version: 66.09
glider: 181
mission: 6
dive: 755
start: 11 2 111 16 29 44
data:
$ID,181
$MISSION,6
$DIVE,755
$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,-41801.441
$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,50
$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
$GPS1,021111,162307,2144.293,12021.967,25,1.5,25,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.7
$GPS2,021111,162919,2144.344,12021.917,9,1.5,9,-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,189.8,306775,-14.3,-10.312
$D_GRID,528
$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,-219.0,0.0,0.0,0,93,0.00,0.00,-73.45,0.000,2,0.000,0.000,168,2504,2469,0,0,0,0,0,0
$GC,97,-0.61,-219.0,3.2,-2.8,13,145,8.30,0.80,-30.98,0.000,4,0.220,0.062,2173,1952,3763,0,0,0,0,0,0
$GC,227,-0.50,-219.0,27.1,-20.1,35,234,0.12,0.82,0.00,0.000,6,0.129,0.035,2210,2493,3763,0,0,0,0,0,0
$GC,574,-0.46,-219.0,81.9,-13.1,96,581,0.00,0.75,0.00,0.000,4,0.000,0.024,2210,1940,3762,0,0,0,0,0,0
$GC,634,-0.43,-219.0,89.0,-11.0,106,641,0.00,0.85,0.00,0.000,6,0.000,0.032,2208,2510,3762,0,0,0,0,0,0
$GC,981,-0.48,-219.0,123.7,-9.8,167,988,0.00,0.75,0.00,0.000,4,0.000,0.037,2206,3024,3762,0,0,0,0,0,0
$GC,1014,-0.53,-219.0,126.9,-10.3,172,1021,0.00,0.77,0.00,0.000,6,0.000,0.026,2205,2483,3762,0,0,0,0,0,0
$GC,1363,-0.58,-219.0,161.2,-10.0,233,1369,0.00,0.80,0.00,0.000,4,0.000,0.037,2206,3014,3763,0,0,0,0,0,0
$GC,1472,-0.63,-219.0,173.2,-10.9,252,1480,0.08,0.73,0.00,0.000,6,0.048,0.024,2140,2482,3763,0,0,0,0,0,0
$GC,1819,-0.64,-219.0,214.2,-11.5,303,1823,0.00,0.82,0.00,0.000,4,0.000,0.036,2139,3027,3763,0,0,0,0,0,0
$GC,1926,-0.61,-219.0,226.1,-10.8,312,1933,0.10,0.73,0.00,0.000,6,0.108,0.026,2175,2502,3763,0,0,0,0,0,0
$GC,2252,-0.68,-219.0,253.6,-8.2,343,2256,0.00,0.77,0.00,0.000,4,0.000,0.036,2173,3017,3763,0,0,0,0,0,0
$GC,2311,-0.72,-219.0,258.3,-8.0,348,2314,0.00,0.73,0.00,0.000,6,0.000,0.026,2173,2501,3763,0,0,0,0,0,0
$GC,2642,-0.82,-219.0,284.7,-8.4,379,2647,0.17,0.73,0.00,0.000,4,0.064,0.028,2078,1960,3762,0,0,0,0,0,0
$GC,2705,-0.69,-219.0,292.5,-14.5,384,2712,0.22,0.80,0.00,0.000,6,0.123,0.034,2145,2490,3761,0,0,0,0,0,0
$GC,3031,-0.65,-219.0,329.2,-10.6,415,3034,0.00,0.80,0.00,0.000,4,0.000,0.039,2142,3027,3760,0,0,0,0,0,0
$GC,3214,-0.60,-219.0,348.2,-9.8,431,3218,0.10,0.75,0.00,0.000,6,0.115,0.026,2177,2497,3757,0,0,0,0,0,0
$GC,3546,-0.68,-219.0,380.4,-10.7,462,3550,0.00,0.80,0.00,0.000,4,0.000,0.038,2177,3024,3755,0,0,0,0,0,0
$GC,3660,-0.76,-219.0,392.6,-10.7,472,3665,0.10,0.75,0.00,0.000,6,0.044,0.027,2109,2498,3755,0,0,0,0,0,0
$GC,3992,-0.76,-219.0,431.4,-10.8,503,3995,0.00,0.70,0.00,0.000,4,0.000,0.027,2109,1968,3752,0,0,0,0,0,0
$GC,4064,-0.72,-219.0,439.2,-10.5,509,4072,0.10,0.80,0.00,0.000,6,0.123,0.035,2138,2497,3751,0,0,0,0,0,0
$GC,4391,-0.74,-219.0,465.7,-7.3,540,4394,0.00,0.80,0.00,0.000,4,0.000,0.041,2138,3028,3749,0,0,0,0,0,0
$GC,4415,-0.77,-219.0,467.5,-7.0,542,4419,0.00,0.75,0.00,0.000,6,0.000,0.027,2138,2506,3750,0,0,0,0,0,0
$GC,4746,-0.81,-219.0,497.8,-9.6,573,4750,0.00,0.73,0.00,0.000,4,0.000,0.028,2138,1966,3746,0,0,0,0,0,0
$GC,4855,-0.82,-219.0,508.6,-9.5,578,4862,0.00,0.82,0.00,0.000,6,0.000,0.037,2138,2504,3746,0,0,0,0,0,0
$STATE,5086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5086,begin apogee
$GC,5094,-0.19,0.0,528.5,8.6,590,5262,0.50,0.00,161.02,0.743,6,0.083,0.000,2317,2089,2869,0,0,0,0,0,0
$STATE,5263,end apogee,CONTROL_FINISHED_OK
$STATE,5263,begin climb
$GC,5266,0.61,219.0,539.9,0.0,598,5436,0.68,0.88,163.12,0.730,4,0.039,0.034,2595,2638,1976,0,0,0,0,0,0
$GC,5561,0.48,219.0,517.2,13.5,611,5565,0.20,0.77,0.00,0.000,6,0.135,0.028,2536,2113,1974,0,0,0,0,0,0
$GC,5890,0.55,311.7,489.3,7.4,633,5967,0.00,0.77,69.30,0.705,4,0.000,0.030,2539,1570,1598,0,0,0,0,0,0
$GC,6036,0.67,408.3,478.5,7.2,646,6113,0.12,0.80,72.65,0.691,6,0.050,0.028,2610,2107,1203,0,0,0,0,0,0
$GC,6432,0.65,408.3,434.0,11.9,683,6436,0.00,0.75,0.00,0.000,4,0.000,0.034,2610,2625,1205,0,0,0,0,0,0
$GC,6507,0.62,408.3,425.1,11.4,689,6514,0.10,0.77,0.00,0.000,6,0.129,0.030,2579,2101,1206,0,0,0,0,0,0
$GC,6832,0.66,408.3,390.1,11.1,720,6836,0.00,0.77,0.00,0.000,4,0.000,0.032,2578,2626,1204,0,0,0,0,0,0
$GC,6845,0.70,408.3,388.7,11.1,721,6849,0.00,0.77,0.00,0.000,6,0.000,0.031,2579,2099,1205,0,0,0,0,0,0
$GC,7176,0.70,408.3,353.6,10.5,752,7180,0.00,0.75,0.00,0.000,4,0.000,0.035,2582,1578,1203,0,0,0,0,0,0
$GC,7188,0.70,408.3,352.3,10.6,753,7192,0.00,0.77,0.00,0.000,6,0.000,0.029,2582,2105,1203,0,0,0,0,0,0
$GC,7521,0.80,467.9,323.8,8.4,784,7576,0.15,0.82,45.22,0.620,4,0.073,0.033,2654,1574,961,0,0,0,0,0,0
$GC,7690,0.73,467.9,303.3,12.6,799,7703,0.12,0.77,4.12,0.415,6,0.125,0.031,2613,2097,960,0,0,0,0,0,0
$GC,8021,0.78,467.9,268.5,11.2,830,8025,0.00,0.77,0.00,0.000,4,0.000,0.032,2616,1569,965,0,0,0,0,0,0
$GC,8117,0.80,467.9,257.1,12.1,838,8123,0.00,0.77,0.00,0.000,6,0.000,0.029,2616,2094,965,0,0,0,0,0,0
$GC,8442,0.83,467.9,221.8,11.4,869,8446,0.00,0.75,0.00,0.000,4,0.000,0.034,2616,2615,965,0,0,0,0,0,0
$GC,8493,0.88,467.9,215.4,12.3,873,8500,0.08,0.75,0.00,0.000,6,0.057,0.030,2676,2105,965,0,0,0,0,0,0
$GC,8831,0.84,467.9,171.1,12.8,923,8838,0.12,0.77,0.00,0.000,4,0.142,0.034,2641,2619,965,0,0,0,0,0,0
$GC,8892,0.80,467.9,164.3,11.1,933,8899,0.00,0.77,0.00,0.000,6,0.000,0.030,2642,2089,965,0,0,0,0,0,0
$GC,9240,0.89,516.1,131.6,8.8,994,9282,0.00,0.85,37.20,0.503,4,0.000,0.031,2642,2637,764,0,0,0,0,0,0
$GC,9342,0.90,516.1,121.7,10.4,1011,9348,0.00,0.80,0.00,0.000,6,0.000,0.029,2646,2091,766,0,0,0,0,0,0
$GC,9688,0.97,516.1,86.3,10.3,1072,9695,0.12,0.00,0.00,0.000,6,0.081,0.000,2719,2090,767,0,0,0,0,0,0
$GC,10036,0.95,542.2,49.6,9.5,1133,10061,0.15,0.77,21.08,0.457,4,0.138,0.033,2677,1573,657,0,0,0,0,0,0
$GC,10243,1.10,588.1,31.3,8.9,1169,10286,0.10,0.77,34.38,0.422,6,0.048,0.026,2749,2110,470,0,0,0,0,0,0
$STATE,10488,end climb,SURFACE_DEPTH_REACHED
$STATE,10488,begin surface coast
$FINISH,0.5,0.999476
$STATE,10514,end surface coast,CONTROL_FINISHED_OK
$STATE,10514,begin surface
$SM_CCo,10592,0.00,0.000,0,0,475,587.25
$SM_GC,1.30,6.78,0.00,0.00,0.037,0.000,0.000,211,2492,475,-6.70,-0.23,587.25,0,0,0,0,0,0
$IRIDIUM_FIX,2136.49,12026.40,021111,121232
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.4,125.508
$10V_AH,9.8,89.833
$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,18.525,36.900,608.100,0.000,0.000,23.572,20.720,164.451,0.250,0.000,11.974,2800.278,4911.501,637.246,2240.578,360.619,0.000,1753.233,0.000,2021.453,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,61.965,742.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,824.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70179,1216
$CAP_FILE_SIZE,134816,0
$CFSIZE,260165632,183582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021111,192722,2144.783,12021.349,7,2.5,27,-2.6