version: 66.09
glider: 181
mission: 6
dive: 760
start: 11 3 111 12 39 33
data:
$ID,181
$MISSION,6
$DIVE,760
$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,-41807.73
$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,64
$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
$GPS1,031111,123254,2141.776,12022.356,25,0.9,43,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.2
$GPS2,031111,123908,2141.746,12022.430,11,1.1,11,-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,190.1,302117,-14.3,-10.312
$D_GRID,684
$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,-73.57,0.000,2,0.000,0.000,181,2527,2497,0,0,0,0,0,0
$GC,97,-0.61,-219.0,3.4,-3.2,13,139,8.23,0.85,-28.75,0.000,4,0.220,0.059,2169,1919,3763,0,0,0,0,0,0
$GC,221,-0.48,-219.0,30.7,-21.9,34,228,0.15,0.82,0.00,0.000,6,0.138,0.033,2213,2480,3764,0,0,0,0,0,0
$GC,569,-0.41,-219.0,89.2,-12.4,95,576,0.00,0.73,0.00,0.000,4,0.000,0.023,2213,1935,3762,0,0,0,0,0,0
$GC,673,-0.43,-219.0,101.0,-10.8,113,680,0.00,0.82,0.00,0.000,6,0.000,0.031,2211,2494,3762,0,0,0,0,0,0
$GC,1019,-0.43,-219.0,139.4,-11.1,174,1026,0.00,0.77,0.00,0.000,4,0.000,0.037,2207,3022,3762,0,0,0,0,0,0
$GC,1068,-0.38,-219.0,145.8,-13.6,182,1075,0.12,0.77,0.00,0.000,6,0.112,0.024,2250,2459,3762,0,0,0,0,0,0
$GC,1417,-0.52,-219.0,175.3,-9.3,243,1425,0.12,0.65,0.00,0.000,4,0.083,0.028,2196,1967,3763,0,0,0,0,0,0
$GC,1680,-0.65,-219.0,199.8,-9.0,289,1687,0.00,0.77,0.00,0.000,6,0.000,0.031,2196,2497,3763,0,0,0,0,0,0
$GC,2007,-0.73,-219.0,227.1,-7.9,320,2011,0.17,0.73,0.00,0.000,4,0.060,0.026,2096,1968,3763,0,0,0,0,0,0
$GC,2056,-0.63,-219.0,233.1,-12.8,324,2064,0.22,0.77,0.00,0.000,6,0.124,0.035,2164,2486,3763,0,0,0,0,0,0
$GC,2382,-0.65,-219.0,271.5,-11.1,355,2386,0.00,0.68,0.00,0.000,4,0.000,0.025,2164,1973,3762,0,0,0,0,0,0
$GC,2479,-0.68,-219.0,281.5,-10.0,363,2486,0.00,0.80,0.00,0.000,6,0.000,0.034,2164,2507,3762,0,0,0,0,0,0
$GC,2806,-0.74,-219.0,312.1,-9.3,394,2809,0.00,0.70,0.00,0.000,4,0.000,0.024,2164,1985,3761,0,0,0,0,0,0
$GC,2858,-0.76,-219.0,317.1,-9.5,398,2865,0.08,0.77,0.00,0.000,6,0.054,0.036,2106,2500,3761,0,0,0,0,0,0
$GC,3183,-0.74,-219.0,352.2,-10.9,429,3187,0.00,0.73,0.00,0.000,4,0.000,0.028,2106,1981,3758,0,0,0,0,0,0
$GC,3242,-0.68,-219.0,358.9,-11.9,434,3247,0.15,0.77,0.00,0.000,6,0.122,0.034,2150,2499,3757,0,0,0,0,0,0
$GC,3574,-0.72,-219.0,393.3,-10.1,465,3577,0.00,0.77,0.00,0.000,4,0.000,0.041,2150,3018,3756,0,0,0,0,0,0
$GC,3692,-0.72,-219.0,404.8,-9.6,475,3699,0.00,0.73,0.00,0.000,6,0.000,0.026,2150,2502,3755,0,0,0,0,0,0
$GC,4018,-0.76,-219.0,430.3,-7.4,506,4022,0.00,0.70,0.00,0.000,4,0.000,0.028,2150,1974,3752,0,0,0,0,0,0
$GC,4100,-0.79,-219.0,437.0,-8.6,513,4104,0.00,0.80,0.00,0.000,6,0.000,0.036,2150,2502,3752,0,0,0,0,0,0
$GC,4433,-0.82,-219.0,465.5,-8.9,544,4440,0.12,0.00,0.00,0.000,6,0.080,0.000,2083,2502,3749,0,0,0,0,0,0
$GC,4770,-0.71,-219.0,513.7,-15.3,572,4774,0.22,0.80,0.00,0.000,4,0.139,0.036,2145,3021,3747,0,0,0,0,0,0
$GC,4833,-0.67,-219.0,521.6,-11.4,574,4840,0.00,0.73,0.00,0.000,6,0.000,0.027,2144,2501,3746,0,0,0,0,0,0
$GC,5152,-0.69,-219.0,549.9,-7.6,590,5156,0.00,0.73,0.00,0.000,4,0.000,0.028,2144,1976,3743,0,0,0,0,0,0
$GC,5267,-0.70,-219.0,558.6,-7.8,595,5270,0.00,0.80,0.00,0.000,6,0.000,0.037,2141,2500,3743,0,0,0,0,0,0
$GC,5602,-0.67,-219.0,586.9,-9.8,611,5605,0.00,0.75,0.00,0.000,4,0.000,0.029,2141,1978,3740,0,0,0,0,0,0
$GC,5720,-0.65,-219.0,596.8,-8.6,616,5724,0.00,0.80,0.00,0.000,6,0.000,0.037,2138,2500,3740,0,0,0,0,0,0
$GC,6049,-0.61,-219.0,631.0,-11.4,632,6054,0.15,0.82,0.00,0.000,4,0.146,0.042,2179,3024,3737,0,0,0,0,0,0
$GC,6192,-0.69,-219.0,645.5,-10.2,638,6196,0.00,0.73,0.00,0.000,6,0.000,0.027,2179,2518,3736,0,0,0,0,0,0
$GC,6520,-0.81,-219.0,676.6,-9.0,654,6525,0.20,0.75,0.00,0.000,4,0.069,0.024,2090,1974,3734,0,0,0,0,0,0
$STATE,6581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6581,begin apogee
$GC,6589,-0.19,0.0,684.1,12.8,656,6756,0.73,0.00,162.30,0.853,6,0.132,0.000,2309,2115,2868,0,0,0,0,0,0
$STATE,6757,end apogee,CONTROL_FINISHED_OK
$STATE,6757,begin climb
$GC,6760,0.61,219.0,697.1,0.0,664,6933,0.70,0.77,166.30,0.842,4,0.042,0.028,2593,1592,1977,0,0,0,0,0,0
$GC,7047,0.50,219.0,677.3,13.2,677,7051,0.17,0.77,0.00,0.000,6,0.135,0.031,2539,2095,1976,0,0,0,0,0,0
$GC,7374,0.45,219.0,641.8,10.4,693,7378,0.00,0.77,0.00,0.000,4,0.000,0.037,2539,2621,1974,0,0,0,0,0,0
$GC,7391,0.39,222.7,640.0,10.2,693,7399,0.10,0.75,4.65,0.623,6,0.129,0.030,2507,2111,1961,0,0,0,0,0,0
$GC,7710,0.56,355.1,617.7,6.1,709,7817,0.15,0.82,100.38,0.803,4,0.079,0.035,2578,1574,1420,0,0,0,0,0,0
$GC,7838,0.60,416.1,607.2,8.4,715,7890,0.00,0.80,47.67,0.773,6,0.000,0.031,2578,2097,1172,0,0,0,0,0,0
$GC,8207,0.68,458.0,569.7,9.0,733,8250,0.00,0.82,34.42,0.760,4,0.000,0.033,2581,1574,1001,0,0,0,0,0,0
$GC,8270,0.74,489.2,563.7,9.3,735,8300,0.00,0.80,25.95,0.729,6,0.000,0.029,2581,2107,873,0,0,0,0,0,0
$GC,8629,0.89,549.0,532.6,8.4,753,8683,0.22,0.85,48.60,0.744,4,0.063,0.031,2688,1567,630,0,0,0,0,0,0
$GC,8774,0.82,549.0,512.7,15.5,759,8782,0.15,0.80,0.00,0.000,6,0.122,0.031,2640,2095,630,0,0,0,0,0,0
$GC,9098,0.86,549.0,470.0,12.9,785,9101,0.00,0.77,0.00,0.000,4,0.000,0.036,2639,2625,629,0,0,0,0,0,0
$GC,9171,0.81,549.0,459.9,14.4,791,9177,0.00,0.77,0.00,0.000,6,0.000,0.030,2641,2096,629,0,0,0,0,0,0
$GC,9498,0.83,549.0,419.9,11.6,822,9501,0.00,0.75,0.00,0.000,4,0.000,0.033,2645,1573,629,0,0,0,0,0,0
$GC,9525,0.83,549.0,416.1,12.4,824,9532,0.00,0.77,0.00,0.000,6,0.000,0.028,2645,2102,628,0,0,0,0,0,0
$GC,9851,0.86,549.0,379.5,11.8,855,9855,0.00,0.75,0.00,0.000,4,0.000,0.035,2645,2620,628,0,0,0,0,0,0
$GC,9925,0.79,549.0,369.6,14.5,861,9931,0.00,0.77,0.00,0.000,6,0.000,0.031,2648,2098,628,0,0,0,0,0,0
$GC,10251,0.76,549.0,328.5,12.2,892,10254,0.00,0.77,0.00,0.000,4,0.000,0.034,2648,2619,628,0,0,0,0,0,0
$GC,10313,0.72,549.0,320.0,14.4,897,10320,0.12,0.77,0.00,0.000,6,0.131,0.029,2610,2093,627,0,0,0,0,0,0
$GC,10641,0.85,551.6,286.1,10.2,928,10645,0.12,0.77,0.00,0.000,4,0.093,0.034,2664,1572,628,0,0,0,0,0,0
$GC,10870,0.90,551.6,260.7,11.1,948,10878,0.00,0.77,3.50,0.402,6,0.000,0.028,2664,2098,620,0,0,0,0,0,0
$GC,11196,0.92,551.6,226.0,10.6,979,11200,0.00,0.77,0.00,0.000,4,0.000,0.032,2666,1572,620,0,0,0,0,0,0
$GC,11246,0.95,551.6,220.4,10.9,983,11253,0.00,0.77,0.00,0.000,6,0.000,0.028,2666,2099,620,0,0,0,0,0,0
$GC,11582,0.99,551.6,179.9,10.8,1028,11588,0.00,0.77,0.00,0.000,4,0.000,0.032,2669,1572,621,0,0,0,0,0,0
$GC,11729,1.05,588.7,166.2,9.1,1053,11765,0.10,0.77,29.12,0.531,6,0.050,0.028,2734,2097,467,0,0,0,0,0,0
$GC,12105,1.04,588.7,118.5,13.4,1119,12112,0.00,0.75,0.00,0.000,4,0.000,0.034,2734,2615,471,0,0,0,0,0,0
$GC,12165,0.97,588.7,109.6,15.8,1129,12172,0.15,0.75,0.00,0.000,6,0.133,0.030,2689,2107,472,0,0,0,0,0,0
$GC,12514,1.05,604.6,71.2,9.8,1190,12527,0.00,0.82,7.85,0.451,4,0.000,0.034,2689,1568,439,0,0,0,0,0,0
$GC,12575,1.11,620.7,65.1,9.8,1200,12583,0.10,0.77,0.00,0.000,6,0.045,0.028,2751,2101,439,0,0,0,0,0,0
$GC,12925,1.13,620.7,22.3,10.6,1261,12932,0.00,0.77,0.00,0.000,4,0.000,0.031,2754,1570,440,0,0,0,0,0,0
$GC,13070,1.08,620.7,6.4,12.2,1286,13078,0.08,0.77,0.93,0.073,6,0.126,0.028,2728,2108,441,0,0,0,0,0,0
$STATE,13095,end climb,SURFACE_DEPTH_REACHED
$STATE,13095,begin surface coast
$FINISH,0.6,1.022053
$STATE,13118,end surface coast,CONTROL_FINISHED_OK
$STATE,13118,begin surface
$SM_CCo,13197,0.00,0.000,0,0,441,595.34
$SM_GC,1.23,6.55,0.00,0.00,0.026,0.000,0.000,203,2491,441,-6.69,-0.25,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12020.06,031111,080848
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.61
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.2,126.295
$10V_AH,9.7,90.261
$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,19.400,46.200,631.675,0.000,0.000,30.606,38.852,147.432,0.000,0.000,14.534,3069.722,6917.487,682.134,2499.134,390.642,0.000,1924.574,0.000,2255.779,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,61.965,852.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,883.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73616,1294
$CAP_FILE_SIZE,158774,0
$CFSIZE,260165632,183152640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031111,162037,2141.764,12022.838,28,1.0,29,-2.6