version: 66.09
glider: 181
mission: 6
dive: 748
start: 11 1 111 10 23 14
data:
$ID,181
$MISSION,6
$DIVE,748
$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,-41792.551
$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,51
$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
$GPS1,011111,101700,2143.464,12023.238,36,1.0,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.3
$GPS2,011111,102249,2143.521,12023.311,10,1.0,15,-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,190.3,305579,-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,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,-73.43,0.000,2,0.000,0.000,140,2494,2486,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.2,-2.8,13,138,8.40,0.77,-29.38,0.000,4,0.221,0.064,2168,1951,3764,0,0,0,0,0,0
$GC,214,-0.49,-219.0,26.0,-18.7,33,222,0.15,0.82,0.00,0.000,6,0.131,0.035,2213,2491,3765,0,0,0,0,0,0
$GC,562,-0.42,-219.0,80.1,-15.1,94,569,0.00,0.73,0.00,0.000,4,0.000,0.024,2214,1953,3763,0,0,0,0,0,0
$GC,655,-0.36,-219.0,94.0,-14.1,110,663,0.12,0.82,0.00,0.000,6,0.114,0.034,2254,2502,3763,0,0,0,0,0,0
$GC,1005,-0.51,-219.0,131.3,-10.3,171,1012,0.12,0.80,0.00,0.000,4,0.082,0.038,2195,3034,3763,0,0,0,0,0,0
$GC,1044,-0.61,-219.0,135.2,-9.9,177,1050,0.00,0.77,0.00,0.000,6,0.000,0.024,2195,2473,3763,0,0,0,0,0,0
$GC,1391,-0.66,-219.0,170.0,-9.5,238,1397,0.00,0.62,0.00,0.000,4,0.000,0.025,2195,1977,3764,0,0,0,0,0,0
$GC,1422,-0.69,-219.0,173.0,-9.7,243,1429,0.10,0.77,0.00,0.000,6,0.044,0.034,2124,2500,3764,0,0,0,0,0,0
$GC,1765,-0.59,-219.0,228.8,-15.4,289,1769,0.20,0.73,0.00,0.000,4,0.145,0.020,2179,1966,3764,0,0,0,0,0,0
$GC,1894,-0.62,-219.0,242.3,-9.1,300,1898,0.00,0.80,0.00,0.000,6,0.000,0.034,2179,2503,3765,0,0,0,0,0,0
$GC,2226,-0.70,-219.0,273.6,-9.9,331,2230,0.00,0.70,0.00,0.000,4,0.000,0.025,2179,1974,3765,0,0,0,0,0,0
$GC,2333,-0.73,-219.0,283.8,-9.3,340,2340,0.08,0.77,0.00,0.000,6,0.049,0.033,2120,2498,3764,0,0,0,0,0,0
$GC,2659,-0.72,-219.0,318.4,-11.2,371,2662,0.00,0.70,0.00,0.000,4,0.000,0.025,2119,1978,3763,0,0,0,0,0,0
$GC,2755,-0.64,-219.0,331.0,-13.4,379,2763,0.15,0.77,0.00,0.000,6,0.119,0.035,2164,2491,3763,0,0,0,0,0,0
$GC,3081,-0.69,-219.0,357.9,-6.8,410,3085,0.00,0.80,0.00,0.000,4,0.000,0.040,2164,3030,3761,0,0,0,0,0,0
$GC,3118,-0.74,-219.0,360.0,-6.1,413,3122,0.00,0.73,0.00,0.000,6,0.000,0.028,2164,2510,3760,0,0,0,0,0,0
$GC,3450,-0.80,-219.0,381.1,-7.4,444,3455,0.15,0.73,0.00,0.000,4,0.069,0.028,2079,1976,3758,0,0,0,0,0,0
$GC,3582,-0.70,-219.0,398.6,-14.5,455,3590,0.22,0.80,0.00,0.000,6,0.122,0.037,2147,2499,3757,0,0,0,0,0,0
$GC,3908,-0.67,-219.0,435.1,-11.4,486,3912,0.00,0.75,0.00,0.000,4,0.000,0.029,2147,1973,3754,0,0,0,0,0,0
$GC,4027,-0.64,-219.0,449.0,-11.7,496,4034,0.00,0.80,0.00,0.000,6,0.000,0.036,2145,2502,3753,0,0,0,0,0,0
$GC,4355,-0.68,-219.0,479.8,-7.3,527,4359,0.00,0.77,0.00,0.000,4,0.000,0.040,2142,3020,3750,0,0,0,0,0,0
$GC,4382,-0.71,-219.0,482.1,-7.1,529,4389,0.00,0.73,0.00,0.000,6,0.000,0.028,2142,2508,3750,0,0,0,0,0,0
$GC,4709,-0.75,-219.0,503.1,-6.8,558,4712,0.00,0.80,0.00,0.000,4,0.000,0.042,2139,3025,3748,0,0,0,0,0,0
$GC,4765,-0.75,-219.0,507.5,-7.6,560,4768,0.00,0.75,0.00,0.000,6,0.000,0.028,2139,2497,3747,0,0,0,0,0,0
$GC,5087,-0.79,-219.0,539.8,-11.1,576,5090,0.00,0.70,0.00,0.000,4,0.000,0.029,2139,1975,3745,0,0,0,0,0,0
$GC,5144,-0.80,-219.0,546.3,-11.3,578,5148,0.00,0.80,0.00,0.000,6,0.000,0.037,2139,2494,3744,0,0,0,0,0,0
$GC,5466,-0.84,-219.0,582.3,-11.2,594,5470,0.10,0.75,0.00,0.000,4,0.093,0.029,2082,1975,3741,0,0,0,0,0,0
$GC,5499,-0.80,-219.0,587.0,-13.7,595,5503,0.10,0.80,0.00,0.000,6,0.128,0.037,2112,2494,3741,0,0,0,0,0,0
$GC,5822,-0.74,-219.0,627.9,-11.9,611,5825,0.00,0.80,0.00,0.000,4,0.000,0.044,2111,3018,3739,0,0,0,0,0,0
$GC,5984,-0.68,-219.0,647.9,-12.5,618,5988,0.12,0.75,0.00,0.000,6,0.129,0.028,2152,2496,3738,0,0,0,0,0,0
$GC,6318,-0.68,-219.0,680.2,-9.3,634,6322,0.00,0.82,0.00,0.000,4,0.000,0.042,2150,3027,3735,0,0,0,0,0,0
$GC,6382,-0.66,-219.0,686.9,-10.4,636,6388,0.00,0.75,0.00,0.000,6,0.000,0.028,2150,2505,3735,0,0,0,0,0,0
$GC,6699,-0.66,-219.0,719.1,-10.2,652,6703,0.00,0.82,0.00,0.000,4,0.000,0.043,2146,3026,3733,0,0,0,0,0,0
$GC,6769,-0.64,-219.0,725.7,-9.5,655,6772,0.00,0.75,0.00,0.000,6,0.000,0.029,2146,2504,3732,0,0,0,0,0,0
$GC,7104,-0.62,-219.0,753.1,-7.5,671,7107,0.00,0.82,0.00,0.000,4,0.000,0.044,2142,3028,3730,0,0,0,0,0,0
$GC,7205,-0.60,-219.0,760.5,-6.7,675,7209,0.10,0.77,0.00,0.000,6,0.112,0.029,2177,2496,3729,0,0,0,0,0,0
$STATE,7379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7379,begin apogee
$GC,7387,-0.19,0.0,768.6,4.6,684,7556,0.38,0.00,163.18,0.911,6,0.093,0.000,2312,2090,2869,0,0,0,0,0,0
$STATE,7557,end apogee,CONTROL_FINISHED_OK
$STATE,7557,begin climb
$GC,7561,0.61,219.0,778.9,0.0,692,7737,0.70,0.88,168.52,0.897,4,0.043,0.038,2593,2637,1976,0,0,0,0,0,0
$GC,7804,0.49,219.0,764.6,17.2,703,7808,0.20,0.80,0.00,0.000,6,0.151,0.029,2538,2105,1975,0,0,0,0,0,0
$GC,8133,0.54,322.5,735.5,7.0,719,8218,0.00,0.82,79.65,0.872,4,0.000,0.033,2541,1576,1553,0,0,0,0,0,0
$GC,8246,0.64,423.4,727.5,7.1,724,8333,0.10,0.82,78.40,0.855,6,0.057,0.031,2596,2115,1143,0,0,0,0,0,0
$GC,8641,0.61,437.3,687.1,9.9,743,8663,0.00,0.85,13.70,0.780,4,0.000,0.032,2599,1572,1085,0,0,0,0,0,0
$GC,8800,0.57,437.3,670.0,12.1,750,8804,0.10,0.80,0.00,0.000,6,0.125,0.033,2565,2101,1086,0,0,0,0,0,0
$GC,9134,0.60,460.4,637.8,9.6,766,9157,0.00,0.82,19.25,0.791,4,0.000,0.038,2565,2630,992,0,0,0,0,0,0
$GC,9286,0.58,460.4,621.5,11.3,772,9293,0.00,0.80,0.00,0.000,6,0.000,0.030,2567,2092,995,0,0,0,0,0,0
$GC,9604,0.63,460.4,588.0,10.5,788,9608,0.00,0.75,0.00,0.000,4,0.000,0.036,2570,1573,997,0,0,0,0,0,0
$GC,9660,0.67,460.4,581.8,10.5,790,9664,0.00,0.80,0.00,0.000,6,0.000,0.029,2569,2112,998,0,0,0,0,0,0
$GC,9983,0.72,460.4,548.7,10.4,806,9988,0.12,0.75,0.00,0.000,4,0.086,0.037,2635,2613,998,0,0,0,0,0,0
$GC,9994,0.77,460.4,547.1,10.5,806,9998,0.00,0.75,0.00,0.000,6,0.000,0.032,2639,2109,998,0,0,0,0,0,0
$GC,10316,0.72,460.4,501.7,13.6,822,10321,0.12,0.77,0.00,0.000,4,0.159,0.035,2605,2618,998,0,0,0,0,0,0
$GC,10433,0.68,460.4,487.9,12.3,831,10437,0.00,0.77,0.00,0.000,6,0.000,0.030,2607,2092,997,0,0,0,0,0,0
$GC,10765,0.65,460.4,450.6,10.8,862,10768,0.00,0.77,0.00,0.000,4,0.000,0.032,2607,2617,999,0,0,0,0,0,0
$GC,10879,0.60,460.4,437.6,11.1,872,10884,0.12,0.75,0.00,0.000,6,0.138,0.029,2570,2105,1000,0,0,0,0,0,0
$GC,11212,0.79,546.6,411.3,7.6,903,11290,0.17,0.82,67.43,0.687,4,0.072,0.033,2651,2622,640,0,0,0,0,0,0
$GC,11305,0.75,546.6,401.0,10.9,911,11309,0.10,0.77,0.00,0.000,6,0.136,0.030,2621,2107,641,0,0,0,0,0,0
$GC,11636,0.85,600.2,371.1,8.6,942,11681,0.00,0.82,39.85,0.649,4,0.000,0.035,2624,1573,439,0,0,0,0,0,0
$GC,11842,1.05,637.9,352.8,9.1,960,11848,0.22,0.77,2.55,0.285,6,0.055,0.029,2721,2097,439,0,0,0,0,0,0
$GC,12169,0.99,637.9,291.9,17.4,990,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2098,439,0,0,0,0,0,0
$GC,12489,0.93,637.9,238.2,16.4,1020,12493,0.17,0.77,0.00,0.000,4,0.146,0.034,2671,2618,439,0,0,0,0,0,0
$GC,12563,0.88,637.9,226.7,14.0,1026,12570,0.00,0.77,0.00,0.000,6,0.000,0.028,2673,2089,439,0,0,0,0,0,0
$GC,12895,0.94,637.9,182.5,13.2,1068,12902,0.00,0.77,0.00,0.000,4,0.000,0.031,2673,2618,439,0,0,0,0,0,0
$GC,12939,0.97,637.9,176.7,13.4,1075,12945,0.00,0.75,0.00,0.000,6,0.000,0.030,2675,2106,439,0,0,0,0,0,0
$GC,13288,1.05,657.1,136.2,9.7,1136,13295,0.10,0.77,0.00,0.000,4,0.095,0.032,2733,2624,439,0,0,0,0,0,0
$GC,13319,1.03,657.1,132.4,10.5,1141,13327,0.08,0.77,0.22,0.091,6,0.154,0.028,2712,2092,440,0,0,0,0,0,0
$GC,13669,1.04,659.3,94.0,10.2,1202,13676,0.00,0.77,0.55,0.092,4,0.000,0.029,2714,1571,441,0,0,0,0,0,0
$GC,13709,1.06,659.3,89.9,10.8,1208,13717,0.00,0.77,1.48,0.075,6,0.000,0.027,2714,2109,441,0,0,0,0,0,0
$GC,14059,1.08,659.3,56.2,13.6,1269,14066,0.00,0.00,2.55,0.214,6,0.000,0.000,2714,2109,440,0,0,0,0,0,0
$GC,14408,1.15,660.8,18.2,10.3,1330,14415,0.00,0.70,1.08,0.079,4,0.000,0.028,2714,2616,442,0,0,0,0,0,0
$GC,14485,1.18,662.3,11.1,10.3,1343,14493,0.08,0.75,0.12,0.100,6,0.054,0.029,2766,2092,443,0,0,0,0,0,0
$STATE,14554,end climb,SURFACE_DEPTH_REACHED
$STATE,14554,begin surface coast
$FINISH,0.5,1.021975
$STATE,14579,end surface coast,CONTROL_FINISHED_OK
$STATE,14579,begin surface
$SM_CCo,14657,0.00,0.000,0,0,442,595.34
$SM_GC,1.34,6.78,0.00,0.00,0.033,0.000,0.000,210,2513,442,-6.68,0.37,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12026.40,011111,060631
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.2,124.416
$10V_AH,9.8,89.233
$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,19.675,52.300,638.525,0.000,0.000,28.153,18.474,145.782,0.250,0.000,18.374,3267.476,7977.075,683.533,2646.267,420.070,0.000,2017.925,0.000,2424.226,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,64.260,911.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,931.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,76956,1359
$CAP_FILE_SIZE,174209,0
$CFSIZE,260165632,184139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,142855,2144.266,12022.874,41,1.9,41,-2.6