version: 66.09
glider: 181
mission: 6
dive: 130
start: 7 5 111 2 34 3
data:
$ID,181
$MISSION,6
$DIVE,130
$N_DIVES,135
$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,-40646.273
$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,44
$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
$GPS1,050711,022800,1952.016,11946.639,35,0.9,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.3
$GPS2,050711,023338,1952.150,11946.462,16,0.9,16,-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,168.4,99448,-16.3,-11.786
$D_GRID,3574
$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,-70.97,0.000,2,0.000,0.000,194,2639,2415,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.0,-3.2,10,137,7.82,2.20,-27.98,0.000,4,0.237,0.038,2104,1177,3764,0,0,0,0,0,0
$GC,181,-0.60,-219.0,34.6,-35.2,24,189,0.00,2.20,0.00,0.000,6,0.000,0.044,2094,2556,3767,0,0,0,0,0,0
$GC,315,-0.60,-219.0,87.2,-44.7,49,323,0.00,1.92,0.00,0.000,4,0.000,0.044,2084,3790,3765,0,0,0,0,0,0
$GC,403,-0.60,-219.0,132.3,-48.3,65,411,0.00,1.80,0.00,0.000,6,0.000,0.025,2084,2584,3765,0,0,0,0,0,0
$GC,537,-0.60,-219.0,180.5,-28.6,90,545,0.00,1.88,0.00,0.000,4,0.000,0.040,2076,3790,3767,0,0,0,0,0,0
$GC,554,-0.60,-219.0,186.3,-30.7,92,562,0.08,1.73,0.00,0.000,6,0.171,0.025,2101,2631,3768,0,0,0,0,0,0
$GC,692,-0.60,-219.0,222.8,-27.0,109,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2628,3768,0,0,0,0,0,0
$GC,1011,-0.60,-219.0,299.3,-24.0,139,1015,0.00,1.75,0.00,0.000,4,0.000,0.043,2093,3789,3769,0,0,0,0,0,0
$GC,1046,-0.60,-219.0,307.9,-22.9,142,1050,0.00,1.58,0.00,0.000,6,0.000,0.025,2093,2729,3769,0,0,0,0,0,0
$GC,1377,-0.60,-219.0,383.1,-22.2,173,1381,0.00,2.22,0.00,0.000,4,0.000,0.028,2093,1196,3768,0,0,0,0,0,0
$GC,1500,-0.60,-219.0,402.0,-12.6,183,1507,0.00,2.30,0.00,0.000,6,0.000,0.037,2083,2703,3768,0,0,0,0,0,0
$GC,1825,-0.60,-219.0,467.3,-20.5,214,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2704,3765,0,0,0,0,0,0
$GC,2152,-0.60,-219.0,528.2,-17.7,238,2156,0.00,2.22,0.00,0.000,4,0.000,0.029,2083,1200,3761,0,0,0,0,0,0
$GC,2241,-0.60,-219.0,543.0,-14.3,242,2246,0.12,2.33,0.00,0.000,6,0.157,0.041,2106,2710,3761,0,0,0,0,0,0
$GC,2563,-0.60,-219.0,597.2,-17.2,258,2567,0.00,2.25,0.00,0.000,4,0.000,0.031,2107,1200,3757,0,0,0,0,0,0
$GC,2625,-0.60,-219.0,606.9,-13.5,261,2630,0.00,2.30,0.00,0.000,6,0.000,0.040,2098,2698,3756,0,0,0,0,0,0
$GC,2953,-0.60,-219.0,661.4,-16.8,277,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2698,3753,0,0,0,0,0,0
$GC,3262,-0.60,-219.0,710.3,-15.7,292,3266,0.00,1.65,0.00,0.000,4,0.000,0.050,2090,3785,3750,0,0,0,0,0,0
$GC,3301,-0.60,-219.0,716.9,-15.8,293,3308,0.00,1.62,0.00,0.000,6,0.000,0.028,2090,2704,3748,0,0,0,0,0,0
$GC,3617,-0.60,-219.0,773.4,-19.1,309,3621,0.00,2.22,0.00,0.000,4,0.000,0.033,2090,1199,3744,0,0,0,0,0,0
$GC,3655,-0.60,-219.0,780.9,-18.3,310,3662,0.00,2.33,0.00,0.000,6,0.000,0.043,2082,2699,3744,0,0,0,0,0,0
$GC,3971,-0.60,-219.0,840.3,-18.9,326,3975,0.00,1.65,0.00,0.000,4,0.000,0.050,2074,3784,3741,0,0,0,0,0,0
$GC,4005,-0.60,-219.0,846.7,-18.7,327,4010,0.12,1.62,0.00,0.000,6,0.163,0.030,2107,2705,3741,0,0,0,0,0,0
$GC,4327,-0.60,-219.0,891.4,-13.4,343,4331,0.00,2.22,0.00,0.000,4,0.000,0.035,2107,1209,3737,0,0,0,0,0,0
$GC,4463,-0.60,-219.0,906.3,-9.8,349,4467,0.00,2.28,0.00,0.000,6,0.000,0.041,2099,2682,3736,0,0,0,0,0,0
$GC,4784,-0.60,-219.0,945.1,-12.7,365,4788,0.00,1.73,0.00,0.000,4,0.000,0.052,2091,3775,3733,0,0,0,0,0,0
$GC,4840,-0.60,-219.0,952.1,-11.8,367,4843,0.00,1.65,0.00,0.000,6,0.000,0.030,2090,2690,3733,0,0,0,0,0,0
$STATE,5160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5160,begin apogee
$GC,5166,-0.16,0.0,991.5,13.0,383,5340,0.45,0.00,167.82,1.095,4,0.137,0.000,2237,2122,2868,0,0,0,0,0,0
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5343,0.60,219.0,999.8,0.0,391,5528,0.75,2.38,176.12,1.063,4,0.076,0.044,2493,3547,1978,0,0,0,0,0,0
$GC,5642,0.60,219.0,970.4,14.8,405,5646,0.00,2.20,0.00,0.000,6,0.000,0.030,2504,2144,1977,0,0,0,0,0,0
$GC,5969,0.60,219.0,923.7,14.0,421,5973,0.00,2.20,0.00,0.000,4,0.000,0.041,2503,3548,1973,0,0,0,0,0,0
$GC,6099,0.60,219.0,903.2,16.3,427,6103,0.00,2.22,0.00,0.000,6,0.000,0.031,2514,2092,1973,0,0,0,0,0,0
$GC,6426,0.60,219.0,853.5,15.3,443,6430,0.00,2.08,0.00,0.000,4,0.000,0.040,2524,720,1971,0,0,0,0,0,0
$GC,6629,0.60,219.0,821.7,15.5,452,6633,0.00,2.08,0.00,0.000,6,0.000,0.034,2524,2080,1970,0,0,0,0,0,0
$GC,6956,0.60,219.0,765.5,17.3,468,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2081,1969,0,0,0,0,0,0
$GC,7265,0.60,219.0,712.3,17.2,483,7269,0.00,2.22,0.00,0.000,4,0.000,0.044,2525,3536,1968,0,0,0,0,0,0
$GC,7292,0.60,219.0,707.2,17.7,484,7297,0.15,2.22,0.00,0.000,6,0.187,0.030,2497,2063,1968,0,0,0,0,0,0
$GC,7608,0.60,219.0,662.0,13.4,499,7611,0.00,2.03,0.00,0.000,4,0.000,0.040,2506,713,1967,0,0,0,0,0,0
$GC,7634,0.60,219.0,658.3,13.0,500,7638,0.00,2.10,0.00,0.000,6,0.000,0.034,2506,2070,1966,0,0,0,0,0,0
$GC,7962,0.60,219.0,613.8,13.7,516,7966,0.00,2.28,0.00,0.000,4,0.000,0.046,2506,3536,1967,0,0,0,0,0,0
$GC,8034,0.60,219.0,602.4,15.4,519,8038,0.00,2.20,0.00,0.000,6,0.000,0.029,2515,2069,1967,0,0,0,0,0,0
$GC,8363,0.60,219.0,553.1,15.4,535,8366,0.00,2.03,0.00,0.000,4,0.000,0.040,2526,716,1966,0,0,0,0,0,0
$GC,8499,0.60,219.0,531.9,15.8,541,8504,0.12,2.05,0.00,0.000,6,0.171,0.034,2495,2073,1967,0,0,0,0,0,0
$GC,8820,0.60,219.0,485.8,14.1,561,8824,0.00,2.25,0.00,0.000,4,0.000,0.044,2494,3542,1966,0,0,0,0,0,0
$GC,8874,0.60,219.0,476.7,16.1,565,8882,0.00,2.20,0.00,0.000,6,0.000,0.029,2504,2076,1966,0,0,0,0,0,0
$GC,9200,0.60,219.0,430.9,13.6,596,9204,0.00,2.03,0.00,0.000,4,0.000,0.040,2513,721,1968,0,0,0,0,0,0
$GC,9302,0.60,219.0,418.2,12.2,605,9306,0.00,2.00,0.00,0.000,6,0.000,0.034,2514,2054,1965,0,0,0,0,0,0
$GC,9633,0.60,219.0,378.3,11.8,636,9636,0.00,2.03,0.00,0.000,4,0.000,0.038,2523,713,1966,0,0,0,0,0,0
$GC,9690,0.60,219.0,371.6,11.8,641,9693,0.00,1.98,0.00,0.000,6,0.000,0.034,2522,2028,1966,0,0,0,0,0,0
$GC,10021,0.60,219.0,329.8,13.1,672,10025,0.00,2.33,0.00,0.000,4,0.000,0.045,2523,3543,1964,0,0,0,0,0,0
$GC,10106,0.60,219.0,317.7,14.3,679,10110,0.15,2.28,0.00,0.000,6,0.181,0.029,2495,2021,1963,0,0,0,0,0,0
$GC,10434,0.68,286.9,285.0,9.3,709,10492,0.00,0.00,49.90,0.656,6,0.000,0.000,2494,2021,1699,0,0,0,0,0,0
$GC,10812,0.74,339.7,247.8,9.9,745,10860,0.15,2.42,40.72,0.617,4,0.081,0.041,2558,3539,1480,0,0,0,0,0,0
$GC,10901,0.74,339.7,235.2,15.9,752,10909,0.00,2.35,0.00,0.000,6,0.000,0.028,2568,2042,1484,0,0,0,0,0,0
$GC,11225,0.74,339.7,180.7,15.4,793,11233,0.00,2.03,0.00,0.000,4,0.000,0.037,2578,725,1484,0,0,0,0,0,0
$GC,11354,0.74,339.7,163.8,12.4,817,11362,0.10,2.05,0.00,0.000,6,0.127,0.032,2546,2044,1486,0,0,0,0,0,0
$GC,11491,0.93,491.8,153.3,6.3,842,11611,0.17,2.40,109.82,0.541,4,0.080,0.041,2623,3535,863,0,0,0,0,0,0
$GC,11742,0.93,491.8,116.1,16.3,883,11751,0.10,2.25,0.00,0.000,6,0.129,0.028,2599,2100,862,0,0,0,0,0,0
$GC,11879,0.93,491.8,98.2,11.8,908,11887,0.00,2.15,0.00,0.000,4,0.000,0.037,2609,715,862,0,0,0,0,0,0
$GC,11932,1.00,544.4,92.7,9.9,917,11977,0.00,2.12,39.08,0.514,6,0.000,0.031,2609,2083,647,0,0,0,0,0,0
$GC,12105,1.13,655.1,77.6,7.8,947,12151,0.17,2.38,38.17,0.488,4,0.067,0.042,2691,3538,437,0,0,0,0,0,0
$GC,12197,1.13,655.1,64.5,16.6,961,12206,0.10,2.25,0.00,0.000,6,0.136,0.027,2670,2101,436,0,0,0,0,0,0
$GC,12333,1.13,655.1,45.9,12.5,986,12342,0.00,2.15,0.00,0.000,4,0.000,0.037,2679,713,440,0,0,0,0,0,0
$GC,12361,1.13,655.1,42.1,12.8,990,12370,0.00,2.17,1.17,0.076,6,0.000,0.030,2681,2109,441,0,0,0,0,0,0
$GC,12499,1.18,696.6,26.3,10.3,1015,12508,0.00,2.20,2.35,0.187,4,0.000,0.037,2679,3542,439,0,0,0,0,0,0
$GC,12563,1.20,713.3,19.3,11.2,1026,12572,0.00,2.20,0.25,0.087,6,0.000,0.027,2688,2110,440,0,0,0,0,0,0
$GC,12700,1.22,725.6,4.5,11.3,1051,12709,0.00,2.12,0.82,0.083,4,0.000,0.033,2698,723,441,0,0,0,0,0,0
$STATE,12715,end climb,SURFACE_DEPTH_REACHED
$STATE,12715,begin surface coast
$FINISH,0.1,1.008395
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12742,begin surface
$SM_CCo,12822,0.00,0.000,0,0,441,595.34
$SM_GC,0.89,6.50,0.00,0.00,0.039,0.000,0.000,207,2610,441,-6.47,0.28,595.34,0,0,0,0,0,0
$IRIDIUM_FIX,1943.54,11946.68,040711,222216
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.03
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.1,20.323
$10V_AH,10.1,21.093
$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,17.075,131.950,626.250,0.000,0.000,28.075,17.571,155.804,0.000,0.000,18.890,2521.983,6931.035,635.863,2781.998,281.598,0.000,1820.186,0.000,1914.321,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,52.020,1094.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,733.726,1100.123,1239.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322560
$DATA_FILE_SIZE,73699,1058
$CAP_FILE_SIZE,140974,0
$CFSIZE,260165632,238993408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,060907,1952.030,11945.532,42,0.9,43,-2.2