version: 66.09
glider: 181
mission: 6
dive: 736
start: 10 30 111 18 35 2
data:
$ID,181
$MISSION,6
$DIVE,736
$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,-41777.281
$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,48
$R_STBD_OVSHOOT,68
$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
$GPS1,301011,182755,2144.575,12016.441,40,1.8,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.6
$GPS2,301011,183437,2144.719,12016.444,8,1.1,13,-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,188.0,306416,-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,-67.85,0.000,2,0.000,0.000,128,2511,2325,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.2,-3.0,12,138,8.50,0.82,-33.53,0.000,4,0.221,0.061,2170,1931,3764,0,0,0,0,0,0
$GC,242,-0.50,-219.0,35.2,-17.4,38,250,0.12,0.82,0.00,0.000,6,0.135,0.036,2206,2474,3765,0,0,0,0,0,0
$GC,590,-0.41,-219.0,103.2,-18.7,99,597,0.12,0.85,0.00,0.000,4,0.153,0.038,2240,3027,3763,0,0,0,0,0,0
$GC,689,-0.35,-219.0,119.0,-14.8,116,698,0.00,0.77,0.00,0.000,6,0.000,0.024,2241,2466,3763,0,0,0,0,0,0
$GC,1038,-0.48,-219.0,159.7,-10.3,177,1046,0.00,0.85,0.00,0.000,4,0.000,0.036,2240,3032,3763,0,0,0,0,0,0
$GC,1169,-0.56,-219.0,169.9,-7.0,199,1177,0.10,0.73,0.00,0.000,6,0.044,0.023,2158,2498,3763,0,0,0,0,0,0
$GC,1518,-0.59,-219.0,201.1,-9.7,259,1522,0.00,0.68,0.00,0.000,4,0.000,0.025,2158,1966,3763,0,0,0,0,0,0
$GC,1624,-0.59,-219.0,212.3,-10.7,268,1632,0.08,0.80,0.00,0.000,6,0.106,0.031,2183,2507,3764,0,0,0,0,0,0
$GC,1951,-0.65,-219.0,246.8,-9.6,299,1954,0.00,0.70,0.00,0.000,4,0.000,0.024,2184,1973,3764,0,0,0,0,0,0
$GC,2025,-0.69,-219.0,252.8,-7.7,305,2032,0.00,0.77,0.00,0.000,6,0.000,0.033,2183,2499,3764,0,0,0,0,0,0
$GC,2351,-0.75,-219.0,271.9,-6.6,336,2356,0.15,0.73,0.00,0.000,4,0.067,0.025,2098,1973,3763,0,0,0,0,0,0
$GC,2490,-0.65,-219.0,291.1,-16.0,348,2495,0.20,0.77,0.00,0.000,6,0.122,0.034,2159,2492,3762,0,0,0,0,0,0
$GC,2822,-0.66,-219.0,323.9,-8.1,379,2826,0.00,0.77,0.00,0.000,4,0.000,0.037,2156,3021,3761,0,0,0,0,0,0
$GC,2904,-0.68,-219.0,330.2,-8.0,386,2908,0.00,0.73,0.00,0.000,6,0.000,0.025,2157,2499,3760,0,0,0,0,0,0
$GC,3237,-0.73,-219.0,360.3,-9.6,417,3241,0.00,0.68,0.00,0.000,4,0.000,0.025,2157,1972,3759,0,0,0,0,0,0
$GC,3321,-0.75,-219.0,368.1,-8.7,424,3328,0.00,0.80,0.00,0.000,6,0.000,0.034,2154,2506,3757,0,0,0,0,0,0
$GC,3649,-0.81,-219.0,394.7,-9.1,455,3653,0.12,0.75,0.00,0.000,4,0.079,0.026,2084,1964,3755,0,0,0,0,0,0
$GC,3777,-0.70,-219.0,412.9,-16.1,466,3781,0.20,0.80,0.00,0.000,6,0.123,0.037,2144,2495,3753,0,0,0,0,0,0
$GC,4108,-0.67,-219.0,454.5,-11.8,497,4111,0.00,0.80,0.00,0.000,4,0.000,0.040,2141,3029,3751,0,0,0,0,0,0
$GC,4177,-0.63,-219.0,462.2,-11.0,503,4181,0.08,0.75,0.00,0.000,6,0.122,0.027,2168,2499,3750,0,0,0,0,0,0
$GC,4508,-0.69,-219.0,486.5,-7.9,534,4512,0.00,0.80,0.00,0.000,4,0.000,0.039,2166,3022,3747,0,0,0,0,0,0
$GC,4615,-0.73,-219.0,496.0,-9.3,543,4622,0.00,0.75,0.00,0.000,6,0.000,0.026,2166,2493,3746,0,0,0,0,0,0
$GC,4934,-0.81,-219.0,530.8,-11.7,561,4939,0.15,0.82,0.00,0.000,4,0.076,0.040,2084,3021,3744,0,0,0,0,0,0
$GC,4990,-0.72,-219.0,539.1,-15.6,563,4994,0.17,0.75,0.00,0.000,6,0.135,0.027,2139,2493,3743,0,0,0,0,0,0
$GC,5315,-0.69,-219.0,574.9,-9.4,579,5319,0.00,0.82,0.00,0.000,4,0.000,0.041,2136,3030,3740,0,0,0,0,0,0
$GC,5348,-0.65,-219.0,578.4,-9.0,580,5352,0.00,0.75,0.00,0.000,6,0.000,0.027,2136,2499,3740,0,0,0,0,0,0
$STATE,5587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5587,begin apogee
$GC,5595,-0.19,0.0,600.1,9.3,592,5763,0.52,0.00,161.77,0.796,6,0.113,0.000,2308,2093,2868,0,0,0,0,0,0
$STATE,5764,end apogee,CONTROL_FINISHED_OK
$STATE,5764,begin climb
$GC,5767,0.61,219.0,611.1,0.0,600,5939,0.68,0.77,164.57,0.784,4,0.041,0.030,2589,1585,1976,0,0,0,0,0,0
$GC,5962,0.50,221.2,605.1,10.2,609,5972,0.15,0.80,3.35,0.395,6,0.132,0.029,2543,2117,1967,0,0,0,0,0,0
$GC,6292,0.51,274.9,577.0,8.6,625,6338,0.00,0.75,41.35,0.760,4,0.000,0.031,2544,2613,1747,0,0,0,0,0,0
$GC,6458,0.51,316.6,561.4,9.0,632,6494,0.00,0.73,32.62,0.738,6,0.000,0.028,2545,2111,1578,0,0,0,0,0,0
$GC,6817,0.60,390.4,531.6,8.0,650,6880,0.00,0.77,56.10,0.739,4,0.000,0.028,2549,1589,1278,0,0,0,0,0,0
$GC,6976,0.70,451.5,518.0,8.4,657,7028,0.12,0.75,47.75,0.721,6,0.049,0.028,2623,2099,1027,0,0,0,0,0,0
$GC,7345,0.66,451.5,468.5,14.5,684,7350,0.12,0.77,0.00,0.000,4,0.156,0.031,2591,1577,1031,0,0,0,0,0,0
$GC,7447,0.64,451.5,454.2,14.2,693,7451,0.00,0.75,0.00,0.000,6,0.000,0.028,2591,2099,1031,0,0,0,0,0,0
$GC,7778,0.68,451.5,410.0,13.4,724,7782,0.00,0.75,0.00,0.000,4,0.000,0.031,2594,1585,1030,0,0,0,0,0,0
$GC,7816,0.71,451.5,404.7,13.1,727,7824,0.00,0.75,0.00,0.000,6,0.000,0.028,2594,2095,1030,0,0,0,0,0,0
$GC,8143,0.77,477.1,369.0,9.5,758,8168,0.00,0.77,21.10,0.643,4,0.000,0.034,2594,2616,924,0,0,0,0,0,0
$GC,8249,0.84,521.4,359.5,8.9,767,8290,0.10,0.75,34.75,0.630,6,0.051,0.028,2652,2105,743,0,0,0,0,0,0
$GC,8606,0.84,521.4,321.9,10.4,801,8610,0.00,0.75,0.00,0.000,4,0.000,0.034,2656,1584,750,0,0,0,0,0,0
$GC,8710,0.80,521.4,310.8,11.3,810,8721,0.00,0.75,3.50,0.412,6,0.000,0.028,2657,2097,742,0,0,0,0,0,0
$GC,9040,0.76,521.4,268.9,13.8,841,9044,0.12,0.77,0.00,0.000,4,0.146,0.031,2623,1580,744,0,0,0,0,0,0
$GC,9171,0.79,521.4,252.1,12.9,852,9178,0.00,0.75,0.00,0.000,6,0.000,0.028,2623,2093,743,0,0,0,0,0,0
$GC,9498,0.92,562.1,217.3,9.0,883,9540,0.15,0.80,31.98,0.562,4,0.080,0.031,2704,1573,576,0,0,0,0,0,0
$GC,9577,0.88,562.1,207.8,12.3,890,9582,0.12,0.77,0.00,0.000,6,0.118,0.027,2662,2101,576,0,0,0,0,0,0
$GC,9919,0.91,562.1,166.5,11.4,945,9926,0.00,0.77,0.00,0.000,4,0.000,0.031,2664,1572,577,0,0,0,0,0,0
$GC,10001,0.94,562.1,157.2,11.0,959,10008,0.00,0.77,0.00,0.000,6,0.000,0.027,2664,2103,577,0,0,0,0,0,0
$GC,10350,1.04,603.8,123.0,9.0,1020,10383,0.15,0.75,26.42,0.503,4,0.072,0.028,2741,2618,438,0,0,0,0,0,0
$GC,10481,1.00,603.8,108.7,10.9,1042,10489,0.12,0.75,0.00,0.000,6,0.130,0.028,2703,2101,438,0,0,0,0,0,0
$GC,10831,1.12,647.3,73.2,8.9,1103,10837,0.00,0.75,0.00,0.000,4,0.000,0.032,2703,1571,438,0,0,0,0,0,0
$GC,10966,1.20,669.0,61.0,9.6,1126,10974,0.12,0.75,0.00,0.000,6,0.041,0.025,2783,2099,439,0,0,0,0,0,0
$GC,11316,1.14,669.0,14.2,12.2,1187,11324,0.15,0.75,1.30,0.076,4,0.136,0.024,2743,1565,441,0,0,0,0,0,0
$GC,11423,1.22,763.2,4.7,7.3,1205,11431,0.00,0.77,2.33,0.170,6,0.000,0.028,2743,2106,440,0,0,0,0,0,0
$STATE,11441,end climb,SURFACE_DEPTH_REACHED
$STATE,11441,begin surface coast
$FINISH,0.6,1.022475
$STATE,11481,end surface coast,CONTROL_FINISHED_OK
$STATE,11481,begin surface
$SM_CCo,11560,0.00,0.000,0,0,440,595.83
$SM_GC,1.26,6.62,0.00,0.00,0.032,0.000,0.000,196,2543,440,-6.68,1.22,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12014.05,301011,131345
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.38
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.2,122.717
$10V_AH,9.8,88.329
$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,19.275,40.950,628.900,0.000,0.000,25.946,38.360,167.964,0.000,0.000,16.769,2867.727,5697.372,643.433,2358.986,377.475,0.000,1815.387,0.000,2100.757,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,61.200,795.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,825.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70245,1215
$CAP_FILE_SIZE,146189,0
$CFSIZE,260165632,185057280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301011,214832,2145.047,12018.167,11,1.9,12,-2.6