version: 66.09
glider: 181
mission: 6
dive: 745
start: 10 31 111 21 53 24
data:
$ID,181
$MISSION,6
$DIVE,745
$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,-41788.785
$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,60
$R_STBD_OVSHOOT,57
$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
$GPS1,311011,214715,2145.519,12021.834,10,3.1,29,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.3
$GPS2,311011,215256,2145.572,12021.985,12,1.6,12,-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,189.8,309046,-14.3,-10.312
$D_GRID,899
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,150,2508,2370,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.1,-2.9,12,140,8.38,0.80,-33.05,0.000,4,0.221,0.063,2171,1957,3764,0,0,0,0,0,0
$GC,255,-0.50,-219.0,34.6,-18.7,40,262,0.12,0.80,0.00,0.000,6,0.133,0.036,2208,2486,3765,0,0,0,0,0,0
$GC,603,-0.41,-219.0,95.5,-16.8,101,610,0.12,0.75,0.00,0.000,4,0.150,0.025,2244,1953,3763,0,0,0,0,0,0
$GC,702,-0.39,-219.0,107.4,-10.2,118,709,0.00,0.82,0.00,0.000,6,0.000,0.033,2244,2505,3763,0,0,0,0,0,0
$GC,1049,-0.49,-219.0,139.5,-9.2,179,1058,0.00,0.75,0.00,0.000,4,0.000,0.037,2244,3022,3763,0,0,0,0,0,0
$GC,1140,-0.66,-219.0,146.7,-8.2,194,1147,0.20,0.75,0.00,0.000,6,0.051,0.024,2155,2473,3764,0,0,0,0,0,0
$GC,1489,-0.68,-219.0,181.3,-11.9,255,1496,0.00,0.82,0.00,0.000,4,0.000,0.037,2153,3022,3764,0,0,0,0,0,0
$GC,1593,-0.68,-219.0,194.2,-11.3,273,1599,0.00,0.70,0.00,0.000,6,0.000,0.025,2153,2503,3764,0,0,0,0,0,0
$GC,1929,-0.70,-219.0,225.5,-8.2,309,1932,0.00,0.68,0.00,0.000,4,0.000,0.026,2153,1975,3765,0,0,0,0,0,0
$GC,2013,-0.68,-219.0,233.4,-9.5,316,2020,0.00,0.77,0.00,0.000,6,0.000,0.034,2153,2498,3765,0,0,0,0,0,0
$GC,2339,-0.70,-219.0,265.6,-10.8,347,2342,0.00,0.77,0.00,0.000,4,0.000,0.038,2153,3024,3764,0,0,0,0,0,0
$GC,2367,-0.72,-219.0,268.8,-10.8,349,2373,0.00,0.73,0.00,0.000,6,0.000,0.026,2153,2497,3764,0,0,0,0,0,0
$GC,2693,-0.76,-219.0,301.1,-9.5,380,2697,0.00,0.80,0.00,0.000,4,0.000,0.037,2152,3030,3762,0,0,0,0,0,0
$GC,2729,-0.80,-219.0,304.4,-9.4,383,2733,0.08,0.73,0.00,0.000,6,0.051,0.025,2090,2509,3762,0,0,0,0,0,0
$GC,3061,-0.69,-219.0,349.8,-13.2,414,3065,0.22,0.73,0.00,0.000,4,0.138,0.021,2155,1967,3760,0,0,0,0,0,0
$GC,3111,-0.65,-219.0,355.9,-10.5,418,3117,0.00,0.80,0.00,0.000,6,0.000,0.036,2152,2500,3760,0,0,0,0,0,0
$GC,3437,-0.72,-219.0,390.7,-11.2,449,3440,0.00,0.80,0.00,0.000,4,0.000,0.040,2152,3022,3758,0,0,0,0,0,0
$GC,3551,-0.74,-219.0,402.7,-9.9,459,3555,0.00,0.73,0.00,0.000,6,0.000,0.026,2152,2504,3756,0,0,0,0,0,0
$GC,3882,-0.79,-219.0,428.6,-5.8,490,3886,0.00,0.70,0.00,0.000,4,0.000,0.027,2152,1970,3754,0,0,0,0,0,0
$GC,3944,-0.84,-219.0,432.1,-5.6,495,3951,0.10,0.80,0.00,0.000,6,0.047,0.036,2084,2502,3753,0,0,0,0,0,0
$GC,4270,-0.82,-219.0,460.8,-10.1,526,4274,0.00,0.77,0.00,0.000,4,0.000,0.039,2079,3022,3751,0,0,0,0,0,0
$GC,4396,-0.70,-219.0,478.2,-15.5,537,4400,0.20,0.73,0.00,0.000,6,0.130,0.027,2142,2507,3749,0,0,0,0,0,0
$GC,4733,-0.67,-219.0,515.2,-10.3,562,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2507,3747,0,0,0,0,0,0
$GC,5043,-0.65,-219.0,546.6,-10.4,577,5047,0.00,0.73,0.00,0.000,4,0.000,0.028,2142,1975,3745,0,0,0,0,0,0
$GC,5068,-0.62,-219.0,549.0,-10.2,578,5072,0.10,0.80,0.00,0.000,6,0.118,0.037,2174,2500,3745,0,0,0,0,0,0
$GC,5404,-0.71,-219.0,579.5,-9.9,594,5408,0.00,0.82,0.00,0.000,4,0.000,0.042,2173,3029,3742,0,0,0,0,0,0
$GC,5536,-0.78,-219.0,592.1,-9.0,599,5543,0.10,0.75,0.00,0.000,6,0.047,0.028,2107,2504,3741,0,0,0,0,0,0
$GC,5854,-0.78,-219.0,623.3,-8.9,615,5857,0.00,0.73,0.00,0.000,4,0.000,0.028,2107,1967,3738,0,0,0,0,0,0
$GC,5923,-0.76,-219.0,629.5,-8.9,618,5927,0.00,0.80,0.00,0.000,6,0.000,0.038,2103,2494,3738,0,0,0,0,0,0
$GC,6256,-0.68,-219.0,665.6,-11.2,634,6261,0.17,0.82,0.00,0.000,4,0.142,0.044,2150,3017,3736,0,0,0,0,0,0
$GC,6415,-0.68,-219.0,678.9,-8.0,641,6419,0.00,0.75,0.00,0.000,6,0.000,0.028,2150,2495,3734,0,0,0,0,0,0
$GC,6748,-0.68,-219.0,708.3,-9.2,657,6752,0.00,0.82,0.00,0.000,4,0.000,0.043,2146,3025,3732,0,0,0,0,0,0
$GC,6833,-0.67,-219.0,715.8,-8.9,660,6840,0.00,0.75,0.00,0.000,6,0.000,0.028,2146,2501,3731,0,0,0,0,0,0
$GC,7150,-0.65,-219.0,746.4,-10.2,676,7154,0.00,0.80,0.00,0.000,4,0.000,0.043,2142,3013,3729,0,0,0,0,0,0
$GC,7299,-0.64,-219.0,760.7,-9.0,682,7303,0.00,0.75,0.00,0.000,6,0.000,0.029,2143,2495,3728,0,0,0,0,0,0
$GC,7622,-0.61,-219.0,793.3,-10.3,698,7626,0.12,0.85,0.00,0.000,4,0.146,0.044,2176,3020,3727,0,0,0,0,0,0
$GC,7879,-0.77,-219.0,799.2,0.0,709,7884,0.12,0.75,0.00,0.000,6,0.063,0.028,2118,2510,3725,0,0,0,0,0,0
$STATE,7951,end dive,NO_VERTICAL_VELOCITY
$STATE,7951,begin apogee
$GC,7959,-0.19,0.0,799.3,0.0,713,8128,0.52,0.00,162.68,0.941,6,0.054,0.000,2331,2098,2869,0,0,0,0,0,0
$STATE,8129,end apogee,CONTROL_FINISHED_OK
$STATE,8129,begin climb
$GC,8132,0.61,219.0,799.2,0.0,721,8309,0.68,0.88,168.85,0.918,4,0.077,0.037,2568,2635,1975,0,0,0,0,0,0
$GC,8437,0.51,219.0,782.4,11.4,735,8442,0.10,0.80,0.00,0.000,6,0.148,0.030,2542,2097,1974,0,0,0,0,0,0
$GC,8773,0.49,258.9,752.8,9.0,751,8808,0.00,0.75,31.55,0.878,4,0.000,0.031,2544,1570,1812,0,0,0,0,0,0
$GC,8832,0.49,300.5,747.0,9.0,753,8869,0.00,0.82,33.22,0.861,6,0.000,0.032,2544,2104,1643,0,0,0,0,0,0
$GC,9187,0.56,382.8,716.6,7.7,771,9254,0.00,0.82,63.70,0.873,4,0.000,0.037,2545,2626,1308,0,0,0,0,0,0
$GC,9350,0.64,462.1,703.8,7.8,778,9420,0.00,0.80,62.28,0.856,6,0.000,0.031,2547,2093,986,0,0,0,0,0,0
$GC,9729,0.86,592.8,679.2,6.1,797,9840,0.25,0.80,103.78,0.849,4,0.060,0.033,2662,2624,452,0,0,0,0,0,0
$GC,9915,0.82,592.8,654.8,14.9,805,9922,0.08,0.77,0.00,0.000,6,0.134,0.028,2641,2101,453,0,0,0,0,0,0
$GC,10231,0.80,592.8,614.9,12.9,821,10235,0.00,0.80,0.00,0.000,4,0.000,0.035,2641,2632,452,0,0,0,0,0,0
$GC,10294,0.77,592.8,605.9,14.6,823,10301,0.00,0.77,0.00,0.000,6,0.000,0.031,2642,2105,452,0,0,0,0,0,0
$GC,10610,0.76,592.8,557.4,16.5,839,10614,0.00,0.77,0.00,0.000,4,0.000,0.036,2643,2620,451,0,0,0,0,0,0
$GC,10638,0.74,592.8,552.3,17.0,840,10643,0.10,0.77,0.00,0.000,6,0.130,0.030,2612,2098,451,0,0,0,0,0,0
$GC,10969,0.80,592.8,511.2,10.8,856,10973,0.00,0.75,0.00,0.000,4,0.000,0.037,2615,1582,451,0,0,0,0,0,0
$GC,11002,0.87,592.8,507.1,10.5,857,11007,0.08,0.77,0.00,0.000,6,0.060,0.031,2668,2100,451,0,0,0,0,0,0
$GC,11331,0.87,592.8,460.7,15.1,885,11335,0.00,0.77,0.00,0.000,4,0.000,0.035,2672,1574,451,0,0,0,0,0,0
$GC,11366,0.85,592.8,455.3,15.6,888,11370,0.00,0.77,0.00,0.000,6,0.000,0.031,2672,2097,451,0,0,0,0,0,0
$GC,11698,0.82,592.8,402.3,14.5,919,11702,0.12,0.80,0.00,0.000,4,0.143,0.034,2638,1572,450,0,0,0,0,0,0
$GC,11805,0.80,592.8,389.2,11.4,928,11812,0.00,0.80,0.00,0.000,6,0.000,0.031,2638,2105,452,0,0,0,0,0,0
$GC,12131,0.87,592.8,344.8,13.7,959,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2105,451,0,0,0,0,0,0
$GC,12452,0.93,592.8,306.2,11.0,989,12458,0.10,0.00,0.00,0.000,6,0.099,0.000,2693,2106,452,0,0,0,0,0,0
$GC,12778,0.95,592.8,263.6,13.5,1020,12782,0.00,0.75,0.00,0.000,4,0.000,0.037,2693,2621,452,0,0,0,0,0,0
$GC,12817,0.86,592.8,257.0,16.7,1023,12824,0.12,0.77,0.00,0.000,6,0.135,0.031,2657,2099,452,0,0,0,0,0,0
$GC,13143,0.94,608.8,220.5,9.8,1054,13153,0.00,0.80,4.30,0.459,4,0.000,0.037,2659,1575,439,0,0,0,0,0,0
$GC,13194,0.98,616.2,215.1,10.1,1058,13202,0.00,0.77,0.32,0.090,6,0.000,0.030,2659,2098,440,0,0,0,0,0,0
$GC,13530,1.05,616.2,176.3,11.1,1106,13538,0.15,0.77,1.33,0.084,4,0.074,0.029,2739,1570,442,0,0,0,0,0,0
$GC,13628,0.98,616.2,164.8,12.7,1122,13636,0.15,0.80,2.38,0.214,6,0.135,0.032,2692,2106,440,0,0,0,0,0,0
$GC,13976,1.00,616.2,126.3,12.1,1183,13983,0.00,0.82,0.75,0.089,4,0.000,0.030,2693,1571,442,0,0,0,0,0,0
$GC,14013,1.03,616.2,122.1,11.2,1189,14021,0.00,0.80,0.30,0.087,6,0.000,0.031,2693,2109,441,0,0,0,0,0,0
$GC,14365,1.06,616.2,83.5,13.3,1250,14373,0.00,0.85,2.55,0.226,4,0.000,0.033,2695,1566,440,0,0,0,0,0,0
$GC,14426,1.27,712.8,78.7,7.2,1260,14434,0.20,0.80,0.00,0.000,6,0.051,0.031,2788,2096,440,0,0,0,0,0,0
$GC,14775,1.18,712.8,43.9,13.1,1321,14784,0.12,0.82,2.47,0.203,4,0.159,0.032,2758,2640,440,0,0,0,0,0,0
$GC,14831,1.12,712.8,36.8,11.7,1330,14838,0.00,0.80,0.05,0.143,6,0.000,0.031,2759,2097,440,0,0,0,0,0,0
$STATE,15097,end climb,SURFACE_DEPTH_REACHED
$STATE,15097,begin surface coast
$FINISH,0.5,1.012626
$STATE,15120,end surface coast,CONTROL_FINISHED_OK
$STATE,15121,begin surface
$SM_CCo,15200,0.00,0.000,0,0,442,595.34
$SM_GC,1.37,6.75,0.00,0.00,0.032,0.000,0.000,203,2524,442,-6.70,0.65,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12024.40,311011,181809
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.99
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.1,123.923
$10V_AH,9.7,88.976
$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,19.575,52.650,640.500,0.000,0.000,24.233,22.457,145.474,0.250,0.000,14.931,3334.295,8392.528,680.273,2703.733,426.139,0.000,2048.123,0.000,2481.399,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,62.730,940.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,948.549,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80240,1381
$CAP_FILE_SIZE,177125,0
$CFSIZE,260165632,184381440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,020801,2144.002,12023.891,37,1.5,37,-2.6