version: 66.09
glider: 181
mission: 6
dive: 761
start: 11 3 111 16 28 28
data:
$ID,181
$MISSION,6
$DIVE,761
$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,-41809.082
$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,51
$R_STBD_OVSHOOT,38
$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
$GPS1,031111,162037,2141.764,12022.838,28,1.0,29,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.3
$GPS2,031111,162801,2141.753,12022.828,9,0.9,14,-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,190.2,302222,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.68,0.000,2,0.000,0.000,150,2489,2329,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.1,-3.1,12,138,8.40,0.80,-34.08,0.000,4,0.223,0.060,2168,1944,3764,0,0,0,0,0,0
$GC,188,-0.48,-219.0,21.1,-19.5,28,195,0.15,0.85,0.00,0.000,6,0.137,0.034,2212,2504,3765,0,0,0,0,0,0
$GC,536,-0.43,-219.0,71.2,-14.1,89,542,0.00,0.75,0.00,0.000,4,0.000,0.022,2212,1947,3763,0,0,0,0,0,0
$GC,578,-0.40,-219.0,77.6,-14.9,96,585,0.10,0.82,0.00,0.000,6,0.107,0.031,2246,2503,3763,0,0,0,0,0,0
$GC,926,-0.54,-219.0,116.6,-9.0,157,934,0.15,0.77,0.00,0.000,4,0.075,0.026,2177,1946,3764,0,0,0,0,0,0
$GC,1005,-0.52,-219.0,123.9,-9.9,170,1012,0.10,0.82,0.00,0.000,6,0.113,0.034,2208,2500,3764,0,0,0,0,0,0
$GC,1354,-0.60,-219.0,156.3,-9.5,231,1361,0.00,0.80,0.00,0.000,4,0.000,0.037,2207,3027,3764,0,0,0,0,0,0
$GC,1459,-0.67,-219.0,166.4,-9.6,249,1466,0.10,0.77,0.00,0.000,6,0.041,0.024,2131,2461,3764,0,0,0,0,0,0
$GC,1809,-0.65,-219.0,207.6,-11.2,305,1813,0.12,0.88,0.00,0.000,4,0.138,0.036,2165,3024,3764,0,0,0,0,0,0
$GC,1918,-0.62,-219.0,218.6,-9.7,314,1925,0.00,0.70,0.00,0.000,6,0.000,0.024,2165,2507,3764,0,0,0,0,0,0
$GC,2245,-0.67,-219.0,247.8,-10.1,345,2248,0.00,0.77,0.00,0.000,4,0.000,0.037,2165,3023,3764,0,0,0,0,0,0
$GC,2332,-0.69,-219.0,257.5,-11.5,352,2338,0.00,0.73,0.00,0.000,6,0.000,0.024,2165,2494,3764,0,0,0,0,0,0
$GC,2658,-0.73,-219.0,289.5,-8.8,383,2662,0.00,0.68,0.00,0.000,4,0.000,0.024,2165,1970,3763,0,0,0,0,0,0
$GC,2687,-0.77,-219.0,292.2,-9.1,385,2694,0.08,0.80,0.00,0.000,6,0.051,0.033,2104,2505,3763,0,0,0,0,0,0
$GC,3013,-0.67,-219.0,331.2,-14.5,416,3017,0.20,0.73,0.00,0.000,4,0.145,0.018,2161,1976,3762,0,0,0,0,0,0
$GC,3041,-0.60,-219.0,335.1,-13.3,418,3047,0.00,0.77,0.00,0.000,6,0.000,0.035,2159,2494,3761,0,0,0,0,0,0
$GC,3367,-0.65,-219.0,362.6,-7.6,449,3371,0.00,0.77,0.00,0.000,4,0.000,0.038,2155,3017,3759,0,0,0,0,0,0
$GC,3471,-0.65,-219.0,370.8,-8.4,458,3475,0.00,0.70,0.00,0.000,6,0.000,0.025,2155,2513,3758,0,0,0,0,0,0
$GC,3803,-0.69,-219.0,398.4,-7.9,489,3806,0.00,0.77,0.00,0.000,4,0.000,0.038,2153,3019,3755,0,0,0,0,0,0
$GC,3877,-0.72,-219.0,405.1,-8.4,495,3884,0.00,0.73,0.00,0.000,6,0.000,0.025,2152,2503,3754,0,0,0,0,0,0
$GC,4204,-0.77,-219.0,432.7,-8.4,526,4207,0.00,0.70,0.00,0.000,4,0.000,0.027,2152,1973,3752,0,0,0,0,0,0
$GC,4297,-0.79,-219.0,440.7,-8.9,534,4301,0.00,0.80,0.00,0.000,6,0.000,0.035,2152,2502,3751,0,0,0,0,0,0
$GC,4629,-0.84,-219.0,473.6,-9.9,565,4633,0.15,0.75,0.00,0.000,4,0.072,0.026,2073,1968,3749,0,0,0,0,0,0
$GC,4749,-0.73,-219.0,490.2,-14.8,575,4757,0.20,0.80,0.00,0.000,6,0.129,0.037,2133,2491,3748,0,0,0,0,0,0
$GC,5072,-0.69,-219.0,524.6,-10.2,595,5076,0.00,0.82,0.00,0.000,4,0.000,0.041,2130,3037,3746,0,0,0,0,0,0
$GC,5164,-0.64,-219.0,534.3,-10.1,599,5168,0.10,0.77,0.00,0.000,6,0.129,0.027,2163,2493,3745,0,0,0,0,0,0
$GC,5500,-0.72,-219.0,564.3,-8.6,615,5504,0.00,0.82,0.00,0.000,4,0.000,0.040,2162,3029,3743,0,0,0,0,0,0
$GC,5574,-0.78,-219.0,570.4,-7.7,618,5578,0.08,0.75,0.00,0.000,6,0.054,0.026,2107,2504,3742,0,0,0,0,0,0
$GC,5903,-0.70,-219.0,601.6,-10.7,634,5907,0.15,0.75,0.00,0.000,4,0.148,0.028,2148,1972,3740,0,0,0,0,0,0
$GC,5960,-0.67,-219.0,607.0,-8.8,636,5964,0.00,0.80,0.00,0.000,6,0.000,0.036,2146,2498,3739,0,0,0,0,0,0
$GC,6283,-0.72,-219.0,635.2,-8.5,652,6286,0.00,0.73,0.00,0.000,4,0.000,0.028,2146,1974,3737,0,0,0,0,0,0
$GC,6385,-0.75,-219.0,643.9,-8.5,656,6389,0.00,0.80,0.00,0.000,6,0.000,0.036,2142,2497,3736,0,0,0,0,0,0
$GC,6708,-0.79,-219.0,670.1,-7.6,672,6712,0.00,0.73,0.00,0.000,4,0.000,0.028,2142,1975,3734,0,0,0,0,0,0
$GC,6811,-0.81,-219.0,678.1,-7.7,676,6814,0.00,0.82,0.00,0.000,6,0.000,0.037,2139,2508,3734,0,0,0,0,0,0
$STATE,6903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6903,begin apogee
$GC,6910,-0.19,0.0,685.0,7.2,681,7079,0.50,0.00,162.52,0.856,6,0.087,0.000,2315,2100,2868,0,0,0,0,0,0
$STATE,7080,end apogee,CONTROL_FINISHED_OK
$STATE,7080,begin climb
$GC,7083,0.61,219.0,694.0,0.0,689,7256,0.68,0.82,166.77,0.840,4,0.043,0.031,2592,1572,1976,0,0,0,0,0,0
$GC,7359,0.50,219.0,674.9,11.2,702,7364,0.17,0.82,0.00,0.000,6,0.136,0.030,2539,2120,1975,0,0,0,0,0,0
$GC,7695,0.56,317.6,648.7,7.2,718,7780,0.00,0.80,75.00,0.819,4,0.000,0.034,2539,2625,1574,0,0,0,0,0,0
$GC,7865,0.54,327.0,632.9,10.0,725,7880,0.00,0.77,9.02,0.680,6,0.000,0.028,2541,2104,1534,0,0,0,0,0,0
$GC,8206,0.59,334.7,598.8,10.1,742,8217,0.00,0.80,7.68,0.682,4,0.000,0.033,2544,1573,1503,0,0,0,0,0,0
$GC,8329,0.61,350.9,586.1,9.8,747,8348,0.00,0.77,14.25,0.722,6,0.000,0.030,2545,2096,1437,0,0,0,0,0,0
$GC,8673,0.68,391.7,553.9,9.0,764,8710,0.15,0.82,32.22,0.758,4,0.081,0.034,2617,2632,1271,0,0,0,0,0,0
$GC,8811,0.60,391.7,537.0,12.4,769,8815,0.15,0.80,0.00,0.000,6,0.139,0.029,2573,2095,1272,0,0,0,0,0,0
$GC,9133,0.62,391.7,502.6,10.7,785,9136,0.00,0.77,0.00,0.000,4,0.000,0.032,2574,2621,1273,0,0,0,0,0,0
$GC,9196,0.62,391.7,495.7,10.8,789,9203,0.00,0.77,0.00,0.000,6,0.000,0.030,2574,2094,1272,0,0,0,0,0,0
$GC,9523,0.73,448.2,464.9,8.5,820,9569,0.10,0.00,43.62,0.718,6,0.099,0.000,2630,2094,1041,0,0,0,0,0,0
$GC,9885,0.74,454.6,429.5,10.1,854,9897,0.00,0.82,7.45,0.593,4,0.000,0.034,2630,2621,1015,0,0,0,0,0,0
$GC,9944,0.68,454.6,423.0,11.4,859,9949,0.10,0.77,0.00,0.000,6,0.145,0.029,2601,2096,1014,0,0,0,0,0,0
$GC,10276,0.72,461.2,390.2,10.1,890,10288,0.00,0.82,7.22,0.584,4,0.000,0.033,2601,2621,988,0,0,0,0,0,0
$GC,10303,0.75,461.2,387.5,10.4,892,10306,0.00,0.77,0.00,0.000,6,0.000,0.029,2601,2094,987,0,0,0,0,0,0
$GC,10636,0.85,495.9,354.5,9.2,923,10669,0.15,0.00,27.25,0.636,6,0.077,0.000,2670,2093,846,0,0,0,0,0,0
$GC,10988,0.80,495.9,309.5,13.1,956,10992,0.12,0.77,0.00,0.000,4,0.148,0.034,2639,1573,850,0,0,0,0,0,0
$GC,11045,0.77,495.9,302.1,13.1,961,11049,0.00,0.77,0.00,0.000,6,0.000,0.030,2639,2095,850,0,0,0,0,0,0
$GC,11376,0.79,495.9,265.0,10.7,992,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2095,851,0,0,0,0,0,0
$GC,11700,0.83,495.9,228.2,12.0,1022,11703,0.00,0.75,0.00,0.000,4,0.000,0.035,2639,2613,851,0,0,0,0,0,0
$GC,11746,0.83,495.9,222.3,11.4,1026,11749,0.00,0.75,0.00,0.000,6,0.000,0.028,2642,2097,851,0,0,0,0,0,0
$GC,12080,0.87,495.9,186.5,10.4,1067,12086,0.00,0.77,0.00,0.000,4,0.000,0.031,2642,2624,851,0,0,0,0,0,0
$GC,12155,0.87,495.9,178.4,10.7,1080,12163,0.00,0.77,2.85,0.294,6,0.000,0.030,2645,2096,847,0,0,0,0,0,0
$GC,12505,0.93,513.8,144.2,9.7,1141,12524,0.00,0.80,15.18,0.526,4,0.000,0.034,2649,1573,773,0,0,0,0,0,0
$GC,12636,1.02,529.0,131.1,9.8,1163,12656,0.12,0.77,12.82,0.467,6,0.047,0.028,2726,2102,711,0,0,0,0,0,0
$GC,12996,0.96,529.0,84.5,13.8,1226,13004,0.15,0.77,0.00,0.000,4,0.154,0.034,2685,2628,712,0,0,0,0,0,0
$GC,13056,0.92,529.0,76.8,12.2,1236,13063,0.00,0.77,0.00,0.000,6,0.000,0.028,2686,2089,711,0,0,0,0,0,0
$GC,13406,1.02,577.5,47.9,8.8,1297,13448,0.00,0.77,37.00,0.447,4,0.000,0.032,2688,1574,513,0,0,0,0,0,0
$GC,13703,1.14,614.6,21.8,9.1,1349,13728,0.12,0.77,15.90,0.444,6,0.043,0.025,2772,2111,438,0,0,0,0,0,0
$STATE,13857,end climb,SURFACE_DEPTH_REACHED
$STATE,13857,begin surface coast
$FINISH,0.5,1.008946
$STATE,13888,end surface coast,CONTROL_FINISHED_OK
$STATE,13888,begin surface
$SM_CCo,13966,0.00,0.000,0,0,439,596.08
$SM_GC,1.25,6.70,0.00,0.00,0.029,0.000,0.000,211,2497,439,-6.68,-0.08,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2131.85,12023.23,031111,121212
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.2,126.446
$10V_AH,9.7,90.346
$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,19.300,47.850,636.775,0.000,0.000,25.493,64.314,194.375,0.000,0.000,16.878,3275.003,7342.761,665.023,2700.128,418.702,0.000,1972.586,0.000,2381.411,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,60.435,856.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,943.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322732
$DATA_FILE_SIZE,80218,1381
$CAP_FILE_SIZE,167817,0
$CFSIZE,260165632,183062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031111,202231,2141.399,12022.765,37,1.4,37,-2.6