version: 66.09
glider: 181
mission: 6
dive: 740
start: 10 31 111 6 58 3
data:
$ID,181
$MISSION,6
$DIVE,740
$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,-41782.309
$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,68
$R_STBD_OVSHOOT,49
$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
$GPS1,311011,065136,2143.833,12020.016,24,1.2,25,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.7
$GPS2,311011,065738,2143.944,12020.065,10,1.2,10,-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,189.2,305650,-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,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,92,0.00,0.00,-73.03,0.000,2,0.000,0.000,135,2485,2470,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.1,13,138,8.50,0.75,-28.88,0.000,4,0.223,0.065,2170,1958,3764,0,0,0,0,0,0
$GC,237,-0.48,-219.0,33.0,-20.0,37,244,0.15,0.80,0.00,0.000,6,0.137,0.036,2214,2489,3764,0,0,0,0,0,0
$GC,585,-0.42,-219.0,84.6,-13.8,98,591,0.00,0.80,0.00,0.000,4,0.000,0.037,2211,3037,3763,0,0,0,0,0,0
$GC,746,-0.36,-219.0,108.8,-14.7,126,754,0.12,0.77,0.00,0.000,6,0.114,0.024,2254,2471,3762,0,0,0,0,0,0
$GC,1096,-0.46,-219.0,140.3,-9.0,187,1102,0.00,0.82,0.00,0.000,4,0.000,0.035,2254,3027,3763,0,0,0,0,0,0
$GC,1156,-0.58,-219.0,146.4,-10.0,197,1164,0.15,0.73,0.00,0.000,6,0.045,0.024,2171,2490,3763,0,0,0,0,0,0
$GC,1506,-0.61,-219.0,187.3,-9.1,258,1513,0.00,0.80,0.00,0.000,4,0.000,0.036,2167,3031,3763,0,0,0,0,0,0
$GC,1669,-0.55,-219.0,204.4,-12.4,283,1673,0.08,0.73,0.00,0.000,6,0.125,0.025,2192,2500,3764,0,0,0,0,0,0
$GC,1999,-0.62,-219.0,240.6,-10.4,314,2003,0.00,0.80,0.00,0.000,4,0.000,0.036,2192,3034,3764,0,0,0,0,0,0
$GC,2132,-0.67,-219.0,252.2,-7.9,325,2139,0.08,0.73,0.00,0.000,6,0.048,0.024,2128,2498,3764,0,0,0,0,0,0
$GC,2458,-0.68,-219.0,279.0,-8.8,356,2462,0.00,0.80,0.00,0.000,4,0.000,0.036,2125,3036,3764,0,0,0,0,0,0
$GC,2517,-0.62,-219.0,284.9,-10.8,361,2522,0.12,0.73,0.00,0.000,6,0.125,0.026,2167,2506,3763,0,0,0,0,0,0
$GC,2849,-0.69,-219.0,322.6,-10.3,392,2852,0.00,0.77,0.00,0.000,4,0.000,0.036,2165,3027,3762,0,0,0,0,0,0
$GC,2889,-0.74,-219.0,326.5,-9.5,395,2896,0.00,0.73,0.00,0.000,6,0.000,0.025,2166,2500,3762,0,0,0,0,0,0
$GC,3216,-0.80,-219.0,351.7,-8.5,426,3220,0.15,0.80,0.00,0.000,4,0.069,0.037,2078,3024,3760,0,0,0,0,0,0
$GC,3289,-0.67,-219.0,361.7,-16.3,432,3296,0.25,0.73,0.00,0.000,6,0.138,0.025,2154,2500,3759,0,0,0,0,0,0
$GC,3617,-0.72,-219.0,400.3,-10.1,463,3620,0.00,0.80,0.00,0.000,4,0.000,0.037,2152,3032,3757,0,0,0,0,0,0
$GC,3689,-0.72,-219.0,408.0,-9.9,469,3696,0.00,0.75,0.00,0.000,6,0.000,0.025,2152,2496,3756,0,0,0,0,0,0
$GC,4017,-0.76,-219.0,435.8,-8.8,500,4021,0.00,0.68,0.00,0.000,4,0.000,0.026,2152,1974,3754,0,0,0,0,0,0
$GC,4034,-0.81,-219.0,437.5,-8.5,501,4041,0.08,0.80,0.00,0.000,6,0.054,0.033,2092,2510,3754,0,0,0,0,0,0
$GC,4361,-0.70,-219.0,478.8,-13.9,532,4365,0.20,0.77,0.00,0.000,4,0.146,0.035,2145,3021,3751,0,0,0,0,0,0
$GC,4511,-0.67,-219.0,496.2,-10.9,545,4517,0.00,0.73,0.00,0.000,6,0.000,0.026,2145,2499,3750,0,0,0,0,0,0
$STATE,4836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4836,begin apogee
$GC,4844,-0.19,0.0,529.3,9.8,563,5012,0.50,0.00,160.82,0.745,6,0.108,0.000,2313,2095,2868,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5017,0.61,219.0,542.1,0.0,571,5187,0.68,0.77,162.25,0.735,4,0.044,0.031,2594,1586,1976,0,0,0,0,0,0
$GC,5301,0.54,248.2,530.8,9.4,584,5329,0.12,0.77,23.38,0.706,6,0.131,0.030,2554,2111,1857,0,0,0,0,0,0
$GC,5648,0.50,264.4,497.1,9.8,601,5664,0.00,0.77,13.07,0.692,4,0.000,0.035,2553,2619,1791,0,0,0,0,0,0
$GC,5817,0.44,264.4,479.0,10.6,615,5824,0.10,0.75,0.00,0.000,6,0.132,0.028,2521,2104,1789,0,0,0,0,0,0
$GC,6143,0.59,386.7,454.4,6.4,646,6243,0.12,0.75,90.43,0.697,4,0.086,0.031,2585,1572,1290,0,0,0,0,0,0
$GC,6318,0.61,428.0,438.8,9.0,661,6357,0.00,0.77,31.75,0.660,6,0.000,0.028,2585,2100,1125,0,0,0,0,0,0
$GC,6676,0.65,433.7,403.9,10.1,695,6688,0.00,0.00,7.60,0.610,6,0.000,0.000,2585,2100,1099,0,0,0,0,0,0
$GC,7007,0.72,461.2,369.3,9.4,726,7038,0.00,0.80,21.88,0.639,4,0.000,0.035,2585,2624,987,0,0,0,0,0,0
$GC,7062,0.83,516.4,364.6,8.6,731,7110,0.12,0.77,42.00,0.629,6,0.045,0.030,2656,2093,763,0,0,0,0,0,0
$GC,7436,0.83,516.4,320.4,14.9,766,7439,0.00,0.73,0.00,0.000,4,0.000,0.034,2660,1582,770,0,0,0,0,0,0
$GC,7495,0.79,516.4,311.5,16.0,771,7499,0.00,0.75,0.00,0.000,6,0.000,0.028,2660,2102,771,0,0,0,0,0,0
$GC,7827,0.79,516.4,267.4,11.4,802,7836,0.00,0.77,3.97,0.439,4,0.000,0.034,2660,2618,762,0,0,0,0,0,0
$GC,7865,0.76,516.4,262.4,12.2,805,7872,0.12,0.75,0.00,0.000,6,0.124,0.029,2620,2102,763,0,0,0,0,0,0
$GC,8191,0.91,578.5,233.1,8.3,836,8246,0.15,0.77,47.35,0.567,4,0.076,0.030,2697,1578,508,0,0,0,0,0,0
$GC,8266,0.90,578.5,225.0,11.2,842,8274,0.10,0.77,0.00,0.000,6,0.108,0.028,2663,2104,508,0,0,0,0,0,0
$GC,8600,0.97,578.5,181.1,13.2,884,8607,0.00,0.75,0.00,0.000,4,0.000,0.034,2663,2627,509,0,0,0,0,0,0
$GC,8677,0.97,578.5,171.5,12.1,897,8684,0.00,0.77,0.00,0.000,6,0.000,0.030,2664,2096,509,0,0,0,0,0,0
$GC,9024,1.01,578.5,133.3,12.6,958,9031,0.10,0.75,0.00,0.000,4,0.093,0.034,2730,1583,509,0,0,0,0,0,0
$GC,9078,0.95,578.5,125.6,14.4,967,9085,0.15,0.75,0.00,0.000,6,0.128,0.028,2683,2104,510,0,0,0,0,0,0
$GC,9428,1.02,581.2,88.5,10.2,1028,9436,0.00,0.82,4.05,0.351,4,0.000,0.031,2683,1565,498,0,0,0,0,0,0
$GC,9445,1.08,584.7,86.7,10.2,1030,9453,0.08,0.77,4.43,0.369,6,0.049,0.027,2743,2101,484,0,0,0,0,0,0
$GC,9795,1.10,584.7,53.4,11.3,1091,9802,0.00,0.75,0.00,0.000,4,0.000,0.031,2746,1577,485,0,0,0,0,0,0
$GC,9866,1.07,584.7,44.5,12.5,1103,9872,0.00,0.75,0.00,0.000,6,0.000,0.028,2746,2101,485,0,0,0,0,0,0
$STATE,10209,end climb,SURFACE_DEPTH_REACHED
$STATE,10209,begin surface coast
$FINISH,0.5,1.009012
$STATE,10232,end surface coast,CONTROL_FINISHED_OK
$STATE,10233,begin surface
$SM_CCo,10310,0.00,0.000,0,0,488,584.06
$SM_GC,1.38,6.57,0.00,0.00,0.028,0.000,0.000,194,2500,488,-6.70,0.00,584.06,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12021.23,311011,030302
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.07
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.4,123.236
$10V_AH,9.8,88.610
$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,18.800,34.750,612.975,0.000,0.000,31.343,18.750,165.162,0.250,0.000,13.725,2691.986,4820.197,645.061,2160.458,348.589,0.000,1715.556,0.000,1929.381,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,65.025,745.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,789.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66936,1168
$CAP_FILE_SIZE,130973,0
$CFSIZE,260165632,184795136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,095106,2144.380,12020.101,29,1.0,35,-2.6