version: 66.09
glider: 181
mission: 6
dive: 119
start: 7 3 111 8 39 45
data:
$ID,181
$MISSION,6
$DIVE,119
$N_DIVES,125
$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,-40601.887
$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,46
$R_STBD_OVSHOOT,34
$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
$GPS1,030711,083306,1957.156,11948.811,26,1.6,27,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.1
$GPS2,030711,083920,1957.361,11948.815,12,1.5,12,-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,171.8,108023,-16.3,-11.786
$D_GRID,3499
$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,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-71.15,0.000,2,0.000,0.000,205,2604,2443,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.2,-3.6,10,137,7.78,2.17,-26.58,0.000,4,0.238,0.042,2104,1178,3765,0,0,0,0,0,0
$GC,218,-0.60,-219.0,47.7,-25.1,31,226,0.00,2.28,0.00,0.000,6,0.000,0.044,2094,2600,3767,0,0,0,0,0,0
$GC,352,-0.60,-219.0,92.0,-36.2,56,360,0.00,1.90,0.00,0.000,4,0.000,0.047,2085,3790,3767,0,0,0,0,0,0
$GC,409,-0.60,-219.0,113.5,-38.8,66,417,0.00,1.83,0.00,0.000,6,0.000,0.025,2085,2571,3768,0,0,0,0,0,0
$GC,544,-0.60,-219.0,159.5,-31.8,91,552,0.00,1.92,0.00,0.000,4,0.000,0.044,2076,3789,3769,0,0,0,0,0,0
$GC,566,-0.60,-219.0,167.9,-35.9,94,575,0.08,1.75,0.00,0.000,6,0.200,0.026,2099,2607,3769,0,0,0,0,0,0
$GC,702,-0.60,-219.0,208.9,-27.7,116,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2607,3770,0,0,0,0,0,0
$GC,1019,-0.60,-219.0,285.8,-19.8,146,1023,0.00,1.85,0.00,0.000,4,0.000,0.044,2091,3790,3772,0,0,0,0,0,0
$GC,1057,-0.60,-219.0,293.0,-18.4,149,1064,0.00,1.70,0.00,0.000,6,0.000,0.027,2092,2605,3771,0,0,0,0,0,0
$GC,1382,-0.60,-219.0,354.1,-20.7,180,1386,0.00,1.80,0.00,0.000,4,0.000,0.044,2082,3786,3770,0,0,0,0,0,0
$GC,1462,-0.60,-219.0,368.5,-16.5,187,1466,0.00,1.65,0.00,0.000,6,0.000,0.027,2082,2654,3769,0,0,0,0,0,0
$GC,1793,-0.60,-219.0,439.0,-20.4,218,1797,0.00,2.10,0.00,0.000,4,0.000,0.032,2082,1218,3766,0,0,0,0,0,0
$GC,1825,-0.60,-219.0,445.6,-19.3,220,1833,0.12,2.20,0.00,0.000,6,0.165,0.041,2105,2646,3765,0,0,0,0,0,0
$GC,2162,-0.60,-219.0,504.8,-18.3,251,2166,0.00,1.73,0.00,0.000,4,0.000,0.048,2098,3784,3761,0,0,0,0,0,0
$GC,2178,-0.60,-219.0,508.1,-18.1,251,2185,0.00,1.70,0.00,0.000,6,0.000,0.028,2098,2651,3761,0,0,0,0,0,0
$GC,2495,-0.60,-219.0,570.3,-21.1,267,2499,0.00,2.12,0.00,0.000,4,0.000,0.034,2098,1211,3757,0,0,0,0,0,0
$GC,2562,-0.60,-219.0,583.1,-16.2,270,2567,0.00,2.17,0.00,0.000,6,0.000,0.041,2089,2626,3757,0,0,0,0,0,0
$GC,2890,-0.60,-219.0,645.0,-18.7,286,2894,0.00,1.80,0.00,0.000,4,0.000,0.050,2081,3775,3753,0,0,0,0,0,0
$GC,2950,-0.60,-219.0,655.6,-15.4,288,2957,0.00,1.70,0.00,0.000,6,0.000,0.029,2080,2651,3752,0,0,0,0,0,0
$GC,3266,-0.60,-219.0,704.6,-15.3,304,3270,0.00,2.12,0.00,0.000,4,0.000,0.034,2080,1216,3748,0,0,0,0,0,0
$GC,3294,-0.60,-219.0,708.5,-13.4,305,3299,0.15,2.17,0.00,0.000,6,0.160,0.043,2112,2626,3748,0,0,0,0,0,0
$GC,3612,-0.60,-219.0,737.7,-9.6,320,3615,0.00,1.77,0.00,0.000,4,0.000,0.052,2111,3780,3745,0,0,0,0,0,0
$GC,3644,-0.60,-219.0,741.0,-9.2,321,3648,0.00,1.73,0.00,0.000,6,0.000,0.030,2111,2646,3745,0,0,0,0,0,0
$GC,3969,-0.60,-219.0,769.9,-9.2,337,3973,0.00,2.15,0.00,0.000,4,0.000,0.036,2113,1200,3741,0,0,0,0,0,0
$GC,4010,-0.60,-219.0,773.9,-9.3,339,4014,0.00,2.20,0.00,0.000,6,0.000,0.042,2111,2626,3741,0,0,0,0,0,0
$GC,4337,-0.60,-219.0,807.7,-10.6,355,4341,0.00,1.77,0.00,0.000,4,0.000,0.052,2106,3781,3738,0,0,0,0,0,0
$GC,4410,-0.60,-219.0,815.1,-9.0,358,4414,0.00,1.75,0.00,0.000,6,0.000,0.031,2106,2637,3737,0,0,0,0,0,0
$GC,4737,-0.60,-219.0,850.8,-11.0,374,4741,0.00,2.15,0.00,0.000,4,0.000,0.037,2106,1195,3734,0,0,0,0,0,0
$GC,4827,-0.60,-219.0,859.8,-9.5,378,4831,0.00,2.20,0.00,0.000,6,0.000,0.043,2098,2617,3734,0,0,0,0,0,0
$GC,5148,-0.60,-219.0,899.8,-12.8,394,5151,0.00,1.80,0.00,0.000,4,0.000,0.052,2089,3787,3731,0,0,0,0,0,0
$GC,5182,-0.60,-219.0,904.2,-12.7,395,5186,0.00,1.75,0.00,0.000,6,0.000,0.031,2089,2604,3731,0,0,0,0,0,0
$GC,5504,-0.60,-219.0,949.6,-15.5,411,5508,0.00,2.10,0.00,0.000,4,0.000,0.037,2089,1212,3728,0,0,0,0,0,0
$GC,5550,-0.60,-219.0,956.2,-14.2,413,5554,0.00,2.17,0.00,0.000,6,0.000,0.044,2084,2610,3728,0,0,0,0,0,0
$STATE,5792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5792,begin apogee
$GC,5799,-0.16,0.0,992.6,15.3,425,5972,0.50,0.00,167.90,1.107,4,0.137,0.000,2243,2120,2869,0,0,0,0,0,0
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5975,0.60,219.0,1002.9,0.0,433,6161,0.73,2.28,177.60,1.076,4,0.064,0.041,2498,730,1978,0,0,0,0,0,0
$GC,6317,0.60,219.0,971.7,13.5,449,6322,0.00,2.22,0.00,0.000,6,0.000,0.037,2498,2129,1975,0,0,0,0,0,0
$GC,6645,0.60,219.0,919.9,16.8,465,6649,0.00,2.17,0.00,0.000,4,0.000,0.039,2508,723,1973,0,0,0,0,0,0
$GC,6891,0.60,219.0,876.1,17.7,476,6896,0.00,2.22,0.00,0.000,6,0.000,0.037,2507,2131,1972,0,0,0,0,0,0
$GC,7219,0.60,219.0,812.6,19.4,492,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2131,1970,0,0,0,0,0,0
$GC,7528,0.60,219.0,752.0,20.0,507,7532,0.00,2.20,0.00,0.000,4,0.000,0.047,2508,3547,1969,0,0,0,0,0,0
$GC,7582,0.60,219.0,740.3,21.0,509,7590,0.00,2.17,0.00,0.000,6,0.000,0.031,2517,2114,1968,0,0,0,0,0,0
$GC,7899,0.60,219.0,679.5,18.2,525,7903,0.00,2.10,0.00,0.000,4,0.000,0.040,2528,722,1968,0,0,0,0,0,0
$GC,8013,0.60,219.0,660.7,16.1,530,8018,0.12,2.12,0.00,0.000,6,0.177,0.037,2496,2110,1968,0,0,0,0,0,0
$GC,8342,0.64,251.5,620.1,10.6,546,8372,0.00,2.30,25.15,0.871,4,0.000,0.048,2496,3543,1842,0,0,0,0,0,0
$GC,8417,0.68,285.3,611.9,10.6,549,8451,0.00,2.22,27.75,0.838,6,0.000,0.031,2506,2106,1704,0,0,0,0,0,0
$GC,8763,0.77,363.8,578.7,8.9,566,8830,0.12,2.38,61.05,0.838,4,0.099,0.048,2557,3534,1387,0,0,0,0,0,0
$GC,8882,0.77,363.8,560.4,17.0,571,8886,0.00,2.22,0.00,0.000,6,0.000,0.031,2567,2119,1387,0,0,0,0,0,0
$GC,9198,0.77,363.8,497.1,22.1,586,9202,0.00,2.15,0.00,0.000,4,0.000,0.039,2577,715,1387,0,0,0,0,0,0
$GC,9249,0.77,363.8,486.1,20.5,590,9253,0.00,2.17,0.00,0.000,6,0.000,0.037,2578,2114,1387,0,0,0,0,0,0
$GC,9574,0.77,363.8,407.1,24.1,620,9578,0.00,2.22,0.00,0.000,4,0.000,0.049,2577,3537,1386,0,0,0,0,0,0
$GC,9625,0.77,363.8,394.2,25.6,624,9630,0.15,2.15,0.00,0.000,6,0.186,0.031,2551,2127,1385,0,0,0,0,0,0
$GC,9950,0.77,363.8,325.8,19.7,654,9954,0.00,2.22,0.00,0.000,4,0.000,0.048,2551,3540,1385,0,0,0,0,0,0
$GC,9991,0.77,363.8,317.5,21.2,657,9995,0.00,2.12,0.00,0.000,6,0.000,0.031,2559,2143,1385,0,0,0,0,0,0
$GC,10318,0.77,363.8,256.1,17.5,687,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2142,1384,0,0,0,0,0,0
$GC,10639,0.77,363.8,202.2,17.3,717,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2142,1384,0,0,0,0,0,0
$GC,10955,0.80,385.8,160.5,11.0,777,10979,0.00,2.25,17.20,0.603,4,0.000,0.038,2570,717,1295,0,0,0,0,0,0
$GC,11023,0.85,422.2,153.3,10.5,788,11060,0.00,2.28,28.23,0.548,6,0.000,0.035,2570,2167,1145,0,0,0,0,0,0
$GC,11188,0.85,422.2,130.7,14.6,817,11196,0.00,2.17,0.00,0.000,4,0.000,0.046,2569,3530,1147,0,0,0,0,0,0
$GC,11250,0.85,422.2,121.3,15.2,828,11258,0.00,2.08,0.00,0.000,6,0.000,0.029,2579,2199,1146,0,0,0,0,0,0
$GC,11387,0.85,422.2,100.5,13.8,853,11395,0.00,2.30,0.00,0.000,4,0.000,0.040,2590,719,1146,0,0,0,0,0,0
$GC,11413,0.85,422.2,96.9,12.6,857,11421,0.00,2.33,0.00,0.000,6,0.000,0.037,2590,2201,1149,0,0,0,0,0,0
$GC,11551,0.95,507.7,83.1,8.7,882,11619,0.00,2.17,62.15,0.511,4,0.000,0.044,2590,3533,798,0,0,0,0,0,0
$GC,11677,1.09,624.3,74.5,7.6,901,11752,0.12,2.08,63.70,0.481,6,0.044,0.028,2672,2210,441,0,0,0,0,0,0
$GC,11879,1.09,624.3,46.4,12.6,935,11888,0.00,2.30,2.45,0.213,4,0.000,0.037,2684,722,437,0,0,0,0,0,0
$GC,11963,1.12,648.0,36.9,10.9,950,11971,0.00,2.30,0.00,0.000,6,0.000,0.032,2684,2187,439,0,0,0,0,0,0
$GC,12100,1.18,690.4,22.4,10.2,975,12108,0.00,2.12,0.00,0.000,4,0.000,0.042,2684,3539,440,0,0,0,0,0,0
$GC,12122,1.21,714.9,19.7,10.9,978,12131,0.00,2.12,0.80,0.078,6,0.000,0.028,2693,2164,441,0,0,0,0,0,0
$GC,12259,1.21,714.9,3.2,12.0,1003,12268,0.00,2.22,0.30,0.106,4,0.000,0.035,2704,724,442,0,0,0,0,0,0
$STATE,12274,end climb,SURFACE_DEPTH_REACHED
$STATE,12274,begin surface coast
$FINISH,-0.1,1.008249
$STATE,12302,end surface coast,CONTROL_FINISHED_OK
$STATE,12302,begin surface
$SM_CCo,12382,0.00,0.000,0,0,442,595.83
$SM_GC,0.89,6.53,0.00,0.00,0.039,0.000,0.000,210,2609,442,-6.47,0.14,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11941.57,030711,050534
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.25
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.0,18.516
$10V_AH,10.2,19.697
$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,16.400,134.275,634.275,0.000,0.000,30.720,51.248,160.176,0.000,0.000,15.474,2434.542,6637.138,642.851,2747.957,287.634,0.000,1798.105,0.000,1842.722,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,52.020,1106.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,702.973,1076.526,1257.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70550,1010
$CAP_FILE_SIZE,140291,0
$CFSIZE,260165632,239898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,120725,1957.288,11949.677,40,1.0,41,-2.2