version: 66.09
glider: 181
mission: 6
dive: 753
start: 11 2 111 7 56 27
data:
$ID,181
$MISSION,6
$DIVE,753
$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,-41798.934
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,021111,074936,2143.420,12023.702,31,0.9,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.1
$GPS2,021111,075602,2143.529,12023.646,14,1.6,14,-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,190.4,305672,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,94,0.00,0.00,-74.18,0.000,2,0.000,0.000,160,2492,2460,0,0,0,0,0,0
$GC,97,-0.61,-219.0,3.1,-2.6,13,145,8.27,0.80,-30.55,0.000,4,0.218,0.063,2170,1943,3764,0,0,0,0,0,0
$GC,221,-0.49,-219.0,25.6,-17.6,34,228,0.12,0.85,0.00,0.000,6,0.132,0.037,2207,2497,3764,0,0,0,0,0,0
$GC,569,-0.40,-219.0,85.6,-17.5,95,576,0.12,0.77,0.00,0.000,4,0.152,0.025,2243,1950,3762,0,0,0,0,0,0
$GC,612,-0.38,-219.0,92.5,-14.5,102,619,0.00,0.82,0.00,0.000,6,0.000,0.034,2241,2502,3762,0,0,0,0,0,0
$GC,959,-0.50,-219.0,126.2,-6.9,163,966,0.00,0.77,0.00,0.000,4,0.000,0.037,2241,3031,3762,0,0,0,0,0,0
$GC,1106,-0.65,-219.0,138.4,-9.4,188,1113,0.17,0.77,0.00,0.000,6,0.044,0.024,2151,2470,3762,0,0,0,0,0,0
$GC,1455,-0.65,-219.0,176.9,-7.9,249,1461,0.00,0.62,0.00,0.000,4,0.000,0.026,2151,1978,3763,0,0,0,0,0,0
$GC,1548,-0.63,-219.0,184.7,-8.7,265,1555,0.00,0.77,0.00,0.000,6,0.000,0.035,2148,2499,3763,0,0,0,0,0,0
$GC,1883,-0.65,-219.0,223.0,-12.1,309,1887,0.00,0.70,0.00,0.000,4,0.000,0.025,2148,1974,3763,0,0,0,0,0,0
$GC,1945,-0.64,-219.0,230.7,-11.8,314,1952,0.00,0.77,0.00,0.000,6,0.000,0.035,2144,2493,3763,0,0,0,0,0,0
$GC,2271,-0.64,-219.0,265.1,-9.4,345,2275,0.00,0.70,0.00,0.000,4,0.000,0.027,2144,1973,3763,0,0,0,0,0,0
$GC,2343,-0.64,-219.0,272.5,-10.4,351,2350,0.00,0.77,0.00,0.000,6,0.000,0.036,2140,2493,3763,0,0,0,0,0,0
$GC,2669,-0.66,-219.0,305.1,-10.2,382,2673,0.00,0.70,0.00,0.000,4,0.000,0.027,2140,1974,3762,0,0,0,0,0,0
$GC,2738,-0.66,-219.0,312.3,-11.0,388,2742,0.00,0.80,0.00,0.000,6,0.000,0.037,2138,2501,3761,0,0,0,0,0,0
$GC,3071,-0.66,-219.0,348.6,-11.4,419,3075,0.00,0.70,0.00,0.000,4,0.000,0.027,2138,1984,3759,0,0,0,0,0,0
$GC,3140,-0.66,-219.0,356.3,-11.0,425,3143,0.00,0.77,0.00,0.000,6,0.000,0.038,2138,2494,3759,0,0,0,0,0,0
$GC,3471,-0.69,-219.0,386.9,-7.6,456,3475,0.00,0.70,0.00,0.000,4,0.000,0.028,2138,1977,3757,0,0,0,0,0,0
$GC,3563,-0.69,-219.0,393.9,-7.5,464,3566,0.00,0.80,0.00,0.000,6,0.000,0.037,2138,2502,3756,0,0,0,0,0,0
$GC,3895,-0.73,-219.0,420.0,-7.9,495,3898,0.00,0.70,0.00,0.000,4,0.000,0.027,2139,1986,3754,0,0,0,0,0,0
$GC,3964,-0.74,-219.0,426.2,-9.0,501,3968,0.00,0.77,0.00,0.000,6,0.000,0.038,2138,2498,3754,0,0,0,0,0,0
$GC,4297,-0.78,-219.0,455.0,-8.9,532,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3751,0,0,0,0,0,0
$GC,4627,-0.80,-219.0,484.1,-9.0,563,4631,0.00,0.80,0.00,0.000,4,0.000,0.043,2138,3024,3748,0,0,0,0,0,0
$GC,4673,-0.82,-219.0,489.3,-10.3,567,4677,0.00,0.73,0.00,0.000,6,0.000,0.027,2138,2517,3748,0,0,0,0,0,0
$GC,5003,-0.85,-219.0,521.0,-10.7,588,5007,0.12,0.80,0.00,0.000,4,0.081,0.041,2070,3022,3745,0,0,0,0,0,0
$GC,5086,-0.72,-219.0,534.1,-16.7,591,5094,0.22,0.75,0.00,0.000,6,0.140,0.027,2139,2497,3744,0,0,0,0,0,0
$GC,5403,-0.69,-219.0,570.1,-10.9,607,5407,0.00,0.82,0.00,0.000,4,0.000,0.041,2135,3031,3742,0,0,0,0,0,0
$GC,5496,-0.64,-219.0,579.5,-9.7,611,5500,0.00,0.77,0.00,0.000,6,0.000,0.028,2136,2498,3741,0,0,0,0,0,0
$GC,5830,-0.61,-219.0,614.1,-10.7,627,5834,0.15,0.85,0.00,0.000,4,0.141,0.041,2178,3024,3739,0,0,0,0,0,0
$GC,5886,-0.66,-219.0,619.3,-8.6,629,5890,0.00,0.77,0.00,0.000,6,0.000,0.027,2177,2484,3739,0,0,0,0,0,0
$GC,6210,-0.76,-219.0,646.2,-8.2,645,6215,0.15,0.88,0.00,0.000,4,0.076,0.041,2100,3029,3736,0,0,0,0,0,0
$GC,6258,-0.77,-219.0,651.1,-10.5,647,6261,0.00,0.75,0.00,0.000,6,0.000,0.028,2100,2510,3735,0,0,0,0,0,0
$GC,6591,-0.69,-219.0,696.3,-14.6,663,6593,0.17,0.00,0.00,0.000,6,0.142,0.000,2150,2507,3734,0,0,0,0,0,0
$GC,6902,-0.75,-219.0,729.4,-8.9,678,6905,0.00,0.73,0.00,0.000,4,0.000,0.028,2150,1975,3733,0,0,0,0,0,0
$GC,7009,-0.78,-219.0,738.4,-8.4,682,7016,0.00,0.80,0.00,0.000,6,0.000,0.037,2150,2496,3732,0,0,0,0,0,0
$GC,7326,-0.84,-219.0,760.5,-6.1,698,7330,0.15,0.75,0.00,0.000,4,0.074,0.029,2078,1973,3730,0,0,0,0,0,0
$GC,7383,-0.76,-219.0,765.6,-9.8,700,7387,0.17,0.82,0.00,0.000,6,0.127,0.039,2129,2502,3729,0,0,0,0,0,0
$STATE,7413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7413,begin apogee
$GC,7420,-0.19,0.0,768.4,8.7,702,7588,0.55,0.00,163.90,0.908,6,0.115,0.000,2309,2089,2869,0,0,0,0,0,0
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7592,0.61,219.0,778.3,0.0,710,7769,0.70,0.80,168.85,0.895,4,0.045,0.031,2593,1574,1976,0,0,0,0,0,0
$GC,7861,0.49,219.0,765.0,11.2,722,7865,0.17,0.82,0.00,0.000,6,0.142,0.030,2541,2120,1974,0,0,0,0,0,0
$GC,8186,0.46,239.6,732.9,9.7,738,8208,0.00,0.77,17.27,0.829,4,0.000,0.037,2541,2618,1892,0,0,0,0,0,0
$GC,8446,0.40,239.6,706.0,11.2,749,8450,0.10,0.75,0.00,0.000,6,0.137,0.028,2510,2110,1890,0,0,0,0,0,0
$GC,8769,0.45,296.4,677.9,8.5,765,8817,0.00,0.82,43.55,0.838,4,0.000,0.033,2509,2628,1660,0,0,0,0,0,0
$GC,8891,0.51,332.8,666.4,9.2,770,8924,0.00,0.77,29.30,0.803,6,0.000,0.029,2511,2106,1512,0,0,0,0,0,0
$GC,9247,0.63,387.1,634.2,8.6,788,9298,0.17,0.82,43.97,0.809,4,0.073,0.034,2595,1573,1289,0,0,0,0,0,0
$GC,9372,0.58,387.1,619.4,13.1,793,9379,0.10,0.80,0.00,0.000,6,0.121,0.030,2562,2100,1288,0,0,0,0,0,0
$GC,9690,0.68,457.5,591.8,8.1,809,9748,0.00,0.82,54.15,0.790,4,0.000,0.035,2562,2625,1002,0,0,0,0,0,0
$GC,9844,0.81,525.0,579.1,8.2,815,9904,0.17,0.77,53.20,0.768,6,0.044,0.031,2650,2109,728,0,0,0,0,0,0
$GC,10212,0.81,525.0,537.5,11.5,833,10216,0.00,0.77,0.00,0.000,4,0.000,0.036,2653,1579,734,0,0,0,0,0,0
$GC,10268,0.76,525.0,530.4,13.4,835,10272,0.10,0.77,0.00,0.000,6,0.130,0.029,2620,2100,735,0,0,0,0,0,0
$GC,10595,0.81,525.0,488.9,12.9,855,10599,0.00,0.77,0.00,0.000,4,0.000,0.034,2622,1575,735,0,0,0,0,0,0
$GC,10690,0.80,525.0,476.6,12.9,863,10699,0.00,0.77,0.00,0.000,6,0.000,0.028,2622,2100,735,0,0,0,0,0,0
$GC,11016,0.82,525.0,437.9,11.1,894,11020,0.00,0.77,0.00,0.000,4,0.000,0.036,2622,2619,735,0,0,0,0,0,0
$GC,11055,0.81,525.0,433.0,11.9,897,11062,0.00,0.77,0.00,0.000,6,0.000,0.029,2626,2092,735,0,0,0,0,0,0
$GC,11381,0.84,525.7,398.3,10.3,928,11394,0.00,0.82,3.92,0.496,4,0.000,0.033,2626,2619,725,0,0,0,0,0,0
$GC,11455,0.84,525.7,389.6,11.5,934,11462,0.00,0.77,0.00,0.000,6,0.000,0.030,2628,2092,724,0,0,0,0,0,0
$GC,11781,0.88,525.7,352.7,12.0,965,11785,0.00,0.75,0.00,0.000,4,0.000,0.034,2632,1572,724,0,0,0,0,0,0
$GC,11850,0.89,525.7,344.0,13.5,971,11853,0.00,0.77,0.00,0.000,6,0.000,0.028,2632,2099,724,0,0,0,0,0,0
$GC,12181,0.93,525.7,299.1,13.4,1002,12185,0.12,0.77,0.00,0.000,4,0.088,0.033,2694,1582,724,0,0,0,0,0,0
$GC,12238,0.86,525.7,290.4,16.1,1007,12243,0.12,0.75,0.00,0.000,6,0.127,0.028,2654,2097,724,0,0,0,0,0,0
$GC,12569,0.86,525.7,248.2,12.9,1038,12573,0.00,0.77,0.00,0.000,4,0.000,0.032,2656,1570,724,0,0,0,0,0,0
$GC,12643,0.85,525.7,238.9,12.8,1044,12650,0.00,0.77,0.00,0.000,6,0.000,0.028,2656,2097,724,0,0,0,0,0,0
$GC,12969,0.86,525.7,203.4,10.5,1075,12973,0.00,0.75,0.00,0.000,4,0.000,0.035,2656,2617,724,0,0,0,0,0,0
$GC,13017,0.86,525.7,198.3,11.2,1080,13024,0.00,0.75,0.00,0.000,6,0.000,0.028,2659,2097,725,0,0,0,0,0,0
$GC,13367,0.93,537.9,158.4,9.9,1141,13386,0.00,0.80,11.07,0.551,4,0.000,0.034,2659,2622,675,0,0,0,0,0,0
$GC,13405,1.01,559.1,154.5,9.6,1147,13430,0.08,0.75,17.50,0.474,6,0.056,0.029,2717,2110,588,0,0,0,0,0,0
$GC,13770,0.96,559.1,105.7,14.7,1211,13777,0.12,0.77,0.00,0.000,4,0.150,0.032,2682,2624,591,0,0,0,0,0,0
$GC,13820,0.93,559.1,99.3,12.7,1219,13827,0.00,0.77,0.00,0.000,6,0.000,0.028,2683,2091,592,0,0,0,0,0,0
$GC,14169,1.00,567.0,65.8,10.1,1280,14183,0.00,0.82,8.45,0.449,4,0.000,0.031,2683,2627,556,0,0,0,0,0,0
$GC,14274,1.06,616.1,55.3,8.7,1298,14305,0.00,0.77,22.60,0.455,6,0.000,0.028,2687,2089,438,0,0,0,0,0,0
$GC,14645,1.16,616.1,19.2,12.1,1363,14653,0.17,0.82,2.78,0.233,4,0.068,0.029,2786,2637,439,0,0,0,0,0,0
$GC,14685,1.09,616.1,13.4,15.2,1369,14693,0.20,0.77,0.00,0.000,6,0.134,0.027,2727,2094,439,0,0,0,0,0,0
$STATE,14788,end climb,SURFACE_DEPTH_REACHED
$STATE,14788,begin surface coast
$FINISH,0.6,1.019835
$STATE,14829,end surface coast,CONTROL_FINISHED_OK
$STATE,14829,begin surface
$SM_CCo,14907,0.00,0.000,0,0,440,595.83
$SM_GC,1.41,6.60,0.00,0.00,0.031,0.000,0.000,212,2510,440,-6.68,0.28,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12018.06,021111,030335
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.15
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.1,125.223
$10V_AH,9.7,89.675
$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,19.350,53.925,640.525,0.000,0.000,24.582,43.502,155.228,0.000,0.000,16.577,3331.450,8112.374,686.136,2718.715,433.355,0.000,2053.259,0.000,2465.455,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,62.730,908.055,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,953.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80223,1394
$CAP_FILE_SIZE,176399,0
$CFSIZE,260165632,183697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021111,120607,2143.771,12022.722,32,1.0,32,-2.6