version: 66.09
glider: 181
mission: 6
dive: 132
start: 7 5 111 10 6 2
data:
$ID,181
$MISSION,6
$DIVE,132
$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,-40648.789
$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,43
$R_STBD_OVSHOOT,60
$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
$GPS1,050711,095908,1952.768,11945.796,6,1.3,7,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.9
$GPS2,050711,100537,1952.958,11945.745,39,0.9,39,-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,167.9,101205,-16.3,-11.786
$D_GRID,3524
$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,-71.20,0.000,2,0.000,0.000,212,2647,2442,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.3,-3.7,10,137,7.80,2.20,-26.10,0.000,4,0.238,0.039,2104,1175,3765,0,0,0,0,0,0
$GC,233,-0.60,-219.0,55.5,-26.2,34,241,0.00,2.20,0.00,0.000,6,0.000,0.042,2095,2562,3765,0,0,0,0,0,0
$GC,367,-0.60,-219.0,102.0,-34.0,59,375,0.00,1.92,0.00,0.000,4,0.000,0.046,2085,3787,3766,0,0,0,0,0,0
$GC,414,-0.60,-219.0,118.7,-36.2,67,422,0.00,1.75,0.00,0.000,6,0.000,0.026,2085,2615,3766,0,0,0,0,0,0
$GC,549,-0.60,-219.0,159.0,-24.8,92,557,0.00,1.83,0.00,0.000,4,0.000,0.041,2076,3783,3767,0,0,0,0,0,0
$GC,688,-0.60,-219.0,193.0,-26.6,118,697,0.10,1.62,0.00,0.000,6,0.147,0.024,2107,2681,3768,0,0,0,0,0,0
$GC,827,-0.60,-219.0,227.5,-25.2,133,831,0.00,1.67,0.00,0.000,4,0.000,0.043,2101,3788,3769,0,0,0,0,0,0
$GC,985,-0.60,-219.0,257.4,-16.8,147,989,0.00,1.60,0.00,0.000,6,0.000,0.024,2100,2710,3770,0,0,0,0,0,0
$GC,1316,-0.60,-219.0,330.9,-21.4,178,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2706,3771,0,0,0,0,0,0
$GC,1637,-0.60,-219.0,393.6,-17.1,208,1641,0.00,2.20,0.00,0.000,4,0.000,0.030,2100,1205,3767,0,0,0,0,0,0
$GC,1671,-0.60,-219.0,399.9,-17.4,211,1675,0.00,2.33,0.00,0.000,6,0.000,0.039,2094,2722,3764,0,0,0,0,0,0
$GC,2002,-0.60,-219.0,461.7,-20.1,242,2005,0.00,1.62,0.00,0.000,4,0.000,0.047,2086,3797,3763,0,0,0,0,0,0
$GC,2029,-0.60,-219.0,467.3,-19.1,244,2036,0.00,1.60,0.00,0.000,6,0.000,0.027,2086,2717,3762,0,0,0,0,0,0
$GC,2360,-0.60,-219.0,532.9,-19.9,268,2364,0.00,2.22,0.00,0.000,4,0.000,0.031,2085,1203,3758,0,0,0,0,0,0
$GC,2393,-0.60,-219.0,539.2,-18.8,269,2398,0.12,2.35,0.00,0.000,6,0.165,0.041,2110,2725,3758,0,0,0,0,0,0
$GC,2709,-0.60,-219.0,588.0,-15.6,284,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2725,3754,0,0,0,0,0,0
$GC,3018,-0.60,-219.0,635.7,-15.0,299,3022,0.00,2.28,0.00,0.000,4,0.000,0.032,2111,1211,3751,0,0,0,0,0,0
$GC,3050,-0.60,-219.0,640.7,-14.9,300,3054,0.00,2.35,0.00,0.000,6,0.000,0.043,2110,2725,3751,0,0,0,0,0,0
$GC,3366,-0.60,-219.0,683.7,-14.2,315,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2725,3747,0,0,0,0,0,0
$GC,3675,-0.60,-219.0,723.1,-12.4,330,3679,0.00,2.28,0.00,0.000,4,0.000,0.034,2107,1212,3743,0,0,0,0,0,0
$GC,3731,-0.60,-219.0,729.1,-9.8,332,3735,0.00,2.33,0.00,0.000,6,0.000,0.043,2111,2709,3743,0,0,0,0,0,0
$GC,4048,-0.60,-219.0,763.8,-11.3,347,4051,0.00,1.65,0.00,0.000,4,0.000,0.053,2111,3784,3740,0,0,0,0,0,0
$GC,4104,-0.60,-219.0,769.5,-9.4,349,4108,0.00,1.60,0.00,0.000,6,0.000,0.029,2110,2724,3739,0,0,0,0,0,0
$GC,4426,-0.60,-219.0,802.5,-10.9,365,4430,0.00,2.25,0.00,0.000,4,0.000,0.034,2111,1212,3736,0,0,0,0,0,0
$GC,4511,-0.60,-219.0,811.2,-9.5,369,4515,0.00,2.33,0.00,0.000,6,0.000,0.042,2110,2711,3735,0,0,0,0,0,0
$GC,4839,-0.60,-219.0,850.5,-12.9,385,4843,0.00,2.28,0.00,0.000,4,0.000,0.035,2116,1203,3733,0,0,0,0,0,0
$GC,4865,-0.60,-219.0,854.5,-13.4,386,4869,0.00,2.33,0.00,0.000,6,0.000,0.043,2111,2702,3733,0,0,0,0,0,0
$GC,5188,-0.60,-219.0,895.7,-12.8,402,5192,0.00,2.28,0.00,0.000,4,0.000,0.036,2111,1204,3729,0,0,0,0,0,0
$GC,5226,-0.60,-219.0,901.0,-12.7,403,5233,0.00,2.33,0.00,0.000,6,0.000,0.043,2110,2697,3729,0,0,0,0,0,0
$GC,5542,-0.60,-219.0,940.6,-12.4,419,5546,0.00,2.25,0.00,0.000,4,0.000,0.036,2111,1211,3727,0,0,0,0,0,0
$GC,5593,-0.60,-219.0,946.4,-11.2,421,5597,0.00,2.30,0.00,0.000,6,0.000,0.042,2111,2687,3724,0,0,0,0,0,0
$GC,5909,-0.60,-219.0,980.7,-10.7,436,5913,0.00,2.22,0.00,0.000,4,0.000,0.037,2110,1216,3726,0,0,0,0,0,0
$GC,5926,-0.60,-219.0,982.6,-11.0,437,5930,0.00,2.28,0.00,0.000,6,0.000,0.044,2111,2679,3723,0,0,0,0,0,0
$STATE,6004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6004,begin apogee
$GC,6011,-0.16,0.0,990.4,9.9,441,6183,0.40,0.00,167.38,1.101,4,0.126,0.000,2243,2126,2873,0,0,0,0,0,0
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6184,begin climb
$GC,6187,0.60,219.0,998.0,0.0,449,6372,0.73,2.30,177.48,1.068,4,0.067,0.043,2495,728,1976,0,0,0,0,0,0
$GC,6546,0.60,219.0,959.6,14.3,466,6550,0.00,2.22,0.00,0.000,6,0.000,0.036,2495,2127,1976,0,0,0,0,0,0
$GC,6874,0.60,219.0,910.7,14.9,482,6878,0.00,2.17,0.00,0.000,4,0.000,0.040,2505,728,1972,0,0,0,0,0,0
$GC,7097,0.60,219.0,877.9,14.6,492,7102,0.00,2.20,0.00,0.000,6,0.000,0.037,2505,2148,1972,0,0,0,0,0,0
$GC,7424,0.60,219.0,827.6,15.3,508,7428,0.00,2.17,0.00,0.000,4,0.000,0.040,2514,731,1968,0,0,0,0,0,0
$GC,7452,0.60,219.0,823.4,14.5,509,7456,0.00,2.17,0.00,0.000,6,0.000,0.037,2514,2131,1970,0,0,0,0,0,0
$GC,7773,0.60,219.0,771.3,16.5,525,7777,0.00,2.15,0.00,0.000,4,0.000,0.040,2524,729,1969,0,0,0,0,0,0
$GC,7817,0.60,219.0,763.8,16.7,527,7821,0.00,2.17,0.00,0.000,6,0.000,0.037,2524,2145,1969,0,0,0,0,0,0
$GC,8145,0.60,219.0,709.2,17.0,543,8149,0.00,2.15,0.00,0.000,4,0.000,0.047,2524,3538,1968,0,0,0,0,0,0
$GC,8206,0.60,219.0,697.8,18.5,545,8214,0.15,2.15,0.00,0.000,6,0.187,0.030,2495,2141,1968,0,0,0,0,0,0
$GC,8523,0.60,219.0,652.0,13.9,561,8527,0.00,2.15,0.00,0.000,4,0.000,0.041,2506,715,1967,0,0,0,0,0,0
$GC,8639,0.60,219.0,635.8,13.3,566,8643,0.00,2.17,0.00,0.000,6,0.000,0.036,2506,2137,1967,0,0,0,0,0,0
$GC,8962,0.60,219.0,590.9,14.2,582,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2138,1966,0,0,0,0,0,0
$GC,9271,0.60,219.0,547.5,13.6,597,9275,0.00,2.15,0.00,0.000,4,0.000,0.047,2506,3539,1966,0,0,0,0,0,0
$GC,9326,0.60,219.0,539.2,15.3,599,9333,0.00,2.15,0.00,0.000,6,0.000,0.029,2516,2104,1965,0,0,0,0,0,0
$GC,9644,0.60,219.0,492.0,15.1,617,9648,0.00,2.08,0.00,0.000,4,0.000,0.040,2526,717,1969,0,0,0,0,0,0
$GC,9797,0.60,219.0,470.4,14.2,630,9802,0.12,2.08,0.00,0.000,6,0.171,0.035,2494,2088,1965,0,0,0,0,0,0
$GC,10122,0.60,219.0,427.3,12.8,660,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2087,1965,0,0,0,0,0,0
$GC,10444,0.60,219.0,387.8,11.8,690,10448,0.00,2.22,0.00,0.000,4,0.000,0.047,2500,3540,1965,0,0,0,0,0,0
$GC,10488,0.60,219.0,381.7,12.6,693,10495,0.00,2.20,0.00,0.000,6,0.000,0.030,2503,2075,1965,0,0,0,0,0,0
$GC,10813,0.60,219.0,341.3,12.9,724,10817,0.00,2.05,0.00,0.000,4,0.000,0.041,2513,720,1963,0,0,0,0,0,0
$GC,10982,0.60,219.0,320.3,12.0,739,10986,0.00,2.03,0.00,0.000,6,0.000,0.035,2514,2059,1965,0,0,0,0,0,0
$GC,11312,0.60,219.0,275.1,13.1,770,11317,0.00,2.25,0.00,0.000,4,0.000,0.044,2513,3536,1965,0,0,0,0,0,0
$GC,11401,0.60,219.0,261.9,14.4,777,11408,0.00,2.20,0.00,0.000,6,0.000,0.030,2523,2068,1965,0,0,0,0,0,0
$GC,11726,0.60,219.0,220.1,12.6,808,11730,0.00,2.03,0.00,0.000,4,0.000,0.040,2529,714,1965,0,0,0,0,0,0
$GC,11904,0.65,266.6,201.0,10.1,824,11946,0.00,2.03,34.62,0.613,6,0.000,0.034,2533,2058,1779,0,0,0,0,0,0
$GC,12073,0.65,266.6,180.9,12.3,853,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2058,1782,0,0,0,0,0,0
$GC,12208,0.68,287.1,165.5,11.0,878,12231,0.00,2.08,16.80,0.578,4,0.000,0.036,2542,719,1697,0,0,0,0,0,0
$GC,12329,0.75,343.9,153.6,9.7,899,12382,0.00,2.03,42.47,0.551,6,0.000,0.034,2542,2012,1466,0,0,0,0,0,0
$GC,12510,0.86,434.6,135.7,8.5,930,12584,0.10,2.53,66.75,0.530,4,0.106,0.043,2586,3539,1095,0,0,0,0,0,0
$GC,12629,0.86,434.6,120.7,13.7,948,12637,0.00,2.38,0.00,0.000,6,0.000,0.029,2597,2045,1096,0,0,0,0,0,0
$GC,12766,0.88,446.8,105.2,11.3,973,12783,0.00,2.12,10.55,0.542,4,0.000,0.038,2607,716,1046,0,0,0,0,0,0
$GC,12857,0.96,517.5,95.6,9.2,989,12916,0.00,2.10,51.65,0.496,6,0.000,0.034,2607,2044,758,0,0,0,0,0,0
$GC,13044,0.98,531.4,75.0,11.3,1021,13061,0.00,2.42,11.43,0.508,4,0.000,0.043,2607,3533,703,0,0,0,0,0,0
$GC,13130,0.98,531.4,64.8,12.1,1036,13138,0.00,2.28,0.00,0.000,6,0.000,0.028,2616,2077,702,0,0,0,0,0,0
$GC,13268,1.00,546.3,49.4,11.2,1061,13292,0.00,2.15,12.77,0.500,4,0.000,0.039,2626,719,640,0,0,0,0,0,0
$GC,13316,1.05,584.9,44.1,10.4,1068,13353,0.00,2.10,29.00,0.478,6,0.000,0.031,2626,2060,482,0,0,0,0,0,0
$GC,13481,1.19,701.8,30.7,7.5,1097,13498,0.17,2.30,9.68,0.458,4,0.067,0.038,2722,3542,440,0,0,0,0,0,0
$GC,13553,1.19,701.8,21.4,14.6,1109,13562,0.12,2.25,0.50,0.080,6,0.129,0.028,2688,2089,440,0,0,0,0,0,0
$GC,13690,1.22,723.9,5.6,11.0,1134,13699,0.00,2.08,1.12,0.080,4,0.000,0.034,2697,714,442,0,0,0,0,0,0
$STATE,13715,end climb,SURFACE_DEPTH_REACHED
$STATE,13715,begin surface coast
$FINISH,-0.1,1.020644
$STATE,13742,end surface coast,CONTROL_FINISHED_OK
$STATE,13742,begin surface
$SM_CCo,13822,0.00,0.000,0,0,443,595.10
$SM_GC,0.93,6.47,0.00,0.00,0.035,0.000,0.000,208,2621,443,-6.46,0.59,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1945.83,11948.67,050711,060657
$TT8_MAMPS,0.027713,0.027713
$HUMID,40.43
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.0,20.647
$10V_AH,10.2,21.356
$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,16.300,146.650,632.200,0.000,0.000,24.090,38.997,166.397,0.000,0.000,42.260,2731.052,7474.621,637.193,3056.890,304.012,0.000,1910.875,0.000,2065.144,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,52.785,1100.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,795.605,1205.514,1389.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322644
$DATA_FILE_SIZE,76890,1143
$CAP_FILE_SIZE,153401,0
$CFSIZE,260165632,238817280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,135713,1952.800,11946.087,6,1.7,12,-2.2