version: 66.09
glider: 181
mission: 6
dive: 750
start: 11 1 111 19 5 57
data:
$ID,181
$MISSION,6
$DIVE,750
$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,-41795.066
$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,58
$R_STBD_OVSHOOT,32
$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
$GPS1,011111,185824,2144.851,12022.149,37,1.2,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.3
$GPS2,011111,190532,2145.017,12022.160,10,1.7,10,-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,189.8,308065,-14.3,-10.312
$D_GRID,899
$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,-73.50,0.000,2,0.000,0.000,129,2485,2484,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.5,-3.3,13,138,8.60,0.77,-28.25,0.000,4,0.226,0.063,2172,1935,3764,0,0,0,0,0,0
$GC,214,-0.50,-219.0,28.5,-19.2,33,222,0.12,0.88,0.00,0.000,6,0.129,0.035,2209,2507,3764,0,0,0,0,0,0
$GC,562,-0.42,-219.0,82.1,-15.5,94,569,0.10,0.77,0.00,0.000,4,0.169,0.024,2237,1935,3762,0,0,0,0,0,0
$GC,638,-0.42,-219.0,92.2,-11.8,107,645,0.00,0.85,0.00,0.000,6,0.000,0.032,2234,2506,3763,0,0,0,0,0,0
$GC,986,-0.49,-219.0,126.1,-8.6,168,992,0.00,0.75,0.00,0.000,4,0.000,0.024,2234,1945,3762,0,0,0,0,0,0
$GC,1001,-0.58,-219.0,127.4,-9.1,170,1009,0.10,0.82,0.00,0.000,6,0.041,0.031,2162,2505,3762,0,0,0,0,0,0
$GC,1351,-0.58,-219.0,163.3,-9.9,231,1357,0.00,0.75,0.00,0.000,4,0.000,0.037,2158,3021,3763,0,0,0,0,0,0
$GC,1438,-0.54,-219.0,172.4,-10.6,246,1445,0.10,0.75,0.00,0.000,6,0.114,0.024,2193,2470,3763,0,0,0,0,0,0
$GC,1791,-0.62,-219.0,207.7,-9.5,301,1794,0.00,0.62,0.00,0.000,4,0.000,0.026,2193,1973,3763,0,0,0,0,0,0
$GC,1871,-0.67,-219.0,215.0,-8.2,308,1876,0.08,0.77,0.00,0.000,6,0.048,0.032,2133,2502,3763,0,0,0,0,0,0
$GC,2202,-0.67,-219.0,249.2,-11.4,339,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2502,3763,0,0,0,0,0,0
$GC,2524,-0.61,-219.0,293.5,-14.4,369,2528,0.15,0.80,0.00,0.000,4,0.148,0.037,2172,3029,3762,0,0,0,0,0,0
$GC,2582,-0.59,-219.0,301.8,-12.9,374,2586,0.00,0.73,0.00,0.000,6,0.000,0.024,2172,2498,3761,0,0,0,0,0,0
$GC,2914,-0.67,-219.0,336.8,-9.3,405,2918,0.00,0.68,0.00,0.000,4,0.000,0.025,2172,1969,3760,0,0,0,0,0,0
$GC,2938,-0.75,-219.0,338.6,-9.0,407,2943,0.08,0.77,0.00,0.000,6,0.050,0.032,2106,2499,3760,0,0,0,0,0,0
$GC,3271,-0.74,-219.0,372.8,-10.8,438,3275,0.10,0.80,0.00,0.000,4,0.155,0.040,2131,3022,3758,0,0,0,0,0,0
$GC,3374,-0.73,-219.0,384.3,-10.6,447,3378,0.00,0.73,0.00,0.000,6,0.000,0.025,2131,2498,3757,0,0,0,0,0,0
$GC,3706,-0.75,-219.0,414.1,-8.8,478,3709,0.00,0.68,0.00,0.000,4,0.000,0.026,2130,1976,3754,0,0,0,0,0,0
$GC,3812,-0.69,-219.0,425.2,-10.7,487,3819,0.00,0.77,0.00,0.000,6,0.000,0.034,2127,2494,3754,0,0,0,0,0,0
$GC,4138,-0.64,-219.0,462.8,-12.6,518,4140,0.15,0.00,0.00,0.000,6,0.148,0.000,2168,2494,3751,0,0,0,0,0,0
$GC,4456,-0.72,-219.0,495.8,-10.1,548,4460,0.00,0.80,0.00,0.000,4,0.000,0.040,2167,3030,3749,0,0,0,0,0,0
$GC,4553,-0.78,-219.0,505.1,-8.7,554,4558,0.10,0.75,0.00,0.000,6,0.047,0.025,2100,2503,3748,0,0,0,0,0,0
$GC,4880,-0.78,-219.0,536.6,-10.3,570,4884,0.00,0.73,0.00,0.000,4,0.000,0.027,2100,1968,3745,0,0,0,0,0,0
$GC,4960,-0.74,-219.0,546.0,-12.1,573,4964,0.10,0.80,0.00,0.000,6,0.116,0.035,2133,2494,3745,0,0,0,0,0,0
$GC,5284,-0.77,-219.0,575.5,-7.9,589,5287,0.00,0.80,0.00,0.000,4,0.000,0.040,2131,3029,3742,0,0,0,0,0,0
$GC,5399,-0.79,-219.0,583.8,-6.9,594,5403,0.00,0.75,0.00,0.000,6,0.000,0.027,2131,2503,3740,0,0,0,0,0,0
$GC,5733,-0.82,-219.0,607.9,-7.6,610,5737,0.00,0.80,0.00,0.000,4,0.000,0.040,2127,3021,3739,0,0,0,0,0,0
$GC,5784,-0.82,-219.0,612.5,-9.0,612,5789,0.00,0.75,0.00,0.000,6,0.000,0.028,2127,2504,3739,0,0,0,0,0,0
$GC,6113,-0.85,-219.0,642.8,-9.5,628,6116,0.00,0.82,0.00,0.000,4,0.000,0.040,2125,3021,3736,0,0,0,0,0,0
$GC,6205,-0.85,-219.0,651.9,-9.8,632,6209,0.00,0.75,0.00,0.000,6,0.000,0.027,2125,2499,3735,0,0,0,0,0,0
$GC,6539,-0.88,-219.0,676.5,-6.4,648,6543,0.00,0.82,0.00,0.000,4,0.000,0.041,2125,3030,3733,0,0,0,0,0,0
$GC,6642,-0.86,-219.0,683.1,-6.4,652,6646,0.00,0.77,0.00,0.000,6,0.000,0.026,2125,2489,3733,0,0,0,0,0,0
$GC,6964,-0.81,-219.0,708.9,-8.5,668,6968,0.00,0.82,0.00,0.000,4,0.000,0.041,2121,3021,3731,0,0,0,0,0,0
$GC,7015,-0.77,-219.0,714.6,-11.2,670,7018,0.00,0.75,0.00,0.000,6,0.000,0.027,2121,2502,3730,0,0,0,0,0,0
$GC,7344,-0.72,-219.0,753.1,-11.5,686,7347,0.00,0.82,0.00,0.000,4,0.000,0.041,2117,3032,3728,0,0,0,0,0,0
$GC,7377,-0.67,-219.0,757.2,-11.1,687,7382,0.10,0.77,0.00,0.000,6,0.135,0.027,2150,2494,3728,0,0,0,0,0,0
$GC,7701,-0.67,-219.0,784.7,-8.4,703,7704,0.00,0.82,0.00,0.000,4,0.000,0.041,2148,3026,3726,0,0,0,0,0,0
$GC,7792,-0.67,-219.0,791.6,-7.1,707,7796,0.00,0.75,0.00,0.000,6,0.000,0.027,2148,2522,3726,0,0,0,0,0,0
$STATE,8020,end dive,NO_VERTICAL_VELOCITY
$STATE,8020,begin apogee
$GC,8028,-0.19,0.0,791.6,0.0,718,8197,0.47,0.00,163.55,0.925,6,0.091,0.000,2315,2087,2869,0,0,0,0,0,0
$STATE,8199,end apogee,CONTROL_FINISHED_OK
$STATE,8200,begin climb
$GC,8202,0.61,219.0,791.5,0.0,726,8383,0.77,0.88,169.95,0.906,4,0.083,0.036,2574,2636,1976,0,0,0,0,0,0
$GC,8486,0.50,219.0,770.7,10.9,739,8490,0.12,0.80,0.00,0.000,6,0.145,0.029,2541,2100,1974,0,0,0,0,0,0
$GC,8811,0.51,270.7,742.1,8.7,755,8857,0.00,0.82,40.45,0.869,4,0.000,0.034,2543,1570,1764,0,0,0,0,0,0
$GC,8954,0.46,270.7,727.9,10.5,761,8958,0.00,0.82,0.00,0.000,6,0.000,0.029,2543,2115,1764,0,0,0,0,0,0
$GC,9276,0.41,274.4,695.2,10.2,777,9286,0.12,0.77,4.30,0.588,4,0.161,0.037,2510,2626,1750,0,0,0,0,0,0
$GC,9350,0.44,307.4,688.2,9.3,780,9381,0.00,0.77,26.80,0.825,6,0.000,0.029,2512,2098,1614,0,0,0,0,0,0
$GC,9693,0.56,381.0,658.6,8.0,796,9757,0.12,0.82,57.30,0.830,4,0.092,0.035,2573,1572,1314,0,0,0,0,0,0
$GC,9871,0.52,381.0,639.6,11.2,804,9875,0.00,0.80,0.00,0.000,6,0.000,0.029,2572,2105,1314,0,0,0,0,0,0
$GC,10205,0.48,381.0,603.3,11.3,820,10209,0.15,0.77,0.00,0.000,4,0.136,0.037,2529,2615,1316,0,0,0,0,0,0
$GC,10325,0.53,419.9,591.7,9.1,825,10363,0.00,0.75,31.25,0.783,6,0.000,0.030,2531,2104,1156,0,0,0,0,0,0
$GC,10673,0.64,441.9,558.2,9.6,842,10697,0.15,0.82,19.38,0.740,4,0.083,0.032,2605,2630,1066,0,0,0,0,0,0
$GC,10744,0.58,441.9,549.5,13.4,845,10748,0.12,0.77,0.00,0.000,6,0.138,0.029,2569,2110,1066,0,0,0,0,0,0
$GC,11080,0.65,463.5,515.9,9.6,861,11103,0.00,0.82,17.85,0.715,4,0.000,0.034,2570,1572,978,0,0,0,0,0,0
$GC,11154,0.77,506.7,508.8,8.9,864,11193,0.10,0.77,34.10,0.724,6,0.051,0.028,2634,2099,803,0,0,0,0,0,0
$GC,11509,0.77,506.7,467.2,11.7,894,11513,0.00,0.75,0.00,0.000,4,0.000,0.035,2634,2616,811,0,0,0,0,0,0
$GC,11626,0.71,506.7,452.4,13.1,904,11635,0.10,0.77,3.80,0.485,6,0.138,0.029,2605,2096,803,0,0,0,0,0,0
$GC,11953,0.81,552.4,420.8,8.9,935,11997,0.00,0.80,36.35,0.682,4,0.000,0.036,2607,1572,616,0,0,0,0,0,0
$GC,12070,0.87,573.3,410.4,9.6,945,12094,0.10,0.77,17.85,0.634,6,0.054,0.028,2662,2096,532,0,0,0,0,0,0
$GC,12412,0.88,573.3,365.5,13.8,977,12416,0.00,0.75,0.00,0.000,4,0.000,0.035,2662,2614,533,0,0,0,0,0,0
$GC,12440,0.90,573.3,361.1,14.5,979,12447,0.00,0.77,0.00,0.000,6,0.000,0.030,2665,2091,532,0,0,0,0,0,0
$GC,12766,0.91,573.3,313.9,14.5,1010,12770,0.00,0.77,0.00,0.000,4,0.000,0.032,2664,2618,532,0,0,0,0,0,0
$GC,12779,0.91,573.3,312.0,14.5,1011,12783,0.00,0.75,0.00,0.000,6,0.000,0.031,2667,2109,533,0,0,0,0,0,0
$GC,13110,0.91,573.3,268.2,11.7,1042,13114,0.00,0.77,0.00,0.000,4,0.000,0.034,2671,1572,533,0,0,0,0,0,0
$GC,13224,0.91,573.3,254.8,11.5,1052,13228,0.00,0.77,0.00,0.000,6,0.000,0.028,2672,2101,533,0,0,0,0,0,0
$GC,13557,0.94,573.3,218.5,10.4,1083,13561,0.00,0.77,0.00,0.000,4,0.000,0.031,2675,1571,533,0,0,0,0,0,0
$GC,13594,0.96,573.3,214.6,10.7,1086,13597,0.00,0.77,0.00,0.000,6,0.000,0.029,2675,2098,533,0,0,0,0,0,0
$GC,13933,1.00,573.3,172.1,12.1,1135,13939,0.00,0.77,0.00,0.000,4,0.000,0.032,2678,1571,533,0,0,0,0,0,0
$GC,13963,1.05,573.3,168.4,11.9,1140,13970,0.00,0.77,0.00,0.000,6,0.000,0.029,2677,2096,534,0,0,0,0,0,0
$GC,14309,1.11,573.3,130.1,11.7,1201,14316,0.15,0.77,0.00,0.000,4,0.076,0.035,2757,2619,534,0,0,0,0,0,0
$GC,14397,1.00,573.3,116.7,15.9,1216,14404,0.17,0.77,0.00,0.000,6,0.140,0.029,2706,2090,534,0,0,0,0,0,0
$GC,14747,1.08,604.6,79.4,9.3,1277,14771,0.00,0.00,18.83,0.486,6,0.000,0.000,2706,2090,439,0,0,0,0,0,0
$GC,15114,1.16,604.6,43.8,11.0,1341,15122,0.12,0.75,0.00,0.000,4,0.086,0.034,2772,1574,440,0,0,0,0,0,0
$GC,15163,1.15,604.6,37.8,12.2,1349,15171,0.00,0.77,0.05,0.144,6,0.000,0.025,2772,2119,440,0,0,0,0,0,0
$STATE,15433,end climb,SURFACE_DEPTH_REACHED
$STATE,15434,begin surface coast
$FINISH,0.5,1.013373
$STATE,15457,end surface coast,CONTROL_FINISHED_OK
$STATE,15457,begin surface
$SM_CCo,15537,0.00,0.000,0,0,443,595.10
$SM_GC,1.29,6.75,0.00,0.00,0.031,0.000,0.000,198,2474,443,-6.70,-0.74,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2138.81,12024.40,011111,141414
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,124.744
$10V_AH,9.7,89.413
$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,19.425,54.025,641.800,0.000,0.000,30.609,46.640,184.717,0.000,0.000,13.218,3382.959,8661.180,674.285,2790.802,439.938,0.000,2050.699,0.000,2505.990,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,62.730,924.885,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,961.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80221,1401
$CAP_FILE_SIZE,179209,0
$CFSIZE,260165632,183955456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011111,232607,2144.745,12023.473,31,0.9,31,-2.6