version: 66.09
glider: 181
mission: 6
dive: 746
start: 11 1 111 2 21 38
data:
$ID,181
$MISSION,6
$DIVE,746
$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,-41790.039
$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,55
$R_STBD_OVSHOOT,49
$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
$GPS1,011111,020801,2144.002,12023.891,37,1.5,37,-2.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.6
$GPS2,011111,022113,2144.198,12024.235,13,1.8,18,-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,190.5,307041,-14.3,-10.313
$D_GRID,768
$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,-219.0,0.0,0.0,0,87,0.00,0.00,-67.62,0.000,2,0.000,0.000,130,2519,2336,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.0,-2.7,12,139,8.43,0.85,-34.83,0.000,4,0.219,0.060,2169,1951,3763,0,0,0,0,0,0
$GC,238,-0.50,-219.0,31.7,-20.2,37,245,0.12,0.82,0.00,0.000,6,0.135,0.034,2206,2496,3764,0,0,0,0,0,0
$GC,586,-0.41,-219.0,93.8,-14.2,98,593,0.12,0.80,0.00,0.000,4,0.159,0.039,2239,3019,3762,0,0,0,0,0,0
$GC,662,-0.41,-219.0,102.7,-9.5,111,669,0.00,0.77,0.00,0.000,6,0.000,0.024,2239,2460,3761,0,0,0,0,0,0
$GC,1010,-0.53,-219.0,138.6,-8.7,172,1017,0.10,0.88,0.00,0.000,4,0.091,0.035,2187,3030,3762,0,0,0,0,0,0
$GC,1061,-0.64,-219.0,142.5,-7.9,180,1068,0.00,0.73,0.00,0.000,6,0.000,0.025,2187,2508,3762,0,0,0,0,0,0
$GC,1410,-0.68,-219.0,173.8,-7.3,241,1417,0.00,0.77,0.00,0.000,4,0.000,0.037,2184,3027,3762,0,0,0,0,0,0
$GC,1526,-0.71,-219.0,184.2,-9.5,261,1534,0.08,0.73,0.00,0.000,6,0.044,0.025,2119,2497,3762,0,0,0,0,0,0
$GC,1865,-0.60,-219.0,240.2,-17.1,301,1869,0.20,0.70,0.00,0.000,4,0.144,0.019,2175,1963,3762,0,0,0,0,0,0
$GC,1956,-0.58,-219.0,250.8,-10.1,309,1960,0.00,0.80,0.00,0.000,6,0.000,0.032,2173,2506,3762,0,0,0,0,0,0
$GC,2287,-0.62,-219.0,282.3,-10.1,340,2291,0.00,0.73,0.00,0.000,4,0.000,0.024,2172,1962,3761,0,0,0,0,0,0
$GC,2327,-0.68,-219.0,286.7,-10.9,343,2333,0.00,0.80,0.00,0.000,6,0.000,0.033,2171,2502,3761,0,0,0,0,0,0
$GC,2652,-0.70,-219.0,320.8,-13.0,374,2656,0.00,0.77,0.00,0.000,4,0.000,0.038,2167,3027,3759,0,0,0,0,0,0
$GC,2744,-0.70,-219.0,331.7,-11.9,382,2747,0.00,0.73,0.00,0.000,6,0.000,0.026,2167,2499,3758,0,0,0,0,0,0
$GC,3075,-0.77,-219.0,368.7,-11.5,413,3079,0.12,0.82,0.00,0.000,4,0.080,0.038,2086,3028,3756,0,0,0,0,0,0
$GC,3150,-0.64,-219.0,379.1,-15.6,419,3158,0.25,0.73,0.00,0.000,6,0.133,0.027,2164,2510,3754,0,0,0,0,0,0
$GC,3478,-0.69,-219.0,407.6,-6.0,450,3482,0.00,0.73,0.00,0.000,4,0.000,0.026,2164,1963,3752,0,0,0,0,0,0
$GC,3530,-0.75,-219.0,410.2,-5.1,454,3537,0.00,0.80,0.00,0.000,6,0.000,0.034,2164,2495,3751,0,0,0,0,0,0
$GC,3856,-0.83,-219.0,432.9,-9.7,485,3861,0.17,0.75,0.00,0.000,4,0.063,0.027,2075,1961,3749,0,0,0,0,0,0
$GC,3919,-0.73,-219.0,442.7,-17.3,490,3927,0.20,0.82,0.00,0.000,6,0.129,0.038,2134,2498,3748,0,0,0,0,0,0
$GC,4245,-0.68,-219.0,495.5,-17.1,521,4249,0.00,0.80,0.00,0.000,4,0.000,0.042,2132,3030,3745,0,0,0,0,0,0
$GC,4407,-0.63,-219.0,521.8,-15.5,530,4411,0.10,0.75,0.00,0.000,6,0.123,0.028,2165,2501,3744,0,0,0,0,0,0
$GC,4742,-0.70,-219.0,550.5,-5.6,546,4746,0.00,0.80,0.00,0.000,4,0.000,0.041,2166,3022,3741,0,0,0,0,0,0
$GC,4835,-0.77,-219.0,553.8,-4.0,550,4840,0.08,0.75,0.00,0.000,6,0.054,0.027,2110,2499,3740,0,0,0,0,0,0
$GC,5170,-0.74,-219.0,567.2,-4.8,566,5174,0.00,0.70,0.00,0.000,4,0.000,0.027,2110,1975,3737,0,0,0,0,0,0
$GC,5314,-0.68,-219.0,578.0,-7.8,572,5318,0.15,0.80,0.00,0.000,6,0.122,0.038,2154,2495,3736,0,0,0,0,0,0
$GC,5641,-0.68,-219.0,599.6,-7.4,588,5645,0.00,0.80,0.00,0.000,4,0.000,0.044,2153,3024,3733,0,0,0,0,0,0
$GC,5693,-0.66,-219.0,603.5,-7.6,590,5697,0.00,0.75,0.00,0.000,6,0.000,0.028,2153,2498,3733,0,0,0,0,0,0
$GC,6020,-0.66,-219.0,629.2,-7.2,606,6024,0.00,0.82,0.00,0.000,4,0.000,0.043,2152,3027,3731,0,0,0,0,0,0
$GC,6061,-0.70,-219.0,632.0,-7.1,607,6068,0.00,0.75,0.00,0.000,6,0.000,0.028,2152,2508,3730,0,0,0,0,0,0
$GC,6378,-0.78,-219.0,657.2,-8.2,623,6382,0.00,0.80,0.00,0.000,4,0.000,0.043,2152,3024,3728,0,0,0,0,0,0
$GC,6457,-0.79,-219.0,664.9,-9.9,626,6460,0.00,0.75,0.00,0.000,6,0.000,0.028,2152,2506,3728,0,0,0,0,0,0
$GC,6781,-0.85,-219.0,701.4,-11.8,642,6785,0.15,0.82,0.00,0.000,4,0.076,0.042,2072,3022,3726,0,0,0,0,0,0
$GC,6900,-0.74,-219.0,724.6,-20.6,647,6904,0.20,0.77,0.00,0.000,6,0.143,0.028,2133,2487,3724,0,0,0,0,0,0
$STATE,7203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7203,begin apogee
$GC,7211,-0.19,0.0,771.2,14.9,662,7380,0.55,0.00,162.43,0.919,6,0.113,0.000,2313,2094,2869,0,0,0,0,0,0
$STATE,7381,end apogee,CONTROL_FINISHED_OK
$STATE,7381,begin climb
$GC,7384,0.61,219.0,786.8,0.0,670,7559,0.70,0.85,168.73,0.908,4,0.043,0.033,2592,2634,1975,0,0,0,0,0,0
$GC,7622,0.49,219.0,776.9,13.4,681,7627,0.20,0.77,0.00,0.000,6,0.149,0.028,2537,2111,1975,0,0,0,0,0,0
$GC,7958,0.53,299.8,746.7,7.7,697,8025,0.00,0.75,62.42,0.880,4,0.000,0.028,2540,1575,1646,0,0,0,0,0,0
$GC,8116,0.62,400.4,734.1,7.1,704,8198,0.00,0.82,77.95,0.866,6,0.000,0.031,2540,2117,1236,0,0,0,0,0,0
$GC,8530,0.71,451.9,701.0,8.7,724,8574,0.17,0.00,41.33,0.845,6,0.076,0.000,2622,2118,1026,0,0,0,0,0,0
$GC,8883,0.67,451.9,648.3,15.4,741,8887,0.12,0.77,0.00,0.000,4,0.156,0.039,2587,2622,1030,0,0,0,0,0,0
$GC,8967,0.64,451.9,635.7,14.5,744,8973,0.00,0.77,0.00,0.000,6,0.000,0.031,2589,2096,1030,0,0,0,0,0,0
$GC,9284,0.62,451.9,593.9,12.8,760,9288,0.00,0.75,0.00,0.000,4,0.000,0.034,2593,1575,1029,0,0,0,0,0,0
$GC,9312,0.59,451.9,590.1,11.9,761,9316,0.00,0.77,0.00,0.000,6,0.000,0.031,2594,2095,1029,0,0,0,0,0,0
$GC,9639,0.58,451.9,548.8,12.6,777,9644,0.12,0.80,0.00,0.000,4,0.148,0.037,2558,2623,1028,0,0,0,0,0,0
$GC,9664,0.58,451.9,545.4,14.3,778,9668,0.00,0.77,0.00,0.000,6,0.000,0.031,2560,2095,1028,0,0,0,0,0,0
$GC,9998,0.64,451.9,503.9,11.0,794,10001,0.00,0.75,0.00,0.000,4,0.000,0.036,2563,1578,1028,0,0,0,0,0,0
$GC,10104,0.67,451.9,492.7,10.6,801,10111,0.00,0.77,0.00,0.000,6,0.000,0.031,2563,2097,1028,0,0,0,0,0,0
$GC,10430,0.71,451.9,456.3,10.5,832,10434,0.12,0.77,0.00,0.000,4,0.085,0.034,2631,1582,1028,0,0,0,0,0,0
$GC,10488,0.66,451.9,449.8,12.2,837,10493,0.12,0.77,0.00,0.000,6,0.130,0.031,2590,2100,1028,0,0,0,0,0,0
$GC,10819,0.80,532.3,418.5,7.8,868,10886,0.12,0.82,61.78,0.697,4,0.084,0.037,2650,2623,699,0,0,0,0,0,0
$GC,10927,0.74,532.3,406.6,11.4,877,10934,0.10,0.77,0.00,0.000,6,0.136,0.031,2621,2110,702,0,0,0,0,0,0
$GC,11254,0.83,569.4,377.6,9.1,908,11291,0.00,0.82,31.33,0.656,4,0.000,0.037,2624,1568,546,0,0,0,0,0,0
$GC,11377,0.90,569.4,364.8,11.0,919,11381,0.10,0.80,0.00,0.000,6,0.056,0.029,2687,2102,548,0,0,0,0,0,0
$GC,11707,0.90,569.4,323.4,12.9,950,11711,0.00,0.80,0.00,0.000,4,0.000,0.034,2690,1564,550,0,0,0,0,0,0
$GC,11754,0.84,569.4,316.7,15.2,954,11758,0.12,0.80,0.00,0.000,6,0.125,0.032,2650,2098,550,0,0,0,0,0,0
$GC,12085,0.90,590.9,278.9,9.6,985,12108,0.00,0.82,18.17,0.595,4,0.000,0.036,2650,2634,459,0,0,0,0,0,0
$GC,12180,0.99,641.7,270.6,8.7,993,12193,0.08,0.80,5.57,0.450,6,0.060,0.031,2701,2096,439,0,0,0,0,0,0
$GC,12511,0.93,641.7,227.2,14.8,1024,12514,0.00,0.77,0.00,0.000,4,0.000,0.032,2701,2624,438,0,0,0,0,0,0
$GC,12557,0.87,641.7,219.9,16.2,1028,12562,0.15,0.77,0.00,0.000,6,0.130,0.031,2656,2098,438,0,0,0,0,0,0
$GC,12895,1.01,677.5,180.3,9.2,1075,12903,0.12,0.80,0.00,0.000,4,0.086,0.034,2722,2624,439,0,0,0,0,0,0
$GC,12946,0.95,677.5,174.8,11.9,1083,12954,0.12,0.77,0.00,0.000,6,0.142,0.031,2686,2097,439,0,0,0,0,0,0
$GC,13296,1.01,677.5,134.6,12.0,1144,13302,0.00,0.75,0.00,0.000,4,0.000,0.035,2688,1579,439,0,0,0,0,0,0
$GC,13383,1.04,677.5,124.4,10.7,1159,13390,0.00,0.77,0.00,0.000,6,0.000,0.029,2688,2106,440,0,0,0,0,0,0
$GC,13732,1.16,726.6,86.2,8.8,1220,13740,0.17,0.75,0.15,0.137,4,0.067,0.031,2776,2615,441,0,0,0,0,0,0
$GC,13760,1.20,761.8,83.5,9.2,1224,13767,0.00,0.75,0.73,0.077,6,0.000,0.031,2779,2099,442,0,0,0,0,0,0
$GC,14110,1.13,761.8,40.6,13.0,1285,14118,0.15,0.82,2.55,0.210,4,0.148,0.031,2737,2634,439,0,0,0,0,0,0
$GC,14137,1.09,761.8,37.1,11.9,1289,14144,0.00,0.77,0.03,0.196,6,0.000,0.031,2739,2103,439,0,0,0,0,0,0
$STATE,14447,end climb,SURFACE_DEPTH_REACHED
$STATE,14447,begin surface coast
$FINISH,0.6,1.021956
$STATE,14478,end surface coast,CONTROL_FINISHED_OK
$STATE,14478,begin surface
$SM_CCo,14556,0.00,0.000,0,0,441,595.59
$SM_GC,1.43,6.68,0.00,0.00,0.031,0.000,0.000,203,2495,441,-6.70,-0.14,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12026.40,011111,020229
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.31
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,124.098
$10V_AH,9.7,89.064
$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,20.525,52.625,633.150,0.000,0.000,85.842,134.128,265.978,0.000,0.000,20.654,3242.135,8075.777,669.529,2899.387,450.030,0.000,1987.126,0.000,2382.377,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,59.670,918.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,923.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322728
$DATA_FILE_SIZE,77006,1349
$CAP_FILE_SIZE,176217,0
$CFSIZE,260165632,184299520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,062537,2142.822,12023.655,40,1.0,40,-2.6