version: 66.09
glider: 181
mission: 6
dive: 743
start: 10 31 111 15 55 3
data:
$ID,181
$MISSION,6
$DIVE,743
$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,-41786.082
$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,56
$R_STBD_OVSHOOT,39
$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
$GPS1,311011,154906,2144.977,12019.972,35,0.9,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.4
$GPS2,311011,155438,2145.044,12019.955,13,1.1,13,-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,189.1,307652,-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,-219.0,0.0,0.0,0,92,0.00,0.00,-73.20,0.000,2,0.000,0.000,129,2496,2468,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.1,13,138,8.52,0.88,-28.48,0.000,4,0.223,0.072,2170,3041,3764,0,0,0,0,0,0
$GC,271,-0.46,-219.0,43.5,-20.1,43,278,0.15,0.80,0.00,0.000,6,0.141,0.025,2216,2474,3765,0,0,0,0,0,0
$GC,618,-0.39,-219.0,103.6,-16.0,104,626,0.12,0.68,0.00,0.000,4,0.154,0.026,2253,1959,3763,0,0,0,0,0,0
$GC,635,-0.32,-219.0,106.0,-15.4,106,642,0.00,0.82,0.00,0.000,6,0.000,0.032,2251,2514,3763,0,0,0,0,0,0
$GC,982,-0.46,-219.0,141.8,-7.9,167,989,0.00,0.73,0.00,0.000,4,0.000,0.024,2251,1969,3764,0,0,0,0,0,0
$GC,1245,-0.61,-219.0,163.8,-10.3,213,1252,0.17,0.77,0.00,0.000,6,0.050,0.033,2171,2500,3765,0,0,0,0,0,0
$GC,1595,-0.64,-219.0,202.7,-11.0,273,1599,0.00,0.73,0.00,0.000,4,0.000,0.027,2171,1970,3764,0,0,0,0,0,0
$GC,1676,-0.67,-219.0,210.6,-9.6,280,1680,0.00,0.77,0.00,0.000,6,0.000,0.034,2169,2498,3765,0,0,0,0,0,0
$GC,2008,-0.71,-219.0,236.7,-8.0,311,2011,0.00,0.77,0.00,0.000,4,0.000,0.037,2166,3030,3765,0,0,0,0,0,0
$GC,2140,-0.75,-219.0,247.9,-9.2,322,2147,0.00,0.73,0.00,0.000,6,0.000,0.025,2166,2500,3765,0,0,0,0,0,0
$GC,2466,-0.81,-219.0,283.1,-11.5,353,2471,0.15,0.80,0.00,0.000,4,0.069,0.037,2083,3022,3763,0,0,0,0,0,0
$GC,2649,-0.67,-219.0,312.0,-17.7,369,2653,0.22,0.73,0.00,0.000,6,0.135,0.026,2152,2498,3762,0,0,0,0,0,0
$GC,2981,-0.64,-219.0,355.5,-12.3,400,2985,0.00,0.80,0.00,0.000,4,0.000,0.037,2149,3028,3760,0,0,0,0,0,0
$GC,3130,-0.60,-219.0,373.1,-11.2,413,3133,0.00,0.73,0.00,0.000,6,0.000,0.027,2149,2509,3760,0,0,0,0,0,0
$GC,3461,-0.57,-219.0,408.1,-10.1,444,3463,0.15,0.00,0.00,0.000,6,0.134,0.000,2194,2507,3757,0,0,0,0,0,0
$GC,3781,-0.69,-219.0,431.9,-6.7,474,3785,0.12,0.80,0.00,0.000,4,0.083,0.039,2131,3021,3754,0,0,0,0,0,0
$GC,3844,-0.71,-219.0,436.6,-7.5,479,3851,0.00,0.75,0.00,0.000,6,0.000,0.027,2130,2493,3753,0,0,0,0,0,0
$GC,4171,-0.73,-219.0,468.7,-11.4,510,4174,0.00,0.80,0.00,0.000,4,0.000,0.039,2127,3018,3750,0,0,0,0,0,0
$GC,4206,-0.73,-219.0,472.8,-11.3,513,4209,0.00,0.73,0.00,0.000,6,0.000,0.028,2127,2506,3751,0,0,0,0,0,0
$GC,4535,-0.68,-219.0,513.7,-11.1,538,4539,0.00,0.77,0.00,0.000,4,0.000,0.041,2125,3011,3748,0,0,0,0,0,0
$GC,4620,-0.62,-219.0,523.1,-10.7,541,4628,0.12,0.73,0.00,0.000,6,0.125,0.028,2167,2501,3748,0,0,0,0,0,0
$STATE,4686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4687,begin apogee
$GC,4693,-0.19,0.0,528.8,8.3,545,4862,0.40,0.00,160.48,0.747,6,0.079,0.000,2317,2090,2868,0,0,0,0,0,0
$STATE,4863,end apogee,CONTROL_FINISHED_OK
$STATE,4863,begin climb
$GC,4865,0.61,219.0,540.6,0.0,553,5036,0.68,0.82,162.82,0.734,4,0.038,0.031,2599,2622,1975,0,0,0,0,0,0
$GC,5065,0.49,221.9,533.9,10.2,562,5075,0.20,0.75,4.03,0.438,6,0.137,0.028,2541,2113,1963,0,0,0,0,0,0
$GC,5395,0.45,235.2,502.6,9.9,578,5411,0.00,0.00,11.38,0.681,6,0.000,0.000,2540,2113,1908,0,0,0,0,0,0
$GC,5730,0.46,283.4,468.0,8.8,608,5774,0.00,0.80,36.35,0.695,4,0.000,0.034,2543,1577,1712,0,0,0,0,0,0
$GC,5859,0.53,371.6,457.7,7.5,619,5932,0.00,0.80,65.85,0.685,6,0.000,0.029,2543,2114,1354,0,0,0,0,0,0
$GC,6251,0.70,470.4,433.2,7.2,656,6331,0.17,0.73,74.68,0.682,4,0.068,0.030,2635,2630,949,0,0,0,0,0,0
$GC,6408,0.63,470.4,414.1,13.9,670,6412,0.17,0.80,0.00,0.000,6,0.124,0.030,2581,2093,954,0,0,0,0,0,0
$GC,6739,0.69,470.4,379.3,10.9,701,6742,0.00,0.77,0.00,0.000,4,0.000,0.032,2581,2623,954,0,0,0,0,0,0
$GC,6785,0.74,470.4,373.8,11.7,705,6789,0.00,0.77,0.00,0.000,6,0.000,0.031,2582,2097,953,0,0,0,0,0,0
$GC,7117,0.89,531.4,340.3,8.4,736,7172,0.22,0.77,47.03,0.630,4,0.060,0.031,2691,1577,700,0,0,0,0,0,0
$GC,7200,0.81,531.4,330.6,12.9,743,7204,0.15,0.77,0.00,0.000,6,0.122,0.030,2641,2098,703,0,0,0,0,0,0
$GC,7531,0.84,531.4,289.4,10.6,774,7534,0.00,0.75,0.00,0.000,4,0.000,0.035,2641,2617,705,0,0,0,0,0,0
$GC,7623,0.81,531.4,279.0,11.4,782,7627,0.00,0.75,0.00,0.000,6,0.000,0.029,2644,2093,705,0,0,0,0,0,0
$GC,7955,0.86,531.4,242.4,12.4,813,7958,0.00,0.77,0.00,0.000,4,0.000,0.032,2644,2621,704,0,0,0,0,0,0
$GC,8006,0.89,531.4,235.7,12.8,817,8013,0.00,0.75,0.00,0.000,6,0.000,0.031,2646,2108,704,0,0,0,0,0,0
$GC,8332,0.89,531.4,197.8,11.6,849,8339,0.00,0.75,0.00,0.000,4,0.000,0.032,2647,2619,704,0,0,0,0,0,0
$GC,8346,0.89,531.4,196.2,11.8,851,8353,0.00,0.75,0.00,0.000,6,0.000,0.028,2649,2100,704,0,0,0,0,0,0
$GC,8694,1.01,576.5,159.9,8.9,912,8738,0.15,0.77,35.25,0.522,4,0.073,0.034,2734,1577,516,0,0,0,0,0,0
$GC,8876,0.95,576.5,134.2,15.6,943,8884,0.15,0.77,0.00,0.000,6,0.125,0.030,2686,2103,521,0,0,0,0,0,0
$GC,9226,1.13,645.5,100.2,8.1,1004,9251,0.15,0.75,16.77,0.494,4,0.074,0.033,2771,2619,439,0,0,0,0,0,0
$GC,9294,1.04,645.5,91.9,14.5,1015,9302,0.20,0.75,0.03,0.193,6,0.127,0.030,2711,2103,439,0,0,0,0,0,0
$GC,9644,1.13,685.7,52.5,9.0,1076,9651,0.00,0.75,0.00,0.000,4,0.000,0.034,2713,1576,440,0,0,0,0,0,0
$GC,9709,1.25,741.1,46.6,8.5,1087,9719,0.15,0.75,1.40,0.072,6,0.042,0.028,2796,2100,441,0,0,0,0,0,0
$STATE,10017,end climb,SURFACE_DEPTH_REACHED
$STATE,10017,begin surface coast
$FINISH,0.5,1.022068
$STATE,10041,end surface coast,CONTROL_FINISHED_OK
$STATE,10041,begin surface
$SM_CCo,10118,0.00,0.000,0,0,442,595.34
$SM_GC,1.38,6.85,0.00,0.00,0.035,0.000,0.000,200,2511,442,-6.69,0.31,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12019.23,311011,121204
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.82
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.4,123.627
$10V_AH,9.8,88.819
$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,19.400,33.300,616.050,0.000,0.000,25.398,18.140,140.800,0.250,0.000,15.828,2642.053,4737.777,641.418,2089.382,335.089,0.000,1690.002,0.000,1890.263,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,71.910,746.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,776.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,63665,1145
$CAP_FILE_SIZE,127435,0
$CFSIZE,260165632,184590336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,184500,2145.110,12020.223,34,0.9,40,-2.6