version: 66.09
glider: 181
mission: 6
dive: 741
start: 10 31 111 9 57 27
data:
$ID,181
$MISSION,6
$DIVE,741
$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,-41783.562
$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,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
$GPS1,311011,095106,2144.380,12020.101,29,1.0,35,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.6
$GPS2,311011,095702,2144.438,12020.134,10,2.0,10,-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,189.2,306574,-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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.28,0.000,2,0.000,0.000,133,2505,2507,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.1,13,138,8.48,0.80,-27.30,0.000,4,0.223,0.062,2168,1951,3765,0,0,0,0,0,0
$GC,214,-0.49,-219.0,28.3,-18.9,33,221,0.15,0.82,0.00,0.000,6,0.133,0.036,2213,2496,3765,0,0,0,0,0,0
$GC,562,-0.41,-219.0,85.7,-18.0,94,568,0.00,0.73,0.00,0.000,4,0.000,0.024,2213,1952,3764,0,0,0,0,0,0
$GC,660,-0.36,-219.0,102.0,-15.4,111,668,0.12,0.82,0.00,0.000,6,0.110,0.033,2254,2505,3764,0,0,0,0,0,0
$GC,1010,-0.51,-219.0,132.9,-8.9,172,1017,0.12,0.77,0.00,0.000,4,0.081,0.024,2200,1938,3764,0,0,0,0,0,0
$GC,1061,-0.59,-219.0,138.1,-10.6,180,1068,0.00,0.82,0.00,0.000,6,0.000,0.031,2198,2502,3764,0,0,0,0,0,0
$GC,1409,-0.65,-219.0,174.0,-9.1,241,1416,0.00,0.75,0.00,0.000,4,0.000,0.036,2196,3022,3765,0,0,0,0,0,0
$GC,1463,-0.68,-219.0,179.2,-9.3,250,1471,0.08,0.75,0.00,0.000,6,0.050,0.024,2133,2469,3764,0,0,0,0,0,0
$GC,1801,-0.59,-219.0,226.3,-13.6,294,1805,0.17,0.85,0.00,0.000,4,0.140,0.037,2181,3019,3764,0,0,0,0,0,0
$GC,1960,-0.56,-219.0,243.2,-9.9,308,1964,0.00,0.70,0.00,0.000,6,0.000,0.025,2181,2500,3764,0,0,0,0,0,0
$GC,2292,-0.63,-219.0,276.1,-10.4,339,2296,0.00,0.77,0.00,0.000,4,0.000,0.036,2180,3017,3764,0,0,0,0,0,0
$GC,2411,-0.68,-219.0,287.9,-9.3,349,2417,0.00,0.70,0.00,0.000,6,0.000,0.026,2179,2504,3764,0,0,0,0,0,0
$GC,2737,-0.76,-219.0,310.9,-5.9,380,2741,0.15,0.70,0.00,0.000,4,0.070,0.028,2088,1981,3763,0,0,0,0,0,0
$GC,2800,-0.69,-219.0,316.4,-9.4,385,2807,0.20,0.77,0.00,0.000,6,0.122,0.034,2149,2500,3762,0,0,0,0,0,0
$GC,3126,-0.73,-219.0,347.8,-9.3,416,3129,0.00,0.80,0.00,0.000,4,0.000,0.039,2147,3024,3760,0,0,0,0,0,0
$GC,3151,-0.77,-219.0,349.9,-9.0,418,3155,0.00,0.73,0.00,0.000,6,0.000,0.026,2147,2504,3760,0,0,0,0,0,0
$GC,3483,-0.80,-219.0,381.7,-10.1,449,3487,0.00,0.70,0.00,0.000,4,0.000,0.028,2147,1970,3758,0,0,0,0,0,0
$GC,3612,-0.82,-219.0,394.1,-9.7,460,3617,0.08,0.77,0.00,0.000,6,0.050,0.035,2085,2492,3757,0,0,0,0,0,0
$GC,3945,-0.71,-219.0,443.0,-14.9,491,3949,0.22,0.73,0.00,0.000,4,0.143,0.021,2149,1970,3754,0,0,0,0,0,0
$GC,4061,-0.68,-219.0,455.1,-9.5,501,4064,0.00,0.80,0.00,0.000,6,0.000,0.036,2146,2503,3753,0,0,0,0,0,0
$GC,4392,-0.66,-219.0,485.7,-8.1,532,4396,0.00,0.77,0.00,0.000,4,0.000,0.040,2142,3024,3750,0,0,0,0,0,0
$GC,4451,-0.64,-219.0,490.6,-8.7,537,4454,0.00,0.73,0.00,0.000,6,0.000,0.026,2142,2501,3750,0,0,0,0,0,0
$GC,4789,-0.68,-219.0,523.2,-10.6,558,4793,0.00,0.73,0.00,0.000,4,0.000,0.028,2142,1971,3747,0,0,0,0,0,0
$STATE,4825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4825,begin apogee
$GC,4832,-0.19,0.0,528.0,10.9,559,4998,0.50,0.00,160.77,0.747,6,0.103,0.000,2310,2116,2868,0,0,0,0,0,0
$STATE,4999,end apogee,CONTROL_FINISHED_OK
$STATE,4999,begin climb
$GC,5002,0.61,219.0,544.5,0.0,567,5170,0.68,0.77,162.27,0.740,4,0.044,0.034,2592,2616,1976,0,0,0,0,0,0
$GC,5243,0.56,276.8,540.8,8.5,578,5294,0.12,0.73,44.12,0.718,6,0.144,0.029,2557,2115,1740,0,0,0,0,0,0
$GC,5617,0.58,326.4,508.9,8.7,596,5660,0.00,0.82,37.50,0.719,4,0.000,0.033,2559,1574,1538,0,0,0,0,0,0
$GC,5764,0.55,335.6,495.2,10.0,604,5776,0.00,0.77,8.57,0.614,6,0.000,0.029,2559,2098,1501,0,0,0,0,0,0
$GC,6095,0.56,366.5,462.4,9.3,635,6128,0.00,0.80,25.35,0.688,4,0.000,0.031,2562,1575,1373,0,0,0,0,0,0
$GC,6212,0.54,366.5,451.2,10.6,645,6215,0.00,0.77,0.00,0.000,6,0.000,0.028,2562,2104,1373,0,0,0,0,0,0
$GC,6543,0.54,366.5,416.5,10.4,676,6546,0.00,0.75,0.00,0.000,4,0.000,0.035,2562,2624,1372,0,0,0,0,0,0
$GC,6606,0.56,368.9,410.2,10.2,681,6612,0.00,0.75,0.00,0.000,6,0.000,0.028,2565,2105,1372,0,0,0,0,0,0
$GC,6932,0.61,386.9,377.1,9.7,712,6954,0.00,0.73,16.48,0.640,4,0.000,0.029,2565,2619,1290,0,0,0,0,0,0
$GC,7042,0.68,444.0,367.3,8.5,721,7092,0.00,0.75,43.28,0.636,6,0.000,0.029,2568,2105,1057,0,0,0,0,0,0
$GC,7412,0.81,488.9,336.7,8.9,756,7457,0.20,0.82,35.10,0.622,4,0.063,0.034,2666,1568,874,0,0,0,0,0,0
$GC,7639,0.75,488.9,304.6,15.2,776,7643,0.15,0.77,0.00,0.000,6,0.118,0.029,2616,2098,877,0,0,0,0,0,0
$GC,7970,0.83,532.4,270.0,8.9,807,8013,0.00,0.80,35.03,0.589,4,0.000,0.034,2616,2620,698,0,0,0,0,0,0
$GC,8079,0.88,557.5,260.3,9.5,816,8108,0.08,0.77,20.70,0.549,6,0.059,0.028,2667,2090,597,0,0,0,0,0,0
$GC,8427,0.91,557.5,219.0,11.4,849,8431,0.00,0.77,0.00,0.000,4,0.000,0.031,2666,2624,599,0,0,0,0,0,0
$GC,8484,0.92,557.5,213.0,10.4,854,8489,0.00,0.75,0.00,0.000,6,0.000,0.029,2669,2104,599,0,0,0,0,0,0
$GC,8823,0.96,557.5,178.0,10.5,903,8830,0.00,0.75,0.00,0.000,4,0.000,0.034,2669,2619,598,0,0,0,0,0,0
$GC,8905,0.93,557.5,168.9,11.1,917,8911,0.00,0.75,0.00,0.000,6,0.000,0.028,2673,2096,598,0,0,0,0,0,0
$GC,9252,1.02,581.6,132.2,9.5,978,9277,0.00,0.82,19.67,0.516,4,0.000,0.032,2672,2630,497,0,0,0,0,0,0
$GC,9314,1.14,627.6,126.7,8.8,988,9333,0.15,0.77,12.12,0.434,6,0.040,0.031,2755,2104,439,0,0,0,0,0,0
$GC,9673,1.10,627.6,84.1,12.9,1051,9680,0.00,0.75,0.00,0.000,4,0.000,0.032,2754,2625,438,0,0,0,0,0,0
$GC,9744,1.03,627.6,74.2,14.2,1063,9751,0.15,0.75,0.00,0.000,6,0.128,0.030,2709,2108,439,0,0,0,0,0,0
$GC,10095,1.15,670.7,37.5,8.9,1124,10103,0.10,0.75,0.12,0.148,4,0.090,0.027,2769,2617,440,0,0,0,0,0,0
$GC,10118,1.19,678.0,35.1,10.1,1127,10125,0.00,0.75,0.40,0.079,6,0.000,0.029,2772,2095,441,0,0,0,0,0,0
$STATE,10354,end climb,SURFACE_DEPTH_REACHED
$STATE,10354,begin surface coast
$FINISH,0.7,1.010128
$STATE,10373,end surface coast,CONTROL_FINISHED_OK
$STATE,10373,begin surface
$SM_CCo,10452,0.00,0.000,0,0,442,595.34
$SM_GC,1.40,6.68,0.00,0.00,0.029,0.000,0.000,197,2517,442,-6.69,0.48,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12021.23,311011,060647
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.03
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.4,123.367
$10V_AH,9.8,88.681
$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,18.575,36.750,621.500,0.000,0.000,24.620,43.881,141.394,0.750,0.000,12.546,2729.465,4857.713,641.520,2217.414,354.826,0.000,1749.775,0.000,1992.229,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,61.965,746.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,794.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,66941,1172
$CAP_FILE_SIZE,136130,0
$CFSIZE,260165632,184717312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,125254,2144.719,12020.230,36,1.1,37,-2.6