version: 66.09
glider: 181
mission: 6
dive: 135
start: 7 5 111 21 57 9
data:
$ID,181
$MISSION,6
$DIVE,135
$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,-40652.562
$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,47
$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
$GPS1,050711,215044,1950.988,11944.841,29,1.8,30,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.8
$GPS2,050711,215644,1951.046,11944.714,14,1.8,14,-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,166.4,98254,-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,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,-71.28,0.000,2,0.000,0.000,211,2627,2442,0,0,0,0,0,0
$GC,92,-0.60,-219.0,3.4,-3.9,10,137,7.80,2.22,-26.02,0.000,4,0.240,0.044,2101,1177,3765,0,0,0,0,0,0
$GC,186,-0.60,-219.0,40.0,-34.5,25,194,0.00,2.25,0.00,0.000,6,0.000,0.044,2092,2584,3766,0,0,0,0,0,0
$GC,320,-0.60,-219.0,94.8,-36.5,50,328,0.00,1.90,0.00,0.000,4,0.000,0.047,2083,3790,3766,0,0,0,0,0,0
$GC,377,-0.60,-219.0,115.2,-36.2,60,385,0.00,1.77,0.00,0.000,6,0.000,0.025,2083,2605,3767,0,0,0,0,0,0
$GC,511,-0.60,-219.0,156.9,-28.5,85,519,0.00,2.08,0.00,0.000,4,0.000,0.026,2083,1196,3768,0,0,0,0,0,0
$GC,547,-0.60,-219.0,166.7,-26.6,91,556,0.10,2.25,0.00,0.000,6,0.148,0.038,2104,2638,3768,0,0,0,0,0,0
$GC,685,-0.60,-219.0,200.4,-28.7,116,689,0.00,1.73,0.00,0.000,4,0.000,0.043,2097,3789,3769,0,0,0,0,0,0
$GC,708,-0.60,-219.0,208.4,-28.9,118,712,0.00,1.70,0.00,0.000,6,0.000,0.025,2097,2606,3769,0,0,0,0,0,0
$GC,1040,-0.60,-219.0,296.9,-25.8,149,1044,0.00,2.03,0.00,0.000,4,0.000,0.028,2097,1212,3770,0,0,0,0,0,0
$GC,1086,-0.60,-219.0,306.6,-18.3,153,1090,0.00,2.12,0.00,0.000,6,0.000,0.037,2090,2611,3770,0,0,0,0,0,0
$GC,1412,-0.60,-219.0,377.6,-22.6,183,1415,0.00,1.77,0.00,0.000,4,0.000,0.044,2080,3790,3769,0,0,0,0,0,0
$GC,1472,-0.60,-219.0,390.6,-19.0,188,1480,0.00,1.73,0.00,0.000,6,0.000,0.025,2080,2620,3768,0,0,0,0,0,0
$GC,1799,-0.60,-219.0,455.2,-20.7,219,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2618,3765,0,0,0,0,0,0
$GC,2114,-0.60,-219.0,516.2,-18.5,245,2118,0.00,1.77,0.00,0.000,4,0.000,0.046,2071,3780,3762,0,0,0,0,0,0
$GC,2142,-0.60,-219.0,521.9,-19.4,246,2146,0.08,1.73,0.00,0.000,6,0.146,0.028,2111,2619,3761,0,0,0,0,0,0
$GC,2469,-0.60,-219.0,571.6,-16.0,262,2472,0.00,2.08,0.00,0.000,4,0.000,0.032,2111,1205,3757,0,0,0,0,0,0
$GC,2501,-0.60,-219.0,577.1,-15.7,263,2508,0.00,2.15,0.00,0.000,6,0.000,0.041,2111,2609,3757,0,0,0,0,0,0
$GC,2818,-0.60,-219.0,625.6,-16.1,279,2822,0.00,1.83,0.00,0.000,4,0.000,0.050,2111,3775,3753,0,0,0,0,0,0
$GC,2873,-0.60,-219.0,634.0,-13.5,281,2877,0.00,1.70,0.00,0.000,6,0.000,0.028,2111,2610,3753,0,0,0,0,0,0
$GC,3195,-0.60,-219.0,686.4,-16.7,297,3199,0.00,2.08,0.00,0.000,4,0.000,0.034,2111,1203,3749,0,0,0,0,0,0
$GC,3221,-0.60,-219.0,690.8,-15.7,298,3226,0.00,2.17,0.00,0.000,6,0.000,0.041,2108,2627,3749,0,0,0,0,0,0
$GC,3544,-0.60,-219.0,737.0,-14.3,314,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2627,3746,0,0,0,0,0,0
$GC,3853,-0.60,-219.0,774.7,-11.6,329,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2627,3743,0,0,0,0,0,0
$GC,4163,-0.60,-219.0,807.5,-10.0,344,4166,0.00,1.77,0.00,0.000,4,0.000,0.053,2111,3783,3739,0,0,0,0,0,0
$GC,4201,-0.60,-219.0,811.2,-8.9,345,4208,0.00,1.73,0.00,0.000,6,0.000,0.029,2111,2645,3741,0,0,0,0,0,0
$GC,4518,-0.60,-219.0,841.4,-10.4,361,4522,0.00,2.17,0.00,0.000,4,0.000,0.036,2111,1190,3737,0,0,0,0,0,0
$GC,4568,-0.60,-219.0,846.2,-9.4,363,4572,0.00,2.20,0.00,0.000,6,0.000,0.041,2111,2619,3736,0,0,0,0,0,0
$GC,4889,-0.60,-219.0,878.5,-10.9,379,4893,0.00,1.80,0.00,0.000,4,0.000,0.053,2111,3788,3733,0,0,0,0,0,0
$GC,4913,-0.60,-219.0,881.2,-10.6,380,4917,0.00,1.73,0.00,0.000,6,0.000,0.030,2110,2618,3733,0,0,0,0,0,0
$GC,5246,-0.60,-219.0,918.6,-11.4,396,5250,0.00,2.10,0.00,0.000,4,0.000,0.036,2111,1206,3730,0,0,0,0,0,0
$GC,5268,-0.60,-219.0,921.3,-11.5,397,5272,0.00,2.17,0.00,0.000,6,0.000,0.043,2111,2619,3731,0,0,0,0,0,0
$GC,5590,-0.60,-219.0,957.7,-11.8,413,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2619,3728,0,0,0,0,0,0
$STATE,5876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5876,begin apogee
$GC,5883,-0.16,0.0,992.3,12.1,427,6056,0.40,0.00,167.82,1.100,4,0.125,0.000,2243,2110,2869,0,0,0,0,0,0
$STATE,6056,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6059,0.60,219.0,1002.8,0.0,435,6245,0.73,2.25,177.65,1.072,4,0.066,0.041,2496,735,1976,0,0,0,0,0,0
$GC,6437,0.60,219.0,967.9,13.4,453,6441,0.00,2.22,0.00,0.000,6,0.000,0.037,2496,2132,1978,0,0,0,0,0,0
$GC,6770,0.60,219.0,919.1,15.1,469,6774,0.00,2.17,0.00,0.000,4,0.000,0.039,2506,732,1972,0,0,0,0,0,0
$GC,6977,0.60,219.0,888.7,14.7,478,6982,0.00,2.22,0.00,0.000,6,0.000,0.037,2506,2137,1972,0,0,0,0,0,0
$GC,7300,0.60,219.0,840.2,15.3,494,7304,0.00,2.17,0.00,0.000,4,0.000,0.046,2506,3541,1970,0,0,0,0,0,0
$GC,7349,0.60,219.0,831.8,16.9,496,7353,0.00,2.15,0.00,0.000,6,0.000,0.030,2514,2149,1970,0,0,0,0,0,0
$GC,7671,0.60,219.0,780.1,15.9,512,7675,0.00,2.17,0.00,0.000,4,0.000,0.040,2526,721,1969,0,0,0,0,0,0
$GC,7739,0.60,219.0,769.5,15.0,515,7744,0.12,2.15,0.00,0.000,6,0.180,0.036,2495,2129,1970,0,0,0,0,0,0
$GC,8066,0.60,219.0,724.9,13.4,531,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2129,1969,0,0,0,0,0,0
$GC,8375,0.60,219.0,685.2,12.7,546,8379,0.00,2.17,0.00,0.000,4,0.000,0.040,2504,716,1968,0,0,0,0,0,0
$GC,8399,0.60,219.0,682.2,12.6,547,8403,0.00,2.15,0.00,0.000,6,0.000,0.036,2504,2127,1968,0,0,0,0,0,0
$GC,8726,0.60,219.0,639.8,12.9,563,8730,0.00,2.17,0.00,0.000,4,0.000,0.047,2504,3538,1968,0,0,0,0,0,0
$GC,8753,0.60,219.0,635.8,13.6,564,8757,0.00,2.12,0.00,0.000,6,0.000,0.029,2513,2125,1967,0,0,0,0,0,0
$GC,9075,0.60,219.0,593.0,13.3,580,9079,0.00,2.12,0.00,0.000,4,0.000,0.040,2523,714,1966,0,0,0,0,0,0
$GC,9115,0.60,219.0,587.7,13.0,582,9119,0.00,2.17,0.00,0.000,6,0.000,0.035,2524,2141,1966,0,0,0,0,0,0
$GC,9442,0.60,219.0,542.7,14.0,598,9446,0.00,2.17,0.00,0.000,4,0.000,0.038,2533,708,1966,0,0,0,0,0,0
$GC,9488,0.60,219.0,536.3,13.5,600,9493,0.15,2.17,0.00,0.000,6,0.170,0.036,2494,2126,1966,0,0,0,0,0,0
$GC,9821,0.61,229.2,498.0,11.4,616,9834,0.00,2.25,8.00,0.751,4,0.000,0.046,2494,3536,1937,0,0,0,0,0,0
$GC,9927,0.61,229.2,484.3,13.6,625,9931,0.00,2.12,0.00,0.000,6,0.000,0.029,2502,2126,1934,0,0,0,0,0,0
$GC,10252,0.61,229.2,442.9,12.5,655,10256,0.00,2.12,0.00,0.000,4,0.000,0.040,2513,717,1934,0,0,0,0,0,0
$GC,10387,0.61,229.3,426.6,11.8,666,10394,0.00,2.12,0.00,0.000,6,0.000,0.035,2513,2103,1934,0,0,0,0,0,0
$GC,10713,0.61,231.6,387.9,11.7,697,10725,0.00,2.25,3.88,0.528,4,0.000,0.045,2513,3528,1922,0,0,0,0,0,0
$GC,10749,0.61,231.6,383.1,12.8,700,10753,0.00,2.17,0.00,0.000,6,0.000,0.030,2522,2084,1924,0,0,0,0,0,0
$GC,11074,0.61,231.6,338.8,14.0,730,11078,0.00,2.05,0.00,0.000,4,0.000,0.040,2533,719,1924,0,0,0,0,0,0
$GC,11214,0.61,231.6,318.7,13.8,742,11222,0.12,2.08,0.00,0.000,6,0.170,0.034,2501,2081,1924,0,0,0,0,0,0
$GC,11541,0.70,302.5,284.5,9.2,773,11600,0.00,2.38,53.12,0.657,4,0.000,0.044,2501,3538,1635,0,0,0,0,0,0
$GC,11629,0.78,370.1,276.1,9.3,780,11687,0.10,2.28,51.20,0.618,6,0.062,0.029,2559,2093,1359,0,0,0,0,0,0
$GC,12013,0.78,370.1,224.1,15.1,816,12017,0.00,2.10,0.00,0.000,4,0.000,0.038,2569,716,1360,0,0,0,0,0,0
$GC,12129,0.78,370.1,206.0,16.0,826,12133,0.00,2.12,0.00,0.000,6,0.000,0.036,2569,2094,1358,0,0,0,0,0,0
$GC,12446,0.78,370.1,154.4,13.6,883,12454,0.00,2.28,0.00,0.000,4,0.000,0.044,2569,3536,1361,0,0,0,0,0,0
$GC,12669,0.78,370.1,127.0,11.9,925,12677,0.00,2.15,0.00,0.000,6,0.000,0.028,2579,2135,1362,0,0,0,0,0,0
$GC,12805,0.80,389.3,112.0,11.1,950,12828,0.00,2.17,16.00,0.580,4,0.000,0.037,2590,707,1282,0,0,0,0,0,0
$GC,12868,0.82,398.8,104.5,11.4,960,12885,0.00,2.20,8.75,0.516,6,0.000,0.032,2590,2123,1242,0,0,0,0,0,0
$GC,13012,0.88,449.6,88.6,9.9,986,13057,0.00,2.22,37.40,0.503,4,0.000,0.041,2589,3533,1034,0,0,0,0,0,0
$GC,13081,0.94,495.4,81.6,10.1,996,13125,0.00,2.22,33.80,0.474,6,0.000,0.028,2599,2114,849,0,0,0,0,0,0
$GC,13254,1.07,602.9,67.0,7.9,1026,13335,0.12,2.20,72.15,0.470,4,0.083,0.034,2672,707,439,0,0,0,0,0,0
$GC,13433,1.08,615.6,45.7,11.3,1055,13441,0.00,2.15,0.05,0.145,6,0.000,0.029,2672,2083,440,0,0,0,0,0,0
$GC,13570,1.15,670.0,31.4,9.8,1080,13578,0.00,2.30,0.35,0.102,4,0.000,0.039,2672,3538,441,0,0,0,0,0,0
$GC,13607,1.18,692.1,27.3,11.0,1086,13616,0.00,2.25,0.10,0.110,6,0.000,0.027,2682,2085,442,0,0,0,0,0,0
$GC,13745,1.22,725.6,12.8,10.6,1111,13753,0.00,2.12,0.08,0.207,4,0.000,0.037,2692,714,442,0,0,0,0,0,0
$GC,13803,1.26,761.2,6.6,10.5,1121,13812,0.00,2.10,1.12,0.073,6,0.000,0.029,2692,2078,444,0,0,0,0,0,0
$STATE,13833,end climb,SURFACE_DEPTH_REACHED
$STATE,13833,begin surface coast
$FINISH,0.1,1.008244
$STATE,13861,end surface coast,CONTROL_FINISHED_OK
$STATE,13861,begin surface
$SM_CCo,13938,0.00,0.000,0,0,442,594.85
$SM_GC,0.96,6.45,0.00,0.00,0.034,0.000,0.000,206,2616,442,-6.47,0.45,594.85,0,0,0,0,0,0
$IRIDIUM_FIX,1941.24,11945.54,050711,181802
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.56
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.0,21.135
$10V_AH,10.1,21.743
$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,16.175,143.500,631.475,0.000,0.000,27.700,40.980,154.900,0.000,0.000,18.526,2707.921,7707.709,640.249,2938.051,297.311,0.000,1883.884,0.000,2015.718,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,52.785,1100.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,786.921,1180.532,1314.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,77014,1131
$CAP_FILE_SIZE,153348,0
$CFSIZE,260165632,238563328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,015037,1949.729,11944.033,32,1.2,33,-2.2