version: 66.09
glider: 181
mission: 6
dive: 113
start: 7 2 111 10 7 50
data:
$ID,181
$MISSION,6
$DIVE,113
$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,-40594.246
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,020711,100100,1958.858,11949.231,38,1.2,44,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.6
$GPS2,020711,100725,1959.094,11949.256,13,1.2,13,-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,172.4,111047,-16.3,-11.786
$D_GRID,3477
$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,-71.18,0.000,2,0.000,0.000,213,2635,2441,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.9,10,137,7.82,1.83,-26.02,0.000,4,0.239,0.058,2101,3770,3765,0,0,0,0,0,0
$GC,215,-0.60,-219.0,60.6,-41.6,30,223,0.00,1.80,0.00,0.000,6,0.000,0.025,2101,2580,3767,0,0,0,0,0,0
$GC,349,-0.60,-219.0,114.6,-39.5,55,357,0.00,2.05,0.00,0.000,4,0.000,0.026,2101,1193,3768,0,0,0,0,0,0
$GC,365,-0.60,-219.0,120.6,-37.3,57,373,0.00,2.20,0.00,0.000,6,0.000,0.041,2092,2586,3768,0,0,0,0,0,0
$GC,500,-0.60,-219.0,160.6,-33.6,82,508,0.00,1.85,0.00,0.000,4,0.000,0.042,2083,3777,3769,0,0,0,0,0,0
$GC,552,-0.60,-219.0,177.2,-28.1,91,560,0.00,1.80,0.00,0.000,6,0.000,0.025,2083,2573,3770,0,0,0,0,0,0
$GC,686,-0.60,-219.0,213.6,-29.4,112,690,0.00,2.00,0.00,0.000,4,0.000,0.028,2083,1192,3770,0,0,0,0,0,0
$GC,721,-0.60,-219.0,222.3,-24.4,115,726,0.12,2.17,0.00,0.000,6,0.160,0.039,2105,2611,3771,0,0,0,0,0,0
$GC,1048,-0.60,-219.0,283.8,-20.2,145,1052,0.00,1.77,0.00,0.000,4,0.000,0.045,2098,3784,3771,0,0,0,0,0,0
$GC,1163,-0.60,-219.0,305.8,-17.1,155,1171,0.00,1.75,0.00,0.000,6,0.000,0.026,2096,2606,3770,0,0,0,0,0,0
$GC,1489,-0.60,-219.0,367.0,-20.1,186,1493,0.00,2.05,0.00,0.000,4,0.000,0.031,2098,1208,3769,0,0,0,0,0,0
$GC,1557,-0.60,-219.0,378.2,-14.0,192,1561,0.00,2.17,0.00,0.000,6,0.000,0.039,2090,2628,3768,0,0,0,0,0,0
$GC,1882,-0.60,-219.0,436.3,-18.2,222,1886,0.00,1.77,0.00,0.000,4,0.000,0.047,2081,3771,3764,0,0,0,0,0,0
$GC,1939,-0.60,-219.0,446.6,-17.2,227,1943,0.00,1.67,0.00,0.000,6,0.000,0.028,2081,2624,3764,0,0,0,0,0,0
$GC,2278,-0.60,-219.0,513.7,-20.8,256,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2621,3759,0,0,0,0,0,0
$GC,2588,-0.60,-219.0,575.4,-19.6,271,2591,0.00,1.77,0.00,0.000,4,0.000,0.049,2071,3775,3756,0,0,0,0,0,0
$GC,2637,-0.60,-219.0,585.3,-18.5,273,2642,0.10,1.73,0.00,0.000,6,0.143,0.030,2105,2636,3755,0,0,0,0,0,0
$GC,2965,-0.60,-219.0,635.8,-15.1,289,2969,0.00,2.12,0.00,0.000,4,0.000,0.034,2105,1199,3752,0,0,0,0,0,0
$GC,3008,-0.60,-219.0,642.7,-14.1,291,3013,0.00,2.22,0.00,0.000,6,0.000,0.041,2098,2645,3751,0,0,0,0,0,0
$GC,3337,-0.60,-219.0,689.3,-13.7,307,3341,0.00,2.17,0.00,0.000,4,0.000,0.035,2098,1202,3747,0,0,0,0,0,0
$GC,3363,-0.60,-219.0,693.2,-13.2,308,3368,0.00,2.22,0.00,0.000,6,0.000,0.042,2091,2645,3747,0,0,0,0,0,0
$GC,3691,-0.60,-219.0,736.3,-13.5,324,3695,0.00,1.73,0.00,0.000,4,0.000,0.052,2082,3780,3744,0,0,0,0,0,0
$GC,3760,-0.60,-219.0,744.8,-10.8,327,3764,0.00,1.67,0.00,0.000,6,0.000,0.031,2082,2650,3742,0,0,0,0,0,0
$GC,4093,-0.60,-219.0,791.2,-15.0,343,4097,0.00,2.17,0.00,0.000,4,0.000,0.036,2082,1188,3740,0,0,0,0,0,0
$GC,4181,-0.60,-219.0,803.2,-12.6,347,4186,0.12,2.25,0.00,0.000,6,0.167,0.043,2105,2649,3738,0,0,0,0,0,0
$GC,4509,-0.60,-219.0,842.7,-12.6,363,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2650,3736,0,0,0,0,0,0
$GC,4818,-0.60,-219.0,882.0,-12.7,378,4822,0.00,2.22,0.00,0.000,4,0.000,0.037,2110,1193,3734,0,0,0,0,0,0
$GC,4851,-0.60,-219.0,886.2,-12.3,379,4855,0.00,2.22,0.00,0.000,6,0.000,0.044,2099,2633,3734,0,0,0,0,0,0
$GC,5167,-0.60,-219.0,927.5,-13.2,394,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2634,3732,0,0,0,0,0,0
$GC,5476,-0.60,-219.0,967.4,-13.2,409,5480,0.00,1.80,0.00,0.000,4,0.000,0.054,2090,3774,3729,0,0,0,0,0,0
$GC,5503,-0.60,-219.0,971.0,-12.8,410,5507,0.00,1.73,0.00,0.000,6,0.000,0.032,2090,2616,3728,0,0,0,0,0,0
$STATE,5663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5663,begin apogee
$GC,5669,-0.16,0.0,992.1,13.4,418,5842,0.47,0.00,167.43,1.102,4,0.136,0.000,2242,2117,2870,0,0,0,0,0,0
$STATE,5843,end apogee,CONTROL_FINISHED_OK
$STATE,5843,begin climb
$GC,5845,0.60,219.0,1000.4,0.0,426,6030,0.68,0.00,177.77,1.071,6,0.067,0.000,2492,2117,1976,0,0,0,0,0,0
$GC,6358,0.60,219.0,941.2,14.5,451,6362,0.00,2.28,0.00,0.000,4,0.000,0.047,2491,3541,1970,0,0,0,0,0,0
$GC,6391,0.60,219.0,935.7,15.9,452,6398,0.00,2.20,0.00,0.000,6,0.000,0.031,2501,2147,1970,0,0,0,0,0,0
$GC,6708,0.60,219.0,884.8,16.1,468,6712,0.00,2.22,0.00,0.000,4,0.000,0.041,2511,706,1968,0,0,0,0,0,0
$GC,6779,0.60,219.0,873.1,16.1,471,6784,0.00,2.20,0.00,0.000,6,0.000,0.036,2511,2125,1968,0,0,0,0,0,0
$GC,7102,0.60,219.0,816.9,18.0,487,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2125,1967,0,0,0,0,0,0
$GC,7411,0.60,219.0,761.1,17.6,502,7415,0.00,2.20,0.00,0.000,4,0.000,0.047,2511,3547,1966,0,0,0,0,0,0
$GC,7443,0.60,219.0,754.7,18.6,503,7451,0.00,2.17,0.00,0.000,6,0.000,0.031,2521,2111,1965,0,0,0,0,0,0
$GC,7760,0.60,219.0,700.9,16.4,519,7764,0.00,2.12,0.00,0.000,4,0.000,0.040,2532,713,1965,0,0,0,0,0,0
$GC,7842,0.60,219.0,687.5,15.6,522,7850,0.10,2.20,0.00,0.000,6,0.164,0.037,2502,2118,1964,0,0,0,0,0,0
$GC,8159,0.60,219.0,646.5,12.2,538,8163,0.00,2.20,0.00,0.000,4,0.000,0.047,2501,3545,1964,0,0,0,0,0,0
$GC,8204,0.60,219.0,640.7,13.2,540,8208,0.00,2.17,0.00,0.000,6,0.000,0.031,2509,2117,1963,0,0,0,0,0,0
$GC,8537,0.60,223.1,601.1,11.6,556,8541,0.00,2.10,0.00,0.000,4,0.000,0.039,2520,720,1963,0,0,0,0,0,0
$GC,8587,0.62,239.8,595.2,11.2,558,8607,0.00,2.15,15.55,0.834,6,0.000,0.037,2520,2130,1891,0,0,0,0,0,0
$GC,8925,0.62,239.8,552.2,13.7,575,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2128,1891,0,0,0,0,0,0
$GC,9233,0.62,239.8,506.6,15.4,590,9237,0.00,2.17,0.00,0.000,4,0.000,0.047,2520,3535,1891,0,0,0,0,0,0
$GC,9277,0.62,239.8,499.0,16.8,592,9284,0.00,2.15,0.00,0.000,6,0.000,0.030,2530,2119,1890,0,0,0,0,0,0
$GC,9603,0.62,239.8,442.2,18.7,623,9607,0.00,2.12,0.00,0.000,4,0.000,0.039,2540,710,1889,0,0,0,0,0,0
$GC,9700,0.62,239.8,424.8,18.1,631,9705,0.15,2.12,0.00,0.000,6,0.168,0.037,2501,2105,1889,0,0,0,0,0,0
$GC,10027,0.62,239.8,374.7,14.3,661,10031,0.00,2.20,0.00,0.000,4,0.000,0.047,2501,3536,1889,0,0,0,0,0,0
$GC,10115,0.62,239.8,361.3,13.9,668,10122,0.00,2.15,0.00,0.000,6,0.000,0.030,2508,2117,1888,0,0,0,0,0,0
$GC,10441,0.65,261.3,322.0,11.0,699,10465,0.00,2.20,17.25,0.689,4,0.000,0.040,2520,722,1803,0,0,0,0,0,0
$GC,10590,0.65,266.1,305.3,11.6,712,10602,0.00,2.12,5.50,0.553,6,0.000,0.037,2520,2106,1783,0,0,0,0,0,0
$GC,10921,0.65,266.1,260.0,14.3,743,10925,0.00,2.20,0.00,0.000,4,0.000,0.046,2525,3535,1783,0,0,0,0,0,0
$GC,10962,0.65,266.1,253.7,16.2,746,10967,0.00,2.17,0.00,0.000,6,0.000,0.030,2529,2096,1783,0,0,0,0,0,0
$GC,11288,0.65,266.1,201.6,15.4,776,11292,0.00,2.25,0.00,0.000,4,0.000,0.043,2529,3545,1783,0,0,0,0,0,0
$GC,11337,0.65,266.1,193.5,16.4,784,11345,0.00,2.17,0.00,0.000,6,0.000,0.030,2538,2131,1782,0,0,0,0,0,0
$GC,11472,0.65,266.1,174.8,13.2,809,11481,0.00,2.17,0.00,0.000,4,0.000,0.040,2550,718,1782,0,0,0,0,0,0
$GC,11608,0.73,329.5,160.3,9.5,834,11666,0.00,2.15,47.47,0.579,6,0.000,0.036,2550,2101,1526,0,0,0,0,0,0
$GC,11794,0.73,329.5,140.9,12.0,866,11803,0.00,2.28,0.00,0.000,4,0.000,0.046,2550,3528,1527,0,0,0,0,0,0
$GC,11872,0.73,329.5,130.5,13.7,880,11880,0.00,2.20,0.00,0.000,6,0.000,0.030,2559,2117,1528,0,0,0,0,0,0
$GC,12008,0.73,329.5,112.2,13.3,905,12016,0.00,2.17,0.00,0.000,4,0.000,0.039,2570,717,1527,0,0,0,0,0,0
$GC,12046,0.73,330.0,107.6,11.8,911,12055,0.00,2.20,0.00,0.000,6,0.000,0.034,2570,2121,1527,0,0,0,0,0,0
$GC,12184,0.74,338.1,92.3,11.5,936,12200,0.00,2.22,8.57,0.531,4,0.000,0.043,2570,3551,1489,0,0,0,0,0,0
$GC,12254,0.74,338.1,83.4,12.1,948,12263,0.10,2.20,0.00,0.000,6,0.128,0.030,2545,2136,1490,0,0,0,0,0,0
$GC,12392,0.92,482.7,73.5,6.5,973,12504,0.15,2.33,104.60,0.490,4,0.080,0.040,2618,3539,901,0,0,0,0,0,0
$GC,12544,0.92,482.7,56.0,12.7,995,12552,0.00,2.20,0.00,0.000,6,0.000,0.028,2628,2147,902,0,0,0,0,0,0
$GC,12682,0.99,541.0,42.6,9.7,1020,12735,0.00,2.28,43.55,0.470,4,0.000,0.037,2640,722,663,0,0,0,0,0,0
$GC,12802,1.12,644.3,32.7,8.0,1039,12848,0.00,2.20,40.50,0.451,6,0.000,0.030,2639,2121,442,0,0,0,0,0,0
$GC,12977,1.30,790.3,20.2,6.5,1069,12987,0.22,2.20,2.45,0.203,4,0.057,0.039,2748,3532,441,0,0,0,0,0,0
$GC,13036,1.30,790.3,11.3,18.5,1079,13046,0.10,2.20,0.82,0.076,6,0.145,0.028,2727,2117,442,0,0,0,0,0,0
$STATE,13087,end climb,SURFACE_DEPTH_REACHED
$STATE,13087,begin surface coast
$FINISH,0.2,1.020449
$STATE,13106,end surface coast,CONTROL_FINISHED_OK
$STATE,13106,begin surface
$SM_CCo,13183,0.00,0.000,0,0,443,595.10
$SM_GC,0.81,6.62,0.00,0.00,0.038,0.000,0.000,211,2628,443,-6.47,0.79,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1952.70,11948.96,020711,060648
$TT8_MAMPS,0.027713,0.027713
$HUMID,41.53
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.0,17.524
$10V_AH,10.1,18.948
$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,16.775,139.675,631.475,0.000,0.000,29.605,48.464,168.527,0.250,0.000,15.998,2591.325,7180.108,641.269,2853.825,294.070,0.000,1843.203,0.000,1898.167,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,58.140,1101.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,760.563,1153.090,1324.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322640
$DATA_FILE_SIZE,73753,1091
$CAP_FILE_SIZE,146893,0
$CFSIZE,260165632,240377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,134854,1959.047,11949.688,26,0.9,44,-2.2