version: 66.09
glider: 181
mission: 6
dive: 117
start: 7 3 111 1 28 21
data:
$ID,181
$MISSION,6
$DIVE,117
$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,-40599.371
$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,43
$R_STBD_OVSHOOT,56
$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
$GPS1,030711,011824,1956.234,11949.752,24,1.0,42,-2.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.8
$GPS2,030711,012755,1956.500,11949.512,7,1.2,13,-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,172.2,106238,-16.3,-11.786
$D_GRID,3514
$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,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-70.62,0.000,2,0.000,0.000,195,2634,2429,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.8,10,137,7.75,2.20,-26.40,0.000,4,0.235,0.040,2104,1168,3765,0,0,0,0,0,0
$GC,186,-0.60,-219.0,38.1,-32.4,25,194,0.00,2.25,0.00,0.000,6,0.000,0.043,2095,2577,3766,0,0,0,0,0,0
$GC,321,-0.60,-219.0,92.6,-36.6,50,329,0.00,1.90,0.00,0.000,4,0.000,0.046,2086,3786,3766,0,0,0,0,0,0
$GC,409,-0.60,-219.0,131.7,-36.9,66,417,0.00,1.70,0.00,0.000,6,0.000,0.024,2086,2650,3767,0,0,0,0,0,0
$GC,544,-0.60,-219.0,179.4,-34.5,91,552,0.00,2.15,0.00,0.000,4,0.000,0.026,2086,1194,3768,0,0,0,0,0,0
$GC,572,-0.60,-219.0,188.8,-33.5,95,581,0.08,2.22,0.00,0.000,6,0.153,0.041,2102,2609,3768,0,0,0,0,0,0
$GC,710,-0.60,-219.0,228.7,-29.1,111,714,0.00,1.80,0.00,0.000,4,0.000,0.045,2095,3796,3768,0,0,0,0,0,0
$GC,811,-0.60,-219.0,260.4,-27.7,120,814,0.00,1.67,0.00,0.000,6,0.000,0.024,2095,2633,3769,0,0,0,0,0,0
$GC,1142,-0.60,-219.0,348.2,-23.0,151,1145,0.00,2.08,0.00,0.000,4,0.000,0.029,2095,1209,3769,0,0,0,0,0,0
$GC,1176,-0.60,-219.0,355.9,-22.1,154,1180,0.00,2.22,0.00,0.000,6,0.000,0.038,2085,2668,3769,0,0,0,0,0,0
$GC,1501,-0.60,-219.0,422.1,-20.9,184,1505,0.00,2.15,0.00,0.000,4,0.000,0.029,2085,1209,3767,0,0,0,0,0,0
$GC,1518,-0.60,-219.0,425.5,-21.2,185,1523,0.12,2.22,0.00,0.000,6,0.171,0.037,2107,2670,3767,0,0,0,0,0,0
$GC,1843,-0.60,-219.0,479.6,-13.1,215,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2670,3764,0,0,0,0,0,0
$GC,2158,-0.60,-219.0,520.4,-14.1,238,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2670,3760,0,0,0,0,0,0
$GC,2467,-0.60,-219.0,572.6,-17.7,253,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2670,3756,0,0,0,0,0,0
$GC,2776,-0.60,-219.0,625.1,-16.0,268,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2669,3753,0,0,0,0,0,0
$GC,3085,-0.60,-219.0,669.8,-13.7,283,3089,0.00,2.20,0.00,0.000,4,0.000,0.034,2108,1203,3749,0,0,0,0,0,0
$GC,3149,-0.60,-219.0,676.9,-10.3,286,3153,0.00,2.25,0.00,0.000,6,0.000,0.041,2100,2670,3749,0,0,0,0,0,0
$GC,3475,-0.60,-219.0,720.6,-14.3,302,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2670,3745,0,0,0,0,0,0
$GC,3785,-0.60,-219.0,769.4,-16.1,317,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2670,3742,0,0,0,0,0,0
$GC,4094,-0.60,-219.0,819.8,-16.3,332,4098,0.00,2.20,0.00,0.000,4,0.000,0.036,2100,1217,3739,0,0,0,0,0,0
$GC,4120,-0.60,-219.0,824.3,-15.8,333,4125,0.00,2.30,0.00,0.000,6,0.000,0.044,2097,2665,3738,0,0,0,0,0,0
$GC,4443,-0.60,-219.0,871.7,-14.5,349,4447,0.00,2.20,0.00,0.000,4,0.000,0.036,2097,1208,3735,0,0,0,0,0,0
$GC,4470,-0.60,-219.0,875.7,-14.0,350,4474,0.00,2.28,0.00,0.000,6,0.000,0.044,2096,2673,3734,0,0,0,0,0,0
$GC,4786,-0.60,-219.0,917.4,-13.3,365,4789,0.00,1.70,0.00,0.000,4,0.000,0.051,2088,3789,3732,0,0,0,0,0,0
$GC,4824,-0.60,-219.0,922.6,-13.1,366,4831,0.00,1.67,0.00,0.000,6,0.000,0.029,2088,2686,3732,0,0,0,0,0,0
$GC,5140,-0.60,-219.0,964.6,-13.1,382,5144,0.00,2.20,0.00,0.000,4,0.000,0.036,2088,1208,3728,0,0,0,0,0,0
$GC,5213,-0.60,-219.0,973.6,-11.5,385,5217,0.00,2.25,0.00,0.000,6,0.000,0.043,2082,2666,3728,0,0,0,0,0,0
$STATE,5341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5341,begin apogee
$GC,5348,-0.16,0.0,990.7,13.7,391,5520,0.50,0.00,167.30,1.098,4,0.136,0.000,2242,2128,2869,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,0.60,219.0,999.6,0.0,399,5709,0.73,2.28,177.35,1.069,4,0.067,0.041,2496,738,1976,0,0,0,0,0,0
$GC,5889,0.60,219.0,965.1,12.7,416,5893,0.00,2.20,0.00,0.000,6,0.000,0.036,2496,2133,1974,0,0,0,0,0,0
$GC,6210,0.60,219.0,921.2,13.8,432,6214,0.00,2.20,0.00,0.000,4,0.000,0.040,2505,724,1971,0,0,0,0,0,0
$GC,6220,0.60,219.0,919.6,13.9,432,6225,0.00,2.20,0.00,0.000,6,0.000,0.034,2505,2119,1970,0,0,0,0,0,0
$GC,6542,0.60,219.0,872.4,14.8,448,6546,0.00,2.20,0.00,0.000,4,0.000,0.047,2504,3536,1968,0,0,0,0,0,0
$GC,6755,0.60,219.0,836.0,16.4,457,6762,0.00,2.17,0.00,0.000,6,0.000,0.031,2515,2134,1967,0,0,0,0,0,0
$GC,7071,0.60,219.0,783.5,16.4,473,7075,0.00,2.15,0.00,0.000,4,0.000,0.039,2526,716,1965,0,0,0,0,0,0
$GC,7157,0.60,219.0,769.6,16.9,477,7162,0.12,2.15,0.00,0.000,6,0.178,0.037,2494,2118,1965,0,0,0,0,0,0
$GC,7484,0.60,219.0,720.9,15.1,493,7488,0.00,2.17,0.00,0.000,4,0.000,0.047,2495,3535,1965,0,0,0,0,0,0
$GC,7538,0.60,219.0,711.6,16.5,495,7543,0.00,2.20,0.00,0.000,6,0.000,0.029,2503,2077,1964,0,0,0,0,0,0
$GC,7861,0.60,219.0,659.1,16.5,511,7865,0.00,2.05,0.00,0.000,4,0.000,0.041,2514,721,1963,0,0,0,0,0,0
$GC,7944,0.60,219.0,645.1,16.2,514,7951,0.00,2.15,0.00,0.000,6,0.000,0.037,2514,2099,1963,0,0,0,0,0,0
$GC,8261,0.60,219.0,592.8,16.5,530,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2099,1963,0,0,0,0,0,0
$GC,8570,0.60,219.0,543.1,16.1,545,8574,0.00,2.22,0.00,0.000,4,0.000,0.047,2518,3541,1962,0,0,0,0,0,0
$GC,8602,0.60,219.0,537.4,16.7,546,8606,0.00,2.17,0.00,0.000,6,0.000,0.031,2524,2098,1962,0,0,0,0,0,0
$GC,8927,0.60,219.0,485.3,16.3,566,8931,0.00,2.08,0.00,0.000,4,0.000,0.039,2534,715,1962,0,0,0,0,0,0
$GC,8967,0.60,219.0,478.9,15.7,569,8971,0.15,2.12,0.00,0.000,6,0.169,0.036,2495,2112,1962,0,0,0,0,0,0
$GC,9292,0.61,228.4,437.8,11.4,599,9305,0.00,2.28,6.62,0.717,4,0.000,0.047,2494,3536,1936,0,0,0,0,0,0
$GC,9329,0.61,228.4,433.3,11.9,602,9333,0.00,2.17,0.00,0.000,6,0.000,0.031,2503,2097,1937,0,0,0,0,0,0
$GC,9655,0.69,292.0,399.6,9.5,632,9711,0.00,2.15,49.30,0.735,4,0.000,0.038,2513,723,1678,0,0,0,0,0,0
$GC,9772,0.77,363.1,388.3,9.2,642,9835,0.12,2.15,54.97,0.704,6,0.100,0.035,2564,2096,1387,0,0,0,0,0,0
$GC,10152,0.77,363.1,325.7,15.4,678,10156,0.00,2.25,0.00,0.000,4,0.000,0.047,2564,3534,1387,0,0,0,0,0,0
$GC,10270,0.77,363.1,305.1,17.3,688,10274,0.00,2.15,0.00,0.000,6,0.000,0.030,2574,2123,1387,0,0,0,0,0,0
$GC,10602,0.77,363.1,245.2,17.8,719,10606,0.00,2.12,0.00,0.000,4,0.000,0.037,2585,713,1386,0,0,0,0,0,0
$GC,10668,0.77,363.1,234.4,14.6,724,10677,0.10,2.20,0.00,0.000,6,0.139,0.037,2553,2108,1389,0,0,0,0,0,0
$GC,10993,0.77,363.1,187.0,14.8,763,11001,0.00,2.25,0.00,0.000,4,0.000,0.045,2553,3540,1385,0,0,0,0,0,0
$GC,11010,0.77,363.1,184.3,15.3,765,11018,0.00,2.20,0.00,0.000,6,0.000,0.029,2561,2109,1385,0,0,0,0,0,0
$GC,11147,0.77,363.1,163.4,15.5,790,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2109,1385,0,0,0,0,0,0
$GC,11280,0.77,363.1,143.5,14.4,815,11288,0.00,2.12,0.00,0.000,4,0.000,0.038,2571,723,1384,0,0,0,0,0,0
$GC,11343,0.77,363.1,135.4,12.3,826,11351,0.00,2.22,0.00,0.000,6,0.000,0.034,2571,2157,1385,0,0,0,0,0,0
$GC,11478,0.77,363.1,118.8,12.7,851,11487,0.00,2.15,0.00,0.000,4,0.000,0.045,2575,3535,1384,0,0,0,0,0,0
$GC,11552,0.77,363.1,108.9,12.2,864,11560,0.00,2.10,0.00,0.000,6,0.000,0.029,2581,2163,1384,0,0,0,0,0,0
$GC,11687,0.77,363.1,91.7,13.4,889,11696,0.00,2.20,0.00,0.000,4,0.000,0.038,2592,723,1384,0,0,0,0,0,0
$GC,11794,0.82,403.4,79.8,10.3,908,11832,0.00,2.15,29.83,0.539,6,0.000,0.033,2592,2122,1223,0,0,0,0,0,0
$GC,11960,0.97,522.7,65.4,7.5,937,12054,0.00,2.28,85.57,0.482,4,0.000,0.040,2592,3532,738,0,0,0,0,0,0
$GC,12096,1.22,723.2,57.5,4.5,957,12162,0.22,2.22,54.05,0.461,6,0.037,0.028,2717,2118,439,0,0,0,0,0,0
$GC,12289,1.22,723.2,30.5,16.5,990,12298,0.00,2.20,0.25,0.112,4,0.000,0.035,2727,714,441,0,0,0,0,0,0
$GC,12373,1.22,723.2,18.0,14.0,1005,12383,0.10,2.17,2.42,0.197,6,0.118,0.031,2693,2103,440,0,0,0,0,0,0
$STATE,12498,end climb,SURFACE_DEPTH_REACHED
$STATE,12498,begin surface coast
$FINISH,-0.0,0.996402
$STATE,12526,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12602,0.00,0.000,0,0,442,595.34
$SM_GC,0.88,6.45,0.00,0.00,0.034,0.000,0.000,209,2607,442,-6.46,0.20,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11958.06,020711,212132
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.47
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.1,18.178
$10V_AH,10.1,19.454
$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,16.450,125.850,627.675,0.000,0.000,84.574,46.243,170.329,0.250,0.000,16.020,2446.427,7020.849,638.376,2777.048,284.021,0.000,1780.623,0.000,1826.972,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,51.255,1097.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,716.526,1083.044,1204.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322644
$DATA_FILE_SIZE,70395,1033
$CAP_FILE_SIZE,138816,0
$CFSIZE,260165632,240058368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,045936,1956.670,11948.467,35,1.0,36,-2.2