version: 66.09
glider: 181
mission: 6
dive: 114
start: 7 2 111 13 55 26
data:
$ID,181
$MISSION,6
$DIVE,114
$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,-40595.504
$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,63
$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
$GPS1,020711,134854,1959.047,11949.688,26,0.9,44,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.7
$GPS2,020711,135501,1959.249,11949.766,13,1.0,13,-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,172.9,111183,-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,-71.15,0.000,2,0.000,0.000,209,2635,2449,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.6,-4.3,10,131,7.72,1.80,-25.25,0.000,4,0.236,0.057,2093,3758,3765,0,0,0,0,0,0
$GC,218,-0.60,-219.0,62.5,-40.9,31,226,0.00,1.77,0.00,0.000,6,0.000,0.025,2093,2583,3767,0,0,0,0,0,0
$GC,352,-0.60,-219.0,113.5,-34.7,56,360,0.00,1.85,0.00,0.000,4,0.000,0.044,2084,3745,3768,0,0,0,0,0,0
$GC,399,-0.60,-219.0,130.4,-36.7,64,407,0.00,1.70,0.00,0.000,6,0.000,0.026,2084,2605,3769,0,0,0,0,0,0
$GC,533,-0.60,-219.0,170.8,-32.7,89,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2604,3769,0,0,0,0,0,0
$GC,674,-0.60,-219.0,212.7,-28.5,111,675,0.10,0.00,0.00,0.000,6,0.188,0.000,2106,2604,3771,0,0,0,0,0,0
$GC,994,-0.60,-219.0,280.5,-20.5,141,997,0.00,1.75,0.00,0.000,4,0.000,0.044,2100,3752,3771,0,0,0,0,0,0
$GC,1131,-0.60,-219.0,305.6,-14.9,153,1138,0.00,1.67,0.00,0.000,6,0.000,0.025,2100,2624,3771,0,0,0,0,0,0
$GC,1457,-0.60,-219.0,368.8,-19.8,184,1461,0.00,2.08,0.00,0.000,4,0.000,0.030,2100,1201,3769,0,0,0,0,0,0
$GC,1514,-0.60,-219.0,378.1,-14.6,189,1518,0.00,2.12,0.00,0.000,6,0.000,0.038,2096,2591,3769,0,0,0,0,0,0
$GC,1839,-0.60,-219.0,432.7,-17.3,219,1843,0.00,1.85,0.00,0.000,4,0.000,0.046,2088,3781,3766,0,0,0,0,0,0
$GC,1919,-0.60,-219.0,444.9,-14.0,226,1923,0.00,1.75,0.00,0.000,6,0.000,0.028,2087,2611,3764,0,0,0,0,0,0
$GC,2248,-0.60,-219.0,505.7,-19.0,256,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2608,3760,0,0,0,0,0,0
$GC,2558,-0.60,-219.0,564.6,-18.8,271,2561,0.00,1.80,0.00,0.000,4,0.000,0.047,2079,3781,3757,0,0,0,0,0,0
$GC,2604,-0.60,-219.0,573.1,-18.0,273,2609,0.12,1.70,0.00,0.000,6,0.161,0.030,2112,2621,3757,0,0,0,0,0,0
$GC,2937,-0.60,-219.0,621.4,-14.3,289,2941,0.00,2.10,0.00,0.000,4,0.000,0.033,2112,1198,3752,0,0,0,0,0,0
$GC,3023,-0.60,-219.0,631.4,-10.8,293,3027,0.00,2.17,0.00,0.000,6,0.000,0.040,2111,2615,3752,0,0,0,0,0,0
$GC,3349,-0.60,-219.0,676.0,-14.4,309,3353,0.00,1.77,0.00,0.000,4,0.000,0.049,2104,3777,3748,0,0,0,0,0,0
$GC,3404,-0.60,-219.0,683.5,-12.2,311,3409,0.00,1.75,0.00,0.000,6,0.000,0.029,2104,2623,3747,0,0,0,0,0,0
$GC,3726,-0.60,-219.0,730.8,-15.6,327,3730,0.00,2.10,0.00,0.000,4,0.000,0.034,2104,1200,3744,0,0,0,0,0,0
$GC,3749,-0.60,-219.0,734.4,-14.9,328,3753,0.00,2.17,0.00,0.000,6,0.000,0.042,2097,2614,3745,0,0,0,0,0,0
$GC,4071,-0.60,-219.0,782.1,-14.3,344,4075,0.00,1.77,0.00,0.000,4,0.000,0.050,2088,3780,3741,0,0,0,0,0,0
$GC,4094,-0.60,-219.0,785.6,-14.4,345,4098,0.00,1.73,0.00,0.000,6,0.000,0.031,2088,2612,3741,0,0,0,0,0,0
$GC,4427,-0.60,-219.0,834.2,-14.1,361,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2608,3739,0,0,0,0,0,0
$GC,4737,-0.60,-219.0,879.4,-14.9,376,4740,0.00,1.83,0.00,0.000,4,0.000,0.051,2079,3783,3734,0,0,0,0,0,0
$GC,4764,-0.60,-219.0,883.6,-14.4,377,4768,0.00,1.77,0.00,0.000,6,0.000,0.031,2079,2611,3735,0,0,0,0,0,0
$GC,5091,-0.60,-219.0,932.3,-15.0,393,5093,0.12,0.00,0.00,0.000,6,0.171,0.000,2112,2608,3733,0,0,0,0,0,0
$GC,5401,-0.60,-219.0,968.0,-11.5,408,5405,0.00,1.88,0.00,0.000,4,0.000,0.053,2111,3776,3734,0,0,0,0,0,0
$GC,5429,-0.60,-219.0,971.1,-11.5,409,5432,0.00,1.75,0.00,0.000,6,0.000,0.031,2111,2628,3730,0,0,0,0,0,0
$STATE,5609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5609,begin apogee
$GC,5616,-0.16,0.0,990.8,11.0,418,5788,0.43,0.00,167.82,1.101,4,0.129,0.000,2250,2106,2869,0,0,0,0,0,0
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5792,0.60,219.0,999.4,0.0,426,5978,0.73,2.40,177.60,1.068,4,0.070,0.045,2500,3538,1976,0,0,0,0,0,0
$GC,6103,0.60,219.0,962.6,17.4,441,6107,0.00,2.22,0.00,0.000,6,0.000,0.031,2509,2127,1973,0,0,0,0,0,0
$GC,6430,0.60,219.0,906.7,16.5,457,6434,0.00,2.22,0.00,0.000,4,0.000,0.044,2510,3538,1968,0,0,0,0,0,0
$GC,6560,0.60,219.0,884.1,17.3,463,6564,0.00,2.20,0.00,0.000,6,0.000,0.031,2520,2108,1968,0,0,0,0,0,0
$GC,6887,0.60,219.0,830.6,16.1,479,6891,0.00,2.12,0.00,0.000,4,0.000,0.038,2531,708,1966,0,0,0,0,0,0
$GC,6953,0.60,219.0,820.2,15.1,482,6958,0.15,2.15,0.00,0.000,6,0.174,0.036,2493,2107,1966,0,0,0,0,0,0
$GC,7275,0.60,219.0,779.2,12.1,498,7279,0.00,2.22,0.00,0.000,4,0.000,0.046,2493,3540,1964,0,0,0,0,0,0
$GC,7346,0.60,219.0,769.4,13.4,501,7350,0.00,2.17,0.00,0.000,6,0.000,0.031,2501,2109,1965,0,0,0,0,0,0
$GC,7669,0.60,219.0,726.4,13.2,517,7673,0.00,2.10,0.00,0.000,4,0.000,0.041,2511,717,1964,0,0,0,0,0,0
$GC,7780,0.60,219.0,711.9,12.2,522,7784,0.00,2.12,0.00,0.000,6,0.000,0.034,2513,2110,1964,0,0,0,0,0,0
$GC,8108,0.60,219.0,663.5,15.7,538,8112,0.00,2.20,0.00,0.000,4,0.000,0.046,2511,3541,1963,0,0,0,0,0,0
$GC,8129,0.60,219.0,659.6,16.5,539,8133,0.00,2.17,0.00,0.000,6,0.000,0.031,2521,2099,1963,0,0,0,0,0,0
$GC,8457,0.60,219.0,605.6,16.5,555,8461,0.00,2.10,0.00,0.000,4,0.000,0.040,2532,710,1962,0,0,0,0,0,0
$GC,8519,0.60,219.0,595.8,15.2,558,8524,0.15,2.12,0.00,0.000,6,0.172,0.035,2493,2109,1962,0,0,0,0,0,0
$GC,8846,0.60,219.0,551.8,13.1,574,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2109,1961,0,0,0,0,0,0
$GC,9156,0.61,227.9,514.6,11.5,589,9167,0.00,2.22,6.12,0.726,4,0.000,0.044,2493,3536,1939,0,0,0,0,0,0
$GC,9220,0.61,227.9,507.0,12.5,592,9225,0.00,2.17,0.00,0.000,6,0.000,0.030,2502,2097,1940,0,0,0,0,0,0
$GC,9545,0.61,227.9,468.9,11.8,620,9549,0.00,2.08,0.00,0.000,4,0.000,0.041,2512,721,1940,0,0,0,0,0,0
$GC,9640,0.62,236.6,458.1,11.5,628,9655,0.00,2.10,8.52,0.717,6,0.000,0.036,2512,2098,1904,0,0,0,0,0,0
$GC,9982,0.62,236.6,418.3,12.2,660,9986,0.00,2.22,0.00,0.000,4,0.000,0.046,2512,3541,1901,0,0,0,0,0,0
$GC,10128,0.62,236.6,395.5,16.8,672,10136,0.00,2.17,0.00,0.000,6,0.000,0.030,2521,2106,1904,0,0,0,0,0,0
$GC,10453,0.62,236.6,340.3,16.1,703,10457,0.00,2.10,0.00,0.000,4,0.000,0.040,2532,712,1904,0,0,0,0,0,0
$GC,10628,0.62,236.6,314.7,14.0,718,10633,0.12,2.10,0.00,0.000,6,0.171,0.036,2500,2092,1903,0,0,0,0,0,0
$GC,10953,0.65,261.6,277.7,10.9,748,10976,0.00,0.00,20.12,0.666,6,0.000,0.000,2500,2092,1802,0,0,0,0,0,0
$GC,11292,0.69,298.2,239.8,10.5,780,11330,0.00,2.33,28.30,0.624,4,0.000,0.045,2500,3535,1655,0,0,0,0,0,0
$GC,11379,0.71,312.0,230.4,11.3,787,11399,0.00,2.25,12.55,0.562,6,0.000,0.031,2508,2074,1597,0,0,0,0,0,0
$GC,11715,0.77,364.4,196.5,9.9,822,11761,0.12,2.17,39.45,0.589,4,0.095,0.039,2574,722,1384,0,0,0,0,0,0
$GC,11779,0.77,364.4,187.6,14.4,831,11787,0.00,2.15,0.00,0.000,6,0.000,0.036,2574,2066,1385,0,0,0,0,0,0
$GC,11916,0.77,364.4,167.5,14.3,856,11924,0.00,2.35,0.00,0.000,4,0.000,0.046,2573,3536,1385,0,0,0,0,0,0
$GC,12004,0.77,364.4,154.5,13.9,872,12013,0.10,2.22,0.00,0.000,6,0.154,0.029,2554,2113,1386,0,0,0,0,0,0
$GC,12141,0.81,390.4,139.7,10.8,897,12171,0.00,2.20,21.27,0.565,4,0.000,0.041,2562,722,1277,0,0,0,0,0,0
$GC,12226,0.82,404.8,130.4,11.3,911,12249,0.00,2.15,12.20,0.506,6,0.000,0.034,2562,2086,1219,0,0,0,0,0,0
$GC,12376,0.82,404.8,110.9,14.2,938,12384,0.00,2.30,0.00,0.000,4,0.000,0.044,2562,3533,1219,0,0,0,0,0,0
$GC,12480,0.82,404.8,96.5,12.5,957,12488,0.00,2.20,0.00,0.000,6,0.000,0.030,2572,2119,1219,0,0,0,0,0,0
$GC,12618,0.94,500.7,84.1,8.3,982,12699,0.00,2.28,70.03,0.503,4,0.000,0.040,2583,715,826,0,0,0,0,0,0
$GC,12719,1.10,631.5,76.4,7.0,996,12795,0.17,2.22,69.30,0.465,6,0.044,0.031,2675,2117,440,0,0,0,0,0,0
$GC,12922,1.10,631.5,45.3,13.3,1030,12931,0.00,2.22,1.25,0.081,4,0.000,0.041,2675,3535,443,0,0,0,0,0,0
$GC,12991,1.10,631.5,36.3,13.0,1042,13000,0.00,2.17,2.75,0.249,6,0.000,0.029,2684,2145,440,0,0,0,0,0,0
$GC,13129,1.10,631.5,19.0,12.9,1067,13138,0.00,2.22,0.45,0.095,4,0.000,0.037,2695,722,441,0,0,0,0,0,0
$GC,13198,1.13,652.3,11.2,11.0,1079,13207,0.08,2.17,0.50,0.080,6,0.109,0.031,2668,2119,444,0,0,0,0,0,0
$STATE,13297,end climb,SURFACE_DEPTH_REACHED
$STATE,13297,begin surface coast
$FINISH,0.0,1.008543
$STATE,13337,end surface coast,CONTROL_FINISHED_OK
$STATE,13337,begin surface
$SM_CCo,13413,0.00,0.000,0,0,443,595.10
$SM_GC,0.85,6.40,0.00,0.00,0.037,0.000,0.000,201,2623,443,-6.45,0.54,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1952.70,11956.07,020711,101004
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.66
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.0,17.687
$10V_AH,10.1,19.076
$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,16.525,129.475,638.250,0.000,0.000,28.902,42.436,159.536,0.000,0.000,15.923,2644.634,7318.896,627.306,2893.486,287.707,0.000,1851.841,0.000,1978.632,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,57.375,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,769.851,1141.182,1282.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322616
$DATA_FILE_SIZE,77215,1104
$CAP_FILE_SIZE,148237,0
$CFSIZE,260165632,240291840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,174007,1958.469,11950.231,28,1.8,29,-2.2