version: 66.09
glider: 181
mission: 6
dive: 116
start: 7 2 111 21 33 8
data:
$ID,181
$MISSION,6
$DIVE,116
$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,-40598.02
$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,48
$R_STBD_OVSHOOT,71
$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
$GPS1,020711,212637,1957.077,11950.543,28,1.2,29,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-70.9
$GPS2,020711,213243,1957.126,11950.572,9,1.2,15,-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,173.3,107077,-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,-70.97,0.000,2,0.000,0.000,200,2653,2422,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-4.0,10,137,7.78,2.22,-26.27,0.000,4,0.237,0.041,2102,1183,3763,0,0,0,0,0,0
$GC,176,-0.60,-219.0,37.1,-39.0,23,184,0.00,2.20,0.00,0.000,6,0.000,0.043,2093,2558,3766,0,0,0,0,0,0
$GC,311,-0.60,-219.0,88.8,-40.4,48,319,0.00,1.95,0.00,0.000,4,0.000,0.049,2084,3786,3766,0,0,0,0,0,0
$GC,424,-0.60,-219.0,132.3,-28.1,69,432,0.00,1.75,0.00,0.000,6,0.000,0.026,2084,2616,3766,0,0,0,0,0,0
$GC,560,-0.60,-219.0,172.0,-32.7,94,568,0.00,1.85,0.00,0.000,4,0.000,0.045,2075,3783,3768,0,0,0,0,0,0
$GC,607,-0.60,-219.0,186.6,-29.9,102,616,0.10,1.62,0.00,0.000,6,0.171,0.025,2106,2698,3769,0,0,0,0,0,0
$GC,745,-0.60,-219.0,220.9,-23.2,119,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2697,3770,0,0,0,0,0,0
$GC,1064,-0.60,-219.0,286.9,-18.8,149,1068,0.00,2.20,0.00,0.000,4,0.000,0.029,2106,1196,3770,0,0,0,0,0,0
$GC,1118,-0.60,-219.0,297.3,-16.0,153,1125,0.00,2.33,0.00,0.000,6,0.000,0.037,2098,2716,3770,0,0,0,0,0,0
$GC,1443,-0.60,-219.0,356.9,-19.6,184,1447,0.00,2.25,0.00,0.000,4,0.000,0.029,2097,1202,3770,0,0,0,0,0,0
$GC,1510,-0.60,-219.0,369.1,-16.8,189,1516,0.00,2.33,0.00,0.000,6,0.000,0.038,2088,2722,3769,0,0,0,0,0,0
$GC,1835,-0.60,-219.0,432.8,-17.9,220,1839,0.00,2.25,0.00,0.000,4,0.000,0.030,2087,1203,3765,0,0,0,0,0,0
$GC,1886,-0.60,-219.0,441.4,-15.2,224,1890,0.00,2.33,0.00,0.000,6,0.000,0.040,2081,2704,3765,0,0,0,0,0,0
$GC,2216,-0.60,-219.0,500.3,-19.4,255,2220,0.00,1.65,0.00,0.000,4,0.000,0.047,2074,3796,3762,0,0,0,0,0,0
$GC,2288,-0.60,-219.0,513.4,-15.7,258,2293,0.10,1.62,0.00,0.000,6,0.142,0.027,2107,2715,3761,0,0,0,0,0,0
$GC,2615,-0.60,-219.0,562.7,-15.6,274,2619,0.00,2.22,0.00,0.000,4,0.000,0.033,2107,1208,3757,0,0,0,0,0,0
$GC,2733,-0.60,-219.0,578.4,-11.9,279,2737,0.00,2.28,0.00,0.000,6,0.000,0.039,2098,2691,3756,0,0,0,0,0,0
$GC,3049,-0.60,-219.0,629.1,-16.2,294,3053,0.00,2.22,0.00,0.000,4,0.000,0.032,2099,1202,3753,0,0,0,0,0,0
$GC,3089,-0.60,-219.0,635.3,-15.1,296,3093,0.00,2.28,0.00,0.000,6,0.000,0.041,2096,2679,3752,0,0,0,0,0,0
$GC,3416,-0.60,-219.0,687.1,-16.3,312,3420,0.00,2.20,0.00,0.000,4,0.000,0.033,2096,1207,3748,0,0,0,0,0,0
$GC,3483,-0.60,-219.0,697.5,-13.9,315,3487,0.00,2.25,0.00,0.000,6,0.000,0.041,2088,2673,3748,0,0,0,0,0,0
$GC,3810,-0.60,-219.0,754.7,-17.9,331,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2670,3744,0,0,0,0,0,0
$GC,4120,-0.60,-219.0,808.2,-17.1,346,4124,0.00,2.20,0.00,0.000,4,0.000,0.035,2088,1208,3742,0,0,0,0,0,0
$GC,4186,-0.60,-219.0,818.2,-13.7,349,4190,0.00,2.25,0.00,0.000,6,0.000,0.042,2084,2662,3741,0,0,0,0,0,0
$GC,4514,-0.60,-219.0,866.3,-14.5,365,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2663,3737,0,0,0,0,0,0
$GC,4822,-0.60,-219.0,911.4,-14.9,380,4826,0.00,1.73,0.00,0.000,4,0.000,0.051,2075,3789,3736,0,0,0,0,0,0
$GC,4857,-0.60,-219.0,916.5,-15.0,381,4861,0.12,1.67,0.00,0.000,6,0.158,0.030,2109,2649,3735,0,0,0,0,0,0
$GC,5178,-0.60,-219.0,954.8,-12.1,397,5182,0.00,2.15,0.00,0.000,4,0.000,0.036,2109,1202,3733,0,0,0,0,0,0
$GC,5267,-0.60,-219.0,965.3,-11.1,401,5271,0.00,2.22,0.00,0.000,6,0.000,0.041,2102,2652,3735,0,0,0,0,0,0
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5463,begin apogee
$GC,5469,-0.16,0.0,991.4,13.7,411,5642,0.43,0.00,168.12,1.097,4,0.130,0.000,2242,2113,2869,0,0,0,0,0,0
$STATE,5643,end apogee,CONTROL_FINISHED_OK
$STATE,5643,begin climb
$GC,5645,0.60,219.0,1002.4,0.0,419,5831,0.73,2.25,177.73,1.069,4,0.066,0.040,2496,729,1973,0,0,0,0,0,0
$GC,5988,0.60,219.0,971.5,13.3,435,5993,0.00,2.22,0.00,0.000,6,0.000,0.035,2496,2132,1973,0,0,0,0,0,0
$GC,6305,0.60,219.0,923.3,15.9,450,6309,0.00,2.17,0.00,0.000,4,0.000,0.037,2506,728,1970,0,0,0,0,0,0
$GC,6517,0.60,219.0,888.5,16.5,459,6524,0.00,2.22,0.00,0.000,6,0.000,0.035,2506,2168,1969,0,0,0,0,0,0
$GC,6834,0.60,219.0,834.1,16.7,475,6838,0.00,2.15,0.00,0.000,4,0.000,0.047,2511,3542,1967,0,0,0,0,0,0
$GC,6912,0.60,219.0,820.6,17.0,478,6919,0.00,2.12,0.00,0.000,6,0.000,0.031,2515,2151,1965,0,0,0,0,0,0
$GC,7228,0.60,219.0,774.3,14.0,494,7232,0.00,2.15,0.00,0.000,4,0.000,0.038,2526,721,1965,0,0,0,0,0,0
$GC,7335,0.60,219.0,760.1,13.5,499,7340,0.12,2.17,0.00,0.000,6,0.179,0.037,2495,2128,1964,0,0,0,0,0,0
$GC,7669,0.63,248.9,722.8,10.7,515,7698,0.00,2.30,22.65,0.922,4,0.000,0.046,2495,3544,1856,0,0,0,0,0,0
$GC,7720,0.63,248.9,716.4,12.0,517,7725,0.00,2.17,0.00,0.000,6,0.000,0.030,2503,2127,1856,0,0,0,0,0,0
$GC,8043,0.63,248.9,676.9,12.6,533,8047,0.00,2.15,0.00,0.000,4,0.000,0.039,2515,718,1854,0,0,0,0,0,0
$GC,8081,0.65,260.5,672.3,11.4,534,8097,0.00,2.22,10.45,0.835,6,0.000,0.037,2515,2129,1808,0,0,0,0,0,0
$GC,8421,0.65,260.5,630.5,12.3,551,8425,0.00,2.20,0.00,0.000,4,0.000,0.047,2514,3542,1807,0,0,0,0,0,0
$GC,8454,0.65,260.5,625.4,14.0,552,8462,0.00,2.17,0.00,0.000,6,0.000,0.029,2524,2121,1806,0,0,0,0,0,0
$GC,8770,0.65,260.5,579.8,15.1,568,8774,0.00,2.12,0.00,0.000,4,0.000,0.038,2535,714,1805,0,0,0,0,0,0
$GC,8826,0.65,260.5,571.8,13.8,570,8833,0.00,2.20,0.00,0.000,6,0.000,0.036,2534,2137,1805,0,0,0,0,0,0
$GC,9142,0.65,260.5,526.3,14.1,586,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2140,1805,0,0,0,0,0,0
$GC,9456,0.65,260.5,481.7,15.9,606,9460,0.00,2.15,0.00,0.000,4,0.000,0.047,2534,3536,1804,0,0,0,0,0,0
$GC,9507,0.65,260.5,472.6,17.0,610,9512,0.12,2.10,0.00,0.000,6,0.184,0.029,2513,2138,1804,0,0,0,0,0,0
$GC,9832,0.65,260.5,424.6,14.8,640,9836,0.00,2.12,0.00,0.000,4,0.000,0.039,2523,723,1803,0,0,0,0,0,0
$GC,9962,0.65,260.5,406.9,13.3,651,9968,0.00,2.15,0.00,0.000,6,0.000,0.036,2523,2130,1803,0,0,0,0,0,0
$GC,10287,0.65,260.5,360.6,14.5,682,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2131,1803,0,0,0,0,0,0
$GC,10607,0.65,260.5,315.5,12.6,712,10611,0.00,2.15,0.00,0.000,4,0.000,0.038,2532,722,1803,0,0,0,0,0,0
$GC,10675,0.65,263.7,307.5,11.7,718,10687,0.00,2.12,3.67,0.475,6,0.000,0.037,2532,2117,1794,0,0,0,0,0,0
$GC,11006,0.67,282.3,270.2,11.1,749,11031,0.00,2.20,15.57,0.664,4,0.000,0.039,2542,717,1718,0,0,0,0,0,0
$GC,11112,0.71,314.0,258.9,10.6,758,11148,0.00,2.10,25.35,0.611,6,0.000,0.035,2542,2092,1588,0,0,0,0,0,0
$GC,11466,0.74,335.8,213.7,11.0,791,11491,0.00,2.28,17.50,0.604,4,0.000,0.044,2542,3537,1500,0,0,0,0,0,0
$GC,11594,0.76,351.2,199.5,11.2,802,11617,0.00,2.22,13.30,0.562,6,0.000,0.030,2552,2108,1437,0,0,0,0,0,0
$GC,11744,0.76,351.2,179.7,13.2,829,11752,0.00,2.17,0.00,0.000,4,0.000,0.038,2562,711,1437,0,0,0,0,0,0
$GC,11791,0.76,351.2,173.6,12.7,837,11799,0.00,2.17,0.00,0.000,6,0.000,0.034,2561,2094,1435,0,0,0,0,0,0
$GC,11928,0.76,351.2,155.4,13.7,862,11936,0.00,2.28,0.00,0.000,4,0.000,0.044,2562,3536,1437,0,0,0,0,0,0
$GC,12000,0.76,351.2,144.3,14.7,875,12008,0.00,2.20,0.00,0.000,6,0.000,0.028,2572,2109,1437,0,0,0,0,0,0
$GC,12136,0.76,351.2,125.9,12.1,900,12144,0.00,2.15,0.00,0.000,4,0.000,0.037,2583,713,1435,0,0,0,0,0,0
$GC,12251,0.82,403.3,113.6,9.9,921,12295,0.00,2.10,39.12,0.538,6,0.000,0.034,2582,2063,1223,0,0,0,0,0,0
$GC,12425,0.83,412.1,96.2,11.5,951,12441,0.00,2.35,8.38,0.506,4,0.000,0.042,2583,3549,1189,0,0,0,0,0,0
$GC,12584,0.85,426.2,76.4,11.3,980,12606,0.00,2.25,12.35,0.524,6,0.000,0.028,2593,2096,1131,0,0,0,0,0,0
$GC,12735,0.93,489.3,62.0,9.5,1007,12787,0.00,2.38,46.55,0.489,4,0.000,0.038,2592,3551,873,0,0,0,0,0,0
$GC,12831,0.99,543.6,52.1,9.8,1022,12876,0.00,2.25,39.95,0.459,6,0.000,0.029,2602,2118,653,0,0,0,0,0,0
$GC,13007,1.26,756.6,44.0,4.1,1052,13052,0.28,2.25,38.90,0.466,4,0.107,0.037,2699,714,437,0,0,0,0,0,0
$GC,13103,1.31,800.2,35.2,10.2,1067,13112,0.00,2.17,0.00,0.000,6,0.000,0.029,2700,2104,439,0,0,0,0,0,0
$GC,13241,1.39,867.7,20.6,9.3,1092,13251,0.15,2.25,0.15,0.137,4,0.076,0.040,2768,3527,442,0,0,0,0,0,0
$GC,13270,1.39,867.7,16.0,13.6,1096,13279,0.08,2.22,0.55,0.078,6,0.152,0.028,2755,2090,442,0,0,0,0,0,0
$STATE,13341,end climb,SURFACE_DEPTH_REACHED
$STATE,13342,begin surface coast
$FINISH,0.1,1.020470
$STATE,13360,end surface coast,CONTROL_FINISHED_OK
$STATE,13360,begin surface
$SM_CCo,13437,0.00,0.000,0,0,443,594.61
$SM_GC,0.75,6.68,0.00,0.00,0.038,0.000,0.000,208,2636,443,-6.46,1.02,594.61,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11946.68,020711,171701
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.58
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.0,18.013
$10V_AH,10.2,19.332
$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,16.675,143.650,640.300,0.000,0.000,28.735,41.447,158.994,0.250,0.000,18.033,2661.589,7205.184,665.141,2965.190,298.370,0.000,1914.151,0.000,2021.566,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,51.255,1097.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,772.686,1166.526,1343.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322672
$DATA_FILE_SIZE,77156,1112
$CAP_FILE_SIZE,151435,0
$CFSIZE,260165632,240128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,011824,1956.234,11949.752,24,1.0,42,-2.2