0,10.8,619,5820,0.38,0.00,161.45,0.801,6,0.079,0.000,2316,2086,2868,0,0,0,0,0,0
$STATE,5821,end apogee,CONTROL_FINISHED_OK
$STATE,5821,begin climb
$GC,5824,0.61,219.0,616.8,0.0,627,5995,0.68,0.77,164.38,0.790,4,0.040,0.031,2597,1582,1976,0,0,0,0,0,0
$GC,6223,0.50,219.0,587.2,12.5,645,6227,0.17,0.80,0.00,0.000,6,0.132,0.031,2541,2122,1974,0,0,0,0,0,0
$GC,6557,0.47,244.1,553.9,9.5,661,6582,0.00,0.75,20.15,0.742,4,0.000,0.037,2541,2617,1873,0,0,0,0,0,0
$GC,6754,0.45,274.4,535.2,9.3,669,6782,0.00,0.75,23.85,0.722,6,0.000,0.029,2543,2102,1749,0,0,0,0,0,0
$GC,7094,0.45,274.4,501.2,10.9,686,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2102,1747,0,0,0,0,0,0
$GC,7411,0.44,274.4,461.2,13.1,715,7415,0.00,0.75,0.00,0.000,4,0.000,0.034,2547,1578,1745,0,0,0,0,0,0
$GC,7484,0.40,274.4,451.9,12.3,721,7492,0.12,0.77,0.00,0.000,6,0.119,0.031,2504,2100,1745,0,0,0,0,0,0
$GC,7810,0.60,397.8,425.5,6.4,752,7913,0.17,0.80,90.88,0.694,4,0.072,0.031,2582,2624,1248,0,0,0,0,0,0
$GC,7986,0.55,397.8,408.3,11.8,767,7994,0.10,0.77,0.00,0.000,6,0.125,0.028,2552,2102,1250,0,0,0,0,0,0
$GC,8312,0.60,397.8,372.0,10.8,798,8315,0.00,0.77,0.00,0.000,4,0.000,0.033,2552,2625,1253,0,0,0,0,0,0
$GC,8370,0.63,407.5,366.3,10.0,803,8385,0.00,0.77,10.10,0.611,6,0.000,0.030,2554,2098,1208,0,0,0,0,0,0
$GC,8712,0.76,462.9,337.6,8.5,835,8760,0.17,0.77,42.28,0.634,4,0.070,0.031,2642,1576,980,0,0,0,0,0,0
$GC,8839,0.71,462.9,322.2,13.0,846,8846,0.10,0.77,0.00,0.000,6,0.124,0.028,2609,2101,984,0,0,0,0,0,0
$GC,9165,0.77,481.8,288.2,9.7,877,9188,0.00,0.73,16.58,0.592,4,0.000,0.030,2609,2621,904,0,0,0,0,0,0
$GC,9251,0.77,482.7,279.3,10.3,884,9257,0.00,0.77,0.00,0.000,6,0.000,0.031,2611,2097,908,0,0,0,0,0,0
$GC,9577,0.82,482.7,244.7,12.2,915,9589,0.00,0.80,4.25,0.454,4,0.000,0.034,2614,1572,900,0,0,0,0,0,0
$GC,9659,0.85,482.7,234.0,13.1,922,9664,0.08,0.77,0.00,0.000,6,0.058,0.030,2661,2096,901,0,0,0,0,0,0
$GC,9987,0.89,533.3,195.9,8.7,956,10034,0.00,0.80,39.40,0.549,4,0.000,0.030,2661,2635,693,0,0,0,0,0,0
$GC,10127,0.90,539.4,182.6,10.1,980,10140,0.00,0.80,6.38,0.441,6,0.000,0.029,2664,2092,668,0,0,0,0,0,0
$GC,10482,0.94,539.4,145.1,11.8,1042,10489,0.00,0.80,0.00,0.000,4,0.000,0.031,2664,2637,667,0,0,0,0,0,0
$GC,10582,0.94,539.4,134.5,10.8,1059,10588,0.00,0.80,0.00,0.000,6,0.000,0.030,2666,2095,667,0,0,0,0,0,0
$GC,10930,1.08,606.1,97.8,8.2,1120,10979,0.15,0.82,42.10,0.480,4,0.071,0.031,2745,2632,439,0,0,0,0,0,0
$GC,11031,1.02,606.1,87.8,10.5,1137,11039,0.12,0.77,0.00,0.000,6,0.137,0.030,2709,2105,439,0,0,0,0,0,0
$GC,11381,1.04,606.1,52.1,13.2,1198,11388,0.00,0.80,2.47,0.204,4,0.000,0.033,2711,1572,439,0,0,0,0,0,0
$GC,11542,1.04,606.1,32.8,10.8,1226,11550,0.00,0.77,0.17,0.092,6,0.000,0.025,2711,2120,441,0,0,0,0,0,0
$STATE,11841,end climb,SURFACE_DEPTH_REACHED
$STATE,11841,begin surface coast
$FINISH,0.6,1.016948
$STATE,11877,end surface coast,CONTROL_FINISHED_OK
$STATE,11877,begin surface
$SM_CCo,11955,0.00,0.000,0,0,443,595.10
$SM_GC,1.36,6.57,0.00,0.00,0.034,0.000,0.000,211,2514,443,-6.68,0.40,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12012.88,301011,060644
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,24.3,122.387
$10V_AH,9.8,88.155
$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,18.650,39.375,624.425,0.000,0.000,23.870,18.317,143.016,0.500,0.000,39.484,2990.828,5873.840,647.778,2415.859,376.779,0.000,1846.669,0.000,2189.727,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,65.790,800.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,873.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322728
$DATA_FILE_SIZE,73585,1285
$CAP_FILE_SIZE,146488,0
$CFSIZE,260165632,185225216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301011,131006,2144.891,12016.374,35,0.9,41,-2.6