version: 66.09
glider: 181
mission: 6
dive: 115
start: 7 2 111 17 46 26
data:
$ID,181
$MISSION,6
$DIVE,115
$N_DIVES,120
$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,280
$T_MISSION,320
$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,225
$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,-40596.762
$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,42
$R_STBD_OVSHOOT,38
$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
$GPS1,020711,174007,1958.469,11950.231,28,1.8,29,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.6
$GPS2,020711,174601,1958.543,11950.321,10,1.7,15,-2.2
$SPEED_LIMITS,0.204,0.329
$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,173.3,109738,-16.3,-11.786
$D_GRID,3496
$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,16,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,200,2618,2424,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-4.1,10,137,7.78,2.22,-25.62,0.000,4,0.236,0.042,2104,1170,3766,0,0,0,0,0,0
$GC,181,-0.60,-219.0,38.4,-30.2,24,189,0.00,2.28,0.00,0.000,6,0.000,0.044,2095,2592,3767,0,0,0,0,0,0
$GC,315,-0.60,-219.0,89.9,-39.4,49,323,0.00,1.90,0.00,0.000,4,0.000,0.051,2086,3786,3767,0,0,0,0,0,0
$GC,403,-0.60,-219.0,117.9,-25.6,65,411,0.00,1.75,0.00,0.000,6,0.000,0.026,2086,2619,3769,0,0,0,0,0,0
$GC,537,-0.60,-219.0,160.6,-32.7,90,546,0.00,2.10,0.00,0.000,4,0.000,0.027,2085,1196,3769,0,0,0,0,0,0
$GC,554,-0.60,-219.0,166.7,-33.5,92,563,0.10,2.33,0.00,0.000,6,0.160,0.039,2105,2676,3770,0,0,0,0,0,0
$GC,695,-0.60,-219.0,207.2,-29.3,116,698,0.00,1.67,0.00,0.000,4,0.000,0.044,2098,3786,3770,0,0,0,0,0,0
$GC,761,-0.60,-219.0,227.7,-26.8,122,765,0.00,1.60,0.00,0.000,6,0.000,0.025,2099,2722,3771,0,0,0,0,0,0
$GC,1092,-0.60,-219.0,302.2,-17.0,153,1096,0.00,2.22,0.00,0.000,4,0.000,0.030,2098,1201,3771,0,0,0,0,0,0
$GC,1199,-0.60,-219.0,317.5,-13.1,162,1203,0.00,2.30,0.00,0.000,6,0.000,0.038,2089,2695,3771,0,0,0,0,0,0
$GC,1529,-0.60,-219.0,382.4,-22.2,193,1533,0.00,2.22,0.00,0.000,4,0.000,0.030,2089,1196,3771,0,0,0,0,0,0
$GC,1573,-0.60,-219.0,391.6,-19.2,196,1580,0.00,2.33,0.00,0.000,6,0.000,0.040,2079,2697,3770,0,0,0,0,0,0
$GC,1899,-0.60,-219.0,457.9,-19.7,227,1903,0.12,1.67,0.00,0.000,4,0.187,0.048,2105,3793,3766,0,0,0,0,0,0
$GC,1955,-0.60,-219.0,467.5,-14.1,232,1959,0.00,1.65,0.00,0.000,6,0.000,0.028,2104,2663,3765,0,0,0,0,0,0
$GC,2284,-0.60,-219.0,520.1,-16.0,257,2288,0.00,1.75,0.00,0.000,4,0.000,0.048,2095,3795,3761,0,0,0,0,0,0
$GC,2311,-0.60,-219.0,525.4,-17.3,258,2315,0.00,1.65,0.00,0.000,6,0.000,0.029,2095,2696,3761,0,0,0,0,0,0
$GC,2639,-0.60,-219.0,581.5,-17.4,274,2643,0.00,2.20,0.00,0.000,4,0.000,0.033,2095,1207,3757,0,0,0,0,0,0
$GC,2705,-0.60,-219.0,592.0,-13.9,277,2709,0.00,2.28,0.00,0.000,6,0.000,0.041,2086,2683,3757,0,0,0,0,0,0
$GC,3027,-0.60,-219.0,648.4,-17.9,293,3031,0.00,2.22,0.00,0.000,4,0.000,0.033,2086,1196,3753,0,0,0,0,0,0
$GC,3089,-0.60,-219.0,658.0,-13.6,296,3093,0.00,2.28,0.00,0.000,6,0.000,0.043,2083,2666,3753,0,0,0,0,0,0
$GC,3416,-0.60,-219.0,713.1,-17.6,312,3419,0.00,1.73,0.00,0.000,4,0.000,0.052,2074,3792,3748,0,0,0,0,0,0
$GC,3484,-0.60,-219.0,724.2,-14.1,315,3488,0.12,1.65,0.00,0.000,6,0.159,0.030,2108,2672,3747,0,0,0,0,0,0
$GC,3817,-0.60,-219.0,765.5,-12.3,331,3821,0.00,2.20,0.00,0.000,4,0.000,0.036,2108,1204,3744,0,0,0,0,0,0
$GC,3917,-0.60,-219.0,776.6,-10.2,335,3921,0.00,2.25,0.00,0.000,6,0.000,0.042,2100,2663,3744,0,0,0,0,0,0
$GC,4233,-0.60,-219.0,817.8,-13.6,350,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2666,3741,0,0,0,0,0,0
$GC,4542,-0.60,-219.0,861.6,-14.1,365,4546,0.00,1.73,0.00,0.000,4,0.000,0.053,2092,3787,3738,0,0,0,0,0,0
$GC,4558,-0.60,-219.0,864.1,-14.1,365,4565,0.00,1.70,0.00,0.000,6,0.000,0.031,2092,2671,3738,0,0,0,0,0,0
$GC,4875,-0.60,-219.0,911.4,-15.3,381,4879,0.00,2.20,0.00,0.000,4,0.000,0.037,2092,1200,3735,0,0,0,0,0,0
$GC,4962,-0.60,-219.0,923.7,-12.8,385,4967,0.00,2.25,0.00,0.000,6,0.000,0.043,2084,2658,3735,0,0,0,0,0,0
$GC,5290,-0.60,-219.0,972.5,-15.0,401,5294,0.00,1.75,0.00,0.000,4,0.000,0.054,2075,3792,3733,0,0,0,0,0,0
$GC,5340,-0.60,-219.0,980.5,-14.9,403,5345,0.10,1.70,0.00,0.000,6,0.142,0.032,2108,2682,3732,0,0,0,0,0,0
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5426,-0.16,0.0,990.0,11.9,407,5599,0.43,0.00,168.10,1.098,4,0.129,0.000,2248,2132,2869,0,0,0,0,0,0
$STATE,5600,end apogee,CONTROL_FINISHED_OK
$STATE,5600,begin climb
$GC,5602,0.60,219.0,999.7,0.0,415,5786,0.68,0.00,177.45,1.067,6,0.063,0.000,2497,2131,1976,0,0,0,0,0,0
$GC,6114,0.60,219.0,942.8,14.0,440,6118,0.00,2.25,0.00,0.000,4,0.000,0.047,2497,3541,1971,0,0,0,0,0,0
$GC,6180,0.60,219.0,932.6,15.2,443,6184,0.00,2.17,0.00,0.000,6,0.000,0.031,2506,2141,1970,0,0,0,0,0,0
$GC,6508,0.60,219.0,887.0,13.6,459,6512,0.00,2.17,0.00,0.000,4,0.000,0.040,2514,719,1969,0,0,0,0,0,0
$GC,6548,0.60,219.0,881.6,13.2,461,6552,0.00,2.20,0.00,0.000,6,0.000,0.036,2517,2139,1968,0,0,0,0,0,0
$GC,6875,0.60,219.0,835.3,14.1,477,6879,0.00,2.17,0.00,0.000,4,0.000,0.047,2517,3541,1967,0,0,0,0,0,0
$GC,6945,0.60,219.0,823.1,16.7,480,6950,0.12,2.17,0.00,0.000,6,0.195,0.030,2498,2136,1966,0,0,0,0,0,0
$GC,7273,0.60,219.0,774.5,14.9,496,7277,0.00,2.15,0.00,0.000,4,0.000,0.039,2507,713,1965,0,0,0,0,0,0
$GC,7327,0.60,219.0,766.1,14.4,498,7335,0.00,2.22,0.00,0.000,6,0.000,0.036,2507,2137,1965,0,0,0,0,0,0
$GC,7644,0.60,219.0,712.9,17.2,514,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2138,1964,0,0,0,0,0,0
$GC,7953,0.60,219.0,661.1,16.5,529,7957,0.00,2.17,0.00,0.000,4,0.000,0.046,2507,3540,1964,0,0,0,0,0,0
$GC,7980,0.60,219.0,656.3,16.6,530,7984,0.00,2.17,0.00,0.000,6,0.000,0.031,2517,2134,1963,0,0,0,0,0,0
$GC,8308,0.60,219.0,602.6,16.1,546,8312,0.00,2.12,0.00,0.000,4,0.000,0.040,2528,720,1963,0,0,0,0,0,0
$GC,8447,0.60,219.0,581.0,15.0,552,8452,0.12,2.15,0.00,0.000,6,0.175,0.037,2498,2127,1962,0,0,0,0,0,0
$GC,8763,0.60,219.0,539.1,13.2,567,8767,0.00,2.17,0.00,0.000,4,0.000,0.047,2496,3538,1963,0,0,0,0,0,0
$GC,8813,0.60,219.0,531.7,14.5,569,8817,0.00,2.12,0.00,0.000,6,0.000,0.030,2504,2127,1961,0,0,0,0,0,0
$GC,9131,0.60,219.0,490.2,12.4,587,9135,0.00,2.12,0.00,0.000,4,0.000,0.041,2514,719,1962,0,0,0,0,0,0
$GC,9175,0.60,219.0,484.5,12.7,590,9182,0.00,2.17,0.00,0.000,6,0.000,0.036,2514,2115,1962,0,0,0,0,0,0
$GC,9501,0.60,219.0,442.7,12.5,621,9505,0.00,2.22,0.00,0.000,4,0.000,0.047,2515,3543,1962,0,0,0,0,0,0
$GC,9617,0.60,219.0,425.9,13.5,631,9624,0.00,2.15,0.00,0.000,6,0.000,0.031,2524,2142,1961,0,0,0,0,0,0
$GC,9942,0.60,219.0,380.2,14.4,662,9946,0.00,2.15,0.00,0.000,4,0.000,0.040,2535,716,1961,0,0,0,0,0,0
$GC,10100,0.60,219.0,357.4,14.5,675,10108,0.17,2.12,0.00,0.000,6,0.164,0.035,2488,2115,1961,0,0,0,0,0,0
$GC,10425,0.60,219.0,317.4,12.2,706,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2115,1961,0,0,0,0,0,0
$GC,10746,0.69,295.1,283.8,9.0,736,10808,0.12,2.28,55.58,0.659,4,0.094,0.040,2548,714,1666,0,0,0,0,0,0
$GC,10857,0.69,295.1,270.0,12.6,745,10864,0.00,2.17,0.00,0.000,6,0.000,0.037,2548,2105,1667,0,0,0,0,0,0
$GC,11182,0.69,295.1,228.7,12.4,776,11187,0.00,2.22,0.00,0.000,4,0.000,0.046,2548,3536,1666,0,0,0,0,0,0
$GC,11211,0.69,295.1,224.8,13.5,778,11216,0.12,2.22,0.00,0.000,6,0.177,0.031,2527,2079,1665,0,0,0,0,0,0
$GC,11537,0.72,316.5,189.3,11.0,817,11560,0.00,2.15,17.27,0.604,4,0.000,0.040,2536,721,1578,0,0,0,0,0,0
$GC,11635,0.73,326.1,177.9,11.4,834,11652,0.00,2.12,8.52,0.525,6,0.000,0.034,2536,2077,1540,0,0,0,0,0,0
$GC,11779,0.74,334.9,161.4,11.5,860,11795,0.00,2.30,8.38,0.540,4,0.000,0.044,2536,3542,1504,0,0,0,0,0,0
$GC,11875,0.74,334.9,149.6,12.5,877,11883,0.00,2.22,0.00,0.000,6,0.000,0.030,2545,2112,1505,0,0,0,0,0,0
$GC,12012,0.74,334.9,132.0,13.9,902,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2111,1505,0,0,0,0,0,0
$GC,12146,0.84,420.2,117.9,8.7,927,12221,0.00,2.22,63.62,0.527,4,0.000,0.038,2556,720,1152,0,0,0,0,0,0
$GC,12272,1.02,566.4,108.8,6.5,946,12390,0.17,2.20,106.57,0.493,6,0.046,0.034,2646,2106,558,0,0,0,0,0,0
$GC,12515,1.02,566.4,69.7,14.6,986,12523,0.00,2.30,0.00,0.000,4,0.000,0.043,2646,3539,561,0,0,0,0,0,0
$GC,12614,1.05,584.9,57.2,11.1,1004,12637,0.00,2.20,15.80,0.517,6,0.000,0.028,2656,2130,483,0,0,0,0,0,0
$GC,12765,1.20,708.2,45.3,7.3,1031,12781,0.00,2.17,9.90,0.476,4,0.000,0.036,2667,716,439,0,0,0,0,0,0
$GC,12816,1.30,792.6,40.9,8.7,1039,12825,0.12,2.22,0.00,0.000,6,0.046,0.031,2741,2137,439,0,0,0,0,0,0
$GC,12952,1.30,792.6,18.6,17.5,1064,12960,0.00,2.20,0.00,0.000,4,0.000,0.042,2742,3534,440,0,0,0,0,0,0
$GC,13035,1.30,792.6,3.8,17.0,1079,13044,0.00,2.17,0.15,0.098,6,0.000,0.026,2751,2116,441,0,0,0,0,0,0
$STATE,13050,end climb,SURFACE_DEPTH_REACHED
$STATE,13050,begin surface coast
$FINISH,0.1,1.020522
$STATE,13068,end surface coast,CONTROL_FINISHED_OK
$STATE,13068,begin surface
$SM_CCo,13145,0.00,0.000,0,0,441,595.34
$SM_GC,0.84,6.65,0.00,0.00,0.037,0.000,0.000,202,2653,441,-6.47,1.47,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11949.81,020711,131350
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.0,17.848
$10V_AH,10.1,19.202
$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,16.950,140.125,631.350,0.000,0.000,28.090,37.557,154.891,0.000,0.000,18.114,2581.479,7143.959,638.709,2844.408,283.255,0.000,1852.895,0.000,1943.552,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,54.315,1097.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,754.504,1130.272,1274.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,73854,1084
$CAP_FILE_SIZE,147226,0
$CFSIZE,260165632,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,212637,1957.077,11950.543,28,1.2,29,-2.2