version: 66.09
glider: 181
mission: 6
dive: 109
start: 7 1 111 19 12 57
data:
$ID,181
$MISSION,6
$DIVE,109
$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,-40589.211
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,010711,190530,1958.857,11950.545,39,1.1,39,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.3
$GPS2,010711,191232,1958.962,11950.603,12,1.3,12,-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,173.6,110430,-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,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,-70.88,0.000,2,0.000,0.000,198,2622,2528,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.7,-4.5,10,130,7.72,2.15,-22.88,0.000,4,0.233,0.038,2104,1167,3762,0,0,0,0,0,0
$GC,174,-0.60,-219.0,37.0,-31.5,23,182,0.00,2.30,0.00,0.000,6,0.000,0.045,2094,2599,3764,0,0,0,0,0,0
$GC,308,-0.60,-219.0,86.2,-39.8,48,316,0.00,1.88,0.00,0.000,4,0.000,0.044,2085,3785,3764,0,0,0,0,0,0
$GC,385,-0.60,-219.0,118.2,-40.3,62,394,0.00,1.80,0.00,0.000,6,0.000,0.025,2087,2584,3765,0,0,0,0,0,0
$GC,520,-0.60,-219.0,161.6,-28.6,87,528,0.00,1.90,0.00,0.000,4,0.000,0.045,2083,3784,3766,0,0,0,0,0,0
$GC,588,-0.60,-219.0,183.0,-28.7,99,596,0.00,1.65,0.00,0.000,6,0.000,0.026,2079,2680,3766,0,0,0,0,0,0
$GC,728,-0.60,-219.0,220.6,-27.1,118,730,0.12,0.00,0.00,0.000,6,0.177,0.000,2110,2678,3767,0,0,0,0,0,0
$GC,1048,-0.60,-219.0,278.9,-15.7,148,1052,0.00,2.17,0.00,0.000,4,0.000,0.030,2110,1196,3768,0,0,0,0,0,0
$GC,1133,-0.60,-219.0,290.6,-13.4,155,1137,0.00,2.33,0.00,0.000,6,0.000,0.037,2111,2717,3768,0,0,0,0,0,0
$GC,1458,-0.60,-219.0,351.3,-19.9,185,1462,0.00,1.65,0.00,0.000,4,0.000,0.046,2102,3789,3765,0,0,0,0,0,0
$GC,1508,-0.60,-219.0,361.2,-18.6,189,1515,0.00,1.60,0.00,0.000,6,0.000,0.026,2102,2713,3765,0,0,0,0,0,0
$GC,1833,-0.60,-219.0,421.9,-18.5,220,1837,0.00,2.22,0.00,0.000,4,0.000,0.031,2102,1205,3761,0,0,0,0,0,0
$GC,1941,-0.60,-219.0,437.8,-13.5,229,1945,0.00,2.28,0.00,0.000,6,0.000,0.040,2097,2684,3760,0,0,0,0,0,0
$GC,2267,-0.60,-219.0,498.4,-19.3,259,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2685,3756,0,0,0,0,0,0
$GC,2587,-0.60,-219.0,562.5,-19.7,275,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2684,3753,0,0,0,0,0,0
$GC,2896,-0.60,-219.0,619.0,-17.6,290,2900,0.00,2.22,0.00,0.000,4,0.000,0.034,2097,1202,3748,0,0,0,0,0,0
$GC,2919,-0.60,-219.0,622.9,-17.2,291,2923,0.00,2.30,0.00,0.000,6,0.000,0.042,2089,2686,3748,0,0,0,0,0,0
$GC,3246,-0.60,-219.0,679.1,-16.9,307,3250,0.00,1.67,0.00,0.000,4,0.000,0.050,2080,3787,3743,0,0,0,0,0,0
$GC,3269,-0.60,-219.0,683.2,-16.8,308,3273,0.00,1.65,0.00,0.000,6,0.000,0.030,2080,2667,3743,0,0,0,0,0,0
$GC,3602,-0.60,-219.0,736.4,-15.6,324,3606,0.00,2.17,0.00,0.000,4,0.000,0.034,2080,1209,3741,0,0,0,0,0,0
$GC,3664,-0.60,-219.0,744.8,-12.5,327,3669,0.15,2.28,0.00,0.000,6,0.159,0.043,2112,2680,3740,0,0,0,0,0,0
$GC,3991,-0.60,-219.0,779.5,-10.6,343,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2682,3737,0,0,0,0,0,0
$GC,4301,-0.60,-219.0,813.4,-11.4,358,4305,0.00,2.22,0.00,0.000,4,0.000,0.036,2112,1211,3734,0,0,0,0,0,0
$GC,4334,-0.60,-219.0,817.1,-10.7,359,4340,0.00,2.28,0.00,0.000,6,0.000,0.044,2111,2673,3733,0,0,0,0,0,0
$GC,4650,-0.60,-219.0,856.2,-13.1,375,4654,0.00,2.22,0.00,0.000,4,0.000,0.036,2111,1206,3731,0,0,0,0,0,0
$GC,4722,-0.60,-219.0,865.8,-12.4,378,4726,0.00,2.28,0.00,0.000,6,0.000,0.043,2111,2668,3730,0,0,0,0,0,0
$GC,5038,-0.60,-219.0,908.9,-13.5,393,5042,0.00,2.22,0.00,0.000,4,0.000,0.037,2111,1198,3728,0,0,0,0,0,0
$GC,5104,-0.60,-219.0,917.6,-12.1,396,5109,0.00,2.25,0.00,0.000,6,0.000,0.043,2111,2655,3728,0,0,0,0,0,0
$GC,5426,-0.60,-219.0,956.5,-11.6,412,5430,0.00,2.20,0.00,0.000,4,0.000,0.037,2112,1203,3725,0,0,0,0,0,0
$GC,5471,-0.60,-219.0,961.6,-11.1,414,5475,0.00,2.22,0.00,0.000,6,0.000,0.044,2110,2642,3726,0,0,0,0,0,0
$STATE,5748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5748,begin apogee
$GC,5755,-0.16,0.0,990.7,10.3,428,5928,0.40,0.00,166.25,1.103,4,0.128,0.000,2242,2130,2869,0,0,0,0,0,0
$STATE,5928,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5931,0.60,219.0,997.4,0.0,436,6119,0.73,2.30,177.43,1.072,4,0.070,0.041,2492,731,1976,0,0,0,0,0,0
$GC,6332,0.60,219.0,954.1,12.8,454,6339,0.00,2.25,0.00,0.000,6,0.000,0.038,2493,2118,1973,0,0,0,0,0,0
$GC,6648,0.60,219.0,909.4,14.1,470,6652,0.00,2.17,0.00,0.000,4,0.000,0.040,2502,719,1969,0,0,0,0,0,0
$GC,6846,0.60,219.0,881.8,14.1,479,6850,0.00,2.20,0.00,0.000,6,0.000,0.038,2502,2138,1969,0,0,0,0,0,0
$GC,7173,0.60,219.0,831.0,15.9,495,7177,0.00,2.17,0.00,0.000,4,0.000,0.040,2512,725,1968,0,0,0,0,0,0
$GC,7216,0.60,219.0,823.5,16.2,497,7220,0.00,2.17,0.00,0.000,6,0.000,0.037,2512,2134,1968,0,0,0,0,0,0
$GC,7544,0.60,219.0,766.0,18.8,513,7548,0.00,2.17,0.00,0.000,4,0.000,0.047,2512,3536,1966,0,0,0,0,0,0
$GC,7627,0.60,219.0,748.8,20.7,516,7634,0.00,2.10,0.00,0.000,6,0.000,0.031,2521,2151,1965,0,0,0,0,0,0
$GC,7943,0.60,219.0,688.0,19.1,532,7947,0.00,2.20,0.00,0.000,4,0.000,0.041,2532,712,1965,0,0,0,0,0,0
$GC,8033,0.60,219.0,671.7,17.5,536,8038,0.15,2.20,0.00,0.000,6,0.171,0.037,2493,2146,1963,0,0,0,0,0,0
$GC,8366,0.60,221.0,627.2,11.7,552,8370,0.00,2.15,0.00,0.000,4,0.000,0.047,2492,3543,1964,0,0,0,0,0,0
$GC,8437,0.60,221.0,618.1,12.9,555,8441,0.00,2.12,0.00,0.000,6,0.000,0.031,2498,2140,1962,0,0,0,0,0,0
$GC,8760,0.61,228.4,580.7,11.5,571,8774,0.00,2.20,6.75,0.763,4,0.000,0.039,2512,713,1939,0,0,0,0,0,0
$GC,8858,0.61,232.3,568.9,11.6,575,8871,0.00,2.20,4.97,0.620,6,0.000,0.037,2512,2140,1922,0,0,0,0,0,0
$GC,9180,0.61,232.3,522.6,15.6,591,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2140,1922,0,0,0,0,0,0
$GC,9496,0.61,232.3,473.0,15.5,614,9500,0.00,2.15,0.00,0.000,4,0.000,0.047,2512,3536,1921,0,0,0,0,0,0
$GC,9536,0.61,232.3,466.0,17.4,617,9540,0.00,2.10,0.00,0.000,6,0.000,0.031,2521,2146,1921,0,0,0,0,0,0
$GC,9861,0.61,232.3,416.5,14.7,647,9865,0.00,2.15,0.00,0.000,4,0.000,0.041,2532,720,1920,0,0,0,0,0,0
$GC,9981,0.61,232.3,400.1,13.0,657,9986,0.12,2.15,0.00,0.000,6,0.172,0.037,2500,2127,1922,0,0,0,0,0,0
$GC,10308,0.62,237.0,362.8,11.6,687,10320,0.00,2.17,5.45,0.640,4,0.000,0.045,2500,3535,1902,0,0,0,0,0,0
$GC,10378,0.62,237.0,353.8,12.7,693,10382,0.00,2.12,0.00,0.000,6,0.000,0.031,2509,2124,1903,0,0,0,0,0,0
$GC,10704,0.62,237.0,312.3,13.3,723,10708,0.00,2.20,0.00,0.000,4,0.000,0.047,2510,3542,1902,0,0,0,0,0,0
$GC,10767,0.62,237.0,302.8,15.6,728,10771,0.00,2.12,0.00,0.000,6,0.000,0.032,2518,2133,1902,0,0,0,0,0,0
$GC,11092,0.67,277.8,263.7,10.3,758,11129,0.00,2.25,31.45,0.656,4,0.000,0.041,2529,718,1736,0,0,0,0,0,0
$GC,11243,0.71,310.2,248.1,10.6,771,11279,0.00,2.20,25.88,0.618,6,0.000,0.037,2529,2140,1603,0,0,0,0,0,0
$GC,11597,0.71,310.2,205.6,12.1,804,11601,0.00,2.17,0.00,0.000,4,0.000,0.046,2529,3542,1602,0,0,0,0,0,0
$GC,11654,0.71,310.2,198.2,13.4,809,11663,0.00,2.15,0.00,0.000,6,0.000,0.031,2538,2157,1602,0,0,0,0,0,0
$GC,11792,0.71,310.2,181.6,12.6,834,11800,0.00,2.22,0.00,0.000,4,0.000,0.040,2549,723,1601,0,0,0,0,0,0
$GC,11885,0.72,318.2,170.3,11.5,851,11900,0.00,2.20,7.55,0.574,6,0.000,0.037,2549,2127,1570,0,0,0,0,0,0
$GC,12029,0.73,331.5,152.9,11.3,877,12045,0.00,2.28,11.27,0.587,4,0.000,0.044,2549,3540,1516,0,0,0,0,0,0
$GC,12079,0.76,348.9,147.2,11.2,885,12102,0.00,2.20,14.73,0.514,6,0.000,0.030,2559,2124,1444,0,0,0,0,0,0
$GC,12230,0.76,348.9,129.8,12.1,912,12238,0.00,2.17,0.00,0.000,4,0.000,0.038,2570,724,1444,0,0,0,0,0,0
$GC,12298,0.81,396.3,122.5,10.1,924,12342,0.00,2.15,35.95,0.538,6,0.000,0.035,2565,2092,1251,0,0,0,0,0,0
$GC,12472,0.88,452.7,104.8,9.7,954,12524,0.00,2.35,42.15,0.513,4,0.000,0.044,2570,3533,1023,0,0,0,0,0,0
$GC,12568,0.90,463.5,94.1,11.4,969,12585,0.00,2.25,10.05,0.476,6,0.000,0.028,2580,2103,978,0,0,0,0,0,0
$GC,12713,0.97,521.6,79.4,9.7,995,12763,0.00,0.00,42.72,0.494,6,0.000,0.000,2580,2104,743,0,0,0,0,0,0
$GC,12892,1.11,635.9,64.0,7.6,1026,12958,0.22,2.20,55.35,0.475,4,0.060,0.036,2692,726,439,0,0,0,0,0,0
$GC,12988,1.11,635.9,49.9,16.2,1040,12998,0.10,2.22,0.17,0.093,6,0.114,0.033,2657,2118,441,0,0,0,0,0,0
$GC,13126,1.20,714.5,35.1,8.9,1065,13135,0.00,2.22,0.77,0.086,4,0.000,0.039,2657,3545,440,0,0,0,0,0,0
$GC,13195,1.26,757.6,28.3,10.2,1077,13205,0.08,2.15,2.35,0.188,6,0.055,0.028,2724,2158,440,0,0,0,0,0,0
$GC,13334,1.26,757.6,6.0,15.8,1102,13342,0.00,2.20,0.00,0.000,4,0.000,0.035,2735,729,440,0,0,0,0,0,0
$STATE,13354,end climb,SURFACE_DEPTH_REACHED
$STATE,13354,begin surface coast
$FINISH,0.1,1.020564
$STATE,13372,end surface coast,CONTROL_FINISHED_OK
$STATE,13372,begin surface
$SM_CCo,13452,0.00,0.000,0,0,441,595.83
$SM_GC,0.77,6.65,0.00,0.00,0.041,0.000,0.000,203,2622,441,-6.46,0.62,595.83,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11952.94,010711,141407
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.14
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,16.863
$10V_AH,10.1,18.445
$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,16.450,143.225,641.250,0.000,0.000,31.172,43.756,196.635,0.000,0.000,17.269,2653.920,7263.573,654.059,2989.605,297.797,0.000,1897.904,0.000,2010.268,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,50.490,1103.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,771.183,1156.589,1324.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322680
$DATA_FILE_SIZE,76998,1108
$CAP_FILE_SIZE,151727,0
$CFSIZE,260165632,240697344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,225831,1957.566,11949.591,42,0.9,43,-2.2