version: 66.09
glider: 181
mission: 6
dive: 758
start: 11 3 111 4 59 26
data:
$ID,181
$MISSION,6
$DIVE,758
$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,-41805.211
$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,60
$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
$GPS1,031111,044955,2143.093,12023.311,39,1.3,39,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-60.2
$GPS2,031111,045901,2143.086,12023.378,9,1.3,14,-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,190.3,304797,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-219.0,0.0,0.0,0,94,0.00,0.00,-73.55,0.000,2,0.000,0.000,169,2518,2487,0,0,0,0,0,0
$GC,99,-0.61,-219.0,3.2,-2.9,13,141,8.35,0.82,-28.62,0.000,4,0.222,0.061,2172,1963,3764,0,0,0,0,0,0
$GC,233,-0.49,-219.0,31.9,-19.7,36,240,0.12,0.80,0.00,0.000,6,0.135,0.035,2210,2488,3764,0,0,0,0,0,0
$GC,581,-0.42,-219.0,86.9,-14.0,97,588,0.00,0.73,0.00,0.000,4,0.000,0.024,2210,1952,3763,0,0,0,0,0,0
$GC,698,-0.44,-219.0,101.5,-12.3,117,704,0.00,0.82,0.00,0.000,6,0.000,0.034,2207,2504,3762,0,0,0,0,0,0
$GC,1045,-0.51,-219.0,136.2,-8.9,178,1051,0.00,0.77,0.00,0.000,4,0.000,0.037,2206,3033,3762,0,0,0,0,0,0
$GC,1121,-0.57,-219.0,143.1,-9.0,191,1128,0.00,0.77,0.00,0.000,6,0.000,0.025,2206,2475,3762,0,0,0,0,0,0
$GC,1468,-0.65,-219.0,179.2,-10.9,252,1474,0.12,0.00,0.00,0.000,6,0.080,0.000,2123,2475,3762,0,0,0,0,0,0
$GC,1811,-0.63,-219.0,215.5,-9.5,299,1816,0.17,0.85,0.00,0.000,4,0.124,0.037,2175,3023,3762,0,0,0,0,0,0
$GC,1880,-0.67,-219.0,221.5,-8.4,305,1884,0.00,0.73,0.00,0.000,6,0.000,0.024,2175,2497,3762,0,0,0,0,0,0
$GC,2212,-0.72,-219.0,253.6,-8.8,336,2216,0.00,0.68,0.00,0.000,4,0.000,0.027,2175,1975,3761,0,0,0,0,0,0
$GC,2287,-0.78,-219.0,259.5,-7.6,342,2295,0.12,0.77,0.00,0.000,6,0.040,0.031,2091,2501,3761,0,0,0,0,0,0
$GC,2615,-0.65,-219.0,305.4,-15.9,373,2619,0.25,0.80,0.00,0.000,4,0.148,0.033,2165,3024,3759,0,0,0,0,0,0
$GC,2683,-0.62,-219.0,314.1,-11.5,379,2687,0.00,0.73,0.00,0.000,6,0.000,0.026,2165,2501,3758,0,0,0,0,0,0
$GC,3015,-0.66,-219.0,348.2,-10.4,410,3018,0.00,0.80,0.00,0.000,4,0.000,0.037,2165,3026,3757,0,0,0,0,0,0
$GC,3084,-0.70,-219.0,355.5,-10.4,416,3087,0.00,0.73,0.00,0.000,6,0.000,0.026,2165,2506,3756,0,0,0,0,0,0
$GC,3416,-0.78,-219.0,386.4,-8.4,447,3420,0.12,0.73,0.00,0.000,4,0.083,0.028,2091,1973,3754,0,0,0,0,0,0
$GC,3568,-0.67,-219.0,407.0,-15.2,460,3575,0.20,0.80,0.00,0.000,6,0.124,0.037,2151,2497,3752,0,0,0,0,0,0
$GC,3893,-0.73,-219.0,442.6,-10.5,491,3897,0.00,0.73,0.00,0.000,4,0.000,0.028,2151,1969,3750,0,0,0,0,0,0
$GC,3987,-0.75,-219.0,451.1,-9.0,499,3990,0.00,0.80,0.00,0.000,6,0.000,0.036,2151,2499,3749,0,0,0,0,0,0
$GC,4318,-0.79,-219.0,483.6,-10.5,530,4322,0.00,0.73,0.00,0.000,4,0.000,0.028,2151,1972,3746,0,0,0,0,0,0
$GC,4376,-0.81,-219.0,489.4,-9.9,535,4381,0.08,0.80,0.00,0.000,6,0.054,0.037,2096,2498,3746,0,0,0,0,0,0
$GC,4712,-0.72,-219.0,536.9,-14.7,555,4717,0.17,0.82,0.00,0.000,4,0.145,0.042,2142,3026,3743,0,0,0,0,0,0
$GC,4839,-0.67,-219.0,551.6,-11.2,560,4843,0.00,0.75,0.00,0.000,6,0.000,0.028,2142,2500,3742,0,0,0,0,0,0
$GC,5161,-0.64,-219.0,583.7,-9.7,576,5165,0.00,0.82,0.00,0.000,4,0.000,0.041,2139,3030,3740,0,0,0,0,0,0
$GC,5232,-0.59,-219.0,591.3,-11.0,579,5236,0.12,0.75,0.00,0.000,6,0.120,0.028,2180,2506,3739,0,0,0,0,0,0
$GC,5567,-0.68,-219.0,616.4,-7.2,595,5570,0.00,0.73,0.00,0.000,4,0.000,0.028,2180,1970,3736,0,0,0,0,0,0
$GC,5630,-0.75,-219.0,620.9,-7.0,597,5637,0.10,0.82,0.00,0.000,6,0.050,0.037,2114,2507,3736,0,0,0,0,0,0
$GC,5946,-0.75,-219.0,653.8,-11.2,613,5950,0.00,0.75,0.00,0.000,4,0.000,0.028,2114,1972,3734,0,0,0,0,0,0
$GC,6019,-0.72,-219.0,662.4,-11.9,616,6023,0.00,0.80,0.00,0.000,6,0.000,0.038,2112,2491,3733,0,0,0,0,0,0
$GC,6348,-0.65,-219.0,705.3,-12.6,632,6350,0.17,0.00,0.00,0.000,6,0.154,0.000,2160,2492,3731,0,0,0,0,0,0
$STATE,6428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6428,begin apogee
$GC,6435,-0.19,0.0,713.7,10.6,636,6604,0.45,0.00,162.85,0.873,6,0.103,0.000,2313,2097,2869,0,0,0,0,0,0
$STATE,6605,end apogee,CONTROL_FINISHED_OK
$STATE,6605,begin climb
$GC,6608,0.61,219.0,727.3,0.0,644,6783,0.70,0.77,167.45,0.862,4,0.044,0.029,2598,1589,1977,0,0,0,0,0,0
$GC,6862,0.55,261.7,720.2,9.0,655,6903,0.15,0.80,34.35,0.823,6,0.142,0.031,2554,2117,1802,0,0,0,0,0,0
$GC,7220,0.57,322.5,689.9,8.4,673,7271,0.00,0.73,47.28,0.835,4,0.000,0.033,2554,2620,1553,0,0,0,0,0,0
$GC,7442,0.59,377.4,671.2,8.6,683,7489,0.00,0.75,43.20,0.819,6,0.000,0.030,2555,2113,1330,0,0,0,0,0,0
$GC,7813,0.69,436.1,639.7,8.4,701,7864,0.12,0.80,46.28,0.811,4,0.088,0.032,2621,1586,1091,0,0,0,0,0,0
$GC,7990,0.64,436.1,617.3,13.6,709,7994,0.10,0.77,0.00,0.000,6,0.130,0.032,2587,2098,1095,0,0,0,0,0,0
$GC,8326,0.66,436.1,579.7,10.9,725,8330,0.00,0.77,0.00,0.000,4,0.000,0.034,2588,1574,1093,0,0,0,0,0,0
$GC,8372,0.67,436.1,574.0,11.9,727,8376,0.00,0.77,0.00,0.000,6,0.000,0.031,2589,2095,1093,0,0,0,0,0,0
$GC,8707,0.68,436.1,533.7,11.7,743,8711,0.00,0.77,0.00,0.000,4,0.000,0.034,2591,1573,1093,0,0,0,0,0,0
$GC,8717,0.71,436.1,532.3,11.8,743,8721,0.00,0.80,0.00,0.000,6,0.000,0.030,2591,2104,1093,0,0,0,0,0,0
$GC,9040,0.75,450.9,498.5,9.8,759,9057,0.00,0.80,13.38,0.697,4,0.000,0.037,2592,2624,1030,0,0,0,0,0,0
$GC,9131,0.79,488.3,490.0,9.1,766,9170,0.08,0.77,30.08,0.711,6,0.057,0.031,2642,2102,878,0,0,0,0,0,0
$GC,9489,0.79,488.3,448.8,12.8,800,9493,0.00,0.77,0.00,0.000,4,0.000,0.037,2646,1574,884,0,0,0,0,0,0
$GC,9551,0.74,488.3,439.7,14.7,805,9558,0.10,0.80,0.00,0.000,6,0.132,0.029,2613,2110,885,0,0,0,0,0,0
$GC,9878,0.77,488.3,396.5,12.8,836,9882,0.00,0.80,0.00,0.000,4,0.000,0.034,2616,1574,886,0,0,0,0,0,0
$GC,9961,0.77,488.3,385.6,12.6,843,9969,0.00,0.77,3.62,0.464,6,0.000,0.031,2616,2093,878,0,0,0,0,0,0
$GC,10288,0.86,516.7,353.7,9.4,874,10315,0.10,0.82,22.80,0.643,4,0.103,0.034,2666,1569,761,0,0,0,0,0,0
$GC,10399,0.80,516.7,339.7,13.4,883,10406,0.10,0.80,0.00,0.000,6,0.125,0.030,2633,2100,760,0,0,0,0,0,0
$GC,10725,0.89,544.9,305.0,9.4,914,10751,0.00,0.75,22.33,0.604,4,0.000,0.032,2633,2618,646,0,0,0,0,0,0
$GC,10772,1.00,578.7,300.7,9.2,918,10806,0.15,0.80,26.73,0.584,6,0.047,0.031,2716,2092,508,0,0,0,0,0,0
$GC,11124,0.94,578.7,247.6,15.6,951,11128,0.15,0.77,0.00,0.000,4,0.155,0.035,2677,1576,510,0,0,0,0,0,0
$GC,11165,0.91,578.7,241.7,14.0,954,11171,0.00,0.80,0.00,0.000,6,0.000,0.031,2677,2106,510,0,0,0,0,0,0
$GC,11491,0.94,578.7,197.8,11.2,986,11498,0.00,0.77,0.00,0.000,4,0.000,0.033,2680,1582,510,0,0,0,0,0,0
$GC,11568,0.96,592.0,190.1,9.9,999,11587,0.00,0.77,12.07,0.539,6,0.000,0.029,2680,2105,455,0,0,0,0,0,0
$GC,11927,0.99,592.0,150.4,11.4,1062,11934,0.00,0.75,0.00,0.000,4,0.000,0.035,2680,2624,454,0,0,0,0,0,0
$GC,11986,0.99,592.0,143.6,11.1,1072,11993,0.00,0.77,0.00,0.000,6,0.000,0.031,2683,2098,454,0,0,0,0,0,0
$GC,12335,1.05,592.0,109.7,10.4,1133,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2098,455,0,0,0,0,0,0
$GC,12681,1.25,650.8,75.9,8.4,1194,12695,0.25,0.80,4.80,0.386,4,0.063,0.035,2790,1574,439,0,0,0,0,0,0
$GC,12822,1.18,650.8,59.4,12.7,1218,12830,0.10,0.77,0.08,0.120,6,0.127,0.029,2757,2104,440,0,0,0,0,0,0
$GC,13170,1.14,650.8,16.0,11.0,1279,13178,0.00,0.80,2.33,0.176,4,0.000,0.032,2758,2634,440,0,0,0,0,0,0
$GC,13197,1.10,650.8,12.5,12.7,1283,13204,0.08,0.77,0.00,0.000,6,0.135,0.029,2734,2101,439,0,0,0,0,0,0
$STATE,13276,end climb,SURFACE_DEPTH_REACHED
$STATE,13276,begin surface coast
$FINISH,0.5,1.009997
$STATE,13303,end surface coast,CONTROL_FINISHED_OK
$STATE,13303,begin surface
$SM_CCo,13381,0.00,0.000,0,0,440,595.83
$SM_GC,1.22,6.72,0.00,0.00,0.037,0.000,0.000,208,2493,440,-6.69,-0.23,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12024.40,031111,040429
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.1,125.997
$10V_AH,9.7,90.100
$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,19.475,46.225,639.600,0.000,0.000,63.164,84.542,171.351,0.000,0.000,17.406,3095.400,7124.018,657.521,2619.041,415.897,0.000,1923.391,0.000,2278.900,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,61.200,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,889.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322724
$DATA_FILE_SIZE,73732,1301
$CAP_FILE_SIZE,162153,0
$CFSIZE,260165632,183300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031111,084337,2141.942,12022.808,31,0.8,31,-2.6