version: 66.09
glider: 181
mission: 6
dive: 754
start: 11 2 111 12 12 57
data:
$ID,181
$MISSION,6
$DIVE,754
$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,-41800.188
$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,64
$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
$GPS1,021111,120607,2143.771,12022.722,32,1.0,32,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.5
$GPS2,021111,121232,2143.847,12022.674,14,0.9,14,-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,190.1,306031,-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,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,-73.43,0.000,2,0.000,0.000,162,2507,2469,0,0,0,0,0,0
$GC,96,-0.61,-219.0,3.3,-2.9,13,138,8.35,0.80,-29.70,0.000,4,0.222,0.061,2169,1943,3762,0,0,0,0,0,0
$GC,254,-0.48,-219.0,35.0,-17.7,40,261,0.15,0.82,0.00,0.000,6,0.129,0.035,2215,2488,3764,0,0,0,0,0,0
$GC,601,-0.41,-219.0,90.2,-14.4,101,608,0.00,0.80,0.00,0.000,4,0.000,0.037,2212,3030,3761,0,0,0,0,0,0
$GC,790,-0.37,-219.0,114.5,-11.6,134,798,0.10,0.77,0.00,0.000,6,0.115,0.024,2247,2467,3761,0,0,0,0,0,0
$GC,1140,-0.49,-219.0,149.6,-8.5,195,1147,0.00,0.62,0.00,0.000,4,0.000,0.024,2248,1971,3762,0,0,0,0,0,0
$GC,1401,-0.64,-219.0,175.5,-10.8,241,1409,0.20,0.80,0.00,0.000,6,0.048,0.031,2159,2515,3762,0,0,0,0,0,0
$GC,1743,-0.67,-219.0,211.9,-9.9,291,1746,0.00,0.73,0.00,0.000,4,0.000,0.025,2159,1973,3762,0,0,0,0,0,0
$GC,1783,-0.69,-219.0,216.4,-11.2,294,1790,0.00,0.77,0.00,0.000,6,0.000,0.032,2156,2498,3762,0,0,0,0,0,0
$GC,2110,-0.72,-219.0,251.4,-9.9,325,2113,0.00,0.77,0.00,0.000,4,0.000,0.037,2152,3027,3762,0,0,0,0,0,0
$GC,2229,-0.74,-219.0,262.3,-9.3,335,2236,0.00,0.73,0.00,0.000,6,0.000,0.025,2153,2502,3762,0,0,0,0,0,0
$GC,2555,-0.76,-219.0,296.3,-10.3,366,2559,0.00,0.77,0.00,0.000,4,0.000,0.037,2152,3014,3761,0,0,0,0,0,0
$GC,2570,-0.79,-219.0,297.8,-10.2,367,2573,0.00,0.70,0.00,0.000,6,0.000,0.025,2152,2510,3761,0,0,0,0,0,0
$GC,2902,-0.84,-219.0,326.6,-8.4,398,2906,0.15,0.73,0.00,0.000,4,0.070,0.028,2069,1975,3759,0,0,0,0,0,0
$GC,3024,-0.71,-219.0,343.1,-14.9,408,3031,0.25,0.77,0.00,0.000,6,0.127,0.035,2144,2489,3758,0,0,0,0,0,0
$GC,3351,-0.74,-219.0,377.0,-8.9,439,3355,0.00,0.70,0.00,0.000,4,0.000,0.027,2144,1971,3756,0,0,0,0,0,0
$GC,3435,-0.75,-219.0,384.8,-8.9,446,3442,0.00,0.80,0.00,0.000,6,0.000,0.035,2142,2503,3755,0,0,0,0,0,0
$GC,3762,-0.79,-219.0,412.1,-7.7,477,3765,0.00,0.73,0.00,0.000,4,0.000,0.025,2141,1966,3752,0,0,0,0,0,0
$GC,3812,-0.81,-219.0,416.0,-7.6,481,3819,0.00,0.80,0.00,0.000,6,0.000,0.036,2139,2496,3752,0,0,0,0,0,0
$GC,4139,-0.85,-219.0,438.7,-7.2,512,4143,0.12,0.75,0.00,0.000,4,0.080,0.028,2070,1970,3749,0,0,0,0,0,0
$GC,4175,-0.81,-219.0,442.0,-7.8,515,4180,0.12,0.80,0.00,0.000,6,0.143,0.037,2105,2494,3748,0,0,0,0,0,0
$GC,4509,-0.73,-219.0,481.5,-11.9,546,4513,0.12,0.82,0.00,0.000,4,0.160,0.041,2138,3024,3746,0,0,0,0,0,0
$GC,4600,-0.69,-219.0,491.2,-9.6,554,4604,0.00,0.75,0.00,0.000,6,0.000,0.027,2138,2500,3745,0,0,0,0,0,0
$GC,4926,-0.65,-219.0,525.2,-10.7,574,4930,0.00,0.82,0.00,0.000,4,0.000,0.040,2134,3033,3743,0,0,0,0,0,0
$GC,4995,-0.60,-219.0,532.6,-10.1,577,5000,0.12,0.77,0.00,0.000,6,0.121,0.027,2176,2491,3741,0,0,0,0,0,0
$GC,5332,-0.71,-219.0,562.4,-9.2,593,5336,0.00,0.82,0.00,0.000,4,0.000,0.041,2176,3025,3739,0,0,0,0,0,0
$GC,5439,-0.81,-219.0,572.0,-8.5,597,5446,0.15,0.75,0.00,0.000,6,0.045,0.027,2091,2499,3739,0,0,0,0,0,0
$GC,5756,-0.80,-219.0,605.9,-11.2,613,5760,0.00,0.70,0.00,0.000,4,0.000,0.028,2091,1974,3736,0,0,0,0,0,0
$GC,5807,-0.76,-219.0,612.1,-11.8,615,5811,0.12,0.80,0.00,0.000,6,0.114,0.036,2130,2498,3735,0,0,0,0,0,0
$GC,6136,-0.78,-219.0,642.6,-9.2,631,6140,0.00,0.73,0.00,0.000,4,0.000,0.028,2130,1975,3733,0,0,0,0,0,0
$GC,6252,-0.79,-219.0,653.1,-9.1,636,6256,0.00,0.80,0.00,0.000,6,0.000,0.037,2128,2499,3733,0,0,0,0,0,0
$GC,6585,-0.83,-219.0,685.8,-10.5,652,6589,0.00,0.75,0.00,0.000,4,0.000,0.030,2128,1979,3731,0,0,0,0,0,0
$GC,6647,-0.85,-219.0,692.2,-9.9,654,6654,0.00,0.80,0.00,0.000,6,0.000,0.037,2125,2499,3730,0,0,0,0,0,0
$GC,6964,-0.87,-219.0,720.5,-8.9,670,6968,0.00,0.75,0.00,0.000,4,0.000,0.030,2125,1979,3728,0,0,0,0,0,0
$GC,7005,-0.88,-219.0,724.4,-9.3,671,7012,0.00,0.80,0.00,0.000,6,0.000,0.038,2123,2501,3728,0,0,0,0,0,0
$GC,7322,-0.89,-219.0,754.3,-9.5,687,7327,0.10,0.75,0.00,0.000,4,0.097,0.028,2070,1978,3726,0,0,0,0,0,0
$GC,7402,-0.80,-219.0,764.7,-13.9,690,7406,0.15,0.80,0.00,0.000,6,0.138,0.040,2113,2494,3726,0,0,0,0,0,0
$STATE,7432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7432,begin apogee
$GC,7439,-0.19,0.0,768.6,12.0,692,7607,0.60,0.00,163.00,0.910,6,0.120,0.000,2304,2099,2869,0,0,0,0,0,0
$STATE,7608,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7612,0.61,219.0,779.8,0.0,700,7789,0.73,0.77,168.90,0.897,4,0.047,0.032,2591,1592,1976,0,0,0,0,0,0
$GC,7954,0.50,219.0,754.7,12.2,715,7962,0.17,0.80,0.00,0.000,6,0.143,0.031,2540,2123,1973,0,0,0,0,0,0
$GC,8272,0.48,250.5,724.0,9.3,731,8300,0.00,0.00,25.27,0.844,6,0.000,0.000,2540,2123,1847,0,0,0,0,0,0
$GC,8600,0.43,250.5,687.0,11.8,747,8604,0.00,0.73,0.00,0.000,4,0.000,0.037,2539,2616,1846,0,0,0,0,0,0
$GC,8684,0.37,250.5,676.2,12.8,750,8692,0.12,0.75,0.00,0.000,6,0.129,0.028,2500,2107,1847,0,0,0,0,0,0
$GC,9002,0.48,326.4,646.4,7.9,766,9067,0.00,0.82,58.95,0.832,4,0.000,0.032,2500,2625,1538,0,0,0,0,0,0
$GC,9110,0.70,454.4,639.4,6.2,770,9216,0.25,0.77,98.75,0.812,6,0.044,0.029,2620,2108,1016,0,0,0,0,0,0
$GC,9525,0.65,454.4,592.0,10.7,790,9529,0.12,0.77,0.00,0.000,4,0.160,0.034,2586,2618,1022,0,0,0,0,0,0
$GC,9645,0.62,458.8,579.9,10.2,795,9655,0.00,0.77,6.32,0.640,6,0.000,0.029,2587,2093,998,0,0,0,0,0,0
$GC,9971,0.67,464.2,546.3,10.1,810,9980,0.00,0.77,6.00,0.612,4,0.000,0.030,2587,2633,975,0,0,0,0,0,0
$GC,10076,0.67,464.2,533.9,11.2,814,10082,0.00,0.77,0.00,0.000,6,0.000,0.030,2590,2106,974,0,0,0,0,0,0
$GC,10392,0.71,464.2,498.2,11.3,830,10396,0.00,0.75,0.00,0.000,4,0.000,0.031,2590,2624,974,0,0,0,0,0,0
$GC,10417,0.73,464.2,495.5,10.7,832,10421,0.00,0.77,0.00,0.000,6,0.000,0.030,2593,2096,974,0,0,0,0,0,0
$GC,10749,0.82,516.9,462.2,8.6,863,10796,0.12,0.80,40.45,0.715,4,0.086,0.034,2656,1575,760,0,0,0,0,0,0
$GC,10867,0.75,516.9,448.9,13.1,873,10871,0.10,0.77,0.00,0.000,6,0.129,0.028,2624,2103,762,0,0,0,0,0,0
$GC,11198,0.80,516.9,413.0,11.8,904,11210,0.00,0.80,4.07,0.488,4,0.000,0.034,2623,2625,761,0,0,0,0,0,0
$GC,11257,0.80,516.9,405.5,13.0,909,11261,0.00,0.77,0.00,0.000,6,0.000,0.028,2626,2094,761,0,0,0,0,0,0
$GC,11588,0.80,516.9,362.0,13.2,940,11591,0.00,0.75,0.00,0.000,4,0.000,0.034,2629,1573,761,0,0,0,0,0,0
$GC,11626,0.80,516.9,356.8,12.8,943,11633,0.00,0.77,0.00,0.000,6,0.000,0.029,2629,2103,761,0,0,0,0,0,0
$GC,11952,0.84,527.0,321.2,10.0,974,11964,0.00,0.00,9.30,0.584,6,0.000,0.000,2629,2103,719,0,0,0,0,0,0
$GC,12281,0.87,527.0,287.7,10.9,1005,12284,0.00,0.75,0.00,0.000,4,0.000,0.034,2629,2622,719,0,0,0,0,0,0
$GC,12339,0.87,527.0,281.2,11.2,1010,12343,0.00,0.75,0.00,0.000,6,0.000,0.029,2632,2109,720,0,0,0,0,0,0
$GC,12671,0.90,527.0,245.2,10.7,1041,12675,0.10,0.80,0.00,0.000,4,0.103,0.034,2688,1572,720,0,0,0,0,0,0
$GC,12780,0.85,527.0,230.3,14.8,1050,12788,0.10,0.77,0.00,0.000,6,0.121,0.028,2655,2104,720,0,0,0,0,0,0
$GC,13113,0.88,527.0,190.5,10.6,1088,13120,0.00,0.77,0.00,0.000,4,0.000,0.031,2656,1573,721,0,0,0,0,0,0
$GC,13178,0.94,546.3,183.7,9.7,1099,13203,0.00,0.77,16.23,0.544,6,0.000,0.028,2656,2101,642,0,0,0,0,0,0
$GC,13543,0.98,546.3,146.3,10.8,1163,13550,0.10,0.77,0.00,0.000,4,0.098,0.035,2711,2623,641,0,0,0,0,0,0
$GC,13604,0.90,546.3,138.2,14.8,1173,13611,0.15,0.77,0.00,0.000,6,0.135,0.028,2667,2092,641,0,0,0,0,0,0
$GC,13955,0.96,546.3,97.6,11.2,1234,13962,0.00,0.77,0.00,0.000,4,0.000,0.031,2667,2624,642,0,0,0,0,0,0
$GC,13975,1.01,546.3,95.0,11.5,1237,13982,0.00,0.77,0.00,0.000,6,0.000,0.030,2668,2096,643,0,0,0,0,0,0
$GC,14324,1.14,594.2,63.9,8.8,1298,14367,0.20,0.82,37.10,0.457,4,0.062,0.031,2767,2631,445,0,0,0,0,0,0
$GC,14412,1.07,594.2,53.1,14.1,1312,14419,0.15,0.77,0.00,0.000,6,0.127,0.030,2723,2105,447,0,0,0,0,0,0
$GC,14761,1.07,594.2,12.6,10.5,1373,14768,0.00,0.75,0.00,0.000,4,0.000,0.034,2725,1581,451,0,0,0,0,0,0
$STATE,14840,end climb,SURFACE_DEPTH_REACHED
$STATE,14840,begin surface coast
$FINISH,0.4,1.021496
$STATE,14864,end surface coast,CONTROL_FINISHED_OK
$STATE,14866,begin surface
$SM_CCo,14945,0.00,0.000,0,0,452,592.89
$SM_GC,1.40,6.65,0.00,0.00,0.032,0.000,0.000,204,2504,452,-6.70,0.11,592.89,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12029.58,021111,070701
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.33
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.1,125.382
$10V_AH,9.7,89.761
$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,19.900,53.575,634.350,0.000,0.000,30.588,17.572,173.886,0.000,0.000,17.222,3323.425,8182.387,689.642,2685.108,437.147,0.000,2033.034,0.000,2438.133,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,61.200,909.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,952.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322736
$DATA_FILE_SIZE,80321,1391
$CAP_FILE_SIZE,175609,0
$CFSIZE,260165632,183619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021111,162307,2144.293,12021.967,25,1.5,25,-2.6