version: 66.09
glider: 181
mission: 6
dive: 751
start: 11 1 111 23 37 40
data:
$ID,181
$MISSION,6
$DIVE,751
$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,-41796.418
$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,57
$R_STBD_OVSHOOT,38
$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
$GPS1,011111,232607,2144.745,12023.473,31,0.9,31,-2.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.7
$GPS2,011111,233713,2144.925,12023.700,8,0.9,13,-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,190.3,308247,-14.3,-10.312
$D_GRID,830
$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,-73.68,0.000,2,0.000,0.000,129,2483,2487,0,0,0,0,0,0
$GC,97,-0.61,-219.0,3.3,-3.0,13,139,8.52,0.77,-28.35,0.000,4,0.222,0.063,2171,1952,3766,0,0,0,0,0,0
$GC,248,-0.49,-219.0,34.4,-19.6,39,255,0.12,0.85,0.00,0.000,6,0.131,0.034,2207,2507,3766,0,0,0,0,0,0
$GC,596,-0.40,-219.0,92.0,-15.9,100,603,0.12,0.80,0.00,0.000,4,0.153,0.038,2242,3032,3764,0,0,0,0,0,0
$GC,617,-0.33,-219.0,95.2,-15.7,103,624,0.00,0.77,0.00,0.000,6,0.000,0.024,2241,2469,3764,0,0,0,0,0,0
$GC,964,-0.42,-219.0,131.5,-9.3,164,971,0.00,0.62,0.00,0.000,4,0.000,0.024,2241,1969,3763,0,0,0,0,0,0
$GC,1226,-0.57,-219.0,156.3,-9.7,210,1233,0.12,0.80,0.00,0.000,6,0.047,0.033,2175,2511,3763,0,0,0,0,0,0
$GC,1577,-0.59,-219.0,188.2,-7.7,271,1583,0.00,0.75,0.00,0.000,4,0.000,0.036,2172,3027,3763,0,0,0,0,0,0
$GC,1676,-0.58,-219.0,196.5,-8.0,288,1682,0.00,0.73,0.00,0.000,6,0.000,0.024,2172,2500,3763,0,0,0,0,0,0
$GC,2012,-0.62,-219.0,228.1,-10.5,323,2015,0.00,0.70,0.00,0.000,4,0.000,0.025,2172,1969,3764,0,0,0,0,0,0
$GC,2096,-0.66,-219.0,236.8,-9.5,330,2103,0.00,0.77,0.00,0.000,6,0.000,0.033,2170,2493,3764,0,0,0,0,0,0
$GC,2422,-0.72,-219.0,262.0,-6.9,361,2426,0.00,0.70,0.00,0.000,4,0.000,0.024,2170,1963,3762,0,0,0,0,0,0
$GC,2554,-0.76,-219.0,271.1,-7.6,372,2561,0.08,0.80,0.00,0.000,6,0.050,0.034,2107,2501,3762,0,0,0,0,0,0
$GC,2879,-0.76,-219.0,300.8,-11.3,403,2883,0.00,0.77,0.00,0.000,4,0.000,0.038,2103,3028,3760,0,0,0,0,0,0
$GC,2907,-0.72,-219.0,304.2,-11.9,405,2914,0.10,0.73,0.00,0.000,6,0.135,0.025,2136,2511,3759,0,0,0,0,0,0
$GC,3233,-0.67,-219.0,346.1,-10.6,436,3236,0.00,0.73,0.00,0.000,4,0.000,0.025,2136,1969,3757,0,0,0,0,0,0
$GC,3246,-0.63,-219.0,347.5,-10.3,437,3251,0.10,0.77,0.00,0.000,6,0.125,0.034,2168,2488,3757,0,0,0,0,0,0
$GC,3577,-0.71,-219.0,369.4,-5.7,468,3581,0.00,0.70,0.00,0.000,4,0.000,0.024,2168,1972,3755,0,0,0,0,0,0
$GC,3708,-0.76,-219.0,379.5,-8.7,479,3716,0.08,0.80,0.00,0.000,6,0.050,0.035,2109,2501,3753,0,0,0,0,0,0
$GC,4034,-0.76,-219.0,423.0,-13.3,510,4037,0.00,0.77,0.00,0.000,4,0.000,0.039,2105,3023,3750,0,0,0,0,0,0
$GC,4103,-0.69,-219.0,431.9,-13.3,516,4107,0.12,0.75,0.00,0.000,6,0.137,0.026,2145,2485,3750,0,0,0,0,0,0
$GC,4436,-0.66,-219.0,460.0,-7.3,547,4440,0.00,0.82,0.00,0.000,4,0.000,0.038,2142,3024,3747,0,0,0,0,0,0
$GC,4565,-0.62,-219.0,470.2,-8.6,558,4569,0.08,0.73,0.00,0.000,6,0.120,0.026,2170,2505,3746,0,0,0,0,0,0
$GC,4895,-0.69,-219.0,502.7,-10.9,588,4899,0.00,0.80,0.00,0.000,4,0.000,0.040,2169,3024,3744,0,0,0,0,0,0
$GC,5010,-0.74,-219.0,514.7,-10.6,593,5014,0.08,0.75,0.00,0.000,6,0.051,0.025,2112,2491,3743,0,0,0,0,0,0
$GC,5345,-0.75,-219.0,548.2,-8.7,609,5349,0.00,0.82,0.00,0.000,4,0.000,0.041,2111,3022,3739,0,0,0,0,0,0
$GC,5407,-0.71,-219.0,555.8,-11.8,611,5414,0.10,0.73,0.00,0.000,6,0.142,0.026,2143,2511,3739,0,0,0,0,0,0
$GC,5724,-0.68,-219.0,593.3,-12.3,627,5727,0.00,0.80,0.00,0.000,4,0.000,0.042,2141,3027,3737,0,0,0,0,0,0
$GC,5774,-0.66,-219.0,599.2,-11.0,629,5778,0.00,0.75,0.00,0.000,6,0.000,0.027,2141,2502,3736,0,0,0,0,0,0
$GC,6103,-0.63,-219.0,633.4,-11.5,645,6108,0.12,0.82,0.00,0.000,4,0.151,0.042,2174,3014,3734,0,0,0,0,0,0
$GC,6199,-0.66,-219.0,642.4,-9.1,649,6203,0.00,0.75,0.00,0.000,6,0.000,0.027,2174,2502,3733,0,0,0,0,0,0
$GC,6528,-0.76,-219.0,674.7,-9.2,665,6533,0.12,0.75,0.00,0.000,4,0.087,0.026,2107,1957,3732,0,0,0,0,0,0
$GC,6553,-0.81,-219.0,677.3,-9.5,666,6557,0.00,0.82,0.00,0.000,6,0.000,0.037,2102,2496,3731,0,0,0,0,0,0
$GC,6887,-0.73,-219.0,718.9,-10.4,682,6892,0.12,0.77,0.00,0.000,4,0.161,0.027,2136,1968,3729,0,0,0,0,0,0
$GC,7012,-0.71,-219.0,730.6,-8.8,687,7016,0.00,0.82,0.00,0.000,6,0.000,0.039,2132,2499,3728,0,0,0,0,0,0
$GC,7336,-0.67,-219.0,762.2,-9.9,703,7339,0.00,0.80,0.00,0.000,4,0.000,0.044,2128,3024,3726,0,0,0,0,0,0
$GC,7596,-0.76,-219.0,776.1,-1.4,714,7600,0.00,0.77,0.00,0.000,6,0.000,0.027,2128,2491,3725,0,0,0,0,0,0
$STATE,7729,end dive,NO_VERTICAL_VELOCITY
$STATE,7729,begin apogee
$GC,7736,-0.19,0.0,776.1,0.0,721,7906,0.50,0.00,163.10,0.916,6,0.077,0.000,2312,2100,2869,0,0,0,0,0,0
$STATE,7906,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7910,0.61,219.0,775.8,0.0,729,8087,0.73,0.77,169.05,0.898,4,0.068,0.033,2576,1591,1976,0,0,0,0,0,0
$GC,8103,0.52,219.0,765.9,10.8,738,8107,0.10,0.80,0.00,0.000,6,0.146,0.031,2547,2111,1974,0,0,0,0,0,0
$GC,8438,0.49,257.7,734.5,9.1,754,8473,0.00,0.77,30.77,0.857,4,0.000,0.033,2547,2618,1817,0,0,0,0,0,0
$GC,8631,0.44,265.6,715.3,10.1,762,8643,0.08,0.75,7.70,0.710,6,0.138,0.028,2523,2108,1786,0,0,0,0,0,0
$GC,8966,0.50,338.7,687.4,8.0,779,9029,0.00,0.80,56.30,0.849,4,0.000,0.030,2523,2624,1488,0,0,0,0,0,0
$GC,9071,0.48,338.7,676.5,11.4,783,9077,0.00,0.77,0.00,0.000,6,0.000,0.029,2525,2105,1486,0,0,0,0,0,0
$GC,9389,0.51,338.7,637.5,13.0,799,9392,0.00,0.77,0.00,0.000,4,0.000,0.034,2525,2624,1491,0,0,0,0,0,0
$GC,9507,0.49,338.7,623.2,12.4,804,9511,0.00,0.77,0.00,0.000,6,0.000,0.029,2528,2098,1492,0,0,0,0,0,0
$GC,9836,0.59,391.9,592.1,8.6,820,9883,0.12,0.80,42.53,0.798,4,0.091,0.034,2590,1578,1270,0,0,0,0,0,0
$GC,10036,0.55,391.9,569.0,10.9,829,10041,0.10,0.77,0.00,0.000,6,0.122,0.030,2557,2098,1269,0,0,0,0,0,0
$GC,10366,0.54,391.9,536.5,12.4,845,10370,0.00,0.77,0.00,0.000,4,0.000,0.033,2559,1572,1268,0,0,0,0,0,0
$GC,10475,0.52,391.9,520.6,14.6,849,10482,0.00,0.77,0.00,0.000,6,0.000,0.029,2559,2094,1268,0,0,0,0,0,0
$GC,10800,0.54,391.9,481.1,11.1,872,10803,0.00,0.77,0.00,0.000,4,0.000,0.036,2559,2622,1268,0,0,0,0,0,0
$GC,10885,0.56,401.6,472.3,10.0,879,10897,0.00,0.77,8.68,0.649,6,0.000,0.030,2562,2095,1231,0,0,0,0,0,0
$GC,11217,0.72,505.7,447.4,7.0,910,11301,0.12,0.00,79.55,0.711,6,0.087,0.000,2626,2095,807,0,0,0,0,0,0
$GC,11619,0.69,505.7,403.9,13.3,948,11631,0.00,0.82,3.67,0.448,4,0.000,0.033,2626,2621,807,0,0,0,0,0,0
$GC,11694,0.63,505.7,394.0,13.6,954,11702,0.15,0.77,0.00,0.000,6,0.134,0.030,2581,2101,807,0,0,0,0,0,0
$GC,12021,0.77,538.2,362.0,9.3,985,12055,0.12,0.77,26.65,0.646,4,0.091,0.031,2647,1584,672,0,0,0,0,0,0
$GC,12157,0.77,538.2,346.6,11.4,997,12161,0.00,0.77,0.00,0.000,6,0.000,0.028,2647,2112,672,0,0,0,0,0,0
$GC,12490,0.90,624.9,318.8,7.6,1028,12539,0.00,0.75,43.70,0.623,4,0.000,0.035,2647,2610,440,0,0,0,0,0,0
$GC,12629,0.92,624.9,305.0,11.2,1040,12637,0.00,0.77,2.60,0.263,6,0.000,0.030,2650,2091,440,0,0,0,0,0,0
$GC,12955,0.98,624.9,264.9,12.5,1071,12959,0.12,0.77,0.00,0.000,4,0.086,0.035,2717,1576,439,0,0,0,0,0,0
$GC,13024,0.91,624.9,254.7,16.8,1077,13029,0.15,0.77,0.08,0.122,6,0.136,0.029,2670,2103,440,0,0,0,0,0,0
$GC,13356,0.96,634.1,217.7,10.0,1108,13360,0.00,0.77,0.00,0.000,4,0.000,0.031,2671,1572,440,0,0,0,0,0,0
$GC,13448,0.97,634.1,207.6,11.8,1116,13452,0.00,0.77,0.00,0.000,6,0.000,0.028,2672,2099,440,0,0,0,0,0,0
$GC,13788,1.02,634.1,163.4,11.3,1171,13795,0.00,0.77,0.00,0.000,4,0.000,0.033,2674,1573,440,0,0,0,0,0,0
$GC,13877,1.04,634.1,153.8,10.8,1186,13885,0.08,0.77,0.20,0.095,6,0.055,0.028,2729,2100,440,0,0,0,0,0,0
$GC,14225,1.06,634.1,109.7,10.5,1247,14233,0.00,0.77,0.50,0.096,4,0.000,0.030,2729,2618,441,0,0,0,0,0,0
$GC,14274,1.03,634.1,104.4,11.5,1255,14281,0.00,0.77,0.15,0.100,6,0.000,0.029,2732,2090,441,0,0,0,0,0,0
$GC,14625,1.06,649.9,67.1,9.8,1316,14633,0.00,0.80,2.22,0.170,4,0.000,0.034,2736,1568,440,0,0,0,0,0,0
$GC,14654,1.12,686.7,64.4,9.1,1320,14661,0.00,0.77,0.03,0.197,6,0.000,0.027,2735,2104,440,0,0,0,0,0,0
$GC,15005,1.14,686.7,25.0,12.6,1381,15013,0.00,0.82,2.38,0.186,4,0.000,0.031,2739,1572,439,0,0,0,0,0,0
$GC,15042,1.14,686.7,19.6,12.6,1387,15049,0.00,0.75,0.00,0.000,6,0.000,0.027,2739,2100,440,0,0,0,0,0,0
$STATE,15198,end climb,SURFACE_DEPTH_REACHED
$STATE,15198,begin surface coast
$FINISH,0.7,1.022079
$STATE,15231,end surface coast,CONTROL_FINISHED_OK
$STATE,15231,begin surface
$SM_CCo,15309,0.00,0.000,0,0,441,595.59
$SM_GC,1.15,6.75,0.00,0.00,0.034,0.000,0.000,205,2488,441,-6.69,-0.34,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12021.23,011111,232336
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.92
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.1,124.910
$10V_AH,9.7,89.505
$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,19.125,53.625,639.850,0.000,0.000,84.393,120.280,168.124,0.000,0.000,16.460,3429.004,8414.302,679.799,2986.441,455.918,0.000,2088.837,0.000,2575.604,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,62.730,916.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,975.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80348,1420
$CAP_FILE_SIZE,183355,0
$CFSIZE,260165632,183865344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021111,035407,2143.840,12024.630,37,0.9,37,-2.6