version: 66.09
glider: 181
mission: 6
dive: 749
start: 11 1 111 14 35 33
data:
$ID,181
$MISSION,6
$DIVE,749
$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,-41793.809
$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,53
$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
$GPS1,011111,142855,2144.266,12022.874,41,1.9,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.6
$GPS2,011111,143508,2144.379,12022.866,14,1.8,14,-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,190.1,307051,-14.3,-10.313
$D_GRID,806
$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,-73.62,0.000,2,0.000,0.000,132,2516,2489,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.3,13,138,8.50,0.82,-28.50,0.000,4,0.222,0.061,2172,1943,3764,0,0,0,0,0,0
$GC,248,-0.49,-219.0,33.3,-17.5,39,256,0.12,0.82,0.00,0.000,6,0.137,0.035,2208,2489,3765,0,0,0,0,0,0
$GC,596,-0.41,-219.0,90.2,-14.5,100,603,0.12,0.75,0.00,0.000,4,0.153,0.026,2244,1959,3762,0,0,0,0,0,0
$GC,685,-0.43,-219.0,99.9,-9.8,115,691,0.00,0.82,0.00,0.000,6,0.000,0.034,2244,2508,3763,0,0,0,0,0,0
$GC,1031,-0.51,-219.0,134.5,-6.4,176,1038,0.00,0.75,0.00,0.000,4,0.000,0.038,2244,3021,3763,0,0,0,0,0,0
$GC,1098,-0.59,-219.0,138.5,-6.2,187,1105,0.12,0.75,0.00,0.000,6,0.040,0.024,2154,2475,3763,0,0,0,0,0,0
$GC,1445,-0.59,-219.0,173.3,-10.9,248,1452,0.10,0.85,0.00,0.000,4,0.138,0.037,2181,3028,3763,0,0,0,0,0,0
$GC,1557,-0.61,-219.0,184.6,-10.4,267,1564,0.00,0.73,0.00,0.000,6,0.000,0.024,2181,2498,3763,0,0,0,0,0,0
$GC,1898,-0.66,-219.0,216.7,-9.8,312,1902,0.00,0.68,0.00,0.000,4,0.000,0.026,2181,1971,3763,0,0,0,0,0,0
$GC,1956,-0.73,-219.0,222.2,-9.3,317,1961,0.10,0.77,0.00,0.000,6,0.041,0.031,2103,2502,3763,0,0,0,0,0,0
$GC,2288,-0.70,-219.0,257.0,-10.4,348,2292,0.15,0.80,0.00,0.000,4,0.133,0.037,2146,3034,3763,0,0,0,0,0,0
$GC,2339,-0.69,-219.0,262.4,-10.9,352,2346,0.00,0.73,0.00,0.000,6,0.000,0.024,2145,2506,3763,0,0,0,0,0,0
$GC,2665,-0.73,-219.0,295.1,-8.5,383,2669,0.00,0.77,0.00,0.000,4,0.000,0.037,2142,3024,3763,0,0,0,0,0,0
$GC,2724,-0.73,-219.0,300.3,-9.2,388,2728,0.00,0.73,0.00,0.000,6,0.000,0.025,2142,2502,3762,0,0,0,0,0,0
$GC,3055,-0.76,-219.0,329.6,-8.0,419,3059,0.00,0.70,0.00,0.000,4,0.000,0.026,2143,1963,3760,0,0,0,0,0,0
$GC,3096,-0.79,-219.0,333.1,-8.2,422,3103,0.00,0.80,0.00,0.000,6,0.000,0.035,2139,2499,3759,0,0,0,0,0,0
$GC,3422,-0.75,-219.0,368.6,-10.9,453,3425,0.00,0.77,0.00,0.000,4,0.000,0.041,2136,3022,3757,0,0,0,0,0,0
$GC,3639,-0.70,-219.0,395.3,-11.8,472,3643,0.00,0.73,0.00,0.000,6,0.000,0.027,2136,2502,3755,0,0,0,0,0,0
$GC,3971,-0.65,-219.0,427.5,-9.2,503,3975,0.00,0.73,0.00,0.000,4,0.000,0.028,2136,1966,3754,0,0,0,0,0,0
$GC,4046,-0.60,-219.0,434.7,-9.9,509,4053,0.12,0.80,0.00,0.000,6,0.121,0.037,2174,2496,3753,0,0,0,0,0,0
$GC,4373,-0.68,-219.0,461.8,-9.5,540,4377,0.00,0.80,0.00,0.000,4,0.000,0.041,2172,3030,3750,0,0,0,0,0,0
$GC,4465,-0.76,-219.0,471.6,-10.4,548,4469,0.10,0.75,0.00,0.000,6,0.046,0.027,2103,2503,3749,0,0,0,0,0,0
$GC,4792,-0.76,-219.0,512.6,-12.0,574,4795,0.00,0.80,0.00,0.000,4,0.000,0.038,2099,3024,3746,0,0,0,0,0,0
$GC,4930,-0.67,-219.0,530.4,-13.5,580,4935,0.17,0.75,0.00,0.000,6,0.132,0.027,2155,2494,3746,0,0,0,0,0,0
$GC,5267,-0.73,-219.0,561.4,-8.9,596,5271,0.00,0.80,0.00,0.000,4,0.000,0.040,2153,3018,3743,0,0,0,0,0,0
$GC,5381,-0.77,-219.0,572.9,-9.8,601,5385,0.00,0.75,0.00,0.000,6,0.000,0.026,2153,2497,3742,0,0,0,0,0,0
$GC,5716,-0.83,-219.0,604.8,-9.0,617,5721,0.12,0.73,0.00,0.000,4,0.083,0.028,2083,1970,3739,0,0,0,0,0,0
$GC,5824,-0.74,-219.0,618.1,-13.1,621,5831,0.17,0.80,0.00,0.000,6,0.128,0.037,2136,2494,3738,0,0,0,0,0,0
$GC,6144,-0.70,-219.0,644.3,-7.8,637,6148,0.00,0.80,0.00,0.000,4,0.000,0.043,2133,3022,3736,0,0,0,0,0,0
$GC,6245,-0.66,-219.0,652.3,-7.5,641,6249,0.00,0.75,0.00,0.000,6,0.000,0.028,2133,2498,3735,0,0,0,0,0,0
$GC,6568,-0.62,-219.0,678.0,-8.0,657,6573,0.15,0.85,0.00,0.000,4,0.147,0.043,2174,3026,3733,0,0,0,0,0,0
$GC,6671,-0.70,-219.0,684.7,-6.4,661,6675,0.00,0.75,0.00,0.000,6,0.000,0.028,2174,2501,3732,0,0,0,0,0,0
$GC,6994,-0.80,-219.0,709.6,-8.7,677,6999,0.17,0.73,0.00,0.000,4,0.073,0.031,2088,1981,3731,0,0,0,0,0,0
$GC,7027,-0.77,-219.0,714.2,-13.6,678,7031,0.12,0.80,0.00,0.000,6,0.134,0.040,2124,2499,3730,0,0,0,0,0,0
$GC,7349,-0.72,-219.0,758.5,-13.2,694,7352,0.00,0.80,0.00,0.000,4,0.000,0.044,2122,3024,3728,0,0,0,0,0,0
$GC,7479,-0.67,-219.0,772.3,-10.3,699,7486,0.10,0.75,0.00,0.000,6,0.133,0.028,2154,2504,3728,0,0,0,0,0,0
$GC,7795,-0.67,-219.0,792.7,-5.7,715,7799,0.00,0.82,0.00,0.000,4,0.000,0.043,2153,3030,3726,0,0,0,0,0,0
$GC,7881,-0.67,-219.0,798.8,-7.0,718,7887,0.00,0.77,0.00,0.000,6,0.000,0.028,2152,2498,3726,0,0,0,0,0,0
$STATE,8009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8009,begin apogee
$GC,8016,-0.19,0.0,806.2,5.7,725,8185,0.47,0.00,163.82,0.936,6,0.106,0.000,2311,2090,2869,0,0,0,0,0,0
$STATE,8187,end apogee,CONTROL_FINISHED_OK
$STATE,8187,begin climb
$GC,8190,0.61,219.0,812.8,0.0,733,8367,0.70,0.77,169.82,0.920,4,0.047,0.033,2589,1582,1976,0,0,0,0,0,0
$GC,8508,0.50,219.0,787.0,12.1,747,8516,0.17,0.80,0.00,0.000,6,0.145,0.031,2538,2113,1973,0,0,0,0,0,0
$GC,8826,0.57,328.9,762.5,6.8,763,8915,0.00,0.80,84.45,0.892,4,0.000,0.037,2538,2615,1528,0,0,0,0,0,0
$GC,9071,0.58,361.2,741.0,9.3,774,9101,0.00,0.75,26.85,0.845,6,0.000,0.028,2540,2101,1396,0,0,0,0,0,0
$GC,9413,0.70,456.3,716.4,7.3,790,9497,0.17,0.85,74.62,0.867,4,0.078,0.037,2619,2618,1007,0,0,0,0,0,0
$GC,9593,0.65,456.3,695.8,12.2,798,9597,0.10,0.77,0.00,0.000,6,0.137,0.029,2590,2101,1014,0,0,0,0,0,0
$GC,9927,0.63,456.3,652.3,14.9,814,9931,0.00,0.77,0.00,0.000,4,0.000,0.034,2592,1571,1014,0,0,0,0,0,0
$GC,9996,0.61,456.3,642.0,14.5,817,10000,0.00,0.77,0.00,0.000,6,0.000,0.031,2592,2092,1014,0,0,0,0,0,0
$GC,10331,0.59,456.3,598.0,13.0,833,10335,0.00,0.77,0.00,0.000,4,0.000,0.036,2592,2620,1013,0,0,0,0,0,0
$GC,10426,0.55,456.3,585.0,13.2,837,10431,0.12,0.77,0.00,0.000,6,0.129,0.031,2554,2099,1013,0,0,0,0,0,0
$GC,10754,0.61,456.3,549.4,10.4,853,10758,0.00,0.77,0.00,0.000,4,0.000,0.033,2554,2624,1013,0,0,0,0,0,0
$GC,10824,0.61,456.3,542.1,10.7,856,10828,0.00,0.77,0.00,0.000,6,0.000,0.030,2556,2095,1013,0,0,0,0,0,0
$GC,11157,0.71,485.3,511.9,9.4,872,11188,0.15,0.77,24.67,0.740,4,0.078,0.034,2633,1575,889,0,0,0,0,0,0
$GC,11284,0.66,485.3,495.6,14.2,878,11291,0.12,0.80,0.00,0.000,6,0.126,0.031,2592,2104,889,0,0,0,0,0,0
$GC,11611,0.69,485.3,455.7,13.3,909,11614,0.00,0.75,0.00,0.000,4,0.000,0.036,2592,2618,893,0,0,0,0,0,0
$GC,11672,0.71,485.3,447.1,13.1,914,11679,0.00,0.77,0.00,0.000,6,0.000,0.031,2594,2096,895,0,0,0,0,0,0
$GC,11998,0.78,485.3,406.7,12.2,945,12002,0.00,0.75,0.00,0.000,4,0.000,0.035,2596,1578,898,0,0,0,0,0,0
$GC,12056,0.82,485.3,399.7,12.3,950,12068,0.08,0.77,3.58,0.465,6,0.056,0.031,2646,2098,890,0,0,0,0,0,0
$GC,12386,0.78,485.3,355.2,13.3,981,12390,0.00,0.77,0.00,0.000,4,0.000,0.037,2646,2626,890,0,0,0,0,0,0
$GC,12448,0.71,485.3,346.5,13.7,986,12455,0.12,0.77,0.00,0.000,6,0.139,0.031,2610,2105,890,0,0,0,0,0,0
$GC,12774,0.76,488.4,312.0,10.2,1017,12786,0.00,0.80,4.53,0.509,4,0.000,0.036,2612,1574,877,0,0,0,0,0,0
$GC,12873,0.78,489.9,302.2,10.3,1025,12880,0.00,0.77,0.00,0.000,6,0.000,0.029,2612,2100,878,0,0,0,0,0,0
$GC,13199,0.85,513.7,270.6,9.6,1056,13225,0.10,0.77,20.85,0.590,4,0.102,0.036,2661,2617,774,0,0,0,0,0,0
$GC,13285,0.77,513.7,259.8,14.1,1063,13292,0.12,0.77,0.00,0.000,6,0.136,0.030,2625,2094,775,0,0,0,0,0,0
$GC,13611,0.84,517.6,222.3,10.2,1094,13623,0.00,0.77,5.35,0.498,4,0.000,0.031,2628,1572,757,0,0,0,0,0,0
$GC,13741,0.99,600.7,211.4,7.7,1105,13808,0.15,0.77,58.85,0.547,6,0.049,0.029,2708,2098,440,0,0,0,0,0,0
$GC,14141,0.99,600.7,166.5,14.6,1165,14149,0.00,0.82,2.58,0.249,4,0.000,0.033,2711,1570,440,0,0,0,0,0,0
$GC,14243,0.96,600.7,151.8,14.6,1182,14250,0.00,0.77,0.03,0.196,6,0.000,0.028,2711,2100,440,0,0,0,0,0,0
$GC,14592,0.98,600.7,109.5,11.4,1243,14599,0.00,0.75,0.00,0.000,4,0.000,0.034,2711,2622,440,0,0,0,0,0,0
$GC,14640,0.98,600.7,103.3,12.4,1251,14647,0.00,0.77,0.35,0.084,6,0.000,0.029,2714,2090,441,0,0,0,0,0,0
$GC,14989,1.02,600.7,62.6,10.4,1312,14996,0.00,0.80,0.55,0.090,4,0.000,0.026,2714,2620,442,0,0,0,0,0,0
$GC,15073,1.03,611.8,54.2,10.0,1326,15080,0.00,0.75,0.62,0.077,6,0.000,0.028,2717,2098,442,0,0,0,0,0,0
$GC,15422,1.08,611.8,20.2,10.4,1387,15429,0.00,0.00,2.83,0.239,6,0.000,0.000,2717,2098,439,0,0,0,0,0,0
$STATE,15585,end climb,SURFACE_DEPTH_REACHED
$STATE,15585,begin surface coast
$FINISH,0.5,1.021915
$STATE,15614,end surface coast,CONTROL_FINISHED_OK
$STATE,15614,begin surface
$SM_CCo,15692,0.00,0.000,0,0,440,595.83
$SM_GC,1.21,6.53,0.00,0.00,0.027,0.000,0.000,206,2484,440,-6.68,-0.45,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12026.40,011111,101015
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.06
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,124.580
$10V_AH,9.7,89.324
$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,19.600,55.350,644.350,0.000,0.000,22.723,18.754,168.092,0.000,0.000,17.402,3432.655,8618.914,692.134,2854.454,454.927,0.000,2129.609,0.000,2617.451,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,61.200,936.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,975.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,80355,1421
$CAP_FILE_SIZE,184698,0
$CFSIZE,260165632,184041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,185824,2144.851,12022.149,37,1.2,37,-2.6