version: 66.09
glider: 181
mission: 6
dive: 110
start: 7 1 111 23 4 45
data:
$ID,181
$MISSION,6
$DIVE,110
$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,-40590.473
$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,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
$GPS1,010711,225831,1957.566,11949.591,42,0.9,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.6
$GPS2,010711,230420,1957.679,11949.570,13,0.9,13,-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,172.5,108371,-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,13,begin dive
$GC,16,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,197,2617,2421,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.2,-3.7,10,137,7.72,2.17,-26.48,0.000,4,0.233,0.041,2104,1167,3765,0,0,0,0,0,0
$GC,166,-0.60,-219.0,32.1,-44.4,21,174,0.00,2.28,0.00,0.000,6,0.000,0.045,2095,2590,3766,0,0,0,0,0,0
$GC,299,-0.60,-219.0,86.2,-42.9,46,307,0.00,1.88,0.00,0.000,4,0.000,0.047,2085,3780,3766,0,0,0,0,0,0
$GC,382,-0.60,-219.0,119.3,-38.2,61,390,0.00,1.80,0.00,0.000,6,0.000,0.026,2085,2583,3768,0,0,0,0,0,0
$GC,517,-0.60,-219.0,158.7,-34.1,86,525,0.00,1.90,0.00,0.000,4,0.000,0.047,2077,3781,3768,0,0,0,0,0,0
$GC,590,-0.60,-219.0,184.3,-33.2,99,598,0.08,1.70,0.00,0.000,6,0.171,0.026,2099,2639,3769,0,0,0,0,0,0
$GC,734,-0.60,-219.0,224.4,-28.4,117,738,0.00,2.10,0.00,0.000,4,0.000,0.028,2100,1195,3770,0,0,0,0,0,0
$GC,778,-0.60,-219.0,236.8,-22.8,120,787,0.00,2.28,0.00,0.000,6,0.000,0.039,2093,2649,3770,0,0,0,0,0,0
$GC,1104,-0.60,-219.0,315.5,-23.1,151,1108,0.00,2.15,0.00,0.000,4,0.000,0.030,2092,1196,3770,0,0,0,0,0,0
$GC,1148,-0.60,-219.0,325.0,-20.7,154,1155,0.00,2.25,0.00,0.000,6,0.000,0.039,2083,2634,3770,0,0,0,0,0,0
$GC,1473,-0.60,-219.0,393.0,-22.1,185,1477,0.00,1.77,0.00,0.000,4,0.000,0.046,2074,3777,3769,0,0,0,0,0,0
$GC,1564,-0.60,-219.0,412.3,-19.2,193,1568,0.12,1.65,0.00,0.000,6,0.162,0.027,2107,2635,3769,0,0,0,0,0,0
$GC,1894,-0.60,-219.0,474.4,-18.2,224,1898,0.00,2.10,0.00,0.000,4,0.000,0.032,2108,1202,3765,0,0,0,0,0,0
$GC,1950,-0.60,-219.0,483.0,-13.0,228,1957,0.00,2.22,0.00,0.000,6,0.000,0.038,2099,2653,3765,0,0,0,0,0,0
$GC,2269,-0.60,-219.0,538.3,-18.0,249,2273,0.00,2.15,0.00,0.000,4,0.000,0.032,2099,1212,3761,0,0,0,0,0,0
$GC,2313,-0.60,-219.0,546.3,-16.3,251,2318,0.00,2.20,0.00,0.000,6,0.000,0.041,2092,2643,3761,0,0,0,0,0,0
$GC,2641,-0.60,-219.0,609.3,-19.8,267,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2643,3757,0,0,0,0,0,0
$GC,2951,-0.60,-219.0,661.4,-15.5,282,2954,0.00,1.73,0.00,0.000,4,0.000,0.050,2083,3775,3754,0,0,0,0,0,0
$GC,3000,-0.60,-219.0,669.3,-14.3,284,3005,0.00,1.67,0.00,0.000,6,0.000,0.030,2083,2666,3753,0,0,0,0,0,0
$GC,3328,-0.60,-219.0,719.8,-15.1,300,3332,0.00,2.17,0.00,0.000,4,0.000,0.035,2083,1202,3749,0,0,0,0,0,0
$GC,3368,-0.60,-219.0,725.6,-14.5,302,3373,0.12,2.22,0.00,0.000,6,0.168,0.044,2107,2643,3750,0,0,0,0,0,0
$GC,3696,-0.60,-219.0,761.1,-10.9,318,3700,0.00,1.77,0.00,0.000,4,0.000,0.052,2101,3778,3746,0,0,0,0,0,0
$GC,3743,-0.60,-219.0,766.1,-10.7,320,3747,0.00,1.67,0.00,0.000,6,0.000,0.031,2100,2674,3746,0,0,0,0,0,0
$GC,4075,-0.60,-219.0,807.4,-13.5,336,4080,0.00,2.17,0.00,0.000,4,0.000,0.037,2100,1215,3742,0,0,0,0,0,0
$GC,4147,-0.60,-219.0,816.9,-12.3,339,4152,0.00,2.20,0.00,0.000,6,0.000,0.044,2097,2636,3742,0,0,0,0,0,0
$GC,4470,-0.60,-219.0,864.3,-15.7,355,4474,0.00,2.15,0.00,0.000,4,0.000,0.037,2098,1212,3739,0,0,0,0,0,0
$GC,4510,-0.60,-219.0,870.6,-15.1,357,4514,0.00,2.20,0.00,0.000,6,0.000,0.044,2097,2628,3739,0,0,0,0,0,0
$GC,4837,-0.60,-219.0,921.4,-15.3,373,4841,0.00,1.77,0.00,0.000,4,0.000,0.054,2089,3783,3736,0,0,0,0,0,0
$GC,4870,-0.60,-219.0,926.8,-15.8,374,4874,0.00,1.73,0.00,0.000,6,0.000,0.032,2089,2652,3735,0,0,0,0,0,0
$GC,5192,-0.60,-219.0,974.8,-14.2,390,5196,0.00,2.15,0.00,0.000,4,0.000,0.038,2089,1213,3733,0,0,0,0,0,0
$GC,5300,-0.60,-219.0,987.6,-11.0,395,5304,0.00,2.20,0.00,0.000,6,0.000,0.045,2083,2625,3731,0,0,0,0,0,0
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5327,-0.16,0.0,990.2,10.9,396,5500,0.50,0.00,167.88,1.101,4,0.134,0.000,2243,2127,2869,0,0,0,0,0,0
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5503,0.60,219.0,996.5,0.0,404,5688,0.73,2.30,177.18,1.067,4,0.070,0.043,2494,729,1976,0,0,0,0,0,0
$GC,5862,0.60,219.0,955.1,13.8,421,5866,0.00,2.25,0.00,0.000,6,0.000,0.037,2494,2136,1973,0,0,0,0,0,0
$GC,6190,0.60,219.0,911.9,12.4,437,6194,0.00,2.20,0.00,0.000,4,0.000,0.041,2503,732,1969,0,0,0,0,0,0
$GC,6439,0.66,275.1,885.7,9.7,448,6491,0.00,2.17,44.30,1.020,6,0.000,0.038,2504,2132,1750,0,0,0,0,0,0
$GC,6813,0.71,308.3,845.2,10.6,466,6842,0.00,0.00,27.15,0.978,6,0.000,0.000,2504,2133,1616,0,0,0,0,0,0
$GC,7142,0.76,352.2,810.7,10.2,482,7186,0.12,2.30,35.95,0.965,4,0.097,0.047,2556,3541,1433,0,0,0,0,0,0
$GC,7259,0.76,352.2,791.2,16.7,487,7263,0.00,2.22,0.00,0.000,6,0.000,0.031,2566,2117,1434,0,0,0,0,0,0
$GC,7587,0.76,352.2,729.1,20.1,503,7591,0.00,2.17,0.00,0.000,4,0.000,0.041,2577,713,1432,0,0,0,0,0,0
$GC,7664,0.76,352.2,713.9,18.5,506,7669,0.12,2.22,0.00,0.000,6,0.168,0.040,2546,2134,1432,0,0,0,0,0,0
$GC,7986,0.76,352.2,647.7,21.6,522,7990,0.00,2.20,0.00,0.000,4,0.000,0.049,2547,3543,1430,0,0,0,0,0,0
$GC,8049,0.76,352.2,632.9,23.6,525,8053,0.00,2.12,0.00,0.000,6,0.000,0.032,2554,2146,1430,0,0,0,0,0,0
$GC,8376,0.76,352.2,554.3,24.0,541,8380,0.00,2.17,0.00,0.000,4,0.000,0.041,2564,714,1429,0,0,0,0,0,0
$GC,8448,0.76,352.2,537.5,22.1,544,8452,0.00,2.22,0.00,0.000,6,0.000,0.039,2565,2152,1429,0,0,0,0,0,0
$GC,8773,0.76,352.2,462.1,22.9,567,8777,0.00,2.20,0.00,0.000,4,0.000,0.041,2575,713,1428,0,0,0,0,0,0
$GC,8806,0.76,352.2,454.3,22.2,569,8813,0.00,2.20,0.00,0.000,6,0.000,0.039,2574,2144,1428,0,0,0,0,0,0
$GC,9132,0.76,352.2,378.5,22.1,600,9136,0.00,2.15,0.00,0.000,4,0.000,0.049,2575,3538,1428,0,0,0,0,0,0
$GC,9194,0.76,352.2,365.1,20.7,605,9199,0.15,2.10,0.00,0.000,6,0.177,0.032,2547,2143,1427,0,0,0,0,0,0
$GC,9520,0.76,352.2,314.0,16.0,635,9524,0.00,2.17,0.00,0.000,4,0.000,0.041,2555,716,1428,0,0,0,0,0,0
$GC,9620,0.76,352.2,298.5,15.2,643,9627,0.00,2.15,0.00,0.000,6,0.000,0.038,2555,2122,1428,0,0,0,0,0,0
$GC,9945,0.76,352.2,242.6,16.6,674,9949,0.00,2.17,0.00,0.000,4,0.000,0.049,2555,3539,1429,0,0,0,0,0,0
$GC,10009,0.76,352.2,232.2,17.0,679,10012,0.00,2.10,0.00,0.000,6,0.000,0.031,2565,2138,1427,0,0,0,0,0,0
$GC,10332,0.76,352.2,181.4,14.6,721,10340,0.00,2.17,0.00,0.000,4,0.000,0.040,2576,719,1427,0,0,0,0,0,0
$GC,10410,0.76,354.8,171.8,11.7,735,10418,0.00,2.20,0.00,0.000,6,0.000,0.037,2576,2135,1427,0,0,0,0,0,0
$GC,10547,0.77,358.4,155.7,11.7,760,10563,0.00,2.20,5.50,0.504,4,0.000,0.045,2576,3530,1407,0,0,0,0,0,0
$GC,10682,0.77,358.4,139.4,12.7,784,10691,0.10,2.08,0.00,0.000,6,0.146,0.030,2554,2174,1409,0,0,0,0,0,0
$GC,10818,0.77,358.4,123.7,12.0,809,10826,0.00,2.22,0.00,0.000,4,0.000,0.041,2562,725,1408,0,0,0,0,0,0
$GC,10881,0.77,358.4,116.0,12.5,820,10889,0.00,2.22,0.00,0.000,6,0.000,0.036,2562,2161,1408,0,0,0,0,0,0
$GC,11018,0.80,383.8,100.0,10.9,845,11049,0.00,2.17,20.25,0.570,4,0.000,0.044,2563,3537,1304,0,0,0,0,0,0
$GC,11072,0.86,430.3,94.2,10.1,853,11117,0.00,2.15,35.17,0.491,6,0.000,0.029,2571,2138,1113,0,0,0,0,0,0
$GC,11246,1.05,591.0,81.4,6.0,883,11371,0.20,2.30,116.22,0.480,4,0.063,0.036,2674,717,457,0,0,0,0,0,0
$GC,11436,1.07,608.5,57.3,11.2,912,11452,0.00,2.20,5.32,0.409,6,0.000,0.031,2677,2102,440,0,0,0,0,0,0
$GC,11580,1.11,639.2,40.3,10.7,938,11588,0.00,2.28,0.68,0.087,4,0.000,0.041,2675,3535,442,0,0,0,0,0,0
$GC,11643,1.20,714.4,34.5,9.1,949,11652,0.00,2.17,2.50,0.212,6,0.000,0.028,2684,2133,440,0,0,0,0,0,0
$GC,11782,1.26,755.8,21.4,10.3,974,11790,0.00,2.17,0.00,0.000,4,0.000,0.039,2695,727,440,0,0,0,0,0,0
$GC,11844,1.30,788.0,14.2,10.6,985,11853,0.00,2.15,0.57,0.078,6,0.000,0.031,2695,2116,441,0,0,0,0,0,0
$STATE,11941,end climb,SURFACE_DEPTH_REACHED
$STATE,11941,begin surface coast
$FINISH,0.0,1.009573
$STATE,11970,end surface coast,CONTROL_FINISHED_OK
$STATE,11970,begin surface
$SM_CCo,12047,0.00,0.000,0,0,442,595.59
$SM_GC,0.82,6.45,0.00,0.00,0.037,0.000,0.000,206,2624,442,-6.45,0.65,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,12021.66,010711,191942
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.80
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.1,17.036
$10V_AH,10.2,18.568
$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,16.425,136.450,638.675,0.000,0.000,22.909,16.942,171.617,0.000,0.000,16.287,2426.993,6269.585,657.211,2756.056,278.287,0.000,1821.671,0.000,1862.617,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,53.550,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,698.444,1087.191,1296.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322648
$DATA_FILE_SIZE,67042,1008
$CAP_FILE_SIZE,140796,0
$CFSIZE,260165632,240631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,022636,1957.376,11948.312,26,1.4,27,-2.2