version: 66.09
glider: 181
mission: 6
dive: 122
start: 7 3 111 19 39 8
data:
$ID,181
$MISSION,6
$DIVE,122
$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,-40605.66
$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,42
$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
$GPS1,030711,193255,1956.170,11949.700,39,1.8,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-68.3
$GPS2,030711,193843,1956.208,11949.717,10,1.0,15,-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,172.4,105642,-16.3,-11.786
$D_GRID,3531
$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,-71.28,0.000,2,0.000,0.000,210,2642,2413,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.0,-3.4,10,137,7.75,2.20,-27.98,0.000,4,0.237,0.040,2103,1189,3760,0,0,0,0,0,0
$GC,208,-0.60,-219.0,43.3,-28.5,29,216,0.00,2.25,0.00,0.000,6,0.000,0.045,2094,2590,3762,0,0,0,0,0,0
$GC,342,-0.60,-219.0,92.7,-43.5,54,350,0.00,1.88,0.00,0.000,4,0.000,0.044,2085,3789,3762,0,0,0,0,0,0
$GC,384,-0.60,-219.0,109.4,-39.7,61,392,0.00,1.83,0.00,0.000,6,0.000,0.026,2081,2567,3763,0,0,0,0,0,0
$GC,517,-0.60,-219.0,159.5,-33.8,86,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2564,3763,0,0,0,0,0,0
$GC,651,-0.60,-219.0,198.9,-30.1,111,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2564,3764,0,0,0,0,0,0
$GC,785,-0.60,-219.0,234.0,-25.4,124,788,0.00,1.88,0.00,0.000,4,0.000,0.041,2076,3790,3765,0,0,0,0,0,0
$GC,820,-0.60,-219.0,242.9,-26.2,127,825,0.12,1.77,0.00,0.000,6,0.171,0.026,2107,2570,3765,0,0,0,0,0,0
$GC,1151,-0.60,-219.0,313.2,-18.3,158,1155,0.00,1.90,0.00,0.000,4,0.000,0.044,2099,3777,3766,0,0,0,0,0,0
$GC,1200,-0.60,-219.0,321.9,-16.1,162,1207,0.00,1.77,0.00,0.000,6,0.000,0.025,2099,2576,3765,0,0,0,0,0,0
$GC,1526,-0.60,-219.0,381.7,-18.1,193,1529,0.00,1.85,0.00,0.000,4,0.000,0.045,2090,3784,3764,0,0,0,0,0,0
$GC,1564,-0.60,-219.0,389.7,-19.9,196,1571,0.00,1.77,0.00,0.000,6,0.000,0.026,2090,2594,3763,0,0,0,0,0,0
$GC,1890,-0.60,-219.0,454.9,-21.3,227,1894,0.00,1.85,0.00,0.000,4,0.000,0.046,2080,3793,3759,0,0,0,0,0,0
$GC,1917,-0.60,-219.0,461.1,-21.8,229,1924,0.00,1.75,0.00,0.000,6,0.000,0.027,2080,2584,3759,0,0,0,0,0,0
$GC,2250,-0.60,-219.0,532.4,-22.0,254,2254,0.00,1.85,0.00,0.000,4,0.000,0.046,2070,3783,3755,0,0,0,0,0,0
$GC,2277,-0.60,-219.0,539.4,-22.9,255,2282,0.10,1.75,0.00,0.000,6,0.155,0.028,2111,2616,3756,0,0,0,0,0,0
$GC,2604,-0.60,-219.0,597.9,-17.6,271,2608,0.00,2.10,0.00,0.000,4,0.000,0.033,2110,1198,3752,0,0,0,0,0,0
$GC,2627,-0.60,-219.0,601.8,-17.0,272,2631,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2627,3752,0,0,0,0,0,0
$GC,2954,-0.60,-219.0,650.8,-14.6,288,2958,0.00,1.77,0.00,0.000,4,0.000,0.050,2111,3787,3748,0,0,0,0,0,0
$GC,3038,-0.60,-219.0,661.3,-10.4,291,3045,0.00,1.67,0.00,0.000,6,0.000,0.028,2111,2643,3747,0,0,0,0,0,0
$GC,3354,-0.60,-219.0,701.5,-13.3,307,3358,0.00,2.12,0.00,0.000,4,0.000,0.034,2111,1204,3743,0,0,0,0,0,0
$GC,3421,-0.60,-219.0,710.1,-11.1,310,3425,0.00,2.20,0.00,0.000,6,0.000,0.041,2110,2629,3742,0,0,0,0,0,0
$GC,3747,-0.60,-219.0,753.5,-13.7,326,3751,0.00,1.77,0.00,0.000,4,0.000,0.051,2111,3790,3739,0,0,0,0,0,0
$GC,3773,-0.60,-219.0,756.5,-12.4,327,3776,0.00,1.73,0.00,0.000,6,0.000,0.029,2110,2615,3739,0,0,0,0,0,0
$GC,4106,-0.60,-219.0,799.5,-13.6,343,4110,0.00,2.10,0.00,0.000,4,0.000,0.034,2111,1195,3736,0,0,0,0,0,0
$GC,4172,-0.60,-219.0,807.4,-10.6,346,4177,0.00,2.20,0.00,0.000,6,0.000,0.041,2109,2627,3735,0,0,0,0,0,0
$GC,4494,-0.60,-219.0,847.4,-12.8,362,4498,0.00,1.77,0.00,0.000,4,0.000,0.051,2110,3783,3730,0,0,0,0,0,0
$GC,4518,-0.60,-219.0,850.2,-12.7,363,4521,0.00,1.73,0.00,0.000,6,0.000,0.030,2111,2611,3732,0,0,0,0,0,0
$GC,4851,-0.60,-219.0,888.4,-11.6,379,4855,0.00,2.10,0.00,0.000,4,0.000,0.036,2111,1208,3729,0,0,0,0,0,0
$GC,4920,-0.60,-219.0,895.4,-9.2,382,4924,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2606,3729,0,0,0,0,0,0
$GC,5247,-0.60,-219.0,928.0,-10.3,398,5251,0.00,1.85,0.00,0.000,4,0.000,0.052,2112,3780,3726,0,0,0,0,0,0
$GC,5297,-0.60,-219.0,933.0,-9.9,400,5301,0.00,1.73,0.00,0.000,6,0.000,0.030,2111,2616,3726,0,0,0,0,0,0
$GC,5624,-0.60,-219.0,965.9,-10.5,416,5628,0.00,2.10,0.00,0.000,4,0.000,0.036,2111,1202,3724,0,0,0,0,0,0
$GC,5675,-0.60,-219.0,971.1,-10.1,418,5679,0.00,2.17,0.00,0.000,6,0.000,0.041,2111,2614,3724,0,0,0,0,0,0
$STATE,5864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5865,begin apogee
$GC,5871,-0.16,0.0,991.4,10.9,427,6043,0.40,0.00,167.00,1.105,4,0.130,0.000,2242,2102,2869,0,0,0,0,0,0
$STATE,6044,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6046,0.60,219.0,1001.1,0.0,435,6232,0.73,2.22,178.00,1.075,4,0.065,0.040,2497,737,1973,0,0,0,0,0,0
$GC,6403,0.60,225.6,971.6,11.5,452,6414,0.00,2.20,6.45,0.873,6,0.000,0.035,2497,2125,1950,0,0,0,0,0,0
$GC,6731,0.60,225.6,928.3,13.3,468,6735,0.00,2.17,0.00,0.000,4,0.000,0.037,2507,735,1947,0,0,0,0,0,0
$GC,6988,0.60,225.6,895.6,12.6,479,6995,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,2121,1947,0,0,0,0,0,0
$GC,7304,0.60,225.6,850.7,14.4,495,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2120,1945,0,0,0,0,0,0
$GC,7613,0.60,225.6,803.6,15.4,510,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2121,1944,0,0,0,0,0,0
$GC,7923,0.60,225.6,757.5,14.3,525,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2121,1943,0,0,0,0,0,0
$GC,8232,0.60,225.6,716.3,13.0,540,8236,0.00,2.20,0.00,0.000,4,0.000,0.047,2507,3539,1943,0,0,0,0,0,0
$GC,8264,0.60,225.6,711.4,14.3,541,8269,0.00,2.17,0.00,0.000,6,0.000,0.029,2516,2126,1942,0,0,0,0,0,0
$GC,8587,0.60,225.6,665.4,14.7,557,8591,0.00,2.12,0.00,0.000,4,0.000,0.040,2526,712,1941,0,0,0,0,0,0
$GC,8675,0.60,225.6,652.1,14.8,561,8679,0.00,2.17,0.00,0.000,6,0.000,0.036,2526,2106,1941,0,0,0,0,0,0
$GC,9003,0.60,225.6,598.5,17.0,577,9007,0.00,2.20,0.00,0.000,4,0.000,0.046,2526,3540,1941,0,0,0,0,0,0
$GC,9053,0.60,225.6,589.1,18.5,579,9058,0.10,2.22,0.00,0.000,6,0.167,0.031,2505,2100,1941,0,0,0,0,0,0
$GC,9374,0.60,225.6,542.3,13.3,595,9378,0.00,2.08,0.00,0.000,4,0.000,0.040,2515,719,1941,0,0,0,0,0,0
$GC,9447,0.63,244.9,533.5,11.1,598,9467,0.00,2.10,15.05,0.809,6,0.000,0.037,2514,2099,1870,0,0,0,0,0,0
$GC,9782,0.63,245.0,494.1,11.8,616,9786,0.00,2.25,0.00,0.000,4,0.000,0.047,2514,3548,1871,0,0,0,0,0,0
$GC,9855,0.63,245.0,483.7,14.7,622,9859,0.00,2.20,0.00,0.000,6,0.000,0.031,2524,2098,1870,0,0,0,0,0,0
$GC,10180,0.63,245.0,433.1,16.0,652,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2098,1870,0,0,0,0,0,0
$GC,10501,0.63,245.0,386.2,13.9,682,10505,0.00,2.10,0.00,0.000,4,0.000,0.039,2534,713,1870,0,0,0,0,0,0
$GC,10591,0.63,245.0,373.9,13.1,690,10595,0.00,2.12,0.00,0.000,6,0.000,0.036,2534,2106,1870,0,0,0,0,0,0
$GC,10917,0.69,298.6,333.7,9.8,720,10961,0.00,0.00,41.20,0.701,6,0.000,0.000,2534,2106,1651,0,0,0,0,0,0
$GC,11280,0.69,298.6,285.7,16.2,754,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2106,1651,0,0,0,0,0,0
$GC,11600,0.71,316.2,244.7,11.1,784,11624,0.00,2.33,14.70,0.643,4,0.000,0.045,2534,3541,1583,0,0,0,0,0,0
$GC,11670,0.71,316.2,235.6,13.6,790,11674,0.00,2.20,0.00,0.000,6,0.000,0.029,2544,2094,1581,0,0,0,0,0,0
$GC,11995,0.71,316.2,186.7,15.0,828,12003,0.00,2.12,0.00,0.000,4,0.000,0.038,2555,715,1580,0,0,0,0,0,0
$GC,12093,0.71,316.2,173.3,13.0,846,12101,0.00,2.12,0.00,0.000,6,0.000,0.034,2555,2077,1580,0,0,0,0,0,0
$GC,12230,0.71,316.2,155.3,13.1,871,12238,0.00,2.28,0.00,0.000,4,0.000,0.044,2555,3529,1580,0,0,0,0,0,0
$GC,12277,0.71,316.2,148.7,13.5,879,12286,0.10,2.22,0.00,0.000,6,0.147,0.029,2533,2086,1580,0,0,0,0,0,0
$GC,12414,0.86,431.2,137.2,7.6,904,12509,0.15,2.20,83.53,0.544,4,0.083,0.038,2613,716,1111,0,0,0,0,0,0
$GC,12550,0.86,431.2,119.2,13.9,924,12559,0.10,2.22,0.00,0.000,6,0.113,0.036,2579,2099,1111,0,0,0,0,0,0
$GC,12686,0.86,431.3,102.2,11.8,949,12694,0.00,2.28,0.00,0.000,4,0.000,0.042,2578,3536,1112,0,0,0,0,0,0
$GC,12775,0.86,431.3,91.2,12.6,965,12783,0.00,2.17,0.00,0.000,6,0.000,0.029,2587,2136,1113,0,0,0,0,0,0
$GC,12910,0.86,431.3,74.1,12.9,990,12918,0.00,2.20,0.00,0.000,4,0.000,0.038,2598,714,1114,0,0,0,0,0,0
$GC,12994,0.87,440.0,64.0,11.5,1005,13011,0.00,2.17,8.95,0.499,6,0.000,0.031,2598,2118,1074,0,0,0,0,0,0
$GC,13139,1.07,606.4,52.7,5.7,1031,13264,0.15,2.30,111.12,0.474,4,0.076,0.041,2674,3529,439,0,0,0,0,0,0
$GC,13282,1.07,606.4,38.7,12.4,1051,13292,0.10,2.22,0.03,0.198,6,0.116,0.027,2649,2122,440,0,0,0,0,0,0
$GC,13420,1.19,701.2,25.6,8.3,1076,13429,0.10,2.20,0.45,0.093,4,0.094,0.036,2718,716,443,0,0,0,0,0,0
$GC,13474,1.19,701.2,19.1,13.7,1085,13483,0.10,2.17,2.53,0.212,6,0.112,0.031,2684,2110,439,0,0,0,0,0,0
$STATE,13603,end climb,SURFACE_DEPTH_REACHED
$STATE,13604,begin surface coast
$FINISH,0.1,1.008200
$STATE,13631,end surface coast,CONTROL_FINISHED_OK
$STATE,13631,begin surface
$SM_CCo,13708,0.00,0.000,0,0,441,595.59
$SM_GC,0.86,6.47,0.00,0.00,0.038,0.000,0.000,212,2627,441,-6.45,0.76,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11952.94,030711,151518
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.88
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.0,19.015
$10V_AH,10.2,20.070
$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,16.475,133.400,629.000,0.000,0.000,30.912,19.846,159.739,0.000,0.000,18.426,2659.179,7562.009,644.253,2892.499,291.243,0.000,1879.858,0.000,1988.477,0.000,0.539,0.000
$DEVICE_MAMPS,237.150,52.020,1105.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,775.586,1162.927,1302.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322656
$DATA_FILE_SIZE,77275,1114
$CAP_FILE_SIZE,150455,0
$CFSIZE,260165632,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,232855,1954.776,11949.534,41,0.9,42,-2.2