version: 66.09
glider: 181
mission: 6
dive: 131
start: 7 5 111 6 15 39
data:
$ID,181
$MISSION,6
$DIVE,131
$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,-40647.531
$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,49
$R_STBD_OVSHOOT,45
$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
$GPS1,050711,060907,1952.030,11945.532,42,0.9,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.0
$GPS2,050711,061514,1952.239,11945.386,14,1.1,14,-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,167.4,100074,-16.3,-11.786
$D_GRID,3530
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-219.0,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,2,0.000,0.000,202,2620,2425,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.5,-4.0,10,137,7.80,2.17,-26.55,0.000,4,0.238,0.040,2103,1164,3765,0,0,0,0,0,0
$GC,171,-0.60,-219.0,31.6,-32.5,22,179,0.00,2.25,0.00,0.000,6,0.000,0.042,2094,2581,3765,0,0,0,0,0,0
$GC,305,-0.60,-219.0,84.1,-39.7,47,313,0.00,1.90,0.00,0.000,4,0.000,0.048,2085,3783,3765,0,0,0,0,0,0
$GC,377,-0.60,-219.0,114.8,-38.5,60,385,0.00,1.67,0.00,0.000,6,0.000,0.024,2085,2663,3764,0,0,0,0,0,0
$GC,511,-0.60,-219.0,159.7,-24.0,85,519,0.00,1.75,0.00,0.000,4,0.000,0.042,2077,3782,3767,0,0,0,0,0,0
$GC,532,-0.60,-219.0,165.8,-27.3,88,540,0.00,1.50,0.00,0.000,6,0.000,0.024,2077,2771,3768,0,0,0,0,0,0
$GC,666,-0.60,-219.0,203.8,-33.8,112,671,0.12,2.33,0.00,0.000,4,0.195,0.028,2107,1190,3768,0,0,0,0,0,0
$GC,754,-0.60,-219.0,219.2,-11.2,119,761,0.00,2.38,0.00,0.000,6,0.000,0.036,2097,2749,3770,0,0,0,0,0,0
$GC,1080,-0.60,-219.0,292.9,-22.2,150,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2749,3770,0,0,0,0,0,0
$GC,1399,-0.60,-219.0,360.9,-19.0,180,1404,0.00,2.30,0.00,0.000,4,0.000,0.029,2097,1194,3769,0,0,0,0,0,0
$GC,1429,-0.60,-219.0,366.9,-19.7,182,1433,0.00,2.38,0.00,0.000,6,0.000,0.041,2087,2738,3769,0,0,0,0,0,0
$GC,1754,-0.60,-219.0,434.8,-19.6,212,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2738,3766,0,0,0,0,0,0
$GC,2074,-0.60,-219.0,500.1,-21.6,242,2078,0.00,1.62,0.00,0.000,4,0.000,0.047,2079,3780,3760,0,0,0,0,0,0
$GC,2097,-0.60,-219.0,505.5,-21.6,243,2101,0.00,1.60,0.00,0.000,6,0.000,0.027,2079,2700,3761,0,0,0,0,0,0
$GC,2430,-0.60,-219.0,574.2,-20.2,259,2435,0.12,2.22,0.00,0.000,4,0.178,0.031,2108,1196,3760,0,0,0,0,0,0
$GC,2497,-0.60,-219.0,583.6,-10.7,262,2501,0.00,2.35,0.00,0.000,6,0.000,0.038,2111,2723,3757,0,0,0,0,0,0
$GC,2818,-0.60,-219.0,625.2,-13.4,278,2822,0.00,2.28,0.00,0.000,4,0.000,0.032,2111,1196,3753,0,0,0,0,0,0
$GC,2844,-0.60,-219.0,628.7,-13.2,279,2849,0.00,2.38,0.00,0.000,6,0.000,0.041,2111,2725,3753,0,0,0,0,0,0
$GC,3166,-0.60,-219.0,669.0,-13.4,295,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2725,3748,0,0,0,0,0,0
$GC,3475,-0.60,-219.0,710.1,-12.8,310,3480,0.00,2.30,0.00,0.000,4,0.000,0.034,2111,1191,3746,0,0,0,0,0,0
$GC,3497,-0.60,-219.0,713.2,-12.9,311,3502,0.00,2.38,0.00,0.000,6,0.000,0.043,2111,2718,3745,0,0,0,0,0,0
$GC,3819,-0.60,-219.0,754.4,-13.3,327,3823,0.00,2.30,0.00,0.000,4,0.000,0.034,2111,1189,3742,0,0,0,0,0,0
$GC,3840,-0.60,-219.0,757.4,-12.8,328,3844,0.00,2.38,0.00,0.000,6,0.000,0.043,2114,2718,3742,0,0,0,0,0,0
$GC,4168,-0.60,-219.0,796.7,-12.1,344,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2719,3739,0,0,0,0,0,0
$GC,4477,-0.60,-219.0,833.0,-12.1,359,4481,0.00,2.30,0.00,0.000,4,0.000,0.035,2112,1193,3735,0,0,0,0,0,0
$GC,4562,-0.60,-219.0,842.4,-10.5,363,4566,0.00,2.35,0.00,0.000,6,0.000,0.041,2111,2715,3734,0,0,0,0,0,0
$GC,4889,-0.60,-219.0,882.9,-12.6,379,4892,0.00,1.62,0.00,0.000,4,0.000,0.053,2111,3777,3732,0,0,0,0,0,0
$GC,4912,-0.60,-219.0,885.7,-12.5,380,4915,0.00,1.62,0.00,0.000,6,0.000,0.030,2111,2711,3732,0,0,0,0,0,0
$GC,5245,-0.60,-219.0,921.2,-9.8,396,5249,0.00,2.25,0.00,0.000,4,0.000,0.035,2111,1199,3729,0,0,0,0,0,0
$GC,5346,-0.60,-219.0,929.7,-7.6,400,5353,0.00,2.33,0.00,0.000,6,0.000,0.041,2111,2693,3728,0,0,0,0,0,0
$GC,5662,-0.60,-219.0,956.6,-8.8,416,5666,0.00,2.28,0.00,0.000,4,0.000,0.035,2111,1196,3726,0,0,0,0,0,0
$GC,5717,-0.60,-219.0,961.8,-9.0,418,5721,0.00,2.30,0.00,0.000,6,0.000,0.041,2111,2681,3726,0,0,0,0,0,0
$STATE,6010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6010,begin apogee
$GC,6017,-0.16,0.0,992.3,11.4,432,6189,0.40,0.00,167.32,1.100,4,0.126,0.000,2243,2110,2869,0,0,0,0,0,0
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6192,0.60,219.0,1003.9,0.0,440,6378,0.73,2.25,177.57,1.073,4,0.062,0.041,2500,733,1976,0,0,0,0,0,0
$GC,6507,0.63,244.2,982.5,10.9,454,6536,0.00,2.25,21.62,1.012,6,0.000,0.036,2500,2135,1873,0,0,0,0,0,0
$GC,6848,0.63,244.2,940.7,13.1,471,6852,0.00,2.20,0.00,0.000,4,0.000,0.040,2510,723,1871,0,0,0,0,0,0
$GC,7026,0.63,244.2,916.3,13.4,479,7030,0.00,2.25,0.00,0.000,6,0.000,0.037,2511,2162,1871,0,0,0,0,0,0
$GC,7353,0.63,244.2,862.1,17.5,495,7357,0.00,2.15,0.00,0.000,4,0.000,0.047,2510,3545,1870,0,0,0,0,0,0
$GC,7385,0.63,244.2,855.4,19.6,496,7392,0.00,2.15,0.00,0.000,6,0.000,0.031,2519,2155,1869,0,0,0,0,0,0
$GC,7702,0.63,244.2,792.0,20.7,512,7706,0.00,2.17,0.00,0.000,4,0.000,0.040,2530,720,1867,0,0,0,0,0,0
$GC,7835,0.63,244.2,764.6,20.2,518,7840,0.00,2.17,0.00,0.000,6,0.000,0.037,2530,2133,1869,0,0,0,0,0,0
$GC,8163,0.63,244.2,696.3,20.0,534,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2134,1868,0,0,0,0,0,0
$GC,8472,0.63,244.2,639.0,17.6,549,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2134,1871,0,0,0,0,0,0
$GC,8782,0.63,244.2,585.7,17.5,564,8786,0.00,2.17,0.00,0.000,4,0.000,0.040,2540,710,1867,0,0,0,0,0,0
$GC,8815,0.63,244.2,580.0,16.8,565,8819,0.12,2.15,0.00,0.000,6,0.175,0.037,2508,2117,1867,0,0,0,0,0,0
$GC,9131,0.63,244.2,529.9,15.8,580,9135,0.00,2.20,0.00,0.000,4,0.000,0.047,2508,3543,1867,0,0,0,0,0,0
$GC,9186,0.63,244.2,520.5,16.5,582,9190,0.00,2.20,0.00,0.000,6,0.000,0.030,2517,2083,1866,0,0,0,0,0,0
$GC,9515,0.63,244.2,471.8,14.1,607,9519,0.00,2.05,0.00,0.000,4,0.000,0.041,2527,721,1865,0,0,0,0,0,0
$GC,9655,0.63,244.2,452.9,13.0,619,9662,0.00,2.17,0.00,0.000,6,0.000,0.036,2527,2147,1865,0,0,0,0,0,0
$GC,9980,0.63,244.2,403.4,16.9,650,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2147,1865,0,0,0,0,0,0
$GC,10302,0.63,244.2,348.2,17.5,680,10307,0.00,2.17,0.00,0.000,4,0.000,0.039,2537,721,1865,0,0,0,0,0,0
$GC,10346,0.63,244.2,340.4,16.0,683,10354,0.12,2.15,0.00,0.000,6,0.173,0.036,2505,2100,1865,0,0,0,0,0,0
$GC,10672,0.63,244.2,297.0,12.9,714,10676,0.00,2.10,0.00,0.000,4,0.000,0.039,2513,717,1865,0,0,0,0,0,0
$GC,10701,0.63,244.2,293.2,12.9,716,10705,0.00,2.12,0.00,0.000,6,0.000,0.036,2513,2114,1865,0,0,0,0,0,0
$GC,11026,0.63,244.2,251.4,12.5,746,11030,0.00,2.20,0.00,0.000,4,0.000,0.045,2513,3541,1865,0,0,0,0,0,0
$GC,11116,0.63,247.4,240.6,11.7,754,11120,0.00,2.15,0.00,0.000,6,0.000,0.029,2522,2106,1865,0,0,0,0,0,0
$GC,11442,0.67,277.6,205.8,10.7,784,11477,0.00,2.20,24.30,0.616,4,0.000,0.040,2533,710,1737,0,0,0,0,0,0
$GC,11540,0.67,283.5,194.6,11.6,796,11556,0.00,2.15,6.75,0.499,6,0.000,0.034,2532,2085,1711,0,0,0,0,0,0
$GC,11683,0.67,283.5,176.0,12.2,822,11691,0.00,2.12,0.00,0.000,4,0.000,0.039,2542,723,1711,0,0,0,0,0,0
$GC,11844,0.67,283.5,156.5,11.9,852,11852,0.00,2.08,0.00,0.000,6,0.000,0.034,2542,2054,1712,0,0,0,0,0,0
$GC,11980,0.74,333.2,142.4,10.0,877,12026,0.00,2.33,37.08,0.558,4,0.000,0.042,2542,3536,1509,0,0,0,0,0,0
$GC,12107,0.74,333.2,128.4,11.8,898,12115,0.00,2.30,0.00,0.000,6,0.000,0.031,2551,2065,1512,0,0,0,0,0,0
$GC,12245,0.81,392.7,115.2,9.6,923,12297,0.00,2.08,44.67,0.525,4,0.000,0.037,2562,721,1267,0,0,0,0,0,0
$GC,12383,0.87,444.6,101.0,9.9,946,12428,0.00,2.08,38.50,0.500,6,0.000,0.032,2561,2042,1058,0,0,0,0,0,0
$GC,12556,0.98,534.7,85.3,8.5,976,12630,0.15,2.40,65.25,0.486,4,0.073,0.041,2637,3544,688,0,0,0,0,0,0
$GC,12727,1.03,571.4,65.2,10.5,1004,12765,0.00,2.33,27.75,0.483,6,0.000,0.029,2646,2064,539,0,0,0,0,0,0
$GC,12893,1.10,631.6,49.2,9.6,1033,12924,0.00,2.15,19.23,0.503,4,0.000,0.038,2657,717,438,0,0,0,0,0,0
$GC,12968,1.17,689.0,41.5,9.7,1045,12976,0.00,2.10,0.00,0.000,6,0.000,0.030,2656,2058,439,0,0,0,0,0,0
$GC,13105,1.26,763.3,28.2,9.1,1070,13114,0.15,2.33,0.10,0.169,4,0.070,0.039,2735,3530,442,0,0,0,0,0,0
$GC,13159,1.26,763.3,19.7,17.6,1079,13168,0.10,2.28,2.20,0.159,6,0.139,0.028,2714,2059,441,0,0,0,0,0,0
$STATE,13264,end climb,SURFACE_DEPTH_REACHED
$STATE,13264,begin surface coast
$FINISH,0.0,1.012629
$STATE,13286,end surface coast,CONTROL_FINISHED_OK
$STATE,13286,begin surface
$SM_CCo,13364,0.00,0.000,0,0,441,595.59
$SM_GC,0.83,6.55,0.00,0.00,0.040,0.000,0.000,213,2646,441,-6.45,1.24,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,11954.93,050711,020255
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.11
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.0,20.486
$10V_AH,10.1,21.222
$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,16.375,135.525,632.350,0.000,0.000,24.679,39.441,167.414,0.000,0.000,17.204,2616.640,7287.875,636.865,2889.375,293.733,0.000,1847.183,0.000,1942.349,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,52.785,1100.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,765.773,1161.751,1350.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73772,1102
$CAP_FILE_SIZE,145328,0
$CFSIZE,260165632,238907392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,095908,1952.768,11945.796,6,1.3,7,-2.2