version: 66.09
glider: 181
mission: 6
dive: 733
start: 10 30 111 6 31 33
data:
$ID,181
$MISSION,6
$DIVE,733
$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,-41766.121
$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,64
$R_STBD_OVSHOOT,35
$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
$GPS1,301011,062537,2144.152,12016.350,30,0.9,30,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.1
$GPS2,301011,063108,2144.236,12016.305,12,1.2,12,-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,188.0,305502,-14.3,-10.312
$D_GRID,599
$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,-73.28,0.000,2,0.000,0.000,134,2474,2462,0,0,0,0,0,0
$GC,95,-0.61,-219.0,3.4,-3.0,13,138,8.55,0.75,-29.02,0.000,4,0.225,0.066,2168,1950,3763,0,0,0,0,0,0
$GC,242,-0.48,-219.0,34.0,-19.7,38,249,0.15,0.85,0.00,0.000,6,0.136,0.034,2212,2510,3765,0,0,0,0,0,0
$GC,590,-0.39,-219.0,90.8,-14.8,99,597,0.12,0.77,0.00,0.000,4,0.154,0.025,2249,1959,3763,0,0,0,0,0,0
$GC,715,-0.37,-219.0,104.4,-10.8,120,721,0.00,0.82,0.00,0.000,6,0.000,0.034,2247,2507,3763,0,0,0,0,0,0
$GC,1065,-0.47,-219.0,150.6,-12.7,181,1071,0.00,0.77,0.00,0.000,4,0.000,0.037,2247,3037,3763,0,0,0,0,0,0
$GC,1137,-0.56,-219.0,157.8,-9.2,193,1144,0.12,0.77,0.00,0.000,6,0.038,0.025,2162,2475,3763,0,0,0,0,0,0
$GC,1486,-0.48,-219.0,197.4,-14.0,254,1493,0.20,0.85,0.00,0.000,4,0.130,0.033,2218,3028,3764,0,0,0,0,0,0
$GC,1546,-0.48,-219.0,204.4,-10.1,261,1549,0.00,0.73,0.00,0.000,6,0.000,0.025,2218,2496,3764,0,0,0,0,0,0
$GC,1878,-0.58,-219.0,233.5,-7.3,292,1881,0.00,0.80,0.00,0.000,4,0.000,0.036,2218,3032,3764,0,0,0,0,0,0
$GC,1973,-0.69,-219.0,240.8,-7.5,300,1980,0.15,0.73,0.00,0.000,6,0.038,0.025,2124,2504,3764,0,0,0,0,0,0
$GC,2299,-0.69,-219.0,270.5,-9.8,331,2302,0.00,0.80,0.00,0.000,4,0.000,0.037,2122,3037,3764,0,0,0,0,0,0
$GC,2401,-0.60,-219.0,283.6,-14.2,340,2406,0.17,0.75,0.00,0.000,6,0.124,0.025,2179,2495,3764,0,0,0,0,0,0
$GC,2733,-0.67,-219.0,316.2,-8.1,371,2737,0.00,0.68,0.00,0.000,4,0.000,0.025,2179,1971,3763,0,0,0,0,0,0
$GC,2780,-0.73,-219.0,319.9,-8.0,375,2785,0.10,0.80,0.00,0.000,6,0.047,0.034,2108,2506,3762,0,0,0,0,0,0
$GC,3111,-0.73,-219.0,355.4,-11.8,406,3116,0.10,0.80,0.00,0.000,4,0.145,0.040,2137,3031,3760,0,0,0,0,0,0
$GC,3169,-0.73,-219.0,362.0,-11.5,411,3173,0.00,0.75,0.00,0.000,6,0.000,0.026,2138,2501,3760,0,0,0,0,0,0
$GC,3500,-0.76,-219.0,396.5,-9.7,442,3504,0.00,0.80,0.00,0.000,4,0.000,0.038,2138,3027,3758,0,0,0,0,0,0
$GC,3584,-0.76,-219.0,405.3,-10.4,449,3591,0.00,0.75,0.00,0.000,6,0.000,0.026,2138,2493,3757,0,0,0,0,0,0
$GC,3910,-0.79,-219.0,438.0,-10.8,480,3913,0.00,0.80,0.00,0.000,4,0.000,0.038,2137,3021,3754,0,0,0,0,0,0
$GC,3971,-0.79,-219.0,445.3,-11.9,485,3978,0.00,0.73,0.00,0.000,6,0.000,0.026,2138,2500,3754,0,0,0,0,0,0
$GC,4297,-0.82,-219.0,480.0,-10.2,516,4301,0.00,0.82,0.00,0.000,4,0.000,0.041,2137,3025,3751,0,0,0,0,0,0
$GC,4356,-0.83,-219.0,485.8,-10.1,521,4359,0.00,0.75,0.00,0.000,6,0.000,0.027,2137,2497,3751,0,0,0,0,0,0
$GC,4686,-0.87,-219.0,515.0,-8.4,544,4690,0.12,0.82,0.00,0.000,4,0.080,0.039,2066,3025,3748,0,0,0,0,0,0
$GC,4763,-0.74,-219.0,525.3,-14.7,547,4768,0.20,0.75,0.00,0.000,6,0.145,0.027,2128,2494,3747,0,0,0,0,0,0
$GC,5086,-0.68,-219.0,560.4,-11.9,563,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2493,3745,0,0,0,0,0,0
$GC,5394,-0.63,-219.0,597.3,-11.6,578,5399,0.15,0.82,0.00,0.000,4,0.148,0.040,2169,3017,3742,0,0,0,0,0,0
$STATE,5402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5402,begin apogee
$GC,5412,-0.19,0.0,599.0,11.8,578,5580,0.43,0.00,161.70,0.796,6,0.103,0.000,2313,2105,2869,0,0,0,0,0,0
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5585,0.61,219.0,611.9,0.0,586,5755,0.68,0.80,164.05,0.783,4,0.041,0.031,2598,1581,1976,0,0,0,0,0,0
$GC,5884,0.50,219.0,591.9,12.2,600,5889,0.17,0.80,0.00,0.000,6,0.132,0.031,2544,2112,1974,0,0,0,0,0,0
$GC,6207,0.44,219.0,556.6,11.3,616,6210,0.00,0.73,0.00,0.000,4,0.000,0.036,2544,2614,1972,0,0,0,0,0,0
$GC,6415,0.40,244.1,534.8,9.5,625,6440,0.10,0.75,19.92,0.728,6,0.137,0.029,2512,2098,1873,0,0,0,0,0,0
$GC,6763,0.54,356.2,509.9,6.7,642,6854,0.12,0.80,83.85,0.733,4,0.087,0.034,2572,1583,1415,0,0,0,0,0,0
$GC,6890,0.57,394.1,498.9,9.1,648,6924,0.00,0.77,29.95,0.693,6,0.000,0.030,2572,2101,1262,0,0,0,0,0,0
$GC,7242,0.57,394.1,462.5,10.9,681,7245,0.00,0.75,0.00,0.000,4,0.000,0.034,2572,2618,1264,0,0,0,0,0,0
$GC,7325,0.57,394.1,452.6,12.1,688,7332,0.00,0.75,0.00,0.000,6,0.000,0.029,2576,2097,1265,0,0,0,0,0,0
$GC,7651,0.60,394.1,413.0,12.3,719,7655,0.00,0.77,0.00,0.000,4,0.000,0.033,2576,2622,1265,0,0,0,0,0,0
$GC,7726,0.56,394.1,403.4,13.3,725,7732,0.00,0.75,0.00,0.000,6,0.000,0.028,2579,2104,1265,0,0,0,0,0,0
$GC,8051,0.57,394.1,364.2,11.3,756,8055,0.00,0.77,0.00,0.000,4,0.000,0.032,2579,2631,1265,0,0,0,0,0,0
$GC,8120,0.56,394.1,356.7,10.6,762,8123,0.00,0.77,0.00,0.000,6,0.000,0.029,2582,2095,1264,0,0,0,0,0,0
$GC,8451,0.59,394.1,319.0,11.5,793,8455,0.00,0.75,0.00,0.000,4,0.000,0.034,2586,1572,1263,0,0,0,0,0,0
$GC,8501,0.59,394.1,313.1,11.3,797,8508,0.00,0.77,0.00,0.000,6,0.000,0.029,2585,2101,1263,0,0,0,0,0,0
$GC,8827,0.69,466.6,281.7,8.0,828,8886,0.00,0.80,55.05,0.604,4,0.000,0.034,2585,2621,965,0,0,0,0,0,0
$GC,8980,0.81,526.5,269.6,8.4,841,9035,0.10,0.77,46.22,0.574,6,0.048,0.029,2648,2094,721,0,0,0,0,0,0
$GC,9354,0.83,526.5,223.8,11.6,876,9358,0.00,0.77,0.00,0.000,4,0.000,0.031,2649,2622,728,0,0,0,0,0,0
$GC,9378,0.85,526.5,221.0,11.5,878,9382,0.00,0.77,0.00,0.000,6,0.000,0.030,2651,2094,728,0,0,0,0,0,0
$GC,9711,0.94,570.2,191.9,8.9,917,9752,0.00,0.80,35.20,0.542,4,0.000,0.034,2654,1570,542,0,0,0,0,0,0
$GC,9812,0.97,570.2,180.6,11.7,934,9819,0.00,0.77,0.00,0.000,6,0.000,0.028,2655,2098,543,0,0,0,0,0,0
$GC,10161,1.09,613.0,140.8,8.9,995,10187,0.20,0.80,20.55,0.511,4,0.060,0.031,2754,1573,439,0,0,0,0,0,0
$GC,10319,1.05,613.0,116.5,17.9,1022,10327,0.12,0.77,0.00,0.000,6,0.119,0.029,2712,2103,438,0,0,0,0,0,0
$GC,10669,1.19,684.2,72.8,8.0,1083,10676,0.15,0.80,0.00,0.000,4,0.071,0.031,2793,1566,439,0,0,0,0,0,0
$GC,10729,1.10,684.2,65.6,13.1,1093,10736,0.20,0.77,0.00,0.000,6,0.120,0.029,2730,2099,439,0,0,0,0,0,0
$GC,11078,1.13,684.2,30.0,11.4,1154,11086,0.00,0.82,2.10,0.135,4,0.000,0.030,2731,1561,439,0,0,0,0,0,0
$GC,11139,1.13,684.2,22.2,13.7,1164,11146,0.00,0.77,0.00,0.000,6,0.000,0.027,2731,2104,440,0,0,0,0,0,0
$STATE,11319,end climb,SURFACE_DEPTH_REACHED
$STATE,11319,begin surface coast
$FINISH,0.7,1.021980
$STATE,11359,end surface coast,CONTROL_FINISHED_OK
$STATE,11359,begin surface
$SM_CCo,11438,0.00,0.000,0,0,441,595.59
$SM_GC,1.41,6.62,0.00,0.00,0.034,0.000,0.000,203,2475,441,-6.70,-0.71,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12005.70,301011,030315
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.33
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.8,122.252
$10V_AH,9.8,88.078
$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,19.050,41.600,618.600,0.000,0.000,27.442,17.662,137.826,0.000,0.000,15.378,2811.873,5704.759,636.464,2257.879,352.323,0.000,1773.904,0.000,2050.461,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,65.790,795.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,816.471,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322776
$DATA_FILE_SIZE,70178,1203
$CAP_FILE_SIZE,140692,0
$CFSIZE,260165632,185303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301011,094301,2144.551,12016.499,6,1.9,12,-2.6