version: 66.09
glider: 181
mission: 6
dive: 738
start: 10 31 111 0 58 9
data:
$ID,181
$MISSION,6
$DIVE,738
$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,-41779.797
$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,61
$R_STBD_OVSHOOT,44
$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
$GPS1,311011,005200,2144.546,12019.836,39,1.2,46,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.1
$GPS2,311011,005744,2144.634,12019.948,11,1.8,11,-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,189.1,306897,-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,-67.78,0.000,2,0.000,0.000,147,2490,2347,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.8,12,138,8.32,0.77,-35.03,0.000,4,0.218,0.064,2172,1949,3763,0,0,0,0,0,0
$GC,243,-0.48,-219.0,34.9,-20.6,38,250,0.12,0.82,0.00,0.000,6,0.135,0.034,2209,2500,3764,0,0,0,0,0,0
$GC,590,-0.40,-219.0,96.0,-14.4,99,597,0.12,0.80,0.00,0.000,4,0.152,0.037,2243,3031,3762,0,0,0,0,0,0
$GC,667,-0.35,-219.0,104.6,-9.8,112,674,0.00,0.77,0.00,0.000,6,0.000,0.024,2243,2461,3762,0,0,0,0,0,0
$GC,1014,-0.47,-219.0,139.4,-9.0,173,1021,0.00,0.85,0.00,0.000,4,0.000,0.034,2243,3033,3762,0,0,0,0,0,0
$GC,1215,-0.64,-219.0,159.6,-11.2,208,1222,0.17,0.73,0.00,0.000,6,0.053,0.024,2163,2500,3763,0,0,0,0,0,0
$GC,1564,-0.67,-219.0,192.8,-8.7,269,1571,0.00,0.70,0.00,0.000,4,0.000,0.025,2162,1966,3764,0,0,0,0,0,0
$GC,1640,-0.67,-219.0,199.9,-9.1,282,1647,0.00,0.80,0.00,0.000,6,0.000,0.033,2160,2510,3763,0,0,0,0,0,0
$GC,1967,-0.72,-219.0,229.4,-8.6,313,1971,0.00,0.70,0.00,0.000,4,0.000,0.024,2161,1972,3763,0,0,0,0,0,0
$GC,2075,-0.75,-219.0,239.1,-9.4,322,2081,0.00,0.77,0.00,0.000,6,0.000,0.033,2157,2500,3763,0,0,0,0,0,0
$GC,2401,-0.81,-219.0,271.7,-9.9,353,2405,0.12,0.70,0.00,0.000,4,0.077,0.026,2082,1977,3763,0,0,0,0,0,0
$GC,2470,-0.69,-219.0,280.6,-14.4,359,2475,0.20,0.77,0.00,0.000,6,0.124,0.034,2143,2500,3762,0,0,0,0,0,0
$GC,2802,-0.65,-219.0,315.0,-9.8,390,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2500,3760,0,0,0,0,0,0
$GC,3126,-0.61,-219.0,347.8,-9.9,420,3130,0.12,0.80,0.00,0.000,4,0.149,0.040,2178,3025,3758,0,0,0,0,0,0
$GC,3217,-0.67,-219.0,355.6,-7.7,428,3221,0.00,0.73,0.00,0.000,6,0.000,0.025,2178,2500,3757,0,0,0,0,0,0
$GC,3549,-0.77,-219.0,378.0,-7.1,459,3553,0.15,0.82,0.00,0.000,4,0.073,0.037,2092,3031,3754,0,0,0,0,0,0
$GC,3565,-0.83,-219.0,379.6,-7.6,460,3572,0.00,0.73,0.00,0.000,6,0.000,0.026,2093,2509,3754,0,0,0,0,0,0
$GC,3891,-0.73,-219.0,431.4,-17.4,491,3895,0.17,0.80,0.00,0.000,4,0.144,0.040,2140,3021,3751,0,0,0,0,0,0
$GC,4041,-0.69,-219.0,451.9,-13.6,504,4045,0.00,0.73,0.00,0.000,6,0.000,0.026,2139,2495,3750,0,0,0,0,0,0
$GC,4372,-0.65,-219.0,492.2,-11.4,535,4376,0.00,0.68,0.00,0.000,4,0.000,0.025,2139,1975,3747,0,0,0,0,0,0
$GC,4424,-0.61,-219.0,498.1,-11.3,539,4431,0.10,0.80,0.00,0.000,6,0.125,0.036,2170,2505,3747,0,0,0,0,0,0
$STATE,4738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4738,begin apogee
$GC,4745,-0.19,0.0,528.0,9.7,556,4913,0.38,0.00,160.23,0.751,6,0.076,0.000,2315,2086,2867,0,0,0,0,0,0
$STATE,4914,end apogee,CONTROL_FINISHED_OK
$STATE,4914,begin climb
$GC,4917,0.61,219.0,543.3,0.0,564,5087,0.68,0.88,162.35,0.741,4,0.041,0.033,2597,2643,1976,0,0,0,0,0,0
$GC,5262,0.55,270.2,527.3,8.7,579,5311,0.15,0.75,39.15,0.721,6,0.144,0.028,2554,2118,1766,0,0,0,0,0,0
$GC,5620,0.58,331.2,497.2,8.4,598,5675,0.00,0.82,46.10,0.713,4,0.000,0.031,2556,1574,1517,0,0,0,0,0,0
$GC,5780,0.61,386.4,483.4,8.6,612,5827,0.00,0.80,42.78,0.697,6,0.000,0.027,2556,2124,1292,0,0,0,0,0,0
$GC,6155,0.72,434.3,454.2,8.8,647,6200,0.15,0.73,37.17,0.692,4,0.074,0.029,2636,2620,1098,0,0,0,0,0,0
$GC,6326,0.64,434.3,433.0,11.7,662,6330,0.17,0.75,0.00,0.000,6,0.130,0.027,2583,2097,1097,0,0,0,0,0,0
$GC,6657,0.66,434.3,399.8,10.7,693,6661,0.00,0.75,0.00,0.000,4,0.000,0.031,2584,2618,1096,0,0,0,0,0,0
$GC,6692,0.66,434.3,395.8,11.3,696,6696,0.00,0.75,0.00,0.000,6,0.000,0.028,2585,2096,1096,0,0,0,0,0,0
$GC,7024,0.74,445.4,360.4,10.0,727,7038,0.00,0.77,9.77,0.621,4,0.000,0.033,2588,1575,1052,0,0,0,0,0,0
$GC,7120,0.77,445.7,350.4,10.3,735,7128,0.08,0.75,0.00,0.000,6,0.052,0.028,2644,2096,1051,0,0,0,0,0,0
$GC,7446,0.75,445.7,305.3,14.3,766,7450,0.00,0.75,0.00,0.000,4,0.000,0.031,2647,1573,1050,0,0,0,0,0,0
$GC,7496,0.69,445.7,297.7,14.5,770,7504,0.15,0.75,0.00,0.000,6,0.124,0.028,2598,2099,1050,0,0,0,0,0,0
$GC,7822,0.71,445.7,258.6,11.3,801,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2099,1050,0,0,0,0,0,0
$GC,8146,0.77,467.3,225.6,9.6,831,8168,0.00,0.77,17.30,0.568,4,0.000,0.034,2597,2613,963,0,0,0,0,0,0
$GC,8208,0.88,520.7,219.6,8.6,836,8258,0.12,0.75,40.85,0.545,6,0.047,0.029,2666,2098,745,0,0,0,0,0,0
$GC,8588,0.89,520.7,176.3,13.0,887,8594,0.00,0.75,0.00,0.000,4,0.000,0.033,2670,1571,755,0,0,0,0,0,0
$GC,8670,0.89,520.7,165.7,12.4,901,8678,0.00,0.77,3.67,0.379,6,0.000,0.028,2670,2105,746,0,0,0,0,0,0
$GC,9021,0.93,520.7,129.3,10.4,962,9028,0.00,0.77,0.00,0.000,4,0.000,0.031,2673,1569,745,0,0,0,0,0,0
$GC,9167,0.91,527.9,114.3,10.1,987,9180,0.00,0.77,7.03,0.474,6,0.000,0.027,2673,2107,716,0,0,0,0,0,0
$GC,9522,1.04,599.0,83.2,8.0,1049,9581,0.10,0.75,51.05,0.468,4,0.095,0.029,2735,2619,438,0,0,0,0,0,0
$GC,9674,0.99,599.0,67.3,12.1,1075,9681,0.12,0.75,0.00,0.000,6,0.120,0.029,2695,2101,438,0,0,0,0,0,0
$GC,10023,1.11,599.0,27.1,11.6,1136,10031,0.10,0.77,0.00,0.000,4,0.093,0.034,2740,1571,440,0,0,0,0,0,0
$GC,10050,1.22,599.0,23.9,11.4,1140,10057,0.00,0.75,0.43,0.078,6,0.000,0.027,2740,2101,440,0,0,0,0,0,0
$STATE,10242,end climb,SURFACE_DEPTH_REACHED
$STATE,10242,begin surface coast
$FINISH,0.4,1.019506
$STATE,10277,end surface coast,CONTROL_FINISHED_OK
$STATE,10277,begin surface
$SM_CCo,10354,0.00,0.000,0,0,442,595.10
$SM_GC,1.27,6.72,0.00,0.00,0.037,0.000,0.000,200,2526,442,-6.70,0.76,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,12025.58,301011,212137
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.43
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.4,122.974
$10V_AH,9.8,88.470
$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,18.550,33.250,617.875,0.000,0.000,31.239,24.070,139.089,0.500,0.000,13.733,2714.767,4833.623,642.629,2163.812,335.585,0.000,1721.456,0.000,1949.424,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,64.260,751.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,800.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,66876,1180
$CAP_FILE_SIZE,130598,0
$CFSIZE,260165632,184934400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311011,035151,2143.654,12020.429,9,3.0,29,-2.6