version: 66.09
glider: 181
mission: 6
dive: 112
start: 7 2 111 6 13 15
data:
$ID,181
$MISSION,6
$DIVE,112
$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,-40592.988
$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,43
$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
$GPS1,020711,060655,1958.150,11948.280,37,1.4,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.1
$GPS2,020711,061250,1958.368,11948.308,11,1.3,11,-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,171.5,110020,-16.3,-11.786
$D_GRID,3487
$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,-71.35,0.000,2,0.000,0.000,212,2618,2436,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.1,-3.5,10,130,7.72,0.00,-26.50,0.000,6,0.236,0.000,2097,2618,3764,0,0,0,0,0,0
$GC,257,-0.60,-219.0,76.2,-37.7,39,265,0.00,1.80,0.00,0.000,4,0.000,0.046,2091,3762,3766,0,0,0,0,0,0
$GC,298,-0.60,-219.0,93.1,-43.3,46,307,0.00,1.77,0.00,0.000,6,0.000,0.026,2091,2589,3767,0,0,0,0,0,0
$GC,433,-0.60,-219.0,134.8,-26.6,71,441,0.00,1.85,0.00,0.000,4,0.000,0.044,2083,3762,3768,0,0,0,0,0,0
$GC,496,-0.60,-219.0,152.8,-26.9,82,504,0.00,1.62,0.00,0.000,6,0.000,0.026,2084,2666,3769,0,0,0,0,0,0
$GC,629,-0.60,-219.0,187.6,-27.1,107,637,0.00,2.20,0.00,0.000,4,0.000,0.029,2083,1195,3769,0,0,0,0,0,0
$GC,666,-0.60,-219.0,197.1,-26.1,113,675,0.10,2.35,0.00,0.000,6,0.145,0.039,2105,2690,3769,0,0,0,0,0,0
$GC,811,-0.60,-219.0,227.9,-20.3,127,814,0.00,1.62,0.00,0.000,4,0.000,0.044,2098,3775,3770,0,0,0,0,0,0
$GC,857,-0.60,-219.0,236.4,-17.4,131,861,0.00,1.58,0.00,0.000,6,0.000,0.025,2098,2720,3770,0,0,0,0,0,0
$GC,1188,-0.60,-219.0,301.1,-20.8,162,1192,0.00,2.22,0.00,0.000,4,0.000,0.029,2098,1196,3769,0,0,0,0,0,0
$GC,1205,-0.60,-219.0,304.7,-20.5,163,1209,0.00,2.33,0.00,0.000,6,0.000,0.039,2088,2709,3769,0,0,0,0,0,0
$GC,1531,-0.60,-219.0,376.0,-23.6,193,1534,0.00,1.62,0.00,0.000,4,0.000,0.047,2079,3790,3768,0,0,0,0,0,0
$GC,1558,-0.60,-219.0,383.3,-24.9,195,1565,0.00,1.62,0.00,0.000,6,0.000,0.027,2076,2704,3767,0,0,0,0,0,0
$GC,1883,-0.60,-219.0,455.5,-22.6,226,1888,0.12,2.22,0.00,0.000,4,0.172,0.033,2112,1200,3763,0,0,0,0,0,0
$GC,1957,-0.60,-219.0,467.7,-13.8,232,1961,0.00,2.28,0.00,0.000,6,0.000,0.041,2112,2685,3763,0,0,0,0,0,0
$GC,2280,-0.60,-219.0,521.8,-17.5,256,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2685,3759,0,0,0,0,0,0
$GC,2588,-0.60,-219.0,571.9,-15.7,271,2592,0.00,2.25,0.00,0.000,4,0.000,0.034,2112,1196,3756,0,0,0,0,0,0
$GC,2614,-0.60,-219.0,576.6,-16.0,272,2619,0.00,2.30,0.00,0.000,6,0.000,0.042,2112,2683,3755,0,0,0,0,0,0
$GC,2943,-0.60,-219.0,619.9,-13.5,288,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2685,3752,0,0,0,0,0,0
$GC,3252,-0.60,-219.0,659.2,-12.2,303,3256,0.00,2.22,0.00,0.000,4,0.000,0.034,2112,1200,3748,0,0,0,0,0,0
$GC,3292,-0.60,-219.0,663.7,-11.1,305,3296,0.00,2.28,0.00,0.000,6,0.000,0.042,2111,2674,3748,0,0,0,0,0,0
$GC,3620,-0.60,-219.0,699.0,-11.0,321,3624,0.00,2.22,0.00,0.000,4,0.000,0.034,2111,1202,3745,0,0,0,0,0,0
$GC,3670,-0.60,-219.0,704.8,-10.8,323,3674,0.00,2.25,0.00,0.000,6,0.000,0.042,2112,2658,3745,0,0,0,0,0,0
$GC,3992,-0.60,-219.0,743.3,-13.0,339,3996,0.00,1.70,0.00,0.000,4,0.000,0.052,2108,3773,3741,0,0,0,0,0,0
$GC,4042,-0.60,-219.0,749.9,-12.4,341,4046,0.00,1.65,0.00,0.000,6,0.000,0.030,2107,2682,3740,0,0,0,0,0,0
$GC,4369,-0.60,-219.0,796.7,-15.1,357,4374,0.00,2.22,0.00,0.000,4,0.000,0.036,2107,1194,3738,0,0,0,0,0,0
$GC,4453,-0.60,-219.0,808.3,-12.7,360,4460,0.00,2.25,0.00,0.000,6,0.000,0.041,2098,2652,3737,0,0,0,0,0,0
$GC,4769,-0.60,-219.0,856.6,-15.9,376,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2653,3734,0,0,0,0,0,0
$GC,5078,-0.60,-219.0,903.9,-15.2,391,5082,0.00,2.20,0.00,0.000,4,0.000,0.036,2098,1201,3732,0,0,0,0,0,0
$GC,5106,-0.60,-219.0,908.2,-14.8,392,5110,0.00,2.22,0.00,0.000,6,0.000,0.044,2095,2644,3732,0,0,0,0,0,0
$GC,5427,-0.60,-219.0,952.8,-13.3,408,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2644,3730,0,0,0,0,0,0
$STATE,5734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5734,begin apogee
$GC,5741,-0.16,0.0,990.1,11.7,423,5913,0.45,0.00,167.05,1.102,4,0.135,0.000,2240,2111,2869,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5917,0.60,219.0,996.6,0.0,431,6102,0.75,2.28,176.82,1.069,4,0.067,0.042,2502,726,1977,0,0,0,0,0,0
$GC,6231,0.60,219.0,964.3,13.7,445,6238,0.00,2.25,0.00,0.000,6,0.000,0.036,2501,2135,1975,0,0,0,0,0,0
$GC,6548,0.60,219.0,918.6,14.5,461,6552,0.00,2.20,0.00,0.000,4,0.000,0.041,2510,732,1971,0,0,0,0,0,0
$GC,6760,0.60,219.0,888.4,13.7,470,6764,0.00,2.22,0.00,0.000,6,0.000,0.038,2511,2133,1970,0,0,0,0,0,0
$GC,7082,0.60,219.0,840.3,15.2,486,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2133,1968,0,0,0,0,0,0
$GC,7392,0.60,219.0,792.6,15.3,501,7396,0.00,2.20,0.00,0.000,4,0.000,0.048,2511,3548,1967,0,0,0,0,0,0
$GC,7424,0.60,219.0,786.9,16.8,502,7431,0.00,2.17,0.00,0.000,6,0.000,0.032,2520,2145,1966,0,0,0,0,0,0
$GC,7740,0.60,219.0,734.9,16.7,518,7744,0.00,2.17,0.00,0.000,4,0.000,0.041,2531,715,1966,0,0,0,0,0,0
$GC,7773,0.60,219.0,729.0,16.6,519,7778,0.15,2.17,0.00,0.000,6,0.174,0.037,2493,2135,1966,0,0,0,0,0,0
$GC,8089,0.60,219.0,684.0,13.9,534,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2136,1965,0,0,0,0,0,0
$GC,8399,0.60,219.0,638.7,15.0,549,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2136,1964,0,0,0,0,0,0
$GC,8708,0.60,219.0,595.0,13.8,564,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2136,1964,0,0,0,0,0,0
$GC,9017,0.60,219.0,554.2,13.1,579,9021,0.00,2.17,0.00,0.000,4,0.000,0.047,2493,3542,1963,0,0,0,0,0,0
$GC,9066,0.60,219.0,547.0,14.3,581,9070,0.00,2.15,0.00,0.000,6,0.000,0.031,2502,2116,1962,0,0,0,0,0,0
$GC,9394,0.60,219.0,503.3,13.0,597,9398,0.00,2.12,0.00,0.000,4,0.000,0.042,2512,710,1962,0,0,0,0,0,0
$GC,9525,0.60,221.3,487.5,11.7,607,9529,0.00,2.15,0.00,0.000,6,0.000,0.037,2512,2118,1962,0,0,0,0,0,0
$GC,9850,0.60,221.3,447.7,12.4,637,9854,0.00,2.17,0.00,0.000,4,0.000,0.047,2512,3538,1962,0,0,0,0,0,0
$GC,9872,0.60,221.3,444.8,12.5,638,9879,0.00,2.20,0.00,0.000,6,0.000,0.031,2522,2105,1962,0,0,0,0,0,0
$GC,10198,0.60,221.3,402.0,12.6,669,10202,0.00,2.10,0.00,0.000,4,0.000,0.041,2532,710,1962,0,0,0,0,0,0
$GC,10405,0.60,221.3,375.6,12.5,687,10410,0.15,2.12,0.00,0.000,6,0.168,0.037,2493,2095,1962,0,0,0,0,0,0
$GC,10736,0.67,281.2,343.0,9.6,718,10792,0.00,2.35,45.55,0.711,4,0.000,0.047,2493,3534,1722,0,0,0,0,0,0
$GC,10829,0.69,294.8,333.6,11.3,726,10846,0.00,2.22,12.27,0.622,6,0.000,0.030,2501,2088,1667,0,0,0,0,0,0
$GC,11167,0.72,322.3,298.6,10.8,757,11194,0.10,2.17,21.38,0.656,4,0.106,0.039,2556,720,1557,0,0,0,0,0,0
$GC,11216,0.72,322.3,291.9,13.7,761,11223,0.00,2.15,0.00,0.000,6,0.000,0.037,2555,2095,1557,0,0,0,0,0,0
$GC,11542,0.72,322.3,239.7,16.6,792,11546,0.00,2.25,0.00,0.000,4,0.000,0.047,2555,3535,1556,0,0,0,0,0,0
$GC,11696,0.72,322.3,213.1,15.5,805,11703,0.00,2.17,0.00,0.000,6,0.000,0.029,2565,2131,1555,0,0,0,0,0,0
$GC,12016,0.72,322.3,165.0,15.1,858,12025,0.12,2.20,0.00,0.000,4,0.173,0.039,2542,719,1553,0,0,0,0,0,0
$GC,12154,0.73,324.4,149.3,11.7,883,12162,0.00,2.17,0.00,0.000,6,0.000,0.037,2542,2109,1553,0,0,0,0,0,0
$GC,12291,0.73,324.4,132.3,13.0,908,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2110,1553,0,0,0,0,0,0
$GC,12425,0.75,340.9,115.4,11.2,933,12448,0.00,2.22,14.98,0.584,4,0.000,0.044,2542,3543,1480,0,0,0,0,0,0
$GC,12508,0.80,388.7,106.9,10.1,947,12553,0.00,2.22,36.67,0.516,6,0.000,0.029,2553,2101,1282,0,0,0,0,0,0
$GC,12681,0.91,478.5,91.1,8.5,977,12755,0.12,2.25,66.22,0.499,4,0.088,0.037,2629,711,916,0,0,0,0,0,0
$GC,12821,0.91,478.5,73.0,11.8,999,12829,0.00,2.20,0.00,0.000,6,0.000,0.034,2625,2092,917,0,0,0,0,0,0
$GC,12957,0.91,478.5,55.3,13.7,1024,12965,0.00,2.30,0.00,0.000,4,0.000,0.045,2625,3537,918,0,0,0,0,0,0
$GC,13071,0.94,502.7,41.5,10.9,1045,13101,0.00,2.22,19.42,0.509,6,0.000,0.029,2635,2101,817,0,0,0,0,0,0
$GC,13229,1.09,623.8,27.6,7.4,1073,13302,0.00,2.25,67.28,0.454,4,0.000,0.038,2645,710,439,0,0,0,0,0,0
$GC,13364,1.20,709.3,16.9,8.7,1094,13373,0.08,2.17,0.15,0.097,6,0.056,0.029,2700,2094,441,0,0,0,0,0,0
$STATE,13483,end climb,SURFACE_DEPTH_REACHED
$STATE,13484,begin surface coast
$FINISH,0.2,1.020112
$STATE,13506,end surface coast,CONTROL_FINISHED_OK
$STATE,13506,begin surface
$SM_CCo,13583,0.00,0.000,0,0,443,595.10
$SM_GC,0.73,6.55,0.00,0.00,0.037,0.000,0.000,214,2635,443,-6.45,0.99,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1950.41,11944.69,020711,020232
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.98
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.0,17.363
$10V_AH,10.1,18.820
$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,16.425,124.875,627.800,0.000,0.000,28.347,39.632,156.404,0.500,0.000,14.149,2647.215,7480.636,635.928,2878.341,289.843,0.000,1839.067,0.000,1959.258,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,52.020,1101.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,780.567,1172.157,1318.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322716
$DATA_FILE_SIZE,77028,1120
$CAP_FILE_SIZE,143683,0
$CFSIZE,260165632,240463872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,100100,1958.858,11949.231,38,1.2,44,-2.2