version: 66.09
glider: 181
mission: 6
dive: 108
start: 7 1 111 14 19 25
data:
$ID,181
$MISSION,6
$DIVE,108
$N_DIVES,115
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,9
$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,-40587.953
$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,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,71
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,010711,141200,2000.019,11950.365,35,1.9,35,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.1
$GPS2,010711,141902,2000.207,11950.428,15,1.8,15,-2.2
$SPEED_LIMITS,0.163,0.255
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,173.7,112756,-16.6,-9.429
$D_GRID,3477
$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,14,begin dive
$GC,16,-0.51,-146.0,0.0,0.0,0,91,0.00,0.00,-72.00,0.000,2,0.000,0.000,203,2643,2459,0,0,0,0,0,0
$GC,94,-0.51,-146.0,3.4,-3.9,10,132,7.82,2.22,-20.05,0.000,4,0.234,0.043,2132,1183,3469,0,0,0,0,0,0
$GC,197,-0.51,-146.0,41.1,-28.5,27,205,0.00,2.20,0.00,0.000,6,0.000,0.041,2123,2563,3470,0,0,0,0,0,0
$GC,331,-0.51,-146.0,87.9,-33.2,52,339,0.00,1.90,0.00,0.000,4,0.000,0.041,2113,3788,3470,0,0,0,0,0,0
$GC,362,-0.51,-146.0,97.3,-30.2,57,371,0.00,1.83,0.00,0.000,6,0.000,0.026,2113,2581,3471,0,0,0,0,0,0
$GC,497,-0.51,-146.0,132.7,-22.8,82,506,0.00,2.08,0.00,0.000,4,0.000,0.029,2113,1194,3472,0,0,0,0,0,0
$GC,540,-0.51,-146.0,141.9,-20.4,89,548,0.00,2.12,0.00,0.000,6,0.000,0.037,2111,2552,3472,0,0,0,0,0,0
$GC,676,-0.51,-146.0,169.4,-21.0,114,684,0.00,1.90,0.00,0.000,4,0.000,0.041,2101,3786,3473,0,0,0,0,0,0
$GC,768,-0.51,-146.0,191.4,-19.7,131,777,0.10,1.83,0.00,0.000,6,0.145,0.025,2133,2564,3473,0,0,0,0,0,0
$GC,905,-0.51,-146.0,215.9,-18.5,148,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2563,3473,0,0,0,0,0,0
$GC,1225,-0.51,-146.0,266.4,-15.6,178,1229,0.00,1.85,0.00,0.000,4,0.000,0.043,2125,3784,3473,0,0,0,0,0,0
$GC,1283,-0.51,-146.0,274.6,-13.7,183,1286,0.00,1.70,0.00,0.000,6,0.000,0.026,2125,2607,3473,0,0,0,0,0,0
$GC,1613,-0.51,-146.0,321.0,-13.5,214,1617,0.00,2.08,0.00,0.000,4,0.000,0.030,2125,1206,3471,0,0,0,0,0,0
$GC,1663,-0.51,-146.0,327.8,-12.5,218,1670,0.00,2.17,0.00,0.000,6,0.000,0.036,2124,2604,3470,0,0,0,0,0,0
$GC,1989,-0.51,-146.0,369.4,-14.2,249,1992,0.00,1.77,0.00,0.000,4,0.000,0.045,2116,3782,3468,0,0,0,0,0,0
$GC,2034,-0.51,-146.0,375.8,-13.6,253,2038,0.00,1.70,0.00,0.000,6,0.000,0.027,2112,2610,3465,0,0,0,0,0,0
$GC,2365,-0.51,-146.0,420.9,-13.9,284,2369,0.00,2.05,0.00,0.000,4,0.000,0.031,2116,1216,3464,0,0,0,0,0,0
$GC,2435,-0.51,-146.0,429.9,-12.7,290,2439,0.00,2.15,0.00,0.000,6,0.000,0.037,2112,2618,3463,0,0,0,0,0,0
$GC,2760,-0.51,-146.0,475.0,-14.3,320,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2619,3459,0,0,0,0,0,0
$GC,3085,-0.51,-146.0,521.8,-13.9,344,3089,0.00,2.12,0.00,0.000,4,0.000,0.032,2112,1209,3459,0,0,0,0,0,0
$GC,3135,-0.51,-146.0,528.6,-13.0,346,3139,0.00,2.15,0.00,0.000,6,0.000,0.039,2111,2609,3455,0,0,0,0,0,0
$GC,3456,-0.51,-146.0,570.2,-13.1,362,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2610,3452,0,0,0,0,0,0
$GC,3765,-0.51,-146.0,609.2,-12.4,377,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2609,3449,0,0,0,0,0,0
$GC,4075,-0.51,-146.0,646.4,-12.1,392,4079,0.00,2.10,0.00,0.000,4,0.000,0.034,2112,1210,3445,0,0,0,0,0,0
$GC,4163,-0.51,-146.0,657.2,-11.2,396,4167,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2604,3445,0,0,0,0,0,0
$GC,4491,-0.51,-146.0,696.5,-12.1,412,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2604,3443,0,0,0,0,0,0
$GC,4800,-0.51,-146.0,733.0,-12.0,427,4804,0.00,2.10,0.00,0.000,4,0.000,0.036,2110,1211,3440,0,0,0,0,0,0
$GC,4827,-0.51,-146.0,736.6,-12.3,428,4831,0.00,2.17,0.00,0.000,6,0.000,0.042,2111,2591,3439,0,0,0,0,0,0
$GC,5148,-0.51,-146.0,776.1,-12.6,444,5152,0.00,2.08,0.00,0.000,4,0.000,0.035,2111,1212,3437,0,0,0,0,0,0
$GC,5226,-0.51,-146.0,786.0,-11.9,447,5233,0.00,2.15,0.00,0.000,6,0.000,0.042,2111,2601,3436,0,0,0,0,0,0
$GC,5543,-0.51,-146.0,824.3,-11.9,463,5546,0.00,1.80,0.00,0.000,4,0.000,0.052,2111,3783,3435,0,0,0,0,0,0
$GC,5589,-0.51,-146.0,829.6,-11.3,465,5593,0.00,1.75,0.00,0.000,6,0.000,0.030,2111,2600,3434,0,0,0,0,0,0
$GC,5922,-0.51,-146.0,864.8,-10.2,481,5926,0.00,2.08,0.00,0.000,4,0.000,0.037,2111,1202,3432,0,0,0,0,0,0
$GC,6075,-0.51,-146.0,879.1,-9.5,488,6079,0.00,2.12,0.00,0.000,6,0.000,0.042,2111,2579,3431,0,0,0,0,0,0
$GC,6403,-0.51,-146.0,911.0,-10.1,504,6406,0.00,1.85,0.00,0.000,4,0.000,0.053,2107,3783,3430,0,0,0,0,0,0
$GC,6429,-0.51,-146.0,914.2,-9.9,505,6434,0.00,1.85,0.00,0.000,6,0.000,0.031,2107,2569,3430,0,0,0,0,0,0
$GC,6757,-0.51,-146.0,947.0,-9.8,521,6762,0.10,2.05,0.00,0.000,4,0.177,0.037,2133,1205,3428,0,0,0,0,0,0
$GC,6820,-0.51,-146.0,952.4,-8.1,524,6824,0.00,2.10,0.00,0.000,6,0.000,0.041,2126,2567,3428,0,0,0,0,0,0
$GC,7153,-0.51,-146.0,977.9,-7.6,540,7157,0.00,2.08,0.00,0.000,4,0.000,0.037,2128,1198,3426,0,0,0,0,0,0
$GC,7231,-0.51,-146.0,984.2,-7.6,543,7238,0.00,2.10,0.00,0.000,6,0.000,0.042,2125,2559,3426,0,0,0,0,0,0
$STATE,7318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7318,begin apogee
$GC,7324,-0.16,0.0,991.1,7.7,548,7441,0.38,0.00,110.00,1.111,4,0.132,0.000,2247,2116,2870,0,0,0,0,0,0
$STATE,7442,end apogee,CONTROL_FINISHED_OK
$STATE,7442,begin climb
$GC,7444,0.51,146.0,993.9,0.0,553,7575,0.65,2.28,120.15,1.080,4,0.085,0.041,2463,717,2273,0,0,0,0,0,0
$GC,7605,0.51,146.0,984.5,10.2,561,7609,0.00,2.30,0.00,0.000,6,0.000,0.035,2463,2136,2272,0,0,0,0,0,0
$GC,7931,0.51,146.0,948.4,10.6,577,7935,0.00,2.22,0.00,0.000,4,0.000,0.040,2474,715,2265,0,0,0,0,0,0
$GC,7981,0.51,146.0,943.0,10.3,579,7985,0.00,2.17,0.00,0.000,6,0.000,0.036,2473,2119,2264,0,0,0,0,0,0
$GC,8303,0.51,146.0,909.9,10.2,595,8307,0.00,2.22,0.00,0.000,4,0.000,0.046,2473,3538,2262,0,0,0,0,0,0
$GC,8358,0.51,146.0,903.6,11.1,597,8362,0.00,2.17,0.00,0.000,6,0.000,0.030,2483,2111,2262,0,0,0,0,0,0
$GC,8680,0.51,146.0,870.0,10.3,613,8684,0.00,2.12,0.00,0.000,4,0.000,0.041,2493,714,2261,0,0,0,0,0,0
$GC,8802,0.51,146.0,856.8,10.3,618,8810,0.00,2.17,0.00,0.000,6,0.000,0.034,2494,2102,2261,0,0,0,0,0,0
$GC,9119,0.51,146.0,822.6,11.4,634,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2102,2260,0,0,0,0,0,0
$GC,9428,0.51,146.0,787.1,11.4,649,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2102,2259,0,0,0,0,0,0
$GC,9738,0.51,146.0,749.9,12.0,664,9742,0.00,2.12,0.00,0.000,4,0.000,0.041,2504,719,2259,0,0,0,0,0,0
$GC,9826,0.51,146.0,738.6,12.3,668,9831,0.15,2.20,0.00,0.000,6,0.177,0.037,2466,2147,2258,0,0,0,0,0,0
$GC,10153,0.51,146.0,703.5,10.9,684,10157,0.00,2.15,0.00,0.000,4,0.000,0.047,2466,3542,2258,0,0,0,0,0,0
$GC,10198,0.51,146.0,698.0,12.6,686,10202,0.00,2.15,0.00,0.000,6,0.000,0.031,2474,2117,2257,0,0,0,0,0,0
$GC,10525,0.51,146.0,660.7,10.8,702,10529,0.00,2.12,0.00,0.000,4,0.000,0.043,2485,715,2257,0,0,0,0,0,0
$GC,10647,0.51,146.0,647.4,11.1,707,10654,0.00,2.12,0.00,0.000,6,0.000,0.037,2484,2107,2257,0,0,0,0,0,0
$GC,10963,0.51,146.0,613.7,10.4,723,10967,0.00,2.20,0.00,0.000,4,0.000,0.047,2484,3536,2256,0,0,0,0,0,0
$GC,11004,0.51,146.0,609.0,11.6,725,11008,0.00,2.17,0.00,0.000,6,0.000,0.032,2494,2095,2255,0,0,0,0,0,0
$GC,11331,0.51,146.0,571.1,11.4,741,11335,0.00,2.12,0.00,0.000,4,0.000,0.042,2505,711,2256,0,0,0,0,0,0
$GC,11472,0.51,146.0,555.3,10.8,747,11477,0.15,2.10,0.00,0.000,6,0.176,0.036,2467,2089,2256,0,0,0,0,0,0
$GC,11788,0.54,167.6,528.0,8.5,762,11811,0.00,2.28,14.70,0.805,4,0.000,0.047,2467,3535,2187,0,0,0,0,0,0
$GC,11835,0.55,174.8,523.6,9.1,764,11849,0.00,2.20,7.55,0.668,6,0.000,0.031,2475,2090,2158,0,0,0,0,0,0
$GC,12168,0.55,174.8,489.9,10.1,784,12172,0.00,2.10,0.00,0.000,4,0.000,0.041,2485,719,2156,0,0,0,0,0,0
$GC,12217,0.55,174.8,484.9,9.7,788,12224,0.00,2.12,0.00,0.000,6,0.000,0.034,2485,2079,2156,0,0,0,0,0,0
$GC,12543,0.55,174.8,450.9,10.4,819,12547,0.00,2.28,0.00,0.000,4,0.000,0.047,2485,3549,2156,0,0,0,0,0,0
$GC,12605,0.55,174.8,443.6,12.0,824,12609,0.00,2.22,0.00,0.000,6,0.000,0.031,2493,2084,2156,0,0,0,0,0,0
$GC,12930,0.55,174.8,406.0,11.3,854,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2084,2156,0,0,0,0,0,0
$GC,13251,0.55,174.8,368.6,12.6,884,13255,0.00,2.08,0.00,0.000,4,0.000,0.041,2506,709,2155,0,0,0,0,0,0
$GC,13303,0.55,174.8,361.8,12.2,888,13307,0.00,2.12,0.00,0.000,6,0.000,0.036,2507,2107,2155,0,0,0,0,0,0
$GC,13628,0.55,174.8,322.3,11.0,918,13632,0.00,2.20,0.00,0.000,4,0.000,0.045,2506,3542,2155,0,0,0,0,0,0
$GC,13726,0.55,174.8,310.2,12.6,926,13731,0.15,2.15,0.00,0.000,6,0.178,0.031,2478,2117,2155,0,0,0,0,0,0
$GC,14052,0.56,187.1,279.6,8.9,956,14069,0.00,2.17,10.93,0.665,4,0.000,0.041,2487,723,2106,0,0,0,0,0,0
$GC,14229,0.56,187.1,261.5,10.0,972,14233,0.00,2.12,0.00,0.000,6,0.000,0.034,2487,2118,2106,0,0,0,0,0,0
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$STATE,16998,end climb,SURFACE_DEPTH_REACHED
$STATE,16998,begin surface coast
$FINISH,1.6,1.020552
$STATE,17010,end surface coast,CONTROL_FINISHED_OK
$STATE,17010,begin surface
$SM_CCo,17088,0.00,0.000,0,0,526,574.74
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$IRIDIUM_FIX,1952.70,11945.83,010711,090946
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.85
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.1,16.698
$10V_AH,10.2,18.314
$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
$DEVICE_SECS,16.000,179.225,558.000,0.000,0.000,27.796,44.479,201.698,0.000,0.000,17.754,3367.954,9554.738,621.106,3593.903,355.159,0.000,2091.425,0.000,2452.246,0.000,0.541,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,977.645,1450.558,1631.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322604
$DATA_FILE_SIZE,93695,1401
$CAP_FILE_SIZE,183317,0
$CFSIZE,260165632,240750592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,190530,1958.857,11950.545,39,1.1,39,-2.2