version: 66.09
glider: 181
mission: 6
dive: 752
start: 11 2 111 4 1 15
data:
$ID,181
$MISSION,6
$DIVE,752
$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,-41797.676
$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,56
$R_STBD_OVSHOOT,45
$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
$GPS1,021111,035407,2143.840,12024.630,37,0.9,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.1
$GPS2,021111,040050,2143.938,12024.675,12,1.2,12,-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,190.7,306672,-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,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,-73.32,0.000,2,0.000,0.000,139,2485,2493,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.6,-3.3,13,138,8.45,0.77,-28.20,0.000,4,0.220,0.063,2173,1950,3764,0,0,0,0,0,0
$GC,231,-0.49,-219.0,29.4,-17.1,36,239,0.12,0.82,0.00,0.000,6,0.131,0.034,2210,2496,3764,0,0,0,0,0,0
$GC,579,-0.41,-219.0,82.3,-14.3,97,586,0.12,0.82,0.00,0.000,4,0.150,0.040,2244,3033,3762,0,0,0,0,0,0
$GC,709,-0.36,-219.0,97.9,-11.0,119,716,0.00,0.77,0.00,0.000,6,0.000,0.024,2244,2472,3762,0,0,0,0,0,0
$GC,1058,-0.49,-219.0,128.2,-11.5,180,1064,0.00,0.62,0.00,0.000,4,0.000,0.024,2244,1975,3763,0,0,0,0,0,0
$GC,1321,-0.65,-219.0,152.7,-7.7,226,1328,0.17,0.77,0.00,0.000,6,0.046,0.033,2162,2501,3763,0,0,0,0,0,0
$GC,1671,-0.69,-219.0,186.9,-9.2,287,1677,0.00,0.70,0.00,0.000,4,0.000,0.024,2162,1971,3763,0,0,0,0,0,0
$GC,1715,-0.71,-219.0,191.3,-9.6,294,1721,0.00,0.77,0.00,0.000,6,0.000,0.034,2158,2498,3763,0,0,0,0,0,0
$GC,2047,-0.74,-219.0,222.7,-9.9,333,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2498,3763,0,0,0,0,0,0
$GC,2368,-0.79,-219.0,258.1,-11.8,363,2373,0.12,0.73,0.00,0.000,4,0.077,0.026,2083,1975,3763,0,0,0,0,0,0
$GC,2396,-0.75,-219.0,262.3,-12.6,365,2403,0.15,0.77,0.00,0.000,6,0.132,0.034,2126,2491,3762,0,0,0,0,0,0
$GC,2721,-0.68,-219.0,309.5,-16.3,396,2723,0.10,0.00,0.00,0.000,6,0.168,0.000,2153,2491,3761,0,0,0,0,0,0
$GC,3041,-0.72,-219.0,345.9,-8.6,426,3045,0.00,0.80,0.00,0.000,4,0.000,0.039,2152,3025,3759,0,0,0,0,0,0
$GC,3125,-0.76,-219.0,351.3,-6.0,433,3132,0.00,0.73,0.00,0.000,6,0.000,0.026,2152,2505,3759,0,0,0,0,0,0
$GC,3451,-0.81,-219.0,374.7,-11.1,464,3455,0.12,0.82,0.00,0.000,4,0.080,0.040,2077,3029,3756,0,0,0,0,0,0
$GC,3631,-0.68,-219.0,406.6,-18.2,480,3636,0.22,0.75,0.00,0.000,6,0.141,0.027,2147,2498,3754,0,0,0,0,0,0
$GC,3963,-0.65,-219.0,446.4,-9.9,511,3967,0.00,0.80,0.00,0.000,4,0.000,0.040,2144,3019,3752,0,0,0,0,0,0
$GC,4049,-0.61,-219.0,454.7,-9.8,518,4057,0.08,0.75,0.00,0.000,6,0.120,0.027,2172,2494,3751,0,0,0,0,0,0
$GC,4377,-0.70,-219.0,478.4,-7.4,549,4381,0.00,0.80,0.00,0.000,4,0.000,0.041,2170,3017,3749,0,0,0,0,0,0
$GC,4440,-0.78,-219.0,483.6,-8.0,554,4448,0.10,0.75,0.00,0.000,6,0.047,0.027,2103,2494,3749,0,0,0,0,0,0
$GC,4764,-0.77,-219.0,515.2,-10.2,578,4768,0.00,0.82,0.00,0.000,4,0.000,0.041,2099,3029,3746,0,0,0,0,0,0
$GC,4935,-0.68,-219.0,537.2,-14.6,585,4940,0.17,0.75,0.00,0.000,6,0.132,0.027,2154,2504,3744,0,0,0,0,0,0
$GC,5259,-0.74,-219.0,570.0,-9.3,601,5263,0.00,0.80,0.00,0.000,4,0.000,0.041,2152,3021,3742,0,0,0,0,0,0
$GC,5317,-0.80,-219.0,575.4,-8.8,603,5322,0.08,0.75,0.00,0.000,6,0.056,0.028,2097,2501,3742,0,0,0,0,0,0
$GC,5640,-0.80,-219.0,602.8,-7.9,619,5643,0.00,0.73,0.00,0.000,4,0.000,0.028,2097,1962,3739,0,0,0,0,0,0
$GC,5718,-0.75,-219.0,609.7,-9.0,622,5723,0.10,0.82,0.00,0.000,6,0.119,0.037,2127,2500,3739,0,0,0,0,0,0
$GC,6044,-0.71,-219.0,639.3,-9.7,638,6048,0.00,0.77,0.00,0.000,4,0.000,0.028,2128,1971,3736,0,0,0,0,0,0
$GC,6072,-0.67,-219.0,642.9,-10.2,639,6077,0.08,0.80,0.00,0.000,6,0.129,0.039,2151,2489,3736,0,0,0,0,0,0
$GC,6403,-0.73,-219.0,675.2,-11.3,655,6407,0.00,0.82,0.00,0.000,4,0.000,0.042,2151,3030,3734,0,0,0,0,0,0
$GC,6450,-0.76,-219.0,680.6,-10.8,657,6454,0.00,0.77,0.00,0.000,6,0.000,0.028,2151,2501,3733,0,0,0,0,0,0
$GC,6785,-0.83,-219.0,709.1,-8.3,673,6789,0.12,0.85,0.00,0.000,4,0.086,0.043,2083,3028,3732,0,0,0,0,0,0
$STATE,6815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6815,begin apogee
$GC,6823,-0.19,0.0,712.4,8.5,674,6993,0.73,0.00,163.07,0.868,6,0.127,0.000,2306,2095,2869,0,0,0,0,0,0
$STATE,6994,end apogee,CONTROL_FINISHED_OK
$STATE,6994,begin climb
$GC,6997,0.61,219.0,720.3,0.0,682,7171,0.73,0.82,167.55,0.857,4,0.049,0.034,2590,1572,1976,0,0,0,0,0,0
$GC,7423,0.50,219.0,675.9,12.0,701,7427,0.15,0.82,0.00,0.000,6,0.137,0.032,2544,2116,1973,0,0,0,0,0,0
$GC,7754,0.58,342.5,647.7,6.4,717,7853,0.00,0.75,93.47,0.817,4,0.000,0.031,2544,2621,1473,0,0,0,0,0,0
$GC,7992,0.64,415.7,628.3,8.0,727,8057,0.08,0.77,57.12,0.792,6,0.062,0.030,2591,2093,1174,0,0,0,0,0,0
$GC,8366,0.61,415.7,584.8,13.9,745,8370,0.00,0.73,0.00,0.000,4,0.000,0.034,2595,1588,1178,0,0,0,0,0,0
$GC,8444,0.57,415.7,572.3,15.5,748,8449,0.10,0.77,0.00,0.000,6,0.122,0.028,2562,2115,1178,0,0,0,0,0,0
$GC,8768,0.62,415.7,532.3,11.0,764,8772,0.00,0.77,0.00,0.000,4,0.000,0.032,2563,1585,1177,0,0,0,0,0,0
$GC,8830,0.70,448.7,526.3,9.3,766,8862,0.08,0.75,27.17,0.738,6,0.058,0.030,2618,2093,1039,0,0,0,0,0,0
$GC,9183,0.77,511.4,492.3,8.3,787,9238,0.00,0.75,48.50,0.724,4,0.000,0.031,2618,2618,784,0,0,0,0,0,0
$GC,9330,0.71,511.4,478.4,10.6,800,9334,0.00,0.77,0.00,0.000,6,0.000,0.030,2621,2096,788,0,0,0,0,0,0
$GC,9662,0.73,511.4,446.2,10.9,831,9674,0.00,0.80,3.88,0.493,4,0.000,0.034,2625,1572,784,0,0,0,0,0,0
$GC,9709,0.73,511.4,440.8,10.8,835,9713,0.00,0.77,0.00,0.000,6,0.000,0.029,2625,2097,785,0,0,0,0,0,0
$GC,10040,0.72,511.4,397.9,14.3,866,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2097,786,0,0,0,0,0,0
$GC,10361,0.72,511.4,359.2,10.7,896,10364,0.00,0.77,0.00,0.000,4,0.000,0.031,2628,1568,786,0,0,0,0,0,0
$GC,10431,0.69,511.4,351.5,11.4,902,10436,0.08,0.77,0.00,0.000,6,0.129,0.028,2601,2100,785,0,0,0,0,0,0
$GC,10763,0.88,596.1,322.8,7.6,933,10832,0.17,0.75,64.40,0.627,4,0.069,0.031,2685,2623,440,0,0,0,0,0,0
$GC,10934,0.82,596.1,302.1,15.2,948,10938,0.12,0.77,0.00,0.000,6,0.129,0.030,2647,2107,442,0,0,0,0,0,0
$GC,11266,0.85,596.1,263.8,11.1,979,11270,0.00,0.77,0.00,0.000,4,0.000,0.035,2650,1574,442,0,0,0,0,0,0
$GC,11339,0.92,596.1,255.1,11.5,985,11346,0.00,0.77,0.00,0.000,6,0.000,0.028,2650,2099,442,0,0,0,0,0,0
$GC,11665,1.00,596.1,219.5,10.5,1016,11669,0.15,0.80,0.00,0.000,4,0.079,0.034,2730,1573,442,0,0,0,0,0,0
$GC,11755,0.93,596.1,207.7,14.8,1024,11760,0.17,0.77,0.00,0.000,6,0.132,0.030,2675,2098,442,0,0,0,0,0,0
$GC,12100,0.98,596.1,163.1,13.4,1079,12107,0.00,0.77,0.00,0.000,4,0.000,0.032,2676,1572,442,0,0,0,0,0,0
$GC,12188,1.02,596.1,151.4,12.9,1094,12194,0.00,0.77,0.00,0.000,6,0.000,0.029,2676,2097,442,0,0,0,0,0,0
$GC,12537,1.17,617.0,115.0,9.6,1155,12545,0.20,0.82,2.72,0.257,4,0.063,0.036,2774,2630,440,0,0,0,0,0,0
$GC,12623,1.08,617.0,104.0,14.3,1169,12631,0.15,0.77,0.08,0.119,6,0.132,0.029,2730,2101,440,0,0,0,0,0,0
$GC,12971,1.07,617.0,64.5,11.9,1230,12978,0.00,0.77,0.00,0.000,4,0.000,0.031,2730,2635,440,0,0,0,0,0,0
$GC,13014,1.03,617.0,59.1,12.6,1237,13021,0.00,0.77,0.08,0.121,6,0.000,0.029,2731,2099,440,0,0,0,0,0,0
$GC,13364,0.99,617.0,19.6,11.1,1298,13372,0.12,0.80,2.38,0.185,4,0.159,0.033,2699,1574,439,0,0,0,0,0,0
$GC,13421,1.03,628.6,13.9,9.9,1307,13427,0.00,0.77,0.00,0.000,6,0.000,0.028,2700,2109,440,0,0,0,0,0,0
$STATE,13521,end climb,SURFACE_DEPTH_REACHED
$STATE,13522,begin surface coast
$FINISH,0.7,1.022188
$STATE,13553,end surface coast,CONTROL_FINISHED_OK
$STATE,13553,begin surface
$SM_CCo,13631,0.00,0.000,0,0,440,595.83
$SM_GC,1.37,6.55,0.00,0.00,0.030,0.000,0.000,199,2497,440,-6.70,-0.08,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2141.13,12027.58,011111,232356
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.2,125.064
$10V_AH,9.7,89.588
$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,19.900,46.225,630.425,0.000,0.000,23.188,48.000,168.767,0.000,0.000,14.793,3177.072,7163.622,651.315,2608.481,417.955,0.000,1937.996,0.000,2346.972,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,63.495,868.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,908.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322728
$DATA_FILE_SIZE,76810,1330
$CAP_FILE_SIZE,163605,0
$CFSIZE,260165632,183808000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021111,074936,2143.420,12023.702,31,0.9,31,-2.6