version: 66.09
glider: 181
mission: 6
dive: 742
start: 10 31 111 12 59 5
data:
$ID,181
$MISSION,6
$DIVE,742
$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,-41784.82
$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,59
$R_STBD_OVSHOOT,52
$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
$GPS1,311011,125254,2144.719,12020.230,36,1.1,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.6
$GPS2,311011,125838,2144.798,12020.189,13,1.1,13,-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,189.2,307247,-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,-219.0,0.0,0.0,0,86,0.00,0.00,-68.00,0.000,2,0.000,0.000,162,2514,2308,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.6,12,138,8.38,0.82,-33.53,0.000,4,0.223,0.060,2171,1943,3764,0,0,0,0,0,0
$GC,248,-0.49,-219.0,34.1,-20.0,39,255,0.12,0.82,0.00,0.000,6,0.130,0.034,2209,2491,3764,0,0,0,0,0,0
$GC,595,-0.41,-219.0,94.0,-13.9,100,603,0.12,0.75,0.00,0.000,4,0.150,0.024,2245,1952,3762,0,0,0,0,0,0
$GC,735,-0.41,-219.0,109.6,-10.0,124,742,0.00,0.82,0.00,0.000,6,0.000,0.033,2245,2508,3762,0,0,0,0,0,0
$GC,1082,-0.54,-219.0,146.6,-11.0,185,1089,0.15,0.77,0.00,0.000,4,0.071,0.035,2170,3031,3763,0,0,0,0,0,0
$GC,1160,-0.49,-219.0,155.5,-12.1,198,1167,0.12,0.77,0.00,0.000,6,0.116,0.024,2211,2470,3763,0,0,0,0,0,0
$GC,1510,-0.59,-219.0,186.9,-8.6,259,1516,0.00,0.82,0.00,0.000,4,0.000,0.036,2209,3026,3764,0,0,0,0,0,0
$GC,1609,-0.65,-219.0,196.1,-9.3,276,1616,0.10,0.73,0.00,0.000,6,0.042,0.025,2134,2494,3764,0,0,0,0,0,0
$GC,1939,-0.56,-219.0,240.6,-14.4,310,1943,0.20,0.82,0.00,0.000,4,0.135,0.032,2189,3034,3764,0,0,0,0,0,0
$GC,2066,-0.63,-219.0,255.4,-11.4,321,2070,0.00,0.73,0.00,0.000,6,0.000,0.025,2190,2505,3764,0,0,0,0,0,0
$GC,2398,-0.71,-219.0,284.5,-7.0,352,2403,0.12,0.73,0.00,0.000,4,0.079,0.028,2108,1960,3764,0,0,0,0,0,0
$GC,2472,-0.64,-219.0,292.1,-11.7,358,2480,0.17,0.80,0.00,0.000,6,0.119,0.034,2162,2495,3763,0,0,0,0,0,0
$GC,2800,-0.68,-219.0,327.2,-10.7,389,2804,0.00,0.77,0.00,0.000,4,0.000,0.037,2160,3024,3762,0,0,0,0,0,0
$GC,2904,-0.70,-219.0,338.6,-10.8,398,2908,0.00,0.73,0.00,0.000,6,0.000,0.026,2161,2502,3762,0,0,0,0,0,0
$GC,3236,-0.77,-219.0,371.4,-9.6,429,3239,0.00,0.80,0.00,0.000,4,0.000,0.037,2157,3027,3759,0,0,0,0,0,0
$GC,3307,-0.84,-219.0,378.1,-9.6,435,3311,0.12,0.73,0.00,0.000,6,0.041,0.026,2076,2503,3759,0,0,0,0,0,0
$GC,3641,-0.72,-219.0,429.8,-16.3,466,3645,0.22,0.73,0.00,0.000,4,0.137,0.021,2142,1969,3756,0,0,0,0,0,0
$GC,3697,-0.69,-219.0,437.4,-11.3,471,3701,0.00,0.80,0.00,0.000,6,0.000,0.034,2139,2504,3755,0,0,0,0,0,0
$GC,4030,-0.65,-219.0,471.0,-10.5,502,4034,0.00,0.77,0.00,0.000,4,0.000,0.041,2138,3021,3752,0,0,0,0,0,0
$GC,4114,-0.61,-219.0,481.2,-12.5,509,4122,0.10,0.73,0.00,0.000,6,0.116,0.027,2173,2507,3751,0,0,0,0,0,0
$GC,4448,-0.72,-219.0,512.5,-9.5,535,4452,0.00,0.73,0.00,0.000,4,0.000,0.026,2173,1970,3749,0,0,0,0,0,0
$GC,4495,-0.82,-219.0,516.7,-8.8,537,4500,0.15,0.80,0.00,0.000,6,0.044,0.036,2084,2499,3748,0,0,0,0,0,0
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4599,begin apogee
$GC,4606,-0.19,0.0,528.2,11.2,542,4775,0.68,0.00,160.52,0.747,6,0.109,0.000,2307,2097,2867,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4778,0.61,219.0,540.4,0.0,550,4949,0.70,0.80,161.90,0.734,4,0.043,0.031,2599,1574,1976,0,0,0,0,0,0
$GC,5067,0.50,224.6,524.7,10.1,563,5077,0.17,0.80,6.00,0.589,6,0.131,0.031,2544,2109,1953,0,0,0,0,0,0
$GC,5392,0.61,364.2,504.2,5.9,578,5504,0.00,0.82,103.07,0.719,4,0.000,0.033,2546,1585,1384,0,0,0,0,0,0
$GC,5611,0.65,407.5,486.3,8.9,594,5652,0.08,0.77,33.85,0.687,6,0.060,0.029,2595,2107,1207,0,0,0,0,0,0
$GC,5971,0.64,407.5,444.1,11.1,628,5974,0.00,0.75,0.00,0.000,4,0.000,0.035,2595,2623,1207,0,0,0,0,0,0
$GC,6062,0.58,407.5,433.6,11.3,636,6066,0.10,0.75,0.00,0.000,6,0.136,0.029,2566,2109,1207,0,0,0,0,0,0
$GC,6393,0.65,431.0,404.4,9.6,667,6416,0.00,0.80,18.60,0.661,4,0.000,0.034,2566,2622,1111,0,0,0,0,0,0
$GC,6430,0.73,448.2,401.0,9.8,670,6454,0.10,0.77,14.98,0.607,6,0.050,0.030,2634,2093,1040,0,0,0,0,0,0
$GC,6772,0.71,448.2,359.7,11.9,702,6775,0.00,0.77,0.00,0.000,4,0.000,0.034,2635,2618,1044,0,0,0,0,0,0
$GC,6887,0.64,448.2,343.9,15.1,712,6891,0.17,0.75,0.00,0.000,6,0.129,0.031,2581,2109,1043,0,0,0,0,0,0
$GC,7218,0.69,476.0,309.4,9.4,743,7244,0.00,0.82,22.50,0.613,4,0.000,0.035,2583,1572,927,0,0,0,0,0,0
$GC,7272,0.79,506.4,304.1,9.3,747,7302,0.10,0.77,24.05,0.580,6,0.047,0.029,2649,2096,803,0,0,0,0,0,0
$GC,7619,0.79,506.4,264.6,11.6,780,7622,0.00,0.75,0.00,0.000,4,0.000,0.035,2649,2616,810,0,0,0,0,0,0
$GC,7715,0.72,506.4,252.1,14.4,788,7722,0.12,0.77,0.00,0.000,6,0.128,0.031,2611,2093,811,0,0,0,0,0,0
$GC,8042,0.77,506.4,215.3,10.5,819,8051,0.00,0.00,3.95,0.418,6,0.000,0.000,2610,2093,804,0,0,0,0,0,0
$GC,8380,0.90,555.5,180.4,8.7,867,8423,0.15,0.80,37.17,0.535,4,0.073,0.035,2694,1572,604,0,0,0,0,0,0
$GC,8468,0.89,555.5,171.8,11.2,881,8476,0.10,0.77,0.00,0.000,6,0.108,0.028,2660,2100,605,0,0,0,0,0,0
$GC,8817,0.97,555.5,129.8,12.5,942,8824,0.00,0.80,0.00,0.000,4,0.000,0.034,2661,1568,605,0,0,0,0,0,0
$GC,8860,1.03,555.5,124.3,12.1,949,8867,0.10,0.77,0.00,0.000,6,0.046,0.028,2731,2095,605,0,0,0,0,0,0
$GC,9209,1.01,555.5,85.6,11.8,1010,9216,0.00,0.77,0.00,0.000,4,0.000,0.031,2735,1562,606,0,0,0,0,0,0
$GC,9298,0.97,555.5,75.2,11.6,1025,9306,0.12,0.80,0.00,0.000,6,0.115,0.028,2692,2111,606,0,0,0,0,0,0
$GC,9647,1.12,606.0,47.6,8.7,1086,9683,0.12,0.77,31.23,0.452,4,0.081,0.034,2768,2627,439,0,0,0,0,0,0
$GC,9837,1.06,606.0,21.6,15.1,1119,9845,0.15,0.77,0.00,0.000,6,0.127,0.030,2722,2096,439,0,0,0,0,0,0
$STATE,10010,end climb,SURFACE_DEPTH_REACHED
$STATE,10010,begin surface coast
$FINISH,0.6,1.022013
$STATE,10045,end surface coast,CONTROL_FINISHED_OK
$STATE,10045,begin surface
$SM_CCo,10122,0.00,0.000,0,0,439,596.08
$SM_GC,1.33,6.45,0.00,0.00,0.026,0.000,0.000,211,2490,439,-6.67,-0.25,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,11921.97,311011,090916
$TT8_MAMPS,0.025466,0.025466
$HUMID,50.70
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,123.497
$10V_AH,9.9,88.751
$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,19.525,35.325,617.825,0.000,0.000,28.916,17.515,151.016,0.000,0.000,18.404,2675.796,4685.594,630.312,2133.498,337.628,0.000,1699.742,0.000,1921.302,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,60.435,747.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,782.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322748
$DATA_FILE_SIZE,66875,1155
$CAP_FILE_SIZE,131311,0
$CFSIZE,260165632,184655872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,154906,2144.977,12019.972,35,0.9,40,-2.6