version: 66.09
glider: 181
mission: 6
dive: 739
start: 10 31 111 3 58 35
data:
$ID,181
$MISSION,6
$DIVE,739
$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,-41781.051
$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,58
$R_STBD_OVSHOOT,66
$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
$GPS1,311011,035151,2143.654,12020.429,9,3.0,29,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.5
$GPS2,311011,035810,2143.740,12020.485,13,2.9,32,-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,189.3,305360,-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,17,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.50,0.000,2,0.000,0.000,129,2524,2328,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.1,-2.8,12,138,8.68,0.82,-33.53,0.000,4,0.229,0.060,2172,1952,3764,0,0,0,0,0,0
$GC,248,-0.49,-219.0,32.2,-19.2,39,255,0.12,0.77,0.00,0.000,6,0.136,0.033,2209,2481,3764,0,0,0,0,0,0
$GC,596,-0.41,-219.0,90.3,-14.6,100,603,0.12,0.80,0.00,0.000,4,0.148,0.037,2245,3014,3762,0,0,0,0,0,0
$GC,683,-0.41,-219.0,101.1,-11.7,115,690,0.00,0.75,0.00,0.000,6,0.000,0.024,2244,2460,3762,0,0,0,0,0,0
$GC,1030,-0.54,-219.0,129.3,-6.9,176,1037,0.12,0.62,0.00,0.000,4,0.080,0.025,2164,1972,3763,0,0,0,0,0,0
$GC,1119,-0.53,-219.0,138.1,-11.1,191,1126,0.12,0.77,0.00,0.000,6,0.104,0.032,2205,2502,3762,0,0,0,0,0,0
$GC,1469,-0.63,-219.0,167.5,-8.3,252,1475,0.00,0.75,0.00,0.000,4,0.000,0.036,2204,3021,3763,0,0,0,0,0,0
$GC,1579,-0.69,-219.0,177.0,-8.9,271,1586,0.12,0.70,0.00,0.000,6,0.037,0.024,2122,2499,3763,0,0,0,0,0,0
$GC,1920,-0.58,-219.0,229.1,-14.3,315,1924,0.22,0.80,0.00,0.000,4,0.140,0.031,2184,3024,3763,0,0,0,0,0,0
$GC,2003,-0.55,-219.0,238.2,-10.5,322,2006,0.00,0.70,0.00,0.000,6,0.000,0.024,2184,2505,3763,0,0,0,0,0,0
$GC,2334,-0.60,-219.0,271.5,-9.6,353,2338,0.00,0.77,0.00,0.000,4,0.000,0.036,2181,3024,3762,0,0,0,0,0,0
$GC,2443,-0.65,-219.0,281.7,-9.6,362,2449,0.00,0.73,0.00,0.000,6,0.000,0.024,2181,2496,3762,0,0,0,0,0,0
$GC,2769,-0.72,-219.0,309.7,-8.4,393,2773,0.12,0.80,0.00,0.000,4,0.076,0.036,2100,3021,3760,0,0,0,0,0,0
$GC,2855,-0.61,-219.0,320.9,-14.4,400,2863,0.22,0.73,0.00,0.000,6,0.132,0.024,2170,2493,3760,0,0,0,0,0,0
$GC,3184,-0.69,-219.0,358.4,-10.3,431,3188,0.00,0.80,0.00,0.000,4,0.000,0.036,2169,3029,3758,0,0,0,0,0,0
$GC,3246,-0.74,-219.0,364.3,-8.4,436,3253,0.00,0.73,0.00,0.000,6,0.000,0.025,2169,2504,3758,0,0,0,0,0,0
$GC,3574,-0.84,-219.0,384.2,-8.2,467,3578,0.17,0.73,0.00,0.000,4,0.065,0.026,2072,1966,3755,0,0,0,0,0,0
$GC,3620,-0.74,-219.0,389.9,-13.4,471,3624,0.20,0.77,0.00,0.000,6,0.135,0.034,2132,2488,3754,0,0,0,0,0,0
$GC,3952,-0.68,-219.0,431.9,-13.1,502,3955,0.00,0.80,0.00,0.000,4,0.000,0.037,2129,3030,3753,0,0,0,0,0,0
$GC,4133,-0.61,-219.0,457.3,-14.3,518,4138,0.12,0.75,0.00,0.000,6,0.122,0.026,2172,2493,3751,0,0,0,0,0,0
$GC,4465,-0.71,-219.0,488.1,-7.6,549,4469,0.00,0.68,0.00,0.000,4,0.000,0.025,2171,1973,3749,0,0,0,0,0,0
$GC,4546,-0.77,-219.0,494.4,-7.6,556,4550,0.10,0.77,0.00,0.000,6,0.047,0.034,2101,2500,3749,0,0,0,0,0,0
$GC,4882,-0.68,-219.0,526.4,-11.1,575,4887,0.17,0.80,0.00,0.000,4,0.148,0.041,2147,3020,3745,0,0,0,0,0,0
$STATE,4890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4890,begin apogee
$GC,4898,-0.19,0.0,528.1,11.9,575,5065,0.50,0.00,160.45,0.744,6,0.114,0.000,2311,2113,2868,0,0,0,0,0,0
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5066,begin climb
$GC,5068,0.61,219.0,536.2,0.0,583,5237,0.68,0.75,162.00,0.730,4,0.044,0.024,2598,1569,1976,0,0,0,0,0,0
$GC,5463,0.54,256.0,510.4,9.1,601,5497,0.15,0.80,28.95,0.708,6,0.130,0.028,2550,2119,1825,0,0,0,0,0,0
$GC,5814,0.70,418.6,492.0,5.1,626,5948,0.15,0.85,120.25,0.713,4,0.079,0.028,2626,1570,1162,0,0,0,0,0,0
$GC,6054,0.63,418.6,467.8,11.6,647,6062,0.15,0.77,0.00,0.000,6,0.127,0.028,2578,2098,1161,0,0,0,0,0,0
$GC,6380,0.66,418.6,430.0,12.7,678,6384,0.00,0.75,0.00,0.000,4,0.000,0.034,2578,2622,1167,0,0,0,0,0,0
$GC,6427,0.68,418.6,424.4,12.2,682,6430,0.00,0.75,0.00,0.000,6,0.000,0.028,2580,2100,1167,0,0,0,0,0,0
$GC,6758,0.85,522.9,394.3,7.0,713,6846,0.20,0.77,79.03,0.662,4,0.064,0.028,2674,1573,736,0,0,0,0,0,0
$GC,6945,0.78,522.9,371.2,14.3,729,6952,0.12,0.77,0.00,0.000,6,0.122,0.028,2632,2102,741,0,0,0,0,0,0
$GC,7271,0.80,522.9,325.8,12.5,760,7274,0.00,0.75,0.00,0.000,4,0.000,0.030,2634,1574,744,0,0,0,0,0,0
$GC,7345,0.82,522.9,317.4,11.2,766,7351,0.00,0.75,0.00,0.000,6,0.000,0.027,2634,2098,744,0,0,0,0,0,0
$GC,7670,0.88,522.9,286.2,10.6,797,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2098,744,0,0,0,0,0,0
$GC,7994,0.90,522.9,245.9,12.4,827,7997,0.00,0.75,0.00,0.000,4,0.000,0.034,2634,2623,743,0,0,0,0,0,0
$GC,8040,0.90,522.9,240.3,10.8,831,8044,0.00,0.75,0.00,0.000,6,0.000,0.028,2637,2104,744,0,0,0,0,0,0
$GC,8371,0.90,522.9,210.4,10.4,862,8374,0.00,0.75,0.00,0.000,4,0.000,0.031,2640,1573,743,0,0,0,0,0,0
$GC,8440,0.95,522.9,203.0,11.0,868,8444,0.08,0.75,0.00,0.000,6,0.055,0.028,2696,2095,743,0,0,0,0,0,0
$GC,8784,0.99,554.8,161.6,9.3,926,8815,0.00,0.80,26.73,0.530,4,0.000,0.031,2699,1572,606,0,0,0,0,0,0
$GC,8880,0.96,554.8,152.0,11.1,942,8886,0.00,0.77,0.00,0.000,6,0.000,0.026,2699,2111,606,0,0,0,0,0,0
$GC,9227,0.99,554.8,111.6,12.1,1003,9234,0.00,0.77,0.00,0.000,4,0.000,0.031,2702,1574,606,0,0,0,0,0,0
$GC,9264,1.01,554.8,107.1,12.0,1009,9270,0.00,0.75,0.00,0.000,6,0.000,0.028,2702,2098,606,0,0,0,0,0,0
$GC,9611,1.13,607.3,73.5,8.6,1070,9648,0.10,0.80,31.55,0.467,4,0.094,0.031,2766,1573,438,0,0,0,0,0,0
$GC,9737,1.07,607.3,57.8,13.4,1091,9745,0.12,0.75,2.30,0.173,6,0.113,0.024,2724,2116,440,0,0,0,0,0,0
$GC,10087,1.06,607.3,19.1,10.8,1152,10094,0.00,0.65,1.02,0.078,4,0.000,0.025,2724,2607,442,0,0,0,0,0,0
$GC,10119,1.05,607.3,15.0,11.8,1157,10126,0.00,0.73,2.30,0.168,6,0.000,0.028,2726,2091,440,0,0,0,0,0,0
$STATE,10215,end climb,SURFACE_DEPTH_REACHED
$STATE,10216,begin surface coast
$FINISH,0.6,1.021950
$STATE,10240,end surface coast,CONTROL_FINISHED_OK
$STATE,10241,begin surface
$SM_CCo,10318,0.00,0.000,0,0,440,596.08
$SM_GC,1.35,6.57,0.00,0.00,0.033,0.000,0.000,208,2479,440,-6.67,-0.59,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12021.23,311011,000013
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.13
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.40
$XPDR_PINGS,2
$24V_AH,24.4,123.105
$10V_AH,9.8,88.541
$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,19.475,36.025,614.575,0.000,0.000,26.103,43.868,138.815,0.500,0.000,36.251,2731.546,4766.401,626.455,2224.091,341.489,0.000,1724.308,0.000,1980.081,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,60.435,744.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,796.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322764
$DATA_FILE_SIZE,66965,1178
$CAP_FILE_SIZE,133374,0
$CFSIZE,260165632,184860672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,065136,2143.833,12020.016,24,1.2,25,-2.6