version: 66.09
glider: 181
mission: 6
dive: 747
start: 11 1 111 6 35 33
data:
$ID,181
$MISSION,6
$DIVE,747
$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,-41791.297
$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,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
$GPS1,011111,062537,2142.822,12023.655,40,1.0,40,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.0
$GPS2,011111,063508,2143.022,12023.699,13,1.0,13,-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,190.4,304756,-14.3,-10.312
$D_GRID,712
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.61,-219.0,0.0,0.0,0,95,0.00,0.00,-73.30,0.000,2,0.000,0.000,129,2496,2490,0,0,0,0,0,0
$GC,99,-0.61,-219.0,3.5,-3.0,13,141,8.48,0.88,-29.27,0.000,4,0.220,0.073,2171,3033,3763,0,0,0,0,0,0
$GC,150,-0.42,-219.0,13.2,-19.2,21,157,0.20,0.77,0.00,0.000,6,0.142,0.026,2231,2483,3764,0,0,0,0,0,0
$GC,498,-0.35,-219.0,68.0,-14.4,82,505,0.00,0.82,0.00,0.000,4,0.000,0.037,2229,3025,3762,0,0,0,0,0,0
$GC,630,-0.29,-219.0,88.2,-16.0,105,638,0.15,0.73,0.00,0.000,6,0.120,0.025,2278,2496,3762,0,0,0,0,0,0
$GC,978,-0.44,-219.0,127.2,-11.0,166,985,0.15,0.82,0.00,0.000,4,0.074,0.035,2213,3037,3762,0,0,0,0,0,0
$GC,1134,-0.49,-219.0,145.2,-10.4,193,1141,0.00,0.75,0.00,0.000,6,0.000,0.024,2213,2495,3762,0,0,0,0,0,0
$GC,1484,-0.56,-219.0,173.6,-10.0,254,1490,0.00,0.80,0.00,0.000,4,0.000,0.035,2210,3034,3762,0,0,0,0,0,0
$GC,1520,-0.63,-219.0,178.0,-10.6,260,1528,0.08,0.75,0.00,0.000,6,0.048,0.025,2145,2500,3762,0,0,0,0,0,0
$GC,1866,-0.63,-219.0,217.4,-10.6,307,1869,0.00,0.80,0.00,0.000,4,0.000,0.036,2141,3037,3762,0,0,0,0,0,0
$GC,2027,-0.55,-219.0,236.7,-12.3,321,2031,0.15,0.75,0.00,0.000,6,0.116,0.024,2192,2493,3762,0,0,0,0,0,0
$GC,2358,-0.62,-219.0,265.5,-8.7,352,2362,0.00,0.80,0.00,0.000,4,0.000,0.037,2192,3028,3762,0,0,0,0,0,0
$GC,2502,-0.71,-219.0,277.7,-8.0,364,2509,0.10,0.73,0.00,0.000,6,0.043,0.025,2112,2499,3761,0,0,0,0,0,0
$GC,2828,-0.71,-219.0,309.0,-9.6,395,2832,0.12,0.70,0.00,0.000,4,0.128,0.027,2150,1973,3760,0,0,0,0,0,0
$GC,2912,-0.71,-219.0,317.5,-10.5,402,2919,0.00,0.77,0.00,0.000,6,0.000,0.034,2150,2498,3760,0,0,0,0,0,0
$GC,3238,-0.76,-219.0,359.2,-13.6,433,3241,0.00,0.70,0.00,0.000,4,0.000,0.025,2150,1974,3758,0,0,0,0,0,0
$GC,3323,-0.76,-219.0,370.5,-13.3,440,3329,0.00,0.77,0.00,0.000,6,0.000,0.034,2150,2497,3757,0,0,0,0,0,0
$GC,3648,-0.81,-219.0,411.1,-11.2,471,3653,0.12,0.73,0.00,0.000,4,0.078,0.028,2078,1975,3755,0,0,0,0,0,0
$GC,3768,-0.70,-219.0,428.6,-15.2,481,3776,0.22,0.80,0.00,0.000,6,0.123,0.036,2146,2502,3753,0,0,0,0,0,0
$GC,4096,-0.73,-219.0,456.4,-8.4,512,4099,0.00,0.70,0.00,0.000,4,0.000,0.026,2146,1984,3751,0,0,0,0,0,0
$GC,4157,-0.73,-219.0,462.6,-9.7,517,4164,0.00,0.77,0.00,0.000,6,0.000,0.036,2143,2501,3751,0,0,0,0,0,0
$GC,4485,-0.77,-219.0,492.7,-9.3,548,4488,0.00,0.70,0.00,0.000,4,0.000,0.028,2144,1986,3748,0,0,0,0,0,0
$GC,4586,-0.78,-219.0,502.5,-9.7,556,4590,0.00,0.77,0.00,0.000,6,0.000,0.037,2140,2498,3747,0,0,0,0,0,0
$GC,4908,-0.82,-219.0,530.3,-8.2,572,4912,0.00,0.70,0.00,0.000,4,0.000,0.028,2140,1980,3745,0,0,0,0,0,0
$GC,4943,-0.85,-219.0,533.2,-8.0,573,4948,0.08,0.80,0.00,0.000,6,0.052,0.037,2083,2504,3744,0,0,0,0,0,0
$GC,5265,-0.75,-219.0,576.0,-14.7,589,5270,0.17,0.75,0.00,0.000,4,0.145,0.028,2133,1991,3742,0,0,0,0,0,0
$GC,5414,-0.70,-219.0,594.6,-13.2,595,5418,0.00,0.77,0.00,0.000,6,0.000,0.039,2130,2494,3741,0,0,0,0,0,0
$GC,5736,-0.66,-219.0,636.6,-12.7,611,5740,0.12,0.82,0.00,0.000,4,0.151,0.043,2163,3023,3738,0,0,0,0,0,0
$GC,5822,-0.70,-219.0,645.4,-9.7,614,5828,0.00,0.73,0.00,0.000,6,0.000,0.028,2163,2510,3737,0,0,0,0,0,0
$GC,6139,-0.78,-219.0,674.0,-9.2,630,6143,0.12,0.75,0.00,0.000,4,0.085,0.029,2093,1970,3735,0,0,0,0,0,0
$GC,6191,-0.71,-219.0,680.1,-13.3,632,6196,0.15,0.82,0.00,0.000,6,0.121,0.038,2139,2504,3734,0,0,0,0,0,0
$STATE,6475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6475,begin apogee
$GC,6482,-0.19,0.0,713.1,10.6,646,6651,0.52,0.00,162.43,0.868,6,0.109,0.000,2313,2088,2869,0,0,0,0,0,0
$STATE,6652,end apogee,CONTROL_FINISHED_OK
$STATE,6652,begin climb
$GC,6655,0.61,219.0,726.5,0.0,654,6828,0.68,0.80,166.85,0.857,4,0.041,0.031,2594,1573,1976,0,0,0,0,0,0
$GC,7071,0.50,219.0,687.8,15.2,673,7075,0.17,0.82,0.00,0.000,6,0.137,0.031,2541,2122,1974,0,0,0,0,0,0
$GC,7400,0.44,219.0,647.8,11.7,689,7404,0.00,0.73,0.00,0.000,4,0.000,0.037,2540,2619,1972,0,0,0,0,0,0
$GC,7568,0.37,219.0,628.2,11.4,696,7572,0.15,0.75,0.00,0.000,6,0.133,0.030,2495,2109,1971,0,0,0,0,0,0
$GC,7895,0.40,247.3,596.5,9.4,712,7921,0.00,0.75,22.42,0.775,4,0.000,0.028,2495,2624,1859,0,0,0,0,0,0
$GC,8084,0.48,305.1,579.7,8.5,720,8134,0.08,0.77,44.17,0.772,6,0.056,0.030,2549,2095,1624,0,0,0,0,0,0
$GC,8443,0.55,363.0,547.2,8.5,738,8493,0.00,0.80,44.70,0.754,4,0.000,0.034,2552,1579,1389,0,0,0,0,0,0
$GC,8532,0.65,433.7,539.9,8.1,742,8596,0.00,0.77,54.67,0.742,6,0.000,0.031,2552,2096,1100,0,0,0,0,0,0
$GC,8905,0.81,495.4,509.4,8.3,760,8959,0.25,0.82,48.65,0.730,4,0.061,0.037,2669,2621,848,0,0,0,0,0,0
$GC,9069,0.73,495.4,483.8,18.0,771,9073,0.17,0.77,0.00,0.000,6,0.134,0.031,2616,2101,853,0,0,0,0,0,0
$GC,9401,0.77,495.4,435.4,13.7,802,9405,0.00,0.77,0.00,0.000,4,0.000,0.037,2619,1572,858,0,0,0,0,0,0
$GC,9460,0.76,495.4,427.1,14.7,807,9474,0.00,0.77,3.67,0.468,6,0.000,0.030,2619,2095,849,0,0,0,0,0,0
$GC,9790,0.75,495.4,377.3,13.5,838,9794,0.00,0.77,0.00,0.000,4,0.000,0.032,2622,1569,848,0,0,0,0,0,0
$GC,9819,0.73,495.4,373.8,12.5,840,9826,0.00,0.80,0.00,0.000,6,0.000,0.029,2622,2110,848,0,0,0,0,0,0
$GC,10145,0.79,523.9,345.0,9.4,871,10176,0.00,0.77,22.45,0.636,4,0.000,0.037,2622,2619,733,0,0,0,0,0,0
$GC,10213,0.82,523.9,337.6,10.9,877,10216,0.00,0.77,0.00,0.000,6,0.000,0.031,2624,2096,734,0,0,0,0,0,0
$GC,10544,0.85,523.9,294.5,12.8,908,10548,0.00,0.77,0.00,0.000,4,0.000,0.033,2624,2622,736,0,0,0,0,0,0
$GC,10581,0.86,523.9,289.7,13.6,911,10585,0.00,0.77,0.00,0.000,6,0.000,0.031,2627,2093,736,0,0,0,0,0,0
$GC,10913,0.91,536.5,251.0,9.9,942,10929,0.12,0.73,12.23,0.573,4,0.088,0.028,2692,1576,680,0,0,0,0,0,0
$GC,11017,0.86,536.5,238.7,12.4,950,11024,0.10,0.77,0.00,0.000,6,0.122,0.030,2659,2098,680,0,0,0,0,0,0
$GC,11343,0.91,550.9,204.2,9.9,981,11358,0.00,0.82,12.18,0.542,4,0.000,0.032,2660,1565,623,0,0,0,0,0,0
$GC,11401,0.98,570.5,198.7,9.7,986,11426,0.00,0.80,16.17,0.498,6,0.000,0.029,2660,2103,542,0,0,0,0,0,0
$GC,11766,1.14,624.2,161.3,8.6,1050,11791,0.22,0.80,20.48,0.513,4,0.061,0.033,2765,2635,440,0,0,0,0,0,0
$GC,11806,1.08,624.2,156.8,12.4,1056,11813,0.12,0.77,0.00,0.000,6,0.146,0.030,2731,2108,440,0,0,0,0,0,0
$GC,12155,1.04,624.2,110.3,13.9,1117,12162,0.00,0.75,0.00,0.000,4,0.000,0.031,2731,2624,439,0,0,0,0,0,0
$GC,12180,0.98,624.2,106.1,14.5,1121,12188,0.12,0.77,0.00,0.000,6,0.132,0.031,2691,2096,439,0,0,0,0,0,0
$GC,12530,1.13,655.6,70.6,9.3,1182,12537,0.15,0.77,0.00,0.000,4,0.079,0.035,2759,1571,440,0,0,0,0,0,0
$GC,12666,1.10,655.6,53.6,13.5,1205,12674,0.08,0.77,0.05,0.143,6,0.111,0.028,2733,2113,441,0,0,0,0,0,0
$GC,13015,1.15,655.6,12.3,10.8,1266,13022,0.00,0.75,2.65,0.215,4,0.000,0.033,2733,2616,440,0,0,0,0,0,0
$GC,13058,1.18,655.6,7.5,11.1,1273,13066,0.00,0.75,0.05,0.145,6,0.000,0.028,2734,2094,439,0,0,0,0,0,0
$STATE,13099,end climb,SURFACE_DEPTH_REACHED
$STATE,13099,begin surface coast
$FINISH,0.6,1.011118
$STATE,13128,end surface coast,CONTROL_FINISHED_OK
$STATE,13128,begin surface
$SM_CCo,13207,0.00,0.000,0,0,440,596.08
$SM_GC,1.29,6.72,0.00,0.00,0.036,0.000,0.000,204,2495,440,-6.70,-0.14,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12023.23,011111,060606
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.39
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.2,124.255
$10V_AH,9.8,89.147
$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,20.100,47.425,633.825,0.000,0.000,61.223,38.955,242.864,0.000,0.000,15.944,3070.507,6930.596,668.826,2657.076,437.715,0.000,1942.421,0.000,2302.751,0.000,0.540,0.000
$DEVICE_MAMPS,220.320,72.675,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,875.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,73551,1285
$CAP_FILE_SIZE,165347,0
$CFSIZE,260165632,184233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,101700,2143.464,12023.238,36,1.0,41,-2.6